Adept s650HS Quattro User Manual

Adept QuattroUser’s Guidecovers the Adept Quattro s650H, s650HS,s800H, and s800HS Robots

9.12 Replacing a Ball Joint Insert1759.13 Replacing Outer Arm Spring Assemblies176Removing Outer Arm Spring Assemblies 176Installing Outer Arm Spring

Chapter 5: System OperationThe roll value of location A is -90 degrees and the roll value for location B is 2 degrees. Oneway to think of this motio

Chapter 5: System OperationNOTE:When MULTIPLE is asserted, the tool flange will always rotate the smallestangle when the robot moves from one locat

Chapter 5: System Operationroll = -90 roll = +90(A)(B)-180 +180(B) Roll = 2 degrees(A) Roll = -90 degrees0(C) Roll = 4 degrees(C)Figure 5-9. Motions

Chapter 5: System Operation5.9 Learning to Program the Adept Quattro RobotTo learn how to use and program the robot, see the Adept ACE User’s Guide,

Adept Quattro User's Guide, Rev FPage 105 of 196Chapter 6: Optional Equipment Installation6.1 End-EffectorsYou are responsible for providing and

Chapter 6: Optional Equipment InstallationlAttaching them to the inner and outer arms, and then to the platform.lRouting them from the robot support f

Chapter 6: Optional Equipment Installation6.3 Ball Stud LocksUnder abnormal or extreme loading conditions using very aggressive moves, or in the case

Chapter 6: Optional Equipment InstallationFigure 6-2. Ball Stud Lock on Ball Joint SocketInstalling a Ball Stud LockThe ball stud lock has a groove th

Chapter 6: Optional Equipment InstallationRemoving a Ball Stud LockTo remove a ball stud lock, pull one end of the lock away from the ball joint socke

Adept Quattro User's Guide, Rev FPage 11 of 196Chapter 1: Introduction1.1 Adept Quattro™ Robots, Product DescriptionThe Adept Quattro robot is a

Adept Quattro User's Guide, Rev FPage 111 of 196Chapter 7: Technical Specifications7.1 Dimension DrawingsY+245.4406.6in the X+ direction351.7379.

Chapter 7: Technical Specifications.2433.3132.72416.6251.600DETAIL B .3150- .0000+.0006[8.0][.01524].47BCCLCLGFH5.4486.4481.00020.11220.34912.90134.01

Chapter 7: Technical Specifications52.5° EACH PAD2X1.73.2433.3132.72416.6251.600DETAIL B H.3150- .0000+.0006.754X R.062EACH PADR.47EACH PAD4.001.262.0

Chapter 7: Technical SpecificationsUnits are mmZ=0211.8 (s650H)208.2 (s650HS)2152857001300ØØZ+727.6 (P32/P34 platforms)711.0 (P31 platform)700.0 (P30

Chapter 7: Technical SpecificationsTool FlangesBoth the P31 and P30 platforms have built-in tool flange faces (the tool flange face is actuallymachine

Chapter 7: Technical Specifications3x 90.00°45.00°BC 5045° ChamferSECTION A-A +0+0.025-059.690-0.25441.1488.9R62.9921.49914.586 18.144x M6 x 1.0 x 12

Chapter 7: Technical Specificationsto platform21.0 mm clearance3x 90.00°45.00°BC 5025.0°Quick-disconnectClamp-ring Groove 8.924x M6 x 1.0 x 6 Helicoil

Chapter 7: Technical Specifications66.0417°50°132.1055°241.30171.27113.19Z +CLZ = 061.6066341.77137.8958247.10Typical Inner Arm Travel VolumeUnits are

Chapter 7: Technical Specifications7.2 Adept Quattro Internal ConnectionsQuattro AIB/eAIBInternal ConnectionsQuattro PanelConnectionsForce-Guided Rela

Chapter 1: IntroductionStandard(s650H/s800H)HS (s650HS/s800HS)rotation SS Steel (SS on s650HS only)P31 Platform, 46.25° Hard-anodized, EN, orSSEN or S

