Adept Quattro s650H Robot User’s Guide
Adept Quattro s650H Robot User’s Guide P/N: 09313-000, Rev A October, 2008 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 +49.231.75.89.450 151 Lorong Chuan #04-07 • New Tech Park, Lobby G • Singapore 556741 • Phone +65.6281.5731 • Fax +65.6280.
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Adept Quattro s650H Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Quattro Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Adept AIB . . . . . . . . . . . . . . . . . . .
Table of Contents 2.11 Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 2.12 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 2.13 Safety Equipment for Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 2.14 Protection Against Unauthorized Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 2.
Table of Contents 4.6 Connecting 24 VDC Power to Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Specifications for 24 VDC Robot and Controller Power . . . . . . . . . . . . . . . Details for 24 VDC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure for Creating 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing 24 VDC Robot Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 55 55 56 4.
Table of Contents 6 Optional Equipment Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 6.1 End-Effectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Attaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Aligning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Grounding . . . . . .
Table of Contents 9 Robot Cleaning/ Environmental Concerns . . . . . . . . . . . . . . . . . . . . . 109 9.1 Ambient Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 9.2 Cleaning . . . . . . . . . . . . . . . . . . . .
List of Figures Figure 1-1. Adept Quattro s650H Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Figure 1-2. Major Robot Components, Isometric View . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Figure 1-3. Adept AIB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Figure 1-4. Robot Inner Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
List of Figures Figure 7-3. Tool Flange Dimensions, 60° Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Figure 7-4. Tool Flange Dimensions, 185° Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Figure 7-5. Arm Travel Volume . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Figure 7-6. Robot Internal Connections Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Figure 7-7.
Introduction 1.1 1 Product Description Adept Quattro s650H Robot The Adept Quattro s650H robot is a four-axis parallel robot. The four identical axis motors control movement of the robot tool in X, Y, and Z directions, as well as Theta rotation. See Figure 1-1. The Adept Quattro s650H robot requires an Adept SmartController CX for operation. The robot is user-programmed and controlled using the SmartController. NOTE: The Adept SmartController CX must be installed inside a NEMA-1 rated enclosure.
Chapter 1 - Introduction Cable Cover (IP-66 option) AIB Base Mounting Pads Inner Arms Motor Cover Ball Joints (springs not shown) Outer Arms Platform (springs not shown) Figure 1-2. Major Robot Components, Isometric View Quattro Robot Base The Adept Quattro s650H robot base is an aluminum casting that houses the four drive motors, and supports the AIB (Amplifiers-In-Base). It provides four mounting pads for attaching the base to a rigid support frame.
Product Description Figure 1-3. Adept AIB Inner Arms The four robot motors attach directly to the inner arms through a high-performance gear reducer. Other than optional, user-supplied hardware mounted on the platform, these are the only drive motors in the Quattro. Figure 1-4 shows a precision carbon fiber assembly of an inner arm. The RIA-compliant hard stops limit the inner arm motion to -52° and +124°. Figure 1-4.
Chapter 1 - Introduction Ball Joints, Outer Arms The inner arm motion is transmitted to the platform through the outer arms, which are connected between the inner arms and platform with precision ball-joints. The outer arms are carbon fiber epoxied assemblies with identical ball-joint sockets at each end. A bearing insert at each socket accepts the ball-joint studs on the inner arms and platform, and allows for ± 60° of relative motion. No ball-joint lubrication is required. See the following figure.
Product Description The 185° platform (P/N 09068-000) has a rotation range of ±185°, achieved with a gear drive. This is illustrated in Figure 1-6 and Figure 1-7. The 60° platform (P/N 09023-000 ) has a rotation range of ± 60°. The tool flange is mounted directly to the pivot link. It does not rotate in relation to the pivot link, so there are no gears involved. This is illustrated in Figure 1-8 and Figure 1-9. NOTE: The 60° platform flange is 27.
Chapter 1 - Introduction Figure 1-6. 185° Platform, Top View Figure 1-7.
Product Description Figure 1-8. 60° Platform, Top View Figure 1-9. 60° Platform, Bottom View For shipping: • The platform and outer arms are removed. • The platform is shipped pre-assembled as a unit. You will need to connect the outer arms between the inner arms and the platform to reassemble the robot. The outer-arm assemblies are interchangeable. Any end-effectors and their air lines and wiring are user-supplied.
Chapter 1 - Introduction Adept SmartController The SmartController is the foundation of Adept’s family of high-performance, distributed-motion and vision controllers. The SmartController is designed for use with: • Adept Quattro robots • Adept Cobra s-series robots • Adept Viper s-series robots • Adept Python linear modules • Adept MotionBlox-10 • Adept sMI6 (SmartMotion) The Adept SmartController CX supports an integrated vision option and a conveyor tracking option, as well as other options.
Manufacturer’s Declaration Table 1-1. Installation Overview 1.3 Task to be Performed Reference Location 5. Create a 24 VDC cable and connect it between the robot and the user-supplied 24 VDC power supply. Section 4.6 on page 54. 6. Create a 200-240 VAC cable and connect it between the robot and the facility AC power source. Section 4.7 on page 57. 7. Install user-supplied safety barriers in the workcell. Section 4.9 on page 61. 8. Connect digital I/O through the XIO connector on the robot.
Chapter 1 - Introduction Related Manuals This manual covers the installation, operation, and maintenance of an Adept Quattro s650H robot system. There are additional manuals that cover programming the system, reconfiguring installed components, and adding optional components. See the following table. These manuals are available on the Adept Document Library CD-ROM shipped with each system. Table 1-2.
Safety 2.1 2 Warnings, Cautions, and Notes in Manual There are six levels of special alert notation used in this manual. In descending order of importance, they are: DANGER: This indicates an imminently hazardous electrical situation which, if not avoided, will result in death or serious injury. DANGER: This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.
Chapter 2 - Safety 2.2 Warning Labels on the Robot The following figure shows the warning labels on the Adept Quattro s650H robot. Figure 2-1. Electrical and Thermal Warning Labels on AIB Chassis 2.3 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.
