Adept Viper s650/s850 Robot with MB-60R/eMB-60R User's Guide
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User's Guide P/N: 05173-060 Rev F August, 2012 5960 Inglewood Drive • Pleasanton, CA 94588 • 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 Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.
Copyright Notice 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. The documentation is periodically reviewed and revised. Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation.
Table of Contents Chapter 1: Introduction 1.1 Product Description Adept Viper s650/s850 Robots Adept SmartController Adept MotionBlox-60R 9 9 9 10 10 1.2 Dangers, Warnings, Cautions, and Notes 11 1.3 Intended Use of the Robots 12 1.4 Safety Precautions 12 1.5 What to Do in an Emergency Situation 13 1.6 Additional Safety Information 13 Manufacturer’s Declaration of Compliance (MDOC) 13 1.7 Installation Overview 13 1.8 Manufacturer’s Declaration 14 1.
Table of Contents Center of Gravity Position of End-Effector Moment of Inertia Around J4, J5, and J6 Chapter 3: MotionBlox-60R 30 30 33 3.1 Introduction 33 3.2 Description of Connectors on MB-60R/eMB-60R Interface Panel 34 3.3 MB-60R/eMB-60R Operation 35 Status LED on MB-60R/eMB-60R Status Panel Brake Release Button on MB-60R/eMB-60R Brake Release Connector 35 36 37 38 3.4 Connecting Digital I/O to the System 38 3.
Table of Contents 4.9 Grounding the Adept Robot System Ground Point on Robot Base Ground Point on MotionBlox-60R Robot-Mounted Equipment Grounding 4.10 Installing User-Supplied Safety Equipment Chapter 5: System Operation 59 59 60 61 61 63 5.1 Status Panel Codes 63 5.2 Brakes 63 Installing and Using the Brake Release Box Using the Brake Release Switch on UL Robots 5.
Table of Contents Chapter 7: Technical Specifications 83 7.1 Robot Dimensions 83 7.2 Robot Flange Dimensions 87 7.3 Specifications 87 Chapter 8: IP-54/65 Option 89 8.1 Introduction 89 8.2 Differences from the Standard Robot Model 90 Installation Environment Robot Connector Panel Cable Clearance Replacing Encoder Backup Battery Chapter 9: Cleanroom Option 90 90 91 91 93 9.1 Introduction 93 9.
Chapter 1: Introduction 1.1 Product Description Adept Viper s650/s850 Robots The Adept Viper s650™ robot and Adept Viper s850™ robots are high-performance, six-axis robots designed specifically for assembly applications. The speed and precision of the Adept Viper 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 The SmartController™ motion controller is the foundation of Adept’s family of high-performance distributed motion and vision controllers. The SmartController is designed for use with: l Adept Cobra™ s-Series robots l Adept Quattro™ robots l Adept Viper™ s-Series robots l Adept Python™ linear modules l Adept MotionBlox-10™ l Adept sMI6™ (SmartMotion) The SmartController supports a conveyor tracking option, as well as other options.
Chapter 1: Introduction The Adept MB-60R/eMB-60R feature: l Six AC servo motor amplifiers l Emergency stop circuitry l High servo rate, to deliver low positional errors and superior path following l Sine wave commutation, for low cogging torque and improved path following l Digital feed-forward design, to maximizes efficiency, torque, and velocity l Integral temperature sensors and status monitoring for maximum reliability l Dual-digit diagnostics display for easy troubleshooting Figure 1-3.
Chapter 1: Introduction DANGER: This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. WARNING: This indicates a potentially hazardous electrical situation which, if not avoided, could result in injury or major damage to the equipment. WARNING: This indicates a potentially hazardous situation which, if not avoided, could result in injury or major damage to the equipment.
Chapter 1: Introduction location in which the robot is installed. l The robot system must not be used for purposes other than described in Intended Use of the Robots on page 12. Contact Adept if you are not sure of the suitability for your application. l The user is responsible for providing safety barriers around the robot to prevent anyone from accidentally coming into contact with the robot when it is in motion.