Chapter 7: Technical Specifications7.4 XSLV ConnectorTable 7-3. XSLV Connector Pinout (AIB only)Pin # Description Comment Pin Location1 ESTOPGND ESTOP

Chapter 7: Technical SpecificationsDescription SpecificationQuattro s650AL and ENQuattro s650SSQuattro s800seconds0.1 kg 0.46 0.55 0.481 kg 0.47 0.58

Chapter 7: Technical SpecificationsTable 7-5. Adept Quattro (all) Robot Power ConsumptionAveragedSustainedPower (W)SustainedRMSCurrent (A)PeakMomentar

Chapter 7: Technical SpecificationsPayload Mass vs. AccelerationTo avoid excited vibrations, the following acceleration values are recommended for giv

Chapter 7: Technical SpecificationsTable 7-9. Payload Mass vs. Acceleration - s800 QuattroPlatform Payload Maximum Acceleration Preferred Acceleration

Chapter 7: Technical Specificationsmake adjustments to comply with USDA requirements.NOTE:The design of the Quattro HS robot mounting bolts and seals

Chapter 7: Technical Specifications* DIMENSIONS ARE IN MILLIMETERSUNLESS OTHERWISE SPECIFIED:MATERIAL : 300 SERIES STAINLESS STEELMATERIAL SIZING:150

Chapter 7: Technical Specifications4xTOP & BOTTOM SURFACESOF PLATES0.752000.02000.0300.0MIN4x* DIMENSIONS ARE IN MILLIMETERSUNLESS OTHERWISE SPECI

Chapter 7: Technical Specifications300.046.2°275.0 25.0MIN.90.0150.0100.0B4xDETAIL 1580.036.4°180.0* DIMENSIONS ARE IN MILLIMETERSUNLESS OTHERWISE SPE

Chapter 7: Technical Specifications430.0520.0520.0520.0520.0290.0290.0290.0290.01000.0379.18245.41379.18245.41379.18245.41379.18245.41430.0900.0430.04

Chapter 1: IntroductionFigure 1-1. Adept Quattro Robots (s650H, s650HS shown)Note the difference between the Status Display Panels, as shown in these

Adept Quattro User's Guide, Rev FPage 131 of 196Chapter 8: Maintenance - HNOTE:This chapter applies to the Adept Quattro H robots (non-USDA) onl

Chapter 8: Maintenance - HInspect/CheckSugg.Interva-lEst.Insp.TimeInspectionSuggestedActionOuter ArmInserts1 Week 15 Min Inspect inserts for excessive

Chapter 8: Maintenance - HTable 8-3. Suggested Part ReplacementItemSuggestedIntervalEstimatedTime ofMaintenanceDescriptionMotor &Gear Assembly5 Ye

Chapter 8: Maintenance - H8.2 Checking Safety SystemsThese tests should be done every six months.NOTE:Operating any of the following switches or butt

Chapter 8: Maintenance - H4.Check the outside of the motors and gear drives for any signs of oil.5.Contact Adept if you find any signs of oil in these

Chapter 8: Maintenance - H7.Disconnect the 1394 cable from the chassis SmartServo connector.8.Disconnect any other cables, which may be connected to t

Chapter 8: Maintenance - HFigure 8-2. Opening the Chassis12.Disconnect the white amplifier cable (motor power) from the amplifier connector locatedon

Chapter 8: Maintenance - HFigure 8-4. Cable Ground Screw on AIB ChassisFigure 8-5. Cable Ground Screw Hole on eAIB Chassis15.Remove the chassis from t

Chapter 8: Maintenance - HPMAI/ePMAI board and engage the securing latches.5.Connect the white amplifier cable (motor power) to the amplifier connecto

Chapter 1: IntroductionAdept AIB™, eAIB™The power amplifiers for the Adept Quattro robot are embedded in the base of the robot. Thisamplifier section