Precautions and Required Safeguards Impact and Trapping Points Adept robots are capable of moving at high speeds. If a person is struck by a robot (impacted) or trapped (pinched), death or serious injury could occur. Robot configuration, joint speed, joint orientation, and attached payload all contribute to the total amount of energy available to cause injury.
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: 408-943-6900 Fax: 408-428-9600 Phone 212-642-4900 Fax 212-398-0023 http://www.semi.org http://www.ansi.org Underwriters Laboratories Inc.
Risk Assessment 2.4 Risk Assessment Without special safeguards in its control system, the Adept Quattro s650H robot could inflict serious injury on an operator working within its work envelope. Safety standards in some 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 DANGER: The Adept-supplied system components provide a Category 3 E-Stop control system as defined by EN 954. The robot system must be installed with user-supplied interlock barriers. The interlocked barrier must open the E-Stop circuit in the event of personnel attempting to enter the workcell when Arm Power is enabled, except for teaching in Manual mode. Failure to install suitable guarding or interlocks could result in injury or death.
Intended Use of the Robots The standard control system is fully hardened to all EMI influences per the EU EMC Directive and meets all functional requirements of ISO 10218 (EN 775) Manipulating Robots Safety. In addition, a software-based reduced speed mode has been incorporated to limit speed and impact forces on the operator and production tooling when the robot is operated in Manual Mode.
Chapter 2 - Safety 2.6 Robot Modifications It is sometimes necessary to modify the robot in order to successfully integrate it into a workcell. Unfortunately, many seemingly simple modifications can either cause a robot failure or reduce the robot’s performance, reliability, or lifetime. The following information is provided as a guideline to modifications. WARNING: For safety reasons, it is prohibited to make certain modifications to Adept robots.
Transport 2.7 Transport Always use adequate equipment to transport and lift Adept products. See Chapter 3 for more information on transporting, lifting, and installing. WARNING: Never get under the robot while it is being lifted or transported. 2.8 Safety Requirements for Additional Equipment Additional equipment used with the Adept Quattro s650H robot (grippers, conveyor belts, etc.) must not reduce the workcell safeguards. All emergency stop switches must always be accessible.
Chapter 2 - Safety 2.10 Thermal Hazard WARNING: You can burn yourself on some surfaces of the robot. Do not touch the robot casting shortly after the robot has been running at high ambient temperatures (40° C/104° F) or at fast cycle times (over 60 cycles per minute). The robot skin/surface temperature can exceed 60° C (140° F). 2.11 Working Areas Adept robots have a Manual and an Automatic (AUTO) operating mode. While in Automatic Mode, personnel are not allowed in the workcell.
Safety Equipment for Operators All personnel must observe good safety practices during the installation, operation, and testing of all electrically powered equipment. To avoid injury or damage to equipment, always remove power by disconnecting the AC power from the source before attempting any repair or upgrade activity. Use appropriate lockout procedures to reduce the risk of power being restored by another person while you are working on the system.
Chapter 2 - Safety 2.16 Risks Due to Incorrect Installation or Operation Take precautions to ensure that the following situations do not occur: • Purposely defeating any aspect of the safety E-Stop system • Improper installation or programming of the robot system • Use of cables other than those supplied, or use of modified components in the system • Defeating an interlock so that an operator can enter the workcell with high power On 2.
Robot Installation 3.1 3 Transport and Storage This equipment must be shipped and stored in a temperature-controlled environment, within the range –25° to +55° C (-13° to 131° F). The recommended humidity range is 5 to 90 percent, non-condensing. It should be shipped and stored in the Adept-supplied crate, which is designed to prevent damage from normal shock and vibration. You should protect the crate from excessive shock and vibration.
Chapter 3 - Robot Installation Figure 3-1. Quattro Shipping Crate The robot base is shipped with the inner arms attached. The outer arms are shipped assembled in pairs; the platform is shipped fully assembled, but separate from the robot base and outer arms. The robot base is held by lag bolts to the crate sides. Under the robot base, the ancillary items will be attached to the crate bottom. • Lift off the cardboard sides. Refer to the following figure. Figure 3-2.
Repacking for Relocation Upon Unpacking Before signing the carrier’s delivery sheet, compare the actual items received (not just the packing slip) with your equipment purchase order. Verify that all items are present and that the shipment is correct and free of visible damage. • If the items received do not match the packing slip, or are damaged, do not sign the receipt. Contact Adept as soon as possible (see Section 1.4 on page 21).
Chapter 3 - Robot Installation 3.5 Mounting Frame Overview The Adept Quattro s650H robot is designed to be mounted above the work area suspended on a user-supplied frame. The frame must be adequately stiff to hold the robot rigidly in place while the robot platform moves around the workspace. While Adept does not offer robot frames for purchase, and the frame design is the responsibility of the user, we provide here some general guidelines as a service to our users.
Mounting Frame NOTE: More specifications for the sample frame are provided in Section 7.6. Any robot’s ability to settle to a fixed point in space is governed by the forces, masses, and accelerations of the robot. Since “every action has an equal and opposite reaction”, these forces are transmitted to the robot frame and cause the frame and base of the robot to move and possibly vibrate in space.
Chapter 3 - Robot Installation mounting members, but not the entire frame assembly. Alternate designs should consider 90 Hz as a goal for this part of the frame. Note that this design allows for lengthening the frame in the direction along the belt travel without significantly changing the natural frequency. The robot mounts in four locations, as detailed in the drawings. The holes are tapped for an M16x2.0 bolt. The Adept Quattro s650H robot may be mounted from the top or bottom of the frame.
Mounting the Robot Base Robot Orientation Adept recommends mounting the Adept Quattro s650H robot so that the Status Display Panel faces away from the conveyor belt. Although the work envelope of the robot is symmetrical, this orientation gives better access to the status display, status LED, and Brake Release button. It also balances the arm loading for aggressive moves across the belt. This orientation places the robot World Y-axis along the conveyor belt, and the X-axis across the belt.
