Adept s650HS User Manual

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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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It is important to note that, even after the system reports the robot to be fully settled, the tool flange will still be moving by any amount of motion that the suspended base of the robot may be experiencing.

Frame Orientation

The sample robot frame design is stiffer in one direction than the other. This is to accommodate conveyor belt applications where the robot is moving with much more acceleration across a conveyor belt than along it. The conveyor should generally be aligned so that the belt travel is along the robot World Y-axis, and the mid-height frame members cross the belt at a 90° angle. The across-the-belt dimension of the frame should be minimized to get the best performance of the robot in that direction. While this frame design assumes a 1.8 m across-the-belt frame dimension, a 1.5 m dimension would offer increased stiffness and possibly increased robot performance at high accelerations and payloads. The mid-height horizontal members are important to the frame stiffness, and should be located as close to the belt as possible.

For applications requiring high accelerations along the direction of belt travel, consideration should be given to strengthening the frame in that direction.

Frame Construction

Typically, the frame is constructed of welded steel members. Hygiene-sensitive applications may call for stainless steel fabrication, with care taken to seal up all possible voids and grind smooth all weld joints. For other applications, it may be suitable to manufacture the frame of carbon steel and paint the resulting assembly. The frame design presented here is based on a stainless steel construction using 10 mm thick members. It may be reasonable to use a reduced thickness for carbon steel assemblies. Some customers may choose to use tubular members, or turn horizontal members at 45° angles to facilitate water runoff from the flat frame surfaces.

Robot-to-Frame Considerations

The Quattro has a moderately-complex mounting requirement due to the nature of the parallelarm kinematics and the need to minimize the robot size and mass. Arm Travel Volume (s650 shown) on page 118 shows the inner arm travel and how it may encroach on the robot mounting points. As a starting point, for a frame that is 2 meters in each direction, (allowing use of the full range of the Quattro s650 robots), you should attempt to attain a frame frequency of 25 Hz.

For specialized applications, such as heavy payloads and/or aggressive moves, you may want to attain a frame frequency of 40 Hz.

In general, a smaller frame will yield a higher frequency. If you aren’t going to use to entire work envelope, you can increase the frequency simply by using a smaller frame.

A lower frequency frame, more aggressive robot moves, and heavier payloads will all contribute to longer settling times.

Mounting

The robot mounts in four locations, as detailed in the drawings. The holes are tapped for an M16 x 2.0 bolt. The Adept Quattro robot may be mounted from the top or bottom of the frame. A crane or forklift should be used to position the robot. If lifted from above, the robot must be lifted by user-supplied eyebolts and slings.

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Figure 7-2 shows the mounting hole pattern for the Adept Quattro robot. Note the hole location and mounting pad tolerances for position and flatness.

Deviation from this flatness specification will, over time, cause a possible loss of robot calibration. If the frame does not meet this flatness specification, use shims to achieve it.

NOTE:Adept suggests welding the robot mounting tabs as a last step in the frame fabrication, using a flat surface as a datum surface during the tack welding operation.

Gussets

The triangular gussets are an integral part of the frame stiffness. The vibrational strength of a structural assembly is strongly governed by controlling the shear forces between members. The 250 mm gussets, shown in Figure 2-3, are nominally sufficient for transferring the load from the vertical members into the horizontal cross pieces. Preferably, gussets should be placed at the edges of the frame members to transfer the loading into the walls of the members, instead of the faces, and enable easier cleaning. Some frame designs may benefit from extending these gussets to 500 mm in the vertical direction, as the design intent of the gussets is mainly to secure the long vertical members from rotating out of position. For this reason, the gussets to the across-the-belt horizontal member should be at the bottom of the member, as shown in Figure 2-3, and as close to the vertical midplane of the frame as feasible (15 mm thickness is adequate for most situations).

2.6 Mounting the Robot Base

NOTE:All mounting hardware is user-supplied.

CAUTION:Remove all ancillary components (controller,

outer arms, platform, etc.) from the shipping crate before lifting the robot base.

Robot Orientation

Adept recommends mounting the Adept Quattro robot so that the Status Display Panel faces away from the conveyor belt. Although the work envelope of the robot is symmetrical, this orientation gives better access to the status display, status LED, and Brake-Release button. It also balances the arm loading for aggressive moves across the belt.

This orientation places the robot World Y-axis along the conveyor belt, and the X-axis across the belt.

Mounting Surfaces

Mounting surfaces for the robot mounting flanges must be within 0.75 mm of a flat plane. If the surfaces do not meet this tolerance, use shims to attain it.

CAUTION:Failure to mount the Quattro robot within

0.75mm of a flat plane will result in inconsistent robot motions.

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Mounting Options

Using the mounting frame design provided by Adept, there are several options for mounting the Adept Quattro robot:

Lower the robot into the frame from above, or Lift the robot into the frame from below.

Place the robot mounting pads on top of the frame mounting pads, or Place the robot mounting pads under the frame mounting pads.

Mounting hardware can be bolts threaded directly into the robot base mounting pads, or bolts that go through the robot base mounting pads into nuts.

CAUTION:Do not attempt to lift the robot from any points other than with eyebolts or slings as described here, or with a padded board, as described here.

Mounting Procedure from Above the Frame

The Adept Quattro robot has four mounting pads. Each pad has one M16 x 2.0 threaded through-hole. The robot can be mounted either on top of the frame pads, using the bottom surface of the robot base mounting pads, or to the bottom of the frame pads, using the top surface of the robot base mounting pads.

Mounting to Top of Frame Pads

This procedure uses two user-supplied M16 x 2.0 eyebolts and jam nuts.

Remove all lag bolts from the robot base mounting pads.

Screw the M16 eyebolts into opposing robot mounting pads, so that the robot will be balanced when lifted.

Lock each eyebolt with a jam nut.

Connect slings to the M16 eyebolts and take up any slack in the slings.

CAUTION:Do not attempt to lift the robot from any points other than the eyebolts. Failure to comply could result in the robot falling and causing either personnel injury or equipment damage.

Lift the robot and position it directly over the mounting frame.

Slowly lower the robot while aligning the M16 holes in the robot mounting pads with the holes in the frame mounting pads.

When the mounting pad surfaces are touching, start a bolt in each of the two unused mounting holes. Refer to Install Mounting Hardware on page 35.

Remove the slings and M16 eyebolts.

Follow the instructions in Install Mounting Hardware on page 35.

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Mounting to Bottom of Frame Pads

NOTE:Since eyebolts would be in the way of this mounting method, you will have to use slings or other means to lift the robot base. Nylon slings can be wrapped across the center of the robot base, away from the inner arms. See the following figure.

Remove all lag bolts from the mounting pads before lifting the robot base.

Wrap slings around the robot base. See the following figure for two methods.

NOTE: Make sure the slings do not touch the status panel or inner arms.

Figure 2-4. Location of Slings for Lifting Robot Base

Lift the robot and position it directly over the mounting frame.

Slowly lower the robot while rotating it slightly, so that the four mounting pads are lowered past the frame mounting pads without touching.

When the robot base mounting pads are below the lower surface of the frame mounting pads, rotate the robot base so that the M16 threaded holes in the robot base mounting pads align with the holes in the frame mounting pads.

Lift the robot base up, keeping the holes in the robot base pads and the frame pads aligned, until the top surfaces of the robot base pads are touching the bottom surface of the frame mounting pads.

Follow the instructions in Install Mounting Hardware on page 35.

Mounting Procedure from Below the Frame

The Adept Quattro robot has four mounting pads. Each pad has one M16 x 2.0 threaded hole. The robot can be mounted either on top of the frame pads, using the bottom surface of the

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robot base pads, or to the bottom of the frame pads, using the top surface of the robot base pads.

The Adept Quattro robot can be mounted from beneath the mounting frame using a forklift. Use a padded board as a support under the robot base. The robot base can be rotated by hand, once mounted on the lifting pad on a forklift, when needed for clearing obstacles.

Mounting to Bottom of Frame Pads

Remove all lag bolts from the mounting pads before lifting the robot base.

Lift the robot and position the robot directly under the mounting frame.

Slowly lift the robot and align the M16 holes in the robot mounting pads with the holes in the frame mounting pads.

Lift the robot until the top of the robot base mounting pads are touching the bottom of the frame mounting pads.

Follow the instructions in Install Mounting Hardware on page 35.

Mounting to Top of Frame Pads

Remove all lag bolts from the mounting pads before lifting the robot base.

Lift the robot so the mounting pads are directly under the mounting pads of the frame.

Slowly lift the robot while rotating it slightly, so that the four mounting pads are raised past the frame mounting pads without touching.

When the robot base mounting pads are above the top surface of the frame mounting pads, rotate the robot base back, so that the M16 threaded holes in the robot base mounting pads align with the holes in the frame mounting pads.

Slowly lower the robot base while aligning the M16 holes in the robot mounting pads with the holes in the frame mounting pads.

Continue lowering the robot base until the bottom surface of the robot base mounting pads are touching the top surface of the frame mounting pads.

Follow the instructions in Install Mounting Hardware on page 35.

Install Mounting Hardware

NOTE:When mounting the robot, note the following:

The base casting of the robot is aluminum and can be dented if bumped against a harder surface.

Verify that the robot is mounted squarely before tightening the mounting bolts.

All mounting hardware is user-supplied.

Place split lock, then flat washers on the bolts.

Bolts are M16 x 2.0 if threaded into the robot base mounting tabs.

Bolts are M12 or ½ in. if going through the robot base mounting tabs into nuts.

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NOTE:When M16 x 2.0 bolts are used, the bolt must engage at least 24 mm into the threads of the base mounting pad.

Insert the bolts through the holes in the frame mounting pads and into the threaded holes in the robot base mounting pads.

If using through-bolts, insert the bolts through the holes in both the mounting pads and through the threaded holes in the robot base mounting pads into nuts.

Tighten the mounting hardware to the specifications listed in the following table.

NOTE:Check the tightness of the mounting bolts one week after initial installation, and then recheck every 6 months. For periodic maintenance, see Periodic Maintenance Schedule on page 131.