Chapter 1: Introduction Table 1-1. Installation Overview Task to be Performed Reference Location Mount the robot on a flat, secure mounting surface. Mounting the Robot on page 22. Install the SmartController, Front Panel, and Adept ACE Robot Installation on page 17. software. Install the IEEE 1394 and XSYS cables between the MB-60R/eMB-60R and SmartController. Connecting Cables from the MB-60R/eMB-60R to the SmartController on page 52.
Chapter 1: Introduction 3. Click Begin Search. 4. The list of available documents is shown in the Search Results area, which opens at the bottom of the page. You may need to scroll down to see it. 5. Use the Description column to locate the document for your Adept robot, and then click the corresponding Download ID number to access the Download Details page. 6. On the Download Details page, click Download to open or save the file. 1.
Chapter 1: Introduction selecting Document Library from the Support tab. To go directly to the Adept Document Library, type the following URL into your browser: http://www.adept.com/Main/KE/DATA/adept_search.htm To locate information on a specific topic, use the Document Library search engine on the ADL main page. To view a list of available product documentation, use the menu links located above the search field.
Chapter 2: Robot Installation 2.1 Unpacking and Inspecting the Adept Equipment Before Unpacking Carefully inspect all shipping crates for evidence of damage during transit. If any damage is apparent, request that the carrier’s agent be present at the time the container is unpacked.
Chapter 2: Robot Installation 2.3 Environmental and Facility Requirements The Adept robot system installation must meet the operating environment requirements shown in the following table. Table 2-1. Robot System Operating Environment Requirements Item Condition Flatness of the 0.
Chapter 2: Robot Installation l 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 Robot Axis Identification on page 9. WARNING: Do not attempt to lift the robot at any points other than the eyebolts provided. Do not attempt to extend the inner or outer links of the robot until the robot has been secured in position. Failure to comply could result in the robot falling and causing either personnel injury or equipment damage.
Chapter 2: Robot Installation Transport Procedure Step Procedure 1 Before transportation, set the robot in a transport position as shown at right by manually moving the second, third, and fourth axes. When initially unpacked, the robot is in the transport position, so this step is not required. Drawing Transport Position 2 Disconnect the robot control cable, air hoses, and user signal cables from the robot. When the robot is first unpacked, this step is not required.
Chapter 2: Robot Installation Step Procedure Drawing location is free of obstacles. 5 Worker A: Remove the four bolts while supporting the robot to prevent it from tipping over. 6 Worker B: Operate the crane and move the robot to the mounting location. 7 Worker B: Put the robot down in the mounting location. Worker A: Temporarily secure the robot base with four bolts. 8 Secure the robot according to the instructions in Mounting the Robot on page 22. 9 Remove the eyebolts from the robot.
Chapter 2: Robot Installation 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 Units are mm Figure 2-3. Mounting Hole Pattern for Robot 1. See the preceding figure for the dimensions of the mounting holes in the robot mounting position where the robot is to be secured. l Drill four bolt holes (M10), 20 mm deep or more. l Drill a dowel pin hole Ø6, H7 for the diamond shaped pin, 10 mm deep or more.
Chapter 2: Robot Installation 6. Secure the robot to the mount with four bolts and plain washers. l Bolt: M10 x 30 mm (strength class: 12.9) l Tightening torque: 70 ± 14 N·m (52 ± 10 ft-lbf) 2.5 Grounding the Robot Ground the grounding terminal of the robot with a wire of 12 AWG or larger. Ground resistance must be less than 100 milliohms. NOTE: Use a dedicated grounding wire and grounding electrode. Do not share them with any other electric power or power equipment, such as a welder.
Chapter 2: Robot Installation 2.6 Description of Connectors on Robot Interface Panel CN22 Power/Signal Cable - to MB-60R CN2 2 AI R1 AIR 1 AI R2 AIR 2 C N20 CN20 Grounding terminal (M5) Figure 2-5. Robot Interface Panel Table 2-2. Robot Interface Connections CN22 The Arm Power/Signal cable from the MB-60R/eMB-60R 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.
