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Table of Contents

Adept Viper s650/s850 Robot with MB-60R User’s Guide, Rev C

2.8 Designing End-Effectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Continuous Turn on J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Mass of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Center of Gravity Position of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Moment of Inertia Around J4, J5, and J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

MotionBlox-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.1 Introduction to the MotionBlox-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.2 Description of Connectors on MB-60R Interface Panel . . . . . . . . . . . . . . . . . . . 36

3.3 MB-60R Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Status LED on MB-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Status Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Brake Release Button on MB-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Brake Release Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3.4 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.5 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

XIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

XIO Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Typical Output Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

3.6 MB-60R Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

3.7 Mounting the MB-60R. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Panel-Mounting the MB-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4.2 Cables and Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4.3 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4.4 Installing the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4.5 Connecting the PC to the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4.6 Connecting Cables from the MB-60R to the SmartController . . . . . . . . . . . . . . 53

4.7 Connecting Cables from the MB-60R to the Robot . . . . . . . . . . . . . . . . . . . . . . 54

Installing the Arm Power/Signal Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Summary of Contents for MB-60R

Page 1: ...Adept Viper s650 s850 Robot with MB 60R User s Guide...

Page 2: ......

Page 3: ...er 2011 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 Av...

Page 4: ...s in this document Critical evaluation of this manual by the user is welcomed Your comments assist us in preparation of future doc umentation Please email your comments to techpubs adept com Copyright...

Page 5: ...e 15 1 7 Installation Overview 16 1 8 Manufacturer s Declaration 16 1 9 How Can I Get Help 17 Related Manuals 17 Adept Document Library 17 2 Robot Installation 19 2 1 Unpacking and Inspecting the Adep...

Page 6: ...he System 40 3 5 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 XIO Output Signals 45 XIO Output...

Page 7: ...Base 61 Ground Point on MotionBlox 60R 61 Robot Mounted Equipment Grounding 62 4 11 Installing User Supplied Safety Equipment 62 5 System Operation 63 5 1 Status Panel Codes 63 5 2 Brakes 63 Installi...

Page 8: ...r 81 7 4 Specifications 82 8 IP 54 65 Option 85 8 1 Introduction 85 8 2 Differences from the Standard Robot Model 85 Installation Environment 86 Robot Connector Panel 86 Cable Clearance 86 Replacing E...

Page 9: ...e 3 7 Optional XIO Breakout Cable 46 Figure 3 8 MB 60R Mounting Dimensions 48 Figure 3 9 Panel Mounting the MB 60R 49 Figure 4 1 System Cable Diagram for Adept SmartController Robots 51 Figure 4 2 Use...

Page 10: ...Top Dimensions and Work Envelope 80 Figure 7 5 Robot Flange Dimensions 81 Figure 8 1 Adept Viper s650 Robot with IP 54 65 Option 85 Figure 8 2 IP 54 65 Robot Connector Panel 86 Figure 9 1 Adept Viper...

Page 11: ...machine tending and many other operations requiring fast and precise automation NOTE The descriptions and instructions in this manual apply to both the Adept Viper s650 and the Adept Viper s850 excep...

Page 12: ...rts an integrated vision option and a conveyor tracking option as well as other options It offers scalability and support for IEEE 1394 based digital I O and general motion expansion modules The IEEE...

Page 13: ...atures Six AC servo motor amplifiers Category 3 emergency stop circuitry 200 MHz RISC microprocessor for high performance servo control 8 kHz servo rate to deliver low positional errors and superior p...

Page 14: ...Robot Installation on page 19 for complete information tooling and payloads DANGER This indicates an imminently hazardous electrical situation which if not avoided will result in death or serious inj...

Page 15: ...bot and its power supply must be locked out and tagged out before any maintenance is performed 1 5 What to Do in an Emergency Situation Press any E Stop button a red push button on a yellow background...

Page 16: ...k Open to open the file and display the archive contents 3 Double click on a pdf file to open it Table 1 1 Installation Overview Task to be Performed Reference Location 1 Mount the robot on a flat sec...