Table 2-2. Mounting Bolt Torque Specifications

Standard Size Minimum Specification Torque

Threaded into base (aluminum):

Metric M16 x 2.0 ISO Property Class 5.8 98 N·m (74 ft-lb)

Using base mounting pad hole as through-hole:

Metric M12 ISO Property Class 9.8 100 N·m (75 ft-lb)

SAE ½ in. 100 N·m (75 ft-lb)

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Outer

Arms

Platform

(sp

rings not

shown)

Cable Cover

(IP-65 option)

Inner Arms

Motor

Cover

AIB

Mounting

Pads

Base

Ball Joints

(springs not

shown)

2.7 Attaching the Outer Arms and Platform

Figure 2-5. Major Robot Components, Top View

The Adept Quattro robot platform is attached to the inner arms by the outer arms.

NOTE:Except for attaching the outer arms and end-effector tooling, the platform is shipped fully assembled.

Clocking the Platform to the Base

The rotational alignment (clocking) of the platform to the base is critical to the correct operation of the Adept Quattro robot.

CAUTION:Incorrect clocking of the platform will result in incorrect robot performance.

On the hard-anodized and stainless steel platforms, the ends of the platform crosspieces (between each pair of ball studs) are labeled with numbers (1–4).

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In addition, +X and +Y World Coordinates are labeled on the platform near the flange. See Figure 2-6.

Electroless nickel platforms are not labeled. Refer to Figure 2-7.

When installing the platform, the numbers on the platform must match the numbers on the underside of the robot base.

Figure 2-6. Platform Orientation Labeling (P34 shown)

NOTE:The labeling on all anodized platforms is the same except for the part number.

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X+

Y+

ool Flange

Figure 2-7. Platform Orientation, P31 Platform

Attaching the Outer Arms

One pair of outer arms attaches between each inner arm and the platform. No tools are needed to install or remove the outer arms.

Each outer arm has a ball joint socket at each end.

The inner arms and the platform have corresponding pairs of ball studs.

Figure 2-8. Inner Arm Ball Studs

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WARNING:Pinch hazard. Ball joints are spring-loaded. Be careful not to pinch your fingers.

Outer arm pairs are shipped assembled. Each pair has two springs and two horseshoes at each end.

Figure 2-9. Ball Joint Assembly (Quattro HS shown)

CAUTION:Ensure that the bearing insert is in place in the end of each outer arm. If an insert has fallen out of the arm, press it back into place, ensuring that the insert is centered and bottomed-out in the ball joint socket.

NOTE:In the following steps, take care not to trap debris between the ball studs and their sockets.

NOTE: The procedure for attaching outer arms is the same for all platforms.

Attach one pair of outer arms to each inner arm.

As illustrated in the following figure, this is most easily achieved by pivoting the two arms away from each other lengthwise. This requires the least stretching of the spring to attach the ball joints.

Slip one ball joint socket over the corresponding ball stud.

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Swing the bottom end of the outer arm pair sideways as you slip the other ball joint socket over the corresponding ball stud.

CAUTION:Do not overstretch the outer arm springs. Separate the ball joint sockets only enough to fit them over the ball studs.

Figure 2-10. Installing Outer Arms

Attach one pair of outer arms to each of the four pairs of ball studs on the platform.

NOTE:Ensure that the numbers on the platform match the numbers on the underside of the robot base. This will place the platform tool flange closest to the Status Display Panel. See Clocking the Platform to the Base on page 37. The platform is installed flange-down.

Swing the bottom end of the outer arm pair to the right, as far as possible.

Slip the right ball joint socket over the right ball stud. (Move the platform as needed to do this.)

Move the platform and outer arm pair to the left as you slip the left ball joint socket over the corresponding ball stud.

Ensure that all spring hooks are fully-seated in the grooves of the horseshoes, as shown in the following figure:

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Figure 2-11. Horseshoe and Spring Assembly

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3.1 Transport and Storage

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

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

3.2 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.

Upon Unpacking

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 Quattro HS 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.

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NOTE:Outer arms for the Quattro s800HS robot are packaged differently from these illustrations. See Figure 3-2.

Figure 3-1. Quattro Shipping Crate (Quattro s650H shown)

Figure 3-2. View of crate with s800 Outer Arms (s800H shown)

The robot base is shipped with the inner arms attached. The outer arms are shipped 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.

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Lift off the cardboard sides.

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

Figure 3-3. L-Bracket Securing Robot to Shipping Crate

The robot base is held in place in the crate with L-brackets and machine bolts.

Place a protective pad over the AIB/eAIB to protect it from damage from tools during the removal of the L-brackets.

Remove the three hex-head wood screws (0.25 in.) from each bracket.

Retain the wood screws and washers for possible future relocation.

Remove the M16 bolt and lock and flat washers from each bracket.

Retain the M16 bolts and lock and flat washers for possible future relocation.

NOTE:These are not the M16 bolts used for mounting the robot.

3.3 Repacking for Relocation

If the robot or other equipment needs to be relocated, reverse the steps in the installation procedures that follow 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.

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

3.4 Environmental and Facility Requirements

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

Table 3-1. 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-66

Protection class: platform, arms IP-67

NOTE: For robot dimensions, see Top Dimensions, s650 and s800 Robots 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.

NOTE: For chemical cleaning information, refer to Chemical Compatibility on page 154.

3.5 Mounting Frame

The design of the robot mounting frame is the user’s responsibility.

The sample given for the s650H robot, while stiff enough for use with the Quattro HS robots, was not designed for USDA applications.

The thickness of the frame mounting tabs is critical, as is the flatness of those tabs. See Frame Mounting Tabs (following) and Mounting Surfaces on page 55.

The frame must be stiff enough to prevent excessive vibration.

You may want to design the frame so that the robot can be installed by lowering it from the top.

The Quattro HS 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 some general guidelines as a service to our users.

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Frame Mounting Tabs

To achieve the correct compression of the sealing gaskets, the mounting tabs on the frame must be 12.7 mm, +1.3, -0.7 mm thick (0.5 in., +0.05, -0.028 in.).

Because the junction of the robot base mounting pad and the frame mounting pad is sealed with a gasket, the frame mounting pads must be at least as big as the robot base mounting pads. If the frame pad does not cover the entire robot pad, the gasket will not seal properly.

The design of the Quattro HS robot mounting bolts and seals requires fairly tight tolerances for the robot mounting holes in the frame. These should be 17.25 ± 0.75 mm (0.68 ± 0.03 in.) in diameter.

Robot-to-Frame Considerations

The Quattro robot has a moderately-complex mounting requirement due to the nature of the parallel-arm kinematics and the need to minimize the robot size and mass. Arm Travel Volume (s650 shown) on page 118 shows the inner arm travel and how it may encroach on the robot mounting points. As a starting point, for a frame that is 2 meters in each direction, (allowing use of the full range of the Quattro s650 robots), you should attempt to attain a frame frequency of 25 Hz.

For specialized applications, such as heavy payloads and/or aggressive moves, you may want to attain a frame frequency of 40 Hz.

In general, a smaller frame will yield a higher frequency. If you aren’t going to use to entire work envelope, you can increase the frequency simply by using a smaller frame.

A lower frequency frame, more aggressive robot moves, and heavier payloads will all contribute to longer settling times.

Mounting

Mounting Hole Dimensions, Quattro HS Robots on page 113 shows the mounting hole pattern for the Quattro HS robot. Note the hole location and mounting pad tolerances for position and flatness.

Deviation from this flatness specification will, over time, cause a possible loss of robot calibration.

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NOTE:Adept suggests welding the robot mounting tabs as a last step in the frame fabrication, using a flat surface as a datum surface during the tack welding operation.

Gussets

3.6 Cable Inlet Box

Chapter 3: Robot Installation - HS

The cable inlet box (P/N 09564-000) must be mounted on the top of the robot during the robot installation process. This is best done before the robot is mounted on the frame.

Assembling Cable Inlet Box

The cables entering the cable inlet box are sealed with a Roxtec compression block kit.

Figure 3-4. Cable Inlet Box and Cover

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Components

Cable Inlet box

Cable Inlet box cover

Cable Inlet box-cover gasket

Cable Inlet box-AIB/eAIB gasket

Compression Block kit - Roxtec CF 8-8

NOTE:The Roxtec CF 8 consists of a frame and integrated compression unit (a wedge and bolt that compress the modules once they are assembled inside the CF frame). See Figure 3-10.

Chapter 3: Robot Installation - HS

Roxtec CF 8 frame

4 x 2-hole Roxtec modules

These are dense foam blocks surrounding pre-cut half-sleeves that can be peeled away to match the diameter of the cable to be sealed. The installation procedure follows.

Roxtec grease, used to assemble and seal the modules.

Tasks

4 x Screws, M4 x 40 (cable box-AIB/eAIB; one is used for the ground)

1 x Washer, ETL, SS M4 (for ground screw)

4 x Screws, M4 x 16 mm (for the back cover)

4 x Washer seals (for the back cover screws)

4 x Screws, M4 x 12 mm (for attaching the cable tray)

The following may be included as spares:

4 x Screws, M4 x 16 mm (for the cable tray)

4 x Washer seals (for the cable tray screws)

4 x Washers, ETL, SS M4 (for the cable tray)

Measure and mark cables to establish service length

Adapt Roxtec modules to fit cables

Install cables through cable inlet box (via Roxtec modules)

Attach cables to AIB/eAIB

Install AIB/eAIB cable inlet box

Attach cable inlet box back cover

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Procedure

1. Measure and mark all AIB/eAIB cables at 10 - 12 in. from the cable ends.

Chapter 3: Robot Installation - HS

This amount of slack is needed to make the cable connections to the AIB/eAIB before the cable inlet box is installed. See Figure 3-10.

Figure 3-5. Quattro HS Cable Inlet Box with Roxtec Frame

2. Adapt Roxtec modules to fit the cables that will be used. There should be a 0.1 to 1.0 mm gap between the halves of the modules for a proper seal. See the following figure.

Figure 3-6. Adapting a Module to the Cable Size, Checking the Gap

3. Grease the Roxtec modules, using Roxtec grease. See the following figure.

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Figure 3-7. Greasing a Roxtec Module

Grease the inside of the CF frame, where the modules will touch, using Roxtec grease.

