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Chapter 1: Introduction

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

Page 11 of 100

The Adept MB-60R/eMB-60R feature:

Six AC servo motor amplifiers

Emergency stop circuitry

High servo rate, to deliver low positional errors and superior path following

Sine wave commutation, for low cogging torque and improved path following

Digital feed-forward design, to maximizes efficiency, torque, and velocity

Integral temperature sensors and status monitoring for maximum reliability

Dual-digit diagnostics display for easy troubleshooting

Figure 1-3. MotionBlox-60R (MB-60R shown)

1.2 Dangers, Warnings, Cautions, and Notes

There are six levels of special alert notation used in Adept manuals. In descending order of
importance, they are:

DANGER

: This indicates an imminently hazardous elec-

trical situation which, if not avoided, will result in death
or serious injury.

Содержание eMB-60R

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

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Страница 3: ...ugust 2012 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...

Страница 4: ...sist us in preparation of future documentation Please submit your comments to tech pubs adept com Copyright 2007 2010 2012 by Adept Technology Inc All rights reserved Adept the Adept logo the Adept Te...

Страница 5: ...er s Declaration 14 1 9 How Can I Get Help 15 Related Manuals 15 Adept Document Library 15 Chapter 2 Robot Installation 17 2 1 Unpacking and Inspecting the Adept Equipment 17 Before Unpacking 17 Upon...

Страница 6: ...48 Panel Mounting the MB 60R eMB 60R 48 Chapter 4 System Installation 49 4 1 System Cable Diagram 49 Cables and Parts List 50 4 2 Installing the SmartController 50 4 3 Installing the Adept ACE Softwa...

Страница 7: ...g E Stop Functions 67 Verify Robot Motions 67 5 4 Learning to Program the Robot 67 5 5 Installing Axis Labels 68 5 6 Caution Label on Robot 69 5 7 Installing User Supplied Hardstops 69 Chapter 6 Maint...

Страница 8: ...ion 89 8 2 Differences from the Standard Robot Model 90 Installation Environment 90 Robot Connector Panel 90 Cable Clearance 91 Replacing Encoder Backup Battery 91 Chapter 9 Cleanroom Option 93 9 1 In...

Страница 9: ...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 robots...

Страница 10: ...on as well as other options There are two models available the SmartController CX which uses the V Operating System and the SmartController EX which uses the eV Operating System Both models offer scal...

Страница 11: ...h following l Digital feed forward design to maximizes efficiency torque and velocity l Integral temperature sensors and status monitoring for maximum reliability l Dual digit diagnostics display for...

Страница 12: ...operation 1 3 Intended Use of the Robots The Adept Viper robots are intended for use in parts assembly and material handling for pay loads less than 5 kg See Technical Specifications on page 83 for co...

Страница 13: ...procedures of your company or organization for an emergency situation If a fire occurs use CO 2 to extinguish the fire 1 6 Additional Safety Information Adept provides other sources for more safety i...

Страница 14: ...ble and connect it between the MB 60R eMB 60R and the facility AC power source Connecting 200 240 VAC Power to MB 60R eMB 60R on page 55 Install user supplied safety barriers in the workcell Installin...

Страница 15: ...econfiguring installed components and adding other optional components See the following table These manuals are available on the Adept Document Library and the software CD ROM shipped with each syste...

Страница 16: ...ort 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 information on a specific topic use the Documen...

Страница 17: ...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 contact Ad...

Страница 18: ...liquids l There are any acidic alkaline or other corrosive gases l There is sulfuric or other types of cutting or grinding oil mist l There are any large sized inverters high output high frequency tr...

Страница 19: ...apply force to any of them See Robot Axis Identification on page 9 WARNING Do not attempt to lift the robot at any points other than the eyebolts provided Do not attempt to extend the inner or outer...

Страница 20: ...equired 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 Disconnect the robot control cable air hoses and user signal cables from...