Chapter 8: Maintenance - HNOTE:This section only applies to robots that have an eAIB amplifier. A robotwith an AIB amplifier does not need the Adept

Chapter 8: Maintenance - HPrerequisiteslThe robot must be set up and functional.lThe robot must use eAIB amplifiers.The AIB amplifiers do not support

Chapter 8: Maintenance - HE-Stop Configuration UtilityThis utility sets the E-Stop hardware delay to factory specifications.NOTE:Ensure that the comm

Chapter 8: Maintenance - HTeach Restrict Configuration UtilityThis utility sets the hardware Teach Restrict maximum speed parameter to factoryspecific

Chapter 8: Maintenance - H3.Teach a Start Position.This can be any position that does not conflict with obstacles or the limits of jointmovements.lIf

Chapter 8: Maintenance - HCAUTION:Replace the battery pack only with a 3.6 V,6.8 Ah lithium battery pack, Adept P/N 09977-000.NOTE:The previous batt

Chapter 8: Maintenance - HFigure 8-8. Status Display Panel, Showing 4 hex-head Bolts9.Remove the Status Display panel.The battery pack is supported in

Chapter 8: Maintenance - HCAUTION:If battery power is removed from the robot,factory calibration data may be lost, requiring robotrecalibration by Ad

Chapter 8: Maintenance - HlThe platform is installed flange-down.lEnsure that the numbers on the platform match the joint numbers on theunderside of t

Chapter 8: Maintenance - H8.10 Replacing a Ball Joint Insert1.Remove the old insert.The Quattro H inserts have a threaded hole in the bottom to facili

Chapter 1: IntroductionFigure 1-3. Adept AIBs (Quattro H AIB on left)Inner ArmsThe four robot motors attach directly to the inner arms through a high-

Chapter 8: Maintenance - HFigure 8-11. Spring, with End Removed from HorseshoeThe narrowest part of the horseshoe is 90° from the groove in which the

Chapter 8: Maintenance - HFigure 8-12. Horseshoe over One Pin2.While pulling the loose end of the horseshoe to spread the horseshoe slightly, slip the

Chapter 8: Maintenance - HFigure 8-14. Squeezing the Horseshoe into PositionInstalling Springs on a Horseshoe1.Slip the spring onto the horseshoe at 9

Adept Quattro User's Guide, Rev FPage 153 of 196Chapter 9: Maintenance - HSNOTE:This chapter applies to the Adept Quattro HS robots only.NOTE:M

Chapter 9: Maintenance - HSTable 9-2. Typical Cleaning Schedule, Raw FoodItem Interval Suggested Cleaning ActionMinimum: EntirerobotDaily Clean In Pla

Chapter 9: Maintenance - HSinterlocked—turn off and disconnect power if these haveto be removed. Lock out and tag out power beforeservicing.NOTE:The

Chapter 9: Maintenance - HSItem Sugg.IntervalEst.Time(Min)Inspection SuggestedActionInner Arms 6 Mon 15 Inspect Inner Arms for cracking ordamage cause

Chapter 9: Maintenance - HSTable 9-4. Suggested Part ReplacementItem SuggestedIntervalEstimatedTime ofMaintenanceDescriptionMotor andGearAssembly5 Yea

Chapter 9: Maintenance - HS9.3 Checking Safety SystemsThese tests should be done every six months.NOTE:Operating any of the following switches or but

Chapter 9: Maintenance - HS3.Remove the motor covers.lThe M6 motor cover bolts were installed with Loctite 242.lRetain the bolts and washer seals for

Chapter 1: IntroductionFigure 1-5. Quattro HS Robot Inner Arm, Status PanelBall Joints, Outer ArmsThe inner arm motion is transmitted to the platform

Chapter 9: Maintenance - HSNOTE:The AIB/eAIB fan runs continuously, but its speed will vary.5.Reinstall all motor covers.a.Ensure that the motor cove

