AV s650 UG MB60R

Adept Viper s650/s850 Robot with MB-60R
Users Guide
Adept Viper s650/s850 Robot with MB-60R

Users Guide
P/N: 05173-060, Rev D December 2011
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 Avenue 5 #05-12 Techplace II Singapore 569870 Phone +65.6755 2258 Fax +65.6755 0598
The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This manual is periodically reviewed 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 preparation of future documentation. Please email your comments to: techpubs@adept.com. Copyright 2007, 2010, 2011 by Adept Technology, Inc.
The Adept logo, AdeptVision, AIM, HexSight, and HexaVision are registered trademarks of Adept Technology, Inc.
Adept ACE, Adept Viper s650, Adept Viper s850, Adept MotionBlox-60R, and Adept SmartController CX are trademarks of Adept Technology, Inc.
Any trademarks from other companies used in this publication are the property of those respective companies.
Printed in the United States of America
Table of Contents
1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Adept Viper s650/s850 Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Adept MotionBlox-60R. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.2 Dangers, Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.3 Intended Use of the Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.4 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.5 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.6 Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Manufacturers Declaration of Compliance (MDOC) . . . . . . . . . . . . . . . . 15 Adept Robot Safety Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.7 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 1.8 Manufacturers Declaration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 1.9 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.1 Unpacking and Inspecting the Adept Equipment. . . . . . . . . . . . . . . . . . . . . . . 19 Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2.2 Repacking for Relocation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2.3 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2.4 Transporting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Precautions in Transporting Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Transport Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Mounting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 2.5 Grounding the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 2.6 Description of Connectors on Robot Interface Panel . . . . . . . . . . . . . . . . . . . . 27 2.7 Air Lines and Signal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Optional Solenoid Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Solenoid Valve Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 External Mounting Locations on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev C
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2.8 Designing End-Effectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Continuous Turn on J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Mass of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Center of Gravity Position of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Moment of Inertia Around J4, J5, and J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
MotionBlox-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.1 Introduction to the MotionBlox-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 3.2 Description of Connectors on MB-60R Interface Panel . . . . . . . . . . . . . . . . . . . 36 3.3 MB-60R Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Status LED on MB-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Status Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Brake Release Button on MB-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Brake Release Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 3.4 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 3.5 Using Digital I/O on MB-60R XIO Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Optional I/O Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 XIO Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 XIO Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Typical Input Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 XIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 XIO Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Typical Output Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 3.6 MB-60R Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 3.7 Mounting the MB-60R. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Panel-Mounting the MB-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.2 Cables and Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.3 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.4 Installing the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.5 Connecting the PC to the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.6 Connecting Cables from the MB-60R to the SmartController . . . . . . . . . . . . . . 53 4.7 Connecting Cables from the MB-60R to the Robot . . . . . . . . . . . . . . . . . . . . . . 54 Installing the Arm Power/Signal Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
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4.8 Connecting 24 VDC Power to MB-60R Servo Controller . . . . . . . . . . . . . . . . . . 54 Specifications for 24 VDC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Details for 24 VDC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure for Creating 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing the 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 MB-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 55 56 56 58 58 59 59 60 61
4.9 Connecting 200-240 VAC Power to MB-60R. . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.10 Grounding the Adept Robot System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Ground Point on Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Ground Point on MotionBlox-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Robot-Mounted Equipment Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 4.11 Installing User-Supplied Safety Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
5.1 Status Panel Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 5.2 Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Installing and Using the Brake Release Box. . . . . . . . . . . . . . . . . . . . . . . . . . 63 Using the Brake Release Switch on UL Robots . . . . . . . . . . . . . . . . . . . . . . . 64 5.3 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 5.4 Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mechanical Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . System Cable Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User-Supplied Safety Equipment Checks . . . . . . . . . . . . . . . . . . . . . System Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Running the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Starting the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . Enabling High Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 67 68 68 68 68 68 69
5.5 Verifying E-Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 5.6 Verify Robot Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 5.7 Learning to Program the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 5.8 Installing Axis Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 5.9 Caution Label on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 5.10 Installing User-Supplied Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
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Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
6.1 Replacing Encoder Backup Battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Battery Replacement Intervals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Battery Replacement Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.1 Robot Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 7.2 Robot Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 7.3 XSLV Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 7.4 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
IP-54/65 Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 8.2 Differences from the Standard Robot Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Robot Connector Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Cable Clearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Replacing Encoder Backup Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Cleanroom Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 9.2 Differences from Standard Robot Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Robot Connector Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 9.3 Air Lines and Signal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 9.4 Cleanroom Cover at J6 Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 9.5 Cable Clearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 Replacing Encoder Backup Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
List of Figures
Figure 1-1. Robot Axis Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Figure 1-2. Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Figure 1-3. MotionBlox-60R (MB-60R) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Figure 2-1. Robot in Transport Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Figure 2-2. Lifting Form Label on Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Figure 2-3. Eyebolts Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Figure 2-4. Robot in Hoisting Sling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Figure 2-5. Mounting Hole Pattern for Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Figure 2-6. Ground Point on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Figure 2-7. Robot Interface Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Figure 2-8. External Mounting Holes on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Figure 2-9. Allowable Range of Center of Gravity Position of End-effector . . . . . . . . . . . . . . . . . . . . 32 Figure 2-10. Moment of Inertia Calculation Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Figure 3-1. Adept MB-60R Front View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Figure 3-2. MB-60R Interface Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Figure 3-3. Controls and Indicators on MB-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Figure 3-4. Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Figure 3-5. Typical User Wiring for XIO Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Figure 3-6. Typical User Wiring for XIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Figure 3-7. Optional XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Figure 3-8. MB-60R Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Figure 3-9. Panel-Mounting the MB-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Figure 4-1. System Cable Diagram for Adept SmartController Robots . . . . . . . . . . . . . . . . . . . . . . . . 51 Figure 4-2. User-Supplied 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Figure 4-3. Typical AC Power Installation with Single-Phase Supply . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Figure 4-4. Single-Phase Load across L1 and L2 of a Three-Phase Supply . . . . . . . . . . . . . . . . . . . . . 59 Figure 4-5. AC Power Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Figure 4-6. Ground Point on Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Figure 4-7. User Ground Location on MB-60R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Figure 5-1. Manual Brake-Release Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Figure 5-2. Brake Release Switch on UL Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Figure 5-3. Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Figure 5-4. High Power Button on Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Figure 5-5. Caution Label on Joint 4 Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 Figure 6-1. Removing Cover to Replace Encoder Batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Figure 6-2. Removing Dummy Connector Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Figure 6-3. Connecting First New Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Figure 6-4. Connecting Second New Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Figure 6-5. Connecting Third New Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Figure 6-6. Reconnecting Dummy Connector Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Figure 7-1. Adept Viper s650 Side Dimensions and Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Figure 7-2. Adept Viper s650 Top Dimensions and Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
List of Figures
Figure 7-3. Adept Viper s850 Side Dimensions and Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Figure 7-4. Adept Viper s850 Top Dimensions and Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Figure 7-5. Robot Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Figure 8-1. Adept Viper s650 Robot with IP-54/65 Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Figure 8-2. IP-54/65 Robot Connector Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Figure 9-1. Adept Viper s850 Robot - Cleanroom Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Figure 9-2. Cleanroom Robot Connector Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Figure 9-3. Adept Viper s850 J6 Cleanroom Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 Figure 9-4. J6 Cleanroom Cover Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
10
Introduction
1.1 Product Description
Adept Viper s650/s850 Robots

