AdeptViper s650/s850 Robot User’s Guide
AdeptViper s650/s850 Robot User’s Guide P/N: 05173-000, Rev A August 2005 3011 Triad Drive • Livermore, CA 94551 • USA • Phone 925.245.3400 • Fax 925.960.0452 Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone 49.231.75.89.40 • Fax 49.231.75.89.450 41, rue du Saule Trapu • 91300 • Massy • France • Phone 33.1.69.19.16.16 • Fax 33.1.69.32.04.
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.
Table of Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 AdeptViper s650/s850 Robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Adept PA-4 CAT-3 Power Chassis . . . . . . . .
Table of Contents 2.14 Risks Due to Incorrect Installation or Operation . . . . . . . . . . . . . . . . . . . . . . . . 23 2.15 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 3 Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.1 Unpacking and Inspecting the Adept Equipment . . . . . . . . . . . . . . . . . . . . . . . 25 Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents 5.6 Status Panel Codes on sDAI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 6 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 6.1 Installing and Using Brake Release Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 6.2 Replacing Encoder Backup Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 6.3 Installing User-Supplied Hardstops . . . . . . . . .
Table of Contents 8 AdeptViper s650s/850 Robot User’s Guide, Rev A
Introduction 1.1 1 Product Description AdeptViper s650/s850 Robots The AdeptViper s650 and AdeptViper s850 are high-performance, six-axis robots designed specifically for assembly applications. The speed and precision of the AdeptViper robots also make them ideal for material handling, packaging, machine tending, and many other operations requiring fast and precise automation.
Chapter 1 - Introduction Adept SmartController CX The SmartController CX is the foundation of Adept’s family of high-performance distributed motion and vision controllers. The SmartController CX is designed for use with Adept Cobra s600 and s800 robots, Adept SmartModules, the AdeptViper robot, and the Adept sMI6 Module for the SmartMotion product. The SmartController CX supports an integrated vision option and a conveyor tracking option.
Installation Overview 1.2 Installation Overview The system installation process is summarized in the following table. Refer also to the system cable diagram in Figure 4-1 on page 39. Table 1-1. Installation Overview 1.3 Task to be Performed Reference Location 1. Mount the robot on a flat, secure mounting surface. See Section 3.4 on page 30. 2. Install the SmartController, Front Panel, and AdeptWindows software. See Section 4.2 on page 40. 3. Install the PA-4 power chassis. See Section 4.
Chapter 1 - Introduction 1.4 How Can I Get Help? Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting assistance with your Adept software and hardware. Additionally, you can access information sources on Adept’s corporate web site: http://www.adept.com Related Manuals This manual covers the installation, operation, and maintenance of an Adept Cobra s600/s800 robot system.
Safety 2.1 2 Dangers, Warnings, Cautions, and Notes There are four levels of special alert notation used in this manual. In descending order of importance, they are: DANGER: This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. WARNING: This indicates a potentially hazardous situation which, if not avoided, could result in serious injury or major damage to the equipment.
Chapter 2 - Safety 2.2 Precautions and Required Safeguards This manual must be read by all personnel who install, operate, or maintain Adept systems, or who work within or near the workcell. CAUTION: Adept Technology strictly prohibits installation, commissioning, or operation of an Adept robot without adequate safeguards. These must be compliant with applicable local and national standards.
Precautions and Required Safeguards Hazards From Expelling a Part or Attached Tooling The maximum joint tip speeds that can be achieved by the robot are listed in Table 9-1 on page 83. Any tooling, fixtures, end-effectors, etc., mounted to the user flange, or one of the other axes of the robot must be attached by sufficient means to resist being expelled from the robot. Additionally, any payload must be held by the end-effector in a manner that prevents the payload from being expelled accidentally.
Chapter 2 - Safety Table 2-1. Sources for International Standards and Directives SEMI International Standards 3081 Zanker Road San Jose, CA 95134 USA American National Standards Institute (ANSI) 11 West 42nd Street, 13th Floor New York, NY 10036 USA Phone: 1.408.943.6900 Fax: 1.408.428.9600 Phone 212-642-4900 Fax 212-398-0023 http://wps2a.semi.org/wps/portal/_pagr/118/_p a.118/200 http://www.ansi.
