Adept technology 300CR Manual de usuario

AdeptSix 300CR RobotInstruction Handbook

List of Figures10 AdeptSix 300CR Robot Instruction Handbook, Rev. AFigure 10-2. Baseplate Dimensions (mm) . . . . . . . . . . . . . . . . . . . . .

Chapter 10 - Technical Specifications100 AdeptSix 300CR Robot Instruction Handbook, Rev. A10.7 Axis 2 and 3 Effect on Axis 4 Working RangeWhen the wor

AdeptSix 300CR Robot Instruction Handbook, Rev. A 101Numerics1BC cable 432BC cable 43Aaccuracy (repetitive positioning) 93Adept control system, applyi

Index102 AdeptSix 300CR Robot Instruction Handbook, Rev. Acontents of package 14controller (serial number) 15cover bolts, installing 35Customer Servic

IndexAdeptSix 300CR Robot Instruction Handbook, Rev. A 103Mmaintenanceperforming 78scheduling 77maintenance procedures 82Axis 1 grease replenishment 8

Index104 AdeptSix 300CR Robot Instruction Handbook, Rev. Auser electrical and air lines 59working area 28wrist loads 49wrist tool flange 50Ssafeguardi

3011 Triad DriveLivermore, CA 94551925•245•340001600-000, Rev. A

AdeptSix 300CR Robot Instruction Handbook, Rev. A 11List of TablesTable 1-1. Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

AdeptSix 300CR Robot Instruction Handbook, Rev. A 13Introduction 11.1 Product DescriptionThe AdeptSix 300CR is a compact, high-performance cleanroom r

Chapter 1 - Introduction14 AdeptSix 300CR Robot Instruction Handbook, Rev. AInstalling the Controller and PA-4 Power ChassisAdept MV Controller1. Refe

Locating the Serial NumberAdeptSix 300CR Robot Instruction Handbook, Rev. A 151.4 Locating the Serial NumberThe ID serial number of the AdeptSix 300CR

Chapter 1 - Introduction16 AdeptSix 300CR Robot Instruction Handbook, Rev. A1.5 How Can I Get Help?Refer to the How to Get Help Resource Guide (Adept

Knowledge ExpressAdeptSix 300CR Robot Instruction Handbook, Rev. A 171.7 Knowledge Express In addition to the Knowledge Express CD-ROM containing Adep

AdeptSix 300CR Robot Instruction Handbook, Rev. A 19Safety 22.1 Dangers, Warnings, Cautions, and NotesThere are four levels of special alert notation

Chapter 2 - Safety20 AdeptSix 300CR Robot Instruction Handbook, Rev. A2.2 Precautions and Required SafeguardsThis manual must be read by all personnel

Precautions and Required SafeguardsAdeptSix 300CR Robot Instruction Handbook, Rev. A 21Hazards From Expelling a Part or Attached Tooling The maximum j

Chapter 2 - Safety22 AdeptSix 300CR Robot Instruction Handbook, Rev. ATable 2-1. Sources for International Standards and DirectivesSEMI International

Risk AssessmentAdeptSix 300CR Robot Instruction Handbook, Rev. A 232.3 Risk Assessment Without special safeguards in its control system, the AdeptSix

Chapter 2 - Safety24 AdeptSix 300CR Robot Instruction Handbook, Rev. AAvoidanceDue to its light payload capacity, it is likely that such personnel cou

Intended Use of the RobotsAdeptSix 300CR Robot Instruction Handbook, Rev. A 25The standard AdeptSix 300 robot control system meets or exceeds the requ

Chapter 2 - Safety26 AdeptSix 300CR Robot Instruction Handbook, Rev. A• Have the necessary qualifications• Read and follow the instructions in this In

AdeptSix 300CR Hazards and Warning LabelsAdeptSix 300CR Robot Instruction Handbook, Rev. A 272.6 AdeptSix 300CR Hazards and Warning LabelsRisks from i

Chapter 2 - Safety28 AdeptSix 300CR Robot Instruction Handbook, Rev. A2.8 Safety Requirements for Additional EquipmentAdditional equipment used with t

Qualification of PersonnelAdeptSix 300CR Robot Instruction Handbook, Rev. A 292.10 Qualification of PersonnelThis manual assumes that all personnel ha

AdeptSix 300CR RobotInstruction HandbookP/N 01600-000Rev. AAugust 20023011 Triad Drive • Livermore, CA 94550 • USA • Phone 925.245.3400 • Fax 925.960.