Install each AIB/eAIB cable through its corresponding module, and insert the modules into the frame. See the following figure. Ensure that the terminated cable ends have 10 12 in. of slack. See Figure 3-10.

Figure 3-8. Installing Roxtec Modules into the Frame

When all of the modules are in place, tighten the compression unit to 8 - 12 N·m (6-9 ft-lbf). See the following two figures. There should be no visible gaps between the modules or around the cables.

Figure 3-9. Tightening the Compression Unit

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Figure 3-10. Cable Inlet Box with Cables

In the preceding figure, note the four holes around the Roxtec box. These are for attaching a cable tray. See Attaching the Cable Tray on page 64.

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Connecting the Cables

Place the cable inlet box-AIB/eAIB gasket around the AIB/eAIB connection panel.

Attach the ground lug to the AIB/eAIB. The ground lug is for the cable shield of the user-supplied 24 VDC cable. See the following figure.

Chapter 3: Robot Installation - HS

Figure 3-11. Cable Shield Ground Lug Attachment, AIB Shown

Hand-tighten all cables to the AIB/eAIB.

NOTE:All cables must be screwed into the AIB/eAIB.

The protective earth ground will be installed in the following section.

Installing the Cable Inlet Box

Install the cable inlet box on the top of the AIB/eAIB using three M4 x 40 bolts.

Ensure that the gasket is seated between the AIB/eAIB surface and the cable inlet box.

Do not yet use the hole labeled as a ground.

Apply Loctite 222 in these bolt holes, not on the bolts themselves.

Torque the bolts to 1.1 N·m (10 in-lb).

NOTE:The cable inlet box should be installed with the cables exiting away from the AIB/eAIB. The cable tray attachment was designed assuming the cables would exit away from the AIB/eAIB.

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Ground bolt and label

Figure 3-12. Cable Inlet Box, showing Ground Label

Install the M4 protective earth ground bolt, with toothed washer, through the cable inlet box into the AIB/eAIB. See the preceding figure.

Ensure that the protective earth ground wire lug is under the toothed washer.

This bolt does not need Loctite.

Torque the bolt to 1.1 N·m (10 in-lb).

Attach the cable inlet box back cover with four M4 x 16 bolts.

Ensure that the gasket is seated between the cover and the cable inlet box.

Put one washer seal under each bolt head.

Use Loctite 222 in these bolt holes, not on the bolts themselves.

Torque bolts to 1.1 N·m (10 in-lb).

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3.7 Mounting the Robot Base

CAUTION:Remove all ancillary components (controller, outer arms, platform, etc.) from the shipping crate before lifting the robot base.

Robot Orientation

Adept recommends mounting the Quattro HS robot so that the Status Display Panel faces away from the conveyor belt. Although the work envelope of the robot is symmetrical, this orientation gives better access to the status display, status LED, and Brake-Release button. It also balances the arm loading for aggressive moves across the belt.

This orientation places the robot World Y-axis along the conveyor belt, and the X-axis across the belt.

Because USDA requirements do not allow external sticker labels, the motor numbers of the electroless nickel platforms are not labeled on the platforms.

Mounting Surfaces

Mounting surfaces for the robot mounting tabs must be within 0.75 mm of a flat plane.

CAUTION:Failure to mount the Quattro robot within

0.75mm of a flat plane will result in inconsistent robot locations.

Because the junction of the robot base mounting pad and the frame mounting pad is sealed with a gasket, the frame mounting pads must be at least as big as the robot base mounting pads.

NOTE:If the frame pad does not cover the entire robot pad, the gasket will not seal properly.

Mounting Options

NOTE:The base casting of the robot is aluminum and can be dented if bumped against a harder surface.

NOTE: Because of USDA requirements, the mounting holes in the robot base mounting tabs are not through-holes. This eliminates the possibility of mounting the robot with the robot tabs on top of the frame tabs. This is different than the Quattro H robots.

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Slings

Depending on the mounting frame design used, there may be two options for mounting the Quattro HS robot:

Lower the robot into the frame from above

Lift the robot into the frame from below

CAUTION:Do not attempt to lift the robot from any points other than with slings as described here, or with a padded board, as described here.

The Quattro HS robot has four mounting pads. Each pad has one M16x2.0 threaded hole. The robot must be mounted to the bottom of the frame pads, using the top surface of the robot base mounting pads.

Mounting Procedure from Above the Frame

NOTE:Nylon slings can be wrapped across the center of the robot base, away from the inner arms. See the following figure.

Remove all wood screws, machine bolts, and brackets securing the robot to the crate before lifting the robot base.

Retain the removed hardware for future packing of the robot for relocation.

Wrap slings around the robot base. See the following figure for two methods.

NOTE:Make sure the slings do not touch the status panel or inner arms.

Figure 3-13. Location of Slings for Lifting Robot Base

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Sealing gasket

Robot Base

Raised Area (limits gasket compression)

M16 Hole

Insert a base-pad sealing-gasket into the groove machined in each robot base mounting pad. The gasket and its positioning are shown in the following figure.

Figure 3-14. Robot Base Pad Sealing Gasket, Top View

The area of the mounting pad surrounded by the groove serves as a spacer, to ensure that the sealing gasket is properly compressed.

Lift the robot and position it directly over the mounting frame.

Slowly lower the robot while rotating it slightly, so that the four mounting pads are lowered past the frame mounting pads without touching.

Lift the robot base up, keeping the holes in the robot base pads and the frame pads aligned, until the sealing gaskets are touching the bottom surfaces of the frame mounting pads.

Follow the instructions in Install Mounting Hardware on page 58.

Mounting Procedure from Below the Frame

The Quattro HS robot can be mounted from beneath the mounting frame using a forklift. Use a padded board as a support under the robot base. The robot base can be rotated by hand, once supported by the lifting pad on a forklift, when needed for clearing obstacles.

Remove all wood screws, machine bolts, and brackets securing the robot to the crate before lifting the robot base.

Retain the removed hardware for future packing of the robot for relocation.

Insert a base-pad sealing-gasket into the groove machined in each robot base mounting pad. The gasket and its positioning are shown in Figure 3-14.

Lift the robot and position it directly under the mounting frame.

Slowly lift the robot and align the M16 holes in the robot mounting pads with the holes in the frame mounting pads.

Lift the robot base up, keeping the holes in the robot base pads and the frame pads

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Mounting Bolt Detail

316 Stainless Steel

Mounting Bolt Spacer

(DIN 6921 standard)

Mounting Bolt M 16-2.0 X 40 mm lg.

Mounting Bolt Sealing Gasket

aligned, until the gaskets on the top surfaces of the robot base pads are touching the bottom surfaces of the frame mounting pads.

Follow the instructions in Install Mounting Hardware on page 58.

Install Mounting Hardware

To achieve the correct compression of the sealing gaskets, the mounting tabs on the frame must be 12.7 mm, +1.3, -0.7 mm (0.5 in., +0.05, -0.028 in.) thick.

If you choose to use a different frame pad thickness and provide your own mounting bolts, the bolts need to be M16-2.0, 316 stainless steel flange bolt (DIN 6921 standard). The threads must engage at least 24 mm (0.94 in.) of the robot base threads (HeliCoil), for sufficient support. The bolts must not bottom out, or the washer seals and gaskets will not be compressed enough to form a good seal.

When mounting the robot, note the following:

Verify that the robot is mounted squarely before tightening the mounting bolts.

Verify that the gaskets between the robot pads and the mounting frame are in their grooves in the pads, and completely covered by the mounting frame pads.

USDA requires that all exposed screws be sealed with a gasket, which must be compressed to specific standards. To achieve this, the Quattro HS robot mounting bolts use a spacer that fits inside a compressible sealing gasket. See the following figure.

Place a spacer, then a sealing gasket, on each bolt.

Figure 3-15. Robot Mounting Bolt, Seal, and Gasket

Insert the bolts through the holes in the frame mounting pads and into the threaded holes in the robot base mounting pads. See the following table for mounting bolt torque specifications.

Check the position of the gaskets between the robot base pads and the mounting frame.

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Outer

rms

Platform

(P31 shown)

Cable Inlet Box

Inner Arms

Motor

Cover

AIB

Mounting

Pads

Base

Ball Joints

and Spring

Assemblies

Status Display

Panel

The frame pads should completely cover the gaskets.

Tighten the bolts to 98 N·m (74 ft-lb).

NOTE:The robot base-mounting tabs have spring-lock HeliCoils in the M16 holes, so a lock washer is not needed on the M16 mounting bolts.

NOTE: Check the tightness of the mounting bolts one week after initial installation, and then recheck every 3 months. See Periodic Maintenance on page 154.

Table 3-2. Mounting Bolt Torque Specifications

Standard Size Minimum Specification Torque

Metric M16-2.0 x 40 mm ISO Property Class 5.8 98 N·m (74 ft-lb)

3.8 Attaching the Outer Arms and Platform

Figure 3-16. Major Robot Components, Top View

The Adept Quattro robot platform is attached to the inner arms by the outer arms.

NOTE:Except for attaching the outer arms and end-effector tooling, the platform is shipped fully assembled.

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X+

Y+

ool Flange

Clocking the Platform to the Base

The rotational alignment (clocking) of the platform to the base is critical to the correct operation of the robot.

CAUTION:Incorrect clocking of the platform will result in incorrect robot performance.

NOTE:There is no marking on the electroless nickel-plated platforms to indicate which pair of ball studs should be connected to which inner arm. Stainless steel platforms are labeled.

When the platform is installed correctly, the tool flange will be closest to the status display on the robot base.

NOTE: The tool flange face on the P30 platform is centered, so that platform can be installed in any orientation.

The bottom of the robot base has embossed numbers, 1 through 4, indicating the motor numbers. The corresponding numbers for the platform, as viewed from the top, are indicated in the following figure, where each number represents a pair of ball studs. When the platform numbers match the robot base numbers, the platform will be correctly aligned.

Figure 3-17. Platform Orientation (P31 shown), Top View

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Attaching the Outer Arms

One pair of outer arms attaches between each inner arm and the platform. No tools are needed.

Each outer arm has a ball joint socket at each end.

