AdeptThree Robot User`s Guide with Multibus Controller
Contents
1. 24 12 13 UNC 26 thru 3 paces at dia thru 3 paces Figure 3 3 Mounting Hole Pattern Plate Spool to Floor 25 AdeptThree User s Guide Spool The second method of mounting uses a spool The spool may be either procured or manufactured Refer to Figure 3 1 for an overview of an AdeptThree robot mounted on a spool One recommended source for a prefabricated spool is INTERLAKE BASES 17480 Malyn Boulevard Fraser MI 48026 313 294 8120 The recommended design for a manufactured spool is a welded assembly consisting of three steel parts top and bottom plates welded to a center column as detailed in Figure 3 4 MW 24 0 da AAA E Top Plate m Pl AA POEL ELE EE LL View A A View A A Option 1 Option 2 ehdatenal Steel bdourting Surface Flatness 0 01 Mounting Hole Patterns As shownin Fig 3 2 amp 3 Figure 3 4 Recommended Mounting Spool Specifications 26 3 2 Tool and Equipment Requirements Common hand tools supplemented by the following items are required for installation of the AdeptThree and any options or end effectors e Drill motor 1 2 inch drive e Masonry bit 7 8 inch e Ratchet handle 1 2 inch drive e Socket 3 4 inch x 1 2 inch drive e Spirit level e Torque wrench 1 2 inch drive 100 foot pound capacity e Vacuum cleaner Pallet jack or forklift e Hydraulic lift with dual leg sling both rated for 7002. 11 FRC5 Force balance 12 12B RTN Uncommitted supply 13 Sig 2026 Solenoid drive channel 14 Sig 2026 g i 15 Sig 2025 16 Sig 2025 i i ALT USR JA Tower card connector T and B Corp 500 1627ES User s harness end AMP 499936 3 01 12BF Uncommitted supply 02 USRI1 User signal 03 USR1 no 04 USR2 RP 05 USR2 A 06 USR3 O 07 USR3 oF 08 USR4 _ 09 USR4 10 USR5 DN 11 USR5 NDS 12 12B RTN Uncommitted supply 13 Sig 2026 Solenoid drive channel 14 Sig 2026 15 Sig 2025 i T 16 Sig 2025 d i Table 3 1 continued on next page 43 AdeptThree User s Guide Table 3 1 Tower PCA Connector Pinouts continued PIN SIGNAL COMMENTS HANDS J6 Tower card connector Panduit Corp MLSS100 8 User s harness end AMP MTA 100 640441 8 01 Sig 2031 Hand open solenoid 02 Sig 2031 i i 5 03 Sig 2030 Hand close solenoid 04 Sig 2030 05 Sig 2026 Solenoid drive channel 06 Sig 2026 li 07 Sig 2025 i i 08 Sig 2025 i These pins can be used for two additional solenoid valves These pins are already used for the Adept harness 10640 12300 USR SOL J7 Tower card connector Terminal strip Phoenix 1715 747 MKDS 1 5 4 5 08 User s harness end 16 AWG 30 AWG wires 01 Sig 2026 Solenoid drive channel 02 Sig 2026 i i y 0
3. AdeptThree User s Guide M 1 510 dia 0 5 00 18 15 Taper 3 500 per fact 4 40 UNC 2B thru Sogn nn 6 32 LINIC 26 Ehru 4 places 0 116 dia thru 2 places Counter Bore 0 20 dia 0 13 deep Figure 3 8 Quill Flange Dimensions 36 Guill Flange wo i Ring clam Open and Clase Sir Lines Figure 3 9 Clamp mounted End Effector Installation Install the OPEN and CLOSE air lines onto the appropriate fittings on the end effector Mate the end effector flange to the quill flange Rotate the end effector until its key aligns with the keyway in the quill flange then place the ring clamp over both flanges and tighten the clamp screw Screw mounted End Effector The following procedure describes installing an end effector using four screws See Figure 3 10 1 2 Disconnect the air supply to the robot Remove the plugs from the OPEN and CLOSE air lines where they protrude from the quill flange Install the OPEN and CLOSE air lines onto the appropriate fittings on the end effector 37 AdeptThree User s Guide Joint 3 Hardstop 20 Flange Thickness Open and Close Air Lines 8 32 4 places E Figure 3 10 Screw mounted End Effector Installation 4 Mate the end effector flange to the quill flange Rotate the end effector until its key aligns with the keyway in the quill flange 5 Insert four 8 32
4. CAUTION Power lines are similar to User lines in that they are routed in close proximity to the robot harness In order to ensure their long life they are constructed of 26 AWG high strand count wire and are not designed to carry high current or voltage To minimize coupling with robot control signals in the harness the User should minimize power demand transients on these lines The 12 V power supplies are fused by F1 and F2 on the Tower PCA In the event of unexpected power loss at J12 turn off power to the controller and check F1 and F2 with an Ohm meter these fuses do not visually indicate an open circuit If a fuse requires replacement DO NOT SUBSTITUTE a fuse with a higher rating Since the 12 Volt supply is common throughout the controller drawing too much current at the Tower PCA may damage the robot harness or cause controller problems AdeptThree User s Guide 412 Fin 1 HAND 5 Pin 1 J3 Circ cb CCD CD Cl cdo OD CCD aL AE ES Fin J4 Pin amp 1 Figure 3 11 Tower Card User Signal and Voltage Lines 42 Table 3 1 Tower PCA Connector Pinouts PIN SIGNAL COMMENTS ALT FRC J3 Tower card connector T and B Corp 500 1627ES User s harness end AMP 499936 3 01 12BF Uncommitted supply 02 FRC1 User signal 03 FRC1 a 04 FRC2 D 05 FRC2 TE 06 FRC3 NN 07 FRC3 DN 08 FRC4 TR 09 FRC4 EU 10 FRC5 TM
5. 4 for cleaning instructions If clean dry air is not available additional user supplied filtering is required The AdeptThree air connection inlet is a 1 4 inch Industrial Interchange nipple located at the air filter at the base of the robot Electrical The facility electrical supply must conform with specifications for the particular system controller Adept MC or Adept CC Refer to the appropriate controller User s Guide for those specifications Robot Workcell Free Space Floor Adequate space must be provided in the design of the working area workcell to allow for freedom of movement of the AdeptThree within the area specified in Figure 2 11 Additional allowances are required to accommodate any installed end of arm tooling and the calibration fixture Each robot is calibrated at the factory and the calibration data is stored on the Robot Signature Card RSC in the base of the robot Under certain conditions the robot may need to be recalibrated such as the replacement of the Joint 3 or Joint 4 modules Recalibration requires that the calibration fixture be installed on the base of the robot see Figure 3 1 If adequate space is not provided in the workcell the robot will have to be removed if recalibration is required The floor at the intended installation site must be concrete to a minimum of 4 0 inches 102 mm and must comply with all local codes The floor should also be level to avoid having to add shims to attain the c
6. Dept 150 Rose Orchard Way San Jose CA 95134 AdeptThree User s Guide Chapter 1 General Information AdeptThree User s Guide 00640 10110 Rev A