Chapter 2 - Safety30 AdeptSix 300CR Robot Instruction Handbook, Rev. A2.12 Protection Against Unauthorized OperationThe system must be protected again

What to Do in an Emergency SituationAdeptSix 300CR Robot Instruction Handbook, Rev. A 312.16 What to Do in an Emergency SituationPress any E-Stop butt

Chapter 2 - Safety32 AdeptSix 300CR Robot Instruction Handbook, Rev. A

AdeptSix 300CR Robot Instruction Handbook, Rev. A 33Robot Installation 33.1 Safety Guard InstallationTo ensure safety, make sure to install safety gua

Chapter 3 - Robot Installation34 AdeptSix 300CR Robot Instruction Handbook, Rev. A3.2 Transporting MethodUsing the CraneAs a rule, a crane should be u

Transporting MethodAdeptSix 300CR Robot Instruction Handbook, Rev. A 35Figure 3-1. Transporting PositionWARNING: Sling applications via crane or forkl

Chapter 3 - Robot Installation36 AdeptSix 300CR Robot Instruction Handbook, Rev. AUsing the ForkliftWhen using a forklift, the robot should be fixed o

Shipping Bracket and JigAdeptSix 300CR Robot Instruction Handbook, Rev. A 373.3 Shipping Bracket and JigThe robot is provided with a shipping bracket

Chapter 3 - Robot Installation38 AdeptSix 300CR Robot Instruction Handbook, Rev. AFigure 3-3. Installing Cover Bolts3.5 Types of MountingThe robot can

Mounting Procedures for RobotAdeptSix 300CR Robot Instruction Handbook, Rev. A 393.6 Mounting Procedures for RobotThe robot should be firmly mounted o

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

Chapter 3 - Robot Installation40 AdeptSix 300CR Robot Instruction Handbook, Rev. AWhen the Robot is Mounted Directly on the FloorThe floor should be s

Grounding the RobotAdeptSix 300CR Robot Instruction Handbook, Rev. A 41See Figure 10-1 on page 96 for a drawing that identifies the various axes.3.8 G

Chapter 3 - Robot Installation42 AdeptSix 300CR Robot Instruction Handbook, Rev. AFigure 3-6. Grounding Method for Robot3.9 Environmental Requirements

AdeptSix 300CR Robot Instruction Handbook, Rev. A 43System Cable Installation 44.1 System Cable DiagramsAdept MV Controller System Figure 4-1. System

Chapter 4 - System Cable Installation44 AdeptSix 300CR Robot Instruction Handbook, Rev. AAdept SmartController System Figure 4-2. System Cable Diagram

Cable Connections from Robot to PA-4 Power ChassisAdeptSix 300CR Robot Instruction Handbook, Rev. A 454.2 Cable Connections from Robot to PA-4 Power C

Chapter 4 - System Cable Installation46 AdeptSix 300CR Robot Instruction Handbook, Rev. AFigure 4-4. Interconnect Cable Connection to the RobotConnect

Cable Connections from Robot to PA-4 Power ChassisAdeptSix 300CR Robot Instruction Handbook, Rev. A 47Figure 4-5. PA-4 Power Chassisadept technology,

Chapter 4 - System Cable Installation48 AdeptSix 300CR Robot Instruction Handbook, Rev. A4.3 Cable Connections to MV ControllerInstalling the MV Contr

Cable Connections to SmartControllerAdeptSix 300CR Robot Instruction Handbook, Rev. A 494.4 Cable Connections to SmartControllerInstalling the SmartCo

AdeptSix 300CR Robot Instruction Handbook, Rev. A 5Table of Contents1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 4 - System Cable Installation50 AdeptSix 300CR Robot Instruction Handbook, Rev. A

AdeptSix 300CR Robot Instruction Handbook, Rev. A 51End of Arm Tooling 55.1 Allowable Wrist Load The allowable wrist load is 3 kg. If force is applied

Chapter 5 - End of Arm Tooling52 AdeptSix 300CR Robot Instruction Handbook, Rev. A5.2 Wrist Tool FlangeThe wrist tool flange dimensions are shown in F

End of Arm Tooling Load DefinitionsAdeptSix 300CR Robot Instruction Handbook, Rev. A 535.3 End of Arm Tooling Load DefinitionsThe end of arm tooling p

Chapter 5 - End of Arm Tooling54 AdeptSix 300CR Robot Instruction Handbook, Rev. AFigure 5-4. Moment of Inertia5.4 Calculating the Moment of InertiaTh