The inner arms and the platform have corresponding pairs of ball studs.

Figure 3-18. Inner Arm Ball Studs

WARNING:Pinch hazard. Ball joints are spring-loaded. Be careful not to pinch your fingers.

Outer arm pairs are shipped assembled. Each pair has two springs and two horseshoes at each end. See the following figure.

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Figure 3-19. Ball Joint Assembly

CAUTION:Ensure that the bearing insert is in place in the end of each outer arm. If an insert has fallen out of the arm, refer to Replacing a Ball Joint Insert on page 175 for instructions on reinserting it.

NOTE:This is a different procedure than for the Quattro H robots.

NOTE:In the following steps, take care not to trap debris between the ball studs and their sockets.

NOTE: The procedure for attaching outer arms is the same for all platforms.

Attach one pair of outer arms to each inner arm.

As illustrated in Figure 3-20, the outer arm assembly is most easily achieved by pivoting the two arms away from each other lengthwise. This requires the least stretching of the spring to attach the ball joints.

Slip one ball joint socket over the corresponding ball stud.

Swing the bottom end of the outer arm pair sideways as you slip the other ball joint socket over the corresponding ball stud.

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CAUTION:Do not overstretch the outer arm springs. Separate the ball joint sockets only enough to fit them over the ball studs.

Figure 3-20. Installing Ball Joints (Quattro H shown)

Attach one pair of outer arms to each of the four pairs of ball studs on the platform.

NOTE:Ensure that the platform is rotated so that the tool flange is closest to the Status Display Panel. See Clocking the Platform to the Base on page 60. The platform is installed flange-down.

Swing the bottom end of the outer arm pair to the right, as far as possible.

Slip the right ball joint socket over the right ball stud. (Move the platform as needed to do this.)

Move the platform and outer arm pair to the left as you slip the left ball joint socket over the corresponding ball stud.

Ensure that all spring hooks are fully-seated in the grooves of the horseshoes, as shown in the following figure:

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Figure 3-21. Horseshoe and Spring Assembly (Quattro H shown)

3.9 Attaching the Cable Tray

NOTE:The cable inlet box must be installed on the AIB/eAIB before the cable tray can be attached. Refer to Cable Inlet Box on page 48.

NOTE:Adept does not provide a cable tray or a cable-tray gasket.

To comply with USDA regulations, the cables from the cable inlet box must be contained in a tray until they are no longer over the robot work area. The cable inlet box provides four M4threaded holes for attaching a cable tray. Four M4 x 12 screws and toothed washers are provided, for attaching the user-provided cable tray.

The tray should match the holes in the cable inlet box, and be wide enough at the box to avoid touching the Roxtec assembly, and leave room for the cabling exiting the Roxtec assembly. See Figure 3-24.

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44.45 [1.75]

7.95

[0.313]

76.2

[3.00]

4x M4 x 0.7 - 6H 7.87

31]

170.82 [6.725]

140.00 [5.512]

77.52 [3.05]

Units are mm [in.]

oxtec

Frame

Exterior

Figure 3-22. Dimensions of Cable Tray Attachment to Cable Inlet Box

Attach the cable tray to the cable inlet box, with a gasket between the two.

Use M4 x 12 bolts with toothed washers.

These bolt heads do not have to be sealed, as they are contained by the cable tray.

These bolts do not need Loctite.

Torque the bolts to 1.1 N·m (10 in-lb).

Ensure that the cable tray is adequately supported at the end where the cables exit it.

An example of a three-sided gasket, which seals between the cable tray and the cable inlet box, is shown in the following figure:

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87.7 [3.45]

[0.313]

[0.63]

168.4 [6.63]

176.2 [6.94]

184.2 [7.25]

11.5 [0.45]

16.0 [0.63]

95.25 [3.75]

[0.125 ± 0.003]

4x7.4 [0.290 ] THRU

Units are mm [in.]

3.175 ± 0.076

[2.42]

[1.60]

[0.472]

[0.157]

Units are mm [in.]

Figure 3-23. Example Cable Tray Gasket

NOTE:This cable-tray gasket is available as an option from Adept as part number 09751-000.

Figure 3-24. Side View of Roxtec Cable Seal Frame

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The following apply to the example cable tray.

Material

Item 1 Aluminum 5052-H32

Item 2 Aluminum 6061-T6

Clean part thoroughly using the following process:

Soak part in strong alkaline bath followed by light chemical clean

Finish

Electroless nickel plate per MIL-C-2607E, Class 4, Grade A

0.025 -0.038 mm [0.001 - 0.0015 in.] thick, high phosphorus (10-13% by wt.)

RoHS-compliant process

While Adept does not supply a cable tray, the following sample design is provided:

Figure 3-25. Sample Cable Tray, Isometric View

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[4.00]

VIEW A-A

PEM STANOFFS PROTRUDE THIS SIDE

[4.15]

OF THIS FLANGE

(SHT. 2) FOR DETAIL

SEE FLAT PATTERN

FILL GAP

[3.75]

[7.25]

[31.75]

[3.75]

2.0°

[R1.00]

Units are mm [inches]

101.6

R25.4

95.3

806.5

105

95.3

184.2

Figure 3-26. Sample Cable Tray, Dimension Drawing 1

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4X PEM THROUGH HOLE STANDOFF

NUMBER SOS-M4-12 (OR EQUIV.)

ITEM 2

[3.000]

3.6 THIS CORNER ONLY

2X R635

[0.63]

95.3

16.0

[7.250]

[6.00]

7.9

[0.45]

[6.625]

PEM STANOFFS

FLUSH WITH THIS SIDE

[0.367]

4X 12.0

BEND UP 90

BEND UP 36

BEND DOWN 2.0

ITEM 1- FLAT PATTERN

805.5

[1.88]

[38.93]

[3.63]

[31.72]

[42.65]

96.8

[7.59]

[0.03]

989.3

84°

[11.29]

[3.86]

[7.55]

[0.50]

88.0°

[31.44]

25.7

(TO BEND LINE)

[1.07]

2X X 45°

(RELIEF CUT)

[R1.00]

6.35

[3.70]

(TO BEND LINE)

4.8 THRU

Units are mm [inches]

27.2

12.7

94.0

192.8

[0.25]

92.2

47.8

R25.4

[1.01]

[0.189]

[0.472]

9.2

[3.75]

[R0.14]

16.0

[38.95]

[31.75]

[0.31]

[0.63]

4.2

152.4

[R0.25]

168.3

11.4

76.2

1083.3

805.7

988.8

798.6

0.8

98.0

191.8

286.8

[3.81]

Chapter 3: Robot Installation - HS

Figure 3-27. Sample Cable Tray, Dimension Drawing 2

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Chapter 4: System Installation

GND

XSLV

SmartServo

RS-232

XPANEL

AC INPUT

(200-240 VAC 1F)

+24V

DC INPUT

(24 VDC)

XIO

Ethernet to PC

IEEE 1394 Cable Controller SmartServo (Port 1.1) to Robot AIB/eAIB SmartServo

Adept SmartController

Robot AIB/eAIB

User-Supplied 24 VDC Power Supply

User-Supplied 200-240 VAC, single-phase

Controller (XFP) to Front Panel (XFP)

Front Panel

XSYS/eAIB XSYS Cable from Controller (XSYS) to AIB/eAIB (XSLV/XSYSTEM)

24 VDC Power to Controller (XDC1)

24 VDC Power to Robot (+24 VDC Input)

Controller (XMCP) to Pendant

User-Supplied Desktop or Laptop PC r

unning the

Adept software environment

Terminator Installed

User-Supplied Ground Wire

STOP

Pendant

(optional)

SmartServo IEEE-1394

1 2 3 4

SF ES HD

SW1

1.1 1.2 2.1 2.2

1 2 3

XDIO

LANHPE

OFF

XSYS

CAMERA

Eth 10/100

XUSR

Device Net

XFP

RS-232/TERM

RS-232-1

XMCP

BELT ENCODER

SmartController CX

-+ -+

RS-422/485

XDC1 XDC2

24V 5A

*S/N 3562-XXXXX*

RS-232-2

4.1 System Cable Diagram

Figure 4-1. System Cable Diagram

See Installing 24 VDC Robot Cable on page 78 for additional information on system grounding.

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4.2 Cable Parts List

Part Description Part of

IEEE 1394 Cable, 4.5 M All systems

XSYS Cable (AIB), 4.5 M AIB

eAIB XSYS Cable (eAIB), 4.5 M eAIB

Chapter 4: System Installation

Table 4-1. Cable Parts List

eAIB XSLV Adapter Cable (eAIB), 250 mm

Front Panel Cable Front panel

T1/T2 Pendant Adapter Cable Optional T2 pendant

T20 Pendant Adapter Cable Optional T20 pendant

Power Cable Kit - contains 24 VDC

and AC power cables

XIO Breakout Cable, 12 inputs/ 8 outputs, 5 meter

Y Cable, for XSYS cable connections to dual robots - attaches at the controller for an eAIB system

AIB to eAIB upgrade

Available as option

Available as option— see XIO Breakout Cable on page 94

Available as option -see the Dual Robot

Configuration Guide.

4.3 Installing the SmartController Motion Controller

Refer to the Adept SmartController User’s Guide for complete information on installing the Adept SmartController. This list summarizes the main steps.

Mount the SmartController and front panel.

Connect the front panel to the SmartController.

Connect the pendant (if purchased) to the SmartController.

Connect user-supplied 24 VDC power to the controller.

Instructions for creating the 24 VDC cable, and power specification, are covered in the

Adept SmartController User’s Guide.

Install a user-supplied ground wire between the SmartController and ground.

4.4 Connecting User-Supplied PC to Robot

The Adept Quattro robots must be connected to a user-supplied PC for setup, control, and programming. The user loads the Adept ACE software onto the PC and connects it to the robot via an Ethernet cable.

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PC Requirements

The Adept ACE CD-ROM will display a ReadMe file when inserted in your PC. This contains hardware and software requirements for running Adept ACE software.

NOTE:The specifications are also listed in the ACE PackXpert Datasheet, available on the Adept corporate website.