Страница 21: ...rom tipping over 6 Worker B Operate the crane and move the robot to the mounting loca tion 7 Worker B Put the robot down in the mounting location Worker A Temporarily secure the robot base with four b...

Страница 22: ...10 mm deep or more l Drill a dowel pin 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 acces sory...

Страница 23: ...e grounding terminal of the robot with a wire of 12 AWG or larger Ground resist ance must be less than 100 milliohms NOTE Use a dedicated grounding wire and grounding electrode Do not share them with...

Страница 24: ...n CN21 on the upper arm Pins 12 to 18 are for solenoid control See Air Lines and Signal Wiring on page 24 AIR 1 Air line connector BSPT1 4 for three solenoids in robot Air Lines and Signal Wir ing on...

Страница 25: ...d 3B solenoid valve 3 PNP type sink IN source OUT CN20 pin No Used for 12 0 V 13 Solenoid 1A solenoid valve 1 14 Solenoid 1B solenoid valve 1 15 Solenoid 2A solenoid valve 2 16 Solenoid 2B solenoid va...

Страница 26: ...nnects between the XDIO connector on the SmartController and the CN20 connector on the robot The part number is 05739 040 NOTE The optional solenoid cable does not work with the IP 54 65 or the Clean...

Страница 27: ...IO signals out to the CN21 connector at the top of the robot See the following table for details of which signals are available at CN21 See the Adept SmartController User s Guide for the electrical sp...

Страница 28: ...e cross section Cv value 1 2 mm2 Lubrication Oilless Operating pressure range 0 1 to 0 7 MPa 14 to 101 psi a Response time 15 ms or less at 0 5 MPa 72 5 psi Maximum operating frequency 10 Hz Ambient t...

Страница 29: ...ay become loose rattle or be out of position The mechanical parts of the robot and robot controller may become damaged Continuous Turn on J6 As an option the Adept Viper s650 s850 can be ordered so th...

Страница 30: ...Gravity of End effector Moment of Inertia Around J4 J5 and J6 Design an end effector so that its moments of inertia around J4 J5 and J6 including mass of workpiece do not exceed the maximum allowable...

Страница 31: ...Chapter 2 Robot Installation Adept Viper s650 s850 Robot with MB 60R eMB 60R User s Guide Rev F Page 31 of 100 Table 2 6 Moment of Inertia Formulas...

Страница 32: ...Chapter 2 Robot Installation Adept Viper s650 s850 Robot with MB 60R eMB 60R User s Guide Rev F Page 32 of 100 Figure 2 10 Moment of Inertia Calculation Examples...

Страница 33: ...execute servo commands The MB 60R eMB 60R consists of l a distributed servo amplifier l a RISC processor for servo loop control l a node on the IEEE 1394 network l a power controller that uses single...

Страница 34: ...60R Adept Viper s650 s850 Robot with MB 60R eMB 60R User s Guide Rev F Page 34 of 100 3 2 Description of Connectors on MB 60R eMB 60R Interface Panel Figure 3 2 eMB 60R Interface Panel Figure 3 3 MB...

Страница 35: ...O signals DB 26 high density female XSYSTEM eMB 60R only includes the functions of the XPANEL and XSLV on the MB 60R Connects to the controller XSYS connector This requires either an eAIB XSLV Adapter...

Страница 36: ...Blink High Power Enabled Green Red Blink Selected Configuration Node Red Fast Blink Fault refer to the following table Solid Green or Red Initialization or Robot Fault Status Panel The status panel s...

Страница 37: ...ingle encoder wiring error may result in multiple channels of displayed encoder errors Reference the lowest encoder number displayed For more information on status codes go to the Adept Document Libra...

Страница 38: ...You can connect digital I O to the system in several different ways See the following table and figure Table 3 5 Digital I O Connection Options Product I O Capacity For more details XIO Connector on...

