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Chapter 1: Introduction

Adept AIB™

The power amplifiers for the Adept Quattro robot are embedded in the base of the robot. This
amplifier section is known as the Amplifiers in Base (AIB) distributed motion control platform,
and provides closed-loop servo control of the robot amplifiers, as well as robot I/O.

The Adept AIB features:

l

On-board digital I/O: 12 inputs, 8 outputs

l

Low EMI for use with noise-sensitive equipment

l

No external fan for quiet operation

l

8 kHz servo rate to deliver low positional errors and superior path following

l

Sine-wave commutation to lower cogging torque and improve path following

l

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

l

Temperature sensors on all amplifiers and motors for maximum reliability and easy
troubleshooting

NOTE

: The H and HS amplifiers and their cable inlet boxes are not

interchangeable.

Quattro Robot Base

The Adept Quattro robot base is an aluminum casting that houses the four drive motors, and
supports the power amplifiers. It provides four mounting pads for attaching the base to a rigid
support frame. The Status Display Panel is mounted on the side of the robot base.

Adept Quattro User's Guide, Rev E

Page 14 of 180

Содержание Quattro s650H

Страница 1: ...Adept Quattro User s Guide covers the Adept Quattro s650H s650HS s800H and s800HS Robots...

Страница 2: ......

Страница 3: ...955 000 Rev E March 2013 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 5...

Страница 4: ...documentation Please submit your comments to techpubs adept com Copyright 2010 2013 by Adept Technology Inc All rights reserved Adept the Adept logo the Adept Technology logo AdeptVision AIM Blox Blox...

Страница 5: ...ty Information 22 Manufacturer s Declaration of Conformity MDOC 23 Adept Robot Safety Guide 23 1 6 Intended Use of the Robots 23 1 7 Installation Overview 23 1 8 Manufacturer s Declaration 25 1 9 How...

Страница 6: ...king 43 3 3 Repacking for Relocation 45 3 4 Environmental and Facility Requirements 46 3 5 Mounting Frame 46 Frame Mounting Tabs 46 Overview 47 Robot to Frame Considerations 47 Mounting 47 Gussets 48...

Страница 7: ...75 4 9 Connecting 200 240 VAC Power to Robot 76 Specifications for AC Power 77 Details for AC Mating Connector 78 Procedure for Creating 200 240 VAC Cable 79 Installing AC Power Cable to Robot 80 4 10...

Страница 8: ...quipment Installation 103 6 1 End Effectors 103 Attaching 103 Aligning 103 Grounding 103 Accessing Vacuum 103 6 2 Routing End effector Lines 103 6 3 Ball Stud Locks 105 Installing a Ball Stud Lock 106...

Страница 9: ...sert 139 8 10 Replacing Outer Arm Spring Assemblies 139 Removing Outer Arm Spring Assemblies 139 Installing Outer Arm Spring Assemblies 141 Chapter 9 Maintenance HS 143 9 1 Cleaning 143 Water Shedding...

Страница 10: ...c Compatibility 166 Water Shedding 166 Wipe Down 166 10 3 Cleanroom Classification 166 10 4 Design Factors 166 Robot Base and Components 167 Inner Arms 167 Ball Joints 167 Outer Arms 167 Springs 167 P...

Страница 11: ...teel SS platforms and outer arm spoons The inner arm ends AIB and cable box are electroless nickel The electroless nickel and stainless steel versions of the Quattro s650HS robot are USDA Accepted In...

Страница 12: ...Single bolt installation EN 6 bolt installation Cable Inlet box Hard Anodized Option EN Standard Cable tray Not required Required for USDA Status Display Half height Full height to shield labels Prot...

Страница 13: ...s Display Panels as shown in these two photos Outer Arms Platform P31 shown Cable Inlet Box Inner Arms Motor Cover AIB Mounting Pads Base Ball Joints and Spring Assemblies Status Display Panel Figure...

Страница 14: ...l errors and superior path following l Sine wave commutation to lower cogging torque and improve path following l Digital feed forward design to maximize efficiency torque and velocity l Temperature s...

Страница 15: ...e the only drive motors in the Quattro robot The following figures show the precision carbon fiber assembly of the inner arms on a Quattro H robot and Quattro HS robot The ends of the inner arms on th...

Страница 16: ...d between the inner arms and platform with precision ball joints The outer arms are carbon fiber epoxied assemblies with identical ball joint sockets at each end A bearing insert in each socket accept...

Страница 17: ...of Theta rotation and inertia needed NOTE The four models of platforms require different robot parameters The suffix on the part numbers that follow indicates the finish or material of the platform R...

Страница 18: ...9734 xxx The P34 platform has a rotation range of 185 The tool flange is mounted on one of the pivot links See Figure 1 9 Figure 1 7 P31 Platform Hard Anodized Version NOTE Adept logo joint numbers an...

