Adept Quattro s650H Robot

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Table of Contents 6 Optional Equipment Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 6.1 End-Effectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Attaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Aligning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Accessing Vacuum. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 6.2 Routing End-effector Lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 7 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 7.1 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 7.2 Adept Quattro s650H Robot Internal Connections . . . . . . . . . . . . . . . . . . . . . . . 87 7.3 XSLV Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 7.4 Robot Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 7.5 Platform Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 Torque and Rotation Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 Payload Inertia vs. Acceleration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 7.6 Robot Mounting Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 8 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 8.1 Periodic Maintenance Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 8.2 Checking Safety Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 8.3 Checking Robot Mounting Bolts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 8.4 Checking Robot Gear Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 8.5 Checking Fan Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 8.6 Replacing the AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Removing the AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Installing a New AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 8.7 Replacing the Encoder Battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Battery Replacement Interval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Battery Replacement Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 8.8 Replacing a Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 8 Adept Quattro s650H Robot User’s Guide, Rev A
Table of Contents 9 Robot Cleaning/ Environmental Concerns . . . . . . . . . . . . . . . . . . . . . 109 9.1 Ambient Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 9.2 Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Caustic Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Water Shedding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Wipe-Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 9.3 Cleanroom Classification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 9.4 Design Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Robot Base and Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Inner Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Ball Joints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Outer Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Springs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Platforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 9.5 Installing Cable Seal Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Adept Quattro s650H Robot User’s Guide, Rev A 9
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 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
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:
Page 92 and 93:
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Page 96 and 97:
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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