User`s guide

Chapter 7 - Technical Specifications
90 Adept Quattro s650H Robot User’s Guide, Rev A
7.5 Platform Specifications
Torque and Rotation Limits
Payload Inertia vs. Acceleration
To avoid excited vibrations, the following accel values are recommended for given tool
inertias.
7.6 Robot Mounting Frame
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. You can either use
the design provided or design a custom support frame. See “Mounting Frame” on page 38.
The drawings for the sample frame are provided here, starting with Figure 7-7 on page 91.
If you choose to design a custom frame, it must meet the following specifications:
Frame natural frequencies for stable robot operations:
• Wn (X direction) > 45 Hz.
• Wn (Y direction) > 31 Hz.
Table 7-4. Tool Torque and Rotation Limits of Platforms
Platform 60
° 185°
Maximum Torque (N·m)
82.7
Maximum Rotation ± 60
° ± 185°
Hard Stop Limit ± 65° ± 195°
Table 7-5. Platform Accel Values
Platform Degrees of Rotation (185°)
60
° 185° 90 180 360
Accel Value
Allowable Tool Inertia
(Kg-cm
2
)
Time for Complete Rotation (ms)
100 672 75 316 >447 >632
250 269 30 200 283 >400
500 134 15 141 200 283
750 90 10 115 163 231