Risk Assessment 2.3 Risk Assessment Without special safeguards in its control system, the AdeptViper robot could inflict serious injury on an operator working within its work envelope. Safety standards in several countries require appropriate safety equipment to be installed as part of the system. Table 2-2 lists some of the safety standards that affect industrial robots. It is not a complete list.
Chapter 2 - Safety Avoidance Due to its light payload capacity, it is likely that such personnel could avoid being hit by the robot even in a high-acceleration, runaway, failure condition. However, the programmer must always carry the pendant when inside the work envelope, as the pendant provides both E-Stop and Enabling switch functions. For normal operation (AUTO mode), user-supplied interlocked guarding must be installed to prevent any person entering the workcell while Arm Power is on.
Intended Use of the Robots The standard control system meets or exceeds the requirements imposed by the EN 954 specified Category 1 level of safety. 2.4 Intended Use of the Robots The installation and use of Adept products must comply with all safety instructions and warnings in this manual. Installation and use must also comply with all applicable local and national requirements and safety standards (see Section 2.7 on page 21).
Chapter 2 - Safety All persons that install, commission, operate, or maintain the robot must: • Have the necessary qualifications • Read and follow the instructions in this Instruction Handbook exactly If there is any doubt concerning the application, ask Adept to determine if it is an intended use or not. 2.5 Robot Modifications It is sometimes necessary to modify the robot in order to successfully integrate it into a workcell.
Transport 2.6 Transport Always use adequate equipment to transport and lift Adept products. See Chapter 3 for more information on transporting, lifting, and installing. 2.7 Safety Requirements for Additional Equipment Additional equipment used with the AdeptViper robots (grippers, conveyor belts, etc.) must not reduce the workcell safeguards. Emergency stop switches must be accessible at all times.
Chapter 2 - Safety 2.9 Qualification of Personnel This manual assumes that all personnel have attended an Adept training course and have a working knowledge of the system. The user must provide the necessary additional training for all personnel who will be working with the system. As noted in this handbook, certain procedures should be performed only by skilled or instructed persons.
Protection Against Unauthorized Operation 2.11 Protection Against Unauthorized Operation The system must be protected against unauthorized use. The user or operator must restrict access to the keyboard and the pendant by locking them in a cabinet or use another adequate method to prevent access to them. 2.
Chapter 2 - Safety 2.15 What to Do in an Emergency Situation Press any E-Stop button (a red push-button on a yellow background/field) and then follow the internal procedures of your company or organization for an emergency situation. If a fire occurs, use CO2 to extinguish the fire.
Robot Installation 3.1 3 Unpacking and Inspecting the Adept Equipment Before Unpacking Carefully inspect all shipping crates for evidence of damage during transit. Pay special attention to tilt and shock indication labels on the exteriors of the containers, if installed. If any damage is indicated, request that the carrier’s agent be present at the time the container is unpacked.
Chapter 3 - Robot Installation 3.2 Environmental and Facility Requirements The Adept robot system installation must meet the operating environment requirements shown in Table 3-1. Table 3-1. Robot System Operating Environment Requirements Item Condition Flatness of the mounting surface 0.
Transporting the Robot 3.3 Transporting the Robot Precautions in Transporting Robot • The robot weighs approximately 30 kg. Use a crane suitable for the robot weight. • Have at least two workers handle this job. • Workers should wear helmets, safety shoes, and gloves during transport. • Do not hold the first arm, elbow, either side of the 2nd arm, 2nd-axis cover, or 3rd-axis cover, or apply force to any of them. See Figure 1-1 on page 9.
Chapter 3 - Robot Installation Transport Procedure Step Procedure Drawing 1 Before transportation, set the robot in a transport position as shown at right by manually moving the second, third and fourth axes. When unpacked first, the robot is in the transport position, so this job is not required.
