Adept s650HS User Manual

Adept Quattro

User’s Guide

covers the Adept Quattro s650H, s650HS,

s800H, and s800HS Robots

Adept Quattro

User’s Guide

covers the Adept Quattro s650H, s650HS,

s800H, and s800HS Robots

P/N: 09955-000, Rev F

May, 2013

5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452

Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450

Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598

The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. The documentation is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to: techpubs@adept.com.

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,

Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks

of Adept Technology, Inc.

Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.

Adept ACE, Adept Quattro s650H, Adept Quattro s650HS, Adept Quattro s800H, Adept Quattro s800HS,

Adept SmartController CX, Adept SmartController EX, Adept T2, Adept T20, AIB, eAIB, eV+, and V+ are

trademarks of Adept Technology, Inc.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Created in the United States of America

Table of Contents

Chapter 1: Introduction 11

1.1 Adept Quattro™ Robots, Product Description

Major Differences between Quattro H and HS Robots 11 Adept AIB™, eAIB™ 14 Quattro Robot Base 14 Inner Arms 15 Ball Joints, Outer Arms 16 Platforms 17 Adept SmartController™ 20

1.2 Warnings, Cautions, and Notes in Manual

1.3 Safety Precautions

1.4 What to Do in an Emergency

1.5 Additional Safety Information

1.6 Intended Use of the Robots

1.7 Installation Overview

1.8 Manufacturer’s Declaration

1.9 How Can I Get Help?

Related Manuals 25 Adept Document Library 25

Chapter 2: Robot Installation - H 27

2.1 Transport and Storage

2.2 Unpacking and Inspecting the Adept Equipment

Unpacking 27

2.3 Repacking for Relocation

2.4 Environmental and Facility Requirements

2.5 Mounting Frame

Frame Orientation 31 Frame Construction 31 Robot-to-Frame Considerations 31 Mounting 31 Gussets 32

2.6 Mounting the Robot Base

Robot Orientation 32 Mounting Surfaces 32 Mounting Options 33 Mounting Procedure from Above the Frame 33

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Mounting Procedure from Below the Frame 34 Install Mounting Hardware 35

2.7 Attaching the Outer Arms and Platform

Clocking the Platform to the Base 37 Attaching the Outer Arms 39

Chapter 3: Robot Installation - HS 43

3.1 Transport and Storage

3.2 Unpacking and Inspecting the Adept Equipment

Before Unpacking 43 Upon Unpacking 43 Unpacking 43

3.3 Repacking for Relocation

3.4 Environmental and Facility Requirements

3.5 Mounting Frame

Frame Mounting Tabs 47 Robot-to-Frame Considerations 47 Mounting 47 Gussets 48

3.6 Cable Inlet Box

Assembling Cable Inlet Box 48 Connecting the Cables 53 Installing the Cable Inlet Box 53

3.7 Mounting the Robot Base

Robot Orientation 55 Mounting Surfaces 55 Mounting Options 55 Mounting Procedure from Above the Frame 56 Mounting Procedure from Below the Frame 57 Install Mounting Hardware 58

3.8 Attaching the Outer Arms and Platform

Clocking the Platform to the Base 60 Attaching the Outer Arms 61

3.9 Attaching the Cable Tray

Chapter 4: System Installation 71

4.1 System Cable Diagram

4.2 Cable Parts List

4.3 Installing the SmartController Motion Controller

4.4 Connecting User-Supplied PC to Robot

PC Requirements 73

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4.5 Installing Adept ACE Software

4.6 Description of Connectors on Robot Interface Panel

4.7 Cable Connections from Robot to SmartController

4.8 Connecting 24 VDC Power to Robot

Specifications for 24 VDC Robot and Controller Power 76 Details for 24 VDC Mating Connector 77 Procedure for Creating 24 VDC Cable 77 Installing 24 VDC Robot Cable 78

4.9 Connecting 200-240 VAC Power to Robot

Specifications for AC Power 79 Details for AC Mating Connector 81 Procedure for Creating 200-240 VAC Cable 81 Installing AC Power Cable to Robot 82