Calculating the Moment of InertiaAdeptSix 300CR Robot Instruction Handbook, Rev. A 55Figure 5-5. Center of Gravity: Sealing Gun ExampleTooling Details

Chapter 5 - End of Arm Tooling56 AdeptSix 300CR Robot Instruction Handbook, Rev. AThe following figures show examples of the moment of inertia for a h

Calculating the Moment of InertiaAdeptSix 300CR Robot Instruction Handbook, Rev. A 57Example 2It is necessary to set the moment of inertia at the cent

Chapter 5 - End of Arm Tooling58 AdeptSix 300CR Robot Instruction Handbook, Rev. AThe steps below describe how to calculate the center of gravity, inc

Calculating the Moment of InertiaAdeptSix 300CR Robot Instruction Handbook, Rev. A 59Example 3The following example shows how to calculate the center

Table of Contents6 AdeptSix 300CR Robot Instruction Handbook, Rev. A2.13 Safety Aspects While Performing Maintenance . . . . . . . . . . . . . . . . .

Chapter 5 - End of Arm Tooling60 AdeptSix 300CR Robot Instruction Handbook, Rev. A= 0.002 = Approx. 0.010lz = 3*((100-100)²+(50-(-83))²)* 10-6 + 6*((

User Electrical Lines and Air LinesAdeptSix 300CR Robot Instruction Handbook, Rev. A 615.6 User Electrical Lines and Air LinesThere are 9 electrical c

Chapter 5 - End of Arm Tooling62 AdeptSix 300CR Robot Instruction Handbook, Rev. AFigure 5-11. Detailed Drawing of Connector Pin NumbersPins number (1

AdeptSix 300CR Robot Instruction Handbook, Rev. A 63System Operation -MV Controller 66.1 Introduction This chapter covers system operation for AdeptSi

Chapter 6 - System Operation - MV Controller64 AdeptSix 300CR Robot Instruction Handbook, Rev. AAC Power to Adept Components ChecksVerify that the Ade

Installation Check ListAdeptSix 300CR Robot Instruction Handbook, Rev. A 654. Check the manual brake release box cable into the MAI-2 connector marked

Chapter 6 - System Operation - MV Controller66 AdeptSix 300CR Robot Instruction Handbook, Rev. AE-Stop Button and Switch Checks1. Verify that the red

Checks After Applying PowerAdeptSix 300CR Robot Instruction Handbook, Rev. A 67LED Status Indicators on the AWC-IIThe LEDs on the front of the AWC-II

Chapter 6 - System Operation - MV Controller68 AdeptSix 300CR Robot Instruction Handbook, Rev. A6.5 Calibrate RobotThe AdeptSix robot uses optical abs

AdeptSix 300CR Robot Instruction Handbook, Rev. A 69System Operation -SmartController 77.1 Introduction This chapter covers system operation for Adept

Table of ContentsAdeptSix 300CR Robot Instruction Handbook, Rev. A 75.2 Wrist Tool Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 7 - System Operation - SmartController70 AdeptSix 300CR Robot Instruction Handbook, Rev. APower to the Adept Components ChecksVerify that the

Installation Check ListAdeptSix 300CR Robot Instruction Handbook, Rev. A 714. Secure the optional manual brake release box cable into the MAI-2 connec

Chapter 7 - System Operation - SmartController72 AdeptSix 300CR Robot Instruction Handbook, Rev. AE-Stop Button and Switch Checks1. Verify that the re

Calibrate RobotAdeptSix 300CR Robot Instruction Handbook, Rev. A 73b. When the High Power push button/light on the Front Panel begins flashing, press

Chapter 7 - System Operation - SmartController74 AdeptSix 300CR Robot Instruction Handbook, Rev. A7.7 Learning to Operate/ Program the AdeptSix 300CR

AdeptSix 300CR Robot Instruction Handbook, Rev. A 75Using the Manual ControlPendant (MCP) 88.1 MCP Usage for Six-Axis RobotsThis section describes the

Chapter 8 - Using the Manual Control Pendant (MCP)76 AdeptSix 300CR Robot Instruction Handbook, Rev. AFigure 8-1. Joint ModexJ1J2 J3 J4 J5J6 Rotates m

MCP Usage for Six-Axis RobotsAdeptSix 300CR Robot Instruction Handbook, Rev. A 77WORLD Coordinate System (WORLD Mode on the MCP) The WORLD coordinate

