Adept s650H Quattro Bedienungsanleitung

Adept Quattros650 RobotUser’s Guide

Chapter 8 - Maintenance100 Adept Quattro s650 Robot User’s Guide, Rev B8.2 Checking Safety SystemsThese tests should be done every six months.NOTE: Op

Checking Fan OperationAdept Quattro s650 Robot User’s Guide, Rev B 1018.5 Checking Fan OperationVerify that all four motor fans operate:NOTE: This ne

Chapter 8 - Maintenance102 Adept Quattro s650 Robot User’s Guide, Rev BFigure 8-1.Securing Screw on AIB Chassis10. While holding the chassis heat sink

Replacing the AIB ChassisAdept Quattro s650 Robot User’s Guide, Rev B 103Figure 8-3. Connectors on AIB Chassis 12. Disconnect the J1 cable from the J

Chapter 8 - Maintenance104 Adept Quattro s650 Robot User’s Guide, Rev BInstalling a New AIB Chassis1. Carefully remove the new chassis from its packag

Replacing the Encoder BatteryAdept Quattro s650 Robot User’s Guide, Rev B 1058.7 Replacing the Encoder BatteryThe data stored by the encoders is prot

Chapter 8 - Maintenance106 Adept Quattro s650 Robot User’s Guide, Rev B\Figure 8-5. Battery in Quattro Base10. Place the new battery next to the origi

Replacing a PlatformAdept Quattro s650 Robot User’s Guide, Rev B 1072. Attach one pair of outer arms to each of the four pairs of ball studs on the n

Chapter 8 - Maintenance108 Adept Quattro s650 Robot User’s Guide, Rev BTo load a specification file:1. To update the specification data for a mechanis

Replacing a PlatformAdept Quattro s650 Robot User’s Guide, Rev B 109To use the Save ALL specifications to system disk option:1. Select the Save ALL s

Adept Quattro s650 Robot User’s Guide, Rev B 11List of FiguresFigure 1-1. Adept Quattro s650 Robot . . . . . . . . . . . . . . . . . . . . . . . . .

Adept Quattro s650 Robot User’s Guide, Rev B 111Robot Cleaning/EnvironmentalConcerns 9This chapter applies to the Adept Quattro s650 robot, not to the

Chapter 9 - Robot Cleaning/ Environmental Concerns112 Adept Quattro s650 Robot User’s Guide, Rev BTemperatureThe Adept Quattro s650 robot is designed

Adept Quattro s650 Robot Design FactorsAdept Quattro s650 Robot User’s Guide, Rev B 1139.4 Design FactorsEnvironmental and cleaning aspects are addre

Chapter 9 - Robot Cleaning/ Environmental Concerns114 Adept Quattro s650 Robot User’s Guide, Rev BOuter ArmsThe outer arms are a composite assembly of

Adept Quattro s650 Robot Design FactorsAdept Quattro s650 Robot User’s Guide, Rev B 1159.5 Installing Cable Seal KitOverviewThe cable seal assembly (

Chapter 9 - Robot Cleaning/ Environmental Concerns116 Adept Quattro s650 Robot User’s Guide, Rev BFigure 9-1. AIB Cable Seal Housing (left), Installed

Adept Quattro s650 Robot Design FactorsAdept Quattro s650 Robot User’s Guide, Rev B 1173. Adapt Roxtec modules to fit the cables that will be used. T

Chapter 9 - Robot Cleaning/ Environmental Concerns118 Adept Quattro s650 Robot User’s Guide, Rev B7. When all of the modules are in place, tighten the

Adept Quattro s650 Robot Design FactorsAdept Quattro s650 Robot User’s Guide, Rev B 1198. Attach the ground lug to the AIB. The ground lug is for the

List of Figures12 Adept Quattro s650 Robot User’s Guide, Rev BFigure 7-4. Arm Travel Volume . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Adept Quattro s650 Robot User’s Guide, Rev B 121Numerics1394 cable, IEEE 52, 53, 54200-240 VAC cable, creating 60200-240 VAC connector 5324 VDC cablec

Index122 Adept Quattro s650 Robot User’s Guide, Rev BCcablecreating 200-240 VAC 60creating 24 VDC 56diagram for system 51front panel 52IEEE 1394 52, 5