4.10 Grounding the Adept Quattro Robot System

Adept Quattro Robot Base 82 Quattro HS Robot Base 83 Robot-Mounted Equipment 83

4.11 Installing User-Supplied Safety Equipment

Chapter 5: System Operation 85

5.1 Robot Status Display Panel

5.2 Status Panel Fault Codes

5.3 Using the Brake-Release Button

Brakes 86 Brake-Release Button 87

5.4 Front Panel

5.5 Connecting Digital I/O to the System

5.6 Using Digital I/O on Robot XIO Connector

Optional I/O Products 91 XIO Input Signals 91 XIO Output Signals 92 XIO Breakout Cable 94

5.7 Starting the System for the First Time

Verifying Installation 96 Turning on Power and Starting Adept ACE 97 Enabling High Power 98 Verifying E-Stop Functions 98 Verify Robot Motions 98

5.8 Quattro Motions

Straight-line Motion 99 Containment Obstacles 99 Tool Flange Rotation Extremes 99

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5.9 Learning to Program the Adept Quattro Robot

103

Chapter 6: Optional Equipment Installation 105

6.1 End-Effectors

Attaching 105 Aligning 105 Grounding 105 Accessing Vacuum 105

6.2 Routing End-effector Lines

6.3 Ball Stud Locks

Installing a Ball Stud Lock 108 Removing a Ball Stud Lock 109

105

107

Chapter 7: Technical Specifications 111

7.1 Dimension Drawings

7.2 Adept Quattro Internal Connections

7.3 XSYS/XSYSTEM Connector

7.4 XSLV Connector

7.5 Robot Specifications

7.6 Payload Specifications

Torque and Rotation Limits 122 Payload Mass vs. Acceleration 123 Payload Inertia vs. Acceleration 124

7.7 Robot Mounting Frame, Quattro s650H Robot

111

119

120

122

124

Chapter 8: Maintenance - H 131

8.1 Periodic Maintenance Schedule

8.2 Checking Safety Systems

8.3 Checking Robot Mounting Bolts

8.4 Checking Robot Gear Drives

8.5 Checking Fan Operation

8.6 Replacing the AIB or eAIB Chassis

Removing the AIB/eAIB Chassis 135 Installing a New AIB/eAIB Chassis 138

8.7 Commissioning a System with an eAIB

Safety Commissioning Utilities 140 E-Stop Configuration Utility 142 E-Stop Verification Utility 142 Teach Restrict Configuration Utility 143 Teach Restrict Verification Utility 143

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131

134

135

139

8.8 Replacing the Encoder Battery Pack

Battery Replacement Interval 145 Battery Replacement Procedure 145

8.9 Replacing a Platform

Replacement 147 Configuration 148

8.10 Replacing a Ball Joint Insert

8.11 Replacing Outer Arm Spring Assemblies

Removing Outer Arm Spring Assemblies 149 Installing Outer Arm Spring Assemblies 150

144

147

149

Chapter 9: Maintenance - HS 153

9.1 Cleaning

Water Shedding 153 Wash-Down 153 Chemical Compatibility 154

9.2 Periodic Maintenance

9.3 Checking Safety Systems

9.4 Checking Robot Mounting Bolts

9.5 Checking Robot Gear Drives

9.6 Checking Fan Operation

9.7 Removing and Installing the Cable Inlet Box

Removing the Cable Inlet Box 160 Installing the Cable Inlet Box 161

9.8 Replacing the AIB/eAIB Chassis

Removing the AIB/eAIB Chassis 162 Installing a New AIB/eAIBChassis 165

9.9 Commissioning a System with an eAIB

Safety Commissioning Utilities 166 E-Stop Configuration Utility 168 E-Stop Verification Utility 168 Teach Restrict Configuration Utility 169 Teach Restrict Verification Utility 169

9.10 Replacing the Encoder Battery Pack

Battery Replacement Interval 171 Battery Replacement Procedure 171

9.11 Replacing a Platform

Replacement 174 Configuration 175

153

154

158

159

160

161

166

171

174

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9.12 Replacing a Ball Joint Insert

