Adept Quattro s650H Robot

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Chapter 3 - Robot Installation mounting members, but not the entire frame assembly. Alternate designs should consider 90 Hz as a goal for this part of the frame. Note that this design allows for lengthening the frame in the direction along the belt travel without significantly changing the natural frequency. The robot mounts in four locations, as detailed in the drawings. The holes are tapped for an M16x2.0 bolt. The Adept Quattro s650H 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. Figure 7-1 on page 83 shows the mounting hole pattern for the Adept Quattro s650H robot. Note the hole location and mounting pad tolerances for position and flatness (Figure 7-8 on page 92). Deviation from this flatness specification will, over time, cause a possible loss of robot calibration. Gussets 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. 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 3-3 on page 38, 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 3-3 on page 38, and as close to the vertical midplane of the frame as feasible (15 mm thickness is adequate for most situations). 3.6 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. 40 Adept Quattro s650H Robot User’s Guide, Rev A
Mounting the Robot Base Robot Orientation Adept recommends mounting the Adept Quattro s650H 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 flanges 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 motions. Mounting Options Using the mounting frame design provided by Adept, there are several options for mounting the Adept Quattro s650H 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 s650H robot has four mounting pads. Each pad has one M16x2.0 threaded 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 M16x2.0 eyebolts and jam nuts. 1. Remove all lag bolts from the robot base mounting pads. Adept Quattro s650H Robot User’s Guide, Rev A 41
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 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: Mounting Frame NOTE: More specifica
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
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
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Chapter 7 - Technical Specification
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Page 96 and 97:
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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