Страница 19: ...signate a P32 platform Materials and Finishes Platforms are available in l Aluminum with hard anodized finish l Aluminum with electroless nickel finish l Stainless steel The following table shows whic...

Страница 20: ...high performance distributed motion controllers The SmartController is designed for use with l Adept Quattro robots l Adept Cobra s600 s800 robots l Adept Viper robots l Adept Python linear modules l...

Страница 21: ...s In descending order of importance they are This indicates an imminently hazardous electrical situation which if not avoided will result in death or serious injury This indicates an imminently hazard...

Страница 22: ...s guide read the Adept Robot Safety Guide and must comply with all local and national safety regulations for the location in which the robot is installed l The robot system must not be used for purpos...

Страница 23: ...for details on the intended use of Adept robots 1 7 Installation Overview The system installation process is summarized in the following table Also refer to System Cable Diagram on page 69 NOTE For d...

Страница 24: ...C Power to Robot on page 76 Install user supplied safety barriers in the workcell Installing User Supplied Safety Equipment on page 81 Connect digital I O through the robot XIO connector Using Digital...

Страница 25: ...pens at the bottom of the page You may need to scroll down to see it 4 Use the Description column to locate the document for the language you want and then click the corresponding Download ID number t...

Страница 26: ...Adept T2 Pendant User s Guide Describes the use of the optional Adept manual control pendant Adept Document Library The Adept Document Library ADL contains documentation for Adept products You can ac...

Страница 27: ...f any damage is indicated request that the carrier s agent be present at the time the container is unpacked Upon Unpacking Before signing the carrier s delivery sheet compare the actual items received...

Страница 28: ...s800 The robot base is shipped with the inner arms attached The outer arms are shipped assembled in pairs The platform is shipped fully assembled but separate from the robot base and outer arms Under...

Страница 29: ...76 Note The Adept SmartController must be installed inside a NEMA 1 rated enclosure The controller must not come into contact with liquids 2 5 Mounting Frame The Adept Quattro robot is designed to be...

Страница 30: ...s650H Robot on page 122 Any robot s ability to settle to a fixed point in space is governed by the forces masses and accelerations of the robot Since every action has an equal and opposite reaction th...

Страница 31: ...be suitable to manufacture the frame of carbon steel and paint the resulting assembly The frame design presented here is based on a stainless steel construction using 10 mm thick members It may be re...

Страница 32: ...e design intent of the gussets is mainly to secure the long vertical members from rotating out of position For this reason the gussets to the across the belt horizontal member should be at the bottom...

Страница 33: ...to the bottom of the frame pads using the top surface of the robot base mounting pads Mounting to Top of Frame Pads This procedure uses two user supplied M16 x 2 0 eyebolts and jam nuts 1 Remove all l...

Страница 34: ...ot while rotating it slightly so that the four mounting pads are lowered past the frame mounting pads without touching 5 When the robot base mounting pads are below the lower surface of the frame moun...

Страница 35: ...the frame 3 Slowly lift the robot while rotating it slightly so that the four mounting pads are raised past the frame mounting pads without touching 4 When the robot base mounting pads are above the t...

Страница 36: ...o nuts 3 Tighten the mounting hardware to the specifications listed in the following table NOTE Check the tightness of the mounting bolts one week after initial installation and then recheck every 6 m...

Страница 37: ...fully assembled Clocking the Platform to the Base The rotational alignment clocking of the platform to the base is critical to the correct operation of the Adept Quattro robot CAUTION Incorrect clocki...

Страница 38: ...numbers on the platform must match the numbers on the underside of the robot base Figure 2 6 Platform Orientation Labeling P34 shown NOTE The labeling on all anodized platforms is the same except for...

Страница 39: ...pair of outer arms attaches between each inner arm and the platform No tools are needed to install or remove the outer arms l Each outer arm has a ball joint socket at each end l The inner arms and th...

Страница 40: ...suring that the insert is centered and bottomed out in the ball joint socket NOTE In the following steps take care not to trap debris between the ball studs and their sockets NOTE The procedure for at...

Страница 41: ...ers on the underside of the robot base This will place the platform tool flange closest to the Status Display Panel See Clocking the Platform to the Base on page 37 The platform is installed flange do...

Страница 42: ...Chapter 2 Robot Installation H Figure 2 11 Horseshoe and Spring Assembly Adept Quattro User s Guide Rev E Page 42 of 180...

Страница 43: ...If any damage is indicated request that the carrier s agent be present at the time the container is unpacked Upon Unpacking Before signing the carrier s delivery sheet compare the actual items receiv...

Страница 44: ...s650H shown Figure 3 2 View of crate with s800 Outer Arms s800H shown The robot base is shipped with the inner arms attached The outer arms are shipped assembled in pairs the platform is shipped fully...