IndexAdept Quattro s650 Robot User’s Guide, Rev B 123end-effector 83, 84dowel pin 83grounding 61, 83installation 83routing lines to 84environmentambie

Index124 Adept Quattro s650 Robot User’s Guide, Rev BMmachinery safety standards 27maintenancesafety aspects while performing 33schedule, periodic 99m

IndexAdept Quattro s650 Robot User’s Guide, Rev B 125Qqualification of personnel 32Rrecovery procedures, emergency 25related manuals 22release button,

Index126 Adept Quattro s650 Robot User’s Guide, Rev Bstandardsand directives 26machinery safety 27startup procedure 75statusdisplay 63LED 63status pan

adepttechnology, inc.3011 Triad DriveLivermore, CA 94551925·245·3400P/N: 08411-000, Rev B

Adept Quattro s650 Robot User’s Guide, Rev B 13Introduction 11.1 Product DescriptionAdept Quattro s650 RobotThe Adept Quattro s650 robot is a four-axi

Chapter 1 - Introduction14 Adept Quattro s650 Robot User’s Guide, Rev BFigure 1-2. Major Robot Components, Isometric ViewQuattro Robot BaseThe Adept Q

Product DescriptionAdept Quattro s650 Robot User’s Guide, Rev B 15Figure 1-3. Adept AIBInner ArmsThe four robot motors attach directly to the inner a

Chapter 1 - Introduction16 Adept Quattro s650 Robot User’s Guide, Rev BBall Joints, Outer ArmsThe inner arm motion is transmitted to the platform thro

Product DescriptionAdept Quattro s650 Robot User’s Guide, Rev B 17The 4:1 platform (P/N 08360-000) has a rotation range of ± 180°, achieved with a be

Chapter 1 - Introduction18 Adept Quattro s650 Robot User’s Guide, Rev BFigure 1-6. 4:1 Platform, Top ViewFigure 1-7. 4:1 Platform, Bottom ViewBall Joi

Product DescriptionAdept Quattro s650 Robot User’s Guide, Rev B 19Figure 1-8. 1:1 Platform, Top ViewFigure 1-9. 1:1 Platform, Bottom ViewFor shipping

Chapter 1 - Introduction20 Adept Quattro s650 Robot User’s Guide, Rev BAdept SmartController CXThe SmartController is the foundation of Adept’s family

Manufacturer’s DeclarationAdept Quattro s650 Robot User’s Guide, Rev B 211.3 Manufacturer’s DeclarationThe Manufacturer’s Declaration of Incorporatio

Chapter 1 - Introduction22 Adept Quattro s650 Robot User’s Guide, Rev BRelated ManualsThis manual covers the installation, operation, and maintenance

Adept Quattro s650 Robot User’s Guide, Rev B 23Safety 22.1 Warnings, Cautions, and Notes in ManualThere are six levels of special alert notation used

Chapter 2 - Safety24 Adept Quattro s650 Robot User’s Guide, Rev B2.2 Warning Labels on the RobotFigure 2-1 shows the warning labels on the Adept Quatt

Precautions and Required SafeguardsAdept Quattro s650 Robot User’s Guide, Rev B 25The Adept control system has features that aid the user in construc

Chapter 2 - Safety26 Adept Quattro s650 Robot User’s Guide, Rev BTable 2-1. Sources for International Standards and DirectivesSEMI International Stand

Risk AssessmentAdept Quattro s650 Robot User’s Guide, Rev B 272.4 Risk Assessment Without special safeguards in its control system, the Adept Quattro

Chapter 2 - Safety28 Adept Quattro s650 Robot User’s Guide, Rev BThe E-stop circuit is Dual Channel (Redundant, Diverse, and Control Reliable).See Fig

Intended Use of the RobotsAdept Quattro s650 Robot User’s Guide, Rev B 29The standard control system is fully hardened to all EMI influences per the

Adept Quattros650 RobotUser’s GuideP/N: 08411-000, Rev BFebruary, 20083011 Triad Drive • Livermore, CA 94551 • USA • Phone 925.245.3400 • Fax 925.960.