Chapter 2: Robot Installation Connector (CN21) for end-effector control signal wires CN21 pin layout Valve Symbols and Air intake/Exhaust States (1A and 1B are tubing joint symbols.
Chapter 2: Robot Installation Connector set part No. 05019-000 Connector No. Model and part name for CN20 SRCN6A25-24S (round type connector) Japan Aviation Electronics Industry Ltd. for CN21 JMLP1610M (L type plug connector) DDK Electronics, Inc. Appearance Optional Solenoid Cable An optional 4 meter solenoid cable is available that connects between the XDIO connector on the SmartController and the CN20 connector on the robot. The part number is 05739-040.
Chapter 2: Robot Installation Table 2-3. Viper Solenoid Control Solenoid 1 Solenoid 2 Solenoid 3 Active Output Port Signal States1 A 0001 –0002 B –0001 0002 A 0003 –0004 B –0003 0004 A 0005 –0006 B –0005 0006 1 The two-position, double solenoids require both signal states to be activated. Invalid states will result in indeterminate outputs.
Chapter 2: Robot Installation Solenoid Valve Specifications Table 2-5. Solenoid Valve Specifications Valve Solenoid 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 (14 to 101 psi)a Response time 15 ms or less at 0.5 MPa (72.
Chapter 2: Robot Installation External Mounting Locations on Robot Figure 2-8. External Mounting Holes on Robot 2.8 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 may become loose, rattle, or be out of position. The mechanical parts of the robot and robot controller may become damaged.
Chapter 2: Robot Installation Center of Gravity Position of End-Effector Design an end-effector so that the center of gravity of the end-effector (including workpiece) is within the range shown in the following figure. Figure 2-9. Allowable Range of Center of Gravity of End-effector Moment of Inertia Around J4, J5, and J6 Design an end-effector so that its moments of inertia around J4, J5, and J6 (including mass of workpiece) do not exceed the maximum allowable moments of inertia of the robot.
Chapter 2: Robot Installation Table 2-6.
Chapter 2: Robot Installation Figure 2-10.
Chapter 3: MotionBlox-60R 3.1 Introduction The Adept MotionBlox-60R (MB-60R/eMB-60R) is a distributed servo controller and amplifier. It is designed with a dedicated digital signal processor to communicate, coordinate, and execute servo commands.
Chapter 3: MotionBlox-60R 3.2 Description of Connectors on MB-60R/eMB-60R Interface Panel Figure 3-2. eMB-60R Interface Panel Figure 3-3.
Chapter 3: MotionBlox-60R Table 3-1. Connectors on the MB-60R/eMB-60R Interface Panels 24 VDC For connecting user-supplied 24 VDC power. The mating connector is provided. Ground Point For connecting cable shield from user-supplied 24 VDC cable. 200/240 VAC For connecting 200-240 VAC, single-phase, input power. The mating connector is provided. SmartServo For connecting the IEEE 1394 cable from the controller. (SmartServo 1.1) to a SmartServo on the MB-60R.
Chapter 3: MotionBlox-60R Figure 3-4. Controls and Indicators on MB-60R/eMB-60R Table 3-2.
Chapter 3: MotionBlox-60R Table 3-3.
Chapter 3: MotionBlox-60R Brake Release Connector The 9-pin Brake Release connector provides an interface for connecting a manual brake release box. Table 3-4. Brake Release Connector Pinouts Pin # Description 1 Release1_N 2 Release2_N 3 Release3_N 4 Release4_N 5 Release5_N 6 Release6_N 7 GND 8 Not connected 9 24 V Pin Location DB-9 Female Brake Connector Mating Connector: D-Subminiature 9-Pin Male 3.
Chapter 3: MotionBlox-60R Figure 3-5. Connecting Digital I/O to the System (MB-60R and CX shown) Table 3-6.