Страница 45: ...5 in from each bracket Retain the wood screws and washers for possible future relocation 3 Remove the M16 bolt and lock and flat washers from each bracket Retain the M16 bolts and lock and flat washer...

Страница 46: ...ntroller must be installed inside a NEMA 1 rated enclosure The controller must not come into contact with liquids NOTE For chemical cleaning information refer to Chemical Compatibility on page 144 3 5...

Страница 47: ...in inertial movement of the tool flange mass and will cause disturbance forces to be introduced into the robot control system These disturbance forces cause work to be done by the robot servo control...

Страница 48: ...e loading into the walls of the members instead of the faces and enable easier cleaning Some frame designs may benefit from extending these gussets to 500 mm in the vertical direction as the design in...

Страница 49: ...once they are assembled inside the CF frame See Figure 3 10 l 4 x Screws M4 x 40 cable box AIB one is used for the ground l 1 x Washer ETL SS M4 for ground screw l 4 x Screws M4 x 16 mm for the back...

Страница 50: ...Figure 3 10 Figure 3 5 Quattro HS Cable Inlet Box with Roxtec Frame 2 Adapt Roxtec modules to fit the cables that will be used There should be a 0 1 to 1 0 mm gap between the halves of the modules for...

Страница 51: ...the modules into the frame See the following figure Ensure that the terminated cable ends have 10 12 in of slack See Figure 3 10 Figure 3 8 Installing Roxtec Modules into the Frame When all of the mo...

Страница 52: ...e the four holes around the Roxtec box These are for attaching a cable tray See Attaching the Cable Tray on page 63 Connecting the Cables 1 Place the cable inlet box AIB gasket around the AIB connecti...

Страница 53: ...cable inlet box on the top of the AIB using three M4 x 40 bolts l Ensure that the gasket is seated between the AIB surface and the cable inlet box l Do not yet use the hole labeled as a ground l Appl...

Страница 54: ...d Loctite l Torque the bolt to 1 1 N m 10 in lb 3 Attach the cable inlet box back cover with four M4 x 16 bolts l Ensure that the gasket is seated between the cover and the cable inlet box l Put one w...

Страница 55: ...t robot locations Because the junction of the robot base mounting pad and the frame mounting pad is sealed with a gasket the frame mounting pads must be at least as big as the robot base mounting pads...

Страница 56: ...l wood screws machine bolts and brackets securing the robot to the crate before lifting the robot base Retain the removed hardware for future packing of the robot for relocation 2 Wrap slings around t...

Страница 57: ...age 58 Mounting Procedure from Below the Frame The Quattro HS robot can be mounted from beneath the mounting frame using a forklift Use a padded board as a support under the robot base The robot base...

Страница 58: ...e in their grooves in the pads and completely covered by the mounting frame pads l USDA requires that all exposed screws be sealed with a gasket which must be compressed to specific standards To achie...

Страница 59: ...y Class 5 8 98 N m 74 ft lb 3 8 Attaching the Outer Arms and Platform Outer Arms Platform P31 shown Cable Inlet Box Inner Arms Motor Cover AIB Mounting Pads Base Ball Joints and Spring Assemblies Stat...

Страница 60: ...entation The bottom of the robot base has embossed numbers 1 through 4 indicating the motor numbers The corresponding numbers for the platform as viewed from the top are indicated in the following fig...

Страница 61: ...h hazard Ball joints are spring loaded Be careful not to pinch your fingers l Outer arm pairs are shipped assembled Each pair has two springs and two horseshoes at each end See the following figure Fi...

Страница 62: ...er arm a As illustrated in Figure 3 20 the outer arm assembly is most easily achieved by pivoting the two arms away from each other lengthwise This requires the least stretching of the spring to attac...

Страница 63: ...e 3 21 Horseshoe and Spring Assembly Quattro H shown 3 9 Attaching the Cable Tray NOTE The cable inlet box must be installed on the AIB before the cable tray can be attached Refer to Cable Inlet Box o...

Страница 64: ...a gasket between the two l Use M4 x 12 bolts with toothed washers These bolt heads do not have to be sealed as they are contained by the cable tray These bolts do not need Loctite l Torque the bolts...

Страница 65: ...0 003 4x 7 4 0 290 THRU Units are mm in 3 175 0 076 Figure 3 23 Example Cable Tray Gasket NOTE This cable tray gasket is available as an option from Adept as part number 09751 000 59 2 42 38 1 60 12...

Страница 66: ...k part in strong alkaline bath followed by light chemical clean Finish Electroless nickel plate per MIL C 2607E Class 4 Grade A 0 025 0 038 mm 0 001 0 0015 in thick high phosphorus 10 13 by wt RoHS co...

Страница 67: ...DE THIS SIDE 4 15 OF THIS FLANGE SHT 2 FOR DETAIL SEE FLAT PATTERN FILL GAP A A 3 75 7 25 31 75 3 75 2 0 R1 00 Units are mm inches 101 6 R25 4 95 3 806 5 105 4 95 3 184 2 Figure 3 26 Sample Cable Tray...