Chapter 2 - Safety30 Adept Quattro s650 Robot User’s Guide, Rev B2.6 Robot ModificationsIt is sometimes necessary to modify the robot in order to succ

TransportAdept Quattro s650 Robot User’s Guide, Rev B 312.7 TransportAlways use adequate equipment to transport and lift Adept products. See Chapter

Chapter 2 - Safety32 Adept Quattro s650 Robot User’s Guide, Rev B2.10 Thermal Hazard2.11 Working AreasAdept robots have a Manual and an Automatic (AUT

Safety Equipment for OperatorsAdept Quattro s650 Robot User’s Guide, Rev B 33All personnel must observe sound safety practices during the installatio

Chapter 2 - Safety34 Adept Quattro s650 Robot User’s Guide, Rev B2.16 Risks Due to Incorrect Installation or OperationTake precautions to ensure that

Adept Quattro s650 Robot User’s Guide, Rev B 35Robot Installation 33.1 Transport and StorageThis equipment must be shipped and stored in a temperature

Chapter 3 - Robot Installation36 Adept Quattro s650 Robot User’s Guide, Rev BFigure 3-1. Quattro Shipping CratesThe robot base is shipped with the inn

Repacking for RelocationAdept Quattro s650 Robot User’s Guide, Rev B 37Figure 3-2. Crates with Front Panel/SIdes RemovedUpon UnpackingBefore signing

Chapter 3 - Robot Installation38 Adept Quattro s650 Robot User’s Guide, Rev B3.4 Environmental and Facility RequirementsThe Adept Quattro s650 robot s

Mounting FrameAdept Quattro s650 Robot User’s Guide, Rev B 39Figure 3-3. Sample Quattro Mounting FrameNOTE: More specifications for the sample frame

The information contained herein is the property of Adept Technology, Inc., and shall not be repro-duced in whole or in part without prior written app

Chapter 3 - Robot Installation40 Adept Quattro s650 Robot User’s Guide, Rev BFrame OrientationThe sample robot frame design is stiffer in one directio

Mounting the Robot BaseAdept Quattro s650 Robot User’s Guide, Rev B 41NOTE: Deviation from this flatness specification will cause stress to be taken

Chapter 3 - Robot Installation42 Adept Quattro s650 Robot User’s Guide, Rev BMounting OptionsUsing the mounting frame design provided by Adept, there

Mounting the Robot BaseAdept Quattro s650 Robot User’s Guide, Rev B 437. Slowly lower the robot while aligning the M20 holes in the robot mounting pa

Chapter 3 - Robot Installation44 Adept Quattro s650 Robot User’s Guide, Rev BMounting Procedure from Below the FrameThe Adept Quattro s650 robot provi

Mounting the Robot BaseAdept Quattro s650 Robot User’s Guide, Rev B 451. If you are mounting the robot base to the frame with M20 bolts:• Place flat

Chapter 3 - Robot Installation46 Adept Quattro s650 Robot User’s Guide, Rev B3.7 Attaching the Outer Arms and PlatformFigure 3-5. Major Robot Componen

Attaching the Outer Arms and PlatformAdept Quattro s650 Robot User’s Guide, Rev B 47Figure 3-6. End Cap Labeling, Joint #1Figure 3-7. Platform Orient

Chapter 3 - Robot Installation48 Adept Quattro s650 Robot User’s Guide, Rev BAttaching the Outer ArmsOne pair of outer arms attaches between each inne

Attaching the Outer Arms and PlatformAdept Quattro s650 Robot User’s Guide, Rev B 49Figure 3-9. Ball Joint AssemblyFigure 3-10. Installing Ball Joint

Adept Quattro s650 Robot User’s Guide, Rev B 5Table of Contents1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 3 - Robot Installation50 Adept Quattro s650 Robot User’s Guide, Rev BNOTE: In the following steps, take care not to trap debris between the ba

Adept Quattro s650 Robot User’s Guide, Rev B 51System Installation 44.1 System Cable Diagram Figure 4-1. System Cable DiagramNOTE: See “Installing 24

Chapter 4 - System Installation52 Adept Quattro s650 Robot User’s Guide, Rev B4.2 Cable Parts List4.3 Installing the SmartController Refer to the Adep

Description of Connectors on Robot Interface PanelAdept Quattro s650 Robot User’s Guide, Rev B 534.4 Description of Connectors on Robot Interface Pan