Chapter 8 - Using the Manual Control Pendant (MCP)78 AdeptSix 300CR Robot Instruction Handbook, Rev. ATOOL Coordinate System (TOOL Mode on the MCP)All

AdeptSix 300CR Robot Instruction Handbook, Rev. A 79Maintenance and Inspection 99.1 Inspection ScheduleProper inspections are essential not only to as

Table of Contents8 AdeptSix 300CR Robot Instruction Handbook, Rev. AWORLD Coordinate System (WORLD Mode on the MCP) . . . . . . . . . . . . . . 75TOOL

Chapter 9 - Maintenance and Inspection80 AdeptSix 300CR Robot Instruction Handbook, Rev. ANOTE: The inspection interval must be based on the servo pow

Inspection ScheduleAdeptSix 300CR Robot Instruction Handbook, Rev. A 818Wire harness in robot (Axis 2)XCheck for conduction between terminals and wear

Chapter 9 - Maintenance and Inspection82 AdeptSix 300CR Robot Instruction Handbook, Rev. A14Axes 4 and 5 speed reducersXGrease GunCheck for malfunctio

Inspection ScheduleAdeptSix 300CR Robot Instruction Handbook, Rev. A 83Figure 9-1. Inspection Parts and Inspection NumbersThe numbers in the above tab

Chapter 9 - Maintenance and Inspection84 AdeptSix 300CR Robot Instruction Handbook, Rev. A9.2 Maintenance ProceduresBattery Unit ReplacementIf the bat

Maintenance ProceduresAdeptSix 300CR Robot Instruction Handbook, Rev. A 85Figure 9-3. Battery ConnectionNOTE: The procedures referenced in the above f

Chapter 9 - Maintenance and Inspection86 AdeptSix 300CR Robot Instruction Handbook, Rev. AGrease Replenishment for Axis 1 Speed ReducerFigure 9-4. Axi

Maintenance ProceduresAdeptSix 300CR Robot Instruction Handbook, Rev. A 87Grease Replenishment for Axis 2 Speed ReducerFigure 9-5. Axis 2 Speed Reduce

Chapter 9 - Maintenance and Inspection88 AdeptSix 300CR Robot Instruction Handbook, Rev. AGrease Replenishment for Axis 3 Speed ReducerFigure 9-6. Axi

Maintenance ProceduresAdeptSix 300CR Robot Instruction Handbook, Rev. A 89Grease Replenishment for Axis 4 and Axis 5 Speed Reducers Figure 9-7. Axis 4

AdeptSix 300CR Robot Instruction Handbook, Rev. A 9List of FiguresFigure 1-1. Robot ID Serial Number . . . . . . . . . . . . . . . . . . . . . . .

Chapter 9 - Maintenance and Inspection90 AdeptSix 300CR Robot Instruction Handbook, Rev. AGrease Replenishment for Axis 6 Speed ReducerFigure 9-8. Axi

Maintenance ProceduresAdeptSix 300CR Robot Instruction Handbook, Rev. A 91Notes for MaintenanceConnect the battery unit with reference to the followin

Chapter 9 - Maintenance and Inspection92 AdeptSix 300CR Robot Instruction Handbook, Rev. AInstalling and Using Brake Release Box The manual brake rele

Spare PartsAdeptSix 300CR Robot Instruction Handbook, Rev. A 939.3 Spare PartsGo to the Adept web site for complete information on spare parts for you

Chapter 9 - Maintenance and Inspection94 AdeptSix 300CR Robot Instruction Handbook, Rev. A

AdeptSix 300CR Robot Instruction Handbook, Rev. A 95 Technical Specifications 1010.1 Technical SpecificationsTable 10-1. Technical SpecificationsOpera

Chapter 10 - Technical Specifications96 AdeptSix 300CR Robot Instruction Handbook, Rev. A10.2 Robot Cleanroom Specifications10.3 Part Names and Workin

Baseplate DimensionsAdeptSix 300CR Robot Instruction Handbook, Rev. A 9710.4 Baseplate DimensionsFigure 10-2. Baseplate Dimensions (mm)Dimensions in m

Chapter 10 - Technical Specifications98 AdeptSix 300CR Robot Instruction Handbook, Rev. A10.5 Dimensions and Working RangeFigure 10-3. Dimensions and

Axis 5 Working RangeAdeptSix 300CR Robot Instruction Handbook, Rev. A 9910.6 Axis 5 Working RangeThe working range of Axis 5, maintaining a constant a