7. Like Joints 1 through 4 the fifth axis can be controlled by either the manual control pendant MCP or by program instructions from the controller Refer to the controller User s Guide for information on the MCP and the V and V Reference Guide for robot programming instructions A 5 Maintenance and Troubleshooting The fifth axis requires no regular maintenance or lubrication Checking Flange Position The fifth axis flange surface should be at 90 to the side of the gear box when the Joint 5 value is zero A substantial fifth axis crash could cause the flange position to slip Use a machinist square to check for possible slippage when the Joint 5 value is zero If the flange is not at 90 contact Customer Service at the number listed in Chapter 1 Do not attempt to force the joint back to its proper position Adept CC Controller NOTES 56 Index A Air filter draining moisture 50 Air quality facility requirements 21 B Brake release button 15 C Calibration fixture 22 Compressed air installation 35 requirements 21 spare lines inside robot 35 Controller High Power indicator 2 Customer Service Assistance phone numbers 2 D DC power availability on Tower PCA 41 E End effector installation clamp mounted 35 screw mounted 37 F Fifth Axis checking flange position 55 installation 53 installing end effectors 54 specifications 53 user electrical connector 55 INDEX H H
8. and move the ballscrew up and down several times to ensure an even spread of grease Do not use an excessive amount of grease because it could cause problems with the Joint 3 encoder disk Replace the quill cover Lubrication of Joint 4 1 2 Turn HIGH POWER ARM POWER off Move the quill to its fully raised position CAUTION The quill MUST be in the fully raised position before lubricating Improper quill positioning could result in excessive lubricant getting on the Joint 4 brake which could cause its failure Using a 5 16 inch Allen wrench remove the grease fitting access plug from the side of the Joint 4 housing See Figure 4 1 While looking through the access plug hole rotate the quill until the zerk fitting is accessible Insert the tip of a grease gun and apply grease until excess grease squeezes out from the quill seal Remove the grease gun Reposition the quill to the bottom of its travel and wipe excess grease from the quill Replace the access plug 48 Gull Cover Joirt 3 Gul Eallscrew Joirt 4 Zerk Fitting ireide Joint 4 housing Plug in Access Hole uill Seal Figure 4 1 Joint 3 and Joint 4 Lubrication 49 AdeptThree User s Guide 4 3 Draining Moisture from the Air Filter The air filter on the compressed air inlet at the robot base has a moisture trap that should be emptied periodically depending on the quality of the air supply
9. and the frequency of usage The procedure to empty the trap is done with the air supply connected To empty the trap use a rag to push up on the bottom of the air filter 4 4 Joint 4 Overtravel Softstop and hardstop limits are discussed in Chapter 2 The hardstops for Joints 1 2 and 3 do not require maintenance With Joint 4 however it is possible under conditions involving high speed for the robot to contact a hardstop The Joint 4 hardstop is designed to withstand large forces without damage and even to slip slightly if impacted sufficiently In such cases the robot is unharmed but may not be able to attain previously programmed locations Diagnostic Procedure A robot with a slipped Joint 4 hardstop will display one of two symptoms 1 If the robot has been recalibrated using the CALIBRATE command the Joint 4 rotation at all locations may have an offset 2 If the robot has not been calibrated since the hardstop encounter the robot will produce a Joint 4 Envelope error or Time out nulling errors In either case it is likely that the Joint 4 hardstop has slipped and needs to be reset Use the following procedure to diagnose hardstop slippage 1 Verify that the robot controller is on and the robot is calibrated 2 Turn HIGH POWER ARM POWER off 3 Place the manual control pendant MCP into the Joint Angle Display mode by pressing the DISP button followed by pressing the JOINT VALUES button Four joint values should be vi
10. are not designed to be used as a routine method of stopping robot motion Under some circumstances it may become desirable to manually position the arm without turning on HIGH POWER For such instances a brake release button is located on the rear of the base see Figure 2 9 When system power is on pressing the button releases the brakes which allows movement of the arm If this button is pressed while HIGH POWER is on HIGH POWER will automatically shut down CAUTION When the brake release button is pressed the quill Joint 3 may drop to the bottom of its travel To prevent possible damage to the equipment make sure that the quill is supported while releasing the brake and verify that the end effector or other installed tooling is clear of all obstructions Robot Base A EE n rig Li LA Power Cable Connect or Compressed Air l gt Iri et With Filter Brake Release Button signal Cable Product Connector Data La bel Figure 2 9 Robot base showing brake release button 15 AdeptThree User s Guide 2 2 Dimensions Overall dimensions for the AdeptThree are shown in Figure 2 10 and the robot envelope is shown in Figure 2 11 A 3 0 47 6 42 3 421 41 9 I 35 1 m 130 E amp amp dia 226 er Alldimercions in inches E 133 114 1 7 E a IMounting Level O Yi Figure 2 10 Dimensional Overview
11. chapter describes the preventive maintenance procedures that are required to keep the robot operating properly 4 2 Lubrication The two areas that need lubrication are Joint 3 and Joint 4 The frequency of lubrication depends on the robot operating environment and usage Initially check the quill once a week recording the results with the intent of producing a schedule appropriate to the particular system its environment and usage To check for adequate lubrication at Joint 3 and 4 run a finger along the quill A thin film of grease should be present If the shaft is dry it needs lubrication Use only Dow Corning MOLYKOTE BR2 PLUS a molybdenum disulfide based grease Dow catalog number 89570 81 for lubricating the robot NOTE Lubrication of the robot requires that the quill be moved while HIGH POWER ARM POWER is off Use the brake release button at the rear of the base to release the brake allowing manual quill movement CAUTION When the brake release button is pressed the quill could drop to the bottom of its travel To prevent possible damage to the equipment make sure that the quill is supported while releasing the brake and verify that installed tooling is clear of all obstructions AdeptThree User s Guide Lubrication of Joint 3 1 2 Turn HIGH POWER ARM POWER off Remove the quill cover and move the quill to its fully raised position Apply a thin coating of grease to the ballscrew threads
12. drilled in step 4 Insert an expansion bolt anchor into each of the three holes in the floor Ensure that the threaded end of each bolt anchor is toward the bottom of each hole as shown in Figure 3 6 Reposition the spool over the anchor holes in the floor taking care to align the three spool to floor holes with the anchor holes Also ensure that the spool is positioned such that the footprint for the robot is properly oriented relative to the workcell Using a spirit level verify that the top mounting surface of the spool is level The surface must be horizontal within 3 degrees If the spool is not level insert shims between the spool and the floor to bring the spool within specifications The shims should be at least three inches 75 mm in diameter and have cutouts provided to fit around the anchor bolts Insert a 1 2 13 x 4 inch bolt fitted with a lock washer and a flat washer through the holes in the spool into each of the three spool to floor anchor holes Tighten the bolts to a recommended torque of 40 foot pounds Re check the robot mounting surface of the spool using the spirit level and re shim as required to bring the mounting surface horizontal within 3 degrees 31 AdeptThree User s Guide 112 13 x 2 Hex Head Balt With Lock and Flat Washers 3 Places 112 13 Robat T o Spool Tapped Hde 3 Haces 112 13 x4 Hex Head Bolt With Lock and Flat Washers 3 Places 5a Spool T o Fl