Chapter 4 - System Installation54 Adept Quattro s650 Robot User’s Guide, Rev B4.5 Cable Connections from Robot to SmartController1. Locate the IEEE 13

Connecting 24 VDC Power to RobotAdept Quattro s650 Robot User’s Guide, Rev B 55Details for 24 VDC Mating Connector The 24 VDC mating connector and tw

Chapter 4 - System Installation56 Adept Quattro s650 Robot User’s Guide, Rev BProcedure for Creating 24 VDC Cable 1. Locate the connector and pins fro

Connecting 200-240 VAC Power to RobotAdept Quattro s650 Robot User’s Guide, Rev B 57Figure 4-3. User-Supplied 24 VDC CableNOTE: To comply with EN sta

Chapter 4 - System Installation58 Adept Quattro s650 Robot User’s Guide, Rev BSpecifications for AC Power NOTE: The Adept robot system is intended to

Connecting 200-240 VAC Power to RobotAdept Quattro s650 Robot User’s Guide, Rev B 59In the industrial environment, nonperiodic overvoltage peaks may

Table of Contents6 Adept Quattro s650 Robot User’s Guide, Rev B2.11 Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 4 - System Installation60 Adept Quattro s650 Robot User’s Guide, Rev BDetails for AC Mating Connector The AC mating connector is supplied with

Grounding the Adept Quattro s650 Robot SystemAdept Quattro s650 Robot User’s Guide, Rev B 61Installing AC Power Cable to Robot 1. Connect the untermi

Chapter 4 - System Installation62 Adept Quattro s650 Robot User’s Guide, Rev B4.9 Installing User-Supplied Safety Equipment The user is responsible fo

Adept Quattro s650 Robot User’s Guide, Rev B 63System Operation 55.1 Robot Status LED Description The robot Status LED Indicator is located on the rob

Chapter 5 - System Operation64 Adept Quattro s650 Robot User’s Guide, Rev B5.2 Status Panel Fault CodesThe status panel, shown in Figure 5-1, displays

Using the Brake Release ButtonAdept Quattro s650 Robot User’s Guide, Rev B 655.3 Using the Brake Release ButtonBrakes The robot has a braking system

Chapter 5 - System Operation66 Adept Quattro s650 Robot User’s Guide, Rev BFigure 5-2. Connecting Digital I/O to the SystemTable 5-4. Default Digital

Using Digital I/O on Robot XIO ConnectorAdept Quattro s650 Robot User’s Guide, Rev B 675.5 Using Digital I/O on Robot XIO Connector The XIO connector

Chapter 5 - System Operation68 Adept Quattro s650 Robot User’s Guide, Rev BTable 5-5. XIO Signal Designations Pin No. DesignationSignal BankV+ SignalN

Using Digital I/O on Robot XIO ConnectorAdept Quattro s650 Robot User’s Guide, Rev B 69Optional I/O ProductsThese optional products are also availabl

Table of ContentsAdept Quattro s650 Robot User’s Guide, Rev B 74.6 Connecting 24 VDC Power to Robot . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 5 - System Operation70 Adept Quattro s650 Robot User’s Guide, Rev BTypical Input Wiring ExampleFigure 5-3. Typical User Wiring for XIO Input S

Using Digital I/O on Robot XIO ConnectorAdept Quattro s650 Robot User’s Guide, Rev B 71XIO Output SignalsThe eight digital outputs share a common, hi

Chapter 5 - System Operation72 Adept Quattro s650 Robot User’s Guide, Rev BTypical Output Wiring ExampleFigure 5-4. Typical User Wiring for XIO Output

Commissioning the SystemAdept Quattro s650 Robot User’s Guide, Rev B 735.6 Commissioning the System Turning on the robot system for the first time is

Chapter 5 - System Operation74 Adept Quattro s650 Robot User’s Guide, Rev BVerifying Installation Verifying that the system is correctly installed and

Commissioning the SystemAdept Quattro s650 Robot User’s Guide, Rev B 75System Start-up Procedure Once the system installation has been verified, you

Chapter 5 - System Operation76 Adept Quattro s650 Robot User’s Guide, Rev B10. If you did not hear a click in the previous step, you must explicitly c

