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Viper s650
adept technology Viper s650 User Manual
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5960 I
nglew
ood Driv
e
Pleasant
on, CA 94588
925·245·3400
5960 Inglewood Drive
Pleasanton, CA 94588
925·245·3400
P/N: 05173-060,
Rev
D
97
Table of Contents
Default Chapter
5
Table of Contents
5
1 Introduction
11
Product Description
11
Adept Viper S650/S850 Robots
11
Figure 1-1. Robot Axis Identification
11
Adept Smartcontroller CX
12
Figure 1-2. Adept Smartcontroller CX
12
Adept Motionblox-60R
13
Figure 1-3. Motionblox-60R (MB-60R)
13
Dangers, Warnings, Cautions, and Notes
14
Intended Use of the Robots
14
Safety Precautions
15
What to Do in an Emergency Situation
15
Additional Safety Information
15
Manufacturer's Declaration of Compliance (MDOC)
15
Adept Robot Safety Guide
15
Installation Overview
16
Manufacturer's Declaration
16
How Can I Get Help
17
Related Manuals
17
Adept Document Library
17
2 Robot Installation
19
Unpacking and Inspecting the Adept Equipment
19
Before Unpacking
19
Upon Unpacking
19
Repacking for Relocation
19
Environmental and Facility Requirements
20
Figure 2-1. Robot in Transport Position
20
Transporting the Robot
21
Precautions in Transporting Robot
21
Figure 2-2. Lifting Form Label on Robot Base
21
Figure 2-3. Eyebolts Label
22
Figure 2-4. Robot in Hoisting Sling
22
Transport Procedure
23
Mounting the Robot
25
Figure 2-5. Mounting Hole Pattern for Robot
25
Grounding the Robot
26
Figure 2-6. Ground Point on Robot
26
Description of Connectors on Robot Interface Panel
27
Figure 2-7. Robot Interface Panel
27
Air Lines and Signal Wiring
28
Optional Solenoid Cable
29
Solenoid Valve Specifications
30
External Mounting Locations on Robot
31
Designing End-Effectors
31
Continuous Turn on J6
31
Mass of End-Effector
31
Figure 2-8. External Mounting Holes on Robot
31
Center of Gravity Position of End-Effector
32
Moment of Inertia Around J4, J5, and J6
32
Figure 2-9. Allowable Range of Center of Gravity Position of End-Effector
32
Figure 2-10. Moment of Inertia Calculation Examples
33
3 Motionblox-60R
35
Introduction to the Motionblox-60R
35
Figure 3-1. Adept MB-60R Front View
35
Description of Connectors on MB-60R Interface Panel
36
Figure 3-2. MB-60R Interface Panel
36
MB-60R Operation
37
Status LED on MB-60R
37
Figure 3-3. Controls and Indicators on MB-60R
37
Status Panel
38
Brake Release Button on MB-60R
38
Brake Release Connector
39
Connecting Digital I/O to the System
40
Figure 3-4. Connecting Digital I/O to the System
40
Using Digital I/O on MB-60R XIO Connector
42
Optional I/O Products
43
XIO Input Signals
43
XIO Input Specifications
43
Typical Input Wiring Example
44
Figure 3-5. Typical User Wiring for XIO Input Signals
44
XIO Output Signals
45
XIO Output Specifications
45
Typical Output Wiring Example
46
XIO Breakout Cable
46
Figure 3-6. Typical User Wiring for XIO Output Signals
46
Figure 3-7. Optional XIO Breakout Cable
46
MB-60R Dimensions
48
Figure 3-8. MB-60R Mounting Dimensions
48
Mounting the MB-60R
49
Panel-Mounting the MB-60R
49
Figure 3-9. Panel-Mounting the MB-60R
49
4 System Installation
51
System Cable Diagram
51
Figure 4-1. System Cable Diagram for Adept Smartcontroller Robots
51
Cables and Parts List
52
Installing the Smartcontroller
52
Installing the Adept ACE Software
52
Connecting the PC to the Smartcontroller
53
Connecting Cables from the MB-60R to the Smartcontroller
53
Connecting Cables from the MB-60R to the Robot
54
Installing the Arm Power/Signal Cable
54
Connecting 24 VDC Power to MB-60R Servo Controller
