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User manual for 531306
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Table of contents
Document Outline
DOCUMENT LIBRARY
Adept Quattro s650 Robot User’s Guide
Table of Contents
List of Figures
Introduction
1.1 Product Description
Adept Quattro s650 Robot
Quattro Robot Base
Adept AIB
Inner Arms
Ball Joints, Outer Arms
Platform
Adept SmartController CX
1.2 Installation Overview
1.3 Manufacturer’s Declaration
1.4 How Can I Get Help?
Related Manuals
Adept Document Library
Safety
2.1 Warnings, Cautions, and Notes in Manual
2.2 Warning Labels on the Robot
2.3 Precautions and Required Safeguards
Safety Barriers
Impact and Trapping Points
Instructions for Emergency Movement without Drive Power
Emergency Recovery Procedures
Additional Safety Information
2.4 Risk Assessment
Exposure
Severity of Injury
Avoidance
Slow Speed Control Function and Testing
Control System Behavior Category
2.5 Intended Use of the Robots
2.6 Robot Modifications
Acceptable Modifications
Unacceptable Modifications
2.7 Transport
2.8 Safety Requirements for Additional Equipment
2.9 Sound Emissions
2.10 Thermal Hazard
2.11 Working Areas
2.12 Qualification of Personnel
2.13 Safety Equipment for Operators
2.14 Protection Against Unauthorized Operation
2.15 Safety Aspects While Performing Maintenance
2.16 Risks Due to Incorrect Installation or Operation
2.17 What to Do in an Emergency
Robot Installation
3.1 Transport and Storage
3.2 Unpacking and Inspecting the Adept Equipment
Before Unpacking
Unpacking
Upon Unpacking
3.3 Repacking for Relocation
3.4 Environmental and Facility Requirements
3.5 Mounting Frame
Overview
Frame Orientation
Frame Construction
Robot-to-Frame Considerations
Gussets
3.6 Mounting the Robot Base
Robot Orientation
Mounting Surfaces
Mounting Options
Mounting Procedure from Above the Frame
Mounting to Top of Frame Pads
Mounting to Bottom of Frame Pads
Mounting Procedure from Below the Frame
Mounting to Bottom of Frame Pads
Mounting to Top of Frame Pads
Install Mounting Hardware
3.7 Attaching the Outer Arms and Platform
Clocking the Platform to the Base
Attaching the Outer Arms
System Installation
4.1 System Cable Diagram
4.2 Cable Parts List
4.3 Installing the SmartController
4.4 Description of Connectors on Robot Interface Panel
4.5 Cable Connections from Robot to SmartController
4.6 Connecting 24 VDC Power to Robot
Specifications for 24 VDC Robot and Controller Power
Details for 24 VDC Mating Connector
Procedure for Creating 24 VDC Cable
Installing 24 VDC Robot Cable
4.7 Connecting 200-240 VAC Power to Robot
Specifications for AC Power
Facility Overvoltage Protection
AC Power Diagrams
Details for AC Mating Connector
Procedure for Creating 200-240 VAC Cable
Installing AC Power Cable to Robot
4.8 Grounding the Adept Quattro s650 Robot System
Robot-Mounted Equipment Grounding
4.9 Installing User-Supplied Safety Equipment
System Operation
5.1 Robot Status LED Description
5.2 Status Panel Fault Codes
5.3 Using the Brake Release Button
Brakes
Brake Release Button
5.4 Connecting Digital I/O to the System
5.5 Using Digital I/O on Robot XIO Connector
Optional I/O Products
XIO Input Signals
XIO Input Specifications
Typical Input Wiring Example
XIO Output Signals
XIO Output Specifications
Typical Output Wiring Example
XIO Breakout Cable
5.6 Commissioning the System
Verifying Installation
Mechanical Checks
System Cable Checks
User-Supplied Safety Equipment Checks
System Start-up Procedure
Verifying E-Stop Functions
Verifying Robot Motions
5.7 Quattro Motions
Straight-line Motion
Containment Obstacles
Tool Flange Rotation Extremes
5.8 Learning to Program the Adept Quattro Robot
Optional Equipment Installation
6.1 End-Effectors
Attaching
Aligning
Grounding
Accessing Vacuum
6.2 Routing End-effector Lines
Technical Specifications
7.1 Dimension Drawings
7.2 Adept Quattro s650 Robot Internal Connections
7.3 XSLV Connector
7.4 Robot Specifications
7.5 Platform Specifications
Rotation and Payload Inertia - Range
Rotation and Payload Inertia - Performance
7.6 Robot Mounting Frame
Maintenance
8.1 Periodic Maintenance Schedule
8.2 Checking Safety Systems
8.3 Checking Robot Mounting Bolts
8.4 Checking Robot Gear Drives
8.5 Checking Fan Operation
8.6 Replacing the AIB Chassis
Removing the AIB Chassis
Installing a New AIB Chassis
If you have problems bringing up the Quattro after AIB replacement
8.7 Replacing the Encoder Battery
Battery Replacement Time Periods
Battery Replacement Procedure
8.8 Replacing a Platform
Replacement
Configuration
Load the SPEC Program
Load Robot Specifications from a Disk File
Save ALL specifications to system disk
Robot Cleaning/ Environmental Concerns
9.1 Ambient Environment
Humidity
Temperature
9.2 Cleaning
Caustic Compatibility
Water Shedding
Wipe-Down
9.3 Cleanroom Classification
9.4 Design Factors
Robot Base and Components
Inner Arms
Ball Joints
Outer Arms
Springs
Platforms
9.5 Installing Cable Seal Kit
Overview
Components
Tasks
Installation Procedure
Index
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