Chapter 9: Maintenance - HSInstalling the Cable Inlet Box1.Place the cable inlet box-AIB/eAIB gasket around the AIB/eAIB connection panel.2.Attach the

Chapter 9: Maintenance - HSCAUTION:Follow appropriate ESD procedures duringthe removal/replacement steps.Removing the AIB/eAIB Chassis1.Switch OFF th

Chapter 9: Maintenance - HSorDisconnect the eXSYS cable (eAIB) from the chassis XSYSTEM connector.9.Disconnect the 1394 cable from the chassis SmartSe

Chapter 9: Maintenance - HSFigure 9-3. Ground Screw on AIB ChassisFigure 9-4. Ground Screw Hole on eAIB Chassis16.Remove the chassis from the robot, a

Chapter 9: Maintenance - HSInstalling a New AIB/eAIBChassisHarness Connections1.Carefully remove the new chassis from its packaging, check it for any

Chapter 9: Maintenance - HSlAfter checking AIB/eAIBcables, restore power to the robot and reboot the controller.lCheck the Status Display fault code.

Chapter 9: Maintenance - HSlTeach Restrict VerificationThis verifies that the hardware Teach Restrict is functioning correctly.The initial utility scr

Chapter 9: Maintenance - HSFigure 9-6. eAIB Commissioning JumperlAn Adept pendant is required for the Teach Restrict verification.E-Stop Configuration

Chapter 9: Maintenance - HS1.Open the robot object editor.2.Select Configure > Safety Settings > Verify ESTOP Hardware Delay, then click Next.3.

Chapter 1: IntroductionFigure 1-6. Quattro Ball Joint Assembly, Quattro HS Robot shownEach pair of outer arms is held together with spring assemblies

Chapter 9: Maintenance - HSAutomatic Mode ProcedureWARNING:The robot will move during this wizard.Ensure that personnel stay clear of the robot work

Chapter 9: Maintenance - HSThe results of the verification will be displayed.5.Click Finish.6.Reboot the SmartController.On some systems, the SmartCon

Chapter 9: Maintenance - HSlThese bolts were installed with Loctite 222.See the following figure:Figure 9-7. Status Display Panel, Showing 8 Hex-head

Chapter 9: Maintenance - HS11.Connect the new battery pack to the unused connector on the battery bracket, but do notdisconnect the old battery pack.T

Chapter 9: Maintenance - HSlEnsure that a washer seal is in place under each bolt.lTorque the bolts to 1.1 N·m (10 in-lb).9.11 Replacing a PlatformCAU

Chapter 9: Maintenance - HSConfigurationIf the replacement platform has the same part number as the old platform, the robot does notneed to be reconfi

Chapter 9: Maintenance - HSWARNING:Dry ice can cause burns if touched. Wearwell-insulated gloves when you handle the dry ice. Youmay want to wear lig

Chapter 9: Maintenance - HSFigure 9-10. Removing an Outer Arm SpringRemoving the first spring is the most difficult, as the other spring will tend tor

Chapter 9: Maintenance - HSRemoving Outer Arm Spring HorseshoesNOTE:The only reason for removing an outer arm horseshoe is to replace one thathas bee

Chapter 9: Maintenance - HSFigure 9-13. End of Horseshoe on Pin3.Squeeze the horseshoe the rest of the way, until it is over the pin. See the followin

Chapter 1: IntroductionP32 Platform (P/N 09732-xxx)The P32 platform has a rotation range of ±92.5°. The tool flange is mounted on one of the pivotlink

Adept Quattro User's Guide, Rev FPage 181 of 196Chapter 10: Robot Cleaning/Environmental Concerns- HNOTE:The Adept SmartController must be insta

Chapter 10: Robot Cleaning/ Environmental Concerns- HTemperatureThe Adept Quattro robot is designed to operate from 1° to 40° C (34° to 104° F) ambien

Chapter 10: Robot Cleaning/ Environmental Concerns- HRobot Base and ComponentsThe aluminum robot base and the removable motor covers are coated with a