Chapter 3 - Robot Installation 2. Screw the M16 eyebolts into opposing robot mounting pads, so that the robot will be balanced when lifted. 3. Lock each eyebolt with a jam nut. 4. Connect slings to the M16 eyebolts and take up any slack in the slings. CAUTION: Do not attempt to lift the robot from any points other than the eyebolts. Failure to comply could result in the robot falling and causing either personnel injury or equipment damage. 5. Lift the robot and position it directly over the mounting frame.
Mounting the Robot Base 4. Slowly lower the robot while rotating it slightly, so that the four mounting pads are lowered past the frame mounting pads without touching. 5. When the robot base mounting pads are below the lower surface of the frame mounting pads, rotate the robot base so that the M16 threaded holes in the robot base mounting pads align with the holes in the frame mounting pads. 6.
Chapter 3 - Robot Installation Install Mounting Hardware NOTE: When mounting the robot, note the following: • The base casting of the robot is aluminum and can be dented if bumped against a harder surface. • Verify that the robot is mounted squarely before tightening the mounting bolts. • All mounting hardware is user-supplied. 1. Place split lock, then flat washers on the bolts. Bolts are M16x2.0 if threaded into the robot base mounting tabs. Bolts are M12 or ½ in.
Attaching the Outer Arms and Platform 3.7 Attaching the Outer Arms and Platform Cable Cover (IP-66 option) AIB Base Mounting Pads Inner Arms Motor Cover Outer Arms Ball Joints (springs not shown) Platform (springs not shown) Figure 3-5. Major Robot Components, Top View The Adept Quattro s650H robot platform is attached to the inner arms by the outer arms. NOTE: Except for attaching the outer arms and end-effector tooling, the platform is shipped fully assembled.
Chapter 3 - Robot Installation Figure 3-6. Platform Orientation Labeling NOTE: The labeling on both platforms is the same except for the part number. Attaching the Outer Arms One pair of outer arms attaches between each inner arm and the platform. No tools are needed. • The outer arms have a ball joint socket at each end. CAUTION: Ensure that the bearing insert is in place in the end of each outer arm. If an insert has fallen out of the arm, simply press it into the arm end.
Attaching the Outer Arms and Platform Figure 3-7. Inner Arm Ball Studs Spring Post Ball Joint Socket Ball Joint Socket Insert Spring Bushing Inner Arm Outer Outer Arms Arm Springs Ball Joint Stud Figure 3-8.
Chapter 3 - Robot Installation WARNING: Pinch hazard. Ball joints are spring-loaded. Be careful not to pinch your fingers. Figure 3-9. Installing Ball Joints CAUTION: Do not overstretch the outer arm springs. Separate the ball joint sockets only enough to fit them over the ball studs. NOTE: In the following steps, take care not to trap debris between the balls and their sockets. 1. Attach one pair of outer arms to each inner arm. a.
Attaching the Outer Arms and Platform c. Move the platform and outer arm pair to the left as you slip the right ball joint socket over the corresponding ball. CAUTION: The ends of the outer arm springs must fit snugly around their bushings. Do not widen the gap between the spring hook and the opposing spring shaft. This gap should be 7.4 ± 0.5 mm (0.29 ± 0.02 in.) Refer to the following figure. 7.4 ± 0.5 mm (0.29 ± 0.02 in.) Figure 3-10. Spring Hook Gap Dimension 3.
4 System Installation 4.1 System Cable Diagram IEEE 1394 Cable Controller SmartServo (Port 1.1) to Robot SmartServo (Port 1) Adept SmartController Adept Quattro s650H Robot AIB SmartServo HPE LAN SF ES HD 1 2 3 1.1 SW1 1 2 3 4 1.2 IEEE-1394 2.1 2.
Chapter 4 - System Installation 4.2 Cable Parts List Table 4-1. Cable Parts List 4.3 Part Description Part Number Notes IEEE 1394 Cable, 4.5 M 10410-10545 Standard cable supplied with system XSYS Cable, 4.
Description of Connectors on Robot Interface Panel 4.4 Description of Connectors on Robot Interface Panel 200-240 VAC XSLV Ground Point SmartServo Port 1 SmartServo Port 2 24 VDC Input +24 VDC Pin RS-232 XIO XPANEL Figure 4-2. Robot Interface Panel Connector Connects to Notes 24 VDC 24 VDC to the robot User-supplied Ground Point Cable shield from 24 VDC cable User-supplied 200/240 VAC 200-240 VAC, single-phase, input power to the robot Mating connector is provided.
Chapter 4 - System Installation 4.5 Cable Connections from Robot to SmartController 1. Locate the IEEE 1394 cable (length 4.5 M) and the XSYS cable (length 4.5 M). They are typically shipped in the cable/accessories box. 2. Plug one end of the IEEE 1394 cable into the SmartServo port 1.1 or 1.2 connector on the SmartController, and plug the other end into the SmartServo port 1 connector on the robot interface panel. See Figure 4-1 on page 51. NOTE: The IEEE 1394 cable MUST be in either the 1.1 or 1.
Connecting 24 VDC Power to Robot CAUTION: Make sure you select a 24 VDC power supply that meets the specifications in Table 4-2. Using an underrated supply can cause system problems and prevent your equipment from operating correctly. See Table 4-3 for recommended power supplies. Table 4-3. Recommended 24 VDC Power Supplies Vendor Name Model Ratings XP Power JPM160PS24 24 VDC, 6.7 A, 160 W Mean Well SP-150-24 24 VDC, 6.3 A, 150 W Astrodyne ASM150-24 24 VDC, 6.
Chapter 4 - System Installation NOTE: A separate 24 VDC cable is required for the SmartController. That cable uses a different style of connector. See the Adept SmartController User’s Guide. 3. Crimp the pins onto the wires using the crimping tool. 4. Insert the pins into the connector. Confirm that the 24 VDC and ground wires are in the correct terminals in the plug. 5. Prepare the opposite end of the cable for connection to your user-supplied 24 VDC power supply. Installing 24 VDC Robot Cable 1.
