Adept Quattro s650H Robot

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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. This manual is periodically reviewed and revised. Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future documentation. Please email your comments to: techpubs@adept.com. Copyright ©2007, 2008 by Adept Technology, Inc. All rights reserved. Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview, HexSight, 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. ACE, Adept 1060 / 1060+, Adept 1850 / 1850 XP, Adept 540 Adept 560, Adept AnyFeeder, Adept Award, Adept C40, Adept C60, Adept CC, Adept Cobra 350, Adept Cobra 350 CR/ESD, Adept Cobra 550, Adept 550 CleanRoom, Adept Cobra 600, Adept Cobra 800, Adept Cobra i600, Adept Cobra i800, Adept Cobra PLC server, Adept Cobra PLC800, Adept Cobra s600, Adept Cobra s800, Adept Cobra s800 Inverted, Adept Cobra Smart600, Adept Cobra Smart800, Adept DeskTop, Adept FFE, Adept FlexFeeder 250, Adept IC, Adept iSight, Adept Impulse Feeder, Adept LineVision, Adept MB-10 ServoKit, Adept MC, Adept MotionBlox-10, Adept MotionBlox-40L, Adept MotionBlox-40R, Adept MV Adept MV-10, Adept MV-19, Adept MV4, Adept MV-5, Adept MV-8, Adept OC, Adept Python, Adept Quattro s650, Adept Quattro s650H, Adept sDIO, Adept SmartAmp, Adept SmartAxis, Adept SmartController CS, Adept SmartController CX, Adept SmartModule, Adept SmartMotion, Adept SmartServo, Adept sMI6, Adept sSight, Adept Viper s650, Adept Viper s850, Adept Viper s1300, Adept Viper s1700, Adept Viper s2000, AdeptCartesian, AdeptCast, AdeptForce, AdeptFTP, AdeptGEM, AdeptModules, AdeptMotion, AdeptMotion Servo, AdeptMotion VME, AdeptNet, AdeptNFS, AdeptOne, AdeptOne-MV, AdeptOne-XL, AdeptRAPID, AdeptSight, AdeptSix, AdeptSix 300, AdeptSix 300 CL, AdeptSix 300 CR, AdeptSix 600, AdeptTCP/IP, AdeptThree, AdeptThree-MV, AdeptThree-XL, AdeptTwo, AdeptVision, AVI AdeptVision, AGS AdeptVision GV, AdeptVision I, AdeptVision II, AdeptVision VME, AdeptVision VXL, AdeptVision XGS, AdeptVision XGS II, AdeptWindows, AdeptWindows Controller, AdeptWindows DDE, AdeptWindows Offline Editor, AdeptWindows PC, AIM Command Server, AIM Dispense, AIM PCB, AIM VisionWare, A-Series, FlexFeedWare, HyperDrive, IO Blox, IO Blox, 88, MicroV+, MotionBlox, MotionWare, ObjectFinder, ObjectFinder 2000, PackOne, PalletWare, sAVI, S-Series, UltraOne, V, V+ and VisionTeach are trademarks of Adept Technology, Inc. Any trademarks from other companies used in this publication are the property of those respective companies. Printed in the United States of America
Table of Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Adept Quattro s650H Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Quattro Robot Base. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Adept AIB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Inner Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Ball Joints, Outer Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Platform. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Adept SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 1.2 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 1.3 Manufacturer’s Declaration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 1.4 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 2.1 Warnings, Cautions, and Notes in Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 2.2 Warning Labels on the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 2.3 Precautions and Required Safeguards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Safety Barriers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Impact and Trapping Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Instructions for Emergency Movement without Drive Power . . . . . . . . . . . 25 Emergency Recovery Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 2.4 Risk Assessment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Exposure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Severity of Injury . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Slow Speed Control Function and Testing . . . . . . . . . . . . . . . . . . . . . . . . . . 28 2.5 Intended Use of the Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 2.6 Robot Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Acceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Unacceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 2.7 Transport. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 2.8 Safety Requirements for Additional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . 31 2.9 Sound Emissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 2.10 Thermal Hazard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Adept Quattro s650H Robot User’s Guide, Rev A 5
Page 1: Adept Quattro s650H Robot User’s
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 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
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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 69 and 70:
Page 71 and 72:
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
Page 79:
Learning to Program the Adept Quatt
Page 82 and 83:
Chapter 6 - Optional Equipment Inst
Page 84 and 85:
Chapter 7 - Technical Specification
Page 86 and 87:
Page 88 and 89:
Page 90 and 91:
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Chapter 8 - Maintenance Inspect Rob
Page 98 and 99:
Chapter 8 - Maintenance 8.3 Checkin
Page 100 and 101:
Chapter 8 - Maintenance 9. Using a
Page 102 and 103:
Chapter 8 - Maintenance Installing
Page 104 and 105:
Chapter 8 - Maintenance 8. Remove t
Page 106 and 107:
Chapter 8 - Maintenance Configurati
Page 108 and 109:
Chapter 8 - Maintenance To use the
Page 110 and 111:
Chapter 9 - Robot Cleaning/ Environ
Page 112 and 113:
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Page 120 and 121:
Index C cable creating 200-240 VAC
Page 122 and 123:
Index modifications 30 acceptable 3
Page 124:
Index U unacceptable modifications
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Adept Quattro s650H Robot

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