Page 17: ...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 inform...

Page 18: ......

Page 19: ...pt as soon as possible If the items received do not match your order please contact Adept immediately Inspect each item for external damage as it is removed from its container If any damage is evident...

Page 20: ...Humidity During operation 90 or less Non condensing During storage and transportation 75 or less Non condensing Vibration During operation 4 9 m s2 0 5 G or less During storage and transportation 29 4...

Page 21: ...Working space etc Sufficient service space must be available for inspection and disassembly Keep wiring space 230 mm or more behind the robot and fasten the wiring to the mounting face or beam so that...

Page 22: ...er 2 Robot Installation 22 Adept Viper s650 s850 Robot with MB 60R User s Guide Rev D Figure 2 3 Eyebolts Label Figure 2 4 Robot in Hoisting Sling Waste Cloth Robot Mounting Bolts Wire Belt sling Eyeb...

Page 23: ...unpacked the robot is in the transport position so this step is not required Transport Position Axis Angle First axis J1 0 Second axis J2 145 Third axis J3 243 Fourth axis J4 90 Fifth axis J5 90 2 Di...

Page 24: ...rting 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 sec...

Page 25: ...hole 6 H7 for the internally threaded positioning pin 10 mm deep or more 2 Locate two alignment pins one round and one diamond shaped supplied in the accessory kit 3 Drive the diamond shaped pin into...

Page 26: ...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 more Ground resistance must be less than 100 milliohms NOTE Use a dedicated grounding w...

Page 27: ...0 are wired directly to corresponding pins 1 to 10 on CN21 on the upper arm Pins 12 to 18 are for solenoid control See Section 2 7 on page 28 AIR 1 air line connector BSPT1 4 for three solenoids in ro...

Page 28: ...M5 AIR1 Air line joint BSPT1 4 AIR2 Air line joint BSPT1 4 Connector CN21 for end effector control signal wires A B View B Connector CN20 for end effector signal valve control wires CN20 Pin Assignmen...

Page 29: ...oid cable brings a portion of the other XDIO signals out to the CN21 connector at the top of the robot See Table 2 3 for the details of which signals are available at CN21 See the Adept SmartControlle...

Page 30: ...nput 1004a 9 24 V Outputc c Limited to a combined total of 1A of current 5 Input 1005a 10 Ground Table 2 4 Solenoid Valve Specifications Item Specifications Valve Switching system 2 position double Ap...

Page 31: ...inuous turn it may lose its calibration However the other robot joints J1 J5 will not be affected Mass of End Effector Design the end effector so that the total mass of the end effector including work...

Page 32: ...Maximum allowable moment of inertia around J4 and J5 0 295 kgm2 Maximum allowable moment of inertia around J6 0 045 kgm2 When calculating the moment of inertia around J4 J5 and J6 of the end effector...

Page 33: ...t of inertia around J6 of I3 from 1 and 5 in previous table Moment of inertia around J6 of entire end effector IJ6 2 Moment of inertia around J4 and J5 For the end effector shown below the moment of i...

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Page 35: ...or to communicate coordinate and execute servo commands The MB 60R consists of a distributed servo amplifier a RISC processor for servo loop control a node on the IEEE 1394 network a power controller...

Page 36: ...e from the controller XSYS connector DB 9 female SmartServo 1 2 for connecting the IEEE 1394 cable from the controller SmartServo 1 1 to the upper connector SmartServo 1 RS 232 Reserved for future use...

Page 37: ...tes the status of the robot See Table 3 1 Figure 3 3 Controls and Indicators on MB 60R Table 3 1 Status LED Definition LED Status Description Off 24 VDC not present Green Slow Blink High Power Disable...

Page 38: ...Viper s650 s850 robot the button when pressed will disable High Power and display BK on the MB 60R but no brakes will be released NOTE If this button is pressed while high power is on high power will...