The Adept Viper s650TM robot and Adept Viper s850TM robots are high-performance, six-axis robots designed specifically for assembly applications. 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. NOTE: The descriptions and instructions in this manual apply to both the Adept Viper s650 and the Adept Viper s850, except for instances where there is a difference, as in dimension and work envelope drawings. In those cases, the information is presented for both robots.
Second arm
3rd-axis motor cover (rear side) 4th axis (J4) Second arm cover (+) (+) (-) (+) 6th axis (J6) (-) (-) 5th axis (J5)
4th-axis cover
(+) (-) 3rd axis (J3)
First arm (+) 2nd-axis motor cover (rear side) (-) (-) 2nd axis (J2) (+)
Base
1st axis (J1)
Figure 1-1. Robot Axis Identification
Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D
11
Chapter 1 - Introduction
Adept SmartController CX
The SmartController CXTM motion controller is the foundation of Adepts family of high-performance distributed motion and vision controllers. The SmartController CX is designed for use with: Adept Cobra s-series robots Adept Viper s-series robots Adept Python linear modules Adept MotionBlox-10 Adept sMI6 (SmartMotion) The SmartController CX supports an integrated vision option and a conveyor tracking option, as well as other options. It offers scalability and support for IEEE 1394-based digital I/O and general motion expansion modules. The IEEE 1394 interface is the backbone of Adept SmartServo, Adept's distributed controls architecture supporting Adept products. The controller also includes Fast Ethernet and DeviceNet.
*S/N 3562-XXXXX*
R
CAMERA
RS-232/TERM
RS-422/485
SmartServo
OK SF HPE ES LAN HD
IEEE-1394 2.1 2.2
Device Net
SW1 1 2 3 4
ON OFF
1.1
1.2
Eth 10/100 BELT ENCODER RS-232-1 RS-232-2
XDIO
XUSR
XSYS
XFP
XMCP
XDC1 XDC2
24V 5A
-+
-+
Figure 1-2. Adept SmartController CX
12
SmartController CX
Product Description
Adept MotionBlox-60R
The Adept MotionBlox-60RTM (MB-60R) distributed servo controller controls the behavior of the feedback loop between the digital absolute encoders and the high-power motors of the Adept Viper s650/s850 robot. Adept MB-60R features: Six AC servo motor amplifiers Category-3 emergency stop circuitry 200 MHz RISC microprocessor for high-performance servo control 8 kHz 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)
13
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 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 injury.
WARNING: This indicates a potentially hazardous electrical situation which, if not avoided, could result in injury or major damage to the equipment.
WARNING: This indicates a potentially hazardous situation which, if not avoided, could result in injury or major damage to the equipment.
CAUTION: This indicates a situation which, if not avoided, could result in damage to the equipment.
NOTE: Notes provide supplementary information, emphasize a point or procedure, or give a tip for easier operation.
1.3
Intended Use of the Robots

The Adept Viper robots are intended for use in parts assembly and material handling for payloads less than 10 kg. See Robot Installation on page 19 for complete information tooling and payloads.
14
Safety Precautions
1.4
Safety Precautions
DANGER: An Adept Viper s650/s850 robot can cause serious injury or death, or damage to itself and other equipment, if the following safety precautions are not observed: All personnel who install, operate, teach, program, or maintain the system must read this guide, read the Adept Robot Safety Guide, and complete a training course for their responsibilities in regard to the robot. All personnel who design the robot system must read this 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. The robot system must not be used for purposes other than described in Section 1.3. Contact Adept if you are not sure of the suitability for your application. The user is responsible for providing safety barriers around the robot to prevent anyone from accidentally coming into contact with the robot when it is in motion. Power to the robot and its power supply must be locked out and tagged out before any maintenance is performed.
1.5
What to Do in an Emergency Situation

Press any E-Stop button (a red push-button on a yellow background/field) and then follow the internal procedures of your company or organization for an emergency situation. If a fire occurs, use CO2 to extinguish the fire.
1.6
Additional Safety Information

Adept provides other sources for more safety information:
Manufacturers Declaration of Compliance (MDOC)

This lists all standards with which each robot complies. See Manufacturers Declaration on page 16.
Adept Robot Safety Guide

The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also gives resources for more information on relevant standards. It ships with each robot manual, and is also available from the Adept Document Library. See Adept Document Library on page 17.
15
1.7
Installation Overview
The system installation process is summarized in the following table. Refer also to the system cable diagram in Figure 4-1 on page 51. NOTE: For dual-robot installations, see the Adept Viper Dual Robot Configuration Procedure, which is available in the Adept Document Library. Table 1-1. Installation Overview Task to be Performed 1. Mount the robot on a flat, secure mounting surface. 2. Install the SmartController, Front Panel, and Adept ACE software. 3. Install the IEEE 1394 and XSYS cables between the MB-60R and SmartController. 4. Install the Arm Power/Signal cable between the MB-60R and the robot. 5. Create a 24 VDC cable and connect it between the MB-60R and the user-supplied 24 VDC power supply. 6. Create a 200 - 240 VAC cable and connect it between the MB-60R and the facility AC power source. 7. Install user-supplied safety barriers in the workcell. 8. Learn about connecting digital I/O through the XIO connector on the MB-60R. 9. Read Chapter 6 to learn about system start-up and testing operation. Reference Location See Section on page 25. See Section 4.3 on page 52. See Section 4.6 on page 53. See Section 4.7 on page 54. See Section 4.8 on page 54.
See Section 4.9 on page 57.
See Section 4.11 on page 62. See Section 3.5 on page 42. See Chapter 5.
1.8
Manufacturers Declaration
The Manufacturer's Declaration of Incorporation and Conformity for Adept robot systems can be found at the Adept website, under the Support section. The URL for the folder is:
ftp://ftp1.adept.com/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 .zip file. You are prompted to Open or Save the file. 2. Click Open to open the file and display the archive contents. 3. Double-click on a .pdf file to open it.
16
How Can I Get Help?
1.9
How Can I Get Help?

Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting assistance with your Adept software and hardware. Additionally, you can access information sources on Adepts corporate Web site:
http://www.adept.com
Related Manuals
This manual covers the installation, operation, and maintenance of an Adept Viper s650/s850 robot system. There are additional manuals that cover programming the system, reconfiguring installed components, and adding other optional components. See the following table. These manuals are available on the Adept Document Library CD-ROM shipped with each system. Table 1-2. Related Manuals Manual Title Adept Robot Safety Guide Adept SmartController Users Guide Adept T2 Pendant Users Guide Adept IO Blox Users Guide Adept ACE Users Guide V+ Language Users Guide V+ Operating System Users Guide Adept Viper Dual Robot Configuration Procedure Description Contains general safety information for all Adept robots. Contains complete information on the installation and operation of the Adept SmartController and the optional sDIO product. Describes the Adept T2 pendant product. Describes the IO Blox product. Describes the installation and use of Adept ACE. Describes the V+ language and programming of an Adept control system. Describes the V+ operating system, including disk file operations, monitor commands, and monitor command programs. Contains cable diagrams and configuration procedures for a dual-robot system.
Adept Document Library

The Adept Document Library (ADL) contains documentation for Adept products. You can access a local copy of the ADL from the Adept Software CD shipped with your system, or from the separate ADL CD. Additionally, an Internet version of the ADL can be accessed by going to the Adept Web site and selecting Document Library from the Support 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 Document Library search engine on the ADL main page. To view a list of available product documentation, select the Document Titles option.
17
Robot Installation
2.1 Unpacking and Inspecting the Adept Equipment
Before Unpacking
Carefully inspect all shipping crates for evidence of damage during transit. If any damage is apparent, request that the carriers agent be present at the time the container is unpacked.
Upon Unpacking
Before signing the carriers delivery sheet, 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 damage. If the items received do not match the packing slip, or are damaged, do not sign the receipt. Contact Adept as soon 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 Adept (see Section 1.9 on page 17). Retain all containers and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate equipment.
2.2
Repacking for Relocation

If the robot or other equipment needs to be relocated, reverse the steps in the installation procedures that follow in this chapter. Reuse all original packing containers and materials and follow all safety notes used for installation. Improper packaging for shipment will void your warranty. Specify this to the carrier if the robot is to be shipped.
CAUTION: Before transportation, set the robot in a transport position as shown in Figure 2-1 by manually moving the second, third, and fourth axes.
19
Chapter 2 - Robot Installation
Figure 2-1. Robot in Transport Position
2.3
Environmental and Facility Requirements

The Adept robot system installation must meet the operating environment requirements shown in the following table.
Table 2-1. Robot System Operating Environment Requirements Item Flatness of the mounting surface Installation type Ambient temperature Humidity Vibration Safe Installation Environment 0.1/500 mm Floor-mount or Overhead-mount During operation: 0 to 40 C During storage and transportation: -10 to 60 C During operation: 90% or less (Non-condensing) During storage and transportation: 75% or less (Non-condensing) During operation: 4.9 m/s2 (0.5 G) or less During storage and transportation: 29.4 m/s2 (3 G) or less 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 is sulfuric or other types of cutting or grinding oil mist There are any large-sized inverters, high output/high frequency transmitters, large contactors, welders, or other sources of electrical noise There are any shavings from metal processing or other conductive material flying about It may be directly exposed to water, oil, or cutting chips Condition
20
Transporting the Robot
Table 2-1. Robot System Operating Environment Requirements Working space, etc. Sufficient service space must be available for inspection and disassembly. Keep wiring space (230 mm or more) behind the robot, and fasten the wiring to the mounting face or beam so that the weight of the cables will not be directly applied to the connectors. Protective Earth Ground Grounding resistance: 100 milliohms or less See Figure 2-6 on page 26.
2.4
Precautions in Transporting Robot