Chapter 10: Robot Cleaning/ Environmental Concerns- HPlatformsThe Adept Quattro robot currently supports four platform models, depending on the amount

Chapter 10: Robot Cleaning/ Environmental Concerns- H4.Attach cables to AIB/eAIB.5.Attach cable entry top cover to AIB/eAIB cable inlet box.Installati

Chapter 10: Robot Cleaning/ Environmental Concerns- HFigure 10-3. Bottom of Cable Entry Top Cover, CF Frame3.Adapt Roxtec modules to fit the cables th

Chapter 10: Robot Cleaning/ Environmental Concerns- HFigure 10-5. Greasing a Roxtec Module5.Grease the inside of the CF frame, where the modules will

Chapter 10: Robot Cleaning/ Environmental Concerns- HFigure 10-8. Cable Entry Assembly with Cables8.Attach the ground lug to the AIB/eAIB. The ground

Chapter 10: Robot Cleaning/ Environmental Concerns- HNOTE:All cables must be screwed into the AIB/eAIB.10.Attach the cable entry top cover, with Roxt

Chapter 1: IntroductionModel Number& Two DotsFigure 1-9. P32 Platform, Hard-Anodized VersionNOTE:The only visible difference between the P32 and

Adept Quattro User's Guide, Rev FPage 191 of 196Chapter 11: Environmental Concerns - HSNOTE:The Adept SmartController CX must be installed insid

Chapter 11: Environmental Concerns - HSTemperatureThe Adept Quattro HS robot is designed to operate from 1° to 40° C (34° to 104° F) ambienttemperatur

Chapter 11: Environmental Concerns - HSFDA-compliant. Lubrication of the ball joints is not needed.Acidic Operating ConditionsRefer to Chemical Compat

P/N: 09955-000, Rev F5960 Inglew ood Driv ePleasant on, C A 94588925·245·3400

Chapter 1: IntroductionPlatform ClockingRotational platforms are constructed such that the clocking, or rotational alignment, of theplatform relative

Chapter 1: IntroductionFigure 1-10. Adept SmartController EX and CXRefer to the Adept SmartController User’s Guide for SmartController specifications.

Chapter 1: IntroductionThis indicates a potentially hazardous situation which, ifnot avoided, could result in injury or major damage tothe equipment.T

Chapter 1: IntroductionThe Manufacturer’s Declaration of Conformity (MDOC) lists all standards with which eachrobot complies. See Manufacturer’s Decla

Chapter 1: IntroductionTask to be Performed Reference Locationthe robot and the facility AC power source. Robot on page 79.Install user-supplied safet

Chapter 1: Introduction1.9 How Can I Get Help?Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on gettingassistance wit

Adept Quattro User's Guide, Rev FPage 27 of 196Chapter 2: Robot Installation - H2.1 Transport and StorageThis equipment must be shipped and store

Chapter 2: Robot Installation - HFigure 2-1. Shipping Crate (s650H shown)Figure 2-2. Outer Arms for the Quattro s800 (s800Hshown)The robot base is sh

Chapter 2: Robot Installation - H2.3 Repacking for RelocationIf the robot or other equipment needs to be relocated, reverse the steps in the installat

Adept QuattroUser’s Guidecovers the Adept Quattro s650H, s650HS,s800H, and s800HS RobotsP/N: 09955-000, Rev FMay, 20135960 Inglewood Drive • Pleasanto

Chapter 2: Robot Installation - Hdegradation in robot performance due to frame motions. Applications requiring higher than 6kg * 10 g forces across th

Chapter 2: Robot Installation - HIt is important to note that, even after the system reports the robot to be fully settled, the toolflange will still

Chapter 2: Robot Installation - HFigure 7-2 shows the mounting hole pattern for the Adept Quattro robot. Note the hole locationand mounting pad tolera

Chapter 2: Robot Installation - HMounting OptionsUsing the mounting frame design provided by Adept, there are several options for mountingthe Adept Qu