Transporting the Robot Step Procedure Drawing 4 As shown at right, place a waste cloth on the second arm and pass the wire through the two eyebolts. Wire (Belt sling) Note: Before transporting the robot, check that the path to the target position is free of obstacles. Waste Cloth Eyebolts Robot Mounting Bolts 5 Worker A: Remove the four bolts while supporting the robot unit to prevent it from getting overturned. 6 Worker B: Operate the crane and move the robot unit to the target site.
Chapter 3 - Robot Installation 3.4 Mounting the Robot 200 160 +0.012 2X Ø6 - 0 66 ±0.05 142.3 200 160 184 ±0.05 R20 4X Ø12 THRU For M10 Diamond-shaped pin Figure 3-2. Mounting Hole Pattern for Robot 1. See Figure 3-2 for the dimensions of the mounting holes in the robot mounting position where the robot unit is to be secured.
Grounding the Robot 5. Set the robot unit into place on the robot mount. When transporting the robot unit, follow the instructions given in Section 3.3 on page 27. 6. Secure the robot unit to the mount with four bolts and plain washers. • Bolt: M10 x 30 mm (strength class: 12.9) • Tightening torque: 70 +/- 14 Nm 3.5 Grounding the Robot Ground the grounding terminal of the robot unit with a wire of 12 AWG or more. Ground resistance must be less than 100 milliohms.
Chapter 3 - Robot Installation 3.6 Description of Connectors on Robot Interface Panel CN22 Power/Signal Cable - to PA-4 C N 22 AIR 1 AIR 1 AIR 2 AIR 2 CN20 CN20 Grounding terminal (M5) Figure 3-4. Robot Interface Panel CN22 - the Arm Power/Signal cable from the PA-4 is installed at this connector. CN20 - Pins 1 to 10 are wired directly to corresponding pins 1 to 10 on CN21 on the upper arm. Pins 12 to 18 are for solenoid control. See Section 3.7 on page 33.
Air Lines and Signal Wiring 3.7 Air Lines and Signal Wiring The robot is equipped with 7 air pipes, or lines. Six lines, from AIR1 input, are controlled by the 3 internal solenoid valves. One line, from AIR2 input, is connected directly to AIR2 on the second arm. There are 10 user electric lines. The air lines and signal wiring are shown below. Valve Symbols and Air Intake/Exhaust States (1A and 1B are piping joint symbols.
Chapter 3 - Robot Installation Table 3-2. Solenoid Valve Specifications Solenoid Valve Item Specifications Switching system 2-position double Applicable fluid Air Operating system Pilot type Effective cross section (Cv value) 1.2 mm2 Lubrication Oilless Operating pressure range 0.1 to 0.7 Mpa Response time 15 ms or less (at 0.5 Mpa) Maximum operating frequency 10 Hz Ambient temperature -5 to 50°C (No dew condensation allowed.
Designing End-Effectors 3.8 Designing End-Effectors Design an end-effector such that it is in compliance with items described in this section. CAUTION: If the end-effector design precautions are not observed, the clamped parts of the robot unit may become loose, rattle or be out of position. In the worst case, the mechanical parts of the robot and robot controller may become damaged.
Chapter 3 - Robot Installation Moment of Inertia Around J4, J5 and J6 Design an end-effector so that its moments of inertia around J4, J5, and J6 (including workpiece) do not exceed the maximum allowable moment of inertia of the robot. Moment of inertia around J4, J5, and J6 of end-effector (including mass of workpiece) must be less than or equal to the maximum allowable moment of inertia Maximum allowable moment of inertia around J4 and J5: 0.295 kgm2 Maximum allowable moment of inertia around J6: 0.
Designing End-Effectors Calculation example : When calculating the moment of inertia of a complicated shape, divide it into simple parts as much as possible for easier calculations. As shown in the figure below, divide the end-effector into three parts (Q, R, S).
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System Installation 4.