The robot weighs almost 30 kg (66 lb). Use a crane suitable for the robot weight. Have at least two workers handle this job. Workers should wear helmets, safety 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 11.
Figure 2-2. Lifting Form Label on Robot Base
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 links of the robot until the robot has been secured in position. Failure to comply could result in the robot falling and causing either personnel injury or equipment damage.
21
Figure 2-3. Eyebolts Label
Wire (Belt sling)
Waste Cloth Eyebolts
Robot Mounting Bolts

Figure 2-4. Robot in Hoisting Sling
22
Transport Procedure
Step 1 Procedure Before transportation, set the robot in a transport position as shown at right by manually moving the second, third, and fourth axes. When initially unpacked, the robot is in the transport position, so this step is not required. Drawing
Transport Position Axis First axis (J1) Second axis (J2) Third axis (J3) Fourth axis (J4) Fifth axis (J5) 2 Disconnect the robot control cable, air hoses, and user signal cables from the robot. When the robot is first unpacked, this step is not required. 3 As shown at right, mount the eyebolts. When delivered, the robot is packed with eyebolts attached, so this step is not required Angle 0 -145 +243 -90 -90
Eyebolts
23
Step 4
Procedure As shown at right, place a waste cloth on the second axis and pass the wire through the two eyebolts.
Drawing
Wire (Belt sling)
Note: Before transporting the robot, check that the path to the mounting location is free of obstacles.
Waste Cloth Eyebolts
Robot Mounting Bolts
Worker A: Remove the four bolts while supporting the robot to prevent it from tipping over. Worker B: Operate the crane and move the robot to the mounting location. Worker B: Put the robot down in the mounting location. Worker A: Temporarily secure the robot base with four bolts. Secure the robot according to the instructions in Section on page 25. Remove the eyebolts from the robot. Caution: Before running the robot, be sure to remove the eyebolts. Otherwise, the robot arm will strike these eyebolts.
8 9
24
Mounting the Robot

200
+0.012
160 66 0.05 142.3
2X 6 - 0
R20
184 0.05
160 4X 12 THRU For M10 Diamond-shaped pin
Figure 2-5. Mounting Hole Pattern for Robot 1. See the preceding figure for the dimensions of the mounting holes in the robot mounting position where the robot is to be secured. Drill four bolt holes (M10), 20 mm deep or more. Drill a dowel pin hole 6, H7 for the diamond shaped pin, 10 mm deep or more. 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 accessory kit. 3. Drive the diamond-shaped pin into one 6, H7 hole so that it is oriented as shown in Figure 2-5. 4. Drive the internally threaded alignment pin into the other 6, H7 hole. NOTE: Be sure to use the alignment pins. It can minimize positional deviations that may be caused by the removal/installation of the robot for maintenance and reduce vibration during operation.
200
25
5. Set the robot into place on the robot mount. When transporting the robot, follow the instructions given in Section 2.4 on page 21. 6. Secure the robot to the mount with four bolts and plain washers. Bolt: M10 x 30 mm (strength class: 12.9) Tightening torque: 70 14 Nm (52 10 ft-lbf)
2.5
Grounding the Robot

Ground the grounding terminal of the robot with a wire of 12 AWG or more. Ground resistance must be less than 100 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.
WARNING: Wiring must be performed by authorized or certified personnel. Failure to observe this precaution may result in fire or electric shock.
CN22
AIR1
AIR2
CN20
Grounding terminal (M5)
12 AWG or more
Figure 2-6. Ground Point on Robot
26
Description of Connectors on Robot Interface Panel
2.6
Description of Connectors on Robot Interface Panel

CN22 Power/Signal Cable - to MB-60R
C N 22
AIR 1
AIR 1
AIR 2
AIR 2
C N 20
CN20
Grounding terminal (M5)

Figure 2-7. Robot Interface Panel CN22 - the Arm Power/Signal cable from the MB-60R is installed at this connector. CN20 - pins 1 to 10 are wired 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 28. AIR 1 - air line connector (BSPT1/4) for three solenoids in robot. See Section 2.7 on page 28. AIR 2 - air line connector (BSPT1/4), connects directly to AIR 2 on the second (upper) arm. Grounding Terminal - protective earth ground point on the robot, see Section 2.5 on page 26.
27
2.7
Air Lines and Signal Wiring

The robot is equipped with seven air lines. Six lines, from AIR1 input, are controlled by the three internal solenoid valves. One line, from AIR2 input, is connected directly to AIR2 on the second arm. There are ten user electric lines. The air lines and signal wiring are shown below.
Connector (CN21) for end-effector control signal wires View A
Valve Symbols and Air Intake/Exhaust States (1A and 1B are tubing joint symbols.) Air tubing joint Air intake 1A 1B AIR1 2A 2B 3A 1B 1A 2B 2A 3B 3A
AIR2
CN21 pin layout
Valve signal Exhaust Solenoid Solenoid valve 1 1 2 2 3 3 A ON OFF ON OFF ON OFF

B OFF ON OFF ON OFF ON
Air line joint (M5)
3B
CN20 Pin Assignments NPN type (source IN, sink OUT) CN20 pin No. 12 13 14 Used for: +24 V Solenoid 1A (solenoid valve 1) Solenoid 1B (solenoid valve 1) Solenoid 2A (solenoid valve 2) Solenoid 2B (solenoid valve 2) Solenoid 3A (solenoid valve 3) Solenoid 3B (solenoid valve 3)
B
AIR1 Air line joint (BSPT1/4) View B AIR2 Air line joint (BSPT1/4) CN20 pin layout
15 16 17 18
PNP type (sink IN, source OUT) CN20 pin No. 12 13 14 15 16 17 18 Used for: 0V Solenoid 1A (solenoid valve 1) Solenoid 1B (solenoid valve 1) Solenoid 2A (solenoid valve 2) Solenoid 2B (solenoid valve 2) Solenoid 3A (solenoid valve 3) Solenoid 3B (solenoid valve 3)
Grounding Terminal (M5)
Connector (CN20) for end-effector signal/valve control wires
Note 1: Pins #1 to #10 on CN21 and those on CN20 are connected with each other. The allowable current per line is 1 A. Note 2: Use the supplied mating connector sets for CN20 and CN21. See Table 9-5 on page 90 for information about the mating connectors on Cleanroom and IP-54/65 robots.
28
Connector set part No.
Connector No. for CN20
Model and part name SRCN6A25-24S (round type connector) Japan Aviation Electronics Industry Ltd. JMLP1610M (L type plug connector) DDK Electronics, Inc.
Appearance
05019-000
for CN21
Optional Solenoid Cable

An optional 4 meter solenoid cable is available that connects 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 Cleanroom robots. Installing this cable allows you to control the three internal robot solenoids directly from V+. See Table 2-2 for the details on activating the individual ports on each solenoid. Table 2-2. Viper Solenoid Control from V+ Active Output Port Solenoid 1 A B Solenoid 2 A B Solenoid 3 A B
a
V+ Signal Statesa 0001 0001 0003 0003 0005 0005 0002 0002 0004 0004 0006 0006
The two-position, double solenoids require both V+ signal states to be activated. Invalid states will result in indeterminate outputs.
In addition to controlling the internal robot solenoids, the Solenoid cable brings a portion of the other XDIO signals out to the CN21 connector at the top of the robot. See Table 2-3 for the details of which signals are available at CN21. See the Adept SmartController Users Guide for the electrical specifications for the signals from the XDIO connector.
29
Table 2-3. CN21 Signal List When Using Solenoid Cable Signal from XDIO on SmartController Input 1001a Input 1002a Input 1003a Input 1004a Input 1005a Signal from XDIO on SmartController Not connected Output 0007b Output 0008b 24 V Outputc Ground
CN21 Pin # 1 2 3 4 5
b c
CN21 Pin # 6 7 8 9 10
a Inputs 1001 to 1005 are preconfigured as low-active (sinking) inputs.
Outputs 0007 and 0008 are preconfigured as high-side (sourcing) outputs. Limited to a combined total of 1A of current.
Solenoid Valve Specifications

Table 2-4. Solenoid Valve Specifications Item Valve Switching system Applicable fluid Operating system Effective cross section (Cv value) Lubrication Operating pressure range Response time Maximum operating frequency Ambient temperature Solenoid Operating voltage Power consumption (current) Surge voltage protection circuit
a
Specifications 2-position double Air Pilot type 1.2 mm2 Oilless 0.1 to 0.7 MPa (14 to 101 psi)a 15 ms or less at 0.5 MPa (72.5 psi) 10 Hz -5 to 50 C (Dry air, non-condensing) 24 V 10% 0.5 W (21 mA) Zener diode
Note that the robot is rated at 0.1 to 0.39 MPa, 0.49 Max (14 - 56.6 psi, 71.1 Max)
30
Designing End-Effectors
External Mounting Locations on Robot