Chapter 3: MotionBlox-60R IO Blox 2 IO Blox 3 IO Blox 4 Type Signal Range Inputs 1121 - 1128 Outputs 0113 - 0120 Inputs 1129 - 1136 Outputs 0121 - 0128 Inputs 1137 - 1144 Outputs 0129 - 0136 3.5 Using Digital I/O on MB-60R/eMB-60R XIO Connector The XIO connector on the MB-60R/eMB-60R interface panel offers access to digital I/O, 12 inputs and 8 outputs. These signals can be used by V+/eV+ to perform various functions in the workcell. See the following table for the XIO signal designations.
Chapter 3: MotionBlox-60R Table 3-7. XIO Signal Designations Pin No. Designation Signal Bank V+/eV+ Signal Number 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.
Chapter 3: MotionBlox-60R Optional I/O Products These optional products are also available for use with digital I/O: l XIO Breakout Cable, 5 meters long, with flying leads on user’s end. See XIO Breakout Cable on page 45 for information. This cable is not compatible with the XIO Termination Block mentioned below. l XIO Termination Block, with terminals for user wiring, plus input and output status LEDs. Connects to the XIO connector with 6-foot cable.
Chapter 3: MotionBlox-60R NOTE: The input current specifications are provided for reference. Voltage sources are typically used to drive the inputs. Typical Input Wiring Example Figure 3-6. Typical User Wiring for XIO Input Signals NOTE: The off-state current range exceeds the leakage current of XIO outputs. This guarantees that the inputs will not be turned on by the leakage current from the outputs. This is useful in situations where the outputs are looped-back to the inputs for monitoring purposes.
Chapter 3: MotionBlox-60R 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 3: MotionBlox-60R Typical Output Wiring Example Figure 3-7. Typical User Wiring for XIO Output Signals XIO Breakout Cable The XIO Breakout cable is available as an option - see the following figure. This cable connects to the XIO connector on the MB-60R/eMB-60R, and provides flying leads on the user’s end, for connecting input and output signals in the workcell. The part number for the cable is 04465000, and the length is 5 M (16.4 ft). See the following table for the wire chart on the cable.
Chapter 3: MotionBlox-60R Table 3-10. XIO Breakout Cable Wire Chart Signal Designation Pin No. 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 Gray 16 Input 4.2 Gray/Black 17 Input 5.2 Violet 18 Input 6.
Chapter 3: MotionBlox-60R 3.6 MB-60R/eMB-60R Dimensions The following figure shows dimensions of MB-60R/eMB-60R chassis and mounting holes. An MB-60R is shown, but the dimensions for the two units are the same. Figure 3-9.
Chapter 3: MotionBlox-60R 3.7 Mounting the MB-60R/eMB-60R The MB-60R/eMB-60R can be panel-mounted. NOTE: The mounting of the MB-60R/eMB-60R and all terminations at the MB60R/eMB-60R must be performed in accordance with all local and national standards. Panel-Mounting the MB-60R/eMB-60R To panel-mount the MB-60R/eMB-60R, install two brackets on each side at the rear of the unit (see the following figure for the bracket dimensions). Use the screws from the accessories kit. Figure 3-10.
Chapter 4: System Installation 4.1 System Cable Diagram Adept MB-60R/ eMB-60R Servo Controller (MB-60R shown) NOTE: Objects are not drawn to scale. IEEE 1394 Cable from Controller SmartServo (Port 1.1) to MB-60R/eMB-60R SmartServo EXPIO Connector External Brake Connector XSYS Cable from Controller to MB-60R/eMB-60R (XSLV/XSYSTEM) Adept SmartController (CX shown) SmartServo HPE LAN ES HD 1 2 3 1.1 SW1 1 2 3 4 1.2 IEEE-1394 2.
Chapter 4: System Installation NOTE: See Installing the 24 VDC Cable on page 55 for additional system grounding information. Cables and Parts List Table 4-1. Cables and Parts List Part Description Notes IEEE 1394 Cable, 4.5 M Standard cable - supplied with system XSYS Cable, 4.5 M (for MB-60R) Standard cable - supplied with MB-60R eAIB XSYS Cable, 4.