9.13 Replacing Outer Arm Spring Assemblies

Removing Outer Arm Spring Assemblies 176 Installing Outer Arm Spring Assemblies 178

175

176

Chapter 10: Robot Cleaning/ Environmental Concerns- H 181

10.1 Ambient Environment

Humidity 181 Temperature 182

10.2 Cleaning

Caustic Compatibility 182 Water Shedding 182 Wipe-Down 182

10.3 Cleanroom Classification

10.4 Design Factors

Robot Base and Components 183 Inner Arms 183 Ball Joints 183 Outer Arms 183 Springs 183 Platforms 184

10.5 Installing Cable Seal Kit

Overview 184 Installation Procedure 185

181

182

184

Chapter 11: Environmental Concerns - HS 191

11.1 Ambient Environment

Humidity 191 Temperature 192

11.2 Cleanroom Classification

11.3 Design Factors

Robot Base and Components 192 Inner Arms 192 Ball Joints 192 Outer Arms 193 Spring Assemblies 193 Platforms 193

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191

192

Chapter 1: Introduction

1.1 Adept Quattro™ Robots, Product Description

The Adept Quattro robot is a four-axis parallel robot. The four identical axis motors control movement of the robot tool in X, Y, and Z directions, as well as Theta rotation.

The Adept Quattro robot requires an Adept SmartController™ motion controller for operation. The robot is user-programmed and controlled using the SmartController motion controller. The robot servo code runs on an Adept SmartServo distributed-motion control platform embedded in the robot base as part of the power amplifiers.

There are two sizes of Adept Quattro robots, each available with anodized and electroless nickel (EN) aluminum platforms and outer arm spoons:

Adept Quattro s650H (Standard) and Adept Quattro s650HS (EN)

and

Adept Quattro s800H (Standard) and Adept Quattro s800HS (EN)

The Adept Quattro s650H and s650HS arealso available with stainless steel (SS) platforms and outer arm spoons. The inner arm ends, AIB/eAIB, and cable box are electroless nickel.

The electroless nickel and stainless steel versions of the Quattro s650HS robot are USDA Accepted.

In most aspects, the robots are similar enough that they will be covered together. In areas where there are significant differences, the Quattro H and Quattro HS robots will be presented in two chapters, using titles such as Robot Installation - H for the s650H and s800H robots, and Robot Installation—HS for the s650HS and s800HS robots.

Major Differences between Quattro H and HS Robots

Note that any of the available aluminum platforms can be used on the Quattro s650H and s800H robots.

The Quattro s650HS and s800HS have electroless nickel plating on all aluminum parts. The s650HS is also available with stainless steel in place of aluminum for platforms and outer arm ends.

Table 1-1. Quattro H/HS Differences

USDA Accepted

Standard (s650H/s800H)

No s650HS - Yes/s800HS - No

HS (s650HS/s800HS)

(Meat and Poultry)

IP- rating IP-65, Option IP-66, Standard

P30 Platform, no Hard-anodized, EN, or Electroless Nickel (EN) or Stainless

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Chapter 1: Introduction

Standard (s650H/s800H)

HS (s650HS/s800HS)

rotation SS Steel (SS on s650HS only)

P31 Platform, 46.25° Hard-anodized, EN, orSSEN or SS (SS on s650HS only)

P32 Platform, 92.5° Hard-anodized, EN, orSSEN or SS (SS on s650HS only)

P34 Platform, 185° Hard-anodized, EN, orSSEN or SS (SS on s650HS only)

Inner Arm Hubs and

Hard-Anodized Electroless Nickel

Ends

Outer Arm Spoons Hard-Anodized EN or SS (SS on s650HS only)

Base Mounting Pad

M16-2.0, through-hole M16-2.0, blind, 40 mm bolt

Holes

Base Coating material White polyurethane

White ETFE (Teflon), USDA approved

powder

Adept AIB/eAIB Black Anodized, Single-

EN, 6-bolt installation

bolt installation

Cable Inlet box Hard-Anodized, Option EN, Standard

Cable tray Not required Required (for USDA)

Status Display Half-height Full-height, to shield labels

Protective Earth Ground On base-mounting pad In cable inlet box

Motor covers White with blue Adept

Solid white, no label

label

Exposed bolts and

No Yes

screws all gasketed

Similarities Between the Quattro Robots

All models use the same motors

All models share the same base casting, although the H and HS have some machining and coating differences.

