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AdeptVipers650/s850 RobotUser’s Guide

Chapter 1 - Introduction10 AdeptViper s650/s850 Robot User’s Guide, Rev AAdept SmartController CXThe SmartController CX is the foundation of Adept’s f

Installation OverviewAdeptViper s650/s850 Robot User’s Guide, Rev A 111.2 Installation Overview The system installation process is summarized in the

Chapter 1 - Introduction12 AdeptViper s650/s850 Robot User’s Guide, Rev A1.4 How Can I Get Help?Refer to the How to Get Help Resource Guide (Adept P/N

AdeptViper s650/s850 Robot User’s Guide, Rev A 13Safety 22.1 Dangers, Warnings, Cautions, and NotesThere are four levels of special alert notation us

Chapter 2 - Safety14 AdeptViper s650/s850 Robot User’s Guide, Rev A 2.2 Precautions and Required Safeguards This manual must be read by all personnel

Precautions and Required SafeguardsAdeptViper s650/s850 Robot User’s Guide, Rev A 15Hazards From Expelling a Part or Attached Tooling The maximum joi

Chapter 2 - Safety16 AdeptViper s650/s850 Robot User’s Guide, Rev A Table 2-1. Sources for International Standards and DirectivesSEMI International St

Risk AssessmentAdeptViper s650/s850 Robot User’s Guide, Rev A 172.3 Risk Assessment Without special safeguards in its control system, the AdeptViper

Chapter 2 - Safety18 AdeptViper s650/s850 Robot User’s Guide, Rev A AvoidanceDue to its light payload capacity, it is likely that such personnel could

Intended Use of the RobotsAdeptViper s650/s850 Robot User’s Guide, Rev A 19The standard control system meets or exceeds the requirements imposed by t

Chapter 2 - Safety20 AdeptViper s650/s850 Robot User’s Guide, Rev A All persons that install, commission, operate, or maintain the robot must:• Have t

TransportAdeptViper s650/s850 Robot User’s Guide, Rev A 212.6 TransportAlways use adequate equipment to transport and lift Adept products. See Chapte

Chapter 2 - Safety22 AdeptViper s650/s850 Robot User’s Guide, Rev A 2.9 Qualification of PersonnelThis manual assumes that all personnel have attended

Protection Against Unauthorized OperationAdeptViper s650/s850 Robot User’s Guide, Rev A 232.11 Protection Against Unauthorized OperationThe system mu

Chapter 2 - Safety24 AdeptViper s650/s850 Robot User’s Guide, Rev A 2.15 What to Do in an Emergency SituationPress any E-Stop button (a red push-butto

AdeptViper s650/s850 Robot User’s Guide, Rev A 25Robot Installation 33.1 Unpacking and Inspecting the Adept EquipmentBefore UnpackingCarefully inspect

Chapter 3 - Robot Installation26 AdeptViper s650/s850 Robot User’s Guide, Rev A3.2 Environmental and Facility RequirementsThe Adept robot system insta

Transporting the RobotAdeptViper s650/s850 Robot User’s Guide, Rev A 273.3 Transporting the Robot Precautions in Transporting Robot • The robot weigh

Chapter 3 - Robot Installation28 AdeptViper s650/s850 Robot User’s Guide, Rev ATransport ProcedureStep Procedure Drawing1 Before transportation, set t

Transporting the RobotAdeptViper s650/s850 Robot User’s Guide, Rev A 294 As shown at right, place a waste cloth on the second arm and pass the wire t

AdeptVipers650/s850 RobotUser’s GuideP/N: 05173-000, Rev AAugust 20053011 Triad Drive • Livermore, CA 94551 • USA • Phone 925.245.3400 • Fax 925.960.0

Chapter 3 - Robot Installation30 AdeptViper s650/s850 Robot User’s Guide, Rev A3.4 Mounting the Robot Figure 3-2. Mounting Hole Pattern for Robot 1. S

Grounding the RobotAdeptViper s650/s850 Robot User’s Guide, Rev A 315. Set the robot unit into place on the robot mount. When transporting the robot

