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Table of Contents

6

Adept Viper s1300 Robot User’s Guide, Rev B

3

System Installation  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.2 Installing the SmartController  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.3 Installing the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.4 Connecting the PC to the SmartController  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.5 Installing the PA-4 Power Chassis  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.6 Connecting 3-Phase AC Power to PA-4   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

PA-4 3-Phase Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Connecting the PA-4 3-Phase AC Power Cord to AC Supply   . . . . . . . . . . 38

Typical 3-Phase AC Power Installation Diagrams . . . . . . . . . . . . . . . . . . . . . 39

4

System Operation   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4.1 Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Verifying Installation  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Mechanical Checks  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
System Cable Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
User-Supplied Safety Equipment Checks  . . . . . . . . . . . . . . . . . . . . . 42

System Start-up Procedure  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Running the Adept ACE Software  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Starting the Adept ACE Software  . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Enabling High Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Verifying E-Stop Functions  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Verifying Robot Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.2 Learning to Program the Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.3 Connecting Digital I/O to the System  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4.4 Status Panel Codes on sDAI Module  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

4.5 Installing and Using the Brake Release Box  . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

5

Maintenance   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.1 Replacing Encoder Backup Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.2 Installing User-Supplied Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

6

Technical Specifications  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

6.1 Robot Dimensions  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

6.2 Robot Flange Dimensions  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

6.3 Specifications  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Index   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Summary of Contents for Adept Viper s1300

Page 1: ...Omron Adept Viper s1300 Robot User s Guide...

Page 2: ...cturer s Declaration 13 1 9 How Can I Get Help 14 Related Manuals 15 Adept Document Library 15 2 Robot Installation 17 2 1 Unpacking and Inspecting the Adept Equipment 17 2 2 Environmental and Facilit...

Page 3: ...issioning the System 41 Verifying Installation 41 Mechanical Checks 41 System Cable Checks 41 User Supplied Safety Equipment Checks 42 System Start up Procedure 42 Running the Adept ACE Software 42 St...

Page 4: ...I Module 36 Figure 3 3 Typical 3 Phase 200 240 VAC Connection for PA 4 System 39 Figure 3 4 Typical 3 Phase 380 415 VAC Connection for PA 4 System 39 Figure 4 1 High Power Button on Front Panel 43 Fig...

Page 5: ...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 Figure 1 1 Robot...

Page 6: ...roller CX Adept PA 4 CAT 3 Power Chassis The PA 4 CAT 3 includes AC DC power conversion electronics that support a range of Adept power amplifiers and robot control modules In addition the PA 4 CAT 3...

Page 7: ...hazardous electrical situation which if not avoided will result in death or serious injury DANGER This indicates an imminently hazardous situation which if not avoided will result in death or serious...

Page 8: ...nd its power supply must be locked out and tagged out before any maintenance is performed 1 4 What to Do in an Emergency Situation Press any E Stop button a red push button on a yellow background fiel...

Page 9: ...m Download Library Manufacturer Declarations Each Manufacturer s Declaration is supplied in PDF format and stored on the website in a ZIP archive To access the PDF document 1 Click on the appropriate...

Page 10: ...mericas http www adept com contact asiapacific rim http www adept com contact europe For Product Support information http www adept com support service and support main For user discussions support an...

Page 11: ...a list of available product documentation select the Document Titles option Table 1 2 Related Manuals Manual Title Description Adept Robot Safety Guide Contains general safety information for all Adep...

Page 12: ...et please compare the actual items received not just the packing slip with your equipment purchase order and verify that all items are present and that the shipment is correct and free of visible dama...

Page 13: ...2 3G or less Safe Installation Environment The robot should not be installed in an environment where there are flammable gases or liquids there are any acidic alkaline or other corrosive gases there i...

Page 14: ...fety shoes and gloves during transport 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 Figure 1 1 on page 9 Figure 2 1 Rob...

Page 15: ...robot is in the transport position so this job is not required Transport Position Axis Angle First axis J1 90 Second axis J2 175 Third axis J3 255 Fourth axis J4 90 Fifth axis J5 90 2 Disconnect the r...

Page 16: ...t from getting overturned 6 Worker B Operate the crane and move the robot unit to the target site 7 Worker B Put the robot unit down in the target position Worker A Temporarily secure the robot unit w...

