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Adept 550 Table-Top Robot User`s Guide

1. e 242 0 AANA A 22 2 mm I A e i o o 133 35 mm A e e e e e e e o UM amp i THE E 479 mm Power Chassis with mounting brackets installed 146 05 mm 481 mm gt SEERE SEER 242 0 A A A A amp o o 133 35 mm eU eetet et eTe 6 8 mm 4x amp i Y o 8 56 mm e 33 1 mm 10 83 mm Controller and Power Chassis with mounting Ax brackets installed Figure A 4 Power Chassis and Controller with Mounting Brackets Installed Adept 550 Table Top Robot User s Guide Hev A 65 Adept 550 CleanRoom Robot B 1 Introduction EEE O IO DON 68 Vacuum SpecificatiONS ooooocooocoorrrrrrr een 68 B2 Installation oooocooooo nenn nun nenn hh nn nun nn 68 B 3 Adept 550 CleanRoom Robot Dimensions leeren 69 Adept 550 Table Top Robot User s Guide Rev A 67 Appendix B Adept 550 CleanRoom Robot Bl introduction The Adept 550 Class 10 CleanRoom robot meets or exceeds specifications for Class 10 cleanroom products The Adept 550 CleanRoom robot product specifications are the same as the standard Adept 550 robot listed in Table 2 1 except the Vertical Stroke Joint 3 Z direction is 180 mm
2. lo lo ko q q q q q eue cork EA IN III Figure 3 2 Adept MV 8 Controller Adept 550 Table Top Robot User s Guide Rev A Robot Installation 4 1 Environmental and Facility Requirements seen oo 24 Facility Ambient AirQualily ooooocoocrroronr BR 24 Robot Workcell Free Space 0oooocccocorcnr nennen nn 24 4 2 Unpacking and Inspecting 0cooocccccccc nun nun mnm n nn nn 24 Before Unpacking 22H HH ernennen een nee en 24 After Unpacking 222 ar era A as Celene a KJ 24 Repacking forRelocation 2222eHen rennen tee 24 4 3 Robot Mounting lt lt lt c0coocccccnc nn nn nun nun nun nn nn nun nn 25 Mounting Surface cat we Been eke ers DR An REM 25 Mounting Procedure 2H2eeen nern een een 25 4 4 User Hange Dimensions 0cococcccoc nun nun nun nn nn nun nn 26 4 5 End Effectors oocococccoc nun nn hh hh nn nun nn nnnnn nun 27 4 6 UserConnections ccccccc nun nun hh hh nun nun nn nn nn nn 28 USrAI GNE Sie nn ee hd Men eth Made a a a Gee a be 28 UserEleetneal LINGS sion we t Ite A Rs ad 28 Adept 550 Table Top Robot User s Guide Rev A 23 Chapter 4 Robot Installation 4 1 Environmental and Facility Requirements Facility Ambient Air Quality Temperature 5 to 40 C 41 to 104 F Relative humidity 5 to
3. 5 DIU Figure 3 1 Adept PA 4 Power Chassis Dimensions For dimensions of the Adept PA 4 power chassis see Appendix A 20 Adept 550 Table Top Robot User s Guide Hev A Dual B5 Amplifier Module 3 2 Dual B5 Amplifier Module The Dual B5 Amplifier module is a plug in module that contains the circuitry and ampli fying components to drive two of the motors in an Adept 550 robot Each Dual B5 ampli fier can drive one major axis J1 or J2 and one minor axis J3 or J4 In a typical Adept 550 robot system there are two identical Dual B5 Amplifier modules in the Adept PA 4 power chassis The amplifier module on the left hand side called Module 1 drives motors 1 and 3 The amplifier module on the right hand side called Module 2 drives motors 2 and 4 Connectors and Indicators e e DUAL B5 AMP IN DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY EXTINGUISHED O O man vorrson OO Pwmon O O towvoLrson O O open ckr enr O O tv sacioven TEMP O O short rautt B B2 ACUACO zmzos x odoz 0 o e Status LEDs The left hand column of LEDs is for the first motor controlled by this module the right hand column is for the second motor controlled by this module When an LED is turned on it indicates the following conditions High Volts On
4. 56 Location of Joint 3 and Joint 4 Drive BeltS o ooooocooomomoo 57 Close up View of J oint 3 Brake Assembly 0 0022 58 Adept 550 Robot Top and Side Dimensions 00 0 cence eee ee 62 Adept PA 4 Power Chassis Dimensions 000 ccc eee 63 Power Chassis and ControlerDimensons llle 64 Power Chassis and Controller with Mounting Brackets Installed 65 Adept 550 CleanRoom Robot Top and Side Dimensions 69 List of Tables SPEGMGALIONS sea ein eke ee in N 16 Mounting Bolt Specifications 0 0c cee tee 25 Adept PA 4 Power Chassis Model 3303 Power Requirements 30 Adept PA 4 Power Chassis Model 3306 Power Requirements 32 AC Power Cord Specifications Model 3306 PowerChassis 33 Softstop and Hardstop Specifications llle 50 Inspection and Maintenance 0 0 cette 54 Adept 550 CleanRoom Robot Vacuum SpecificationS 68 Typical Robot VJ l Amplifier Assignments in Dual Adept 550 Robot System 73 Adept 550 Table Top Robot User s Guide Rev A vii General Information 1 1 How to Use This Manual 0ooooccooc nun nn nn nn nm mmn 2 Follow These Stepsto Install and Configure the Adept 550 Robot 2 Related ManualS o o o ococccoccc enhn 2 Standard Manuals ooo occoococoocco ernennen nenn 2 Other Adept Product ManualS o ooooccoocconcc o 3 Optional V
5. een nnn 63 A 3 Dimensions for Power Chassis and Controller eere 64 A 4 Mounting Bracket Dimensions sese nnn nnn 65 B Adept550 CleanRoom Robot err nn nnn 67 B l Introduction rcer rrini err h hh nn nn une 68 Vacuum Specifications Viral a xe mH RR RR ex e 68 B 2 Installation cra aan 68 B 3 Adept550 CleanRoom Robot Dimensions esee 69 C Dual Adept550 Robots eH 71 C 1 Introduction errei ireren EaR NANAREN nn hh nh 72 Dual Adept 550 Robot System Description 222222 ee seen 72 C 2 Installati0N ooooocoo nun nen nun nn nn nn nenn 72 VMEbusAddressforVJIModule ooo ocooccooococo nn 72 Adept PA 4 Power Chassis 0 0000 rennen nennen nn nn 72 Cable Installation Model 3303 with two powerchassis 73 C 3 Operation with the Manual Control Pendant MCP 73 C 4 Programming Information ccococccocccc nhan 73 V c Language Programming coccococc eee 73 V MonitorCommands 0 0 nn 73 C 5 Emergency Stop Circ uit Shuts Off Both Robo4S lt o0oocoooo on 74 Figure 21 Adept 550 RobotJoint Locations 0 00 eee 11 Figure 2 2 JointlMotion 00 cette ees 12 Figure 2 3 Robot LEFTY and RIGHTY Configurations 0 0 0 eese 13 Figure 2 4 Joint3andJoint4Motion 0 0 ccc ee eens 14 Figure 25 Adept 550 Robot Working Envelope oo ooocooococorerrnrr
6. Instructed persons are adequately advised or supervised by skilled persons to enable them to avoid the dangers which electricity may create operating and maintenance staff Adept 550 Table Top Robot User s Guide Hev A Safety System Safeguards Safeguards should be an integral part of robot or motion workcell design installation operator training and operating procedures Adept systems have various communication features to aid in constructing system safe guards These include the emergency stop circuitry and digital input and output lines These features are described in the Adept MV Controller User s Guide Safety Features on Extemal VME Front Panel VFP On the Adept MV controller the optional external VME Front Panel VFP has three important safety features the HIGH POWER and PROGRAM RUNNING indicators and the EMERGENCY STOP switch If you choose not to use the VFP you should provide similar safety features by using the Front Panel MCP and Digital I O connectors on the System I O module Refer to the Adept MV Controller User s Guide for more information or call Adept Customer Service WARNING Entering the workcell when either the HIGH POWER or the PROGRAM RUNNING light is on can result in severe injury This warning applies to each of the next three sections Computer Contmlled Robots and Motion Devices Adept systems are computer controlled and the program that is currently running the robot or motion dev
7. Joint 1 Shoulder Joint 4 Wrist Figure 2 1 Adept 550 Robot oint Locations Adept 550 Table Top Robot User s Guide Rev A 11 Chapter 2 Robot Overview Figure 2 2 Joint 1 Motion Joint 2 Joint 2 also referred to as the elbow provides rotation of the outer link Joint 2 motion is limited to 140 Joint 2 s motion is similar to an elbow capable of acting in both left and right hand configurations see Figure 2 3 When you teach a robot location the robot elbow when viewed from the back of the robot will be pointing either to the left or right These arm orientations are referred to as Lefty and Righty In Figure 2 3 the dotted outline is in a lefty configuration and the solid outline is in a righty configuration Under program control the robot will always move to the next location in its current configuration lefty or righty unless the location is a precision point or the LEFIY or RIGHTY program instruction is used For further information concerning right and left hand configuration refer to the V Language User s Guide 12 Adept 550 Table Top Robot User s Guide Hev A Adept 550 Robot Back of Robot Figure 2 3 Robot LEFTY and RIGHTY Configurations Joint 3 Joint 3 provides vertical translation of the quill Joint 3 drives the quill to up and down with a maximum stroke of 200 mm 7 9 See Figure 2 4 The Adept 550 Cleanroom robot has
8. Adept provides a series of programs for configuring and calibrating various features of your Adept system These utility programs are described in this manual Descriptions of the changes to V This document is updated as each version of V is released Adept 550 Table Top Robot User s Guide Rev A How to Use This Manual Other Adept Product Manuals When you order AdeptVision VME AdeptMotion VME AdeptForce VME or any AIM software product you will receive manuals that cover those products Also optional hardware such as the Manual Control Pendant will come with a manual A partial list is shown below Manual Material Covered AdeptVision VME User s Guide Concepts and strategies for programming the AdeptVision VME system see also the optional AdeptVision Reference Guide below AdeptMotion VME User s Guide Installation configuration and tuning of an AdeptMotion VME system AdeptForce VME User s Guide Installation operation and programming of the AdeptForce VME product Manual Control Pendant User s Guide Basic use and programming of the manual control pendant Optional V Developer s Manuals If you will be programming vt applications you should order the optional Vt devel oper s manuals first three in the list below These manuals contain a complete descrip tion of the commands instructions functions and other features available in the V language and operating system These manuals are
9. Joint 4 360 Maximum Payload including end effector and arm mounted tooling During operation 5 5 kg 12 1 Ib Inertia Load About Joint 4 axis maximum 450 kgcm 150 Ib in Force Joint 3 downward force minimum without payload 12 1 kg 26 6 Ib Cycle Time 2 kg 4 4 Ib 0 8 seconds Resolution Joint 1 0 0008 per encoder count Joint 2 0 0012 per encoder count Joint 3 vertical Z 0 0022 mm per encoder count Joint 4 tool rotation 0 0012 per encoder count Repeatability at constant temperature X Y plane 0 025 mm 0 001 Joint 3 vertical Z 0 03 mm 0 001 Joint 4 rotational 0 05 16 Adept 550 Table Top Robot User s Guide Rev A Adept 550 Robot Table 2 1 Specific ations Continued Adept 550 Robot Specifications Maximum Joint Speed with 2 kg payload Joint 1 270 sec Joint 2 430 sec Joint 3 1000 mm sec 40 sec Joint 4 480 sec Weight Robot without options approximately 45 kg 100 lb Power chassis with two amplifier modules approximately 14 5 kg 32 lb 2 The robot tool performs continuous path straight line motions 25 mm 1 up 305 mm 12 over 25 mm 1 down and back along the same path COARSE is enabled and BREAKs are used at each end location Not achievable over all paths Options The Adept 550 is compatible with the following