13. materials required before actually beginning the installation procedure 1 Locate and set aside the Robot to Plate Spool and Plate Spool to Floor hardware kits This hardware is typically packaged together and placed in the Accessories container Separate the following items from the Robot to Plate Spool hard ware kit e Bolts hex head 1 2 13 UNC x 2 inch 3 each e Washers flat 1 2 inch 3 each e Washers lock 1 2 inch 3 each Separate the following items from the Plate Spool to Floor hard ware kit e Bolts hex head 1 2 13 UNC x 4 inch 3 each e Washers flat 1 2 inch 3 each e Washers lock 1 2 inch 3 each e Anchors expansion bolt 3 each 28 3 5 Installing a Mounting Plate The following sequence details the installation of the robot mounting plate to the floor See Figure 3 5 1 Drill and tap three 3 1 2 13 UNC 2B mounting holes as shown in Figure 3 2 for robot to plate attachment 2 Drill three 3 5 8 inch 16 mm diameter through holes as shown in Figure 3 3 for plate to floor anchoring 3 Place the plate at the installation site exactly where the robot is to be installed Ensure that the plate is positioned such that the footprint for the robot is properly oriented relative to the workcell Using the plate as a template transfer the locations of the three plate to floor mounting holes directly to the floor 4 Setthe plate aside and drill three holes 7 8 inc
14. or spool and torque to 65 foot pounds 6 Disconnect the sling and remove the eyebolts from the arm Retain the eyebolts for use during possible future relocation of the equipment 33 AdeptThree User s Guide 3 8 Facility Interconnection All interconnection points to the robot are located at the rear of the base see Figure 2 9 Robot to Controller Electrical power and control signals are supplied to the robot via cables from the controller Refer to the User s Guide for your specific controller Adept MC or Adept CC for instructions on robot to controller interconnect cabling as well as complete instructions on connecting the controller to the facility electrical power Cover a Tower User Access Card To Spare Air Lines Ciber Eve Balt a e Joir 3 A Module Lor Ti Joint 4 HH Module AHF kon pO Inner Link A Column gt Base Access Hole Plug Second plug on opposite side of base a Figure 3 7 User Access to Spare Air Lines and Tower Card Location Facility Air Supply It is the responsibility of the User to supply tubing and fittings which may be required to plumb the facility air supply to the robot The robot is supplied with an air filter with a standard 1 4 inch Industrial Interchange nipple Two spare air lines 1 8 inch and 1 4 inch are incorporated into the robot to allow for User options These lines run from the base of the robot up to t
15. pounds kg minimum e Mounting plate or spool 3 3 Unpacking and Inspection Before Unpacking Carefully inspect all shipping crates for evidence of damage during 320 transit Pay special attention to tilt and shock indication labels on the exteriors of the containers If any damage is indicated request that the carrier s agent be present at the time the container is unpacked Upon Unpacking Compare the actual items received not just the packing slip with your equipment purchase order and verify that all items are present and that the shipment is correct Inspect each item for external damage as it is removed from its container If any damage is evident contact Adept at the numbers listed in Chapter 1 Retain all containers and packaging materials These items may become necessary to settle claims or at a later date to relocate equipment 27 AdeptThree User s Guide Repacking For Relocation Should relocation of the robot become necessary reverse the steps employed in the installation procedures that follow this section Re use all original packing containers and materials and follow all safety notes used for installation Improper packaging for shipment will void your warranty Before unbolting the robot from the plate or spool fold the outer arm against the Joint 2 hardstops to help centralize the center of gravity 3 4 Preparation For Installation The following sequence details the preparation of
16. screws through the mounting holes and tighten Recommended torque is 70 in lb If the screws protrude slightly through the flange align the cutouts in the Joint 3 hardstop located just above the quill flange to accommodate the screw tips CAUTION Do not allow the mounting screws to protrude up into the hardstop any farther than the cutouts because this can prevent proper seating of the flange against the hardstop Improper seating against the hardstop will prevent the robot from calibrating properly and will cause all of the previously taught robot locations to have the wrong height 38 3 10 User Signal and Voltage Lines User signal and voltage lines are available at connectors located on the Tower printed circuit assembly PCA The Tower PCA is mounted to the top of the Joint 3 housing refer to Figure 3 7 For the location of the connectors on the Tower PCA including the location of pin 1 for each connector see Figure 3 11 The pin out wire list for each connector is shown in Table 3 1 USR1 Through USR5 USR1 through USR5 line pairs provide the User with a convenient wiring run from the robot Tower PCA to the controller These lines terminate at connector J9 User on the Tower PCA and can be used to connect limit switches or similar digital devices to the binary interface of the controller Refer to Table 3 1 for the pin configuration of J9 Refer to your controller User s Guide for further information on termin
17. 0 45 kg 1 1 sec 1 8 sec 13 lb 5 9 kg 1 2 sec 2 2 sec 20 Ib 9 1 kg 1 4 sec 2 5 sec 40 lb 13 6 kg 1 6 sec 2 8 sec 55 lb 24 9 kg 1 8 sec 3 0 sec 1 Specifications subject to change without notice The robot tool performs a continuous path motion consisting of all straight line segments 1 in 25 mm up either 12 in 305 mm or 36 in 915 mm over 1 in 25 mm down and returning along the same path 18 Table 2 2 Specifications continued Resolution Joint 1 0 00078 Joint 2 0 0016 Joint 3 vertical Z 0 00026 in 00066 mm Joint 4 tool rotation 0 047 Repeatability at constant temperature X Y plane 0 001 in 0 025 mm Joint 3 vertical Z 0 002 in 0 050 mm Joint 4 rotational 0 047 Joint Speed Joint 1 250 sec Joint 2 275 sec Joint 3 19 7 in sec 500 mm sec Joint 4 1600 sec Weight Robot without options 480 lb 218 kg Design Life 42 000 hours 1 Specifications subject to change without notice 2 4 Options The AdeptThree is compatible with the following Adept options e AdeptVision Systems e Robot mounted Camera Hardware e Variable Compliance Wrist e Fifth Axis Joint 5 e Force Sensing Module All Adept options interface through the controller For information on the Fifth Axis see Appendix A in this manual Operating instructions and programs for the remaining options listed above are included in