Page 17: ...Be sure to secure keys or pins They can minimize positional deviations that may be caused by the removal and installation of the robot unit for maintenance 4 Set the robot unit into place on the robot...

Page 18: ...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 Figure 2 3 Ground Point on Robot WARNING Wirin...

Page 19: ...ed 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 25 AIR 1 air piping connector BSPT1 4 for three solenoids in robot See...

Page 20: ...e n n o C for CN20 for CN21 SRCN6A25 24S round type connector Japan Aviation Electronics Industry Ltd 05019 000 JMLP1610M L type plug connector DDK Electronics Inc Air Piping Joint M5 Valve Symbols a...

Page 21: ...e Adept SmartController User s Guide for the electrical specifications for the signals from the XDIO connector Table 2 2 Viper Solenoid Control from V Active Output Port V Signal Statesa a The two pos...

Page 22: ...Air Operating system Pilot type Effective cross section Cv value 0 27 P A B 0 3 A B EA EB Lubrication Oilless Operating pressure range 0 1 to 0 7 Mpa Response time 10 ms or less at 0 5 Mpa Maximum ope...

Page 23: ...obot Installation 28 Adept Viper s1300 Robot User s Guide Rev B External Mounting Locations on Robot Figure 2 5 External Mounting Holes on Robot 50 90 2 M4 12 deep 2 M6 18 deep 2 M6 18 deep 2 M12 34 d...

Page 24: ...less than or equal to maximum payload capacity 10 kg Center of Gravity Position of End Effector Design an end effector so that the center of gravity position of the end effector including workpiece i...

Page 25: ...round J4 and J5 0 36 kgm2 Maximum allowable moment of inertia around J6 0 064 kgm2 When calculating the moment of inertia around J4 J5 and J6 of the end effector use the formulas given in Table 2 5 an...

Page 26: ...m 1 and 5 in Table 2 3 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 inertia around J4 and J5 can be calcul...

Page 27: ...O U T P U T LOW VOLTS ON HV SAG OVER TEMP FAULT DO NOT REMOVE OR INSTALL THIS SHORT FAULT OPEN CKT FAULT MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUISHED PWM ON CH1 HIGH VOLTS ON CH2 A M P L I...

Page 28: ...re CD ROM 1 Insert the CD ROM into the CD ROM drive of your PC If Autoplay is enabled the Adept software CD ROM menu is displayed If Autoplay is disabled you will need to manually start the CD ROM 2 E...

Page 29: ...Adept Viper system only the panel mounting option is available 2 Locate these cables shipped in the cable accessories box IEEE 1394 cable length 4 5M XSYS cable length 4 5M Arm Power Signal cable leng...

Page 30: ...A M P L I F I E R C O N T R O L CH2 CH1 M O T O R P O W E R O U T P U T K AMP K AMP J AMP LOW VOLTS ON HV SAG OVER TEMP FAULT DO NOT REMOVE OR INSTALL THIS SHORT FAULT OPEN CKT FAULT MODULE UNLESS HI...

Page 31: ...minal Voltage Range Frequency Phasing Minimum Operating Voltage Maximum Operating Voltage Recommended External Circuit Breaker user supplied 200 to 240 VAC 50 60 Hz 3 phase 180 VAC 245 VAC 20 amps 380...

Page 32: ...e 3 3 3 Phase AC Power Cord Specifications for PA 4 Cord length 3 meters 0 1 m 9 ft 10 in 4 in Cord rating 25 amps Number and size of conductor size 5 x 2 5 mm2 Color code 200 240 VAC line 1 line 2 li...

Page 33: ...hase AC Power Installation Diagrams Figure 3 3 Typical 3 Phase 200 240 VAC Connection for PA 4 System Figure 3 4 Typical 3 Phase 380 415 VAC Connection for PA 4 System PE PE L3 L3 L2 L2 L1 L1 3 200 24...

Page 34: ...and controller have been properly installed Mechanical Checks Verify that the robot is mounted level and all fasteners are installed and tightened Verify that any end of arm tooling is properly instal...