10. see below the red LEDs will all turn off Calibrate Robot 6 3 48 1 Before calibrating make sure the robot is in a safe position within its envelope as it may move suddenly when you calibrate Make sure that the E STOP emer gency stop light is off on the SIO module 2 Type enable power at the dot prompt in the system s V monitor After a delay of 10 20 seconds the cursor appears next to the dot prompt in the V monitor The HIGH VOLIS lights on the amp should be yellow If any system faults occur they will be displayed on the monitor Adept 550 Table Top Robot User s Guide Hev A Learning to Operate and Program the Adept 550 Robot 3 Type calibrate at the dot prompt in the V monitor WARNING The robot will move when you type calibrate During calibration the robot moves to the softstop limits in all joints Observe all safety precautions When calibration is complete the monitor displays the dot prompt This means the system is ready for operation The pair of green LEDs labeled PWM on the front of the amp panel will also turn on About Calibration Each robot has specific parameters that locate the zero degree position for each joint The zero degree position is based on the first order index from the home sensor This informa tion is read from the robot s Robot Signature Card RSC The first step in calibration is to twang the motor of each joint Twanging energizes one of the phases of the motor to f
11. Adept 550 Table Top Robot User s Guide Rev A Brakes 6 6 Brakes Joints 1 2 and 4 have dynamic brakes that are used only to stop the robot in an emergency condition such as when the emergency stop circuit is broken or a robot joint passes its softstop These brakes will not prevent you from moving the robot manually once the robot has stopped and High Power has been removed Joint 3 has an electric brake The brake is off when high power is enabled When High Power is turned off the brake actuates and holds the position of Joint 3 Brake Release Button Under some circumstances you may want to manually position Joint 3 without turning on High Power For such instances a brake release button is located on the robot backplate see Figure 5 6 When system power is on pressing the button releases the brake which allows movement of Joint 3 CAUTION When the brake release button is pressed Joint 3 may drop to the bottom of its travel To prevent possible damage to the equipment make sure that the Joint 3 is supported while releasing the brake and verify that the end effector or other installed tooling is clear of all obstructions Adept 550 Table Top Robot User s Guide Rev A 51 Maintenance 7 1 Maintenance Schedule 0occococccco nun eee 54 7 2 Checking Mounting Bolts and Leveling esee 54 7 3 Lubricate Joint 3 Ball ScreW 0oococoooooorrn nnn 54 7 4 Check Tension and WearOnJ3 and J 4 Drive
12. Developers Manuals oocoocccocococoo oo 3 1 2 Wamings Cautions and NofBS 0ccocococoo nenn nn nn nn nn nn 4 1 3 SAR a a dadas 4 Reading and Training forUsersand Operators cee 4 System Ste gua Siig ua oye ore a ahnt 5 Safety Featureson Extemal VME Front Panel VFP 5 Computer Controlled Robotsand Motion Devices 5 Manually Controlled Robots and Motion Devices 5 Other ComputerControlled DeviceS o oooooommmooo 5 1 4 Robot Modifications ccc cece eee eee 6 Acceptable Modifications 0 0 ccc eee eens 6 Unacceptable Modifications 0 0 ccc eee ees 6 L5 How Can I Get Help eee eee 7 Within the Continental United States 22m 0c cece eee 7 1491671 Er 7 Application Questions 0 000 Ria a oE RE D TE 7 Applications Intemet E Mail Address o oooooocococoo 7 Training Informa thom seeno rne e peo rag 7 Within EUO Pe counts rociar Ra Bede 7 France ra a Eau id E E een aua dd 7 Outside Continental United StatesorEurope 00 eee eee 8 Adept Bulletin Board Service BBS 0 000 c eee eee 8 Adept 550 Table Top Robot User s Guide Rev A 1 Chapter 1 General Information 1 1 How to Use This Manual Follow These Steps to Install and Configure the Adept 550 Robot Read Chapter 1 to learn about Safety and Customer Service issues Read Chapter 2 to get an overview of th
13. Insert the individual wire ends of the cord into the correct terminals see Figure 5 1 a For 3 phase operation connect to the L1 L2 L3 and G ground terminals b For 1 phase operation connect to the L line N neutral and G ground terminals If the PA 4 chassis is marked for 3 phase you can connect to 1 phase by connecting your Line to L1 Neutral to L2 and ground to G Do not connect to the L3 terminal when using single phase power b E adept O adept O technology inc technology inc OFF OFF O ON ON L1 O LO L2 O NIO L3 O Sie e le JE Figure 5 1 Power Entry Module on Adept PA 4 Chassis Model 3303 3 Tighten the terminal screws to clamp the wire into the terminal Pull on the cord to make sure the connection is secure 4 Locate the power entry safety shield warning label and two M2 5 x 8mm screws and washers in the accessories kit Apply the warning label to the shield 5 Install the power entry safety shield over the terminals using the two screws and washers Adept 550 Table Top Robot User s Guide Rev A 31 Chapter 5 Power Chassis Installation 32 WARNING Failure to install the power entry safety shield on the Model 3303 Power Chassis will expose dangerous voltages that could cause injury or death
14. external power supplies Failure to observe this warning could cause injury or damage to your equipment Removing Amplifier Modules Turn off the power chassis and the Adept MV controller Note the location of any cables connected to the module then disconnect them Loosen the captive screws at the top and bottom of the module Using both the top handle and bottom handle pull the module straight out of the chassis Remove the module from the chassis and store it in a safe place CAUTION You must take precautions to prevent amplifier modules from being exposed to electro static discharge ESD while you are handling or storing them Adept recommends using an anti static ground strap on your wrist when handling modules Installing Amplifier Modules Turn off the power chassis and the Adept MV controller If the slot has a blank panel installed loosen the captive screws at the top and bottom of the panel and remove it Verify that the intended slot for the module is ready to accept the module Align the module with the card guide slots at the top and bottom of the card cage Slide the module in slowly Apply straight forward pressure to the top and bottom handles until it is firmly seated in the rear power connector and the face of the module is flush with the other modules It should not be necessary to use excess pressure or force to engage the connector If the board does not properly connect with the rear power connector remove
15. Belts 55 7 5 Adept PA 4 Power Chassis 0occooocoocon hh nnn n 59 Fan Filter Inspection and Cleaning ooococcocococrr nn 59 Adept 550 Table Top Robot User s Guide Hev A 53 Chapter 7 Maintenance 7 1 Maintenance Schedule Table 7 1 Inspection and Maintenance Item Period Reference Check mounting bolts 6 months See Section 7 2 Check leveling of base 6 months See Section 7 2 Lubricate Joint 3 Z axis ball 3 months See Section 7 3 screw Check tension of Joint 3 3 months See Section 7 4 Z axis drive belt Check tension of Joint 4 3 months See Section 7 4 W axis drive belt Check air filter in PA 4 power 1 month See Section 7 5 chassis 7 2 Checking Mounting Bolts and Leveling Check the tightness of the base mounting bolts every 6 months Tighten to 700 Kgfcm 50 ft Ib Check the leveling of the base every 6 months 7 3 Lubricate Joint 3 Ball Screw Use Marutemp SRL grease 60554 00070 to lubricate the Joint 3 ball screw Procedure 1 2 54 Turn off main power to the controller Remove the Joint 3 cover by removing two nuts using an 8 mm socket on the top of the cover and lifting the cover up and off See Figure 7 1 Move Joint 3 to the top of its travel Remove any existing grease with a soft cloth Apply a thin film of grease to the surface of the length of the ball screw Move Joint 3 to the bottom of its t
16. Control Pendant MCP Cable Installation Model 3303 with two power c hassis The extra VJI module and two amplifier modules require additional cables that are shipped with the system It is important to keep the cables organized and prevent cables from being interchanged by mistake The table below shows a typical arrangement for cable assignments Table C 1 Typical Robot VJ I Amplifier Assignments in Dual Adept 550 Robot System Robot Number VJI Module Power Chassis Amplifier Module 1 1 Left 1 1 2 2 2 Right 2 1 2 Make sure to clearly label or mark the cables so it will be obvious which robot they belong to in case the cables have to be disconnected and re installed C 3 Operation with the Manual Control Pendant MCP The optional MCP can be used to control either robot in a Dual Adept 550 robot system By default the MCP controls robot 1 To switch to robot 2 press the DEV F3 button on the MCP The DEV2 LED turns on in this condition To switch back to robot 1 press the DEV F3 button again The DEV2 LED turns off See the Manual Control Pendant User s Guide for more information on using the MCP C 4 Programming Information V Language Programming By default Task 0 is used to control robot 1 Task 1 is normally recommended for robot 2 Use the SELECT ROBOT 2 and ATTACH instructions in your program to select robot 2 See the V Language User s Guide and the V Language Referenc
17. ET ea bed et thd eet eR IE 20 Dimensions deka neau a ea RE AN KN SER 20 3 2 Dual B5 Amplifier Module 000cc cee ee eee eee 21 Connectorsand Indicators 1 ee es 21 3 3 Adept MV Controller 00 00 cece eee eee 22 4 Robot Installation 200 e ee 23 4 1 Environmental and Facility Requirements seen nnn nnn 24 Facility Ambient Air Quality ooooooococonnnrrr nn 24 Robot Workcell Free Space coococcocorcr rennen 24 4 2 Unpacking and Inspecting lt oocoocococo nnn n nnnm 24 Before Unpacking 00 2 cee e en nenn 24 After Unpacking xeu xem edad WEE eee eee ae M XE RE 24 Repacking for Relocation 0 ee tee 24 4 3 Robot Mounting 000 emmer manke ee 25 Mounting Surface cc A RR 25 Mounting Procedure uode ses eae cee E E E aa Eee 25 4 4 User Hange Dimensions 000 ce cece eee 26 45 End Effectois 2 i 2 Ee ee eee a 27 4 6 UserCOMNECtONS coococccccc nun nun nn hh hanh renen erne 28 User AIF Lines 43a er Aa Wa 28 User Electrical Lines aa a a a iiaa a A a een e 28 5 Power Chassis Installation 0000 cee e eee 2D 5 1 Environmental and Facility Requirements lees nnn nnn 30 AmbientAir Qa lby 3 Sarawak ano Re e We lau eg 30 5 2 Power Chassis Installation 0ce eee e eee eee nr m nmn 30 PowerChassisModels 00 0 c cece eee eee eee 30 Connecting to AC Power Model 3303 PowerChasSSiS 30
18. Installation Physical Connections 6 2 Before turning on the controller and power chassis make sure all cables from the robot to the power chassis the robot to the controller and the controller to power chassis are installed correctly See Chapter 5 for installation instructions CAUTION Ensure that all screws holding the amp modules and blank panels in the power chassis are securely fastened If they are loose power to the robot cannot be enabled If you have the Manual Control Pendant MCP check to see that it is plugged in on the controller s external front panel Finally make sure both the controller and power chassis are connected to the correct AC power source See the Adept MV Controller User s Guide for details about the controller s power requirements Tum On Controller and Power Chassis After checking all physical connections boot up the controller by turning the ON OFF switch to ON The controller loads the V operating system from code stored on the C drive See the V Operating System User s Guide for more details on this process Next turn the power chassis ON OFF switch to ON The power chassis will not power up if the controller has not been turned on The LOW VOLTS lights on the amp should be green The lower three pairs of red LEDs on the front panel of the amp modules may come on in a random pattern after the power switch is turned on This does not indicate any problem Once you have enabled power