The mounting hole pattern for the bases is the same.

All share the same inner arm design. Platform coatings/materials differ for HS robots, but dimensions do not.

All can have either an AIB or an eAIB.

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Chapter 1: Introduction

Outer

rms

Platform

(P31 shown)

Cable Inlet Box

Inner Arms

Motor

Cover

AIB

Mounting

Pads

Base

Ball Joints and Spring Assemblies

Status Display

Panel

Figure 1-1. Adept Quattro Robots (s650H, s650HS shown)

Note the difference between the Status Display Panels, as shown in these two photos.

Figure 1-2. Major Robot Components, Isometric View (s650HS shown)

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Chapter 1: Introduction

Adept AIB™, eAIB™

The power amplifiers for the Adept Quattro robot are embedded in the base of the robot. This amplifier section is known as the Amplifiers in Base (AIB or eAIB)distributed motion control platform, and provides closed-loop servo control of the robot amplifiers, as well as robot I/O.

There are two versions offered: the AIB and the eAIB. Both provide the power amplifiers and full servo control. Both are available in either anodized or electroless nickel finishes.

The Adept AIB and eAIB feature:

On-board digital I/O: 12 inputs, 8 outputs

Low EMI for use with noise-sensitive equipment

No external fan for quiet operation

8 kHz servo rate to deliver low positional errors and superior path following

Sine-wave commutation to lower cogging torque and improve path following

Digital feed-forward design to maximize efficiency, torque, and velocity

Temperature sensors on all amplifiers and motors for maximum reliability and easy troubleshooting

Adept eAIB only:

Hardware-based E-Stop and Teach Restrict controls

These are for improved safety relative to European standards implemented in 2012.

The two anodized amplifiers (H) look very similar, and are interchangeable.

The two electroless nickel amplifiers (HS)look very similar, and are interchangeable.

NOTE:The H and HSamplifiers and their cable inlet boxes are not interchangeable.

Quattro Robot Base

The Adept Quattro robot base is an aluminum casting that houses the four drive motors, and supports the power amplifiers. It provides four mounting pads for attaching the base to a rigid support frame. The Status Display Panel is mounted on the side of the robot base.

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Chapter 1: Introduction

Figure 1-3. Adept AIBs (Quattro H AIB on left)

Inner Arms

The four robot motors attach directly to the inner arms through a high-performance gear reducer. Other than optional, user-supplied hardware mounted on the platform, these are the only drive motors in the Quattro robot. The following figures show the precision carbon fiber assembly of the inner arms on a Quattro H robot and Quattro HS robot. The ends of the inner arms on the Quattro HS robots are plated with electroless nickel, rather than hard-anodized. The RIA-compliant hard stops limit the inner arm motion to -52° and +124°.

Figure 1-4. Quattro H Robot Inner Arm, Status Panel

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Chapter 1: Introduction

Figure 1-5. Quattro HS Robot Inner Arm, Status Panel

Ball Joints, Outer Arms

The inner arm motion is transmitted to the platform through the outer arms, which are connected between the inner arms and platform with precision ball joints. The outer arms are carbon fiber epoxied assemblies with identical ball joint sockets at each end. A bearing insert in each socket accepts the ball joint studs on the inner arms and platform, and allows for approximately ± 60° of relative motion. No ball joint lubrication is required.

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Chapter 1: Introduction

Figure 1-6. Quattro Ball Joint Assembly, Quattro HS Robot shown

Each pair of outer arms is held together with spring assemblies that pre-tension the ball joints. The outer arms can be installed and removed without tools.