Page 39: ...nd Using the Brake Release Box on page 63 The digital inputs on this connector meet the same input level requirements as the XIO inputs See Table 3 7 on page 43 for details Table 3 3 Brake Release Con...

Page 40: ...see Adept IO Blox User s Guide Optional sDIO Module connects to controller 32 inputs 32 outputs per module up to four sDIO devices per system see Adept SmartController User s Guide SF IEEE 1394 X2 SC...

Page 41: ...ed a a For sDIO modules 3 and 4 and beyond you must configure the signals to have the system support those modules using the Controller Editor in the Adept ACE software For details see the topic V Sys...

Page 42: ...Table 3 6 XIO Signal Designations Pin No Designation Signal Bank V Signal Number Pin Locations 1 GND XIO 26 pin female connector on MB 60R Interface Panel 2 24 VDC 3 Common 1 1 4 Input 1 1 1 1097 5 In...

Page 43: ...ee Table 3 6 on page 42 or through the optional XIO Termination Block See the documentation supplied with the Termination Block for details The XIO inputs cannot be used for REACTI programming high sp...

Page 44: ...upplied Equipment User Supplied Equipment Signal 1097 Part Present Sensor 4 Signal 1098 Feeder Empty Sensor 5 Signal 1099 Part Jammed Sensor 6 Signal 1100 Sealant Ready Sensor 7 Signal 1101 8 Signal 1...

Page 45: ...ut to the robot through a self resetting polyfuse The outputs are accessed through direct connection to the XIO connector see Table 3 6 on page 42 or through the optional XIO Termination Block See the...

Page 46: ...nals in the workcell The part number for the cable is 04465 000 and the length is 5 M 16 4 ft See Table 3 9 on page 47 for the wire chart on the cable NOTE This cable is not compatible with the XIO Te...

Page 47: ...low 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...

Page 48: ...MB 60R Mounting Dimensions 0 425 5 20 6 204 2 404 9 51 6 331 7 9 8 0 228 6 67 3 222 3 106 7 182 9 170 2 6X SHCS M4 X 6 A B 0 47 6 377 8 0 7 6 45 7 129 54 C 0 32 7 197 8 0 7 6 45 7 C 0 32 7 197 8 0 7...

Page 49: ...e performed in accordance with all local and national standards Panel Mounting the MB 60R To panel mount the MB 60R install two brackets on each side at the rear of the unit see the following figure f...

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Page 51: ...FP to Front Panel XFP Front Panel T2 Pendant optional XSYS Cable from Controller XSYS to MB 60R XSLV 24 VDC Power from User Supplied Power Supply to Controller XDC1 Desktop or Laptop PC user supplied...

Page 52: ...Installing the Adept ACE Software The Adept ACE software is installed from the Adept ACE software CD ROM 1 Insert the CD ROM into the CD ROM drive of your PC If Autoplay is enabled the Adept software...

Page 53: ...g Connect an Ethernet crossover cable between the PC and the SmartController motion controller or Use two standard Ethernet cables with a network hub or switch in place of the Ethernet crossover cable...

Page 54: ...hile the power switch is on Improper operation may cause electric shock or controller failure WARNING Verify that all connectors are fully inserted and screwed down Failure to do this could cause unex...

Page 55: ...UTION Make sure you select a 24 VDC power supply that meets the specifications in Table 4 2 Using an underrated supply can cause system problems and prevent your equipment from operating correctly See...

Page 56: ...rimping tool recommended in Table 4 4 4 Insert the pins into the connector Confirm that the 24 V and ground wires are in the correct terminals in the plug 5 Install a user supplied ring lug for an M3...

Page 57: ...liance with all local and national safety and electrical codes for the installation and operation of the robot system WARNING Appropriately sized Branch Circuit Protection and Lockout Tagout Capabilit...

Page 58: ...Nominal Voltage Ranges Minimum Operating Voltagea a Specifications are established at nominal line voltage Low line voltage can affect robot performance Maximum Operating Voltage Frequency Phasing Rec...