Chapter 4: System Installation 5. Connect user-supplied 24 VDC power to the controller. Instructions for creating the 24 VDC cable, and power specifications, are covered in the Adept SmartController User's Guide. 6. Install a user-supplied ground wire between the controller and ground. 7. Install the Adept ACE software (PC user interface). Refer to the following section. 4.3 Installing the Adept ACE Software The Adept ACE software is installed from the Adept ACE software CD-ROM. 1.
Chapter 4: System Installation 4.5 Connecting Cables from the MB-60R/eMB-60R to the SmartController 1. Locate the IEEE 1394 cable (length 4.5 M) and the XSYS or eAIB XSYS cable (length 4.5 M). They are shipped in the cable/accessories box. 2. Install one end of the IEEE 1394 cable into the SmartServo connector on the SmartController (port 1.1 for CX, either for EX), and install the other end into a SmartServo connector on the MB-60R/eMB-60R interface panel.
Chapter 4: System Installation 4.7 Connecting 24 VDC Power to MB-60R/eMB-60R Servo Controller Specifications for 24 VDC Power Table 4-2. Specifications for 24 VDC User-Supplied Power Supply Customer-Supplied Power Supply 24 VDC (± 10%), 150 W (6 A) (21.6 V< Vin < 26.4 V) Circuit Protection 1 Output must be less than 300 W peak or 8 Amp in-line fuse Power Cabling 1.5 – 1.85 mm² (16-14 AWG) Shield Termination Cable shield connected to frame ground on power supply and ground point on MB-60R/eMB-60R.
Chapter 4: System Installation Details for 24 VDC Mating Connector The 24 VDC mating connector and two pins are supplied with each system. They are shipped in the cable/accessories box. Table 4-4.
Chapter 4: System Installation Installing the 24 VDC Cable Do not turn on the 24 VDC power until instructed to do so in the next chapter. 1. Connect one end of the shielded 24 VDC cable to your user-supplied 24 VDC power supply. See User-Supplied 24 VDC Cable on page 55. The cable shield should be connected to frame ground on the power supply. 2. Plug the mating connector end of the 24 VDC cable into the 24 VDC connector on the interface panel on the back of the MB-60R/eMB-60R.
Chapter 4: System Installation WARNING: Appropriately-sized Branch Circuit Protection and Lockout / Tagout Capability must be provided in accordance with the National Electrical Code and any local codes. Specifications for AC Power Table 4-5.
Chapter 4: System Installation DANGER: AC power installation must be performed by a skilled and instructed person - refer to the Adept Robot Safety Guide. During installation, unauthorized third parties must be prevented from turning on power through the use of fail-safe lockout measures. Facility Overvoltage Protection The user must protect the robot from excessive overvoltages and voltage spikes.
Chapter 4: System Installation Note: F4 and F5 are user-supplied, must be slow blow. L1 200–240 VAC F5 10A 3Ø 200–240 VAC L2 L3 F4 10A E User-Supplied AC Power Cable E L = Line 1 N = Line 2 E = Earth Ground N L MB-60R 1Ø 200–240 VAC Figure 4-4. Single-Phase Load across L1 and L2 of a Three-Phase Supply Details for AC Mating Connector The AC mating connector is supplied with each system. It is shipped in the cable/accessories box.
Chapter 4: System Installation 7. Connect each wire to the correct terminal screw, and tighten the screw firmly. 8. Tighten the screws on the cable clamp. 9. Replace the cover and tighten the screw to seal the connector. 10. Prepare the opposite end of the cable for connection to the facility AC power source. Figure 4-5. AC Power Mating Connector Installing AC Power Cable to MB-60R/eMB-60R 1. Connect the unterminated end of the AC power cable to your facility AC power source. See Figure 4-3.
Chapter 4: System Installation CN22 A I R1 A I R2 CN20 Grounding Terminal (M5) Figure 4-6. Ground Point on Robot Base Ground Point on MotionBlox-60R The user can install a ground wire at the MB-60R/eMB-60R chassis. Use the hole below the MB-60R/eMB-60R interface panel. See the following figure. The user should provide a ground wire and use the provided M4 screw and external tooth lock washer to connect to earth ground.