Connecting 200-240 VAC Power to Robot NOTE: To comply with EN standards, Adept recommends that DC power be delivered over a shielded cable, with the shield connected to the return conductors at both ends of the cable. 4.7 Connecting 200-240 VAC Power to Robot WARNING: Appropriately-sized branch circuit protection and lockout/tagout capability must be provided in accordance with the National Electrical Code and any local codes.
Chapter 4 - System Installation DANGER: AC power installation must be performed by a skilled and instructed person - see Section 2.12 on page 32. During installation, unauthorized third parties must be prevented, through the use of fail-safe lockout measures, from turning on power. Facility Overvoltage Protection The robot must be protected from excessive overvoltages and voltage spikes.
Connecting 200-240 VAC Power to Robot Note: F4 and F5 are user-supplied, must be slow-blow. L1 200–240 VAC F5 10 A 3Ø 200–240 VAC L2 L3 F4 10 A E User-Supplied AC Power Cable E L = Line 1 N = Line 2 E = Earth Ground N L Adept Quattro s650H Robot 1Ø 200–240 VAC Figure 4-5. Single-Phase AC Power Installation from a Three-Phase AC Supply Details for AC Mating Connector The AC mating connector is supplied with each system. It is typically shipped in the cable/accessories box.
Chapter 4 - System Installation 8. Tighten the screws on the cable clamp. 9. Reinstall the cover and tighten the screw to secure the connector. 10. Prepare the opposite end of the cable for connection to the facility AC power source. Removable Bushing Earth Cable Clamp Line Neutral Figure 4-6. AC Power Mating Connector Installing AC Power Cable to Robot 1. Connect the AC power cable to your facility AC power source. See Figure 4-4 and Figure 4-5 on page 59. Do not turn on AC power at this time. 2.
Installing User-Supplied Safety Equipment If hazardous voltages are present at any user-supplied robot-mounted equipment or tooling, you must install a ground connection for that equipment or tooling. Hazardous voltages can be considered anything in excess of 30 VAC (42.4 VAC peak) or 60 VDC. If there will be hazardous voltages present at the tool flange or end-effector, you must: • Connect the robot base ground. • Ground the end-effector to the robot base.
System Operation 5.1 5 Robot Status Display Panel The robot Status Display panel is located on the robot base. The Status Display and LED blinking pattern indicate the status of the robot. Robot Status LED Indicator Brake Release Button 2-digit Status Display High Power to Robot Indicator Lamp Figure 5-1. Robot Status Display Panel Table 5-1.
Chapter 5 - System Operation 5.2 Status Panel Fault Codes The Status Display, shown in Figure 5-1, displays alpha-numeric codes that indicate the operating status of the robot, including fault codes. Table 5-2 gives definitions of the fault codes. These codes provide details for quickly isolating problems during troubleshooting. The displayed fault code will continue to be displayed even after the fault is corrected or additional faults are recorded.
Connecting Digital I/O to the System In addition, the motors have electromechanical brakes. The brakes are released when high power is enabled. When high power is disabled, the brakes engage and hold the position of the robot fixed. Brake Release Button Under some circumstances, you may want to manually position the platform without enabling high power. For such instances, a Brake Release button is located on the Status Panel (see Figure 5-1 on page 63).
Chapter 5 - System Operation Quattro s650H Robot sDIO #1 32 Input signals: 1033 to 1064 32 Output signals: 0033 to 0064 IEEE-1394 1.1 1.2 R *S/N 3563-XXXXX* X1 X3 X2 X4 XDC1 XDC2 LINK 24V -+ OK SF 0.5A SC-DIO Optional sDIO #1 -+ 1 GND XSLV *S/N 3562-XXXXX* 2 CAMERA R RS-232/TERM RS-422/485 RS-232-1 RS-232-2 SmartServo AC INPUT (200-240 VAC 1&) XIO XPANEL RS-232 SmartController OK HPE LAN SF ES HD 1 2 3 1.1 SW1 1 2 3 4 IEEE-1394 2.1 2.
Using Digital I/O on Robot XIO Connector 5.5 Using Digital I/O on Robot XIO Connector The XIO connector on the robot interface panel offers access to digital I/O, 12 inputs and 8 outputs. These signals can be used by V+ to perform various functions in the workcell. See Table 5-5 for the XIO signal designations.
Chapter 5 - System Operation Table 5-5. XIO Signal Designations Pin No. Designation 1 GND 2 24 VDC 3 Common 1 1 4 Input 1.1 1 1097 5 Input 2.1 1 1098 6 Input 3.1 1 1099 7 Input 4.1 1 1100 8 Input 5.1 1 1101 9 Input 6.1 1 1102 10 GND 11 24 VDC 12 Common 2 2 13 Input 1.2 2 1103 14 Input 2.2 2 1104 15 Input 3.2 2 1105 16 Input 4.2 2 1106 17 Input 5.2 2 1107 18 Input 6.
Using Digital I/O on Robot XIO Connector Optional I/O Products These optional products are also available for use with digital I/O: • XIO Breakout Cable, 5 meters long, with flying leads on user’s end. See page 72 for information. This cable is not compatible with the XIO Termination Block. • XIO Termination Block, with terminals for user wiring, plus input and output status LEDs. Connects to the XIO connector with 6-foot cable. See the Adept XIO Termination Block Installation Guide for details.