Chapter 2: Robot Installation - HMounting to Bottom of Frame PadsNOTE:Since eyebolts would be in the way of this mounting method, you will haveto use

Chapter 2: Robot Installation - Hrobot base pads, or to the bottom of the frame pads, using the top surface of the robot basepads.The Adept Quattro ro

Chapter 2: Robot Installation - HNOTE:When M16 x 2.0 bolts are used, the bolt must engage at least 24 mm intothe threads of the base mounting pad.2.I

Chapter 2: Robot Installation - H2.7 Attaching the Outer Arms and PlatformOuterArmsPlatform(springs notshown)Cable Cover(IP-65 option)InnerArmsMotorCo

Chapter 2: Robot Installation - HIn addition, +X and +Y World Coordinates are labeled on the platform near the flange.See Figure 2-6.lElectroless nick

Chapter 2: Robot Installation - HX+Y+3412Tool FlangeFigure 2-7. Platform Orientation, P31 PlatformAttaching the Outer ArmsOne pair of outer arms attac

Copyright NoticeThe information contained herein is the property of Adept Technology, Inc., and shall not be reproducedin whole or in part without pri

Chapter 2: Robot Installation - HWARNING:Pinch hazard. Ball joints are spring-loaded.Be careful not to pinch your fingers.lOuter arm pairs are shippe

Chapter 2: Robot Installation - Hc.Swing the bottom end of the outer arm pair sideways as you slip the other balljoint socket over the corresponding b

Chapter 2: Robot Installation - HFigure 2-11. Horseshoe and Spring AssemblyAdept Quattro User's Guide, Rev FPage 42 of 196

Adept Quattro User's Guide, Rev FPage 43 of 196Chapter 3: Robot Installation - HS3.1 Transport and StorageThis equipment must be shipped and stor

Chapter 3: Robot Installation - HSNOTE:Outer arms for the Quattro s800HS robot are packaged differently from theseillustrations. See Figure 3-2.Figur

Chapter 3: Robot Installation - HS2.Lift off the cardboard sides.Under the robot base, the ancillary items will be attached to the crate bottom. Refer

Chapter 3: Robot Installation - HSCAUTION:The robot must always be shipped in anupright orientation.3.4 Environmental and Facility RequirementsThe Qu

Chapter 3: Robot Installation - HSAny robot’s ability to settle to a fixed point in space is governed by the forces, masses, andaccelerations of the r

Chapter 3: Robot Installation - HSNOTE:Adept suggests welding the robot mounting tabs as a last step in the framefabrication, using a flat surface as

Chapter 3: Robot Installation - HSComponentslCable Inlet boxlCable Inlet box coverlCable Inlet box-cover gasketlCable Inlet box-AIB/eAIB gasketlCompre

Adept Quattro User's Guide, Rev FPage 5 of 196Table of ContentsChapter 1: Introduction 111.1 Adept Quattro™ Robots, Product Description11Major Di

Chapter 3: Robot Installation - HSProcedure1. Measure and mark all AIB/eAIB cables at 10 - 12 in. from the cable ends.This amount of slack is needed t

Chapter 3: Robot Installation - HSFigure 3-7. Greasing a Roxtec Module4.Grease the inside of the CF frame, where the modules will touch, using Roxtec

Chapter 3: Robot Installation - HSFigure 3-10. Cable Inlet Box with CablesIn the preceding figure, note the four holes around the Roxtec box. These ar

Chapter 3: Robot Installation - HSConnecting the Cables1.Place the cable inlet box-AIB/eAIB gasket around the AIB/eAIB connection panel.2.Attach the g

Chapter 3: Robot Installation - HSGround boltand labelFigure 3-12. Cable Inlet Box, showing Ground Label2.Install the M4 protective earth ground bolt,

Chapter 3: Robot Installation - HS3.7 Mounting the Robot BaseCAUTION:Remove all ancillary components (controller,outer arms, platform, etc.) from the