4.5 Installing Adept ACE Software

You install Adept ACE from the Adept Software CD-ROM. Adept ACE needs Microsoft .NET Framework. The Adept ACE Setup Wizard scans your PC for .NET, and installs it automatically if it is not already installed.

Insert the CD-ROM into the CD-ROM drive of your PC. If Autoplay is enabled, the Adept Software CD-ROM menu is displayed. If Autoplay is disabled, you will need to manually start the CD-ROM.

NOTE:The online document that describes the installation process opens in the background when you select one of software installation steps below.

Especially if you are upgrading your Adept ACE software installation: from the Adept ACE software CD-ROM menu, click Read Important Information.

From the Adept Software CD-ROM menu, click Install the Adept ACE Software.

The Adept ACE Setup wizard opens. Follow the instructions as you step through the installation process.

When the install is complete, click Finish.

After closing the Adept ACE Setup wizard, click Exit on the CD-ROM menu and proceed to the Start-up Procedure.

NOTE:You will have to restart the PC after installing Adept ACE.

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4.6 Description of Connectors on Robot Interface Panel

Figure 4-2. Robot Interface Panel, AIB and eAIB

The following connections are the same for both the AIB and the eAIB:

24 VDC—for connecting user-supplied 24 VDC power to the robot. The mating connector is provided.

Ground Point—for connecting cable shield from user-supplied 24 VDC cable.

200-240 VAC—for connecting 200-240 VAC, single-phase, input power to the robot. The

mating connector is provided.

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SmartServo x2 (IEEE 1394) — for connecting the IEEE 1394 cable from the controller (SmartServo 1.1) to the robot. The other robot connector can be used to connect to a second robot or another 1394-based motion axis.

XIO (DB26, high density, female) — for user I/O signals for peripheral devices. This connector provides 8 outputs and 12 inputs. For connector pin allocations for inputs and outputs, see Using Digital I/O on Robot XIO Connector on page 43. That section also contains details on how to access these I/O signals via V+/eV+.

The following connections are different on the AIB and the eAIB:

XSYSTEM (eAIB only) — includes the functions of the XPANEL and XSLV on the AIB. This requires either the eAIB XSLV Adapter cable, to connect to the XSYS cable, or an eAIB XSYS cable, which replaces the XSYS cable. See Cable Connections from Robot to SmartController in the following section.

XPANEL (DB26, high density, male; AIB only) — used only with Cobra i-series robots, for connecting the front panel and MCP circuit.

XSLV (DB-9, female; AIB only) — for connecting the supplied XSYS cable from the controller XSYS connector.

XBELTIO (eAIB only) — adds two belt encoders, EXPIO at the back of the robot (which is not available on an AIB), and an RS-232 interface.

RS-232 (DB-9, male; AIB only) — used only with Cobra i-series robots, for connecting a system terminal.

Ethernet x2 (eAIB only) — these are not used with the SmartController CX, and are not currently used with the SmartController EX.

4.7 Cable Connections from Robot to SmartController

The following cables are shipped in the cable/accessories box.

Locate the IEEE 1394 cable (length 4.5 M)

For an AIB system, locate the XSYS cable (length 4.5 M).

For an eAIB system, locate the eAIB XSYS cable or eAIB XSLV Adapter cable, which can be used with an existing XSYS cable.

Install one end of the IEEE 1394 cable into the SmartServo port 1.1 connector on the SmartController, and the other end into a SmartServo connector on the AIB or eAIB interface panel. See Figure 3-1.

NOTE:The IEEE 1394 cable MUST be in either the 1.1 or 1.2 SmartServo port of the SmartController. Do NOT use the 2.1 or 2.2 ports.

AIB only:

Install the XSYS cable between the robot interface panel XSLV safety interlock connector and XSYS connector on the SmartController, and tighten the latching screws.

eAIB only:

For a new SmartController system with an eAIB, the system will be supplied with a 15 ft (4.5 m) cable with connectors for XSYS (DB9) on one end and XSYSTEM (DB44) on

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the other. Connect the XSYSTEM end to the eAIB, and the XSYS end to the SmartController.

For a field upgrade from an old AIB, if you already have the old XSYS (DB9-DB9) cable routed and all you want to do is adapt your new eAIB to plug into the old cable, use the eAIB XSLV Adapter cable. This is a 1 ft (250 mm) long adapter that essentially turns the XSYSTEM into the old XSLV connector. Connect the XSYSTEM end to the eAIB, and the XSLV end to the old XSYS cable.

Quattro HS Cables

Note that, for a USDA-Accepted robot, you must install a tray under the cables, starting at the AIB/eAIB on the robot, and continuing beyond the area in which food is processed. Any washdown dripping from the cables must be contained by this tray, to a location beyond the food-processing area.

4.8 Connecting 24 VDC Power to Robot

Specifications for 24 VDC Robot and Controller Power

Table 4-2. VDC User-Supplied Power Supply

User-Supplied Power Supply 24 VDC (± 10%), 150 W (6 A)

(21.6 V< Vin< 26.4 V)

Circuit Protection

Output must be < 300 W peak, or 8 Amp in-line fuse

Power Cabling 1.5 – 1.85 mm² (16-14 AWG)

Shield Termination Braided shield connected to ‘-’ terminal at

both ends of cable. See Figure 4-3.

User-supplied 24 VDC power supply must incorporate overload protection to limit peak power to less than 300 W, or an 8 A in-line fuse protection must be added to the 24 VDC power source. (In case of multiple robots on a common 24 VDC supply, each robot must be fused individually.)

NOTE:Fuse information is located on the AIB/eAIB electronics.

The requirements for the user-supplied power supply will vary depending on the configuration of the robot and connected devices. Adept recommends a 24 VDC, 6 A power supply to allow for startup current draw and load from connected user devices, such as solenoids and digital I/O loads. If multiple robots are to be sourced from a common 24 VDC power supply, increase the supply capacity by 3 A for each additional robot.

CAUTION:Make sure you select a 24 VDC power supply that meets the specifications in Table 4-2. Using an underrated supply can cause system problems and prevent your equipment from operating correctly. See the following table for recommended power supplies.

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Table 4-3. Recommended 24 VDC Power Supplies

Vendor Name Model Ratings

XP Power JPM160PS24 24 VDC, 6.7 A, 160 W

Mean Well SP-150-24 24 VDC, 6.3 A, 150 W

Astrodyne ASM150-24 24 VDC, 6.66 A, 150 W

Details for 24 VDC Mating Connector

The 24 VDC mating connector and two pins are supplied with each system. They are shipped in the cable/accessories box.

Table 4-4. 24 VDC Mating Connector Specs

Connector Details Connector receptacle, 2 position, type:

Molex Saber, 18 A, 2-Pin

Molex P/N 44441-2002

Digi-Key P/N WM18463-ND

Pin Details Molex connector crimp terminal,

female, 14-18 AWG

Molex P/N 43375-0001

Digi-Key P/N WM18493-ND

Recommended crimping tools: Molex P/N 63811-0400

Digi-Key P/N WM9907-ND

Procedure for Creating 24 VDC Cable

NOTE:The 24 VDC cable is not supplied with the system, but is available in the optional Power Cable kit. See Table 4-1.

Locate the connector and pins shown in the preceding table.

Use 14-16 AWG wire to create the 24 VDC cable. Select the wire length to safely reach from the user-supplied 24 VDC power supply to the robot base.

NOTE:A separate 24 VDC cable is required for the SmartController. That cable uses a different style of connector. See the Adept SmartController User’s Guide.

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–

24 V, 6 A

Frame Ground

24 V, 5 A

–

User-Supplied

Power Supply

24 VDC

Adept Quattro

s650/s800 Robot

User-Supplied Shielded Power Cable

Adept SmartController

User-Supplied Shielded Power Cable

Attach shield from user-supplied cab

le to side of controller using

star washer and M3 x 6 screw.

Attach shield from usersupplied cables to frame ground on power supply.

Attach shield from usersupplied cable to ground screw on robot interface panel.

–

GND

Crimp the pins onto the wires using the crimping tool.

Insert the pins into the connector. Confirm that the 24 VDC and ground wires are in the correct terminals in the plug.

Prepare the opposite end of the cable for connection to your user-supplied 24VDC power supply.

Installing 24 VDC Robot Cable

Connect one end of the shielded 24 VDC cable to the user-supplied 24 VDC power supply. See Figure 4-3.

The cable shield should be connected to frame ground on the power supply.

Do not turn on the 24 VDC power until instructed to do so inSystem Operation on page 85.

Plug the mating connector end of the 24 VDC cable into the 24 VDC connector on the interface panel on the top of the robot.

Connect the cable shield to the ground point on the interface panel.

Figure 4-3. User-Supplied 24 VDC Cable

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NOTE:Adept recommends that DC power be delivered over a shielded cable, with the shield connected to the return conductors at both ends of the cable.

4.9 Connecting 200-240 VAC Power to Robot

WARNING:Appropriately-sized branch circuit protection and lockout/tagout capability must be provided in accordance with the National Electrical Code and any local codes.

Ensure compliance with all local and national safety and electrical codes for the installation and operation of the robot system.

Specifications for AC Power

Table 4-5. Specifications for 200-240 VAC User-Supplied Power Supply

Auto-Ranging Nominal Voltage Ranges

200 to 240 V 180 V 264 V 50/60 Hz

Minimum Operating Voltage

Maximum Operating Voltage

Frequency/ Phasing

Recommended External Circuit Breaker, User-Supplied

10 Amps

1-phase

Specifications are established at nominal line voltage. Low line voltage can affect robot

performance.

NOTE:The Adept robot system is intended to be installed as a piece of equipment in a permanently-installed system.

NOTE: Adept products are designed for connection to symmetrically-earthed, threephase AC mains systems (with grounded neutral). Connections called out as singlephase can be wired Line-to-Neutral or Line-to-Line.

WARNING:Adept systems require an isolating transformer for connection to mains systems that are asymmetrical or use an isolated (impedant) neutral. Many parts of Europe use an impedant neutral.

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EENNL

F1 10 A

Adept Quattro

s650/s800 Robot

1Ø 200–240

VAC

User-Supplied AC Power Cable

Note: F1 is user-supplied, must be slow-blow.