Страница 39: ...tem MB 60R and CX shown Table 3 6 Digital I O Signal Ranges Type Signal Range SmartController XDIO connector Inputs 1001 1012 Outputs 0001 0008 sDIO Module 1 Inputs 1033 1064 Outputs 0033 0064 sDIO Mo...

Страница 40: ...28 IO Blox 4 Inputs 1137 1144 Outputs 0129 0136 3 5 Using Digital I O on MB 60R eMB 60R XIO Connector The XIO connector on the MB 60R eMB 60R interface panel offers access to digital I O 12 inputs and...

Страница 41: ...eMB 60R Interface Panel 2 24 VDC 3 Common 1 1 4 Input 1 1 1 1097 5 Input 2 1 1 1098 6 Input 3 1 1 1099 7 Input 4 1 1 1100 8 Input 5 1 1 1101 9 Input 6 1 1 1102 10 GND 11 24 VDC 12 Common 2 2 13 Input...

Страница 42: ...connection to the XIO connector see the following table or through the optional XIO Termination Block See the documentation supplied with the Termination Block for details The XIO inputs cannot be use...

Страница 43: ...e typically used to drive the inputs Typical Input Wiring Example Figure 3 6 Typical User Wiring for XIO Input Signals NOTE The off state current range exceeds the leakage current of XIO outputs This...

Страница 44: ...DC input to the robot through a self resetting polyfuse The outputs are accessed through direct connection to the XIO connector see Table 3 7 or through the optional XIO Termination Block See the docu...

Страница 45: ...lable as an option see the following figure This cable connects to the XIO connector on the MB 60R eMB 60R and provides flying leads on the user s end for connecting input and output signals in the wo...

Страница 46: ...Black 5 Input 2 1 Yellow 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...

Страница 47: ...B 60R User s Guide Rev F Page 47 of 100 3 6 MB 60R eMB 60R Dimensions The following figure shows dimensions of MB 60R eMB 60R chassis and mounting holes An MB 60R is shown but the dimensions for the t...

Страница 48: ...f the MB 60R eMB 60R and all terminations at the MB 60R eMB 60R must be performed in accordance with all local and national stand ards Panel Mounting the MB 60R eMB 60R To panel mount the MB 60R eMB 6...

Страница 49: ...XSYSTEM 24 VDC Power from User Supplied Power Supply to Controller XDC1 Desktop or Laptop PC user supplied Running Adept ACE Terminator Installed User Supplied Ground Wire External Brake Connector Arm...

Страница 50: ...Cable for SmartController CX Supplied with optional T2 pendant T20 Pendant Adapter Cable for SmartController EX Supplied with optional T20 pendant Power Cable Kit contains 24 VDC and AC power cables A...

Страница 51: ...om the Adept ACE software CD ROM menu click Read Important Information 3 From the Adept ACE software CD ROM menu select Install the Adept ACE Software The Adept ACE Setup wizard opens 4 Follow the onl...

Страница 52: ...een the XSYS connector on the Smart Controller and the eMB 60R XSYSTEM connector and tighten the latching screws If you are upgrading from an MB 60R to an eMB 60R you can use an eAIB XSLV Adapter cabl...

Страница 53: ...power to less than 300 W or 8 A in line fuse protection must be added to the 24 V power source NOTE Fuse information is located on the MB 60R eMB 60R electronics The power requirements for the user s...

Страница 54: ...ables and Parts List on page 50 Procedure for Creating 24 VDC Cable 1 Locate the connector and pins from the preceding table 2 Use shielded two conductor cable with 14 16 AWG wire to create the 24 VDC...

Страница 55: ...R eMB 60R Servo Controller User Supplied Shielded Power Cable Adept SmartController User Supplied Shielded Power Cable Attach shield from user supplied cable to controller using star washer and M3 x 6...

Страница 56: ...stablished at nominal line voltage Low line voltage can affect robot per formance The Adept robot system is intended to be installed as a piece of equipment in a per manently installed system Table 4...