19. Technology Inc Adept AdeptOne AdeptOne MV AdeptThree PackOne HyperDrive Adept 550 Adept 550 CleanRoom Adept 1850 Adept 1850XP A Series S Series Adept MC Adept CC Adept IC Adept OC Adept MV AdeptVision VisionWare AdeptMotion MotionWare PalletWare AIM AdeptNet AdeptForce AdeptModules and V 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 General InfomMati0M 0ocoocc nun 1 1 1 How to Use This Manual 0 00 cece eee nennen nn nun nn nn nn 2 Follow These Stepsto Install and Configure the Adept 550 Robot 2 Related ManualS oocccooccco nennen nennen nenn 2 Standard Manuales oori s ikea y or nA e a nennen 2 Other Adept Product Manuals 0 cece eee 3 Optional V Developers Manuals 0 00 cece eee eee 3 1 2 Wamings Cautions and NofBS 0ccooococoo eee eee nn nn nn 4 L3 Safety oris OS E NOS OA AAN TON 4 Reading and Training forUsersand Operators cee ees 4 System Safequald Stes tases a o ae nek 5 Safety Featureson Extemal VME Front Panel VFP 5 Computer Controlled Robotsand Motion Devices 5 Manually Controlled Robots and Motion Devices 5 OtherComputerControlled Devices llle 5 1 4 Robot Modifications ccoooocconnn hh nn nenn 6
20. Y v Y Y Y Y Figure B 1 Adept 550 CleanRoom Robot Top and Side Dimensions Adept 550 Table Top Robot User s Guide Rev A 69 Dual Adept 550 Robots C 1 Inttoduction 0 2c eee eee 72 Dual Adept 550 Robot System Description sasaaa cee eee 72 C 2 Installation 0c cece eee 72 VMEbusAddressforVJ IModule 0 ccc eee 72 Adept PA 4 PowerChassis 0 0c eee eect eee 72 Cable Installation Model 3303 with two powerchassis 73 C 3 Operation with the Manual Control Pendant MCP 73 C 4 Programming InfomMati0N cccccoccccc eee 73 V Language PIOQIaMMiNQ oococccccr en en 73 V MonitorCOMMAndS o ococcoccc nennen 73 C 5 Emergency Stop Circuit Shuts Off Both Robots 00o ooo 0 o ooo 74 Adept 550 Table Top Robot User s Guide Rev A 71 Appendix C Dual Adept 550 Robots C 1 Introduction All of the information in this user s guide is applicable to the Dual Adept 550 robot con figuration This appendix describes some additional considerations when working with this product Dual Adept 550 Robot System Description C 2 A Dual Adept 550 robot system consists of the following components two standard Adept 550 robots no modifications required an Adept MV 8 or 19 controller with two VJI modules installed an Adept PA 4 power chassis with four Dual B amplifier modules installed or two PA 4 power chassis with two amplifier mod
21. a maximum Joint 3 stroke of 180 mm see Appendix B Joint4 Joint 4 also referred to as the wrist provides for rotation of the quill Joint 4 does not have hardstops but software limits its motion to 180 see Figure 2 4 Also see Table 6 1 for additional information on Joint 4 softstops Adept 550 Table Top Robot User s Guide Rev A 13 Chapter 2 Robot Overview i s gt Joint 4 Rotation Figure 2 4 Joint 3 and J oint 4 Motion 14 Adept 550 Table Top Robot User s Guide Rev A Adept 550 Robot Robot Working Envelope Maximum Radial Reach Functional Area 550 mm 21 7 Maximum Intrusion Contact Radius 590 mm 23 3 Minimum C CV di Radial b Reach 194 mm 7 6 Figure 2 5 Adept 550 Robot Working Envelope NOTE See Appendix A for robot and power chassis dimension information Adept 550 Table Top Robot User s Guide Rev A 15 Chapter 2 Robot Overview Specifications All specifications are subject to change without notice Table 2 1 Specifications Adept 550 Robot Specifications Reach Maximum radial 550 mm 21 7 Minimum radial 194 mm 7 6 Vertical clearance bottom of base to end of quill with maximum joint 3 retraction 336 mm 13 2 with maximum joint 3 extension 136 mm 5 3 Vertical Stroke Joint 3 Z direction 200 mm 7 9 Joint Rotation Joint 1 3 100 Joint 2 140
22. enken 15 Figure 3 1 Adept PA 4 PowerChassiS 0 00 c eee tae 20 Figure 3 2 AdeptMV 8 Controller 0 seen 22 Figure 4 1 Mounting Hole Pattem Robot to Mounting Surface o o 25 Figure 4 2 UserFlange Dimensions 0 0 cect I 26 Figure 4 3 UserFlange Close up Dimensions 000 eee eee 27 Figure 5 1 Power Entry Module on Adept PA 4 Chassis Model 3303 31 vi Adept 550 Table Top Robot User s Guide Rev A Figure 5 2 Figure 5 3 Figure 5 4 Figure 5 5 Figure 5 6 Figure 5 7 Figure 5 8 Figure 5 9 Figure 7 1 Figure 7 2 Figure 7 3 Figure 7 4 Figure A 1 Figure A 2 Figure A 3 Figure A 4 Figure B 1 Table 2 1 Ta ble 4 1 Table 5 1 Ta ble 5 2 Ta ble 5 3 Ta ble 6 1 Table 7 1 Ta ble B 1 Table C 1 Table of Contents Joining the Power Chassisand Controlleratthe TO0pP o oooooo 35 Joining the Power Chassisand Controleratthe BottoM 36 Installing Mounting Brackets 0 cece m8 38 Adept 550 System Cable Installation oooooooocoommmom o o o 40 Adept 550 Robot Back Plate and Ground Connections 42 Amplifier Modules 1 and 2 in Power Chassis Model 3303 43 Robot to VJI Cable Installation 0 0 erir ccc eee 44 Power Chassis to VJ I Cable Installation Model 3303 45 Lubrication of Joint 3 Ball Screw 0 eens 55 Location of Access Coveron Underside of OuterLink
23. filter 59 schedule 54 Manuals related 2 Maximum payload specification 16 Motor power cable installation 41 Mounting brackets dimensions 65 installation 37 O Operation turning on controller 48 Options compatible with robot 17 P Panel mounting 37 Power chassis circuit breaker 34 connecting to controller 45 connecting to robot 41 dimensions 63 fuses 34 installation 30 45 interlock circuit 39 joining to controller 34 models 30 overview 20 system grounding information 33 turningon 48 Power chassis Model 3303 AC power requirements 30 Power chassis Model 3306 AC power requirements 32 connecting AC power cord 33 Power cord Model 3306 specifications 33 R Rack mounting 37 Reach specification 16 Related manuals 2 Repeatability specification 16 RIGHTY 12 Robot cable ground connections 42 calibration 48 connecting to controller 44 dimensions 62 dual 550 system 72 74 installation 24 28 mounting bolt specifications 25 mounting procedure 25 mounting surface 25 programming 49 specifications 16 working envelope 15 Robot modifications acceptable 6 unacceptable 6 Robotic Industries Association 4 Robotic safety 4 S Safety 4 Safety shield AC power Model3303 231 76 Adept 550 Table Top Robot User s Guide Hev A Index SCARA 10 Softstops description 50 SPEC utility program to set softstops 50 Specifications 16 System safeguards 5 7 Temperature required range power chassis 30 required rang
24. mm conductor size Color code 380 415 VAC line 1 black line 2 black line 3 brown neutral blue ground green yellow Color code 200 240 VAC line 1 black line 2 black line 3 brown no connection blue ground green yellow NOTE The Adept PA 4 power chassis is typically used with the Adept MV controller which has its own separate AC connection The Adept MV controller chassis must be connected to single phase AC power See the Adept MV Controller User s Guide for installation information System Grounding Information Model 3303 The protective ground terminal marked G is internally connected to the accessible metal parts of the power chassis To ensure electrical shock protection this must be connected to a properly grounded power source Model 3306 The protective ground conductor colored green yellow is internally connected to the accessible metal parts of the power chassis To ensure electrical shock protection this must be connected to a properly grounded power source WARNING Ensure that a proper protective ground connection exists before turning on the power The Adept PA 4 power chassis and the Adept MV controller must be connected to the same earth ground Adept 550 Table Top Robot User s Guide Rev A 33 Chapter 5 Power Chassis Installation Circuit Breaker and Fuse Information Chassis Circuit Breaker The circuit breaker is rated at 15A and is located on the lower
25. point b Place the external tooth lock washer against the back plate over the empty hole then place the ground wire lug over the washer See Figure 5 6 c Install the screw and secure tightly CAUTION Make sure that the ground wire lugs from the motor power and signal cables are securely fastened to the robot back plate with the external tooth lock washer located next to the back plate Failure to secure the ground wire lug will cause damage to the robot procedure continued on page 43 Adept 550 Table Top Robot User s Guide Hev A 41 Chapter 5 Power Chassis Installation Brake Release Button Pe User Electrical Lines I O Arm Signal O Cable M O User Air Lines Connector O O O a o O O O O Motor Power Cable Connector Ground wire installation Ground wire installation point for power cable point for signal cable Side view of ground wire installation for both signal and power cables gt Back plate P d Ground WIFE External tooth lock washer Figure 5 6 Adept 550 Robot Back Plate and Ground Connections 42 Adept 550 Table Top Robot User s Guide Rev A Installing Cables Robot Controller Power Chassis 3 Connect the other end of the motor power cable to the two matching connectors on the amplifier modules in the following order Figure 5 7 a Install the plug labeled Dual B Amp 1 in the connector marked M
26. the module and inspect the connector and guide slots for possible damage or obstructions Tighten the captive screws at the top and bottom of the module WARNING There is an interlock circuit that prevents enabling power if the amp module screws are not tightened securely This also applies to any blank panel cover s There are dangerous voltages present inside the power chassis do not attempt to operate without blank panel cover s installed in any unused slots Adept 550 Table Top Robot User s Guide Rev A 39 Chapter 5 Power Chassis Installation 5 3 Installing Cables Robot Controller Power Chassis System Cable Connections Adept MV 8 Controller Adept PA 4 Power Chassis Model 3303 AMP AMPS AMP AMPA e eje els e Te Tena Sen lene Je To 030 SIO VJI DIO amp e e DUAL B5 AMP DUAL B5 AMP 00 60 90 00 mm 29999 3 anurans NE d TB TI K N VJI to Amp Cable Arm Signal Cable 000 oooJjo o Arm Si
27. to the ground wire installation point at the bottom of the back plate a Remove the screw and the external tooth lock washer from the ground wire installation point b Place the external tooth lock washer against the back plate over the empty hole then place the ground wire lug over the washer See Figure 5 6 c Install the screw and secure tightly 3 Connect the other end of the cable to the Arm Signal connector lower on the VJI module Tighten the screws See Figure 5 8 VJI Module in e Adept MV Controller y y ESC Quee 1002 3004 5008 N Install VJI to Amp cable here Belt Encoder connector see en Adept MV Controller User s Guide for information P N Install arm signal cable here e Figure 5 8 Robotto VJI Cable Installation 44 Adept 550 Table Top Robot User s Guide Rev A Installing Cables Robot Controller Power Chassis Connecting Adept MV Controller to Power Chassis The VJI to Amp amplifier signal cable must be installed between the controller and the power chassis This cable assembly has a single plug on one end for the VJI and four plugs on the other end for the amp 1 Connect the cable end with the single connector to the connector marked Ampli fier Signal upper on the VJI module Tighten the screws See Figure 5 8 2 The other end of the cable with four plugs must be connected in the following spe