Страница 68: ...FLAT PATTERN 805 5 1 88 38 93 3 63 31 72 42 65 96 8 7 59 0 03 989 3 84 11 29 3 86 7 55 0 50 88 0 31 44 25 7 TO BEND LINE 1 07 2X X 45 RELIEF CUT R1 00 6 35 3 70 TO BEND LINE TO BEND LINE 4 8 THRU Unit...

Страница 69: ...er XSYS to AIB XSLV 24 VDC Power to Controller XDC1 24 VDC Power to Robot 24 VDC Input Controller XMCP to Pendant User Supplied Desktop or Laptop PC running the Adept software environment Terminator I...

Страница 70: ...SmartController User s Guide for complete information on installing the Adept SmartController This list summarizes the main steps 1 Mount the SmartController and front panel 2 Connect the front panel...

Страница 71: ...oftware CD ROM menu is displayed If Autoplay is disabled you will need to manually start the CD ROM NOTE The online document that describes the installation process opens in the background when you se...

Страница 72: ...sity female for user I O signals for peripheral devices This connector provides 8 outputs and 12 inputs For connector pin allocations for inputs and outputs see Using Digital I O on Robot XIO Connecto...

Страница 73: ...pplied Power Supply 24 VDC 10 150 W 6 A 21 6 V V in 26 4 V Circuit Protectiona Output must be 300 W peak or 8 Amp in line fuse Power Cabling 1 5 1 85 mm 16 14 AWG Shield Termination Braided shield con...

Страница 74: ...le accessories box Table 4 4 24 VDC Mating Connector Specs Connector Details Connector receptacle 2 position type Molex Saber 18 A 2 Pin Molex P N 44441 2002 Digi Key P N WM18463 ND Pin Details Molex...

Страница 75: ...the opposite end of the cable for connection to your user supplied 24 VDC power supply Installing 24 VDC Robot Cable 1 Connect one end of the shielded 24 VDC cable to the user supplied 24 VDC power s...

Страница 76: ...le to ground screw on robot interface panel GND Figure 4 3 User Supplied 24 VDC Cable NOTE Adept recommends that DC power be delivered over a shielded cable with the shield connected to the return con...

Страница 77: ...son see the Adept Robot Safety Guide During installation unauthorized third parties must be prevented through the use of fail safe lockout measures from turning on power Facility Overvoltage Protectio...

Страница 78: ...gle Phase Supply E E N L3 L L1 L2 F5 10 A F4 10 A Adept Quattro s650 s800 Robot 1 200 240 VAC User Supplied AC Power Cable Note F4 and F5 are user supplied must be slow blow 3 200 240 VAC L Line 1 N L...

Страница 79: ...Figure 4 6 4 Use 18 AWG wire to create the AC power cable Select the wire length to safely reach from the user supplied AC power source to the robot base 5 Strip 18 to 24 mm insulation from each of th...

Страница 80: ...ing pads has two small holes in addition to the M16 mounting hole One of these is an M8 hole provided as a protective earth ground Alignment Hole Mounting Hole Ground Hole Robot Figure 4 7 Base Mounti...

Страница 81: ...l Connect the robot cable inlet box protective earth ground l Ground the end effector to the robot cable inlet box ground screw NOTE A ground strap from the end effector to the robot cable inlet box...

Страница 82: ......

Страница 83: ...atus codes and LED status indications are the same for both the Quattro H and Quattro HS robots Table 5 1 Robot Status LED Definition LED Status 2 Digit Status Panel Display Description Off No display...

Страница 84: ...Voltage Bus Fault 24 24 V Supply Fault I Initialization Stage Step A Amp Fault Joint M Motor Stalled Joint AC AC Power Fault NV Non Volatile Memory B IO Blox Fault Address P Power System Fault Code D...

Страница 85: ...page 83 When system power is ON pressing this button releases the brakes which allows movement of the arms and platform If this button is pressed while high power is ON high power automatically shuts...

Страница 86: ...e Your system may not require this step NOTE If enabled the Front Panel button must be pressed while blinking default time out is 10 seconds If the button stops blinking you must enable power again 5...

Страница 87: ...DER SmartController CX RS 422 485 XDC1 XDC2 24V 5A S N 3562 XXXXX RS 232 2 Figure 5 3 Connecting Digital I O to the System Table 5 4 Default Digital I O Signal Configuration Single Robot System Locati...

Страница 88: ...e 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 1 2 2 1103 14 In...

Страница 89: ...r see Table 5 5 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 speed inte...

Страница 90: ...sourcing configurations Bank 1 configured for Sinking NPN Inputs Bank 2 configured for Sourcing PNP Inputs Input Bank 2 Input Bank 1 XIO Connector 26 Pin Female D Sub equivalent circuit Figure 5 4 Ty...