1Ø 200–240

VAC

20 A

L = Line N = Neutr

E = Earth Ground

DANGER:AC power installation must be performed by a skilled and instructed person - see the Adept Robot

Safety Guide. During installation, unauthorized third

parties must be prevented, through the use of fail-safe lockout measures, from turning on power.

Facility Overvoltage Protection

The robot must be protected from excessive overvoltages and voltage spikes. If the country of installation requires a CE-certified installation or compliance with IEC1131-2, the following information may be helpful. IEC 1131-2 requires that the installation must ensure that CategoryII overvoltages (i.e., line spikes not directly due to lightning strikes) are not exceeded. Transient overvoltages at the point of connection to the power source shall be controlled not to exceed overvoltage CategoryII, i.e., not higher than the impulse voltage corresponding to the rated voltage for the basic insulation. The user-supplied equipment or transient suppressor shall be capable of absorbing the energy in the transient.

In the industrial environment, non-periodic overvoltage peaks may appear on mains power supply lines as a result of power interruptions to high-energy equipment (such as a blown fuse on one branch in a 3-phase system). This will cause high current pulses at relatively low voltage levels. Take the necessary steps to prevent damage to the robot system (for example, by interposing a transformer). See IEC 1131-4 for additional information.

AC Power Diagrams

Figure 4-4. Typical AC Power Installation with Single-Phase Supply

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EENL3L

F5 10 A

F4 10 A

Adept Quattro s650/s800 Robot 1Ø 200–240

VAC

User-Supplied AC Power Cable

Note: F4 and F5 are user-supplied, must be slow-blow.

3Ø 200–240 VAC

L = Line 1 N = Line 2 E = Ear

th Ground

200–240 VAC

Figure 4-5. Single-Phase Load across L1 and L2 of a Three-Phase Supply

Details for AC Mating Connector

The AC mating connector is supplied with each system. It is shipped in the Robot Accessory Kit. The plug is internally labeled for the AC power connections (L, E, N).

Table 4-6. AC Mating Connector Details

AC Connector details AC in-line power plug,

straight, female, screw terminal, 10 A, 250 VAC

Qualtek P/N 709-00/00

Digi-Key P/N Q217-ND

NOTE:The AC power cable is not supplied with the system. However, it is available in the optional Power Cable kit. See Table 4-1.

Procedure for Creating 200-240 VAC Cable

Locate the AC mating connector shown in Table 4-6.

Open the connector by unscrewing the screw on the shell and removing the cover.

Loosen the two screws on the cable clamp. See Figure 4-6.

Use 18 AWG wire to create the AC power cable.

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Select the wire length to safely reach from the user-supplied AC power source to the robot base.

Strip 18 to 24 mm insulation from each of the three wires.

Insert the wires into the connector through the removable bushing.

Connect each wire to the correct terminal screw and tighten the screw firmly.

Tighten the screws on the cable clamp.

Reinstall the cover and tighten the screw to secure the connector.

10.

Prepare the opposite end of the cable for connection to the facility AC power source.

Figure 4-6. AC Power Mating Connector

Installing AC Power Cable to Robot

Connect the AC power cable to your facility AC power source. See Figure 4-4 and Figure 4-5. Do not turn on AC power at this time.

Plug the AC connector into the AC power connector on the interface panel on the robot.

Secure the AC connector with the locking latch.

4.10 Grounding the Adept Quattro Robot System

Proper grounding is essential for safe and reliable robot operation.

NOTE:You must ground the robot to the frame for all installations.

Adept Quattro Robot Base

One of the base mounting pads has two small holes (in addition to the M16 mounting hole). One of these is an M8 hole, provided as a protective earth ground.

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Alignment Hole

Mounting Hole

Ground Hole

Robot

Figure 4-7. Base Mounting Pad with Ground Hole, Top View

Quattro HS Robot Base

Because of the need to seal the junction between the robot base and the frame, the protective earth ground connection for the HS robots has been moved from the base mounting pad to inside the AIB/eAIB cable inlet box, which is electrically connected to the robot base.

The ground screw is marked inside the cable inlet box with a label.

Robot-Mounted Equipment

DANGER:Failing to ground robot-mounted equipment or tooling that uses hazardous voltages could lead to injury or death of a person touching the end-effector when an electrical fault condition exists.

If hazardous voltages are present at any user-supplied robot-mounted equipment or tooling, you must install a ground connection for that equipment or tooling. Hazardous voltages can be considered anything in excess of 30 VAC (42.4 VAC peak) or 60VDC.

If there will be hazardous voltages present at the tool flange or end-effector, you must:

Adept Quattro H Robots

Connect the robot base protective earth ground.

Ground the end-effector to the robot base.

NOTE:A ground strap from the end-effector to the base mounting pad must include a service loop that allows full rotation and movement of the tool flange.

Adept Quattro HS Robots

Connect the robot cable inlet box protective earth ground.

Ground the end-effector to the robot cable inlet box ground screw.

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NOTE:A ground strap from the end-effector to the robot cable inlet box ground must include a service loop that allows full rotation and movement of the tool flange.

4.11 Installing User-Supplied Safety Equipment

You must install safety barriers to protect personnel from unintentional contact with the robot. Depending on the design of the workcell, you can use safety gates, light curtains, and emergency stop devices to create a safe environment. Read the Adept Robot Safety Guide for a discussion of safety issues.

Refer to the Adept SmartController User’s Guide for information on connecting safety equipment into the system through the XUSR connector on the SmartController. There is a detailed section on Emergency Stop Circuits and diagrams on recommended E-Stop configurations.

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5.1 Robot Status Display Panel

The robot Status Display panel is located on the robot base. The Status Display and LED blinking pattern indicate the status of the robot.

Figure 5-1. Robot Status Display Panels

NOTE:The status codes and LED status indications are the same for both the Quattro H and Quattro HS robots.

Table 5-1. Robot Status LED Definition

LED Status

2-Digit Status

Panel Display

Description

Off No display 24 VDC not present

Off OK High Power Disabled

Amber, Solid ON High Power Enabled

Amber, Solid Fault Code(s) Fault, see Status Display

Amber, Slow Blink OK or Fault Code(s) Selected Configuration Node

Amber, Fast Blink Fault Code(s) Fault, see Status Display

See Status Panel Fault Codes on page 86.

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5.2 Status Panel Fault Codes

The Status Display, shown in Figure 5-1, displays alpha-numeric codes that indicate the operating status of the robot, including fault codes. The following table gives definitions of the fault codes. These codes provide details for quickly isolating problems during troubleshooting.

The displayed fault code will continue to be displayed even after the fault is corrected or additional faults are recorded. All displayed faults are cleared from the display, and reset to a no-fault condition, upon successfully enabling high power to the robot, or power cycling the 24 V supply to the robot.

Code Meaning Code Meaning

OK No Fault H# High Temp Encoder (Joint #)

ON High Power ON Status hV High Voltage Bus Fault

MA Manual Mode I# Initialization Stage (Step #)

24 24 V Supply Fault M# Motor Stalled (Joint #)

Table 5-2. Status Panel Codes

A# Amp Fault (Joint #) NV Non-Volatile Memory

AC AC Power Fault P# Power System Fault (Code #)

B# IOBlox Fault (Address #) PR Processor Overloaded

D# Duty Cycle Exceeded (Joint #) RC RSC Fault

E# Encoder Fault (Joint #) S# Safety System Fault (Code #)

ES E-Stop SE E-Stop Delay Fault

F# External Sensor Stop SW Watchdog Timeout

FM Firmware Mismatch T# Safety System Fault

(Code 10 + #)

FW 1394 Fault TR Teach Restrict Fault

h# High Temp Amp (Joint #) V# Hard Envelope Error (Joint #)

NOTE:All joint numbers correspond to the numbers on the under-side of the robot base.

For more information on status codes, go to the Adept Document Library on the Adept website, and in the Procedures, FAQs, and Troubleshooting section, look for the Adept Status Code

Summary document.

5.3 Using the Brake-Release Button

Brakes

The robot has a braking system which decelerates the robot in an emergency condition, such as when the emergency stop circuit is open or a robot joint passes its softstop.

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Auto Mode

Manual Mode

The standard braking system does not prevent you from moving the robot manually, once the robot has stopped (and high power has been disabled).

In addition, the motors have electromechanical brakes. The brakes are released when high power is enabled. When high power is disabled, the brakes engage and hold the position of the robot fixed.

Brake-Release Button

Under some circumstances, you may want to manually position the platform without enabling high power. For such instances, a Brake-Release button is located on the Status Panel (see Robot Status Display Panel on page 85). When system power is ON, pressing this button releases the brakes, which allows movement of the arms and platform.

If this button is pressed while high power is ON, high power automatically shuts down.

NOTE:24 Volt robot power must be ON to release the brakes.

CAUTION:When the Brake-Release button is pressed,

the end-effector platform may drop to the bottom of its travel. To prevent possible damage to the equipment, make sure that the platform is supported when releasing the brake and verify that the end-effector or other installed tooling is clear of all obstructions.

5.4 Front Panel

XFP cable

Connects to the XFP connector on the SmartController.

System 5 V Power-On LED

Figure 5-2. Front Panel

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Indicates whether or not power is connected to the robot.

Manual/Automatic Mode Switch

Switches between Manual and Automatic mode. In Automatic mode, executing programs control the robot, and the robot can run at full speed. In Manual mode, the system limits robot speed and torque so that an operator can safely work in the cell. Manual mode initiates software restrictions on robot speed, commanding no more than 250 mm/sec.

High Power On/Off Switch and Lamp

Controls high power, which is the flow of current to the robot motors. Enabling high power is a two-step process. An “Enable Power” request must be sent from the usersupplied PC, an executing program, or the optional pendant. Once this request has been made and the High Power On/Off lamp/button is blinking, the operator must press and release this button, and high power will be enabled.

NOTE:The use of the blinking High Power button can be configured (or eliminated) in software. Your system may not require this step.

NOTE:If enabled, the Front Panel button must be pressed while blinking (default time-out is 10 seconds). If the button stops blinking, you must enable power again.

Emergency Stop Switch

The E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safety requirements. Pressing this button turns off high power to the robot motors.