28. 7 1 The working envelope dimensions for the Adept 550 CleanRoom robot are the same as those shown in Figure 2 5 Vacuum Specific ations Table B 1 Adept 550 CleanRoom Robot Vacuum Specific ations Vacuum Fitting on 550 50 5 mm external diameter 45 mm internal diameter Air pressure minimum 800 mm of water column Air flow rate minimum 1 2 cubic meter minute Vacuum source Spiral Blowers Model SL5A60F or equivalent Contact Japanese Products Corp at 203 840 1601 for information B 2 Installation The robot installation procedures are the same as those listed in Chapter 4 with the addi tional step of connecting a user supplied vacuum source as described above 68 Adept 550 Table Top Robot User s Guide Hev A Adept 550 CleanRoom Robot Dimensions B 3 Adept550 CleanRoom Robot Dimensions 4 x 14 dia thru 9 200 160 125 70 O 45 a ug ag 40 40 gt 200 All dimensions inmm 140 300 di 250 730 E lt 117 LI A A A A N 242 250 1 1 1 Y Y i i 43 Y A 10 J60 i 78 rt 1 y X I LT T T Y 46 Sure 867 20 832 i A y 215 E t sj Y 411 5 317 297 137
29. 90 non condensing Robot Workcell Free Space The workcell design should allow the Adept 550 freedom of movement within the area specified in Figure 2 5 Additional allowances maybe required to accommodate any installed end of arm tooling 4 2 Unpacking and Inspecting Before Unpacking Carefully inspect all shipping crates for evidence of damage during transit Pay special attention to tilt and shock indication labels if they are present on the exteriors of the con tainers If any damage is indicated request that the carrier s agent be present at the time the container is unpacked After Unpacking Compare the actual items received not just the packing slip with your equipment pur chase order and verify that you received everything you ordered Inspect each item for external damage as it is removed from its container If any damage is evident contact Adept at the number listed in Chapter 1 Retain all containers and packaging materials These items will be necessary to settle dam age claims or to relocate the robot Repacking for Relocation If you relocate the robot reverse the installation procedures that follow this section Reuse all original packing containers and materials and follow all safety notes used for installa tion Improper packaging for shipment will void your warranty CAUTION The Adept 550 robot with the inner and outer links fully extended has a center of gravity beyond its base If an unmounted A
30. Acceptable Modifications 0 00 cece eh 6 Unacceptable Modifications llle 6 L5 How Can I Get Help sese hh nhanh nan 7 Within the Continental United StatesS ooo oooooocoormrnmmmo 7 SemiceCalls ie Liwnusside4 a nex id 7 Application Questions san aose ia mera a EN EE nennen nn nn 7 Applications Intemet E Mail Address 0000 0c eens 7 Training Information 0 0c 7 Withib EUrope curl hee eae ee EIE EE den es 7 PIANC Oo ee cle re ee Lek AIOE ey box GEE D te bt ae eta 7 Outside Continental United StatesorEurope 0 cece 8 Adept Bulletin Board Service BBS 0 ces 8 2 Robot OVO IVs iia a 9 2 l OveivieW ni a a au a Ee ee saat ew RON BUR ew wee 10 2 2 Adept550 Robot cece cence eee e eee eee eee eee hh hh nhan 10 General Description 0 0c ce een 10 Joint M OLIOTIS i u etre arena we da ew m ER RU 10 A stet S ose m oes dl Ave a ATE det eA 10 gcc pP 12 KORET IR a erem MER Se TERTA MERE E arene CIN fe RD WR 13 JOINTA sad Rote a oie hee eed ee VERS IE eUEThYEREPSUE WIE Mes 13 Adept 550 Table Top Robot User s Guide Rev A iii Table of Contents Robot Working Envelope oococcoccocr rennen nn 15 Specifications wes a wa a A en A ADA 16 OPUlONS 3 5 2 2A de heh a a a ee 17 3 PowerChassis Controller Overview ccceceeceuceeceesess 19 3 1 Adept PA 4 Power Chassis 00cce eee esee nnn nnn 20 Introduction caveat fied
31. Adept 550 Table Top Robot User s Guide Including Class 10 Clean Room Version and Adept PA 4 Power Chassis Adept 550 Table Top Robot User s Guide Including Class 10 Clean Room Version and Adept PA 4 Power Chassis Part Number 00554 00030 Rev A April 1995 O cay 150 Rose Orchard Way San Jose CA 95134 USA Phone 408 432 0888 Fax 408 432 8707 BA Otto Hahn Strasse 23 44227 Dortmund Germany Phone 0231 75 89 40 Fax 0231 75 89 450 a 11 Voie la Cardon 91126 Palaiseau France Phone 1 69 19 16 16 Fax 1 69 32 04 62 1 2 Aza Nakahara Mitsuya Cho Toyohashi Shi 441 31 Japan 0532 65 2391 Fax 0532 65 2390 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 A form is provided at the back of the book for submitting your comments Copyright O 1994 1995 by Adept Technology Inc All rights reserved The Adept logo is a registered trademark of Adept
32. Adept options AdeptVision VME systems Robot mounted camera hardware Extended robot to controller cables 10 m 32 8 ft AdeptForce VME Adept 550 Class 10 CleanRoom Model available See Appendix B Dual Adept 550 robot systems available See Appendix C Adept 550 Table Top Robot User s Guide Rev A 17 Power Chassis Controller Overview 3 1 Adept PA 4 PowerChassis 0 occooooccooon eee nnnm hn 20 Intro Q UUCtIO EY a uud om e temper A aa ect u da e e eA A Adal Re See 20 DIMENSIONS ausos nives ME eae MAIER M ala dada SORA 20 3 2 Dual B5 Amplifier Module eeseeeeee n nnm nnnm 21 Connectorsand Indicators 0 eee 21 3 3 Adept MV Controller 000 c cece eee 22 Adept 550 Table Top Robot User s Guide Rev A 19 Chapter 3 Power Chassis Controller Overview 3 1 Adept PA 4 Power Chassis Intoduction The Adept PA 4 power chassis provides amplified power signals to drive the robot motors in an Adept 550 robot system The amplifier modules in the Adept PA 4 power chassis receive control signals from the Adept MV controller The amplifier modules then drive the various robot joint motors at the level commanded by the controller The Adept PA 4 chassis is cooled by a fan located in the lower front section Incoming air is cleaned by a reusable filter AMP 1 AMP 3 AMP 2 AMP 4 eje eje ese e DUAL B5 AMP DUAL B5 AMP
33. NOTE The Adept PA 4 power chassis is typically used with the Adept MV controller which has its own separate AC connection The MV controller chassis must be connected to single phase AC power See the Adept MV Controller User s Guide for installation information Connecting to AC Power Model 3306 Power Chassis Power Requirements for Model 3306 Power Chassis Table 5 2 Adept PA 4 Power Chassis Model 3306 Power Requirements Nominal Minimum Maximum Recommended Voltage Frequency Operating Operating pal Range Phasing Voltage Voltage Circuit Breaker 5 5 5 user supplied 380 to 415 50 60Hz 342 VAC 456 VAC 20 amps VAC 3 phase only 200 to 240 50 60Hz 180 VAC 264 VAC 20 amps VAC 3 phase only Specifications for Model 3306 Power Chassis are preliminary Changing Voltage Setting Model 3306 only The Adept PA 4 power chassis is shipped from the factory configured for either 380 415 VAC or 200 240 VAC operation depending on your sales order Verify that the setting matches your facility power before installation This chassis is designed for 3 phase operation only If you need to change the AC voltage setting from 380 415V to 200 240V or vice versa you must move a voltage selector located on the power control board behind the air filter This procedure must be done only by a skilled or instructed person and should be performed before installing the power chassis 1 Make sure the Adept PA 4 power
34. Power Requirements for Model 3303 Power Chassis 30 Connecting Power Cord Model 3303 Power Chassis 31 Connecting to AC Power Model 3306 PowerChaSSiS 32 Power Requirements for Model 3306 Power Chassis 32 Changing Voltage Setting Model 3306 only 32 Connecting AC Power Cord Model 3306 Power Chassis 33 iv Adept 550 Table Top Robot User s Guide Rev A Table of Contents System Grounding InformMati0N o ooocoococonrrnr nennen 33 Circuit Breakerand Fuse Information 0000 a 34 Chassis Circuit Breaker 0 0 2c eee 34 ChasssFUses 3a ed xw A cele Wa eee a Gree x a E Weeks a ote we 34 Amplifier Module Fuses lisse 34 Joining an Adept PA 4 Power Chassisto an Adept MV Controller 34 JOINING atthe Topics 23 4 32 20 Herren 35 Joining atthe BottoOM 2 eee 36 Installation in a RackorPanel Mount 0 00 cee eee eee eee 37 Space Around the Chassis 0 00 c cee eee 37 Panel Mountings sot 2422 iaa M E A aed Vode mols 37 Rack MOUNUNG de uunc Roa ey a e Bawa eee ee 37 Removing and Installing AmplifierModules o ooooomooooo 39 Removing AmplifierModulesS 0 000 ccc eects 39 Installing AmplifierModules 2 000 e eee tees 39 5 3 Installing Cables Robot Controller Power ChaSSiS 0oooooo 002 0 0 40 System Cable Connections oococcooco nenn 40 Connecting Adept 550 Robot to
35. PowerChaSSiS oooooooooo 41 Connecting Robot to Adept MV Controller oooooooomooo 44 Connecting Adept MV Controllerto PowerChasSSiS 45 6 Open ae 27 6 1 Verify Installati0N lt o0ooccooocno rh hmm nun nun nun 48 Physcal Connectlons vustbebeit Pen er En Saale 48 6 2 Tum On Controller and Power Chassis silere 48 6 3 Calibrate Robot reeulreeeeeee arr nnnm hh hmm 48 About Calibration ser EN AA Dan 49 6 4 Leaming to Operate and Program the Adept550 Robot 49 6 5 Limiting Joint TavVel 0ooccocccon nn nnn nnnm 50 SOftSODS Hrn AE AA ee a T 50 Hard stop S 22 it Gas tn pda par a ee ne wet 50 6 6 Bakes crs TTC 51 Brake Release BU LOD o o oooccoooococ nen rr 51 7 Maintenance cnn hh a DO 7 1 Maintenance Schedule 0occoccccco nnn nnn 54 7 2 Checking Mounting Bolts and Leveling esee 54 7 3 Lubricate Joint 3 Ball Screw cece eee 54 7 4 Check Tension and Wear On J 3 and J 4 Drive Belts 55 7 5 Adept PA 4 Power Chassis lies eee eee 59 Fan Filter Inspection and Cleaning 0 0 cece eee 59 Adept 550 Table Top Robot User s Guide Rev A V Table of Contents A Dimension Drawings lt lt lt o0ooooconcoc nn nun nn Im hh mn 61 A 1 Dimensions for Adept 550 Robot sees n n n nn nnn 62 A 2 Dimensions for Adept PA 4 PowerChassis
36. Rev A 5 Chapter 1 General Information 1 4 Robot Modifications It is often necessary to make modifications to Adept robots to successfully integrate them into a workcell Unfortunately many seemingly simple modifications can either cause a robot failure or reduce the robot s performance reliability or lifetime Acceptable Modifications In general the following robot modifications will not cause any problems but may affect robot performance Attaching tooling utility boxes solenoid packs vacuum pumps screwdrivers cameras lighting etc to the inner link outer link or column Any loads attached to the moving robot parts must be considered part of the payload Attaching hoses pneumatic lines or cables to the robot These should be designed so they do not restrict joint motion or cause robot motion errors Modifying robot access covers as long as adequate protection is provided after the modification Unacceptable Modific ations If not done properly the modifications listed below will damage the robot reduce system reliability or shorten the life of the robot CAUTION Making any of the modifications outlined below will void the warranty of any components that Adept determines were damaged due to the modification Please contact Adept Customer Service before attempting any of the following modifications to determine if they can be made without causing problems Modifying any of the robot harnesses or robot