Страница 91: ...ation supplied with the Termination Block for details XIO Output Specifications Table 5 7 XIO Output Circuit Specifications Parameter Value Power supply voltage range See Chapter 4 Operational current...

Страница 92: ...ent circuit Wiring Terminal Block Figure 5 5 Typical User Wiring for XIO Output Signals XIO Breakout Cable The XIO Breakout cable is available as an option see the following figure This cable connects...

Страница 93: ...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 3 2 Grey 16 Input 4 2...

Страница 94: ...r equipment damage Mechanical Checks l Verify that the robot is mounted level and that all fasteners are properly installed and tightened l Verify that any platform tooling is properly installed l Ver...

Страница 95: ...he Robot Status LED will be off 3 Verify the Auto Manual switch on the Front Panel is set to Auto Mode 4 Turn on the user supplied PC and start Adept ACE l Double click the Adept ACE icon on your Wind...

Страница 96: ...plete instructions on using the pendant The Adept Quattro robot is a parallel arm robot and as such individual joint motions are not allowed If you attempt to move a joint in Joint mode you will get a...

Страница 97: ...ions only to cause the motions to go all the way to the destinations that is to eliminate any subtleties that might occur during continuous path motions The V real valued function ROBOT OPR 2 1 return...

Страница 98: ...uted MOVE A BREAK MULTIPLE MOVE B As in Figure 5 7 the roll value of location A is 90 degrees and the roll value for location B is 2 degrees With MULTIPLE asserted however the tool flange will cross o...

Страница 99: ...erted and the robot is asked to move to location C roll 4 Even though the zero roll position has already been crossed the robot will move in a counter clockwise direction to location C instead of taki...

Страница 100: ...e settings of SINGLE and MULTIPLE do affect the robot motion as described above NOTE OVERLAP ALWAYS is automatically asserted every time program execution is initiated with an EXECUTE command or instr...

Страница 101: ...information on robot configuration control and programming through the Adept ACE software point and click user interface For V programming information refer to the V user and reference guides in the...

Страница 102: ......

Страница 103: ...bined weight of the end effector and the payload must not exceed the maximum rated payload Aligning A 6 mm diameter x 12 mm dowel pin user supplied fits in a hole in the tool flange and can be used as...

Страница 104: ...hang down below the end effector at any platform position l Verify that excess line cannot become tangled in the outer arms or platform If end effector lines are attached directly to the bottom of the...

Страница 105: ...h to the ends of the outer arms and trap the ball to prevent the ball studs from separating from their sockets A ball stud lock kit 16 locks is available from Adept as part number 09824 000 NOTE Ball...

Страница 106: ...To install a ball stud lock line up the groove in the ball stud lock with the lip in the ball joint socket and slide the lock on The lock is designed to be tight enough that it will not come off in us...

Страница 107: ...g a Ball Stud Lock To remove a ball stud lock pull one end of the lock away from the ball joint socket The lock will slide off with resistance No tools are needed Figure 6 4 Removing a Ball Stud Lock...

Страница 108: ......

Страница 109: ...ngs Y 245 4 406 6 in the X direction 351 7 379 2 272 9 245 4 245 4 379 2 218 245 4 379 2 Center of Robot to Center of Work Volume Offset 379 2 Units are mm Platform Offset P30 0 P31 32 34 35 X Figure...

Страница 110: ...84 25 4 69 19 11 94 6 10 19 38 422 28 40 64 516 86 846 15 372 47 163 78 138 38 3150 0010 0006 THRU 335 8 51 x 90 BOTH SIDES BOTH SIDES MEET IN MIDDLE THRU OK TO TAP FROM M8 x 1 25 31 75 6H 268 6 81 TH...

Страница 111: ...112 20 349 12 901 34 013 763 14 664 34 776 34 776 21 112 883 31 883 31 Units are inches mm 863 93 327 69 302 64 510 84 25 4 69 19 1 57 101 60 8 0 01524 19 05 11 94 50 80 3 18 11 94 6 10 4 01 19 05 19...

Страница 112: ...latforms 711 0 P31 platform 700 0 P30 platform Figure 7 4 Work Envelope Side View Quattro s650 Robot 211 80 1600 215 285 860 1032 6 P32 P34 platforms 1005 0 P30 platform 1016 0 P31 platform Units are...

Страница 113: ...tform Both are belt driven Ensure that the bolts used to attach end effectors engage the threads in the tool flange sufficiently Table 7 1 Tool Flange Bolt Engagement Platform Minimum Maximum P30 9 mm...

Страница 114: ...SECTION A A 0 0 025 0 59 690 0 254 41 148 8 9 R 62 992 1 499 14 586 18 14 4x M6 x 1 0 x 12 Helicoil 6 000 0 0 013 x 6 0 A A Quick disconnect Clamping Groove Units are mm Figure 7 7 Tool Flange Dimens...