18. 3 Sig 2025 j 4 04 Sig 2025 i FORCE J8 Tower card connector Terminal strip Phoenix 1715 828 MKDS 1 5 12 5 08 User s harness end 16 AWG 30 AWG wires 01 12BF Uncommitted supply 02 FRC1 User signal 03 FRC1 o MA 04 FRC2 dg 05 FRC2 ES 06 FRC3 A 07 FRC3 um 08 FRC4 Um 09 FRC4 ov 10 FRC5 ZEN 11 FRC5 y 12 12B RTN Uncommitted supply 44 Table 3 1 Tower PCA Connector Pinouts continued PIN SIGNAL COMMENTS User J9 Tower card connector Terminal strip Phoenix 1715 828 MKDS 1 5 12 5 08 User s harness end 16 AWG 30 AWG wires 01 12BF Uncommitted supply 02 USR1 User signal 03 USR1 OS 04 USR2 NS 05 USR2 DS 06 USR3 07 USR3 EI 08 USR4 EN 09 USR4 BM 10 USR5 MO 11 USR5 TUE 12 12B RTN Uncommitted supply J10 01 Not used Brake solenoid auxilliary 02 es i i il POW J12 Tower card connector Terminal strip Phoenix 1715 747 MKDS 1 5 4 5 08 User s harness end 16 AWG 30 AWG wires 01 FRAME Frame ground 02 12BF Uncommitted supply 03 12B RTN i i 04 12BF i 45 AdeptThree User s Guide NOTES 46 CHAPTER 4 MAINTENANCE 4 1 Introduction The AdeptThree robot requires very little maintenance due to its direct drive design Joints 1 and 2 need no maintenance at all This
19. AXIS OPTION A 1 Introduction The fifth axis also known as Joint 5 is a servo pitch option for Adept robots The fifth axis allows the robot to position end of arm tooling between 90 and 90 from vertical The fifth axis is fully integrated into the robot system The servo mechanism is contained within the robot quill and the control hardware is located in the robot controller Movement of the fifth axis is controlled by the standard Adept system software either V or V A 2 Specifications Table A 1 Fifth Axis Specifications Maximum Travel 491 0 reference vertically downward Maximum Speed 180 in 0 3 seconds Maximum Payload 7 lb 3 18 kg Resolution 30 0057 0 0002 0 005 mm at the fifth axis flange Bepsatability 0 086 0 003 0 076 mm at the fifth axis flange Static Torque 45 lb in 0 52 kg m Mounting Flange Standard Adept tool flange without center hole Axis center to flange offset 2 50 mm A 3 Installation The fifth axis can be installed either at the factory or by an Adept Customer Service Engineer at the user s site Call Customer Service for information on installing the fifth axis 53 Adept CC Controller A 4 Operation Installing End Effectors The fifth axis end effector tool flange will accept any flat back end effector compatible with the standard Adept flange see Figure A 1 The end effector can either be bolted on or secured
20. AdeptThree Robot User s Guide PRELIMINAR Y VERSION 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 manual for submitting your comments Copyright O 1990 by Adept Technology Inc All rights reserved The Adept logo is a registered trademark of Adept Technology Inc AdeptThree Adept CC Adept MC V and V are trademarks of Adept Technology Inc Printed in the United States of America 1 2 3 TABLE OF CONTENTS GENERAL INFORMA TPION eee saencuasks auctus opa oS ano oH a ipa chos SAFN Y NUN yn dw Fe Red 1 11 This Manual and Related Publications esee 1 1 2 Notes Cautions and Warning Seite ioed eee P EPSRRDEREI QE RS ME AP IR MAUS e 1 A 2 Controller High Power Indicator ertet tenent RANNAU 2 dor Customer Service ASSISI NE ern iS 2 bel Ice Calls ceat ule tM ote dt cipue escoria 2 Trainin DOPO DER hao ree DERE GY bres 3 Applicatio
21. Juirk 1 Limit Juirk 1 Limit T ete e t EA i nr a ald a A Li g at at at at at ut at ur MERC ie TERGAI ee a nn LY P a a a a Maa a a AAA MaMa Ma Ma Ma Ma a yy T a rud iei E Lr A rn ies um LL a Maximum Intrusion Contact Area Ap Maximum Functional rea Inaccessible Area B c Figure 2 11 AdeptThree Robot Working Envelope 17 AdeptThree User s Guide 2 3 Specifications Table 2 2 Specifications Reach Refer to Figures 2 10 and 2 11 Maximum radial 42 0 in 1067 mm Minimum radial 11 0 in 279 mm Vertical clearance bottom of base to end effector flange with maximum Joint 3 retraction with maximum Joint 3 extension 34 6 in 879 mm 22 6 in 547 mm Vertical Stroke Refer to Figure 2 4 Joint 3 Z direction 12 0 in 305 mm Joint Rotation Refer to Figures 2 2 2 3 and 2 4 Joint 1 150 Joint 2 150 Joint 4 270 Payload Including End Effector During operation 55 Ib 25 kg During calibration 30 Ib 13 6 kg Inertia Load Maximum About Joint 4 axis 2500 Ib in 7300 kg cm About horizontal axis at tool flange face 4500 Ib in 13 000 kg cm2 Force Joint 3 downward force without payload 80 lb 36 kg Torque Joint 4 torque 80 Ib in 0 92 kg m Cycle Time2 12 in 36 in 305 mm 915 mm 1 Ib
22. ardstops 11 14 I Installation floor requirements 22 preparation for 28 required tools 27 J Joint 4 overtravel diagnostic procedure 50 Joint motion Joint 1 8 Joint 2 9 Joint 3 10 Joint 4 10 L Lubrication Joint 3 48 Joint 4 48 type of grease 47 M Mounting plate installation 29 specifications 24 Mounting spool installation 30 specifications 26 Q Quill flange dimensions 35 AdeptThree User s Guide R Repacking for relocation 28 Robot connection to controller 34 dimensions 16 joint locations 7 modifications 5 optional equipment 19 specifications 18 working envelope 17 S Safety 3 4 Softstops 11 14 Solenoid drivers 2025 2026 on Tower PCA 40 T Tower PCA 39 45 connector locations 42 connector pinouts 43 fuses F1 and F2 41 U Unpacking robot crate 27 USR1 to USR5 lines location 39 W Workcell free space 22 58 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 PUBLICATION DATE COMMENTS MAIL TO Adept Technology Inc Technical Publications
23. ation of these lines within the controller Use of these lines should be limited to a maximum of 12 VDC at 2 Amps WARNING USR1 through USR5 lines are routed through the robot harness in close proximity to robot control signals In order to ensure long life these lines are constructed from 28 AWG high strand count wires and are not designed to carry high current or high voltage These lines should be limited to a maximum of 12 VDC at 2 Amps To minimize coupling with the robot control signals in adjacent harnesses the User should minimize voltage transients and maintain a current balance in each pair Exceeding these recommendations could couple noise onto the robot control lines and cause robot motion errors DU AdeptThree User s Guide Solenoid Drivers Two spare solenoid drivers are provided on the Tower PCA Sig 2025 and Sig 2026 These are directly switchable from V or V by utilizing software signals 2025 and 2026 respectively Refer to the SIGNAL command in the V and V Reference Guide for additional information The actual driver transistors are located on the Robot Signature Card RSC at the base of the robot and interface to the Tower PCA at J7 USER SOL via the robot harness Refer to Table 3 1 for pin assignments and Figure 3 11 for the connector s location Each driver is designed to handle 12 VDC solenoids at up to 500 mA similar to the hand OPEN CLOSE solenoids To overcome the customary probl
