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AdeptThree User's Guide

14

Figure 2-8. Joint 4 Hardstop (Internal to Outer Link)

Table 2-1. Softstop and Hardstop Specifications

Softstop

Hardstop

(approximate)

Comments

Joint 1

±150°

+290° (+20°, –0°)
–290° (–20°, +0°)

See also Figure 2-11

Joint 2

±150°

+152° (+3°, –0°)
–152° (–3°, +0°)

See also Figure 2-11

Joint 3

0 to 12"

+12.55" to +12.85"
–0.15" to 0"

See also Figure 2-7

Joint 4

±270°

+280° (+15°, –0°)
–280° (–15°, +0°)

See also Figure 2-11

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Содержание AdeptThree

Страница 1: ...AdeptThree Robot User s Guide PRELIMINARY VERSION...

Страница 2: ...and revised Adept Technology Inc assumes no responsibility for any errors or omissions in this document Critical evaluation of this manual by the user is welcomed Your comments assist us in preparatio...

Страница 3: ......

Страница 4: ...nformation 3 International Customer Assistance 3 1 4 Safety 3 System Safeguards 4 Equipment Safety 4 1 5 Robot Modifications 5 2 OVERVIEW 7 2 1 Description 7 General 7 Joint Motions 8 Joint 1 8 Joint...

Страница 5: ...34 Facility Air Supply 35 3 9 End Effectors 35 Installation 35 Clamp mounted End Effector 35 Screw mounted End Effector 37 3 10 User Signal and Voltage Lines 39 USR1 Through USR5 39 Solenoid Drivers...

Страница 6: ...lope 17 Figure 3 1 AdeptThree with Calibration Fixture 23 Figure 3 2 Mounting Hole Pattern Robot to Plate Spool 25 Figure 3 3 Mounting Hole Pattern Plate Spool to Floor 25 Figure 3 4 Recommended Mount...

Страница 7: ...S Table 2 1 Softstop and Hardstop Specifications 14 Table 2 2 Specifications 18 Table 3 1 Tower PCA Connector Pinouts 43 Table A 1 Fifth Axis Specifications 53 Table A 2 Fifth Axis User Connector Pin...

Страница 8: ......

Страница 9: ...ptions purchased with the robot Throughout this manual you will find references to the V or V operating system and control language V is Adept s advanced operating system and control language which of...

Страница 10: ...ER Indicator On the Adept CC controller front panel there is an amber indicator light labeled HIGH POWER on the Adept MC controller the same indicator is labeled ARM POWER Any reference in this manual...

Страница 11: ...o work within or near the workcell We also recommend you read the American National Standard for Industrial Robot Systems Safety Requirements published by the RIA in conjunction with the American Nati...

Страница 12: ...ng Emergency stop circuitry Binary input and output lines The emergency power off circuitry in the controller is capable of switching external power systems as well as detecting intrusion signals from...

Страница 13: ...inner and outer links Joint 2 and the robot signature card may be modified If not done properly the modifications listed below will damage the robot reduce system reliability or shorten the life of t...

Страница 14: ...AdeptThree User s Guide 6 NOTES...

Страница 15: ...for an overview of the robot joint locations Refer to Figure 2 11 for the operating envelope and Table 2 2 for specifications The AdeptThree is designed to interface with either the Adept MC or the A...

Страница 16: ...ching robot locations Additionally it can serve as the sole operator interface to the system All physical connections between the AdeptThree robot its controller and the facility are located at the re...

Страница 17: ...location utilizing either a right hand Righty or left hand Lefty configuration However when V or V moves the arm to a location it must sometimes make assumptions about which configuration to use While...

Страница 18: ...maximum stroke of 12 0 inches 30 5 cm Refer to Figure 2 4 Joint 4 Joint 4 also referred to as the wrist provides rotation of the quill over a range of 540 This motion is similar to that of the human h...

Страница 19: ...ol pendant to move the robot the robot will stop very abruptly when it encounters a softstop This abruptness is due to the high torque motors there is no hardstop at these locations Occasions may aris...

Страница 20: ...AdeptThree User s Guide 12 Figure 2 5 Joint 1 Hardstop Internal to Joint 1 column Figure 2 6 Joint 2 Hardstop...

Страница 21: ...13 Figure 2 7 Joint 3 Hardstop...

