Adept Quattro s650H Robot

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List of Figures Figure 7-3. Tool Flange Dimensions, 60° Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Figure 7-4. Tool Flange Dimensions, 185° Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Figure 7-5. Arm Travel Volume . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Figure 7-6. Robot Internal Connections Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Figure 7-7. Mounting Frame, Orthogonal View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 Figure 7-8. Mounting Frame, Side View 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Figure 7-9. Mounting Frame, Side View 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Figure 7-10. Mounting Frame, Detail 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Figure 7-11. Mounting Frame, Detail 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Figure 7-12. Mounting Frame, Top View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Figure 8-1. Securing Screw on AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 Figure 8-2. Opening the AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 Figure 8-3. Connectors on AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Figure 8-4. Ground Screw on AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Figure 8-5. Status Display Panel, Showing 4 hex-head Screws . . . . . . . . . . . . . . . . . . . . 104 Figure 8-6. Battery Bracket on Status Display Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Figure 8-7. SPEC Utility Load Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Figure 8-8. SPEC Save Specification Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 Figure 9-1. AIB and Base, Showing Non-anodized Aluminum . . . . . . . . . . . . . . . . . . . . 110 Figure 9-2. Joint, Between AIB and Base, to be Caulked . . . . . . . . . . . . . . . . . . . . . . . . 111 Figure 9-3. AIB Cable Seal Housing (left), Installed (right) . . . . . . . . . . . . . . . . . . . . . . . 114 Figure 9-4. Cable Entry Top Cover Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 Figure 9-5. Bottom of Cable Entry Top Cover, CF Frame . . . . . . . . . . . . . . . . . . . . . . . . 115 Figure 9-6. Adapting a Module to the Cable Size, Checking the Gap . . . . . . . . . . . . 115 Figure 9-7. Greasing a Roxtec Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Figure 9-8. Installing Roxtec Modules into the Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Figure 9-9. Tightening the Compression Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Figure 9-10. Cable Entry Assembly with Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Figure 9-11. Ground Lug Attachment on the AIB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Figure 9-12. Installing Cable Entry Top Cover Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . 118 12 Adept Quattro s650H Robot User’s Guide, Rev A
Introduction 1 1.1 Product Description Adept Quattro s650H Robot The Adept Quattro s650H 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. See Figure 1-1. The Adept Quattro s650H robot requires an Adept SmartController CX for operation. The robot is user-programmed and controlled using the SmartController. NOTE: The Adept SmartController CX must be installed inside a NEMA-1 rated enclosure. The robot servo code runs on an Adept SmartServo distributed-motion control platform embedded in the robot base. Mechanical specifications for the Adept Quattro s650H robot are provided in Chapter 7. Figure 1-1. Adept Quattro s650H Robot Adept Quattro s650H Robot User’s Guide, Rev A 13
Page 1: Adept Quattro s650H Robot User’s
Page 4 and 5: The information contained herein is
Page 6 and 7: Table of Contents 2.11 Working Area
Page 8 and 9: Table of Contents 6 Optional Equipm
Page 11: List of Figures Figure 1-1. Adept Q
Page 15 and 16: Product Description Figure 1-3. Ade
Page 17 and 18: Product Description The 185° platf
Page 19 and 20: Product Description Figure 1-8. 60
Page 21 and 22: Manufacturer’s Declaration Table
Page 23 and 24: Safety 2 2.1 Warnings, Cautions, an
Page 25 and 26: Precautions and Required Safeguards
Page 27 and 28: Risk Assessment 2.4 Risk Assessment
Page 29 and 30: Intended Use of the Robots The stan
Page 31 and 32: Transport 2.7 Transport Always use
Page 33 and 34: Safety Equipment for Operators All
Page 35 and 36: Robot Installation 3 3.1 Transport
Page 37 and 38: Repacking for Relocation Upon Unpac
Page 39 and 40: Mounting Frame NOTE: More specifica
Page 41 and 42: Mounting the Robot Base Robot Orien
Page 43 and 44: Mounting the Robot Base 4. Slowly l
Page 45 and 46: Attaching the Outer Arms and Platfo
Page 47 and 48: Attaching the Outer Arms and Platfo
Page 49: Attaching the Outer Arms and Platfo
Page 52 and 53: Chapter 4 - System Installation 4.2
Page 54 and 55: Chapter 4 - System Installation 4.5
Page 56 and 57: Chapter 4 - System Installation NOT
Page 58 and 59: Chapter 4 - System Installation DAN
Page 60 and 61: Chapter 4 - System Installation 8.
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System Operation 5 5.1 Robot Status
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Connecting Digital I/O to the Syste
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Using Digital I/O on Robot XIO Conn
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Commissioning the System Table 5-8.
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Commissioning the System System Sta
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Quattro Motions Containment Obstacl
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Learning to Program the Adept Quatt
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Chapter 6 - Optional Equipment Inst
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Chapter 7 - Technical Specification
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Chapter 8 - Maintenance Inspect Rob
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Chapter 8 - Maintenance 8.3 Checkin
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Chapter 8 - Maintenance 9. Using a
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Chapter 8 - Maintenance Installing
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Chapter 8 - Maintenance 8. Remove t
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Chapter 8 - Maintenance Configurati
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Chapter 8 - Maintenance To use the
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Chapter 9 - Robot Cleaning/ Environ
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Index C cable creating 200-240 VAC
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Index modifications 30 acceptable 3
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Index U unacceptable modifications
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Adept Quattro s650H Robot

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