24. ble 2 1 Table 2 2 Table 3 1 Table A 1 Table A 2 LIST OF TABLES Softstop and Hardstop Specifications sss 14 PEA o a cd a ava Meter amet 18 Tower PCA Connector Pinouts esee 43 Fifth Axis Specifications eres teen darent 59 Fifth Axis User Connector Pin Identification 55 vii CHAPTER 1 GENERAL INFORMATION 1 1 This Manual and Related Publications This manual provides general installation and maintenance information for the AdeptThree robot also referred to as a Selective Compliance Assembly Robot Arm or SCARA The following Adept publications are referenced in this manual V and V Reference Guide Instructions for Adept Utility Programs Adept MC Controller User s Guide Adept CC Controller User s Guide User s Guides for options purchased with the robot Throughout this manual you will find references to the V or V operating system and control language V is Adept s advanced operating system and control language which offers additional capabilities over the V system 1 2 Notes Cautions and Warnings There are three levels of special notation used in this equipment manual In descending order of importance they are WARNING If the actions indicated in a WARNING are not complied with injury or major equipment damage could result A Warning statement will typically describe the potential hazard its possible effect and the mea
25. ee is programmed and performed through the selected controller Jort 2 Joirt Quber lirk Bbow shoulder Joirt 3 Module Joirt 4 Module Column Base Figure 2 1 AdeptThree Robot Joint Locations AdeptThree User s Guide Refer to the User s Guide for your particular controller for explicit controller operating instructions Refer to the V and V Reference Guide for programming instructions The optional Manual Control Pendant MCP is required for manually teaching robot locations Additionally it can serve as the sole operator interface to the system All physical connections between the AdeptThree robot its controller and the facility are located at the rear of the robot base as shown in Figure 2 9 Joint Motions Joint 1 Joint 1 also referred to as the shoulder provides the rotational movement of the inner link and the column Travel of the inner link is restricted to 300 Refer to Figure 2 2 Figure 2 2 Joint 1 Motion Joint 2 Joint 2 also referred to as the elbow is the pivot point between the inner link and the outer link Outer link travel is limited by hardstops located on top of the inner link Like Joint 1 travel is restricted to a total of 300 This motion can be likened to an elbow capable of acting in either a left or right hand configuration Refer to Figure 2 3 The AdeptThree is capable of attaining a given location utilizing either a rig
26. em of dirt buildup at the solenoids special circuitry has been incorporated to provide a momentary 24 V initial pulse to the solenoid to break any stiction dropping to 12 V for holding Some solenoid manufacturers include a transient suppression diode across the leads of their solenoids If such a diode is installed on the solenoid you have selected verify that the polarity is correct A reverse installation will short the diode across the driver circuitry The User is cautioned to use solenoids similar in design to the ones used for the hand OPEN CLOSE lines and to carefully check the wiring polarity before applying power CAUTION The solenoid driver hardware has no current limiting capability and will attempt to drive a solenoid with as much current as the impedance of the solenoid will accept As a result if the User accidently shorts the solenoid leads together the driver circuit will over current and fail The RSC will then have to be repaired before that User solenoid can be reused 40 DC Power The Tower PCA provides limited DC power 500 mA max to drive User end of arm hardware such as indicators small motors or other analog devices 12 VDC 12 VDC 12RTN and FRAME ground are available Each of these is terminated at J12 POW on the Tower PCA Refer to Table 3 1 for pin assignments and Figure 3 11 for the connector s location These supplies are fused at 0 5 Amp by fuses F1 and F2 on the Tower PCA
27. es 75 mm in diameter and have cutouts provided to fit around the anchor bolts 9 Insert a 1 2 13 x 4 inch bolt fitted with a lock washer and a flat washer 10 through the holes in the plate into each of the three plate to floor anchor holes Tighten the bolts to a recommended torque of 40 foot pounds Re check the robot mounting surface of the plate using the spirit level and re shim as required to bring the mounting surface horizontal within 3 degrees 3 6 Installing a Mounting Spool The following sequence details the installation of the robot mounting spool to the floor See Figure 3 6 1 Drill and tap three 3 1 2 13 UNC 2B mounting holes through as shown in Figure 3 2 for robot to spool attachment Prepare the opposite flange of the mounting spool by drilling three 3 5 8 inch 16 mm diameter through holes as shown in Figure 3 3 for spool to floor anchoring Place the spool at the installation site exactly where the robot is to be installed Ensure that the spool is positioned such that the footprint for the robot is properly oriented relative to the workcell Transfer the locations of the three spool to floor mounting holes directly to the floor 30 10 Set the spool aside and drill three holes 7 8 inch 22 mm in diameter by 3 5 inches 90 mm deep in the floor at the locations identified in step 3 Using a vacuum cleaner remove all chips and debris from the holes and surrounding area
28. fications listed below will damage the robot reduce system reliability or shorten the life of the robot For this reason these modifications 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 the change can be made without causing problems 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 e Modifying any robot harnesses e Modifying any drive system components e Modifying including drilling or cutting any robot casting e Modifying any robot electrical component or PC board other than those explicitly stated in the robot user s guide e Routing additional hoses air lines or wires through the robot AdeptThree User s Guide NOTES CHAPTER 2 OVERVIEW 2 1 Description General The AdeptThree is a four axis SCARA robot Joints 1 2 and 4 are rotational and Joint 3 is translational Refer to Figure 2 1 for an overview of the robot joint locations Refer to Figure 2 11 for the operating envelope and Table 2 2 for specifications The AdeptThree is designed to interface with either the Adept MC or the Adept CC controller All control and operation of the AdeptThr
29. gure 3 10 Figure 3 11 Figure 4 1 Figure A 1 AdeptThree Robot Joint Locations sse 7 Tout E NTOEOD sd Ge E E E YD 8 Jone NTOEOD AA aa aa ahs ae UO 9 Joint o and Jont 4 Motion seuraa oo ae 10 Join Hard OPen t SEU EN DER TU E tom n e bes 12 JODE FIGECBIOD irc 12 Joint 3 Hardstop eV REI itt aet 13 Jonta A O 14 Robot base showing brake release button 15 Dimensional Oy eny IEW iie IERI D MEE pus 16 AdeptThree Robot Working Envelope sss 17 AdeptThree with Calibration Fixture sse 23 Mounting Hole Pattern Robot to Plate Spool 25 Mounting Hole Pattern Plate Spool to Floor 25 Recommended Mounting Spool Specifications 26 Mounting Plate to Floor Installation Detail 29 Mounting Spool to Floor Installation Detail 32 User Access to Spare Air Lines and Tower Card Location 34 Quill Flange Dimensions ida 36 Clamp mounted End Effector Installation 37 Screw mounted End Effector Installation 38 Tower Card User Signal and Voltage Lines 42 Joint 3 and Joint 4 Lubrication sese 49 Fifth Axis End Effector Mounting Details ss 54 vi Ta