Page 59: ...osing a transformer See IEC 1131 4 for additional information AC Power Diagrams Figure 4 3 Typical AC Power Installation with Single Phase Supply Figure 4 4 Single Phase Load across L1 and L2 of a Thr...

Page 60: ...afely reach from the user supplied AC power source to the MB 60R base 5 Strip approximately 18 to 24 mm of insulation from each of the three wires 6 Insert the wires into the connector through the rem...

Page 61: ...t system Ground Point on Robot Base The user can install a protective earth ground wire at the robot base to ground the robot See Figure 4 6 The user is responsible for supplying the ground wire to co...

Page 62: ...talling safety barriers to protect personnel from coming in contact with the robot unintentionally Depending on the design of the workcell safety gates light curtains and emergency stop devices can be...

Page 63: ...ed on the robot On non UL robots you can install a manual brake release box In both cases you can release the brakes on a specific axis Installing and Using the Brake Release Box This procedure descri...

Page 64: ...igure 5 2 on page 65 1 Make sure that high power is disabled off 2 Press one of the E Stops Pendant Front Panel or external NOTE An E Stop must be activated in order for the brake release to work 3 Us...

Page 65: ...rmation on the optional Solenoid cable Table 5 1 Digital I O Connection Options Product I O Capacity For more details XDIO Connector on SmartController 12 inputs 8 outputs see Adept SmartController Us...

Page 66: ...IO Blox 1 Inputs 1113 1120 Outputs 0105 0112 SF IEEE 1394 X2 SC DIO LINK S N 3563 XXXXX X1 24V 0 5A R OK X4 1 1 1 2 XDC1 XDC2 X3 R ON SmartServo IEEE 1394 1 2 3 4 SF ES HD SW1 1 1 1 2 2 1 2 2 OK 1 2 3...

Page 67: ...ks to ensure that the robot and controller have been properly installed Mechanical Checks Verify that the robot is mounted level and that all fasteners are properly installed and tightened Verify that...

Page 68: ...onnector User Supplied Safety Equipment Checks Verify that all user supplied safety equipment and E Stop circuits are installed correctly System Start up Procedure Once the system installation has bee...

Page 69: ...button must be pressed while blinking default time out is 10 seconds If the button stops blinking you must enable power again Figure 5 4 High Power Button on Front Panel This step turns on high power...

Page 70: ...is disabled for safety reasons 5 7 Learning to Program the Robot To learn how to use and program the robot see the Adept ACE User s Guide which provides information on robot configuration control and...

Page 71: ...The Caution label shown in Figure 5 5 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...

Page 72: ...urpose of limiting the robot working envelope the hardstops or mechanical ends for Joints 1 2 and 3 on the Adept Viper robots can be changed by installing user supplied hardstop devices In addition th...

Page 73: ...e time the battery should be replaced every four years If the robot is turned on with 24 VDC more than half the time then you can increase the replacement interval to seven years If for example a robo...

Page 74: ...Cover to Replace Encoder Batteries 4 Remove the dummy connector cap from the battery board See the following figure Figure 6 2 Removing Dummy Connector Cap 5 Connect a new battery 1st one to the pin f...

Page 75: ...ackup battery that is right next to the new battery connected in Step 5 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...

Page 76: ...e 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 Repla...

Page 77: ...7 1 Robot Dimensions Figure 7 1 Adept Viper s650 Side Dimensions and Work Envelope 65 105 90 270 390 95 203 164 34 108 295 80 375 115 578 42 575 68 73 46 335 75 R578 42 R158 79 R219 74 R 3 0 8 4 2 R...

Page 78: ...D Figure 7 2 Adept Viper s650 Top Dimensions and Work Envelope 1A 2A 3A 1B 2B 3B A I R 2 C N 2 1 J6 360 J4 190 59 51 67 79 R 6 5 3 4 2 R 2 3 3 7 9 187 7 Note 1 Note 1 On IP 54 65 and Cleanroom robots...