Страница 57: ...he point of connection to the power source shall be controlled not to exceed overvoltage Category II i e not higher than the impulse voltage corresponding to the rated voltage for the basic insulation...

Страница 58: ...etails AC Connector details AC in line power plug straight female screw terminal 10 A 250 VAC Qualtek P N 709 00 00 Digi Key P N Q217 ND NOTE The AC power cable is not supplied with the system but is...

Страница 59: ...nated end of the AC power cable to your facility AC power source See Figure 4 3 and Figure 4 4 Do not turn on AC power at this time 2 Plug the AC connector into the AC power connector on the interface...

Страница 60: ...wire at the MB 60R eMB 60R chassis Use the hole below the MB 60R eMB 60R interface panel See the following figure The user should provide a ground wire and use the provided M4 screw and external toot...

Страница 61: ...ous voltages could lead to injury or death of a person touching the end effector when an electrical fault condition exists 4 10 Installing User Supplied Safety Equipment The user is responsible for in...

Страница 62: ......

Страница 63: ...box In both cases you can release the brakes on a specific axis WARNING Secure the robot prior to releasing the brakes on axes 2 or 3 to prevent injury to personnel or equipment damage Installing and...

Страница 64: ...s See the following figure 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 wor...

Страница 65: ...est it before you use it for the first time Failure to do this could cause death serious injury or equipment damage Mechanical Checks l Verify that the robot is mounted level and that all fasteners ar...

Страница 66: ...l lowing section Running the Adept ACE Software 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...

Страница 67: ...t on the Front Panel should go out Verify Robot Motions Use the pendant or jog control to test the motion of each axis on the robot to confirm it moves in the proper directions Refer to the Adept T20...

Страница 68: ...stem includes a set of axis directional labels that can be installed on the robot See the following table Also refer to Robot Axis Identification on page 9 for a drawing of the axis iden tification Th...

Страница 69: ...is no CALSET operation on the Adept Viper robot and there is no Installation and Maintenance Guide 5 7 Installing User Supplied Hardstops For the purpose of limiting the robot working envelope the ha...

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Страница 71: ...s see Cleanroom Option on page 93 For IP 54 65 robots see IP 54 65 Option on page 89 Item Period Reference Check E Stop enable and key switches and barrier interlocks 6 months See Checking Safety Syst...

Страница 72: ...the robot are not interlocked turn off and disconnect power if covers have to be removed CAUTION Replace the batteries only with 3 6 V 8 5 Ah lithium batteries Adept part number 05234 000 Battery info...

Страница 73: ...re 1 Prepare a new set of three backup batteries for replacement 2 Turn off AC power to the MB 60R eMB 60R and DC power to the controller 3 Remove the cover from the robot See the following figure Fig...

Страница 74: ...rst New Battery 6 Disconnect the old backup battery that is next to the new battery connected in the pre vious step and then connect a new battery 2nd one See the following figure NOTE Be sure to repl...

Страница 75: ...y connector cap disconnected in Step 4 See the following figure Figure 6 6 Reconnecting Dummy Connector Cap 9 Replace the cover on the robot l Tightening torque IP 54 65 models Hex socket bolt 2 0 N m...

Страница 76: ...arefully remove the new MB 60R eMB 60R from its packaging check it for any signs of damage and remove any foreign packing materials or debris 2 Carefully place the MB 60R eMB 60R next to the robot 3 C...

Страница 77: ...e robot using the software E Stop first The hardware E Stop will take over in the event of a failure of the software E Stop l Teach Restrict limits the maximum speed of the robot when it is operated i...

Страница 78: ...3 2 10 or later must be connected to the eMB 60R l The Front Panel keyswitch must be in Auto mode Figure 6 7 Adept Front Panel l An Adept pendant is required for the Teach Restrict verification l No...