2-M4, 16 DEEP 2-M3, 7 DEEP
36 35
104.5(VS-6556E) 100 (VS-6577E)
2-M5, 12 DEEP
2-M8, 25 DEEP
(Unit:mm)
30
Figure 2-8. External Mounting Holes on Robot
2.8
Design an end-effector such that it is in compliance with items described in this section. CAUTION: If the end-effector design precautions are not observed, the clamped parts of the robot may become loose, rattle, or be out of position. In the worst case, the mechanical parts of the robot and robot controller may become damaged.
Continuous Turn on J6
It is possible to order the Adept Viper s650/s850 so that Joint 6 (J6) is programmed for continuous turn. Note that if J6 is programmed for continuous turn, it may lose its calibration. However, the other robot joints (J1 - J5) will not be affected.
Mass of End-Effector
Design the end-effector so that the total mass of the end-effector (including workpiece) will be lighter than the maximum payload capacity of the robot (5 kg). The total mass includes the wiring, tubing, etc.
31
Center of Gravity Position of End-Effector

Design an end-effector so that the center of gravity position of the end-effector (including workpiece) is within the range shown in the following figure.
150 80
80
CN21
Figure 2-9. Allowable Range of Center of Gravity Position of End-effector
3A 3B AIR2
2A 2B
1A 1B
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 moments of inertia of the robot. Maximum allowable moment of inertia around J4 and J5: 0.295 kgm2 Maximum allowable moment of inertia around J6: 0.045 kgm2 When calculating the moment of inertia around J4, J5, and J6 of the end-effector, use the formulas given in the following table, and see examples in Figure 2-10 on page 33. Table 2-5. Moment of Inertia Formulas
1. Cylinder (1)
(Axis of rotation = Center axis)
4. Sphere
(Axis of rotation = Center axis)
2. Cylinder (2)
(The axis of rotation passes through the center of gravity.)
5. Center of gravity not on the axis of rotation

: Inertia moment around center of gravity
3. Rectangular parallelepiped
(The axis of rotation passes through the center of gravity.) l: m: r: b, c, : Moment of inertia Mass Radius Length kgm kg m m
2
32
Calculation example : When calculating the moment of inertia of a complicated shape, divide it into
simple parts as much as possible for easier calculations. As shown in the figure below, divide the end-effector into three parts ( , (1) Moment of inertia around J6 , ).
Moment of inertia around J6 of

Robot flange center Center of gravity of
: I1 (from 3 and 5 in previous table)

40
20

Around J6 Around J6
Center of gravity of
40
Center of gravity of
Moment of inertia around J6 of entire end-effector: IJ6

Unit: mm
(2) Moment of inertia around J4 and J5
For the end-effector shown below, the moment of inertia around J4 and J5 can be calculated according to the same formula.
Moment of inertia around J4 and J5 of
: I1 (from 3 and 5 in prevous table)
((0.08 + 0.005)2+0.01) 1.03 10-3 [kgm2]

Moment of inertia around J4 and J5 of
80
((0.08 + 0.01 + 0.02)2+0.042) 1.39 10-3 [kgm2]

Moment of inertia around J4 and J5 of : I3 (from 2 and 5 in previous table)
((0.08 + 0.01 + 0.05)2+0.052)

80
2.30 10-3 [kgm2]

Moment of inertia around J4 and J5 of entire end-effector: IJ4, IJ5
2.5410-2 [kgm2]
Figure 2-10. Moment of Inertia Calculation Examples
33
MotionBlox-60R
3.1 Introduction to the MotionBlox-60R
The Adept MotionBlox-60R (MB-60R) is a distributed servo controller and amplifier. It is designed with a dedicated digital signal processor to communicate, coordinate, and execute servo commands. The MB-60R consists of: a distributed servo amplifier a RISC processor for servo loop control a node on the IEEE 1394 network a power controller that uses single-phase AC power, 200-240 Volts a status panel with 2-digit alpha-numeric display to indicate operating status and fault codes
Robot Interface Panel
Robot Connector (for Arm Power/Signal Cable from Robot)
Figure 3-1. Adept MB-60R Front View
35
Chapter 3 - MotionBlox-60R
3.2
Description of Connectors on MB-60R Interface Panel

Ground Point for Cable Shield 200-240 VAC Input XSLV
SmartServo Port 1 Ground Point 24 VDC Input
SmartServo Port 2
+24 V Pin
RS-232
XIO
XPANEL
Figure 3-2. MB-60R Interface Panel 24 VDC - for connecting user-supplied 24 VDC power. The mating connector is provided. Ground Point - for connecting cable shield from user-supplied 24 VDC cable. 200/240 VAC - for connecting 200-240 VAC, single-phase, input power. The mating connector is provided. XSLV - for connecting the supplied XSYS cable from the controller XSYS connector. (DB-9, female). SmartServo 1/2 - for connecting the IEEE 1394 cable from the controller (SmartServo 1.1) to the upper connector (SmartServo 1). RS-232 - Reserved for future use (DB-9, male). XPANEL - Not used (DB-26, high density, male). XIO - for user I/O signals for peripheral devices. This connector provides 8 outputs and 12 inputs. See Section 3.4 on page 40 for connector pin allocations for inputs and outputs. That section also contains details on how to access these I/O signals via V+. (DB-26, high density, female)
36
MB-60R Operation
3.3
MB-60R Operation
Status LED on MB-60R

The Status LED Indicator is located on the top of the MB-60R. See Figure 3-3. This is a bi-color, red and green LED. The color and blinking pattern indicates the status of the robot. See Table 3-1.
Brake Release Button Status Panel Display
Status LED Indicator
EXPIO Connector
Brake Connector
Figure 3-3. Controls and Indicators on MB-60R Table 3-1. Status LED Definition LED Status Off Green, Slow Blink Green, Fast Blink Green/Red Blink Red, Fast Blink Solid Green or Red Description 24 VDC not present High Power Disabled High Power Enabled Selected Configuration Node Fault, see Table 3-2 on page 38 Initialization or Robot Fault
37
Status Panel
The status panel, shown in Figure 3-3 on page 37, displays alpha-numeric codes that indicate the operating status of the MB-60R, including detailed fault codes. Table 3-2 gives definitions of the fault codes. These codes provide details for quickly isolating problems during troubleshooting. Table 3-2. Status Panel Codes LED OK ON MA 24 A# B# AC D# E# ES F# FM FW Status Code No Fault High Power ON Status Manual Mode 24V Supply Fault Amp Fault (Joint #) IO Blox Fault (Address #) AC Power Fault Duty Cycle Exceeded (Joint #) Encoder Fault (Joint #) E-Stop External Sensor Stop Firmware Mismatch IEEE 1394 Fault LED h# H# hV I# M# NV P# PR RC SW S# T# V# Status Code High Temp Amp (Joint #) High Temp Encoder (Joint #) High Voltage Bus Fault Initialization Stage (Step #) Motor Stalled (Joint #) Non-Volatile Memory Power System Fault (Code #) Processor Overloaded RSC Fault Watchdog Timeout Safety System Fault (Code #) Safety System Fault (Code 10 + #) Hard Envelope Error (Joint #)
NOTE: Due to the nature of the Adept Viper s650/s850 robots bus line encoder wiring, a single 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 Library on the Adept Web site, and in the Procedures, FAQs, and Troubleshooting section, look for the Adept Status Code Summary document.
Brake Release Button on MB-60R

The Brake Release button is located at the top right of the MB-60R. See Figure 3-3 on page 37. When used with the Adept Viper s650/s850 robot, the button, when pressed, will disable High Power and display BK on the MB-60R, but no brakes will be released. NOTE: If this button is pressed while high power is on, high power will automatically shut down. For manual release of the brakes on the Adept Viper s650/s850 robot, a Brake Release connector is provided on the MB-60R for connecting a manual brake release box. See the following section for more details. Also, an integrated brake release switch is provided on UL robots (see Section 5.2 on page 63).
38
MB-60R Operation
Brake Release Connector

The 9-pin Brake Release connector provides an interface for connecting a manual brake release box. This can be used as an alternative to the Brake Release button. See Installing and Using the Brake Release Box on page 63. The digital inputs on this connector meet the same input level requirements as the XIO inputs. See Table 3-7 on page 43 for details. Table 3-3. Brake Release Connector Pinouts Pin # 1 2 3 4 5 6 7 8 9 Description Not connected Not connected Release3_N Not connected Not connected Not connected GND Not connected 24 V
Pin 5 Pin 9 Pin 1 Pin 6
Pin Location
DB-9 Female Brake Connector as viewed on MB-60R
Mating Connector: D-Subminiature 9-Pin Male
39
3.4
Connecting Digital I/O to the System