Страница 115: ...connect Clamp ring Groove 8 92 4x M6 x 1 0 x 6 Helicoil 6 000 0 0 013 x 6 0 A A 2x 45 Chamfer 45 Chamfer SECTION A A 59 690 0 66 80 0 025 1 499 0 254 5 671 18 Thru 41 148 0 62 992 11 767 Units are mm...

Страница 116: ...17 50 132 10 55 241 30 171 27 113 19 Z C L Z 0 6 1 6 0 6 6 3 4 1 7 7 1 3 7 8 9 5 8 2 4 7 1 0 Typical Inner Arm Travel Volume Units are mm 215 9 2 1 5 9 Figure 7 9 Arm Travel Volume s650 shown Adept Qu...

Страница 117: ...ntroller Figure 7 10 Robot Internal Connections Diagram 7 3 XSLV Connector Table 7 2 XSLV Connector Pinout AIB only Pin Description Comment Pin Location 1 ESTOPGND ESTOP System Ground Pin 1 Pin 5 Pin...

Страница 118: ...g 0 39 sec 0 43 4 kg 0 41 sec n a 0 45 sec 6 kg 0 43 sec n a n a Packaging Cyclea 25 700 25 mm 0 1 kg 0 46 0 55 0 48 1 kg 0 47 0 58 0 50 2 kg 0 52 0 59 0 55 3 kg 0 55 0 61 4 kg 0 58 n a 0 62 6 kg 0 61...

Страница 119: ...Rotation Limits Table 7 5 Tool Flange Torque and Rotation Limits of Platforms Platform 60 deg 185 deg P31 P32 P34 Maximum Torque N m 8 2 7 10 4 6 3 8 Maximum Rotation 60 185 46 25 92 5 185 Hard Stop L...

Страница 120: ...L 1 5 725 142 14 5 400 78 8 0 ALL 1 0 750 147 15 0 400 78 8 0 ALL 0 1 765 150 15 3 400 78 8 0 a is the V Accel Decel setting which for the Quattro can be set as high as 1000 Table 7 7 Payload Mass vs...

Страница 121: ...yload Inertia vs Acceleration The following table provides a general guideline based on typical high performance use The practical inertia for any application will vary depending on the performance re...

Страница 122: ...ou choose to design a custom frame it must meet the following specifications Frame natural frequencies for stable robot operations l Frequency 25 Hz 40 Hz for aggressive moves or heavy payloads l Moun...

Страница 123: ...ATERIAL SIZING 150mm X 150mm X 6mm SQUARE STRUCTURAL TUBING A 120mm X 120mm X 10mm SQUARE STRUCTURAL TUBING B 250mm X 250mm X 15mm TRIANGULAR GUSSET C A 4x A 4x 2x B SEE DETAIL 1 20x A 4x C SEE DETAIL...

Страница 124: ...0 2000 0 300 0 MIN 4x DIMENSIONS ARE IN MILLIMETERS UNLESS OTHERWISE SPECIFIED Figure 7 12 Mounting Frame Side View 1 500 0 2x 1800 0 DIMENSIONS ARE IN MILLIMETERS UNLESS OTHERWISE SPECIFIED Figure 7...

Страница 125: ...DIMENSIONS ARE IN MILLIMETERS UNLESS OTHERWISE SPECIFIED Figure 7 14 Mounting Frame Detail 1 4x B DETAIL 2 680 0 31 0 175 0 100 0 150 0 285 0 90 0 300 0 59 4 25 0 MIN DIMENSIONS ARE IN MILLIMETERS UNL...

Страница 126: ...0 0 1000 0 379 18 245 41 379 18 245 41 379 18 245 41 379 18 245 41 430 0 900 0 430 0 430 0 2000 0 19 50 4x THRU 18 50 14 0 15 5 4x 45 4x 1800 0 DIMENSIONS ARE IN MILLIMETERS UNLESS OTHERWISE SPECIFIED...

Страница 127: ...ARNING The procedures and replacement of parts mentioned in this section should be performed only by skilled or instructed persons as defined in the Adept Robot Safety Guide The motor covers and the A...

Страница 128: ...Checking Fan Operation on page 131 Check for good seal contact missing sections inflexible or broken seals Diagnose and or replace non operational fans Replace geardrives Replace motor cover seals Dy...

Страница 129: ...controlled by seal condition at time of replacement Motor Fan 2 Years 30 Minutes Fan lifetime is strongly affected by robot temperatures Aggressive moves at high ambient temps will shorten fan lifetim...

Страница 130: ...ng Robot Gear Drives Adept Quattro robots use gear drives which use oil in their components for lubrication It is recommended that you periodically inspect the robot for signs of oil on and around the...