Chapter 3 - Robot Installation32 AdeptViper s650/s850 Robot User’s Guide, Rev A3.6 Description of Connectors on Robot Interface Panel Figure 3-4. Robo

Air Lines and Signal WiringAdeptViper s650/s850 Robot User’s Guide, Rev A 333.7 Air Lines and Signal Wiring The robot is equipped with 7 air pipes, o

Chapter 3 - Robot Installation34 AdeptViper s650/s850 Robot User’s Guide, Rev ATable 3-2. Solenoid Valve Specifications Figure 3-5. External Mounting

Designing End-EffectorsAdeptViper s650/s850 Robot User’s Guide, Rev A 353.8 Designing End-EffectorsDesign an end-effector such that it is in complian

Chapter 3 - Robot Installation36 AdeptViper s650/s850 Robot User’s Guide, Rev AMoment of Inertia Around J4, J5 and J6 Design an end-effector so that i

Designing End-EffectorsAdeptViper s650/s850 Robot User’s Guide, Rev A 37Figure 3-7. Moment of Inertia Calculation ExamplesCalculation example : When

Chapter 3 - Robot Installation38 AdeptViper s650/s850 Robot User’s Guide, Rev A

AdeptViper s650/s850 Robot User’s Guide, Rev A 39System Installation 44.1 System Cable DiagramFigure 4-1. System Cable Diagram for AdeptViper s650 Rob

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

Chapter 4 - System Installation40 AdeptViper s650/s850 Robot User’s Guide, Rev A4.2 Installing the SmartController Refer to the Adept SmartController

Installing the PA-4 Power ChassisAdeptViper s650/s850 Robot User’s Guide, Rev A 41Figure 4-2. Adept PA-4 Power Chassis with sDAI Module CAUTIONHIGHVO

Chapter 4 - System Installation42 AdeptViper s650/s850 Robot User’s Guide, Rev A4.4 Connecting 3-Phase AC Power to PA-4PA-4 3-Phase Power Requirements

Connecting 3-Phase AC Power to PA-4AdeptViper s650/s850 Robot User’s Guide, Rev A 43Connecting the PA-4 3-Phase AC Power Cord to AC Supply The user e

Chapter 4 - System Installation44 AdeptViper s650/s850 Robot User’s Guide, Rev ATypical 3-Phase AC Power Installation DiagramsFigure 4-3. Typical 3-Ph

Connecting 1-Phase AC Power to PA-4AdeptViper s650/s850 Robot User’s Guide, Rev A 454.5 Connecting 1-Phase AC Power to PA-4PA-4 1-Phase AC Power Requ

Chapter 4 - System Installation46 AdeptViper s650/s850 Robot User’s Guide, Rev AThe protective ground conductor (colored green/yellow) of the chassis

Connecting 1-Phase AC Power to PA-4AdeptViper s650/s850 Robot User’s Guide, Rev A 47Typical Single Phase, 220 VAC Power Installation DiagramsFigure 4

Chapter 4 - System Installation48 AdeptViper s650/s850 Robot User’s Guide, Rev A

AdeptViper s650/s850 Robot User’s Guide, Rev A 49System Operation 55.1 System Start-up Procedure Verify that the robot is securely mounted, the system

AdeptViper s650s/850 Robot User’s Guide, Rev A 5Table of Contents1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 5 - System Operation50 AdeptViper s650/s850 Robot User’s Guide, Rev A9. Once the calibration is complete, the system will return with a “dot”

Connecting Digital I/O to the SystemAdeptViper s650/s850 Robot User’s Guide, Rev A 515.3 Connecting Digital I/O to the SystemYou can connect digital

Chapter 5 - System Operation52 AdeptViper s650/s850 Robot User’s Guide, Rev ATable 5-2. Default Digital I/O Signal Configuration, Single Robot SystemL

Installing Axis LabelsAdeptViper s650/s850 Robot User’s Guide, Rev A 535.4 Installing Axis LabelsThe system includes a set of axis directional labels

Chapter 5 - System Operation54 AdeptViper s650/s850 Robot User’s Guide, Rev A5.5 Caution Label on RobotThe Caution label shown in Figure 5-3 refers to