You can connect digital I/O to the system in several different ways. See the following table and figure. Table 3-4. Digital I/O Connection Options Product I/O Capacity 12 inputs 8 outputs 12 inputs 8 outputs 8 inputs, 8 outputs per device; up to four IO Blox devices per system 32 inputs, 32 outputs per module; up to four sDIO devices per system For more details see Section 3.5 on page 42 see Adept SmartController Users Guide see Adept IO Blox Users Guide see Adept SmartController Users Guide
XIO Connector on MB-60R XDIO Connector on SmartController Optional IO Blox Devices, connect to EXPIO connector on the MB-60R Optional sDIO Module, connects to controller
IO Blox #1 8 Input signals: 1113 to 1120 8 Output signals: 0105 to 0112
MB-60R
Optional IO Blox Device
sDIO #1 32 Input signals: 1033 to 1064 32 Output signals: 0033 to 0064
Optional sDIO #1
LINK
XDC1 XDC2
24V 0.5A
OK SF
-+
-+
*S/N 3562-XXXXX*
R
CAMERA
RS-232/TERM
RS-422/485
SmartController
SmartServo
OK SF HPE ES LAN HD
IEEE-1394 2.1 2.2
Device Net
SW1 1 2 3 4
ON OFF
1.1
1.2
XDIO
XUSR
XSYS
XFP
XMCP
XDC1 XDC2
24V 5A
-+
-+
XDIO Connector 12 Input signals: 1001 to 1012 8 Output signals: 0001 to 0008 XIO Connector 12 Input signals: 1097 to 1108 8 Output signals: 0097 to 0104
Figure 3-4. Connecting Digital I/O to the System
40
SmartController CX
SC-DIO
IEEE-1394 1.1 1.2
*S/N 3563-XXXXX*
X1
X2
X3
X4
Table 3-5. Default Digital I/O Signal Configuration, Single Robot System Location SmartController XDIO connector sDIO Module 1 sDIO Module 2 sDIO Module 3 (recommended a) sDIO Module 4 (recommended a) MB-60R 1 XIO connector IO Blox 1 IO Blox 2 IO Blox 3 IO Blox 4 Type Inputs Outputs Inputs Outputs Inputs Outputs Inputs Outputs Inputs Outputs Inputs Outputs Inputs Outputs Inputs Outputs Inputs Outputs Inputs Outputs
a
Signal Range 1001 - 1012 0001 - 0008 1033 - 1064 0033 - 0064 1065 - 1096 0065 - 0096 1201 - 1232 0201 - 0232 1233 - 1264 0233 - 0264 1097 - 1108 0097 - 0104 1113 - 1120 0105 - 0112 1121 - 1128 0113 - 0120 1129 - 1136 0121 - 0128 1137 - 1144 0129 - 0136
For sDIO modules 3 and 4 (and beyond), you must configure the signals to have the system support those modules, using the Controller Editor in the Adept ACE software. For details, see the topic V+ System Configuration in the Adept ACE Users Guide.
41
3.5
Using Digital I/O on MB-60R XIO Connector

The XIO connector on the MB-60R interface panel offers access to digital I/O, 12 inputs and 8 outputs. These signals can be used by V+ to perform various functions in the workcell. See Table 3-6 for the XIO signal designations. 12 Inputs, signals 1097 to 1108 8 Outputs, signals 0097 to 0104 Table 3-6. XIO Signal Designations Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 Signal Bank V+ Signal Number
Designation GND 24 VDC Common 1 Input 1.1 Input 2.1 Input 3.1 Input 4.1 Input 5.1 Input 6.1 GND 24 VDC Common 2 Input 1.2 Input 2.2 Input 3.2 Input 4.2 Input 5.2 Input 6.2 Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8
Pin Locations
1 1 1 1 1 1 1 1097 1098 1099 1100 1101 1102

Pin 1 Pin 10 Pin 19
2 2 2 2 2 2 2 1103 1104 1105 1106 1107 1108 0097 0098 0099 0100 0101 0102 0103 0104
Pin 9 Pin 18 Pin 26
XIO 26-pin female connector on MB-60R Interface Panel
42
Optional I/O Products

These optional products are also available for use with digital I/O: XIO Breakout Cable, 5 meters long, with flying leads on users end. See page 46 for information. This cable is not compatible with the XIO Termination Block mentioned below. XIO Termination Block, with terminals for user wiring, plus input and output status LEDs. Connects to the XIO connector with 6-foot cable. See the Adept XIO Termination Block Installation Guide for details.
XIO Input Signals

The 12 input channels are arranged in two banks of six. Each bank is electrically isolated from the other bank and is optically isolated from the MB-60R ground. The six inputs within each bank share a common source/sink line. The inputs are accessed through direct connection to the XIO connector (see Table 3-6 on page 42), 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 interrupts, or vision triggers. See the V+ Language Users Guide for information on digital I/O programming. XIO Input Specifications Table 3-7. XIO Input Specifications Operational voltage range Off state voltage range On state voltage range Typical threshold voltage Operational current range Off state current range On state current range Typical threshold current Impedance (Vin/Iin) Current at Vin = +24 VDC Turn on response time (hardware) Software scan rate/response time Turn off response time (hardware) Software scan rate/response time 0 to 30 VDC 0 to 3 VDC 10 to 30 VDC Vin = 8 VDC 0 to 7.5 mA 0 to 0.5 mA 2.5 to 6 mA 2.0 mA 3.9 K minimum Iin 6 mA 5 sec maximum 16 ms scan cycle/ 32 ms max response time 5 sec maximum 16 ms scan cycle/ 32 ms max response time
NOTE: The input current specifications are provided for reference. Voltage sources are typically used to drive the inputs.
43
Typical Input Wiring Example
Adept-Supplied Equipment
User-Supplied Equipment
Wiring Terminal Block Typical User Input Signals
Note: all Input signals can be used for either sinking or sourcing configurations.
(equivalent circuit)
Signal 1097 Signal 1098 Signal 1099
4 5 6 7 8 9
Part Present Sensor Feeder Empty Sensor Part Jammed Sensor Bank 1 configured for Sinking (NPN) Inputs Sealant Ready Sensor
XIO Connector 26-Pin Female D-Sub
Input Bank 1
Bank 1 3 Common 2 +24V GND 1 13 14 15 16 17 18
Bank 2 configured for Sourcing (PNP) Inputs
Input Bank 2
Bank 2 12 Common 10 GND +24V 11
Figure 3-5. Typical User Wiring for XIO Input Signals NOTE: The off-state current range exceeds the leakage current of XIO outputs. This guarantees that the inputs will not be turned on by the leakage current from the outputs. This is useful in situations where the outputs are looped-back to the inputs for monitoring purposes.
44
XIO Output Signals