Страница 131: ...ssis This section gives instructions on how to replace the AIB chassis on an Adept Quattro robot CAUTION Follow appropriate ESD procedures during the removal replacement steps Removing the AIB Chassis...

Страница 132: ...chassis as this bolt is captured on the chassis heat sink Figure 8 1 Securing Bolt on Chassis 10 While holding the chassis heat sink slowly and carefully lift the chassis up see the following figure...

Страница 133: ...figure Figure 8 3 Connectors on AIB Chassis and PMAI Board 13 Disconnect the cables from the INT1 INT2 ENC1 and ENC2 connectors on the PMAI board by disengaging the securing latches 14 Using a 5 mm Al...

Страница 134: ...ing connectors on the PMAI board and engage the securing latches 5 Connect the white amplifier cable motor power to the amplifier connector located on the chassis bracket See Figure 8 3 6 Insert the c...

Страница 135: ...coder Battery Pack The data stored by the encoders is protected by a 3 6 V lithium backup battery pack located in the base of the robot CAUTION Replace the battery pack only with a 3 6 V 6 8 Ah lithiu...

Страница 136: ...emove the four hex head bolts holding the Status Display panel See the following figure Figure 8 5 Status Display Panel Showing 4 hex head Bolts 9 Remove the Status Display panel The battery pack is s...

Страница 137: ...f the battery pack in accordance with all local and national environmental regulations regarding electronic components 13 Place the new battery pack in the battery bracket and secure it and the diag c...

Страница 138: ...m to the Base on page 37 l Take care not to trap debris between the ball studs and their sockets Configuration If the replacement platform has the same part number as the old platform the robot does n...

Страница 139: ...nsert 1 Remove the old insert The Quattro H inserts have a threaded hole in the bottom to facilitate removal Use an M4 bolt to thread into the insert and pull it out 2 Install the new insert Ensure th...

Страница 140: ...restrict movement of the spring 2 Slip the springs off of the horseshoes Refer to the following figure Figure 8 8 Spring with End Removed from Horseshoe The narrowest part of the horseshoe is 90 from...

Страница 141: ...the cut horseshoe from the outer arm pins Installing Outer Arm Spring Assemblies Installing Horseshoes 1 Slip one end of the horseshoe over one of the outer arm pins See the following figure Figure 8...

Страница 142: ...ng Springs on a Horseshoe 1 Slip the spring onto the horseshoe at 90 from its normal position Refer to the figures in Removing Outer Arm Springs on page 139 The narrowest part of the horseshoe is 90 f...

Страница 143: ...any bolts that have washer seals can damage the washer seals Observe the stated torques 9 1 Cleaning Water Shedding Surfaces of the Adept Quattro HS robots have been designed to shed water This incre...

Страница 144: ...l Multiquat 455 l Liquid Fury l Enrich 299 Acidic In general acidic cleaning solutions are incompatible with the Quattro robot s materials 9 2 Periodic Maintenance Table 9 3 gives a summary of the ins...

Страница 145: ...latform 3 Mon 10 Inspect platform for damage caused by possible accidental impact of robot Replace platform Robot Fans Geardrives and Motor Cover seals 3 Mon 60 Remove motor covers and inspect cooling...

Страница 146: ...ng sections inflexible broken seals Replace seals Cable Inlet Box seals 3 Mon 10 Check for good seal contact missing sections inflexible broken seals Replace seals AIB seal 3 Mon 10 Check for good sea...

Страница 147: ...mes Motor Cover Indefinite 15 Minutes Motor covers may become damaged by accidental impact Backup Encoder Battery Pack 5 years to 10 years 15 Minutes Replacement battery pack is inserted from the side...

Страница 148: ...or torque specifications Table 9 5 Mounting Bolt Torque Specifications Standard Size Minimum Specification Torque Metric M16 2 0 x 40 mm ISO Property Class 5 8 98 N m 74 ft lb 9 5 Checking Robot Gear...

Страница 149: ...otor cover gaskets are in place b Use a washer seal on each bolt c Apply Loctite 242 in each bolt hole not on the bolt itself d Torque the motor cover bolts with seals to 5 N m 45 in lb CAUTION Over t...

Страница 150: ...olts and washer seals for reinstallation l These bolts were installed with Loctite 222 l Retain the back cover and its gasket for reinstallation 3 Remove the cable inlet box AIB bolt labeled as ground...

Страница 151: ...from removal l Torque the bolts to 1 1 N m 10 in lb 6 Install the M4 protective earth ground bolt with toothed washer through the cable inlet box into the AIB l Ensure that the protective earth ground...

Страница 152: ...before proceeding 5 Remove the cable inlet box See Removing and Installing the Cable Inlet Box on page 150 6 Disconnect the 24 VDC supply cable from the chassis 24 VDC input connector See Figure 4 2...