Page 79: ...de Rev D 79 Figure 7 3 Adept Viper s850 Side Dimensions and Work Envelope 218 485 779 88 779 88 120 Point P 80 405 65 120 J5 105 1 3 5 79 209 R779 88 R166 34 R 4 1 4 8 8 J2 1 0 0 J3 R323 35 R 4 1 4 8...

Page 80: ...D Figure 7 4 Adept Viper s850 Top Dimensions and Work Envelope 1A 2A 3A 1B 2B 3B A I R 2 C N 2 1 J6 360 J4 190 59 51 R 8 5 4 8 8 R 2 4 1 3 4 187 7 Note 1 Point P J1 170 170 67 79 Workable space defin...

Page 81: ...nd XSLV1 2 Connector as viewed on MB 60R 2 MAN1 ESTOP Manual Input Ch 1 3 MAN2 ESTOP Manual Input Ch 2 4 HIPWRDIS High Power Disable 5 ESTOP_RESET Normally Closed Check Contacts 6 AUTO1 ESTOP Auto Inp...

Page 82: ...sec J1 250 sec J2 250 sec J3 250 sec J4 375 sec J5 375 sec J6 600 sec Maximum composite speed at the center of an end effector mounting face 8200 mm s 7600 mm s Maximum payload 5 kg Position repeatabi...

Page 83: ...40 IP 54 65 w option IP 40 IP 54 65 w option Weight Approx 28 kg Approx 29 kg Note 1 Position repeatability is the value at constant ambient temperature Note 2 Only the 4x6 air tubing system may be co...

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Page 85: ...4 5 6 are rated IP 65 Without this option the robots have a rating of IP 40 Figure 8 1 Adept Viper s650 Robot with IP 54 65 Option 8 2 Differences from the Standard Robot Model The installation operat...

Page 86: ...nel is shown in the following figure Figure 8 2 IP 54 65 Robot Connector Panel NOTE On the IP 54 65 robot the CN20 and CN21 connectors are IP 65 rated Also the robot cable has a splash proof connector...

Page 87: ...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 Technical Specifications Tabl...

Page 88: ...anroom robot the robot connector panel is different than the standard robot Figure 9 2 Cleanroom Robot Connector Panel See Table 9 1 on page 87 for the recommended vacuum flow rate Vacuum Connection O...

Page 89: ...2A solenoid valve 2 S Solenoid 2B solenoid valve 2 S Solenoid 2B solenoid valve 2 T Solenoid 3A solenoid valve 3 T Solenoid 3A solenoid valve 3 U Solenoid 3B solenoid valve 3 U Solenoid 3B solenoid v...

Page 90: ...9 3 Any user tooling at the flange must allow for clearance see Figure 9 4 Figure 9 3 Adept Viper s850 J6 Cleanroom Cover Table 9 5 CN20 and CN21 Mating Connectors Connector Set Part No Connector No M...

Page 91: ...Figure 7 4 on page 80 for dimension drawings 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 u...

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Page 93: ...e switch 64 brakes releasing J3 for manual movement 39 Breakout Cable XIO 46 C cable diagram for system 51 cables and parts list 52 circuit protection 24 VDC power 54 Cleanroom robot cable clearance d...

Page 94: ...interface panel 36 grounding 26 at MB 60R 61 at robot base 26 61 robot mounted equipment 62 user supplied 24 VDC cable 57 grounding the robot 26 H hoisting sling 22 How Can I Get Help 17 I I O produc...

Page 95: ...VDC power 54 AC power 58 Cleanroom robot 87 robot performance 82 status LED description 37 status panel codes on MB 60R 38 system cable diagram 51 commissioning 67 connecting digital I O 40 operating...

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Page 98: ...5960 Inglewood Drive Pleasanton CA 94588 925 245 3400 5960 Inglewood Drive Pleasanton CA 94588 925 245 3400 P N 05173 060 Rev D...

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