Platforms

The platform converts the motion of the four Quattro motors into Cartesian motion and, for all but the fixed platform, Theta rotation of the robot tool.

The Adept Quattro robot currently supports four models of platforms, depending on the amount of Theta rotation and inertia needed.

NOTE:The four models of platforms require different robot parameters.

The suffix on the part numbers that follow indicates the finish or material of the platform. Refer to Materials and Finishes on page 19.

P31 Platform (P/N 09503-xxx)

The P31 platform has a rotation range of ±46.25°. The tool flange is machined into one of the pivot links. It does not rotate in relation to the pivot link, so there are no gears or belts involved. See Figure 1-7.

P30 Platform (P/N 09730-xxx)

The P30 platform is a fixed platform that provides no Theta rotation. The tool flange is machined into the one-piece platform. See Figure 1-8.

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Chapter 1: Introduction

P32 Platform (P/N 09732-xxx)

The P32 platform has a rotation range of ±92.5°. The tool flange is mounted on one of the pivot links. See Figure 1-9.

P34 Platform (P/N 09734-xxx)

The P34 platform has a rotation range of ±185°. The tool flange is mounted on one of the pivot links. See Figure 1-9.

Figure 1-7. P31 Platform, Hard-Anodized Version

NOTE:Adept logo, joint numbers, and axes will not be etched on the electroless nickel platforms.

Figure 1-8. P30 Platform, Electroless Nickel and Stainless Steel Versions

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Chapter 1: Introduction

Model Number

& Two Dots

Figure 1-9. P32 Platform, Hard-Anodized Version

NOTE:The only visible difference between the P32 and P34 platforms is the model number, and the two or four dots immediately below that number. Two dots designate a P32 platform.

Materials and Finishes

Platforms are available in:

Aluminum with hard-anodized finish

Aluminum with electroless nickel finish

Stainless steel

The following table shows which materials and finishes are compatible with which robots:

s650H s650HS s800H Part Number

Hard

Yes No Yes XXXXX-000

Anodized

Electroless

Yes Yes Yes XXXXX-100

Nickel

Stainless

Yes Yes No XXXXX-200

Steel

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Chapter 1: Introduction

Platform Clocking

Rotational platforms are constructed such that the clocking, or rotational alignment, of the platform relative to the robot base is critical. This is detailed in Clocking the Platform to the Base on page 37.

Platform Shipping

The platform and outer arms are removed.

The platform is shipped pre-assembled as a unit. You will need to connect the outer arms between the inner arms and the platform to reassemble the robot. The outer-arm assemblies are interchangeable.

Any end-effectors and their air lines and wiring are user-supplied.

Adept SmartController™

The SmartController motion controller is the foundation of Adept’s family of highperformance, distributed motion controllers. The SmartController is designed for use with:

Adept Quattro robots

Adept Cobra™ s600/s800 robots

Adept Viper™ robots

Adept Python™ linear modules

Adept MotionBlox-10™ servo-controller and amplifier

Adept sMI6™ (SmartMotion) interface modules

The contoller supports a conveyor tracking option, as well as other options. There are two models available: the SmartController CX, which uses the V+ operating system, and the SmartController EX, which uses the eV+ operating system. Both models offer scalability and support for IEEE 1394-based digital I/O and general motion expansion modules. The IEEE 1394 interface is the backbone of Adept SmartServo, Adept's distributed controls architecture supporting Adept products. The SmartControllers also include Fast Ethernet and DeviceNet.

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Chapter 1: Introduction

Figure 1-10. Adept SmartController EX and CX

Refer to the Adept SmartController User’s Guide for SmartController specifications.

1.2 Warnings, Cautions, and Notes in Manual

There are six levels of special alert notation used in Adept manuals. In descending order of importance, they are:

This indicates an imminently hazardous electrical situation which, if not avoided, will result in death or serious injury.

This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

This indicates a potentially hazardous electrical situation which, if not avoided, could result in injury or major damage to the equipment.