37. but this single phase oper ation is limited to a single Adept 550 robot Any other robot configurations require three phase operation Table 5 1 Adept PA 4 Power Chassis Model 3303 Power Requirements Nominal Minimum Maximum Recommended Voltage Brequency Operating Operating External Ran 5 Phasing BEN e Voltage Circuit Breaker ange 8 8 user supplied 208V to 240V 50 60Hz 188V 264V 20 amps 3 phase 208V to 240V 50 60Hz 188V 264V 20 amps 1 phase If your facility voltage is outside the range listed above you must supply an external transformer Model 3303 is not configurable for other voltages Adept 550 Table Top Robot User s Guide Rev A Power Chassis Installation Connecting Power Cord Model 3303 Power Chassis The AC power cord must be supplied by the user The cord has to be rated to handle the voltage requirements listed above The current rating should equal or exceed that of the user s circuit breaker The cord must meet all applicable local and national codes and regulations for current voltage ratings wire gauge colors etc Connect the user supplied power cord to the power entry module at the lower left side of the front of the chassis as described in the following procedure See Figure 5 1 1 Prepare the user supplied power cord by removing 7 mm of insulation from each of the four wires Three wires for 1 phase 2 Loosen the screws in the terminals at the power entry module
38. chassis and Adept MV controller are turned off and completely disconnected from the AC power source 2 Open the front air intake grill by loosening two screws and swinging the grill out 3 Inspect the voltage setting it is marked on the voltage selector To change the voltage setting remove the selector rotate it so the required setting is shown and replace it WARNING Verify the voltage setting is correct before turning on power Operating the Adept PA 4 power chassis with incorrect voltage settings can cause damage or injury The voltage settings for the Adept MV controller must be changed separately see the Adept MV Controller User s Guide Adept 550 Table Top Robot User s Guide Hev A Power Chassis Installation 4 Close the grill and secure the two screws 5 Clearly mark or alter the ID label on the side of the chassis to show the new volt age configuration Connecting AC Power Cond Model 3306 Power Chassis For the Model 3306 the 3 phase AC power cord is permanently attached to the controller Connect each conductor of the power cord securely to your AC power source using the color code below The installation must meet all applicable local and national codes and regulations See the next section for important information on system grounding Table 5 3 AC Power Cord Specifications Model 3306 Power Chassis Cord length 3 meters 40 1 m 9 ft 10 in 4 in Cord rating 25 amps Number and size of 5x2 5
39. cial pattern See Figure 5 9 a Connect the plug labeled Amplifier Crtl 1 to the B1 connector on Module 1 b Connect the plug labeled Amplifier Crtl 3 to the B2 connector on Module 1 c Connect the plug labeled Amplifier Crtl 2 to the B1 connector on Module 2 d Connect the plug labeled Amplifier Crtl 4 to the B2 connector on Module 2 Module 1 Module 2 far left 2nd from left in chassis Xin chassis E Amplifier Amplifier Amplifier Cril 3 Crtl 2 Amplifier Crtl 1 P Cril 4 7 VJI to AMP Cable Assembly to VJI Module in MV Controller Figure 5 9 Power Chassis to VJ I Cable Installation Model 3303 Adept 550 Table Top Robot User s Guide Rev A 45 6 1 Verify Installati0N lt o0ooccooocno nn nun un hh nun nun nun 48 Physical Connections o ooococoo ete 48 6 2 Tum On Controller and PowerChassis silere 48 6 3 Calibrate RObOt 0cooooccooon nnn hh hh hh hr 48 AboutCGalibratiOn se Lo uu ee em y Ae wah m e Re A wm Reade Re wi RE 49 6 4 Leaming to Operate and Program the Adept 550 Robot 49 6 5 Limiting JointTravel lesser eer nnm nnn nnn 50 POPS s 2i rd e En irte m we il 50 Hardstops ira teaser en sw Eds 50 6 6 Brakes iiiu leslie LE unu ee 51 Brake Release BU LOD o o cooocoooocco eee eens 51 Adept 550 Table Top Robot User s Guide Hev A 47 Chapter 6 Operation 6 1 Verify
40. d inside the power amplifier modules The amplifier fuses are not user replaceable If you suspect that an amplifier fuse may have blown contact Customer Service CAUTION Failure of an amplifier fuse indicates an internal circuit fault which must be corrected before the fuse is replaced Do not attempt to replace the fuse yourself contact Adept Customer Service at the numbers listed in Chapter 1 Joining an Adept PA 4 Power Chassis to an Adept MV Controller The Adept PA 4 Power Chassis can be joined to the Adept MV 8 or MV 19 controller using the brackets supplied in the accessories kit They must be joined at the top and bottom as described in the following sections 34 Adept 550 Table Top Robot User s Guide Hev A Power Chassis Installation Joining atthe Top 1 Place the two units next to each other Turn off power to each unit and disconnect the power Remove the top cover from both See Figure 5 2 2 Locate the C shaped bracket in the accessory kit 3 Slip the bracket under the lip of the top edge of the unit on the right hand side and into the two slots in the edge of the chassis Install two M4 x 8 flat head screws into the lip and down into the bracket 4 Install the other two M4 x 8 flat head screws into the chassis on the left hand side Replace the cover on each unit Top view with covers removed Adept MV 8 Controller Adept PA 4 Power Chassis OJ od lo ol Hot o ol
41. dept 550 is fully extended it may fall and cause substantial damage Always fold the links in towards the center if the robot is not mounted 24 Adept 550 Table Top Robot User s Guide Rev A Robot Mounting 4 3 Robot Mounting Mounting Surface The Adept 550 is designed to be mounted on a smooth flat level tabletop The mounting structure must be rigid enough to prevent vibration and flexing during robot operation Excessive vibration or mounting flexure will degrade robot performance Figure 4 1 shows the mounting hole pattern for the Adept 550 4 x 14 dia thru 200 160 125 Rr JA Q c All dimensions in mm Figure 4 1 Mounting Hole Pattem Robot to Mounting Surface 40 k A R 80 80 Mounting Procedure 1 Using the dimensions shown in Figure 4 1 drill and tap the surface for four 7 16 14 UNC x 1 50 or a metric size of M12 1 75 x 36mm machine bolts bolts not provided See Table 4 1 for bolt and torque specifications 2 Place the robot on the mounting surface and secure it with four bolts Tighten bolts to 700 Kgfcm 50 ft Ib 3 Move joints 1 2 3 and 4 through their range of motion and check for significant binding or roughness You will need to use the Brake Release button to move Joint 3 see Chapter 6 If you encounter any problems contact Adept Customer Service NOTE Check the tightness of the mount
42. dept 550 Robot to PowerChaSSiS ooooooooo 41 Connecting Robot to Adept MV Controller oo ooooocmooo 44 Connecting Adept MV Controllerto PowerChasSsiS 45 Adept 550 Table Top Robot User s Guide Rev A 29 Chapter 5 Power Chassis Installation 5 1 Environmental and Facility Requirements Ambient Air Quality 5 2 Temperature 5 to 40 C 41 to 104 F Relative humidity 5 to 90 non condensing When the Adept PA 4 is installed in a user supplied cabinet you must provide adequate cooling to maintain the above requirements Power Chassis Installation See also Chapter 3 for an overview of the power chassis and amplifiers Power Chassis Models There are two models of the Adept PA 4 power chassis used with the Adept 550 robot Model 3303 and Model 3306 The model number is the 4 digit prefix of the chassis serial number This is displayed on a small label on the front of the chassis just above the on off power switch The serial number and voltage ratings are also displayed on a bar code on the main rating plate which is located on the side of the chassis The power chassis serial number prefix will be either 3303 or 3306 Connecting to AC Power Model 3303 Power Chassis 30 Power Requirements for Model 3303 Power Chassis The Adept PA 4 Model 3303 is recommended to be used with three phase 208 240V if available It can also be operated from single phase 220V 240V
43. e robot 24 U Unpacking and inspection 24 User air lines in robot 28 electrical lines in robot 28 User flange dimensions 26 V V developer s manuals 3 Vertical stroke specification 16 VJI to amp cable installation 45 VMEbus address for dual 550 robot system 72 W Weight power chassis 17 robot 17 Adept 550 Table Top Robot User s Guide Rev A 77 Adept User s Manual Comment Form We have provided this form to allow you to make comments about this manual to point out any mistakes you may find or to offer suggestions about information you want to see added to the manual We review and revise user s manuals on a regular basis and any comments or feedback you send us will be given serious consideration Thank you for your input NAME DATE COMPANY ADDRESS PHONE MANUAL TITLE PART NUMBER and REV level COMMENTS Adept 550 Table Top Robot User s Guide Rev A 79 00554 00030 Rev A
44. e Adept 550 Robot and Chapter 3 for an overview of the Adept PA 4 power chassis Read Chapter 4 to learn the steps in installing the robot Read Chapter 5 to learn the steps in installing the power chassis and connecting cables between all components Read Chapter 6 to find out how to turn on the system and where to find program ming information Read Chapter 7 for periodic maintenance for the system Read Appendix A for dimension information Appendix B for CleanRoom infor mation and Appendix C for Dual Adept 550 robot information Related Manuals Adept products come with a set of documentation that is defined by the products you have ordered In addition there are optional manuals available if you are going to be programming the Adept system This manual refers to both the standard and optional manuals The following sections give a brief description of the contents and organization of the Adept documentation set Standard Manuals In addition to this Adept 550 Table Top Robot User s Guide the following manuals are shipped with the system Manual Material Covered Adept MV Controller User s Guide V Operating System User s Guide Instructions for Adept Utility Programs V Release Notes This manual details the installation configuration and maintenance of your Adept controller A description of the vt operating system Loading storing and executing programs is covered in this manual
45. e Guide for more information on these instructions V Monitor Commands By default monitor commands such as HERE and WHERE apply to robot 1 Use the mon itor command SELECT ROBOT 2 first when you need to display the location of robot 2 NOTE The DISABLE POWER command shuts off high power to both robots in a Dual Adept 550 robot system The CALIBRATE monitor command will calibrate both robots Robot 1 will be calibrated first then robot 2 Adept 550 Table Top Robot User s Guide Rev A 73 Appendix C Dual Adept 550 Robots If you want to temporarily disable either robot and continue to use the other you can use the DISABLE ROBOT command For example DISABLE ROBOT 2 will cause V to ignore robot 2 If you issue this command before you use the CALIBRATE command then only one robot will be calibrated Robot 1 can be then used normally To re enable robot 2 use the command ENABLE ROBOT 2 Emergency Stop Circuit Shuts Off Both Robots C 5 74 The Adept MV controller has many safety features including the Emergency Stop circuit These are designed to safely stop both robots simultaneously in the event of a problem The Adept multi robot system is designed for multiple robots operating in the same work cell Therefore if one robot has a fault the other robot will also be stopped A brief mes sage will be displayed indicating the problem The message will also state which joint s and which robot is affected The most c