Chapter 4 - System Installation 4.2 Installing the SmartController Refer to the Adept SmartController User’s Guide for complete information on installing the Adept SmartController. This list summarizes the main steps. 1. Mount the SmartController and Front Panel. 2. Connect the Front Panel to the SmartController. 3. Connect the optional pendant to the SmartController, if included. 4. Connect user-supplied 24 VDC power to the controller. 5.
Installing the PA-4 Power Chassis J-Amp #1 J-Amp #2 J-Amp #3 sDAI Module J-AMP J-AMP J-AMP s DAI Brake Release CAUTION HIGH VOLTAGE INSIDE DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUISHED DO NOT REMOVE OR INSTALL THIS MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUISHED HIGH VOLTS ON HIGH VOLTS ON PWM ON PWM ON PWM ON LOW VOLTS ON LOW VOLTS ON OPEN CKT FAULT OPEN CKT FAULT HV SAG/OVER TEMP FAULT SHORT FAULT HV SAG/OVER TEMP FAULT SHORT FAULT 1
Chapter 4 - System Installation 4.4 Connecting 3-Phase AC Power to PA-4 PA-4 3-Phase Power Requirements Table 4-1. Adept PA-4 Power Chassis 3-Phase Power Requirements Minimum Operating Voltage Maximum Operating Voltage Recommended External Circuit Breaker (user-supplied) 50-60Hz, 3-phase 180 VAC 245 VAC 20 amps 50-60Hz, 3-phase with neutral 342 VAC 424 VAC 20 amps Nominal Voltage Range Frequency/ Phasing 200 to 240 VAC 380 to 415 VAC Table 4-2.
Connecting 3-Phase AC Power to PA-4 Connecting the PA-4 3-Phase AC Power Cord to AC Supply The user end of the cord is unterminated. Connect each conductor of the power cord securely to your AC power source, using the color code shown in Table 4-3. The installation must meet all applicable European, international, and national standards and regulations. Table 4-3. 3-Phase AC Power Cord Specifications for PA-4 Cord length 3 meters ±0.
Chapter 4 - System Installation Typical 3-Phase AC Power Installation Diagrams L1 3Ø 200–240V~ 20A L2 L3 PE PE L3 L2 L1 Adept PA-4 3Ø 200–240V~ Figure 4-3. Typical 3-Phase 200-240 VAC Connection for PA-4 System L1 3Ø 380–415V~ 20A L2 L3 N PE PE N L3 L2 L1 Adept PA-4 3Ø 380–415V~ Figure 4-4.
Connecting 1-Phase AC Power to PA-4 4.5 Connecting 1-Phase AC Power to PA-4 PA-4 1-Phase AC Power Requirements The PA-4 can be shipped from the factory configured for 200-240 VAC single phase operation. A voltage setting label is located on the front of the chassis below the circuit breaker. The voltage setting is also shown on the ID label on the side of the chassis. Verify that the setting matches your facility power before installation. NOTE: For 3-Phase AC power wiring information, see Section 4.
Chapter 4 - System Installation DANGER: The installation of the power cord must be done by a skilled person. The power supply can injure or kill the person who installs the cord. An incorrect installation can injure or kill anyone that touches the equipment in the robot workcell. The protective ground conductor (colored green/yellow) of the chassis is internally connected to the accessible metal parts of the power chassis.
Connecting 1-Phase AC Power to PA-4 Typical Single Phase, 220 VAC Power Installation Diagrams Facility Supply 1Ø 200–240V~ 20A L1 L2 PE PE L2 L1 Adept PA-4 1Ø 200-240V~ Figure 4-6.
Chapter 4 - System Installation 48 AdeptViper s650/s850 Robot User’s Guide, Rev A
System Operation 5.1 5 System Start-up Procedure Verify that the robot is securely mounted, the system is correctly installed, and that all safety equipment is working before going through the system start-up process. Once the system installation has been verified, you are ready to start up the system. 1. Switch on AC power to the PA-4. 2. Switch on the 24VDC power to the controller. 3. Connect to the controller via AdeptWindows, and boot the system from the “D” default drive.