Chapter 4: System Installation Robot-Mounted Equipment Grounding The robot tool flange is not reliably grounded to the robot base. If hazardous voltages are present at any user-supplied robot-mounted equipment or tooling, you must install a ground connection from that equipment/tooling to the ground point on the robot base. Hazardous voltages can be considered anything in excess of 30 VAC (42.4 VAC peak) or 60 VDC.
Chapter 5: System Operation 5.1 Status Panel Codes The status panel display on the MB-60R/eMB-60R displays alpha-numeric codes that indicate the operating status of the robot, including detailed fault codes. The chapter on MotionBlox60R gives definitions of the fault codes. These codes provide details for quickly isolating problems during troubleshooting.
Chapter 5: System Operation Axis selector switch 1 2 3 4 5 6 Status LED OFF BRAKE RELEASE Brake Release Push button 9-pin male D-Sub connector Figure 5-1. Manual Brake-Release Box Using the Brake Release Switch on UL Robots This procedure describes how to use the brake release switch on the base of UL robots. See the following figure. 1. Make sure that high power is disabled (off). 2. Press one of the E-Stops (Pendant, Front Panel, or external).
Chapter 5: System Operation 5.3 Starting the System for the First Time The first time you power-up the system, you must follow the steps in this section to safely bring up your robot system. The tasks include: l Verifying installation, to confirm all tasks have been performed correctly. l Starting up the system by turning on power for the first time. l Verifying all E-Stops in the system function correctly.
Chapter 5: System Operation eMB-60R XSYSTEM safety interlock connector, and latching screws are tight. or XSYS cable into an eAIB XSLV Adapter, into the eMB-60R XSYSTEM connector. l User-supplied 24 VDC power to the MB-60R/eMB-60R 24 VDC connector. l User-supplied 200/240 VAC power to the MB-60R/eMB-60R 200/240 VAC connector. User-Supplied Safety Equipment Checks Verify that all user-supplied safety equipment and E-Stop circuits are installed correctly.
Chapter 5: System Operation (default time-out is 10 seconds). If the button stops blinking, you must enable power again. Figure 5-3. High Power Button on Front Panel This step turns on high power to the robot motors and calibrates the robot. l The amplifier status LED blinks green rapidly (a slow green blink has a different meaning). In addition, for Adept IP-65 Viper robots, the lamps on the robot glow solid amber. l The status panel on the robot or amplifier chassis displays ON.
Chapter 5: System Operation 5.5 Installing Axis Labels The system includes a set of axis directional labels that can be installed on the robot. See the following table. Also refer to Robot Axis Identification 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 5-1.
Chapter 5: System Operation 5.6 Caution Label on Robot The Caution label shown in the following figure 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 5-4. Caution Label on Joint 4 Rotation NOTE: There is no CALSET operation on the Adept Viper robot, and there is no Installation and Maintenance Guide. 5.
Chapter 6: Maintenance 6.1 Field-replaceable Parts WARNING: Only qualified service personnel may service the robot system. The only field-replaceable parts on the Viper s650/s850 robots are the encoder battery and the MB-60R/eMB-60R. The Adept part number for the battery is 05234-000. 6.2 Periodic Maintenance Schedule The following table gives a summary of the preventive maintenance procedures and guidelines on frequency. Also, for cleanroom robots, see Cleanroom Option on page 93.
Chapter 6: Maintenance l Enabling switch on pendant l Auto/Manual switch on Front Panel NOTE: Operating any of the above switches should disable high power. 2. Test operation of any external (user-supplied) E-Stop buttons. 3. Test operation of barrier interlocks, etc. 6.4 Checking Robot Mounting Bolts Check the tightness of the base mounting bolts every 6 months. Tighten to 70 ± 14 N·m (52 ± 10 ft-lbf). 6.
Chapter 6: Maintenance Battery Replacement Procedure NOTE: Dispose of the batteries according to all local and national environmental regulations regarding electronic components. Replace the batteries according to the following procedure: 1. Prepare a new set of three backup batteries for replacement. 2. Turn off AC power to the MB-60R/eMB-60R and DC power to the controller. 3. Remove the cover from the robot. See the following figure. Figure 6-1. Removing Cover to Replace Encoder Batteries 4.