46. essential for advanced applications programming If you will be programming vision applications you should order the Adept Vision Reference Guide in addition to the V developer s manuals Manual Material Covered V Operating System Reference Guide Descriptions of the V operating system commands known as monitor commands V Language User s Guide V is a complete high level language as well as an operating system This manual covers programming principles for creating vt programs V Language Reference Guide A complete description of the keywords in the basic V language system Adept Vision Reference Guide Descriptions of the additional V keywords available with the AdeptVision VME option Adept 550 Table Top Robot User s Guide Rev A 3 Chapter 1 General Information 1 2 Wamings Cautions and Notes There are three levels of special notation used in this manual They are WARNING Injury or major equipment damage could result if the actions indicated in a WARNING are not complied with A warning statement typically describes the hazard its possible effect and the measures that must be taken to reduce the hazard CAUTION Damage to your equipment could result if the action specified in the CAUTION is not complied with NOTE A NOTE provides supplementary information emphasizes a point or procedure or gives a tip for easier Operation L3 Safety Reading and Trai
47. gnal Motor Power Connector Connector Adept 550 Robot Base Rear View Figure 5 5 Adept 550 System Cable Installation 40 Adept 550 Table Top Robot User s Guide Hev A Installing Cables Robot Controller Power Chassis Connecting Adept 550 Robot to Power Chassis The cable between the robot and power chassis is called the motor power cable It has a circular connector with a ground wire on the robot end and two square connectors on the power chassis end This cable carries high voltage DC power to the motors This indepen dent AC circuit can only be isolated using the circuit breaker on the front of the Adept PA 4 power chassis WARNING Turn off the power to the power chassis before installing or removing any cables Failure to observe this warning could cause injury or damage to your equipment Do not turn on the power chassis without installing the motor power cables Dangerous AC and DC voltages may be present at the Motor Power Output connectors on the amplifier modules 1 Connect the circular end of the motor power cable to the matching connector on the back plate of the robot Tighten firmly by hand only See Figure 5 5 and Figure 5 6 2 Install the motor power cable ground wire comes out from the end of the cable next to the circular connector to the ground wire installation point at the bottom of the back plate of the robot a Remove the screw and the external tooth lock washer from the ground wire installation
48. grams or the V Release Notes for information regarding this utility program If a robot joint travels beyond a softstop the controller will shut off High Power and acti vate the robot brakes Furthermore the control software will not allow the robot power to be turned on while any joint is beyond its softstop If this situation occurs manually move the arm back within the softstop limits When you are using the manual control pendant to move the robot the robot will stop abruptly when it encounters a softstop This abruptness does not mean a hardstop has been contacted Hardstops 50 Joints 1 2 and 3 have hardstops at each end of the joint s travel Joint 4 does not have hardstops However its motion is limited by software and its soft stops can be set to further limit Joint 4 motion see above NOTE joint 4 can be rotated an infinite number of turns To avoid wind up of harnesses going to end of arm tooling Joint 4 should always be left at 90 degrees in joint coordinates when powering down the controller This ensures that when the system is next powered on and the robot is recalibrated it calibrates in the same Joint 4 orientation without winding up user harnesses T ble 6 1 Softstop and Hardstop Specifications Hardstop EQUAtOR Approximate Joint 1 100 108 Joint 2 140 149 Joint 3 0 to 200 mm 12 to 212 mm Joint 4 360 max set to None 180 at the factory
49. ice may cause it to move at times or along paths you may not antici pate When the HIGH POWER light and the PROGRAM RUNNING light on the optional VFP are illuminated do not enter the workcell because the robot or motion device might move unexpectedly The LAMP TEST button on the VFP allows these lights to be periodically checked Manually C ontolled Robots and Motion Devices Adept robots and other motion devices can also be controlled manually when the HIGH POWER light on the VFP is illuminated When this light is lit motion can be initiated from the system keyboard or from the optional Manual Control Pendant MCP If you have to enter the workcell when this light is lit press the MAN HALT button on the MCP This will prevent anyone else from initiating unexpected motion from the system keyboard Other Computer Controlled Devices In addition Adept systems can be programmed to control equipment or devices other than the robot or main motion device The program controlling these other devices may cause them to operate unexpectedly Make sure that safeguards are in place to prevent personnel from entering the workcell when a program is running Adept Technology highly recommends the use of additional safety features such as light curtains safety gates or safety floor mats to prevent entry to the workcell while HIGH POWER is enabled These devices can be connected using the emergency stop circuitry Adept 550 Table Top Robot User s Guide
50. inches at the front of the chassis and 25 mm 1 inch at the top of the chassis for proper air cooling CAUTION It is important to keep the air filter clean so the forced air cool ing system can work efficiently See Chapter 7 for details on cleaning the filter Panel Mounting To panel mount the Adept PA 4 power chassis install one bracket on each side near the back of the chassis Use the screws and washers from the accessories kit See Figure 5 4 Rack Mounting To rack mount the Adept PA 4 power chassis joined to an Adept MV 8 controller in a standard 19 inch equipment rack you must use the mounting brackets screws and washers from the accessories kit The brackets can be installed in two positions for rack mounting flush and set back See Figure 5 4 To rack mount the Adept PA 4 power chassis by itself in a standard 19 inch equipment rack you must first install the mounting brackets then build an extender panel and attach it to the bracket on one side of the chassis Adept 550 Table Top Robot User s Guide Rev A 37 Chapter 5 Power Chassis Installation M4 x 25mm pan head screw 2 places o o o To Install Mounting Brackets Remove and discard 3 existing countersunk screws from side of chassis at locations shown o o in drawing Place bracket in desired position and secure SI Q with indicated M4 pan head screws and washers from accessories kit o o o Repeat process for other side of chassi
51. ind the commutation point of each motor The motor moves the joint along a pre defined direction toward its home sensor then back to its 0 degree position The robot jerks slightly during twanging Leaming to Operate and Program the Adept 550 Robot 6 4 When the robot has been calibrated you should go to the V Operating System User s Guide to find information on basic operation of the V Operating System Also refer to the Instructions for Adept Utility Programs for information on using the Adept utility programs For programming information you need to refer to the following list of optional manuals e V Language User s Guide V Language Reference Guide e V Operating System Reference Guide Adept 550 Table Top Robot User s Guide Rev A 49 Chapter 6 Operation 6 5 Limiting J oint Travel The joint motion range or travel is limited by both software and hardware The program mable software limits are known as softstops The fixed mechanical stops are called hardstops Softstops Softstops are used when the normal motion range of the robot must be limited if other equipment is installed inside the envelope for example The softstops for each joint are set to their maximum value at the factory To limit any joint s motion range change the joint s softstop value using the SPEC utility program formerly CONFIG_R on the Adept Utility Disk supplied with the system Refer to the Instructions for Adept Utility Pro
52. indicates the high voltage to the amps is turned on PWM On indicates that current servo is on It does not go on until calibration is complete Low Volts On indicates the low voltage supply in the power chassis is on Open Ckt Fault indicates that an open circuit in the motor leads has been detected HV Sag Over Temp indicates that either the input voltage has dropped below the specified level or an over tempera ture fault has been detected on an amplifier module Short Fault indicates that an over current in the motor leads has been detected Control Signal connector the VJI to Amp cable connec tors are installed here See Chapter 5 for more details Motor Power Output connector the motor power cable is installed here See Chapter 5 for more details Adept 550 Table Top Robot User s Guide Hev A 21 Chapter 3 Power Chassis Controller Overview 3 3 Adept MV Controller 22 The Adept MV 8 or MV 19 controller contains the various VME modules that control the robot system and run the V Operating System and Programming Language See the Adept MV Controller User s Guide for information on this product en en e VJI DIO Soma 3976 o olim 00 ej gt L Qm ER gt Com SS d Vv d
53. ing bolts one week after initial installation and then recheck every 6 months See Chapter 7 for periodic maintenance Ta ble 4 1 Mounting Bolt Specific ations Standard Size Specification Torque Metric M12 x P1 75 ISO Property Class 8 8 700 kgfcm SAE 7 16 14 UNC SAE Grade 5 50 ft Ib Adept 550 Table Top Robot User s Guide Hev A 25 Chapter 4 Robot Installation 4 4 User Hange Dimensions 482 030 214 00 000 541 00 547 00 50 X 45 CHAMFER See Close up View on next page 48 00 e 52 00 42 0 MaS 31 5 Y 22 7 Y E M 4 77 020 A A 025 A 7 6 25 B m 13 00 4 025 41 15 Es 000 259 94 B 00 262 99 054 013 I 26 000 _ nn THRU 000 4X M6 Helicoil Insert Thru 2 04 AM B ON 250 000 BC C 2 10 MAW B CM All dimensions in mm Figure 4 2 User Hange Dimensions 26 Adept 550 Table Top Robot User s Guide Rev A End Effectors 4 5 21 221 00 000 R 8 25 0 12 00 4 14 1 47 889 ta T 1 1500 y 4 E All dimensions in mm 50 X 45 CHAMFER Figure 4 3 User Hange Close up Dimensions End Effec