Quattro MotionsAdept Quattro s650 Robot User’s Guide, Rev B 77Containment ObstaclesThe work space of the robot is defined by an inclusion obstacle. T

Chapter 5 - System Operation78 Adept Quattro s650 Robot User’s Guide, Rev BFigure 5-7. Ambiguity ZoneAs examples:• With the roll initially at +170°, a

Quattro MotionsAdept Quattro s650 Robot User’s Guide, Rev B 79• With the roll initially at +170°, a motion to roll value +0.05 will cause the system

Table of Contents8 Adept Quattro s650 Robot User’s Guide, Rev B7 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 5 - System Operation80 Adept Quattro s650 Robot User’s Guide, Rev BThe following is a sample program that accomplishes this:.PROGRAM q_move(ta

Quattro MotionsAdept Quattro s650 Robot User’s Guide, Rev B 81.PROGRAM a_move(target.loc); ABSTRACT: Move to the specified destination location, perf

Chapter 5 - System Operation82 Adept Quattro s650 Robot User’s Guide, Rev B5.8 Learning to Program the Adept Quattro RobotTo learn how to use and prog

Adept Quattro s650 Robot User’s Guide, Rev B 83Optional EquipmentInstallation 66.1 End-EffectorsThe user is responsible for providing and installing a

Chapter 6 - Optional Equipment Installation84 Adept Quattro s650 Robot User’s Guide, Rev B6.2 Routing End-effector LinesEnd-effector lines (either vac

Adept Quattro s650 Robot User’s Guide, Rev B 85Technical Specifications 77.1 Dimension Drawings Figure 7-1. Top Dimensions, Work Envelope, and Mountin

Chapter 7 - Technical Specifications86 Adept Quattro s650 Robot User’s Guide, Rev BFigure 7-2. Tool Flange Dimensions4X 45.00°4X farsideThreaded thru

Dimension DrawingsAdept Quattro s650 Robot User’s Guide, Rev B 87Figure 7-3. Work Envelope, Side ViewZ+Z=0146.1741.3250250700130038.1 OPTIONAL

Chapter 7 - Technical Specifications88 Adept Quattro s650 Robot User’s Guide, Rev BFigure 7-4. Arm Travel VolumeARM TRAVELVOLUME (4X)61.647.2236.39828

Adept Quattro s650 Robot Internal ConnectionsAdept Quattro s650 Robot User’s Guide, Rev B 897.2 Adept Quattro s650 Robot Internal ConnectionsFigure 7

Table of ContentsAdept Quattro s650 Robot User’s Guide, Rev B 99.4 Design Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 7 - Technical Specifications90 Adept Quattro s650 Robot User’s Guide, Rev B7.3 XSLV ConnectorTable 7-1. XSLV Connector PinoutPin # Description

Robot SpecificationsAdept Quattro s650 Robot User’s Guide, Rev B 917.4 Robot Specifications Table 7-2. Adept Quattro s650 Robot SpecificationsaaSpeci

Chapter 7 - Technical Specifications92 Adept Quattro s650 Robot User’s Guide, Rev B7.5 Platform SpecificationsRotation and Payload Inertia - RangeWith

Robot Mounting FrameAdept Quattro s650 Robot User’s Guide, Rev B 937.6 Robot Mounting FrameThe Adept Quattro s650 is designed to be mounted above the

Chapter 7 - Technical Specifications94 Adept Quattro s650 Robot User’s Guide, Rev BFigure 7-6. Mounting Frame, Orthogonal View* DIMENSIONS ARE IN MILL

Robot Mounting FrameAdept Quattro s650 Robot User’s Guide, Rev B 95Figure 7-7. Mounting Frame, Side View 1Figure 7-8. Mounting Frame, Side View 24xTO

Chapter 7 - Technical Specifications96 Adept Quattro s650 Robot User’s Guide, Rev BFigure 7-9. Mounting Frame, Detail 1Figure 7-10. Mounting Frame, De

Robot Mounting FrameAdept Quattro s650 Robot User’s Guide, Rev B 97Figure 7-11. Mounting Frame, Top View430.0520.0520.0520.0520.0290.0290.0290.0290.0

Adept Quattro s650 Robot User’s Guide, Rev B 99Maintenance 8Maintenance of user-added optional equipment (electrical and vacuum lines to the tool flan