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Chapter 5 - Modu
le
System De
scr
iptions
92
Adept Python Mo
dules User’
s Guide, Rev
. E
T
oe Clamp Drawings
Figure 5-30. L08 Module with T
o
e Clamps
Figure 5-31. L12 Module with T
o
e Clamps
1
2
...
87
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89
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169
170
Adept Python
1
Table of Contents
5
List of Figures
11
Introduction 1
15
L18 Module with
16
MotionBlox-10 Amp
16
L12 Module with
16
Product Description
17
Special and Custom Orders
18
Adept SmartController CX
18
1.4 How Can I Get Help?
21
1.5 Related Manuals
22
Safety 2
23
2.3 Risk Assessment
25
Avoidance
26
Maximum Thrust
27
Safety Barriers
28
2.5 Equipment Modifications
30
2.6 Transport
31
2.8 Sound Emissions
32
2.9 Thermal Hazard
32
2.10 Working Areas
32
Python Linear Module
37
Descriptions 3
37
L-Series Module Types
38
Payloads and Moments
38
Stroke Length
41
Accuracy
41
Acceleration
43
Resolution and Repeatability
43
143.50 mm
45
168.50 mm
45
295.50 mm
46
Motor Mount Configuration
47
Linear Module Options
49
Harness Exit Configurations
50
Module Preparation (Assembly)
51
L18 030 S10 B0 M10 0 P0 0 0
52
L18 030 S10 B0
53
M10 0 P0 0 0
54
L08 010 S10 B0
57
LG6 020 P0 0 0
59
Python Theta Module
61
Description 4
61
Gear Ratio
63
Interface
63
± 360° RANGE OF MOTION
64
(CONTINUOUS TURN AVAILABLE)
64
LT1 G30 B0
64
Module System Descriptions 5
67
10 S 1 0 0 0
69
A0 A0 A0 A0 X00 0
70
S 2 0 0 0
72
Single-Axis Configurations
73
Z-Axis motion
74
Single-Axis Theta Modules
75
5.4 System Orientation
86
Single-Axis Orientations
87
Typical Two-Axis Orientations
87
Module 1, Flipped
89
Module 2, Rolled
89
(Amp 2 facing Amp 1)
89
5.5 Mounting Options
90
Mounting Feet Drawings
91
Toe Clamp Drawings
92
All dimensions
93
CABLE 4 KIT - No cable
97
CABLE 1 KIT - No cable
97
5.7 Gantry Mounting Kits
98
GANTRY MOUNTING
99
Dimension determined
100
Y module
100
LG6 Gantry Support Module
100
5.8 IO Blox
103
IO BLOX OPTIONS
104
CABLING/PLUMBING
107
Module Installation 6
109
Mounting Plate
110
General Installation Notes
110
Cleanroom System Installation
115
Space Around the Chassis
117
7.2 System Cable Diagram
118
7.3 Installing the PDU3
119
Power Distribution Unit 8
121
8.2 Installing the PDU3
122
200–240V~
123
380–415V~
123
8.5 PDU3 Fuses
125
8.6 PDU3 Mounting Brackets
126
8.7 PDU3 Dimensions
127
Note: All dimensions
128
8.9 PDU3 Specifications
129
XDCS Connector
131
XSLV1/2 Connector
131
Adept MB-10 Amps 9
133
9.2 MB-10 Operation
134
Indicator LED
135
Brake Release Button
135
MB-10 Connectors
135
IO Blox Connector
136
9.3 MB-10 Firmware
137
9.4 MB-10 Specifications
138
Motor Connector
139
Encoder Connector
139
System Operation 10
143
Power Checks
144
Cable Installation Checks
144
10.3 Turning On Power
145
10.4 Software Configuration
145
Load and Run DC_SETUP.V2
146
10.5 Enable High Power
150
10.6 Run-Time Calibration
151
10.7 Turning Off Power
151
Maintenance 11
153
11.2 Checking Safety Systems
154
Battery Replacement Procedure
155
Retaining clip
156
Replacement
158
11.6 Additional Maintenance
159
11.7 MB-10 Decommissioning
159
Advanced System
161
Configurations 12
161
Robot #1 Robot #2
162
User-Supplied
163
24VDC Power
163
Terminator
164
Installed
164
5960 Inglewood Drive
170
Pleasanton, CA 94588
170
925·245·3400
170
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