The eight digital outputs share a common, high-side (sourcing) Driver IC. The driver is designed to supply any kind of load with one side connected to ground. It is designed for a range of user-provided voltages from 10 to 24 VDC and each channel is capable of up to 0.7 A of current. This driver has overtemperature protection, current limiting, and shorted load protection. In the event of an output short or other overcurrent situation, the affected output of the Driver IC turns off and back on automatically to reduce the temperature of the IC. The Driver draws power from the primary 24 VDC input to the robot through a self-resetting polyfuse. The outputs are accessed through direct connection to the XIO connector (see Table 3-6 on page 42), or through the optional XIO Termination Block. See the documentation supplied with the Termination Block for details. XIO Output Specifications Table 3-8. XIO Output Circuit Specifications Parameter Power supply voltage range Operational current range, per channel Total Current Limitation, all channels on. On-state resistance (Iout = 0.5 A) Output leakage current Turn-on response time Turn-off response time Output voltage at inductive load turnoff (Iout = 0.5 A, Load = 1 mH) DC short circuit current limit Peak short circuit current Iout 700 mA Itotal 1.0 A @ 50 C ambient Itotal 1.5 A @ 25 C ambient Ron 0.32 @85C Iout 25 A 125 sec max., 80 sec typical (hardware only) 60 sec. max., 28 sec typical (hardware only) (+V - 65) Vdemag (+V - 45) 0.7 A ILIM 2.5 A Iovpk 4 A Value See Table 4-2 on page 54.
45
Typical Output Wiring Example
Adept-Supplied Equipment
XIO Connector 26-Pin Female D-Sub
User-Supplied Equipment
Wiring Terminal Block
+24 VDC 19 20 21 22 23 24 25 26 1 10
Signal 0097
Typical User Loads
Outputs 1-8
(equivalent circuit)
Signal 0098 Signal 0099 Signal 0100 Signal 0101 Signal 0102 Signal 0103 Signal 0104 GND GND
Load Load Load
M
L N
Customer AC Power Supply
Figure 3-6. 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 to the XIO connector on the MB-60R, and provides flying leads on the users end, for connecting input and output signals in the workcell. The part number for the cable is 04465-000, and the length is 5 M (16.4 ft). See Table 3-9 on page 47 for the wire chart on the cable. NOTE: This cable is not compatible with the XIO Termination Block.
Figure 3-7. Optional XIO Breakout Cable
46
Table 3-9. XIO Breakout Cable Wire Chart Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 Shell Signal Designation GND 24 VDC Common 1 Input 1.1 Input 2.1 Input 3.1 Input 4.1 Input 5.1 Input 6.1 GND 24 VDC Common 2 Input 1.2 Input 2.2 Input 3.2 Input 4.2 Input 5.2 Input 6.2 Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 Wire Color White White/Black Red Red/Black Yellow Yellow/Black Green Green/Black Blue Blue/White Brown Brown/White Orange Orange/Black Gray Gray/Black Violet Violet/White Pink Pink/Black Light Blue Light Blue/Black Light Green Light Green/Black White/Red White/Blue Shield
Pin 26 Pin 18 Pin 9 Pin 19 Pin 10 Pin 1
Pin Locations
26-pin male connector on XIO Breakout Cable
47
3.6
MB-60R Dimensions
See Figure 3-8 for dimensions of MB-60R chassis and mounting holes.
197.8
32.7 377.8 47.6 0 0 A 0 7.6 45.7 129.54 0 C 67.3 106.7 170.2 182.9 197.8 222.3 7.6 6X, SHCS,M4 X 6 45.7 228.6 C 0 197.8 Note: 112 mm clearance required in front of unit to remove amps from box enclosure. M4 X 7mm DP BLIND STUDS SPCD AS SHOWN, 20X 45.7 7.6 377.8 47.6 0 0 0 0 32.7
377.8
425.5
404.9
331.7
204.2
45.7
7.6
32.7
Figure 3-8. MB-60R Mounting Dimensions
48
51.6 20.6 9.8 0
47.6
C 0
Mounting the MB-60R
3.7
Mounting the MB-60R

The MB-60R can be panel-mounted. NOTE: The mounting of the MB-60R and all terminations at the MB-60R must be performed in accordance with all local and national standards.
Panel-Mounting the MB-60R

To panel-mount the MB-60R, install two brackets on each side at the rear of the unit (see the following figure for the bracket dimensions). Use the screws from the accessories kit.
4X .169 THRU ALL .370 X 90, FARSIDE ON FARSIDE 1
1.250
7.750
.25 X.25 TYP.CHAMFER 3.750
2.250 4.00
C 0 9.00 B
Figure 3-9. Panel-Mounting the MB-60R
49
System Installation
4.1 System Cable Diagram
Adept MB-60R Servo Controller IEEE 1394 Cable from Controller SmartServo (Port 1.1) to MB-60R SmartServo (Port 1) XSYS Cable from Controller (XSYS) to MB-60R (XSLV) Adept SmartController CX
*S/N 3562-XXXXX*
R
NOTE: Objects are not drawn to scale.
EXPIO Connector External Brake Connector
CAMERA
RS-232/TERM
RS-422/485
SmartServo
OK SF HPE ES LAN HD
IEEE-1394 2.1 2.2
Device Net
SW1 1 2 3 4
ON OFF
1.1
1.2
XDIO
XUSR
XSYS
XFP
XMCP
XDC1 XDC2
24V 5A
-+
-+
Terminator Installed
User-Supplied Ground Wire Controller (XFP) to Front Panel (XFP)

Ethernet to PC
STOP
SmartController CX
24 VDC Power from User-Supplied Power Supply to Controller (XDC1)
User-Supplied 200-240 VAC, single phase User-Supplied Ground Wire
Front Panel
User-Supplied Power Supply
24 VDC Power from User-Supplied Power Supply to MB-60R (+24 VDC Input)
Arm Power/ Signal Cable
T2 Pendant (optional)
CN22 AIR1 AIR2
Desktop or Laptop PC (user-supplied) Running Adept ACE
CN20
Adept Viper s650 Robot
User-Supplied Ground Wire
Figure 4-1. System Cable Diagram for Adept SmartController Robots NOTE: See Installing the 24 VDC Cable on page 56 for additional system grounding information.
51
Chapter 4 - System Installation
4.2
Cables and Parts List

Table 4-1. Cables and Parts List
Part Description IEEE 1394 Cable, 4.5 M XSYS Cable, 4.5 M Front Panel Cable T1/T2 Pendant Adapter Cable Power Cable Kit - contains 24 VDC and AC power cables XIO Breakout Cable, 12 inputs/ 8 outputs, 5 meters Y Cable, for XSYS cable connections to dual robots
Part Number 10410-00545 02928-000 10356-10500 05002-000 04972-000 04465-000 00411-000
Notes Standard cable supplied with system Standard cable supplied with system Supplied with Front Panel Supplied with optional T2 pendant Available as option Available as option see page 46. Available as option see Figure 10-1 on page 96.
4.3
Installing the SmartController

Refer to the Adept SmartController Users Guide for complete information on installing the Adept SmartController motion controller. This list summarizes the main steps. 1. Mount the SmartController and Front Panel. 2. Connect the Front Panel to the SmartController. 3. Connect the optional pendant (if purchased) to the SmartController. 4. Connect user-supplied 24 VDC power to the controller. 5. Install a user-supplied ground wire between the SmartController and ground. 6. Install the Adept ACE software (PC user interface). Refer to the following section.
4.4
Installing the Adept ACE Software

The Adept ACE software is installed from the Adept ACE software 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.
52
Connecting the PC to the SmartController
2. Especially if you are upgrading your Adept ACE software installation: from 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 online instructions as you step through the installation process. 5. When the installation is complete, click Finish. 6. After closing the Adept ACE Setup wizard, click Exit on the CD-ROM menu to close the menu. NOTE: You will have to restart the PC after installing the Adept ACE software.
4.5
Connecting the PC to the SmartController

The Adept SmartController motion controller must be connected to a user-supplied PC or the Adept SmartVision EX processor for setup, control, and programming. Connect an Ethernet crossover cable between the PC and the SmartController motion controller or Use two standard Ethernet cables with a network hub or switch in place of the Ethernet crossover cable. NOTE: Do not use an Ethernet crossover cable with a network hub or switch. For more details, refer to the Adept ACE Users Guide.
4.6
Connecting Cables from the MB-60R to the SmartController

1. Locate the IEEE 1394 cable (length 4.5 M) and the XSYS cable (length 4.5 M). They are shipped in the cable/accessories box. 2. Install one end of the IEEE 1394 cable into the SmartServo port 1.1 connector on the SmartController, and install the other end into the SmartServo port 1 connector on the MB-60R interface panel. See Figure 4-1 on page 51. Make sure the plug is oriented correctly to the connector. 3. Install the XSYS cable between the MB-60R interface panel XSLV safety interlock connector and XSYS connector on the SmartController, and tighten the latching screws. NOTE: The IEEE 1394 and XSYS cables should be routed away from AC power and robot interconnect cables.
53
4.7
Connecting Cables from the MB-60R to the Robot
Installing the Arm Power/Signal Cable

The cable between the robot and the MB-60R is called the Arm Power/Signal cable. 1. Connect one end of the Arm Power/Signal cable to the CN22 connector on the back plate of the robot. Tighten the thumb-screw securely. 2. Connect the other end of the cable to the large, circular connector on the MB-60R. See Figure 4-1 on page 51.
WARNING: DO NOT attach or detach this connector while the power switch is on. Improper operation may cause electric shock or controller failure.
WARNING: Verify that all connectors are fully-inserted and screwed down. Failure to do this could cause unexpected robot motion. Also, a connector could get pulled out or dislodged unexpectedly.
4.8
Connecting 24 VDC Power to MB-60R Servo Controller
Specifications for 24 VDC Power