Chapter 6: Maintenance NOTE: Do not disconnect old backup batteries before connecting a new one to the pin from which the dummy connector cap is removed. If you do so, the encoder positional data may be lost. Figure 6-3. Connecting First New Battery 6. Disconnect the old backup battery that is next to the new battery connected in the previous step, and then connect a new battery (2nd one). See the following figure. NOTE: Be sure to replace all of three batteries with new ones at one time.
Chapter 6: Maintenance Figure 6-5. Connecting Third New Battery 8. Remove the last old battery and connect the dummy connector cap disconnected in Step 4. See the following figure. Figure 6-6. Reconnecting Dummy Connector Cap 9. Replace the cover on the robot. l Tightening torque: IP-54/65 models - Hex socket bolt: 2.0 N·m (1.5 ft-lbf) l Tightening torque: Standard models - cross pan-head screw: 0.59 N·m (0.4 ft-lbf) 6.
Chapter 6: Maintenance Remove the MB-60R/eMB-60R Amplifier 1. Switch off the SmartController. 2. Switch off the 24 VDC and 200/240 VAC input supplies to the MB-60R/eMB-60R. 3. Disconnect the 24 VDC supply cable from the MB-60R/eMB-60R +24 VDC connector. See Description of Connectors on MB-60R/eMB-60R Interface Panel on page 34 for locations of connectors. 4. Disconnect the 200/240 VAC supply cable from the MB-60R/eMB-60R AC connector. 5.
Chapter 6: Maintenance 6.7 Commissioning a System with an eMB-60R Commissioning a system involves synchronizing the robot with the eMB-60R. NOTE: This section only applies to robots that have an eMB-60R amplifier. A robot with an MB-60R amplifier does not need the Adept ACE commissioning. For a new system with an eMB-60R, the robot and the eMB-60R will have been commissioned at the factory and should not need commissioning.
Chapter 6: Maintenance Prerequisites l The robot must be set up and functional. l The robot must use eMB-60R amplifiers. The MB-60R amplifiers do not support these hardware functions, and these wizards will not run. l A PC with Adept ACE software version 3.3.2.10 or later must be connected to the eMB60R. l The Front Panel keyswitch must be in Auto mode. Figure 6-7. Adept Front Panel l An Adept pendant is required for the Teach Restrict verification. l No E-Stops can be activated.
Chapter 6: Maintenance E-Stop Configuration Utility This utility sets the E-Stop hardware delay to factory specifications. NOTE: Ensure that the commissioning jumper is plugged into the XBELTIO jack on the eMB-60R before you start this procedure. Procedure From within the Adept ACE software: 1. Open the robot object editor. Double-click on the robot object in the tree structure, usually the left pane. 2. Select Configure > Safety Settings > Configure ESTOP Hardware Delay, then click Next.
Chapter 6: Maintenance Teach Restrict Configuration Utility This utility sets the hardware Teach Restrict maximum speed parameter to factory specifications. NOTE: Ensure that the commissioning jumper is plugged into the XBELTIO jack on the eMB-60R before you start this procedure. Procedure NOTE: This procedure takes 2 or 3 minutes to complete. From within the Adept ACE software: 1. Open the robot object editor. Double-click on the robot object in the tree structure, usually the left pane. 2.
Chapter 6: Maintenance 3. Teach a Start Position. NOTE: This procedure will move the robot approximately ±5 degrees from the starting point of each joint. This can be any position that does not conflict with obstacles or the limits of joint movements. l If the robot is already in such a position, you can just click Next. l Otherwise, move the robot to such a position, then click Next. l The screen will display the number of degrees that each joint is expected to move during the verification process.
Chapter 7: Technical Specifications 7.1 Robot Dimensions Figure 7-1.
Chapter 7: Technical Specifications Figure 7-2.
Chapter 7: Technical Specifications Figure 7-3.
Chapter 7: Technical Specifications Figure 7-4.