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NOTE:Notes provide supplementary information, emphasize a point or procedure, or give a tip for easier operation.

1.3 Safety Precautions

Chapter 1: Introduction

This indicates a potentially hazardous situation which, if not avoided, could result in injury or major damage to the equipment.

This indicates a situation which, if not avoided, could result in damage to the equipment.

DANGER:An Adept Quattro s650/s800 robot can cause serious injury or death, or damage to itself and other equipment, if the following safety precautions are not observed:

l All personnel who install, operate, teach, program, or maintain the system must read

this guide, read the Adept Robot Safety Guide, and complete a training course for their responsibilities in regard to the robot.

l All personnel who design the robot system must read this guide, read the Adept Robot

Safety Guide, and must comply with all local and national safety regulations for the

location in which the robot is installed.

l The robot system must not be used for purposes other than described in Intended Use of

the Robots on page 23. Contact Adept if you are not sure of the suitability for your application.

l The user is responsible for providing safety barriers around the robot to prevent anyone

from accidentally coming into contact with the robot when it is in motion.

l Power to the robot and its power supply must be locked out and tagged out before any

maintenance is performed.

1.4 What to Do in an Emergency

Press any E-Stop button (a red push-button on a yellow background/field) and then follow the internal procedures of your company or organization for an emergency situation. If a fire occurs, use CO2to extinguish the fire.

1.5 Additional Safety Information

Adept provides other sources for more safety information.

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Chapter 1: Introduction

The Manufacturer’s Declaration of Conformity (MDOC) lists all standards with which each robot complies. See Manufacturer’s Declaration on page 24.

The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also gives resources for more information on relevant standards. It ships with each robot manual, and is also available from the Adept Document Library. For details, see Adept Document Library on page 25.

1.6 Intended Use of the Robots

The Adept Quattro s650 robot is intended for use in parts assembly and material handling for payloads up to 6.0 kg (13.2 lb) for anodized and electroless nickel platforms, and payloads up to 3 kg (6.6 lb) for stainless steel platforms.

The Adept Quattro s800 robot is intended for use in parts assembly and material handling for payloads up to 4.0 kg (8.8 lb).

See Robot Specifications on page 120 for complete information on the robot specifications. Refer to the Adept Robot Safety Guide for details on the intended use of Adept robots.

1.7 Installation Overview

The system installation process is summarized in the following table. Also, refer to System Cable Diagram on page 71.

NOTE:For dual-robot installations, see the Adept Dual-Robot Configuration Procedure, which is available in the Adept Document Library.

Table 1-2. Installation Overview

Task to be Performed Reference Location

Mount the cable box (Quattro HS robot or Quattro H robot with IP-65 option).

Mount the robot to a level, stable mounting frame. Mounting the Robot Base on page

Attach the robot outer arms and platform. Attaching the Outer Arms and

Install the SmartController, Front Panel, Pendant (if purchased), and Adept ACE software.

Install the IEEE 1394 and XSYS cables between the robot and SmartController.

Cable Inlet Box on page 48 and Installing Cable Seal Kit on page

184.

32.

Platform on page 37.

Installing the SmartController Motion Controller on page 72.

Cable Connections from Robot to SmartController on page 75.

Create a 24 VDC cable and connect it between the SmartController and the user-supplied 24 VDC power supply.

Create a 24 VDC cable and connect it between the robot and the user-supplied 24 VDC power supply.

Create a 200-240 VAC cable and connect it between Connecting 200-240 VAC Power to

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Installing the SmartController Motion Controller on page 72.

Connecting 24 VDC Power to Robot on page 76.

Chapter 1: Introduction

Task to be Performed Reference Location

the robot and the facility AC power source. Robot on page 79.

Install user-supplied safety barriers in the workcell. Installing User-Supplied Safety

Equipment on page 84.

Connect digital I/O through the robot XIO connector. Using Digital I/O on Robot XIO

Connector on page 89.

Start the system, including system start-up and testing operation.

Install optional equipment, including end-effectors, user air and electrical lines, external equipment, etc.