Table 4-2. Specifications for 24 VDC User-Supplied Power Supply Customer-Supplied Power Supply Circuit Protectiona 24 VDC ( 10%), 150 W (6 A) (21.6 V< Vin < 26.4 V) Output must be less than 300 W peak or 8 Amp in-line fuse 1.5 1.85 mm (16-14 AWG) Cable shield connected to frame ground on power supply and ground point on MB-60R. See Figure 4-2 on page 57.
Power Cabling Shield Termination
User-supplied 24 VDC power supply must incorporate overload protection to limit peak power to less than 300 W, or 8 A in-line fuse protection must be added to the 24 V power source.
54
Connecting 24 VDC Power to MB-60R Servo Controller
NOTE: Fuse information is located on the MB-60R electronics. The power requirements for the user-supplied power supply will vary depending on the configuration of the robot and connected devices. Adept recommends a 24 V, 6 A power supply to allow for startup current draw and load from connected user devices, such as digital I/O loads. CAUTION: Make sure you select a 24 VDC power supply that meets the specifications in Table 4-2. Using an underrated supply can cause system problems and prevent your equipment from operating correctly. See the following table for recommended power supplies.
Table 4-3. Recommended 24 VDC Power Supplies Vendor Name XP Power Mean Well Astrodyne Model JPM160PS24 SP-150-24 ASM150-24 Ratings 24 VDC, 6.7 A, 160 W 24 VDC, 6.3 A, 150 W 24 VDC, 6.66 A, 150 W
Details for 24 VDC Mating Connector

The 24 VDC mating connector and two pins are supplied with each system. They are typically shipped in the cable/accessories box. Table 4-4. 24 VDC Mating Connector Specs Connector Details
Ground
Connector receptacle, 2 position, type: Molex Saber, 18 A, 2-Pin Molex P/N 44441-2002 Digi-Key P/N WM18463-ND
+24 V
Pin Details
Molex connector crimp terminal, female, 14-18 AWG Molex P/N 43375-0001 Digi-Key P/N WM18493-ND
Recommended crimping tool, Molex Hand Crimper
Molex P/N 63811-0400 Digi-Key P/N WM9907-ND
55
NOTE: The 24 VDC cable is not supplied with the system, but is available in the optional Power Cable kit, see Table 4-1 on page 52.
Procedure for Creating 24 VDC Cable

1. Locate the connector and pins from Table 4-4. 2. Use shielded two-conductor cable with 14-16 AWG wire to create the 24 VDC cable. Select the wire length to safely reach from the user-supplied 24 VDC power supply to the MB-60R base. NOTE: You also must create a separate 24 VDC cable for the SmartController. That cable uses a different style of connector. See the Adept SmartController Users Guide. 3. Crimp the pins onto the wires using the crimping tool recommended in Table 4-4. 4. Insert the pins into the connector. Confirm that the +24 V and ground wires are in the correct terminals in the plug. 5. Install a user-supplied ring lug (for an M3 screw) on the shield at the MB-60R end of the cable. 6. Prepare the opposite end of the cable for connection to the user-supplied 24 VDC power supply, including a terminal to attach the cable shield to frame ground.
Installing the 24 VDC Cable

Do not turn on the 24 VDC power until instructed to do so in Chapter 6. 1. Connect one end of the shielded 24 VDC cable to your user-supplied 24 VDC power supply. See Figure 4-2. The cable shield should be connected to frame ground on the power supply. 2. Plug the mating connector end of the 24 VDC cable into the 24 VDC connector on the interface panel on the back of the MB-60R. The cable shield should be connected to the ground point on the interface panel.
56
Connecting 200-240 VAC Power to MB-60R
MB-60R Servo Controller
GND
User-Supplied Power Supply 24 VDC
Attach shield from usersupplied cable to ground screw on MB-60R Interface Panel.
User-Supplied Shielded Power Cable
+ 24 V, 6 A
Frame Ground
+ 24 V, 5 A
Attach shield from usersupplied cables to frame ground on power supply.
Adept SmartController
-+
Attach shield from user-supplied cable to controller using star washer and M3 x 6 screw.
User-Supplied Shielded Power Cable
Figure 4-2. User-Supplied 24 VDC Cable NOTE: Adept recommends that DC power be delivered over shielded cables, with the shield connected to frame ground at the power supply, and to the ground points shown in the diagram above for the MB-60R and SmartController. The length of the wire from the cable shield to the ground points should be less than 50 mm.
4.9

WARNING: Ensure compliance with all local and national safety and electrical codes for the installation and operation of the robot system.
WARNING: Appropriately sized Branch Circuit Protection and Lockout / Tagout Capability must be provided in accordance with the National Electrical Code and any local codes.
57
Specifications for AC Power

Table 4-5. Specifications for 200/240 VAC User-Supplied Power Supply Auto-Ranging Nominal Voltage Ranges 200 to 240 V Minimum Operating Voltagea 180 V Maximum Operating Voltage 264 V Recommended External Circuit Breaker, User-Supplied 10 Amps
Frequency/ Phasing 50/60 Hz 1-phase
Specifications are established at nominal line voltage. Low line voltage can affect robot performance. NOTE: The Adept robot system is intended to be installed as a piece of equipment in a permanently-installed system. Table 4-6. Typical Robot Power Consumptiona Average Power (W) 371 477 834 358 407 704 Peak Power (W)b 947 1526 2088 1237 1202 2090
Robot Adept Viper s650
Move No load - Adept cyclec 5.0 kg - Adept cyclec 5.0 kg - all joints move No load - Adept cyclec
Adept Viper s850

a b
5.0 kg - Adept cyclec 5.0 kg - all joints move
Typical power data is with 220 VAC, 60 Hz, 1-phase nominal input. For short durations (100 ms) c Adept cycle: the robot tool performs continuous path, straight-line motions 25 mm up, 305 mm over, 25 mm down, and back along the same path. COARSE is enabled and BREAKs are used at each end location. Not achievable over all paths.
DANGER: AC power installation must be performed by a skilled and instructed person - see the Adept Robot Safety Guide. During installation, unauthorized third parties must be prevented from turning on power through the use of fail-safe lockout measures. Facility Overvoltage Protection The user must protect the robot from excessive overvoltages and voltage spikes. If the country of installation requires a CE-certified installation, or compliance with IEC 1131-2, the following information may be helpful: IEC 1131-2 requires that the installation must ensure that Category II overvoltages (i.e., line spikes not directly due to lightning strikes) are not exceeded. Transient overvoltages at the 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. The user-supplied
58
equipment or transient suppressor shall be capable of absorbing the energy in the transient. In the industrial environment, nonperiodic over-voltage peaks may appear on mains power supply lines as a result of power interruptions to high-energy equipment (such as a blown fuse on one branch in a 3-phase system). This will cause high-current pulses at relatively low voltage levels. The user shall take the necessary steps to prevent damage to the robot system (such as by interposing a transformer). See IEC 1131-4 for additional information. AC Power Diagrams
Note: F1 is user-supplied, must be slow blow. L
1 200240 VAC 20A
F1 10A N E
User-Supplied AC Power Cable L = Line N = Neutral E = Earth Ground

E N L
MB-60R 1 200240 VAC
Figure 4-3. Typical AC Power Installation with Single-Phase Supply

Note: F4 and F5 are user-supplied, must be slow blow. L1 F5 10A
200240 VAC
3 200240 VAC
L2 L3 E F4 10A
User-Supplied AC Power Cable

E N L
L = Line 1 N = Line 2 E = Earth Ground
MB-60R 1 200240 VAC
Figure 4-4. Single-Phase Load across L1 and L2 of a Three-Phase Supply
Details for AC Mating Connector

The AC mating connector is supplied with each system. It is shipped in the cable/accessories box. The supplied plug is internally labeled for the AC power connections (L, E, N).
59
Table 4-7. AC Mating Connector Details 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 available in the optional Power Cable kit, see Table 4-1 on page 52.
Procedure for Creating 200-240 VAC Cable

1. Locate the AC mating connector shown in Table 4-7. 2. Open the connector by unscrewing the screw on the shell and removing the cover. 3. Loosen the two screws on the cable clamp. See Figure 4-5 on page 60. 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 MB-60R base. 5. Strip approximately 18 to 24 mm of insulation from each of the three wires. 6. Insert the wires into the connector through the removable bushing. 7. Connect each wire to the correct terminal screw, and tighten the screw firmly. 8. Tighten the screws on the cable clamp. 9. Replace the cover and tighten the screw to seal the connector. 10. Prepare the opposite end of the cable for connection to the facility AC power source.
Removable Bushing Earth Cable Clamp Line Neutral
Figure 4-5. AC Power Mating Connector
60
Grounding the Adept Robot System
Installing AC Power Cable to MB-60R

1. Connect the unterminated end of the AC power cable to your facility AC power source. See Figure 4-3 on page 59 and Figure 4-4 on page 59. Do not turn on AC power at this time. 2. Plug the AC connector into the AC power connector on the interface panel on the MB-60R. 3. Secure the AC connector with the locking latch.
4.10 Grounding the Adept Robot System