Chapter 3: Robot Installation - HSDepending on the mounting frame design used, there may be two options for mounting theQuattro HS robot:lLower the ro

Chapter 3: Robot Installation - HS3.Insert a base-pad sealing-gasket into the groove machined in each robot base mountingpad. The gasket and its posit

Chapter 3: Robot Installation - HSaligned, until the gaskets on the top surfaces of the robot base pads are touching thebottom surfaces of the frame m

Chapter 3: Robot Installation - HSThe frame pads should completely cover the gaskets.lTighten the bolts to 98 N·m (74 ft-lb).NOTE:The robot base-moun

Mounting Procedure from Below the Frame 34Install Mounting Hardware 352.7 Attaching the Outer Arms and Platform37Clocking the Platform to the Base 37A

Chapter 3: Robot Installation - HSClocking the Platform to the BaseThe rotational alignment (clocking) of the platform to the base is critical to the

Chapter 3: Robot Installation - HSAttaching the Outer ArmsOne pair of outer arms attaches between each inner arm and the platform. No tools areneeded.

Chapter 3: Robot Installation - HSFigure 3-19. Ball Joint AssemblyCAUTION:Ensure that the bearing insert is in place in the end ofeach outer arm. If

Chapter 3: Robot Installation - HSCAUTION:Do not overstretch the outer arm springs.Separate the ball joint sockets only enough to fit themover the ba

Chapter 3: Robot Installation - HSFigure 3-21. Horseshoe and Spring Assembly (Quattro H shown)3.9 Attaching the Cable TrayNOTE:The cable inlet box mu

Chapter 3: Robot Installation - HS44.45[1.75]007.95[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

Chapter 3: Robot Installation - HS87.7 [3.45]0[0.313][0.63]168.4 [6.63]176.2 [6.94]184.2 [7.25]011.5 [0.45]16.0 [0.63]95.25 [3.75] [0.125 ± 0.003]4x7.

Chapter 3: Robot Installation - HSThe following apply to the example cable tray.MaterialItem 1 Aluminum 5052-H32Item 2 Aluminum 6061-T6Clean part thor

Chapter 3: Robot Installation - HS21[4.00]VIEW A-APEM STANOFFS PROTRUDE THIS SIDE[4.15]OF THIS FLANGE(SHT. 2) FOR DETAILSEE FLAT PATTERNFILL GAPAA[3.7

Chapter 3: Robot Installation - HS4X PEM THROUGH HOLE STANDOFFNUMBER SOS-M4-12 (OR EQUIV.)ITEM 2[3.000]3.6 THIS CORNER ONLY2X R635R2X[0.63]95.316.0[7

4.5 Installing Adept ACE Software734.6 Description of Connectors on Robot Interface Panel744.7 Cable Connections from Robot to SmartController754.8 Co

Adept Quattro User's Guide, Rev FPage 71 of 196Chapter 4: System Installation4.1 System Cable DiagramGNDXSLV12SmartServoRS-232XPANELAC INPUT(200-

Chapter 4: System Installation4.2 Cable Parts ListTable 4-1. Cable Parts ListPart Description Part ofIEEE 1394 Cable, 4.5 M All systemsXSYS Cable (AIB

Chapter 4: System InstallationPC RequirementsThe Adept ACE CD-ROM will display a ReadMe file when inserted in your PC. This containshardware and softw

Chapter 4: System Installation4.6 Description of Connectors on Robot Interface PanelFigure 4-2. Robot Interface Panel, AIB and eAIBThe following conne

Chapter 4: System InstallationSmartServo x2 (IEEE 1394) — for connecting the IEEE 1394 cable from the controller (Smart-Servo 1.1) to the robot. The o

Chapter 4: System Installationthe other. Connect the XSYSTEM end to the eAIB, and the XSYS end to theSmartController.lFor a field upgrade from an old

Chapter 4: System InstallationTable 4-3. Recommended 24 VDC Power SuppliesVendor Name Model RatingsXP Power JPM160PS24 24 VDC, 6.7 A, 160 WMean Well S