Страница 153: ...ee Figure 9 3 14 Disconnect the INT1 INT2 ENC1 and ENC2 cables from their connectors on the PMAI board by disengaging the securing latches Figure 9 2 Connectors on AIB Chassis and PMAI Board 15 Using...

Страница 154: ...he six M4 chassis securing bolts See Figure 9 1 l Use Loctite 222 in the bolt holes not on the bolts themselves l Torque the bolts to 1 1 N m 10 in lbf External Connections 1 Connect the 200 240 VAC s...

Страница 155: ...urned on with 24 VDC supplied to the robot more than half the time then you can increase the replacement interval to 10 years If for example a robot is typically turned off only on weekends the batter...

Страница 156: ...is attached to the back side of the Status Display panel with stand offs The battery pack is exposed when the Status Display panel is removed 10 The battery bracket assembly has two battery connector...

Страница 157: ...the new battery pack in the battery bracket and secure it and the diag cable using a cable tie l Fold any excess wiring red and black under the battery pack so that it lies between the battery pack an...

Страница 158: ...e the four pairs of outer arms from the four pairs of ball studs on the installed platform 2 Attach one pair of outer arms to each of the four pairs of ball studs on the new platform l The platform is...

Страница 159: ...m from your V system CD ROM Platform Data Files Platform Tool Rotation SPEC File P31 46 25 QP09503 SPC P30 0 QP09730 SPC P32 92 5 QP09732 SPC P34 185 QP09734 SPC From the Adept ACE software 1 Open the...

Страница 160: ...the ball joint 3 Wearing gloves put the cooled insert into the ball joint This must be done quickly before the insert warms up or you will not be able to fit it into the ball joint socket 4 Ensure tha...

Страница 161: ...to restrict movement of the spring 2 Slip the springs off of the horseshoes See the following figure Figure 9 8 Spring with End Removed from Horseshoe The narrowest part of the horseshoe is 90 from th...

Страница 162: ...not to damage any part of the outer arm end 3 Remove the cut horseshoe from the outer arm pins Installing Outer Arm Spring Assemblies Installing Horseshoes 1 Slip one end of the horseshoe over one of...

Страница 163: ...ing Springs on a Horseshoe 1 Slip the spring onto the horseshoe at 90 from its normal position Refer to the figures in Removing Outer Arm Springs on page 160 The narrowest part of the horseshoe is 90...

Страница 164: ......

Страница 165: ...65 rating for the rest of the robot with optional cable sealing kit l Electroless nickel platforms can be removed and submersed in a COP tank This does NOT apply to hard anodized platforms l 1 to 40 C...

Страница 166: ...aterial removal For acidic environments contact Adept NOTE Anodized parts cannot be tank cleaned If highly caustic cleaning agents are to be used refer to the Adept Quattro HS robots Water Shedding Su...

Страница 167: ...agents at room temperature as well as to chipping The inner arms are sealed at the robot base with a rotary V ring seal P N 07043 000 The inner arms are designed to meet IP 65 rating Ball Joints The...

Страница 168: ...ble seal assembly must be mounted on the top of the robot during the robot installation process The cable seal assembly is an extra cost option and is shipped separately from the robot Components l Ca...

Страница 169: ...the AIB See Figure 10 8 2 Install the cable seal housing on the top of the AIB using four M4 x 50 screws four M4 lock washers and four M4 flat washers Note that the centered M6 threaded hole must be...

Страница 170: ...used by peeling out half circle strips from the modules There should be a 0 1 to 1 0 mm gap between the halves of the modules for a proper seal See the following figure Figure 10 4 Adapting a Module...

Страница 171: ...nto the frame See the following figure Ensure that the terminated cable ends have 10 12 in of slack See Figure 10 8 Figure 10 6 Installing Roxtec Modules into the Frame 7 When all of the modules are i...

Страница 172: ...mbly with Cables 8 Attach the ground lug to the AIB The ground lug is for the cable shield of the user supplied 24 VDC cable See the following figure Figure 10 9 Ground Lug Attachment AIB Shown 9 Hand...

Страница 173: ...Slide the top cover over the seal housing lip as shown in the following figure l Ensure that the gasket between the top cover and the cable seal housing is seated and that all cables are contained wi...

Страница 174: ......

Страница 175: ...r the robot platform and arms l IP 66 rating for the rest of the robot l Removal and submersion of the platform and outer arms designed for COP tank l 1 to 40 C 34 to 104 F ambient temperature l Humid...

Страница 176: ...austic and chlorinated agents has strong adherence to the metal base to resist impact and has a smooth finish that is easy to clean The gearboxes are sealed internally and sealed externally by a lip s...

Страница 177: ...blies The outer arms are attached through the positive pressure of springs that are made of electro polished stainless steel The springs attach to the arms via plastic horseshoes that fit over bearing...

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Страница 180: ...P N 09955 000 Rev E 5960 Inglewood Drive Pleasanton CA 94588 925 245 3400...

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