54. left front of the chassis on the power entry module It also functions as an on off switch to isolate the chassis CAUTION If the circuit breaker trips due to current overload it indicates an internal fault Do not reset the circuit breaker yourself contact Adept Customer Service at the numbers listed in Chapter 1 Chassis Fuses The two chassis fuses F1 and F2 are located on the power control board This is located behind the front air filter Model 3303 Both chassis fuses are rated at 1A size 3AG Model 3306 Both chassis fuses are rated at 2A size 20mm Always replace blown fuses with fuses of the same type and rating Fuse replacement must be done by a skilled or instructed person Fuse Replacement Procedure WARNING Dangerous voltages are present inside the power chassis Turn off the power to the power chassis and disconnect it from the AC power source before opening the front grill to inspect or replace the fuses Failure to observe this warning could cause injury or damage to your equipment 1 Make sure the Adept PA 4 power chassis and Adept MV controller are turned off and completely disconnected from the AC power source 2 Open the front air intake grill by loosening two screws and swinging the grill out 3 Replace blown fuses with new ones of same type and rating 4 Close the grill and secure the two screws Amplifier Module Fuses In addition to the fuses in the power chassis there are additional fuses locate
55. lo o lor o o ol O fr PT Install four M4 x 8 flat head Phillips screws to secure bracket lo o lo ol Jo o Figure 5 2 Joining the Power Chassis and Controller atthe Top Adept 550 Table Top Robot User s Guide Rev A 35 Chapter 5 Power Chassis Installation Joining atthe Bottom 1 Turn the two units over so you have access to the bottom side 2 Locate the two cutout brackets in the accessory kit 3 Place the brackets over the feet of the units as shown in Figure 5 3 4 Install the four M4 x 8 flat head screws in the holes indicated in Figure 5 3 to secure the brackets Bottom View Install 2 flat head Phillips screws to secure each bracket s Adept MV 8 Adept PA 4 Controller oo Power Chassis SC Cd Figure 5 3 Joining the Power Chassis and Controller atthe Bottom o l l I I 36 Adept 550 Table Top Robot User s Guide Rev A Power Chassis Installation Installation in a Rack or Panel Mount The power chassis and controller if they are joined can be mounted in a rack or panel by using the mounting brackets that are shipped in the accessory kit The brackets can be attached at the rear of the power chassis for panel mounting or they can be attached to the front of the power chassis for rack mounting Space Around the Chassis When the power chassis is installed you must allow 50 mm 2
56. m robot Adept 550 68 69 dimensions 69 vacuum specifications 68 Customer service assistance phone numbers 7 Cycle time specification 16 Index D Dimensions clean room robot 69 mounting brackets 65 power chassis 63 power chassis and controller 64 robot 62 user flange 26 Dowel pin for keying on end effectors 27 Drive belts checking tension 55 Dual 550 robot system 72 74 cable installation 73 E stop circuit 74 installation 72 programming 73 using MCP with 73 Dual B5 amplifier module connections indicators 21 overview 21 E Electrical grounding system information 33 Electrical lines user inrobot 28 End effectors dowelpin 27 installing 27 Envelope working 15 F Fan filter cleaning 59 Force specification 16 Fuses amplifier module 34 chassis 34 H Hardstops description 50 specifications 50 Humidity required range power chassis 30 Adept 550 Table Top Robot User s Guide Rev A 75 Index required range robot 24 I Installation dual 550 robot system 72 joining power chassis to controller 34 power chassis 30 45 power chassis in rack or panel 37 robot 24 28 system cables 40 J Joint1 10 limits 10 motion 10 Joint2 12 limits 12 motion 12 Joint3 13 limits 13 Joint4 13 limits 13 motion 13 Joint resolution specification 16 Joint rotation specification 16 Joint speed specification 17 L LEFTY 12 Lubrication Joint3 54 M Maintenance 54 59 checking drive belts 55 cleaning fan
57. mer Service Center in Paris France The phone numbers are 33 169 19 16 16 Monday to Friday 8 30 a m to 5 30 p m CET 33 1 69 32 04 62 FAX Adept 550 Table Top Robot User s Guide Rev A 7 Chapter 1 General Information Outside Continental United States or Europe For service calls application questions and training information call the Adept customer service center in San Jose California USA 408 434 5000 408 433 9462 FAX service requests 408 434 6248 FAX application questions NOTE When calling with a controller related question please have the serial number of the controller If your system includes an Adept robot also have the serial number of the robot The serial numbers can be determined by using the ID command see the V Operating System User s Guide Adept Bulletin Board Service BBS Adept maintains a bulletin board service for Adept customers Adept posts application hints and utilities to this bulletin board and users may post their own hints and applica tion notes There is no charge for access to the bulletin board The BBS number is 203 264 5590 The first time you call you will be able to set up an account right from the BBS If you have any questions call 800 232 3378 and ask about the BBS 8 Adept 550 Table Top Robot User s Guide Rev A Robot Overview 2 1 Overwiew ccccccc nun nn nn nun nun nn nn nn nn nn nha anna 10 2 2 Adept550 Robot ooocccoccccc nun nun nn nn nun
58. n 30 PowerChassisModels llsssleeeeeee hr 30 Connecting to AC Power Model 3303 PowerChaSSiS 30 Power Requirements for Model 3303 PowerChassis 30 Connecting Power Cord Model 3303 Power Chassis 31 Connecting to AC Power Model 3306 PowerChaSSiS 32 Power Requirements for Model 3306 PowerChassis 32 Changing Voltage Setting Model 3306 only 32 Connecting AC Power Cord Model 3306 Power Chassis 33 System Grounding Information 00 006 cece 33 Circuit Breakerand Fuse Information 0 000 eee eee 34 Chassis Circuit Breaker a na anaana anae 34 CHASSIS FUSES v aston rante Seat ete a apt aw ae te ante wats 34 Amplifier Module Fuses 0 0000 cece eee 34 Joining an Adept PA 4 Power Chassisto an Adept MV Controller 34 Joining atthe TOP sss rrisni en eiee aa ee 35 Joining atthe Bottom cee nenn 36 Installation in a RackorPanel Mount 0 000 c cece eee eens 37 Space Around the Chassis ee eee 37 Panel Mounting 0 00 cece tees 37 Rack Mounting 020 c cee ete 37 Removing and Installing AmplifierModules oo ooooomooooo 39 Removing AmplifierModules 0 0000 cece eet eee 39 Installing Amplifier Modules o ooooococcrrro nenn 39 5 3 Installing Cables Robot Controller PowerChassis sees 40 System Cable Connections sssaaa aana nen 40 Connecting A
59. ning for Users and Operators Adept systems can include computer controlled mechanisms that are capable of moving at high speeds and exerting considerable force Like all robot and motion systems and most industrial equipment they must be treated with respect by the user and the operator This manual should be read by all personnel who operate or maintain Adept systems or who work within or near the workcell We also recommend you read the American National Standard for Industrial Robot Systems Safety Requirements published by the Robotic Industries Association RIA in conjunction with the American National Standards Institute The publication ANSI RIA R15 06 1992 contains guidelines for robot system installation safeguarding maintenance test ing start up and operator training The document is available from the American National Standards Institute 11 West 42nd Street 13THF New York NY 10036 8002 This manual assumes that the user has attended an Adept training course and has a basic working knowledge of the system The user should provide the necessary additional training for all personnel who will be working with the system There may be warnings in Adept manuals that specify only skilled or instructed persons should attempt certain procedures These are defined as Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers which electricity may create engineers and technicians
60. nun 10 General Deschpti0N oooocooccorrr een 10 JointMotions iiid a pa ex e eee xor e RRS 10 A E 8er ri ri RN 10 JOIND2 nea eda koe ern en a A een 12 NA en ee en wet an ee 13 KORET ne as NRO 13 Robot Working Envelope 0 cece nenn 15 Specific ations idas IA Rh ad la Seema eed Modem aed Haie 16 OPUONS er tee ernennen EEE ate eee Serer eee oes 17 Adept 550 Table Top Robot User s Guide Rev A 9 Chapter 2 Robot Overview 2 1 Overview The Adept 550 Table Top Robot system consists of three major components the Adept 550 Table Top Robot the Adept PA 4 Power Chassis the Adept MV 8 or MV 19 Controller This chapter gives an overview of the Adept 550 robot See Chapter 3 for an overview of the Adept PA 4 power chassis Adept 550 Robot 2 2 General Description The Adept 550 robot is a four axis SCARA Selective Compliance Assembly Robot Arm robot Joints 1 2 and 4 are rotational and Joint 3 is translational See Figure 2 1 for an overview of the robot joint locations Figure 2 5 for the operating envelope and Table 2 1 for specifications Programming and control of the Adept 550 robot is accomplished through the Adept MV Controller Joint Motions 10 Joint 1 Joint 1 also referred to as the shoulder provides rotation of the inner link Joint 1 motion is limited to 100 See Figure 2 2 Adept 550 Table Top Robot User s Guide Hev A Adept 550 Robot Joint 3
61. ommon system messages are described in the V Operating System User s Guide A full list of system messages with complete explanation and suggested user actions is in the V Language Reference Guide Examples of faults that can be detected by the Adept control system are Envelope error and Motor stalled Both of these messages may mean that a robot has collided with an unexpected object in the workspace therefore both robots will be stopped The Emergency Stop signal will also stop both robots connected to the same controller It is not possible to use the E Stop signal to stop only one robot The Emergency Stop switches on the optional external Front Panel VFP and the optional Manual Control Pen dant MCP shut off high power to both robots when the switch is pressed Adept 550 Table Top Robot User s Guide Rev A A AC power 1 phase operation Model 3303 31 user supplied cord Model 3303 31 voltage current ratings Model 3303 30 voltage current ratings Model 3306 32 Adept Bulletin Board 8 Adept PA 4 power chassis see power chassis Air lines user inrobot 28 Air quality requirements 30 Amplifier module connections indicators 21 fuses 34 installing 39 interlock circuit 39 overview 21 removing 39 Arm signal cable installation 44 B Brake release button 51 Brakes description 51 releasing J3 for manual movement 51 C Cables system installation 40 Calibration robot 48 Circuit breaker on power chassis 34 CleanRoo
62. or dust or dirt particles If cleaning is required use compressed air to clean the filter Replace the cleaned air filter and secure the grill See the Adept MV Controller User s Guide for information on checking the air filter in the Adept MV controller Adept 550 Table Top Robot User s Guide Rev A 59 Dimension Drawings A 1 Dimensions for Adept 550 Robot ooccococccc o 62 A 2 Dimensions for Adept PA 4 Power Chassis oocoocococo oo 63 A 3 Dimensions for Power Chassis and Controller reser 64 A 4 Mounting Bracket Dimensions cococoooconcn nnn nan 65 Adept 550 Table Top Robot User s Guide Hev A 61 Appendix A Dimension Drawings A 1 Dimensions for Adept 550 Robot 4 x 14 dia thru 200 160 125 70 80 80 gt 4 dum 200 All dimensions in mm 140 300 i 250 7 730 gt lt 117 LT A A A A S i 242 250 E Y i 43 y A A 60 78 3 I LI Y i 46 10 qu zm F 867 y 51 5 832 215 T z a f 57 S S Y A 411 5 N 336 297 136 Y v Y Y Y Figure A 1 Adept 550 Robot lop and Side Dimensions 62 Adept 550 Table Top Robot User s Guide Hev A Dimension