Page 35: ...tware Starting the Adept ACE Software The robot should be on and the status panel should display OK before proceeding 1 Turn on the PC and start the Adept ACE software Double click the Adept ACE icon...

Page 36: ...to test the motion of each axis on the robot to confirm it moves in the proper directions Refer to the Adept SmartController User s Guide and the T2 Pendant User s Guide for complete instructions on...

Page 37: ...CH2 CH1 M O T O R P O W E R O U T P U T K AMP K AMP J AMP LOW VOLTS ON HV SAG OVER TEMP FAULT DO NOT REMOVE OR INSTALL THIS SHORT FAULT OPEN CKT FAULT MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTIN...

Page 38: ...12 Outputs 0001 0008 sDIO Module 1 Inputs 1033 1064 Outputs 0033 0064 sDIO Module 2 Inputs 1065 1096 Outputs 0065 0096 sDIO Module 3 recommended Inputs 1201 1232 Outputs 0201 0232 sDIO Module 4 recomm...

Page 39: ...t Library on the Adept website and in the Procedures FAQs and Troubleshooting section look for the Adept Status Code Summary document Table 4 3 Status Panel Codes LED Status Code LED Status Code OK No...

Page 40: ...3 Press one of the E Stops Pendant Front Panel or external 4 Using the axis selector switch select the axis that you want to release the brake 5 Depress the brake release push button to release the b...

Page 41: ...the batteries according to the procedure below 1 Prepare a new set of 3 backup batteries for replacement 2 Turn off AC power to the PA 4 and DC power to the controller 3 Remove the cover from the rob...

Page 42: ...re 5 3 Removing Dummy Connector Cap 6 Connect a new battery 1st one to the pin from which you have disconnected the dummy connector cap in Step 5 See Figure 5 4 NOTE Do not disconnect old backup batte...

Page 43: ...ew battery 2nd one See Figure 5 5 Figure 5 5 Connecting Second New Battery NOTE Be sure to replace all of three batteries with new ones at one time Otherwise the battery service life will be reduced 8...

Page 44: ...nd connect the dummy connector cap disconnected in Step 5 See Figure 5 7 Figure 5 7 Reconnecting Dummy Connector Cap 10 Secure the battery support plate to the connector plate Tightening torque 1 6 0...

Page 45: ...s for Joints 1 2 and 3 on the Adept Viper robots can be changed by installing user supplied hardstop devices In addition the default softstops or software limits must be modified after the hardstops h...

Page 46: ...al Specifications 6 6 1 Robot Dimensions Figure 6 1 Adept Viper s1300 Side Dimensions and Work Envelope R1118 41 491 11 R795 38 R223 45 R598 41 R598 1593 41 475 520 R598 120 0 120 0 135 0 90 0 135 0 1...

Page 47: ...Chapter 6 Technical Specifications 56 Adept Viper s1300 Robot User s Guide Rev B Figure 6 2 Adept Viper s1300 Top Dimensions and Work Envelope R1298 170 0 170 0 R403 45 150 188 130...

Page 48: ...Dimensions Adept Viper s1300 Robot User s Guide Rev B 57 6 2 Robot Flange Dimensions Figure 6 3 Robot Flange Dimensions 25 0 021 0 000 H7 9 5 6 0 012 0 000 H7 9 4x M6 9 50 0 000 0 039 H8 4x 90 45 Bol...

Page 49: ...of X Y and Z directions 0 07 mm at the center of an end effector mounting face Maximum allowable inertia moment Around J4 0 36 kgm2 Around J5 0 36 kgm2 Around J6 0 064 kgm2 Position detection Absolute...

Page 50: ...er to PA 4 37 power chassis cord to AC supply 38 connectors on robot description 24 current voltage ratings power chassis 3 phase 37 Customer Service assistance 14 D digital I O default signal configu...

Page 51: ...unting procedure 22 operating requirements 18 performance specifications 58 programming 43 s1300 dimensions side view 55 s1300 dimensions top view 56 solenoids signal wiring 25 transporting 19 unpacki...

Page 52: ...P N 06561 000 Rev B Omron Adept Technologies Inc Tel 925 245 3400 Email info adept com omron247 com Specifications subject to change without notice 2016 Omron ALL RIGHTS RESERVED Pub Number R94I E 01...

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