Adept Quattro s650H Robot

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Table of Contents 2.11 Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 2.12 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 2.13 Safety Equipment for Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 2.14 Protection Against Unauthorized Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 2.15 Safety Aspects While Performing Maintenance . . . . . . . . . . . . . . . . . . . . . . . . 33 2.16 Risks Due to Incorrect Installation or Operation . . . . . . . . . . . . . . . . . . . . . . . . 34 2.17 What to Do in an Emergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 3 Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 3.1 Transport and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 3.2 Unpacking and Inspecting the Adept Equipment . . . . . . . . . . . . . . . . . . . . . . . 35 Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 3.3 Repacking for Relocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 3.4 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 3.5 Mounting Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Frame Orientation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Frame Construction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Robot-to-Frame Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Gussets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 3.6 Mounting the Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Robot Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Mounting Surfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Mounting Procedure from Above the Frame . . . . . . . . . . . . . . . . . . . . . . . . 41 Mounting Procedure from Below the Frame . . . . . . . . . . . . . . . . . . . . . . . . . 43 Install Mounting Hardware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 3.7 Attaching the Outer Arms and Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Clocking the Platform to the Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Attaching the Outer Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 4 System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.2 Cable Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.3 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.4 Description of Connectors on Robot Interface Panel . . . . . . . . . . . . . . . . . . . . 53 4.5 Cable Connections from Robot to SmartController . . . . . . . . . . . . . . . . . . . . . . 54 6 Adept Quattro s650H Robot User’s Guide, Rev A
Table of Contents 4.6 Connecting 24 VDC Power to Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Specifications for 24 VDC Robot and Controller Power . . . . . . . . . . . . . . . 54 Details for 24 VDC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Procedure for Creating 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Installing 24 VDC Robot Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.7 Connecting 200-240 VAC Power to Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Specifications for AC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Details for AC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Procedure for Creating 200-240 VAC Cable . . . . . . . . . . . . . . . . . . . . . . . . 59 Installing AC Power Cable to Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.8 Grounding the Adept Quattro s650H Robot System . . . . . . . . . . . . . . . . . . . . . 60 Robot-Mounted Equipment Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.9 Installing User-Supplied Safety Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 5 System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 5.1 Robot Status Display Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 5.2 Status Panel Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 5.3 Using the Brake Release Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Brake Release Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 5.4 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 5.5 Using Digital I/O on Robot XIO Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 XIO Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 5.6 Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 System Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Verifying E-Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Verifying Robot Motions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 5.7 Quattro Motions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Straight-line Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Containment Obstacles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Tool Flange Rotation Extremes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 5.8 Learning to Program the Adept Quattro Robot . . . . . . . . . . . . . . . . . . . . . . . . . 79 Adept Quattro s650H Robot User’s Guide, Rev A 7
Page 1: Adept Quattro s650H Robot User’s
Page 4 and 5: The information contained herein is
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
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 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
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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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Page 94 and 95:
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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:
Page 114 and 115:
Page 116 and 117:
Page 118 and 119:
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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