Страница 79: ...roller 4 Cycle power on the eMB 60R E Stop Verification Utility This utility verifies that the hardware E Stop parameters are set correctly and that the hard ware E Stop is working The hardware E Stop...

Страница 80: ...B for each It will then record the configuration and display the target times that it set 4 Click Finish 5 If the SmartController does not reboot cycle power on the SmartController Teach Restrict Veri...

Страница 81: ...ove the robot to the Ready position The robot will move each joint in succession It will generate an over speed con dition for each and verify that the hardware detected the over speed condition 4 Cli...

Страница 82: ......

Страница 83: ...Adept Viper s650 s850 Robot with MB 60R eMB 60R User s Guide Rev F Page 83 of 100 Chapter 7 Technical Specifications 7 1 Robot Dimensions Figure 7 1 Adept Viper s650 Side Dimensions and Work Envelope...

Страница 84: ...Chapter 7 Technical Specifications Adept Viper s650 s850 Robot with MB 60R eMB 60R User s Guide Rev F Page 84 of 100 Figure 7 2 Adept Viper s650 Top Dimensions and Work Envelope...

Страница 85: ...Chapter 7 Technical Specifications Adept Viper s650 s850 Robot with MB 60R eMB 60R User s Guide Rev F Page 85 of 100 Figure 7 3 Adept Viper s850 Side Dimensions and Work Envelope...

Страница 86: ...Chapter 7 Technical Specifications Adept Viper s650 s850 Robot with MB 60R eMB 60R User s Guide Rev F Page 86 of 100 Figure 7 4 Adept Viper s850 Top Dimensions and Work Envelope...

Страница 87: ...second link 770 mm Arm offset J1 swing 75 mm J3 front link 90 mm Maximum motion area R 733 mm end effector mounting face R 653 mm Point P J4 J5 J6 center R 934 mm end effector mounting face R 854 mm...

Страница 88: ...d absolute encoder Drive motor and brake AC servomotors for all joints Brakes for joints J2 to J6 User air lines Note 2 7 systems 4x6 6x1 3 solenoid valves 2 position double solenoid contained User si...

Страница 89: ...of splash proof model With the IP 54 65 option the main body of the robot is rated IP 54 and Joints 4 5 6 are rated IP 65 Without this option the robots have a rating of IP 40 CAUTION The SmartControl...

Страница 90: ...rs or other sources of electrical noise l it may likely be submerged in fluid l there is sulfuric cutting or grinding oil mist NOTE Any machining oil used around the robot must be compatible with NBR...

Страница 91: ...f the robot is 222 mm See Technical Specifications on page 83 for dimension drawings Replacing Encoder Backup Battery For the IP 54 65 robot the procedure to replace the encoder battery is the same as...

Страница 92: ......

Страница 93: ...Differences 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 Cleanroom Technica...

Страница 94: ...ot Figure 9 2 Cleanroom Robot Connector Panel See Cleanroom Technical Specifications on page 93 for the recommended vacuum flow rate 9 3 Air Lines and Signal Wiring The Cleanroom robot is equipped wit...

Страница 95: ...sed on Cleanroom robot Table 9 3 CN 20 Pin Assignments M to U NPN type source IN sink OUT PNP type sink IN source OUT CN20 pin Used for CN20 pin Used for M 24 V M 0 V N Solenoid 1A solenoid valve 1 N...

Страница 96: ...art Name Appearance Connector Set Part No 05584 000 for CN20 H M3106A22 14S straight plug HIROSE ELECTRIC CO LTD for CN20 H MS3057 12A cord clamp HIROSE ELECTRIC CO LTD Applicable wire diameter 11 4 t...

Страница 97: ...he cable clearance dimension at the back of the robot is 222 mm Technical Specifications on page 83 for dimension drawings 9 6 Replacing Encoder Backup Battery For the Cleanroom robot the procedure to...

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Страница 100: ...P N 05173 060 Rev F 5960 Inglewood Drive Pleasanton CA 94588 925 245 3400...

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