30. h 22 mm in diameter by 3 5 inches 89 mm deep in the floor at the locations identified in step 3 12 13 x 2 HexH ead Balt With Lock and Flat Washers 12 13 4 HexH ead Balt 3 Paces With Lock and Flat Washers 3 Places Robot oe Plate T 0 Fl oor Base Through Hole 3 Places Mounting Plate P Robot T o Plate r 12 13 Tapped de RR 3 Panes e V 90mm Expansion Bolt a Concrete Floor g go Anchor threaded fb ys a E end down r 3 Places ma dia 22 mr Floor Holes 3 Places Figure 3 5 Mounting Plate to Floor Installation Detail AdeptThree User s Guide Using a vacuum cleaner remove all chips and debris from the holes and surrounding area drilled in step 4 Insert an expansion bolt anchor into each of the three holes in the floor Ensure that the threaded end of each bolt anchor is toward the bottom of each hole as shown in Figure 3 5 Reposition the plate over the anchor holes in the floor using care to align the three plate to floor holes with the anchor holes Also ensure that the plate is positioned such that the footprint for the robot is properly oriented relative to the workcell Using a spirit level verify that the top mounting surface of the plate is level The surface must be horizontal within 3 degrees If the plate is not level insert shims between the plate and the floor to bring the plate within specifications The shims should be at least three inch
31. he area near the solenoid valve in the outer link The lines are not supplied with connection fittings at either end At the base the ends of the air lines can be routed through either one of the access holes capped with removeable plastic plugs Figure 3 7 To gain access to the spare air lines at the base remove eight cap head screws that secure the base top cover then lift and turn the cover out of the way Be careful not to disturb exposed parts and wiring when top cover is off At the outer link location the air lines can be accessed by removing the outer link cover 3 9 End Effectors Provision of an end effector or other end of arm tooling is the respon sibility of the User The AdeptThree design allows simple integration with end effectors There is easy access to the User air lines spare air lines and electrical connectors on the Tower printed circuit assembly PCA Installation Physical attachment of an end effector to the flange may be accomplished either by utilizing a ring clamp supplied or four 8 32 screws For details of the flange mounting surface refer to Figure 3 8 Clamp mounted End Effector The following procedure describes the installation of a typical end effector using the ring clamp Refer to Figure 3 9 1 Disconnect the air supply to the robot 2 Remove the plugs from the OPEN and CLOSE air lines where they protrude from the quill flange 3 Place the ring clamp over the quill flange 35
32. ht hand Righty or left hand Lefty configuration However when V or Vt moves the arm to a location it must sometimes make assumptions about which configuration to use While this generally produces the result desired by the Programmer sometimes the system assumption may differ from the Programmer s expectations In those cases the Programmer must specify within the program Righty or Lefty operation NOTE For further information concerning right and left hand configuration refer to the chapter entitled Robot Locations in your V and V Reference Guide E pocta ccu Figure 2 3 Joint 2 Motion AdeptThree User s Guide Joint 3 Joint 3 provides vertical movement of the quill at the end of the outer link with a maximum stroke of 12 0 inches 30 5 cm Refer to Figure 2 4 Joint 4 Joint 4 also referred to as the wrist provides rotation of the quill over a range of 540 This motion is similar to that of the human hand involved in tightening a bolt or unscrewing a bottle cap Refer to Figure 2 4 Joint 3 Stroke I I U Joirt 4 Rotation Figure 2 4 Joint 3 and Joint 4 Motion 10 Limiting Joint Travel The joint motion or travel is limited by both software and hardware The programmable software limits are known as softstops the fixed hardware limits are called hardstops See Figures 2 5 to 2 8 and Table 2 1 Softstops The robot co
33. ing Adept Training Courses please call 408 434 5024 Application Information There is also a dedicated phone line for assistance with applications For Applications assistance call 408 434 5033 International Customer Assistance 1 4 Safety For information on training service or applications Adept also has a Customer Service Center in Dortmund West Germany The phone number is 0231 129081 The AdeptThree robot may move at high speed and exert considerable force Like all mechanical systems and most industrial equipment it must be treated with respect by both the User and the Operator NOTE This manual follows Robotic Industries Association RIA definitions of User as the responsible person or company and Operator as a person who starts stops or monitors robot or workcell operation This User s Guide should be read by ALL personnel who operate or maintain AdeptThree 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 RIA in conjunction with the American National Standards Institute ANSI The publication ANSI RIA R15 06 1986 contains guidelines for robot system installation safeguards maintenance testing start up and operator training The document is available from American National Standards Institute 1430 Broadway New York NY 10018 This Guide assumes that the User has
34. n Information eniti attore te seo or aM RR edid 2 International Customer Assistance sese 3 JE DN e In CO 3 DY Stel ale Sans A AOO YDD FA 4 GUD INCI di ei 4 1 5 Robot Modica HONS store eap e ia 5 ON EER VIE Wisconsin 7 2 1 De O a Aida 7 Genoa di 7 Ton VIOLDODIS escoria Nao OO do 8 o cst oct 8 O 9 ea dob FEN UN HF FFR Y PU NDS 9 oil P PH 10 Limiting Joint Travel rete e ti 11 SONS TOPS D A 11 A T ee ee 11 Peake sanea o NU FFF FYN 15 2 Pen SIONS OPE RC ORO FC MI m OPEN I EM SLE 16 2 0 Pel OS do 18 2A OPIO Sr A ud lila Maa hnc AS 19 INSTALLA TION ien Yf a n esae ea Oeo p Rp i 21 3 1 Environmental and Facility Requirements sse 21 Facility Ambient Air Quality aues FY FFY 21 Compressed I abita iere edis o uUo tec NU itera ceu Maa GUY 21 1V ROBORE or cell Eres OPA CE lali 22 A _ __ _ ee 22 Mounting Surface diri FY CYR CW SD FFENS 24 Plate A YF E EUO dis 24 vise 26 22 Tool and Equipment Reguirenen tS a 2 Oo Unpacking and DE renon i UL GOR 27 BetoreUnpdcKing a 27 Upon Unpacking utet RG SY AEN 27 Repackme For Reload 28 94 Preparation For Installation i DO 28 90 Installing a Moumtine Platea 29 3 6 Installing a Mounting p