Chapter 7: Technical Specifications 7.2 Robot Flange Dimensions Figure 7-5. Robot Flange Dimensions 7.3 Specifications Table 7-1.
Chapter 7: Technical Specifications Specification s650 s850 Maximum payload Position repeatability (Note 1) 5 kg In each of X, Y and Z directions: ±0.02 mm Around J4: 0.295 kgm2 Around J5: 0.295 kgm2 Around J6: 0.045 kgm2 Maximum allowable inertia moment Position detection In each of X, Y and Z directions: ±0.
Chapter 8: IP-54/65 Option 8.1 Introduction The Adept Viper s650 and s850 robots can be ordered with an IP-54/65 option that is a dustproof, splash-proof model. With the IP-54/65 option, the main body of the robot is rated IP-54, and Joints 4, 5, 6 are rated IP-65. Without this option, the robots have a rating of IP-40. CAUTION: The SmartController and MB-60R/eMB-60R are not dust- or splash-proof.
Chapter 8: IP-54/65 Option 8.2 Differences from the Standard Robot Model The installation, operation, and specifications of the IP-54/65 robot are the same as the standard robot, except for issues noted in this section.
Chapter 8: IP-54/65 Option Cable Clearance For the IP-54/65 robot, the cable clearance dimension at the back of the robot is 222 mm. See Technical Specifications on page 83 for dimension drawings. Replacing Encoder Backup Battery For the IP-54/65 robot, the procedure to replace the encoder battery is the same as the standard robot, except the cover uses hex socket-head bolts instead of screws. Removing Cover to Replace Encoder Batteries on page 73. Tightening torque: Hex socket bolt: 2.0 N·m (1.5 ft-lbf).
Chapter 9: Cleanroom Option 9.1 Introduction The Adept Viper s650 and s850 robots are available in Class 10 Cleanroom models. Figure 9-1. Adept Viper s850 Robot - Cleanroom Model 9.2 Differences from Standard Robot Model The installation, operation, and specifications of the Cleanroom robot are the same as the standard robot, except for issues noted in this section. Cleanroom Technical Specifications Table 9-1.
Chapter 9: Cleanroom Option Robot Connector Panel For the Cleanroom robot, the robot connector panel is different than the standard robot. Figure 9-2. Cleanroom Robot Connector Panel See Cleanroom Technical Specifications on page 93 for the recommended vacuum flow rate. 9.3 Air Lines and Signal Wiring The Cleanroom robot is equipped with six air lines. The six lines, from Valve In input, are controlled by the three internal solenoid valves. There are ten user electric lines.
Chapter 9: Cleanroom Option Table 9-2. Air Intake/Exhaust States Air Connections Intake (Valve in) Exhaust (Valve out) Valve Signal Solenoid Valve Solenoid A B 1A 1B 1 ON OFF 1B 1A 1 OFF ON 2A 2B 2 ON OFF 2B 2A 2 OFF ON 3A 3B 3 ON OFF 3B 3A 3 OFF ON AIR 2 - Not used on Cleanroom robot Table 9-3.
Chapter 9: Cleanroom Option Pins A to K on CN20 and #1 to #10 on CN21 are connected with each other as shown below. The allowable current per line is 1 A. CN20 A B C D E F G H J K CN21 1 2 3 4 5 6 7 8 9 10 Use the supplied mating connector sets shown in the table below for CN20 and CN21. CN20 and CN21 Mating Connectors Table 9-4. CN20 and CN21 Mating Connectors Connector Set Part No. 05584-000 Connector No.
Chapter 9: Cleanroom Option Figure 9-4. J6 Cleanroom Cover Dimensions 9.5 Cable Clearance For the Cleanroom robot, the cable clearance dimension at the back of the robot is 222 mm. Technical Specifications on page 83 for dimension drawings. 9.6 Replacing Encoder Backup Battery For the Cleanroom robot, the procedure to replace the encoder battery is the same as the standard robot, except the cover uses hex socket-head bolts instead of screws. See Figure 6-1. Tightening torque: Hex socket bolt: 2.0 N·m (1.
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