63. otor Power Output on Module 1 b Install the plug labeled Dual B Amp 2 in the connector marked Motor Power Output on Module 2 Pull gently on the connector bodies to ensure they are securely latched NOTE If you need to remove these connectors later turn off power to the chassis then squeeze together the latch handles at the top and bottom of the connector and pull out Module 1 Module 2 AMP 1 AMP 3 AMP 2 AMP 4 DUAL B5 AMP DUAL B5 AMP e eje eje eje e E DOLO All Figure 5 7 Amplifier Modules 1 and 2 in Power Chassis Model 3303 Adept 550 Table Top Robot User s Guide Rev A 43 Chapter 5 Power Chassis Installation Connecting Robotto Adept MV Controller The cable between the robot and the VJI module in the Adept MV controller is called the arm signal cable It has rectangular connectors on each end one end has a separate ground wire 1 Connect the cable end with the ground wire to the matching Signal connector on the back plate of the robot Pull gently on the connector body to ensure it is securely latched See Figure 5 6 If you need to remove this connector later there is a release button on the underside of the cable connector 2 Install the signal cable ground wire comes out from the end of the cable next to the rectangular connector
64. our fingers See Figure 7 3 The belts should feel tight to the touch If there is any noticeable loose ness call Adept Customer Service Adept 550 Table Top Robot User s Guide Rev A 55 Chapter 7 Maintenance 5 Inspect up in the drive belt area with a flashlight to look for signs of excess wear from the drive belts A small amount of residue or dust from the belts is normal Any larger particles that may indicate worn or broken teeth on the drive belts could be a problem Call Adept Customer Service if you discover anything that looks unusual View of Underside of Adept 550 Outer Link Access Cover Joint 3 Brake Assembly Figure 7 2 Location of Access Cover on Underside of Outer Link 56 Adept 550 Table Top Robot User s Guide Rev A Check Tension and Wear On J3 and J4 Drive Belts Joint 3 Motor Joint 4 Motor Joint 3 Drive Belt Drive Belt Joint 3 Brake Assembly Figure 7 3 Location of J oint 3 and J oint 4 Drive Belts 6 Re install the Joint 3 brake assembly making sure the spacers are in place see Figure 7 4 and that the brake assembly fits correctly You may have to move Joint 3 up or down slightly to ensure the brake assembly meshes correctly with the mechanism on Joint 3 Secure the brake assembly with the 4 screws 7 Install the access cover using the 4 screws you removed earlier Make sure the cable ruming along the inside of the opening is not pinched when you install the acce
65. ravel Remove any existing grease with a soft cloth Apply a thin film of grease to any surface of the ball screw that you did not reach in the previous step Move Joint 3 up and down several times to spread the grease evenly Adept 550 Table Top Robot User s Guide Rev A Check Tension and Wear On J3 and J4 Drive Belts 8 Replace the Joint 3 cover Adept 550 Robot with Joint 3 cover Joint 3 Ball Screw removed Figure 7 1 Lubrication of J oint 3 Ball Screw 7 4 Check Tension and Wear On J 3 and J 4 Drive Belts Check the tension and wear on the Joint 3 and Joint 4 drive belts every 3 months 1 2 Turn off main power to the controller Remove the access cover by loosening four screws using 2 5 mm hex wrench on the under side of the outer link See Figure 7 2 Note the path of the cable that runs along the side of the opening so that you can route it the same way at the end of this procedure Drop the Joint 3 brake assembly out of the way by removing 4 M3 x 8 screws using 2 5 mm hex wrench and lowering the assembly This makes it much easier to access the drive belts NOTE Be careful not to lose the four spacers that are between the brake assembly and the outer link assembly See Figure 7 4 These spacers are necessary to ensure that the brake is aligned properly with the Joint 3 drive pulley Check the tension of the Joint 3 and Joint 4 drive belts with y
66. s If the amp chassis is joined to an Adept MV controller 1 3 the position of the screws is different on the side of the controller See the Adept MV Controller User s Guide for information o o o Note See Appendix A for dimensions of the chassis and mounting brackets M4 x 10mm pan head screw Panel Mount M4 x 25mm pan head screw M4 x 25mm pan head screw 2 places 2 places o o o o ps o o o o o o o o o o 3 o o o o o o M4 x 10mm pan head screw M4 x 10mm pan head screw Rack Mount Flush Rack Mount Set Back Figure 5 4 Installing Mounting Brackets 38 Adept 550 Table Top Robot User s Guide Hev A Power Chassis Installation Removing and Installing Amplifier Modules The Adept PA 4 power chassis is shipped from the factory with the amplifier modules installed in the chassis Any unused slots are filled with blank covers Normally you will not need to remove the amplifier modules If you do need to remove and re install a module for some reason follow the instructions below The four slots in the chassis are not interchangeable some slots have special control signals The amplifier modules are factory installed in the correct slots Contact Adept Customer Service if you need to relocate any modules WARNING Do not attempt to install or remove any amplifier modules without first turning off the power to the power chassis and all related
67. s for Adept PA 4 Power Chassis A 2 Dimensions for Adept PA 4 Power C hassis Top View In 216 mm __ 290 mm gt A e e e e e e e e e e e e e e e e A Al A A 479 mm EE Ek 18 i Front View mm Side View Figure A 2 Adept PA 4 Power Chassis Dimensions Adept 550 Table Top Robot User s Guide Rev A 63 Appendix A Dimension Drawings A 3 Dimensions for Power Chassis and Controller 290 mm Top View le 216 mm 4 290 mm A A A A 479 mm Ek Front View mm Side View 64 Figure A 3 Power Chassis and Controller Dimensions Adept 550 Table Top Robot User s Guide Hev A Mounting Bracket Dimensions A 4 Mounting Bracket Dimensions 3 2 mm
68. ss cover Adept 550 Table Top Robot User s Guide Rev A 57 Chapter 7 Maintenance Joint 3 Motor INN A mm Spacer Joint 3 Drive Belt M3x8 screw Joint 3 Brake Assembly Figure 7 4 Close up View of J oint 3 Brake Assembly 58 Adept 550 Table Top Robot User s Guide Rev A Adept PA 4 Power Chassis 7 5 Adept PA 4 Power Chassis Fan Ritter Inspection and Cleaning The air filter located on the front of the chassis should be inspected regularly and cleaned at the first sign of dust or dirt buildup The filter must be inspected and cleaned at least once per month Regular cleaning will prolong the life of the filter If the filter becomes clogged or unusable for any reason you will need to order a new air filter The part number for the filter is 40330 11190 for chassis Model 3303 40330 112000 for chassis Model 3306 4 WARNING Dangerous voltages are present inside the power chassis Turn off the power to the power chassis and disconnect it from the AC power source before opening the front grill to inspect the air filter Failure to observe this warning could cause injury or damage to your equipment Turn off the power to the power chassis and disconnect it from the AC power source Open the front grill by loosening two screws and swinging the grill out Pull the air filter out and inspect f
69. to controller cables Modifying any drive system components Modifying including drilling or cutting any robot casting Modifying any robot electrical component or PC board other than those explicitly stated in the robot user s guide Routing additional hoses air lines or wires through the robot Adept 550 Table Top Robot User s Guide Hev A How Can I Get Help L5 HowCanlGetHelp Within the Continental United States Adept Technology maintains a Customer Service Center at its headquarters in San Jose CA The phone numbers are Service Calls 800 232 3378 24 hours per day 7 days a week 408 433 9462 FAX Application Questions 800 232 3378 Monday to Friday 8 00 a m to 5 00 p m Pacific time 408 434 6248 FAX Applications Intemet E Mail Address If you have access to the Internet you can send applications questions by e mail to applications adept com This method also enables you to attach a file such as a portion of vr program code to your message Training Information For information regarding Adept Training Courses in the USA please call 408 434 5024 Within Europe For European customers outside of France Adept Technology maintains a Customer Ser vice Center in Dortmund Germany The phone numbers are 49 231 75 89 40 from within Europe Monday to Friday 8 00 a m to 5 00 p m CET 49 231 75 89 450 FAX France For customers in France Adept Technology maintains a Custo
70. tors The User is responsible for providing and installing any end effector or other end of arm tooling End effectors can be attached to the user flange using either four M6 screws or a ring clamp hardware for both are supplied in the accessories kit An M6 x 12 mm dowel pin is also supplied in the accessories kit This dowel pin fits in the through hole in the user flange and can be used as a keying or anti rotation device in a user designed end effector Adept 550 Table Top Robot User s Guide Hev A 27 Chapter 4 Robot Installation 4 6 UserConnections User Air Lines There are five user air line connectors on the robot back panel The five air lines run through the robot up to another set of five matching connectors on the top of the outer link The two larger connectors are 6 mm diameter The three smaller connectors are 4 mm diameter User Electrical Lines There is a 25 pin male connector on the back panel of the robot for user electrical lines This connector is wired directly to a 25 pin female connector on the top of the outer link These connectors can be used to run user electrical signals from the back panel through the robot and up to the outer link 28 Adept 550 Table Top Robot User s Guide Rev A Power Chassis Installation 5 1 Environmental and Facility Requirements een 30 Ambient AirQuality llle RI nen 30 5 2 Power Chassis Installation eeesseee erm mn
71. ules in each chassis a Dual Adept SCARA Kinematics License and a V Extensions License Installation The installation process for the system is the same as described in Chapter 4 and Chapter 5 except that there are two VJI modules in the Adept MV controller and four amplifier modules in either one or two power chassis VMEbus Address for VJ I Module If you purchased both Adept 550 robots at the same time as part of a Dual Adept 550 robot system then the two VJI modules will be configured at the factory for the correct VMEbus address If you are upgrading or installing a 2nd VJI as a replacement part then you should check the VJI address setting to make sure it is configured correctly it should be set as Servo Board 3 See the VJI chapter in the Adept MV Controller User s Guide for the correct switch setting Adept PA 4 Power Chassis 72 Each Adept 550 robot requires two Dual B amplifier modules resulting in a total of four amplifier modules per Dual Adept 550 robot system If you are using the Model 3303 power chassis then you must use two separate power chassis and install two amplifier modules in each power chassis If you are using the Model 3306 power chassis you can purchase one power chassis and install all four amplifier modules in one chassis or you can purchase two power chassis and install two amplifier modules in each power chassis Adept 550 Table Top Robot User s Guide Hev A Operation with the Manual

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