Страница 22: ...Softstop and Hardstop Specifications Softstop Hardstop approximate Comments Joint 1 150 290 20 0 290 20 0 See also Figure 2 11 Joint 2 150 152 3 0 152 3 0 See also Figure 2 11 Joint 3 0 to 12 12 55 to...

Страница 23: ...ually position the arm without turning on HIGH POWER For such instances a brake release button is located on the rear of the base see Figure 2 9 When system power is on pressing the button releases th...

Страница 24: ...AdeptThree User s Guide 16 2 2 Dimensions Overall dimensions for the AdeptThree are shown in Figure 2 10 and the robot envelope is shown in Figure 2 11 Figure 2 10 Dimensional Overview...

Страница 25: ...17 Figure 2 11 AdeptThree Robot Working Envelope...

Страница 26: ...eration 55 lb 25 kg During calibration 30 lb 13 6 kg Inertia Load Maximum About Joint 4 axis 2500 lb in2 7300 kg cm2 About horizontal axis at tool flange face 4500 lb in2 13 000 kg cm2 Force Joint 3 d...

Страница 27: ...sec Weight Robot without options 480 lb 218 kg Design Life 42 000 hours 1 Specifications subject to change without notice 2 4 Options The AdeptThree is compatible with the following Adept options Ade...

Страница 28: ...AdeptThree User s Guide 20 NOTES...

Страница 29: ...is used in such an environment take the following steps to protect the robot Seal the quill and outer link assembly with a quill bellows Install gaskets on all access covers Pressurize the robot sligh...

Страница 30: ...for freedom of movement of the AdeptThree within the area specified in Figure 2 11 Additional allowances are required to accommodate any installed end of arm tooling and the calibration fixture Each r...

Страница 31: ...23 Figure 3 1 AdeptThree with Calibration Fixture...

Страница 32: ...plied by the User NOTE Mounting the base on any surface other than the recommended steel plate or spool may cause extreme difficulty if robot recalibration is required The User may further facilitate...

Страница 33: ...25 Figure 3 2 Mounting Hole Pattern Robot to Plate Spool Figure 3 3 Mounting Hole Pattern Plate Spool to Floor...

Страница 34: ...ee robot mounted on a spool One recommended source for a prefabricated spool is INTERLAKE BASES 17480 Malyn Boulevard Fraser MI 48026 313 294 8120 The recommended design for a manufactured spool is a...

Страница 35: ...fully inspect all shipping crates for evidence of damage during transit Pay special attention to tilt and shock indication labels on the exteriors of the containers If any damage is indicated request...

Страница 36: ...ion For Installation The following sequence details the preparation of materials required before actually beginning the installation procedure 1 Locate and set aside the Robot to Plate Spool and Plate...

Страница 37: ...or anchoring 3 Place the plate at the installation site exactly where the robot is to be installed Ensure that the plate is positioned such that the footprint for the robot is properly oriented relati...

Страница 38: ...around the anchor bolts 9 Insert a 1 2 13 x 4 inch bolt fitted with a lock washer and a flat washer through the holes in the plate into each of the three plate to floor anchor holes Tighten the bolts...

Страница 39: ...h that the footprint for the robot is properly oriented relative to the workcell 8 Using a spirit level verify that the top mounting surface of the spool is level The surface must be horizontal within...

Страница 40: ...AdeptThree User s Guide 32 Figure 3 6 Mounting Spool to Floor Installation Detail...

Страница 41: ...damage 2 Remove the three bolts securing the robot base to the pallet Retain these bolts for possible later relocation of the equipment 3 Lift the robot and position it directly over the floor plate...

Страница 42: ...ower and control signals are supplied to the robot via cables from the controller Refer to the User s Guide for your specific controller Adept MC or Adept CC for instructions on robot to controller in...

Страница 43: ...way Be careful not to disturb exposed parts and wiring when top cover is off At the outer link location the air lines can be accessed by removing the outer link cover 3 9 End Effectors Provision of a...

Страница 44: ...AdeptThree User s Guide 36 Figure 3 8 Quill Flange Dimensions...

Страница 45: ...keyway in the quill flange then place the ring clamp over both flanges and tighten the clamp screw Screw mounted End Effector The following procedure describes installing an end effector using four s...