Chapter 4: System Installation3.Crimp the pins onto the wires using the crimping tool.4.Insert the pins into the connector. Confirm that the 24 VDC an

Chapter 4: System InstallationNOTE:Adept recommends that DC power be delivered over a shielded cable, withthe shield connected to the return conducto

5.9 Learning to Program the Adept Quattro Robot103Chapter 6: Optional Equipment Installation 1056.1 End-Effectors105Attaching 105Aligning 105Grounding

Chapter 4: System InstallationDANGER:AC power installation must be performed bya skilled and instructed person - see the Adept RobotSafety Guide. Dur

Chapter 4: System InstallationEENL3LL1L2F5 10 AF4 10 AAdept Quattros650/s800 Robot1Ø 200–240 VACUser-Supplied AC Power CableNote: F4 and F5 are user-s

Chapter 4: System InstallationSelect the wire length to safely reach from the user-supplied AC power source to therobot base.5.Strip 18 to 24 mm insul

Chapter 4: System InstallationAlignment HoleMounting HoleGround HoleRobotFigure 4-7. Base Mounting Pad with Ground Hole, Top ViewQuattro HS Robot Base

Chapter 4: System InstallationNOTE:A ground strap from the end-effector to the robot cable inlet box groundmust include a service loop that allows fu

Adept Quattro User's Guide, Rev FPage 85 of 196Chapter 5: System Operation5.1 Robot Status Display PanelThe robot Status Display panel is locat

Chapter 5: System Operation5.2 Status Panel Fault CodesThe Status Display, shown in Figure 5-1, displays alpha-numeric codes that indicate theoperat

Chapter 5: System OperationThe standard braking system does not prevent you from moving the robot manually, once therobot has stopped (and high powe

Chapter 5: System OperationIndicates whether or not power is connected to the robot.3.Manual/Automatic Mode SwitchSwitches between Manual and Automa

Chapter 5: System OperationSFIEEE-1394X2SC-DIOLINK*S/N 3563-XXXXX*X124V 0.5AROKX4 - + - +1.1 1.2XDC1 XDC2X3GNDXSLV12SmartServoRS-232XPANELAC I

8.8 Replacing the Encoder Battery Pack144Battery Replacement Interval 145Battery Replacement Procedure 1458.9 Replacing a Platform147Replacement 147Co

Chapter 5: System Operationl12 Inputs, signals 1097 to 1108l8 Outputs, signals 0097 to 0104Table 5-5. XIO Signal DesignationsPinNo. DesignationSigna

Chapter 5: System OperationOptional I/O ProductsThese optional products are also available for use with digital I/O:lXIO Breakout Cable, 5 meters lo

Chapter 5: System OperationNOTE:The input current specifications are provided for reference. Voltage sourcesare typically used to drive the inputs.

Chapter 5: System OperationA of current. This driver has overtemperature protection, current limiting, and shorted-loadprotection. In the event of a

Chapter 5: System OperationTypical Output Wiring ExampleMAdept-Supplied EquipmentUser-Supplied EquipmentOutputs 1-8Typical User LoadsXIO Connector –

Chapter 5: System OperationTable 5-8. XIO Breakout Cable Wire ChartPin No.SignalDesignation Wire Color Pin Locations1 GND WhitePin 9Pin 1Pin 18Pin 1

Chapter 5: System Operation5.7 Starting the System for the First TimeFollow the steps in this section to safely bring up your robot system. The task

Chapter 5: System Operationconnector (eAIB), with the latching screws tightened.oreAIB XSYS (eAIB) cable between the robot interface panel XSYSTEM c

Chapter 5: System OperationEnabling High PowerAfter you have started the Adept ACE software and connected to the controller, enable highpower to the

Chapter 5: System Operation5.8 Quattro MotionsStraight-line MotionJoint-interpolated motion is not possible with the Adept Quattro robot, because th