Status Panel Codes on sDAI ModuleAdeptViper s650/s850 Robot User’s Guide, Rev A 555.6 Status Panel Codes on sDAI ModuleThe status panel display on th

Chapter 5 - System Operation56 AdeptViper s650/s850 Robot User’s Guide, Rev A

AdeptViper s650/s850 Robot User’s Guide, Rev A 57Maintenance 66.1 Installing and Using Brake Release Box The manual brake release box can be used to r

Chapter 6 - Maintenance58 AdeptViper s650/s850 Robot User’s Guide, Rev AFigure 6-1. Manual Brake Release Box6.2 Replacing Encoder Backup BatteryThe en

Replacing Encoder Backup BatteryAdeptViper s650/s850 Robot User’s Guide, Rev A 594. Remove the dummy connector cap from the battery board.Figure 6-3.

Table of Contents6 AdeptViper s650s/850 Robot User’s Guide, Rev A2.14 Risks Due to Incorrect Installation or Operation . . . . . . . . . . . . . . . .

Chapter 6 - Maintenance60 AdeptViper s650/s850 Robot User’s Guide, Rev AFigure 6-5.7. Disconnect the old backup battery that is right next to the new

Installing User-Supplied HardstopsAdeptViper s650/s850 Robot User’s Guide, Rev A 61Figure 6-7.9. Replace the cover on the robot. Tightening torque: C

Chapter 6 - Maintenance62 AdeptViper s650/s850 Robot User’s Guide, Rev A

AdeptViper s650/s850 Robot User’s Guide, Rev A 63Technical Specifications 77.1 Robot Dimensions Figure 7-1. AdeptViper s650 Side Dimensions and Work E

Chapter 7 - Technical Specifications64 AdeptViper s650/s850 Robot User’s Guide, Rev A Figure 7-2. AdeptViper s650 Top Dimensions and Work Envelope1A2A

Robot DimensionsAdeptViper s650/s850 Robot User’s Guide, Rev A 65Figure 7-3. AdeptViper s850 Side Dimensions and Work Envelope +-218485779.88 779.881

Chapter 7 - Technical Specifications66 AdeptViper s650/s850 Robot User’s Guide, Rev AFigure 7-4. AdeptViper s850 Top Dimensions and Work Envelope 1A2A

Robot Flange DimensionsAdeptViper s650/s850 Robot User’s Guide, Rev A 677.2 Robot Flange Dimensions Figure 7-5. Robot Flange DimensionsØ40 h8Ø20 H76

Chapter 7 - Technical Specifications68 AdeptViper s650/s850 Robot User’s Guide, Rev A7.3 SpecificationsTable 7-1. Robot SpecificationsSpecification s6

SpecificationsAdeptViper s650/s850 Robot User’s Guide, Rev A 69Air source - Maximum allowable pressure4.9 × 105 Pa 4.9 × 105 PaDegree of Protection I

Table of ContentsAdeptViper s650s/850 Robot User’s Guide, Rev A 75.6 Status Panel Codes on sDAI Module . . . . . . . . . . . . . . . . . . . . . . .

Chapter 7 - Technical Specifications70 AdeptViper s650/s850 Robot User’s Guide, Rev A

AdeptViper s650/s850 Robot User’s Guide, Rev A 71AAC powerconnecting to power chassis 42, 45installation diagram for 200-240VAC, 1-phase 47installatio

Index72 AdeptViper s650/s850 Robot User’s Guide, Rev Aacceptable 20unacceptable 20moment of inertia, end-effectors 36mounting hole pattern, for robot

IndexAdeptViper s650/s850 Robot User’s Guide, Rev A 73power chassis, 1-phase AC 45power chassis, 3-phase AC 42minimum operatingpower chassis, 1-phase

Index74 AdeptViper s650/s850 Robot User’s Guide, Rev A

3011 Triad DriveLivermore, CA 94551925•245•3400P/N: 05173-000, Rev A

Table of Contents8 AdeptViper s650s/850 Robot User’s Guide, Rev A

AdeptViper s650/s850 Robot User’s Guide, Rev A 9Introduction 11.1 Product DescriptionAdeptViper s650/s850 RobotsThe AdeptViper s650 and AdeptViper s85