1.8 Manufacturer’s Declaration

The Manufacturer’s Declaration of Incorporation and Conformity for Adept robot systems can be found on the Adept website, in the Download Center of the Support section.

http://www.adept.com/support/downloads/file-search

NOTE:The Download Center requires that you are logged in for access. If you are not logged in, you will be redirected to the Adept website Login page, and then automatically returned to the Download Center when you have completed the login process.

From the Download Types drop-down list, select Manufacturer Declarations.

From the Product drop-down list, select Adept Quattro Robots category.

Click Begin Search. The list of available documents is shown in the Search Results area, which opens at the bottom of the page. You may need to scroll down to see it.

Starting the System for the First Time on page 96.

End-Effectors on page 105.

Use the Description column to locate the document for the language you want, and then click the corresponding Download ID number to access the Download Details page.

On the Download Details page, click Download to open or save the file.

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1.9 How Can I Get Help?

Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting assistance with your Adept software and hardware. Additionally, you can access information sources on Adept’s corporate website:

http://www.adept.com

Related Manuals

This manual covers the installation, operation, and maintenance of an Adept Quattro robot system. There are additional manuals that cover programming the system, reconfiguring installed components, and adding optional components. See the following table. These manuals are available on the Adept software CD-ROM shipped with each system.

Manual Title Description

Adept Robot Safety Guide Contains safety information for Adept robots.

Chapter 1: Introduction

Table 1-3. Related Manuals

Adept SmartController User’s Guide

Adept ACE User’s Guide Describes the installation and use of Adept ACE.

Adept Dual-Robot Configuration Procedure

Adept T20 Pendant User's Guide

Adept T2 Pendant User's Guide

Contains complete information on the installation and operation of the Adept SmartController and the optional sDIO product.

Contains cable diagrams and configuration procedures for a dual-robot system.

Describes the use of the optional Adept manual control pendant.

Adept Document Library

The Adept Document Library (ADL) contains documentation for Adept products. You can access the ADL from the Adept website. Select:

Support > Document Library

from the Adept home page. To go directly to the Adept Document Library, type the following URL into your browser:

http://www.adept.com/Main/KE/DATA/adept_search.htm

To locate information on a specific topic, use the Document Library search engine on the ADL main page, or select one of the available menu options. To view a list of available product documentation, use the menu links located above the search field.

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Chapter 2: Robot Installation - H

2.1 Transport and Storage

This equipment must be shipped and stored in a temperature-controlled environment, within the range –25 to +55° C (-13 to 131° F). The recommended humidity range is 5 to 90 percent, non-condensing. It should be shipped and stored in the Adept-supplied crate, which is designed to prevent damage from normal shock and vibration. You should protect the crate from excessive shock and vibration.

Use a forklift, pallet jack, or similar device to transport and store the packaged equipment.

The robot must always be stored and shipped in an upright position in a clean, dry area that is free from condensation. Do not lay the crate on its side or any other non-upright position. This could damage the robot.

The Adept Quattro robot weighs 118 to 123 kg (260 to 271 lb) with no options installed.

2.2 Unpacking and Inspecting the Adept Equipment

Before unpacking, carefully inspect all shipping crates for evidence of damage during transit. If any damage is indicated, request that the carrier’s agent be present at the time the container is unpacked.

Before signing the carrier’s delivery sheet, compare the actual items received (not just the packing slip) with your equipment purchase order. Verify that all items are present and that the shipment is correct and free of visible damage.

If the items received do not match the packing slip, or are damaged, do not sign the receipt. Contact Adept as soon as possible (see How Can I Get Help? on page 25).

If the items received do not match your order, please contact Adept immediately.

Retain all containers and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate the equipment.

Unpacking

The Adept Quattro robot is shipped in a crate that holds the robot base, outer arms, platform, controller, miscellaneous hardware, and any accessories ordered. The crate will be combined wood and cardboard.

The top of the crate should be removed first.

Remove the bands holding the top to the rest of the crate. Refer to the following figure.

The outer arms will be above the robot base. These should be removed from the crate, followed by the cardboard and foam that support them.