Chapter 5 - System Operation 9. Once the calibration is complete, the system will return with a “dot” (.) prompt, and the status panel display on the sDAI module will read “OK.” 10. System is ready for operation. 5.2 Learning to Program the Robot To learn how to use and program the robot, go to the V+ Operating System User’s Guide to find information on basic operation of the V+ Operating System.
Connecting Digital I/O to the System 5.3 Connecting Digital I/O to the System You can connect digital I/O to the system in several different ways. See Table 5-1 and Figure 5-2. Table 5-1.
Chapter 5 - System Operation Table 5-2.
Installing Axis Labels 5.4 Installing Axis Labels The system includes a set of axis directional labels that can be installed on the robot. See Table 5-3. Also refer to Figure 1-1 on page 9 for a drawing of the axis identification. The yellow X-Y label can be used to indicate the X and Y axes in the World coordinate system in your workcell. Table 5-3.
Chapter 5 - System Operation 5.5 Caution Label on Robot The Caution label shown in Figure 5-3 refers to rotation of Joint 4. When power is turned off, do not manually rotate Joint 4 more than the Joint Limits of ±190°. If Joint 4 is rotated beyond these limits, the internal wiring can be damaged. Figure 5-3. Caution Label on Joint 4 Rotation NOTE: There is no CALSET operation on the AdeptViper robot, and there is no Installation and Maintenance Guide.
Status Panel Codes on sDAI Module 5.6 Status Panel Codes on sDAI Module The status panel display on the sDAI module in the PA-4 displays alpha-numeric codes that indicate the operating status of the robot, including detailed fault codes. See Table 5-4 for definitions of the status codes. These codes provide details for quickly isolating problems during troubleshooting. See the Adept PA-4 Power Chassis User’s Guide for additional information on the sDAI module. Table 5-4.
Chapter 5 - System Operation 56 AdeptViper s650/s850 Robot User’s Guide, Rev A
Maintenance 6.1 6 Installing and Using Brake Release Box The manual brake release box can be used to release the brakes on a specific axis of the robot. This procedure describes how to install and use this device. See Figure 6-1 on page 58. WARNING: Secure the robot prior to releasing the brakes on axes 2 and 3, to prevent injury to personnel or equipment damage. 1. Make sure that high power is disabled (off). 2.
Chapter 6 - Maintenance Axis selector switch 1 2 3 4 Status LED 5 6 OFF BRAKE RELEASE Brake Release Pushbutton 15-pin male D-Sub connector Figure 6-1. Manual Brake Release Box 6.2 Replacing Encoder Backup Battery The encoder backup batteries should be replaced every two years. Replace the batteries according to the procedure below. 1. Prepare a new set of 3 backup batteries for replacement. 2. Turn off AC power to the PA-4 and DC power to the controller. 3. Remove the cover from the robot unit.
Replacing Encoder Backup Battery 4. Remove the dummy connector cap from the battery board. Dummy connector cap Figure 6-3. 5. Connect a new battery (1st one) to the pin from which you have disconnected the dummy connector cap in Step 4. NOTE: Do not disconnect old backup batteries before connecting anew one to the pin from which the dummy connector cap is removed. If you do so, the encoder positional data may be lost. New backup battery Figure 6-4. 6.
Chapter 6 - Maintenance Old backup battery New backup battery Figure 6-5. 7. Disconnect the old backup battery that is right next to the new battery connected in Step 6, and then connect a new battery (3rd one). Old backup battery New backup battery Figure 6-6. 8. Remove the last old battery and connect the dummy connector cap disconnected in Step 4.
Installing User-Supplied Hardstops Dummy connector cap Old backup battery Figure 6-7. 9. Replace the cover on the robot. Tightening torque: Cross pan-head screw: 0.59 Nm 6.3 Installing User-Supplied Hardstops For the purpose of limiting the robot working envelope, the hardstops, or mechanical ends, for Joints 1, 2, and 3 on the AdeptViper robots can be changed by installing user-supplied hardstop devices.