35. ntroller uses softstops to determine the range of motion it will allow the robot to move under program control or to be moved by an operator using the manual control pendant If a robot joint travels beyond a softstop the controller will automatically shut off arm power high power thereby activating the brakes Furthermore the controller will not allow the robot power to be turned on while any joint is beyond its softstop If this situation occurs use the brake release button see the section on Brakes later in this chapter and manually move the arm back within the softstop limits Under operator control using the manual control pendant to move the robot the robot will stop very abruptly when it encounters a softstop This abruptness is due to the high torque motors there is no hardstop at these locations Occasions may arise when it becomes mandatory to limit the travel of one or more of the joints within the normal working envelope This can be easily accomplished by adjusting softstops using the CONFIG_R utility program which is supplied with the system NOTE For further information concerning joint travel limitation refer to the Instructions for Adept Utility Programs manual furnished with your system Hardstops In most cases the softstop will prevent joint travel from contacting a hardstop however contact is possible during high speed operation The hardstops are designed to withstand large forces without damaging the r
36. obot The hardstops for Joints 1 2 and 3 are fixed mechanical stops The hardstop for Joint 4 is designed to slip slightly if impacted sufficiently If the Joint 4 hardstop slips it should be reset Refer to the procedure in Chapter 4 on how to diagnose a slipped Joint 4 hardstop 11 AdeptThree User s Guide Slide r Black Joint 1 Column Figure 2 6 Joint 2 Hardstop 12 Oho 0 15 Upper Stop Crash Flange Crash Plate Lower Stop aill Flange Figure 2 7 Joint 3 Hardstop 13 AdeptThree User s Guide Figure 2 8 Joint 4 Hardstop Internal to Outer Link Table 2 1 Softstop and Hardstop Specifications Softstop Hardstop approximate Comments Joint 1 150 290 20 0 See also Figure 2 11 290 209 0 Joint 2 150 152 39 0 See also Figure 2 11 152 3 0 Joint 3 0 to 12 12 55 to 12 85 See also Figure 2 7 0 15 to 0 Joint 4 270 280 15 0 See also Figure 2 11 280 15 0 14 Brakes The AdeptThree has fail safe air release brakes on all joints These brakes are on whenever HIGH POWER ARM POWER is off The brakes are intended primarily to restrict arm movement when high power is off but they also assist in stopping robot motion when the Emergency Stop circuitry is activated or when there is a robot motion error These brakes
37. ool uu iii Yii FFY FE YAR YMYSG YMA GWY END 30 3 7 Robot Installation ici FFYN FYFYR CDY ROEG SS EB 33 35 PCT InterconnecHon a Y FOR RYDD Y o4 RODOt a Con tolera 34 Facuity AO UPPI y ae e E E R 35 OO ENd EHeEIoIS sta 35 staa O PR E 35 Clampsmounted End Effectot vrai ve EEE 35 Screw mounted Emd EITectOi ie o OO PR ERN EN TINI SUR 37 9 10 User oienal and Voltage Les iu GG 39 USRI Through USERS etis eH ettet teretes AR AF oY 39 Solenoid Drivens FFF OY GO asst Sas 40 Bao Y An eee evans 41 A MAINTENANCE sc 47 AL IO UC it da 47 Y ED ac e A7 Est Joni ee II RO 48 Lobricatonmor A O FdA 48 4 3 Draining Moisture from the Air Filter iaa 50 A A ga Y DYN NS FOOD UO 50 PTA STOSES OCCA ING a ERR HIR O ene 50 APPENDIX A FIELEL AXIS OPTION ooo 53 Ac APOCO tdi 53 2 PEC CAOS aU cium FWY ninia 53 23 9 A coco TREES UNES R RW HN cURI e 53 Lc WEG IC n oUeR A CF YF HN FY NN 54 Installing End Effector asii n lat 54 User Electrical Connector iii iia 55 Programmung Information tete a ee ee ei etie 55 AdeptThree User s Guide A 5 Maintenance and Troubleshooting 2 vcsssssessessessessccscteteesuneseeeaeinieiotsetetes 55 Ch ckine plange Posici n 55 E 57 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 2 6 Figure 2 7 Figure 2 8 Figure 2 9 Figure 2 10 Figure 2 11 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 Figure 3 9 Fi
38. oor Through Hole 3 Places Expansion Bolt Ane hor threaded end down 3 Places i8 dia 22 mim Floor Hal es 3 Places Figure 3 6 Mounting Spool to Floor Installation Detail 32 3 7 Robot Installation The following sequence details the installation of the robot to the mounting plate or spool 1 Connect the hydraulic lift to the eyebolts at the top of the robot Figure 3 7 by means of the dual leg sling Take up any slack but DO NOT lift the robot at this time WARNING Do not attempt to lift the robot at any points other than the eyebolts provided Do not attempt to extend the inner or outer links of the robot until the robot has been secured in position Failure to comply could result in the robot falling and causing either personnel injury or equipment damage 2 Remove the three bolts securing the robot base to the pallet Retain these bolts for possible later relocation of the equipment 3 _ Lift the robot and position it directly over the floor plate or spool WARNING The robot may swing free if not lifted straight up Stand clear of the robot at all times while it is supported by the lift 4 Slowly lower the robot while aligning the base and the tapped mounting holes in the plate or spool 5 Inserta 1 2 13 x 2 inch bolt fitted with both a lock washer and a flat washer through each of the three mounting holes in the robot base into the mounting plate
39. orrect installation position for the robot 22 Plan Vi ew Base Only Figure 3 1 AdeptThree with Calibration Fixture 23 AdeptThree User s Guide Mounting Surface Due to the very high torque transmitted by the AdeptThree the robot MUST be mounted to an extremely rigid structure Any mounting structure vibration or flexing will seriously degrade robot performance Adept recommends using either a mounting plate or a mounting spool Both have proven reliable over extended periods of use details are given below If another type of mounting structure is used it must adequately resist vibration and flexure Whichever method is selected it must be supplied by the User NOTE Mounting the base on any surface other than the recommended steel plate or spool may cause extreme difficulty if robot recalibration is required The User may further facilitate recalibration by designing a workcell that allows for mounting of the calibration fixture without extensive dismantling of the workcell Plate The first method of mounting requires a flat steel plate and is mandatory if the robot is to be mounted directly to the facility floor The mounting plate should conform to the following recommended specifications e Material steel e Diameter 24 0 inches 610 mm e Thickness 1 0 inch 25 mm e Mounting surface flatness within 0 01 inch 0 25 mm e Mounting hole pattern as shown in Figures 3 2 and 3 3
40. rically powered equipment To avoid injury or damage to equipment always remove power by disconnecting the AC power cord from the source BEFORE attempting ANY repair or upgrade activity WARNING DO NOT remove or replace any assemblies subassem blies Printed Circuit Assemblies PCAs or components with primary power present To avoid possible personnel injury or equipment damage always remove power BEFORE attempting repair or upgrade procedures 1 5 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 In general the following robot modifications will not cause any problems but may affect robot performance e Attaching tooling utility boxes solenoid packs vacuum pumps screwdrivers cameras lighting etc to the inner link outer link or column The total weight of such items on any robot should not exceed 10 pounds e 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 e Modifying robot access covers as long as adequate protection is provided after the modification Covers for the quill inner and outer links Joint 2 and the robot signature card may be modified If not done properly the modi