Chapter 5 - System Operation Typical Input Wiring Example Adept-Supplied Equipment User-Supplied Equipment Wiring Terminal Block (equivalent circuit) Signal 1097 Signal 1098 Input Bank 1 Signal 1101 Signal 1102 4 Part Present Sensor 5 Feeder Empty Sensor 6 Part Jammed Sensor 7 Sealant Ready Sensor 8 9 Bank 1 3 Common 2 +24V GND 1 Signal 1103 Signal 1104 Input Bank 2 Signal 1105 Signal 1106 Signal 1107 Signal 1108 13 14 15 16 17 18 Bank 2 12 Common 10 GND +24V Bank 2 configured for Sou
Using Digital I/O on Robot XIO Connector XIO Output Signals The eight digital outputs share a common, high side (sourcing) driver IC. The driver is designed to supply any kind of load with one side connected to ground. It is designed for a range of user-provided voltages, from 10 to 24 VDC, and each channel is capable of up to 0.7 A of current. This driver has overtemperature protection, current limiting, and shorted-load protection.
Chapter 5 - System Operation Typical Output Wiring Example Signal 0097 (equivalent circuit) User-Supplied Equipment Wiring Terminal Block +24 VDC Outputs 1-8 XIO Connector – 26-Pin Female D-Sub Adept-Supplied Equipment Signal 0098 Signal 0099 Signal 0100 Signal 0101 Signal 0102 Signal 0103 Signal 0104 GND GND Typical User Loads 19 20 21 22 23 Load Load 24 Load 25 26 1 M L 10 N Customer AC Power Supply M Figure 5-4.
Commissioning the System Table 5-8. XIO Breakout Cable Wire Chart Pin No. Signal Designation Wire Color 1 GND White 2 24 VDC White/Black 3 Common 1 Red 4 Input 1.1 Red/Black 5 Input 2.1 Yellow 6 Input 3.1 Yellow/Black 7 Input 4.1 Green 8 Input 5.1 Green/Black 9 Input 6.1 Blue 10 GND Blue/White 11 24 VDC Brown 12 Common 2 Brown/White 13 Input 1.2 Orange 14 Input 2.2 Orange/Black 15 Input 3.2 Grey 16 Input 4.2 Grey/Black 17 Input 5.2 Violet 18 Input 6.
Chapter 5 - System Operation Verifying Installation Verifying that the system is correctly installed and that all safety equipment is working correctly is an important process. Before using the robot, perform the following checks to ensure that the robot and controller have been properly installed. DANGER: After installing the robot, you must test it before you use it for the first time. Failure to do this could cause death, serious injury, or equipment damage.
Commissioning the System System Start-up Procedure Once the system installation has been verified, you are ready to start up the system. 1. Switch ON the 200/240 VAC power. 2. Switch ON the 24 VDC power to the robot. 3. Switch ON the 24 VDC power to the controller. 4. Connect to the controller using AdeptWindows, and boot the system from the ‘D’ default drive. 5. Wait for the system to complete the boot cycle.
Chapter 5 - System Operation 9. If you do not hear a click in the previous step, you must explicitly calibrate the robot: CAL 10. The system returns a “dot” (.) prompt if everything is successful, then high power is enabled, and the status panel displays “OK.” The system is ready for operation. NOTE: You may receive an “exception overrun” or “obstacle detected” error if the platform is not in the robot work envelope or is disconnected from the robot base.
Quattro Motions Containment Obstacles The work space of the robot is defined by an inclusion obstacle. This is done because, unlike other robots, joint limits are not meaningful in defining the work space. The V+ version that supports the Adept Quattro s650H robot defines a cone-like shape as a containment obstacle. This is actually the work envelope. See Figure 7-2 on page 84. Other obstacles can be defined within this obstacle.
Chapter 5 - System Operation Roll = 0° (tool flange = ±180°) “Ambiguity” zones Roll = -5° to -5.2° -90° Roll = +5° to +5.2° Negative Roll Positive Roll +90° Roll: -180° +180° Center of tool flange rotation (tool flange = 0°) Figure 5-7. 185° Platform Ambiguity Zones As examples: • With the roll starting at +170°, an attempt to move to roll value -5.1 causes the system to try to rotate 175.1° (the shorter distance), through roll values 160, 150, 140, ..., 10, 0, to -5.1.
Learning to Program the Adept Quattro Robot • With the roll initially at +170°, a motion to roll value +5.1 causes the system to rotate 164.9° (the shorter distance), through roll values 160, 150, 140, ..., 10 to +5.1. See the following figure. Roll = 0° “Ambiguity” zones Roll = -5° to -5.2° -90° Negative Roll Roll = +5° to +5.2° Move from +170 to +5.1 is valid +90° Roll = +170° Roll: -180° +180° Figure 5-9.
Optional Equipment Installation 6.1 6 End-Effectors You are responsible for providing and installing any end-effector or other tooling, as well as vacuum lines and wiring to the end-effector. Attaching You can attach end-effectors to the tool flange using either four M6x1.0 screws, or a ring clamp. Hardware for both methods is supplied in the accessories kit. See Figure 7-4 on page 85 for a dimension drawing of the tool flange.
Chapter 6 - Optional Equipment Installation 6.2 Routing End-effector Lines End-effector lines (either vacuum/air lines or electrical wires) can be routed to the platform by: • Attaching them to the inner and outer arms, and then to the platform. • Routing them from the robot support frame to the outer arms. • Routing them from the robot base directly to the platform.
Technical Specifications 7.1 7 Dimension Drawings 4x M16 x 2.0-6H Thru 245.4 379.2 406.6 379.2 272.9 245.4 Y+ 245.4 218 379.2 351.7 379.2 245.4 Units are mm 27.5 Center of Robot to Center of Work Volume Offset in the X+ direction X+ Figure 7-1.
Chapter 7 - Technical Specifications NOTE: The 60° platform flange is 27.1 mm higher, in Z, than the previous 1:1 and 4:1 platform flanges. An optional spacer of this thickness is available, from Adept, as P/N 02906-000. The 185° platform is 9.78 mm higher, in Z. The optional spacer for it is P/N 09266-000. Z+ 211.8 Z=0 714.2 (60° platform) 731.5 (185° platform) 245 255 Ø 700 Ø 1300 Units are mm Figure 7-2.