Chapter 6 - Maintenance 62 AdeptViper s650/s850 Robot User’s Guide, Rev A
Technical Specifications Robot Dimensions 578.42 575.68 375 295 80 115 108 Point P ˚ J5 90 120 - 12 0˚ + R5 7 + 8.4 2 J3 74 270 19. R2 ˚ 0˚ 10 135 + - .42 R308 75 335 73.46 76˚ 203 9˚ 20 390.95 .42 08 R3 R158.79 J2 164.34 105 φ65 7.1 7 Workable space defined by point P Figure 7-1.
Chapter 7 - Technical Specifications Workable space defined by point P 170˚ .79 33 R2 187.7 J6 + J4 + CN21 79 67 51 59 Point P 3A 2A 1A 3B 2B 1B J1 - AIR2 + R 65 3. 42 ±360˚ ±190˚ 170˚ Figure 7-2.
Robot Dimensions 779.88 779.88 485 405 80 218 Point P 12 90 + ° 0° + R77 J3 - R3 9.88 23. 35 365 J5 120 10 ° 0° R166.34 + - 9° 14 .88 203 R4 20 J2 335 135 R414 143.26 79° 75 .88 337.97 105 φ65 - Workable space defined by point P Figure 7-3.
Chapter 7 - Technical Specifications Workable space defined by point P 170° R2 187.7 41 .34 J4 + J1 CN21 3A 2A 1A 3B 2B 1B AIR2 79 67 51 59 Point P J6 + + R 85 4. 88 ±360° ±190° 170° Figure 7-4.
Robot Flange Dimensions 7.2 Robot Flange Dimensions Ø40 h8 Ø20 H7 6 Deep 0 - 0.039 4X M5 x 0.08 8 Deep (31.5 B.C.) Ø5 H7 7 Deep + 0.021 0 + 0.012 0 Figure 7-5.
Chapter 7 - Technical Specifications 7.3 Specifications Table 7-1.
Specifications Table 7-1. Robot Specifications (Continued) Specification s650 s850 Air source - Maximum allowable pressure 4.9 × 105 Pa 4.9 × 105 Pa Degree of Protection IP-40 IP-40 Weight Approx. 28 kg Approx. 29 kg Note 1: Position repeatability is the value at constant ambient temperature. Note 2: Only the Ø4x6 air piping system may be controlled by built-in solenoid valves.
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Index A AC power connecting to power chassis 42, 45 installation diagram for 200-240VAC, 1-phase 47 installation diagram for 200-240VAC, 3-phase 44 installation diagram for 380-415VAC 44 requirements for power chassis, 1-phase 45 requirements for power chassis, 3-phase 42 robot power consumption, typical 42 turning on 49 voltage/current ratings power chassis, 1-phase 45 power chassis, 3-phase 42 Adept Document Library 12 Adept PA-4, see PA-4 power chassis AIR1/AIR2 air lines, description 33 arm power/signal
Index acceptable 20 unacceptable 20 moment of inertia, end-effectors 36 mounting hole pattern, for robot 30 N Notes, Cautions, and Warnings, description of 13 programming 50 s650 dimensions, side view 63 s650 dimensions, top view 64 s850 dimensions, side view 65 s850 dimensions, top view 66 solenoids, signal wiring 33 transporting 27 unpacking and inspection 25 working area 21 robot flange, dimensions 67 O overview system installation S 11 P PA-4 power chassis AC power requirements, 1-phase 45 AC powe
Index power chassis, 1-phase AC power chassis, 3-phase AC minimum operating power chassis, 1-phase AC power chassis, 3-phase AC 45 42 45 42 W What to do in an emergency situation 24 work envelope s650 robot, side view 63 s650 robot, top view 64 s850 robot, side view 65 s850 robot, top view 66 working areas 21 X XSYS cable, installing 40 AdeptViper s650/s850 Robot User’s Guide, Rev A 73
Index 74 AdeptViper s650/s850 Robot User’s Guide, Rev A
P/N: 05173-000, Rev A 3011 Triad Drive Livermore, CA 94551 925•245•3400