41. sible on the MCP display five if you have the optional fifth axis package installed If there is no MCP on the system the operator would type WHERE 1 at the system terminal to start a continuous display of position information Typing C terminates the display 50 While supporting the quill press the brake release button at the back of the robot base CAUTION When the brake release button is pressed the quill could drop to the bottom of its travel To prevent possible damage to the equipment make sure that the quill is supported while releasing the brake and verify that installed tooling is clear of all obstructions Move the quill so that it is not near either the upper or lower Joint 3 hardstop then rotate the quill to one of the Joint 4 hardstops Check the angle of Joint 4 on the MCP display The Joint 4 hardstop should be within a few degrees of either 285 or 285 The plus or minus value depends on which hardstop is encountered If the value is not close to the proper settings the hardstop has slipped Rotate the quill away from the hardstop about 90 then release the brake release button If you determine that the Joint 4 hardstop has slipped contact Adept Customer Service at the number listed in Chapter 1 Customer Service can provide you with instructions on how to reset the hardstop The procedure takes only a few minutes 51 AdeptThree User s Guide NOTES 52 APPENDIX A FIFTH
42. successfully completed an Adept Training Course and has a basic working knowledge of the Adept system The User should provide the necessary additional training for ALL personnel working within or around the workcell System Safeguards Safeguards should be an integral part of robot workcell design instal lation Operator training and operating procedures Adept systems are computer controlled and may activate remote devices under program control at times or along paths not anticipated by personnel It is critical AdeptThree User s Guide that safeguards be in place to prevent personnel from entering the workcell whenever equipment power is present WARNING Entering the workcell when the Adept controller HIGH POWER or PROGRAM RUNNING lights are ON could result in severe injury Adept Technology highly recommends the use of workcell safety features such as light curtains safety gates or safety floor mats to prevent access to the workcell while power is present Adept Controller systems have various control features which may aid the user in constructing system safeguards including Emergency stop circuitry e Binary input and output lines The emergency power off circuitry in the controller is capable of switching external power systems as well as detecting intrusion signals from safety barriers Equipment Safety All personnel must observe sound safety practices during the operation and testing of all elect
43. sures that must be taken to reduce the hazard AdeptThree User s Guide CAUTION If the action specified in the CAUTION is not complied with damaged to your equipment could result NOTE A NOTE provides supplementary information emphasizes a point or procedure or to gives a tip for easier operation Orientation ovt Throughout this text descriptive words such as right left top and bottom will be used to locate items Whenever these terms appear they are oriented from the standard operator s position as though facing the front of the unit for example right is that portion of the system to the operator s right etc Controller HIGH POWER Indicator On the Adept CC controller front panel there is an amber indicator light labeled HIGH POWER on the Adept MC controller the same indicator is labeled ARM POWER Any reference in this manual to HIGH POWER also refers to ARM POWER 1 3 Customer Service Assistance Service Calls Adept Technology maintains a fully staffed Customer Service Center at its headquarters in San Jose CA Two dedicated phone lines are available for service calls only 800 232 3378 from outside California 800 232 3379 from within California When calling Customer Service please have the unit s serial number available The serial number is located on the label on the base of the robot refer to Figure 2 9 Training Information For information regard
44. the User s Guides supplied with each option 19 AdeptThree User s Guide NOTES 20 CHAPTER 3 INSTALLATION 3 1 Environmental and Facility Requirements Facility Ambient Air Quality Temperature 41 to 122 F 5 to 50 C Relative Humidity 5 to 95 non condensing Although Adept robots are designed to withstand a wide range of environmental conditions they require additional sealing when used in harsh environments Examples of environments that require additional robot sealing include those with oil mist coolant mist or abrasive dust in the air When a robot is used in such an environment take the following steps to protect the robot e Seal the quill and outer link assembly with a quill bellows e Install gaskets on all access covers e Pressurize the robot slightly with clean dry air Contact Adept Customer Service if you have questions concerning robot protection in such environments Compressed Air The AdeptThree requires clean dry compressed air at 80 120 pounds per square inch psi with a flow rate of 1 Standard Cubic Foot per Minute SCFM to release its brakes Additional air flow may be required for actuation of end effectors NOTE Insufficient air pressure or flow will allow the brakes to engage and will disable HIGH POWER 21 AdeptThree User s Guide The AdeptThree has an air filter and moisture trap on its inlet air fitting The moisture trap should be emptied periodically see Chapter
45. with the standard Adept ring clamp A 1 749 diameter by 0 100 high alignment pad on the end effector is accommodated but any utilities must be side ported The fifth axis includes two air line fittings and a user electrical receptacle for interfacing to end of arm tooling see Figure A 1 40 0z Fitl Axis Ton Sarge Reget eel Fla Air inc Filting d mm Lise T ectrical Re sptacle 10 32 2p aces TZET dla L L keray OCS teen P places Oz 4 places 9C on 24100 dia pattern Figure A 1 Fifth Axis End Effector Mounting Details 54 Index User Electrical Connector A cable with a six pin connector on one end Adept part number 10845 24950 is supplied with the fifth axis This cable is designed to mate with the user electrical receptacle located between the two air fittings see Figure A 1 The table below shows the connector pin identification and the corresponding pin number at the Tower PCA Pin cavities 1 5 9 and 10 are not used The connector is polarized and will not mate if incorrectly aligned Table A 2 Fifth Axis User Connector Pin Identification User Connecto User Connector Pin at J3 on E Wire Color Signal Tower PCA Pin 2 black FRC1 2 3 red FRC1 3 4 orange FRC2 4 6 green FRC2 5 7 blue FRC3 6 8 white FRC3 7 Programming Information The fifth axis is a fully integrated robot joint and treated the same as the other joints
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