NOTE:The Front Panel must be installed to be able to Enable Power to the robot. To operate without a Front Panel, the user must supply the equivalent circuits.

5.5 Connecting Digital I/O to the System

You can connect digital I/O to the system in several different ways. See the following table and figure.

Table 5-3. Digital I/O Connection Options

Product I/O Capacity For more details

XIO Connector on Robot

XDIO Connector on SmartController

Optional sDIO Module, connects to controller

12 inputs 8 outputs

32 inputs, 32 outputs per module; up to four sDIO per system

see Using Digital I/O on Robot XIO Connector on page 89

see the Adept SmartController

User’s Guide

see the Adept SmartController

User’s Guide

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IEEE-1394

SC-DIO

LINK

*S/N 3563-XXXXX*

24V 0.5A

- + - +

1.1 1.2 XDC1 XDC2

GND

XSLV

SmartServo

RS-232

XPANEL

AC INPUT

(200-240 VAC 1Φ)

+24V DC INPUT (24 VDC)

XIO

Optional sDIO #1

SmartController

Quattro s650H Robot

XIO Connector 12 Input signals: 1097 to 1105 8 Output signals: 0097 to 0104

XDIO Connector 12 Input signals:

1001 to 1012

8 Output signals: 0001 to 0008

sDIO #1 32 Input signals: 1033 to 1064 32 Output signals: 0033 to 0064

SmartServo IEEE-1394

1 2 3 4

SF ES HD

SW1

1.1 1.2 2.1 2.2

1 2 3

XDIO

LANHPE

OFF

XSYS

CAMERA

Eth 10/100

XUSR

Device Net

XFP

RS-232/TERM

RS-232-1

XMCP

BELT ENCODER

SmartController CX

-+ -+

RS-422/485

XDC1XDC2

24V 5A

*S/N 3562-XXXXX*

RS-232-2

5.6 Using Digital I/O on Robot XIO Connector

Figure 5-3. Connecting Digital I/O to the System (s650H witth AIB shown)

Table 5-4. Default Digital I/O Signal Configuration, Single Robot System

Location Type Signal Range

Controller XDIO connector Inputs 1001 - 1012

Outputs 0001 - 0008

sDIO Module Inputs 1033 - 1064

Outputs 0033 - 0064

sDIO Module 2 Inputs 1065 - 1096

Outputs 0065 - 0096

Robot 1 XIO connector Inputs 1097 - 1108

Outputs 0097 - 0104

For Dual Robot systems, see the Adept Dual-Robot Configuration Procedure.

The XIO connector on the robot interface panel offers access to digital I/O, 12 inputs and 8 outputs. These signals can be used by V+/eV+ to perform various functions in the workcell.

See the following table for the XIO signal designations.

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Pin 1

Pin 9

Pin 10

Pin 18

Pin 26

Pin 19

12 Inputs, signals 1097 to 1108

8 Outputs, signals 0097 to 0104

Table 5-5. XIO Signal Designations

Pin No. Designation

Signal Bank

V+/eV+ Signal Number

1 GND

2 24 VDC

3 Common 1 1

4 Input 1.1 1 1097

5 Input 2.1 1 1098

6 Input 3.1 1 1099

7 Input 4.1 1 1100

8 Input 5.1 1 1101

9 Input 6.1 1 1102

10 GND

11 24 VDC

12 Common 2 2

13 Input 1.2 2 1103

Pin Locations

14 Input 2.2 2 1104

15 Input 3.2 2 1105

16 Input 4.2 2 1106

17 Input 5.2 2 1107

18 Input 6.2 2 1108

19 Output 1 0097

20 Output 2 0098

21 Output 3 0099

22 Output 4 0100

23 Output 5 0101

24 Output 6 0102

25 Output 7 0103

26 Output 8 0104

XIO 26-pin female connector on Robot Interface Panel

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Optional I/O Products

These optional products are also available for use with digital I/O:

XIO Breakout Cable, 5 meters long, with flying leads on user’s end. See XIO Breakout Cable on page 94 for information. This cable is not compatible with the XIO Termination Block.

XIO Termination Block, with terminals for user wiring, plus input and output status LEDs. Connects to the XIO connector with 6-foot cable. See the Adept XIO Termination

Block Installation Guide for details.

XIO Input Signals

The 12 input channels are arranged in two banks of 6. Each bank is electrically isolated from the other bank and is optically isolated from the robot’s ground. The 6 inputs within each bank share a common source/sink line.

The inputs are accessed through direct connection to the XIO connector (see Table 5-5. ), or through the optional XIO Termination Block. See the documentation supplied with the Termination Block for details.

The XIO inputs cannot be used for REACTI programming, high-speed interrupts, or vision triggers. See the eV+ Language User’s Guide for information on digital I/O programming.

XIO Input Specifications

Operational voltage range 0 to 30 VDC

OFF state voltage range 0 to 3 VDC

ON state voltage range 10 to 30 VDC

Typical threshold voltage Vin= 8 VDC

Operational current range 0 to 7.5 mA

OFF state current range 0 to 0.5 mA

ON state current range 2.5 to 7.5 mA

Typical threshold current 2.0 mA

Impedance (Vin/Iin) 3.9 KΩ minimum

Current at Vin= +24 VDC Iin≤ 6 mA

Turn-on response time (hardware)

Software scan rate/response time

Table 5-6. XIO Input Specifications

5 µsec maximum

16 ms scan cycle/ 32 ms max response time

Turn-off response time (hardware)

Software scan rate/response time

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5 µsec maximum

16 ms scan cycle/ 32 ms max response time

NOTE:The input current specifications are provided for reference. Voltage sources

Adept-Supplied Equipment

User-Supplied Equipment

Signal 1097

Part Present Sensor

Signal 1098

Feeder Empty Sensor

Signal 1099

Part Jammed Sensor

Signal 1100

Sealant Ready Sensor

Signal 1101

Signal 1102

+24V

GND

Bank 1

Common

Bank 2

Common

Signal 1103

Signal 1104

Signal 1105

Signal 1106

Signal 1107

Signal 1108

GND

+24V

Wiring Terminal Block

Typical User Input Signals

Note: all Input signals can be used for either sinking or sourcing configurations.

Bank 1 configured for

Sinking (NPN) Inputs

Bank 2 configured for

Sourcing (PNP) Inputs

Input Bank 2 Input Bank 1

XIO Connector – 26-Pin Female D-Sub

(equivalent circuit)

are typically used to drive the inputs.

Typical Input Wiring Example

Chapter 5: System Operation

XIO Output Signals

The eight digital outputs share a common, high side (sourcing) driver IC. The driver is designed to supply any kind of load with one side connected to ground. It is designed for a range of user-provided voltages, from 10 to 24 VDC, and each channel is capable of up to 0.7

Figure 5-4. Typical User Wiring for XIO Input Signals

NOTE:The OFF state current range exceeds the leakage current of XIO outputs. This guarantees that the inputs will not be turned on by the leakage current from the outputs. This is useful in situations where the outputs are looped-back to the inputs for monitoring purposes.

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A of current. This driver has overtemperature protection, current limiting, and shorted-load protection. In the event of an output short or other overcurrent situation, the affected output of the driver IC turns off and back on automatically to reduce the temperature of the IC. The driver draws power from the primary 24 VDC input to the robot through a self-resetting polyfuse.

The outputs are accessed through a direct connection to the XIO connector (see Table 5-5), or through the optional XIO Termination Block. See the documentation supplied with the Termination Block for details.

XIO Output Specifications

Table 5-7. XIO Output Circuit Specifications

Parameter Value

Power supply voltage range See Chapter 4.

Operational current range, per channel

Total Current Limitation, all channels on

ON-state resistance (I

= 0.5 A) Ron≤ 0.32 Ω @ 85° C

out

Output leakage current I

≤ 700 mA

out

≤ 1.0 A @ 40° C ambient

total

≤ 1.5 A @ 25° C ambient

total

≤ 25 µA

out

Turn-on response time 125 µsec max., 80 µsec typical

(hardware only)

Turn-off response time 60 µsec. max., 28 µsec typical

(hardware only)

Output voltage at inductive load turnoff (I Load = 1 mH)

DC short circuit current limit 0.7 A ≤ I

Peak short circuit current I

out

= 0.5 A,

(+V - 65) ≤V

LIM

≤ 4 A

ovpk

demag

≤ 2.5 A

≤ (+V - 45)

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Adept-Supplied Equipment

User-Supplied Equipment

Outputs 1-8

Typical User Loads

XIO Connector – 26-Pin Female D-Sub

+24 VDC

Signal 0097

Signal 0098

Signal 0099

Signal 0100

Signal 0101

Signal 0102

Signal 0103

Signal 0104

GND

Load

Customer AC Power Supply

Load

(equivalent circuit)

Wiring Terminal Block

Typical Output Wiring Example

Figure 5-5. Typical User Wiring for XIO Output Signals

XIO Breakout Cable

The XIO Breakout cable is available as an option—see the following figure. This cable connects to the XIO connector on the AIB/eAIB, and provides flying leads on the user’s end, for connecting input and output signals in the workcell. The cable length is 5 M (16.4 ft).

See the following table for the cable wire chart.

NOTE:This cable is not compatible with the XIO Termination Block.

Figure 5-6. Optional XIO Breakout Cable

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Pin 9

Pin 1

Pin 18

Pin 10

Pin 19

Pin 26

Table 5-8. XIO Breakout Cable Wire Chart

Signal

Pin No.