NOTE:Outer arms for the Quattro s800 robot are packaged differently from the Quattro s650. Refer to Figure 2-2.

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Figure 2-1. Shipping Crate (s650H shown)

Figure 2-2. Outer Arms for the Quattro s800 (s800Hshown)

The robot base is shipped with the inner arms attached. The outer arms are shipped separate from the robot base, assembled in pairs. The platform is shipped fully assembled, but separate from the robot base and outer arms.

Under the robot base, the ancillary items will be attached to the crate bottom.

Lift off the cardboard sides.

Remove the lag bolts holding the robot base to the crate sides.

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2.3 Repacking for Relocation

If the robot or other equipment needs to be relocated, reverse the steps in the installation procedures in this chapter. Reuse all original packing containers and materials and follow all safety notes used for installation. Improper packaging for shipment will void your warranty.

CAUTION:The robot must always be shipped in an upright orientation.

2.4 Environmental and Facility Requirements

The Adept Quattro robot system installation must meet the operating environment requirements shown in the following table.

Table 2-1. Robot System Operating Environment Requirements

Ambient temperature 1 to 40° C (34 to 104° F)

Humidity 5 to 90%, non-condensing

Altitude up to 2000 m (6500 ft)

Pollution degree 2

Protection class: robot base IP-65 (with optional cable sealing kit)

Protection class: arms, platform IP-67

Note: For robot dimensions, see Technical Specifications on page 111.

Note: For power requirements, see Connecting 24 VDC Power to Robot on page 76 and

Connecting 200-240 VAC Power to Robot on page 79.

Note: The Adept SmartController must be installed inside a NEMA-1 rated enclosure. The controller must not come into contact with liquids.

2.5 Mounting Frame

The Adept Quattro robot is designed to be mounted above the work area suspended on a usersupplied frame. The frame must be adequately stiff to hold the robot rigidly in place while the robot platform moves within the workspace.

While Adept does not offer robot frames for purchase, and the frame design is the responsibility of the user, we provide here some general guidelines as a service to our users. Adept makes no representation or warranty with respect to these guidelines, or the rigidity and longevity of the structure designed and built by the user or for the user by a third party using these guidelines. In addition, when the robot is mounted on the structure based on these guidelines, Adept does not guarantee that the robot will perform to the specifications given in this product documentation, due to user’s frame or user’s production environmental factors.

As an example, a sample frame design is presented and discussed. For generalized application performance, frames built to the specifications of this sample should experience no

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* DIMENSIONS ARE IN MILLIMETERS

NLESS OTHERWISE SPECIFIED:

MATERIAL : 300 SERIES STAINLESS STEEL

MATERIAL SIZING:

150mm X 150mm X 6mm SQUARE STRUCTURAL TUBINGA. 120mm X 120mm X 10mm SQUARE STRUCTURAL TUBINGB. 250mm X 250mm X 15mm TRIANGULAR GUSSETC.

SEE DETAIL 1

20x

SEE DETAIL 2

SEE DETAIL 1

1800.0

2000.0

degradation in robot performance due to frame motions. Applications requiring higher than 6 kg * 10 g forces across the belt and/or 6 kg * 3 g along the belt may require a stiffer frame design.

Figure 2-3. Sample Quattro Mounting Frame

NOTE:More specifications for the sample frame are provided in Robot Mounting Frame, Quattro s650H Robot on page 124.

Any robot’s ability to settle to a fixed point in space is governed by the forces, masses, and accelerations of the robot. Since “every action has an equal and opposite reaction”, these forces are transmitted to the robot frame and cause the frame and base of the robot to move and possibly vibrate in space. As the robot system works to position the tool flange relative to the base of the robot, any frame or base motion will be “unobservable” to the robot system, and will be transmitted to the tool flange. This transmitted base motion will result in inertial movement of the tool flange mass, and will cause disturbance forces to be introduced into the robot control system. These disturbance forces cause “work” to be done by the robot servo control system which may result in longer settling times for robot operations.

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