Dimension Drawings C Quick-disconnect Clamp-ring Groove A 4x M6 x 1.0 Helicoil 8.915 BC Ø 50 3x 90.00° 3 mm clearance to platform 45.00° 25.0° Ø 5.9995 +0.0127 -0 x 5.994 A 2x 45° Chamfer 30.0° +0 2x Ø 62.992 -0.254 +0.025 Ø 41.148 -0 Ø 18 Thru 11.811 Ø 59.690 2x 45° Chamfer R 2.540 1.499 4.140 7.366 20.599 A Units are mm Section A-A Figure 7-3. Tool Flange Dimensions, 60° Platform C Quick-disconnect Clamp-ring Groove A 4x M6 x 1.0 Helicoils 8.915 BC Ø 50 3x 90.00° 25.
Chapter 7 - Technical Specifications Z+ CL 132.10 66.04 55° 50° 241.30 113.19 Z=0 171.27 17° 34 1.7 7 61 .60 66 Typical Inner Arm Travel Volume 13 7.8 9 Units are mm 0 7.1 24 58 Figure 7-5.
Adept Quattro s650H Robot Internal Connections 7.2 Adept Quattro s650H Robot Internal Connections Quattro AIB Internal Connections Quattro XSLV Panel Connections Man Man Auto Auto Force-Guided Relay Cyclic Check Control Circuit Single-Phase AC Input 200-240 VAC 1 2 1 2 XSLV-2 XSLV-3 XSLV-6 XSLV-7 ESTOPSRC XSLV-9 ESTOPGND XSLV-1 HPWRREQ XSLV-5 To XSYS on SmartController High Power to Amplifiers Force-Guided Force-Guided Figure 7-6.
Chapter 7 - Technical Specifications 7.3 XSLV Connector Table 7-1.
Robot Specifications 7.4 Robot Specifications Specifications subject to change without notice. Table 7-2. Adept Quattro s650H Robot Specifications Description Specification Reach (cylinder radius) 650 mm (25.6 in) Payload - rated 2.0 kg (4.4 lb) Payload - maximum 6.0 kg (13.2 lb) Adept Cyclea 0 kg 0.3 sec 1 kg 0.36 sec 2 kg 0.37 sec 4 kg 0.41 sec 6 kg 0.
Chapter 7 - Technical Specifications 7.5 Platform Specifications Torque and Rotation Limits Table 7-4. Tool Torque and Rotation Limits of Platforms 60° 185° 8 2.7 Maximum Rotation ± 60° ± 185° Hard Stop Limit ± 65° ± 195° Platform Maximum Torque (N·m) Payload Inertia vs. Acceleration To avoid excited vibrations, the following accel values are recommended for given tool inertias. Table 7-5. Platform Accel Values Platform 60° Accel Value 7.
Robot Mounting Frame • Wn (Twist) > 45 Hz. • Mounting surfaces for the robot flanges must be within 0.75 mm of a flat plane. CAUTION: Failure to mount the robot within 0.75 mm of a flat plane will result in inconsistent robot motions. The AIB must be removable from the top of the frame, and the inner and outer arm travel envelopes must be considered. See Figure 7-5 on page 86. The following are drawings of a frame suitable for supporting the Adept Quattro s650H robot.
Chapter 7 - Technical Specifications 2000.0 4x 300.0 MIN 4x 0.75 TOP & BOTTOM SURFACES OF PLATES 2000.0 UNLESS OTHERWISE SPECIFIED: * DIMENSIONS ARE IN MILLIMETERS Figure 7-8. Mounting Frame, Side View 1 1800.0 2x 500.0 UNLESS OTHERWISE SPECIFIED: * DIMENSIONS ARE IN MILLIMETERS Figure 7-9.
Robot Mounting Frame DETAIL 1 B 4x 580.0 90.0 300.0 46.2° 36.4° 275.0 25.0 MIN. 180.0 100.0 150.0 UNLESS OTHERWISE SPECIFIED: * DIMENSIONS ARE IN MILLIMETERS Figure 7-10. Mounting Frame, Detail 1 DETAIL 2 4x B 90.0 300.0 680.0 59.4° 31.0° 285.0 25.0 MIN. 175.0 100.0 150.0 UNLESS OTHERWISE SPECIFIED: * DIMENSIONS ARE IN MILLIMETERS Figure 7-11.
Chapter 7 - Technical Specifications 2000.0 1000.0 520.0 290.0 245.41 430.0 379.18 4x 520.0 19.50 THRU 18.50 4x 45° 430.0 379.18 4x 15.5 14.0 245.41 290.0 379.18 430.0 1800.0 290.0 245.41 520.0 900.0 379.18 430.0 245.41 290.0 520.0 UNLESS OTHERWISE SPECIFIED: * DIMENSIONS ARE IN MILLIMETERS Figure 7-12.
Maintenance 8 Maintenance of user-added optional equipment is the user’s responsibility. It is not covered in this manual. 8.1 Periodic Maintenance Schedule Table 8-1 and Table 8-2 give a summary of the preventive maintenance procedures and guidelines on frequency. NOTE: The frequency of these procedures depends on the particular system, its operating environment, and amount of usage. Use the times in the tables as guidelines and modify the schedule as needed.
Chapter 8 - Maintenance Inspect Robot Fans & Geardrives 3 Months 60 Min Remove motor covers and inspect cooling fans for operation. Look for lubrication leaking from geardrives. See Section 8.4 and Section 8.5 Inspect Moving & Water Seals 3 Months 10 Min Inspect moving seals on inner arms as well as static seals for water wash down environments. Inspect Inner Arms 6 Months 30 Min Inspect Inner arms for cracking or damage caused by possible accidental impact of robot.
Checking Safety Systems Motor Fan 2 Years 30 Minutes Fan lifetime is strongly affected by robot temperatures. Aggressive moves at high ambient temps will shorten fan lifetimes. IP-66 Cable Seal Kit 2 Years 30 Minutes AIB cables have IP-66 sealing kit available as an option. Motor Cover Indefinite 15 Minutes Motor covers may become damaged by accidental impact.