Страница 46: ...f the screws protrude slightly through the flange align the cutouts in the Joint 3 hardstop located just above the quill flange to accommodate the screw tips CAUTION Do not allow the mounting screws t...

Страница 47: ...the binary interface of the controller Refer to Table 3 1 for the pin configuration of J9 Refer to your controller User s Guide for further information on termination of these lines within the contro...

Страница 48: ...itry has been incorporated to provide a momentary 24 V initial pulse to the solenoid to break any stiction dropping to 12 V for holding Some solenoid manufacturers include a transient suppression diod...

Страница 49: ...r to ensure their long life they are constructed of 26 AWG high strand count wire and are not designed to carry high current or voltage To minimize coupling with robot control signals in the harness t...

Страница 50: ...AdeptThree User s Guide 42 Figure 3 11 Tower Card User Signal and Voltage Lines...

Страница 51: ...FRC5 Force balance 12 12B RTN Uncommitted supply 13 Sig 2026 Solenoid drive channel 14 Sig 2026 15 Sig 2025 16 Sig 2025 ALT USR J4 Tower card connector T and B Corp 500 1627ES User s harness end AMP...

Страница 52: ...already used for the Adept harness 10640 12300 These pins can be used for two additional solenoid valves USR SOL J7 Tower card connector Terminal strip Phoenix 1715 747 MKDS 1 5 4 5 08 User s harness...

Страница 53: ...ires 01 12BF Uncommitted supply 02 USR1 User signal 03 USR1 04 USR2 05 USR2 06 USR3 07 USR3 08 USR4 09 USR4 10 USR5 11 USR5 12 12B RTN Uncommitted supply J10 01 Not used Brake solenoid auxilliary 02 P...

Страница 54: ...AdeptThree User s Guide 46 NOTES...

Страница 55: ...environment and usage To check for adequate lubrication at Joint 3 and 4 run a finger along the quill A thin film of grease should be present If the shaft is dry it needs lubrication Use only Dow Cor...

Страница 56: ...uill to its fully raised position CAUTION The quill MUST be in the fully raised position before lubricating Improper quill positioning could result in excessive lubricant getting on the Joint 4 brake...

Страница 57: ...49 Figure 4 1 Joint 3 and Joint 4 Lubrication...

Страница 58: ...ammed locations Diagnostic Procedure A robot with a slipped Joint 4 hardstop will display one of two symptoms 1 If the robot has been recalibrated using the CALIBRATE command the Joint 4 rotation at a...

Страница 59: ...then rotate the quill to one of the Joint 4 hardstops 6 Check the angle of Joint 4 on the MCP display The Joint 4 hardstop should be within a few degrees of either 285 or 285 The plus or minus value...

Страница 60: ...AdeptThree User s Guide 52 NOTES...

Страница 61: ...Adept system software either V or V A 2 Specifications Table A 1 Fifth Axis Specifications Maximum Travel 91 0 reference vertically downward Maximum Speed 180 in 0 3 seconds Maximum Payload 7 lb 3 18...

Страница 62: ...A 1 The end effector can either be bolted on or secured with the standard Adept ring clamp A 1 749 diameter by 0 100 high alignment pad on the end effector is accommodated but any utilities must be si...

Страница 63: ...mation The fifth axis is a fully integrated robot joint and treated the same as the other joints Like Joints 1 through 4 the fifth axis can be controlled by either the manual control pendant MCP or by...

Страница 64: ...Adept CC Controller 56 NOTES...

Страница 65: ...lation clamp mounted 35 screw mounted 37 F Fifth Axis checking flange position 55 installation 53 installing end effectors 54 specifications 53 user electrical connector 55 H Hardstops 11 14 I Install...

Страница 66: ...ons 7 modifications 5 optional equipment 19 specifications 18 working envelope 17 S Safety 3 4 Softstops 11 14 Solenoid drivers 2025 2026 on Tower PCA 40 T Tower PCA 39 45 connector locations 42 conne...

Страница 67: ...formation you want to see added to the manual We review and revise User s manuals on a regular basis and any comments or feedback you send us will be given serious consideration Thank you for your inp...

Страница 68: ...AdeptThree User s Guide 2...

Страница 69: ...Chapter 1 General Information 3...

Страница 70: ...AdeptThree User s Guide 4 00640 10110 Rev A...

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