Designation Wire Color Pin Locations

1 GND White

2 24 VDC White/Black

3 Common 1 Red

4 Input 1.1 Red/Black

5 Input 2.1 Yellow

6 Input 3.1 Yellow/Black

7 Input 4.1 Green

8 Input 5.1 Green/Black

9 Input 6.1 Blue

10 GND Blue/White

11 24 VDC Brown

12 Common 2 Brown/White

13 Input 1.2 Orange

14 Input 2.2 Orange/Black

15 Input 3.2 Grey

16 Input 4.2 Grey/Black

17 Input 5.2 Violet

18 Input 6.2 Violet/White

19 Output 1 Pink

20 Output 2 Pink/Black

21 Output 3 Light Blue

22 Output 4 Light Blue/Black

23 Output 5 Light Green

24 Output 6 Light Green/Black

25 Output 7 White/Red

26 Output 8 White/Blue

Shell Shield

26-pin male connector on XIO Breakout Cable

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Chapter 5: System Operation

5.7 Starting the System for the First Time

Follow the steps in this section to safely bring up your robot system. The tasks include:

Verifying installation, to confirm that all tasks have been performed correctly

Starting up the system by turning on power for the first time

Verifying that all E-Stops in the system function correctly

Moving the robot with the pendant (if purchased), to confirm that each joint moves correctly

Verifying Installation

Verifying that the system is correctly installed and that all safety equipment is working correctly is an important process. Before using the robot, perform the following checks to ensure that the robot and controller have been properly installed.

DANGER:After installing the robot, you must test it before you use it for the first time. Failure to do this could cause death, serious injury, or equipment damage.

Mechanical Checks

Verify that the robot is mounted level and that all fasteners are properly installed and tightened.

Verify that any platform tooling is properly installed.

Verify that the platform is clocked.

Verify that all peripheral equipment is properly installed such that it is safe to turn on power to the robot system.

System Cable Checks

Verify the following connections:

Front panel connected to the SmartController

Optional pendant connected to the SmartController, via the adapter cable, or a loopback dongle installed

User-supplied 24 VDC power connected to the SmartController

User-supplied ground wire installed between the SmartController and ground

One end of the IEEE 1394 cable installed into SmartServo port 1.1 or 1.2 on the SmartController, and the other end installed into a SmartServo port on the robot interface panel

XSYS cable between the XSYS connector on the SmartController and either the robot interface panel XSLV connector (AIB) or eAIB XSLV Adapter cable and XSYSTEM

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Chapter 5: System Operation

connector (eAIB), with the latching screws tightened.

eAIB XSYS (eAIB) cable between the robot interface panel XSYSTEM connector and XSYS connector on the SmartController, and the latching screws tightened.

See Cable Connections from Robot to SmartController on page 75

User-supplied 24 VDC power connected to the robot 24 VDC connector

User-supplied 200-240 VAC power connected to the robot 200-240 VAC connector

User-Supplied Safety Equipment Checks

Verify that all user-supplied safety equipment and E-Stop circuits are installed correctly.

Turning on Power and Starting Adept ACE

After the system installation has been verified, you are ready to turn on AC and DC power to the system and start up Adept ACE.

Turn on the 200-240 VAC power. See Connecting 200-240 VAC Power to Robot on page

79.

WARNING:Make sure personnel are skilled and instructed—refer to the Adept Robot Safety Guide.

Turn on the 24 VDC power to the robot. See Connecting 24 VDC Power to Robot on page 76. The Status Panel displays OK. The Robot Status LED will be off.

Verify the Auto/Manual switch on the Front Panel is set to Auto Mode.

Turn on the user-supplied PC and start Adept ACE.

Double-click the Adept ACE icon on your Windows desktop,

From the Windows Start menu bar, select:

Start > Programs > Adept Technology > Adept ACE > Adept ACE.

On the Adept ACE Getting Started screen:

Select New SmartController Workspace.

Select Create New Workspace for Selected Controller to make the connection to the controller.

Select the IP address of the controller you wish to connect to, or manually type in the IP address.

Click OK. You will see the message “Working, please wait”.

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Chapter 5: System Operation

Enabling High Power

After you have started the Adept ACE software and connected to the controller, enable high power to the robot motors:

From the Adept ACE main menu, click the Enable High Power icon:

If the High Power button on the Front Panel is blinking, press and release it.

The Front Panel is shown in Figure 5.4. (If the button stops blinking, you must Enable Power again.)

NOTE:The use of the blinking High Power button can be configured (or eliminated) in software. Your system may not require this step.

This step turns on high power to the robot motors and calibrates the robot.

The Robot Status LED glows amber.

The code on the Robot Diagnostic Panel displays ON (see Figure 5-1).

Verifying E-Stop Functions

Verify that all E-Stop devices are functional (pendant, Front Panel, and user-supplied). Test each mushroom button, safety gate, light curtain, etc., by enabling high power and then opening the safety device. The High Power push button/light on the Front Panel should go out for each.

Verify Robot Motions

Use the pendant (if purchased) to verify that the robot moves correctly. Refer to the Adept T2

Pendant User’s Guide or Adept T20 Pendant User’s Guide for complete instructions on using the

pendant.

The Adept Quattro robot is a parallel-arm robot and, as such, individual joint motions are not allowed. If you attempt to move a joint in Joint mode, you will get an error message:

JOINT <n> OUT OF RANGE

where <n> is the joint that you attempted to move.

NOTE:All joint numbers correspond to the number embossed on the bottom of the base.

If one joint must be moved separately, release the brakes (while supporting the platform) and move the joint manually.

If the optional pendant is not installed in the system, you can move the robot using the

Robot Jog Control in the Adept ACE software. For details, see the Adept ACE User’s Guide.

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5.8 Quattro Motions

Straight-line Motion

Joint-interpolated motion is not possible with the Adept Quattro robot, because the positions of all the joints must always be coordinated in order to maintain the connections to the moving platform. Therefore, for the Adept Quattro robot, the V+/eV+ system automatically performs a straight-line motion when a joint-interpolated motion instruction is encountered.

Containment Obstacles

The work space of the robot is defined by an inclusion obstacle. This is done because, unlike other robots, joint limits are not meaningful in defining the work space. The V+/eV+ software defines a cone-like shape as a containment obstacle. This is actually the work envelope. See Figure 7-4 and Figure 7-5. Other obstacles can be defined within this obstacle.

Tool Flange Rotation Extremes

Single and Multiple Program Instructions

Chapter 5: System Operation

The program instructions SINGLE and MULTIPLE have been enabled for the Adept Quattro robot with V+ version 17.1 edit C (and later) and eV+. In addition to these instructions, the OVERLAP and NOOVERLAP instructions have also been enabled, and are discussed in this section.

These instructions apply with:

Adept Quattro robots

P34 platform (PN 09068-x00)

V+ system version 17.1 edit C (and later)

eV+ (all)

The diagrams that follow represent an overhead view of the tool flange on the P34 platform (i.e., as seen from the robot base casting). The shaded area is the overlap zone of roll values.

The example V+ code that follows includes BREAK instructions only to cause the motions to go all the way to the destinations, that is, to eliminate any subtleties that might occur during continuous-path motions.

The V+/eV+ real-valued function ROBOT.OPR (2,1) returns the maximum tool-flange rotation angle available with the current platform (e.g., 185 in the case of the P34 platform).

SINGLE Program Instruction

In Figure 5-7, the arrow indicates the counter-clockwise rotation that the tool flange will take as the robot moves from location A to location B with the V+/eV+ program instruction SINGLE asserted. That is, when the following code is executed:

MOV E A BRE AK SIN GLE MOV E B

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Chapter 5: System Operation

roll = -90 roll = +90

(A)

(B)

-180 +180

(B) Roll = 2 degrees

(A) Roll = -90 degrees

The roll value of location A is -90 degrees and the roll value for location B is 2 degrees. One way to think of this motion is that the tool flange will not “cross over” the zero-roll position as the robot moves from location A to location B when SINGLE is asserted. This type of motion can prevent the end-effector air lines from being stretched, and ensures that a part is always accessed from the same direction. This motion can also be used to position the tool flange in preparation for the next motion.

NOTE:When SINGLE is asserted, the tool flange will always rotate in the direction that does not cross the zero-roll position, even if that means a very large rotation.

MULTIPLE Program Instruction

In Figure 5-8, the arrow indicates the clockwise rotation that the tool flange will take as the robot moves from location A to location B with the program instruction MULTIPLE asserted. That is, when the following code is executed:

MOV E A BRE AK MUL TIPLE MOV E B

As in Figure 5-7, the roll value of location A is -90 degrees and the roll value for location B is 2 degrees. With MULTIPLE asserted, however, the tool flange will “cross over” the zero-roll position as the robot moves from location A to location B.

NOTE:MULTIPLE always is automatically asserted every time program execution is initiated with an EXECUTE command or instruction.

Figure 5-7. Motion with SINGLE Asserted

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Adept s650HS User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Chapter 1: Introduction

1.1 Adept Quattro™ Robots, Product Description

Major Differences between Quattro H and HS Robots

Adept AIB™, eAIB™

Quattro Robot Base

Inner Arms

Ball Joints, Outer Arms

Platforms

Adept SmartController™

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

Adept Document Library

Chapter 2: Robot Installation - H

2.1 Transport and Storage

2.2 Unpacking and Inspecting the Adept Equipment

Unpacking

2.3 Repacking for Relocation

2.4 Environmental and Facility Requirements

2.5 Mounting Frame

Frame Orientation

Frame Construction

Robot-to-Frame Considerations

Mounting

Gussets

2.6 Mounting the Robot Base

Robot Orientation

Mounting Surfaces

Mounting Options

Mounting Procedure from Above the Frame

Mounting Procedure from Below the Frame

Install Mounting Hardware

2.7 Attaching the Outer Arms and Platform

Clocking the Platform to the Base

Attaching the Outer Arms

Chapter 3: Robot Installation - HS

3.1 Transport and Storage

3.2 Unpacking and Inspecting the Adept Equipment

Before Unpacking

Upon Unpacking

Unpacking

3.3 Repacking for Relocation

3.4 Environmental and Facility Requirements

3.5 Mounting Frame

Frame Mounting Tabs

Robot-to-Frame Considerations

Mounting

Gussets

3.6 Cable Inlet Box

Assembling Cable Inlet Box

Connecting the Cables

Installing the Cable Inlet Box

3.7 Mounting the Robot Base

Robot Orientation

Mounting Surfaces

Mounting Options

Mounting Procedure from Above the Frame

Mounting Procedure from Below the Frame

Install Mounting Hardware

3.8 Attaching the Outer Arms and Platform

Clocking the Platform to the Base

Attaching the Outer Arms

3.9 Attaching the Cable Tray

Chapter 4: System Installation

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

4.5 Installing Adept ACE Software