Chapter 8 - Maintenance 8.3 Checking Robot Mounting Bolts Check the tightness of the base mounting bolts every 6 months. Refer to Table 3-2 on page 44 for torque specifications. 8.4 Checking Robot Gear Drives Adept Quattro s650H robots use gear drives, which use oil in their components for lubrication. It is recommended that you periodically inspect the robot for signs of oil on and around the gear drives. NOTE: Check the operation of the fans while the motor covers are off. See Section 8.5. 1.
Replacing the AIB Chassis 8.6 Replacing the AIB Chassis This section gives instructions on how to replace the AIB chassis on an Adept Quattro s650H robot. CAUTION: Follow appropriate ESD procedures during the removal/replacement steps. Removing the AIB Chassis 1. Switch OFF the SmartController. 2. Switch OFF the 24 VDC input supply to the AIB chassis. 3. Switch OFF the 200/240 VAC input supply to the AIB chassis. 4. Disconnect the 24 VDC supply cable from the chassis +24 VDC input connector.
Chapter 8 - Maintenance 9. Using a 5 mm Allen key, carefully unscrew the chassis securing screw. See the following figure. NOTE: The screw does not need to be completely removed in order to remove the chassis, as this screw is captured on the chassis heat sink. Securing Screw on AIB Figure 8-1. Securing Screw on AIB Chassis 10.
Replacing the AIB Chassis 12. Disconnect the white amplifier cable (motor power) from the amplifier connector located on the chassis bracket. See the following figure. Amplifier Connector (motor power) PMAI Board J11 J27 Figure 8-3. Connectors on AIB Chassis 13. Disconnect the J11 cable from the J11 connector on the PMAI by disengaging the securing latches. 14. Disconnect the J27 cable from the J27 connector on the PMAI by disengaging the securing latches. 15.
Chapter 8 - Maintenance Installing a New AIB Chassis Harness Connections 1. Carefully remove the new chassis from its packaging, check it for any signs of damage, and remove any packing materials or debris from inside the chassis. Verify that the AIB is Adept P/N 08500-000. 2. Carefully place the chassis, on its heat-sink fins, next to the robot. 3. Using a 5 mm Allen key, connect the ground wire to the chassis. See Figure 8-4.
Replacing the Encoder Battery • Check the Status Display fault code. This should be either OK or ON. See Table 5-1 and Table 5-2 on page 64. 8.7 Replacing the Encoder Battery The data stored by the encoders is protected by a 3.6 V lithium backup battery located in the base of the robot. CAUTION: Replace the battery only with a 3.6 V, 8.5 Ah lithium battery, Adept P/N 02704-000.
Chapter 8 - Maintenance 8. Remove the four hex-head screws holding the Status Display panel. See the following figure: Figure 8-5. Status Display Panel, Showing 4 hex-head Screws 9. Remove the Status Display panel. The battery is supported in a bracket that is attached to the back side of the Status Display panel with stand-offs. The battery is exposed when the Status Display panel is removed. 10. The battery bracket assembly has two connectors. Locate the unused battery connector on the battery bracket.
Replacing a Platform 11. Connect the new battery to the unused connector on the battery bracket, but do not disconnect the old battery. There is only one way to plug in the connector. See Figure 8-6. 12. Once the new battery is connected, you can disconnect and remove the old battery. You will need to cut the cable tie holding the battery in the bracket. NOTE: Dispose of the battery in accordance with all local and national environmental regulations regarding electronic components. 13.
Chapter 8 - Maintenance • Take care not to trap debris between the balls and their sockets. Configuration If the replacement platform has the same part number as the old platform, the robot does not need to be reconfigured. If the replacement platform has a different part number, for instance, replacing a 185° platform with a 60° platform, the new configuration needs to be loaded using the SPEC utility.
Replacing a Platform Figure 8-7. SPEC Utility Load Function 3. Enter the disk file specification for the data file you want to load (e.g., “\SPECDATA\QP08360.SPC”). Components that match the current default file path can be omitted. Save ALL specifications to system disk After you have loaded the configuration data, you must store the new data on the V+ system disk. This menu item causes all the current configuration data to be written to the V+ system disk.
Chapter 8 - Maintenance To use the Save ALL specifications to system disk option: 1. Select the Save ALL specifications to system disk option from the menu and then press Enter. The following screen is displayed: Figure 8-8. SPEC Save Specification Menu 2. At the prompt, press Y followed by the Enter key to initiate the process for writing the data to the boot disk (the data will not actually be written until later in the process).
Robot Cleaning/ Environmental Concerns 9 This chapter applies to the Adept Quattro s650H robot, not to the Adept SmartController. NOTE: The Adept SmartController CX must be installed inside a NEMA-1 rated enclosure. The Adept Quattro s650H robot is designed to be compatible with standard cleaning and operational needs for the handling of raw, unpackaged meat and dairy products, as well as less stringent requirements.
Chapter 9 - Robot Cleaning/ Environmental Concerns Temperature The Adept Quattro s650H robot is designed to operate from 1° to 40° C (34° to 104° F) ambient temperature. At near-freezing temperatures, moderate robot motions should be used until the robot mechanical joints warm up. Adept recommends a monitor speed of 10 or less for 10 minutes. The robot system can sustain higher average throughput at lower ambient temperatures, and will exhibit reduced average throughput at higher ambient temperatures. 9.
Adept Quattro s650H Robot Design Factors Apply Caulk at this joint, around entire perimeter of AIB Figure 9-2. Joint, Between AIB and Base, to be Caulked Water Shedding Surfaces of the Adept Quattro s650H robot have been designed to shed water. This increases the likelihood that contaminants or cleaning agents will drain with a hose-down procedure. NOTE: The top of the robot base and the amplifiers have flat areas where it is possible for small amounts of water to pool.