54
Specifications for 24 VDC Power
54
Details for 24 VDC Mating Connector
55
Procedure for Creating 24 VDC Cable
56
Installing the 24 VDC Cable
56
Connecting 200-240 VAC Power to MB-60R
57
Figure 4-2. User-Supplied 24 VDC Cable
57
Specifications for AC Power
58
Facility Overvoltage Protection
58
AC Power Diagrams
59
Details for AC Mating Connector
59
Figure 4-3. Typical AC Power Installation with Single-Phase Supply
59
Figure 4-4. Single-Phase Load Across L1 and L2 of a Three-Phase Supply
59
Figure 4-5. AC Power Mating Connector
60
Procedure for Creating 200-240 VAC Cable
60
Installing AC Power Cable to MB-60R
61
4.10 Grounding the Adept Robot System
61
Ground Point on Robot Base
61
Ground Point on Motionblox-60R
61
Figure 4-6. Ground Point on Robot Base
61
Figure 4-7. User Ground Location on MB-60R
61
Robot-Mounted Equipment Grounding
62
4.11 Installing User-Supplied Safety Equipment
62
5 System Operation
63
Status Panel Codes
63
Brakes
63
Installing and Using the Brake Release Box
63
Using the Brake Release Switch on UL Robots
64
Figure 5-1. Manual Brake-Release Box
64
Connecting Digital I/O to the System
65
Figure 5-2. Brake Release Switch on UL Robots
65
Figure 5-3. Connecting Digital I/O to the System
66
Commissioning the System
67
Verifying Installation
67
Mechanical Checks
67
System Cable Checks
68
User-Supplied Safety Equipment Checks
68
System Start-Up Procedure
68
Running the Adept ACE Software
68
Starting the Adept ACE Software
68
Enabling High Power
69
Verifying E-Stop Functions
69
Figure 5-4. High Power Button on Front Panel
69
Verify Robot Motions
70
Learning to Program the Robot
70
Installing Axis Labels
70
Caution Label on Robot
71
5.10 Installing User-Supplied Hardstops
72
Figure 5-5. Caution Label on Joint 4 Rotation
72
6 Maintenance
73
Replacing Encoder Backup Battery
73
Battery Replacement Intervals
73
Battery Replacement Procedure
74
Figure 6-1. Removing Cover to Replace Encoder Batteries
74
Figure 6-2. Removing Dummy Connector Cap
74
Figure 6-3. Connecting First New Battery
75
Figure 6-4. Connecting Second New Battery
75
Figure 6-5. Connecting Third New Battery
76
Figure 6-6. Reconnecting Dummy Connector Cap
76
7 Technical Specifications
77
Robot Dimensions
77
Figure 7-1. Adept Viper S650 Side Dimensions and Work Envelope
77
Figure 7-2. Adept Viper S650 Top Dimensions and Work Envelope
78
Figure 7-3. Adept Viper S850 Side Dimensions and Work Envelope
79
Figure 7-4. Adept Viper S850 Top Dimensions and Work Envelope
80
Robot Flange Dimensions
81
XSLV Connector
81
Figure 7-5. Robot Flange Dimensions
81
Specifications
82
8 IP-54/65 Option
85
Introduction
85
Differences from the Standard Robot Model
85
Figure 8-1. Adept Viper S650 Robot with IP-54/65 Option
85
Cable Clearance
86
Figure 8-2. IP-54/65 Robot Connector Panel
86
Installation Environment
86
Replacing Encoder Backup Battery
86
Robot Connector Panel
86
9 Cleanroom Option
87
Introduction
87
Differences from Standard Robot Model
87
Technical Specifications
87
Figure 9-1. Adept Viper S850 Robot - Cleanroom Model
87
Robot Connector Panel
88
Figure 9-2. Cleanroom Robot Connector Panel
88
Air Lines and Signal Wiring
89
Cleanroom Cover at J6 Flange
90
Figure 9-3. Adept Viper S850 J6 Cleanroom Cover
90
Cable Clearance
91
Replacing Encoder Backup Battery
91
Figure 9-4. J6 Cleanroom Cover Dimensions
91
Index
93
4
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adept technology Viper s650 Specifications
General
Brand
adept technology
Model
Viper s650
Category
Robotics
Language
English
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