Adept Quattro s650H Robot

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Chapter 2 - Safety DANGER: The Adept-supplied system components provide a Category 3 E-Stop control system as defined by EN 954. The robot system must be installed with user-supplied interlock barriers. The interlocked barrier must open the E-Stop circuit in the event of personnel attempting to enter the workcell when Arm Power is enabled, except for teaching in Manual mode. Failure to install suitable guarding or interlocks could result in injury or death. The E-Stop circuit is Dual Channel (redundant, diverse, and control reliable). See Figure 7-6 on page 87 for an E-Stop internal circuit diagram. Slow Speed Control Function and Testing Adept robots can be controlled manually when the operating mode key switch is in the MANUAL position and the High Power light on the front panel is illuminated. When Manual mode is selected, motion can only be initiated from the pendant. Per EN 775/ISO 10218, the maximum speed of the robot is limited to 250 mm per second (10 ips) in Manual mode. It is important to remember that the robot speed is not limited when the robot is in Automatic (AUTO) mode. The Risk Assessment for teaching this product depends on the application. In many applications, the programmer will need to enter the robot workcell while Arm Power is enabled to teach the robot. Other applications can be designed so that the programmer does not have to enter the work envelope while Arm Power is ON. Examples of alternative methods of programming include: 1. Programming from outside the safety barrier. 2. Programming with Arm Power OFF. 3. Copying a program from another (master) robot. 4. Off-line or CAD programming. Control System Behavior Category The following paragraphs relate to the requirements of European (EU/EEA) directives for Machinery, Electric Safety, and Electromagnetic Compatibility (EMC). In situations with low exposure consideration factors, European Standard EN 1050 specifies use of a Category 1 Control System per EN 954. EN 954 defines a Category 1 Control System as one that employs Category B components designed to withstand environmental influences, such as voltage, current, temperature, EMI, and well-tried safety principles. The standard control system described in this guide employs hardware components in its safety system that meet or exceed the requirements of the EU Machinery Directive and Low Voltage Directive. 28 Adept Quattro s650H Robot User’s Guide, Rev A
Intended Use of the Robots The standard control system is fully hardened to all EMI influences per the EU EMC Directive and meets all functional requirements of ISO 10218 (EN 775) Manipulating Robots Safety. In addition, a software-based reduced speed mode has been incorporated to limit speed and impact forces on the operator and production tooling when the robot is operated in Manual Mode. The standard control system meets or exceeds the requirements imposed by the EN 954 specified Category 1 level of safety. 2.5 Intended Use of the Robots The installation and use of Adept products must comply with all safety instructions and warnings in this manual. Installation and use must also comply with all applicable local and national requirements and safety standards (see Section 2.8 on page 31). The Adept Quattro s650H robot is intended for use in parts assembly and material handling for payloads of less than 6.0 kg (4.4 lb). The Adept Quattro s650H robot and the Adept SmartController are component subassemblies of a complete industrial automation system. The controller must be installed inside a suitable enclosure. The controller must not come into contact with liquids. The Adept equipment is not intended for use in any of the following situations: • In hazardous (explosive) atmospheres • In mobile, portable, marine, or aircraft systems • In life-support systems • In residential installations • In situations where the Adept equipment will be subject to extremes of heat or humidity. See Table 3-1 on page 37 for allowable temperature and humidity ranges. WARNING: The instructions for installation, operation, and maintenance given in this manual must be strictly observed. Non-intended use of an Adept Quattro s650H robot can: • Cause injury to personnel • Damage the robot or other equipment • Reduce system reliability and performance All persons that install, commission, operate, or maintain the robot must: • Have the necessary qualifications • Read and follow exactly the instructions in this manual If there is any doubt concerning the application, ask Adept to determine if it is an intended use or not. Adept Quattro s650H Robot User’s Guide, Rev A 29
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 and 12: List of Figures Figure 1-1. Adept Q
Page 13 and 14: Introduction 1 1.1 Product Descript
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: Risk Assessment 2.4 Risk Assessment
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.
Page 63 and 64: System Operation 5 5.1 Robot Status
Page 65 and 66: Connecting Digital I/O to the Syste
Page 67 and 68: Using Digital I/O on Robot XIO Conn
Page 73 and 74: Commissioning the System Table 5-8.
Page 75 and 76: Commissioning the System System Sta
Page 77 and 78: 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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