Chapter 9 - Robot Cleaning/ Environmental Concerns 9.4 Design Factors Environmental and cleaning aspects are addressed by the following features in the Adept Quattro s650H robot. Robot Base and Components The aluminum robot base and the removable motor covers are coated with a Nylon-based coating, which will not flake off with repeated high-pressure washings.
Adept Quattro s650H Robot Design Factors Outer Arms The outer arms are a composite assembly of anodized aluminum and carbon fiber. The interior volume of the carbon fiber tube is designed to be sealed with an internal and external continuous epoxy bond. The bushings are press-fit into the aluminum outer-arm ends with a slight interference, which seals the plastic to the aluminum.
Chapter 9 - Robot Cleaning/ Environmental Concerns Tasks 1. Measure and mark cables to establish service length 2. Install AIB cable seal housing 3. Adapt Roxtec modules to fit cables 4. Install cables through cable entry top cover assembly 5. Attach cables to AIB 6. Attach cable entry top cover to AIB cable seal housing Installation Procedure 1. Measure and mark all AIB cables at 10 - 12 in. from the cable ends.
Adept Quattro s650H Robot Design Factors Compression unit (compression wedge, screw) CF Frame Cable Entry Top Cover Figure 9-4. Cable Entry Top Cover Assembly Figure 9-5. Bottom of Cable Entry Top Cover, CF Frame 3. Adapt Roxtec modules to fit the cables that will be used. There should be a 0.1 to 1.0 mm gap between the halves of the modules for a proper seal. See the following figure. Figure 9-6.
Chapter 9 - Robot Cleaning/ Environmental Concerns 4. Grease the Roxtec modules, using Roxtec grease. See the following figure. Figure 9-7. Greasing a Roxtec Module 5. Grease the inside of the CF frame, where the modules will touch, using Roxtec grease. 6. Install each AIB cable through its corresponding module, and insert the modules into the frame. See the following figure. Ensure that the terminated cable ends have 10 - 12 in. of slack. See Figure 9-10. Figure 9-8.
Adept Quattro s650H Robot Design Factors Figure 9-10. Cable Entry Assembly with Cables 8. Attach the ground lug to the AIB. The ground lug is for the cable shield of the user-supplied 24 VDC cable. See the following figure. Ground Lug Screw Hole Figure 9-11. Ground Lug Attachment on the AIB 9. Hand-tighten all AIB cables to the AIB. NOTE: All cables must be screwed into the AIB.
Chapter 9 - Robot Cleaning/ Environmental Concerns 10. Attach the cable entry top cover, with Roxtec frame and modules, to the AIB cable seal housing. • Slide the top cover over the seal housing lip, as shown in the following figure. • Ensure that the gasket between the top cover and the cable seal housing is seated, and that all cables are contained within the top cover. • Lower the top cover onto the seal housing, and secure with one screw. Figure 9-12.
Index Numerics 1394 cable, IEEE 52–54 200-240 VAC cable, creating 59 200-240 VAC connector 53 24 VDC cable creating 55 installing 56 24 VDC connector 53, 55 24 VDC power 54–56 circuit protection 54, 56 connecting to robot 54 making cable 55 mating connector 55 specifications 54 user-supplied cable, shielding 56 24 VDC power supplies cautions 55 recommended 55 A AC mating connector 59 AC power 57–60 connecting to robot 57 diagrams 58 grounding 58 installing cable 60 making cable 59 mating connector 59 speci
Index C cable creating 200-240 VAC 59 creating 24 VDC 55 diagram for system 51 front panel 52 IEEE 1394 52–54 installing 24 VDC 56 parts list 52 power cable kit 52 routing user 82 XIO breakout 52, 72 XSYS 52, 54 cable seal assembly installation 113 identification 113 Cautions, Dangers, Warnings, and Notes 23 CD-ROM, document library 22 chassis installing the AIB 102 removing the AIB 99 replacing the AIB 99 checking fan operation 98 gear drives 98 robot mounting bolts 98 circuit protection, 24 VDC power 54,
Index equipment grounding, robot-mounted 60 installing user-supplied safety 61 safety 33 safety requirements for additional 31 error message 76 joint out of range 76 see also fault codes F facility environmental 37 overvoltage protection 58 requirements 37 fan operation, check 98 fault codes, on status panel 64 flange dimensions 85 frame 38–40 construction 39 mounting 38 orientation 39 front panel cable 52 function and testing, slow speed control 28 inner arms 15 ball studs 47 materials 112 travel 39, 8
Index modifications 30 acceptable 30 unacceptable 30 mounting above the frame 41 below the frame 43 bolts 44, 98 bolts, checking 98 bolts, specifications 44 frame 38–40, 90 hardware, install 44 options 41 procedure 40–49 robot base 40–44 robot orientation 40 movement joint 76 without drive power 25 N Notes, Dangers, Warnings, and Cautions O operation check fan 98 protection against unauthorized 33 operators, safety equipment 33 options, mounting 41 orientation frame 39 robot 41 outer arms 16 attaching 46
Index robot base 14 components 14, 45 description 13 dimensions 83–86 installation 35 intended uses 29 modifications 30 mounting base 40 mounting frame 90 orientation 41 specifications 89 storage 35 robot-mounted equipment, grounding 60 robot-to-frame considerations 39 rotation inertia 90 platform 16, 90 range 90 time for 90 tool force 90 routing user cabling 82 RS-232 connector 53 S safeguards, precautions and required 24 safety 23, 34 additional equipment 31 barriers 24, 61 during maintenance 33 equipme
Index U unacceptable modifications 30 unauthorized operation, protection against 33 unpacking 35 user cabling, routing 82 user-supplied safety equipment, installing 61 V VAC cable, creating 59 connector, 200/240 53 vacuum, accessing 81 VDC cable, creating 55 connector 53 power 54–56 power to robot, connecting robot cable, installing 56 verifying E-Stop functions 76 installation 74 robot motions 76 vision controller 20 54 W warning labels, location 24 Warnings, Dangers, Cautions, and Notes working areas
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