Proper grounding is essential for safe and reliable robot operation. Follow these recommendations to properly ground your robot system.
Ground Point on Robot Base

The user can install a protective earth ground wire at the robot base to ground the robot. See Figure 4-6. The user is responsible for supplying the ground wire to connect to protective earth ground.
CN22
AI R 1
AIR2
C N 20
Figure 4-6. Ground Point on Robot Base
Ground Point on MotionBlox-60R

The user can install a ground wire at the MB-60R chassis. Use the hole below the MB-60R interface panel - see Figure 4-7. The user should provide a ground wire and use the provided M4 screw and external tooth lockwasher to connect to earth ground. Make sure to tighten the screw on the ground wire to create a proper ground connection. Optionally, two tapped holes are provided to attach user-supplied strain relief.
Ground Point
Figure 4-7. User Ground Location on MB-60R
61
Robot-Mounted Equipment Grounding

The Adept SmartController tool flange is not reliably grounded to the robot base. If hazardous voltages are present at any user-supplied robot-mounted equipment or tooling, you must install a ground connection from that equipment/tooling to the ground point on the robot base. Hazardous voltages can be considered anything in excess of 30 VAC (42.4 VAC peak) or 60 VDC.
DANGER: Failing to ground robot-mounted equipment or tooling that uses hazardous voltages could lead to injury or death of a person touching the end-effector when an electrical fault condition exists.
4.11 Installing User-Supplied Safety Equipment

The user is responsible for installing safety barriers to protect personnel from coming in contact with the robot unintentionally. Depending on the design of the workcell, safety gates, light curtains, and emergency stop devices can be used to create a safe environment. Read the Adept Robot Safety Guide for a discussion of safety issues. Refer to the Adept SmartController Users Guide for information on connecting safety equipment into the system through the XUSR connector on the SmartController. There is a detailed section on Emergency Stop circuits and diagrams on recommended E-Stop configurations.
62
System Operation
5.1 Status Panel Codes
The status panel display on the MB-60R displays alpha-numeric codes that indicate the operating status of the robot, including detailed fault codes. Table 3-2 on page 38 gives definitions of the fault codes. These codes provide details for quickly isolating problems during troubleshooting. For more information on status codes, go to the Adept Document Library on the Adept web site, and in the Procedures, FAQs, and Troubleshooting section, look for the Adept Status Code Summary document.
5.2
Brakes
UL robots have an integrated brake-release switch located on the robot. On non-UL robots, you can install a manual brake-release 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 Using the Brake Release Box

This procedure describes how to install and use a manual brake release box on non-UL robots. See Figure 5-1 on page 64. 1. Make sure that high power is disabled (off). 2. Connect the 9-pin male D-sub connector into the 9-pin female D-sub connector marked Brake on the MB-60R. 3. Press one of the E-Stops (Pendant, Front Panel, or external). NOTE: An E-Stop must be activated in order for the brake release box to work. 4. Using the axis selector switch, select the axis on which you want to release the brake. 5. Depress the Brake Release push button to release the brake.
63
Chapter 5 - System Operation
6. Repeat steps 4 and 5 above for releasing the brakes on another axis. NOTE: When the Status LED (Green) is on, it indicates that the circuit is enabled, when the Brake Release push button is pressed.
Axis selector switch
2 3 4 5 6 OFF BRAKE
Status LED
RELEASE
Brake Release Push button
9-pin male D-Sub connector
Figure 5-1. Manual Brake-Release Box
Using the Brake Release Switch on UL Robots

This procedure describes how to use the brake release switch on the base of UL robots. See Figure 5-2 on page 65. 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 work. 3. Using the axis selector switch, select the axis on which you want to release the brake. 4. Depress the Brake Release push button, to release the brake. 5. Repeat step 3 and step 4 above to release the brakes on another axis. NOTE: When the Status LED (Green) is on, it indicates that the circuit is enabled, when the Brake Release push button is pressed.
64
Figure 5-2. Brake Release Switch on UL Robots
5.3

You can connect digital I/O to the system in several different ways. See Table 5-1 and Figure 5-3. Also refer to page 29 for information on the optional Solenoid cable. Table 5-1. Digital I/O Connection Options
Product XDIO Connector on SmartController Optional IO Blox Device, connects to EXPIO connector on MB-60R Optional sDIO Module, connects to controller
I/O Capacity 12 inputs 8 outputs 8 inputs, 8 outputs per device; up to four IO Blox devices per robot 32 inputs, 32 outputs per module; up to four sDIO per system
For more details see Adept SmartController Users Guide see Adept IO Blox Users Guide see Adept SmartController Users Guide
65
IO Blox #1 8 Input signals: 1113 to 1120 8 Output signals: 0105 to 0112
MB-60R
Optional IO Blox Device
sDIO #1 32 Input signals: 1033 to 1064 32 Output signals: 0033 to 0064
Optional sDIO #1
LINK
XDC1 XDC2
24V 0.5A
OK SF
-+
-+
*S/N 3562-XXXXX*
R
CAMERA
RS-232/TERM
RS-422/485
SmartController
SmartServo
OK SF HPE ES LAN HD
IEEE-1394 2.1 2.2
Device Net
SW1 1 2 3 4
ON OFF
1.1
1.2
XDIO
XUSR
XSYS
XFP
XMCP
XDC1 XDC2
24V 5A
-+
-+
XDIO Connector 12 Input signals: 1001 to 1012 8 Output signals: 0001 to 0008 XIO Connector 12 Input signals: 1097 to 1108 8 Output signals: 0097 to 0104
Figure 5-3. Connecting Digital I/O to the System Table 5-2. Default Digital I/O Signal Configuration, Single Robot System Location Controller XDIO connector sDIO Module 1 sDIO Module 2 sDIO Module 3 (recommended a) sDIO Module 4 (recommended a) IO Blox 1 Type Inputs Outputs Inputs Outputs Inputs Outputs Inputs Outputs Inputs Outputs Inputs Outputs Signal Range 1001 - 1012 0001 - 0008 1033 - 1064 0033 - 0064 1065 - 1096 0065 - 0096 1201 - 1232 0201 - 0232 1233 - 1264 0233 - 0264 1113 - 1120 0105 - 0112
66
SmartController CX
SC-DIO
IEEE-1394 1.1 1.2
*S/N 3563-XXXXX*
X1
X2
X3
X4
Commissioning the System
Table 5-2. Default Digital I/O Signal Configuration, Single Robot System Location IO Blox 2 IO Blox 3 IO Blox 4 Type Inputs Outputs Inputs Outputs Inputs Outputs
a
Signal Range 1121 - 1128 0113 - 0120 1129 - 1136 0121 - 0128 1137 - 1144 0129 - 0136
For sDIO modules 3 and 4, you must configure the signals using CONFIG_C, to have the system support those modules. See the Adept SmartController Users Guide for additional information on that process.
5.4
Commissioning the System

Turning on the robot system for the first time is known as commissioning the system. You must follow the steps in this section to safely bring up your robot system. The tasks include: Verifying installation, to confirm all tasks have been performed correctly. Starting up the system by turning on power for the first time. Verifying all E-Stops in the system function correctly. Moving each axis of the robot with the pendant to confirm it moves in the proper directions.
Verifying Installation
Verifying that the system is correctly installed and that all safety equipment is working correctly is an important process. Before using the robot, make the following checks to ensure that the robot and controller have been properly installed.
DANGER: After installing the robot, you must test it before you use it for the first time. Failure to do this could cause death, serious injury or equipment damage.
Mechanical Checks Verify that the robot is mounted level and that all fasteners are properly installed and tightened. Verify that any end-of-arm tooling is properly installed. Verify that all other peripheral equipment is properly installed and in a state where it is safe to turn on power to the robot system.
67
System Cable Checks Verify the following connections: Front Panel to the SmartController. Optional pendant to the SmartController. User-supplied 24 VDC power to the controller. User-supplied ground wire between the SmartController and ground. One end of the IEEE 1394 cable into the SmartServo port 1.1 connector on the SmartController, and the other end into the SmartServo port 1 connector on the MB-60R. XSYS cable between the MB-60R XSLV safety interlock connector and XSYS connector on the SmartController, and latching screws are tight. User-supplied 24 VDC power to the MB-60R 24 VDC connector. User-supplied 200/240 VAC power to the MB-60R 200/240 VAC connector. User-Supplied Safety Equipment Checks Verify that all user-supplied safety equipment and E-Stop circuits are installed correctly.
System Start-up Procedure

Once the system installation has been verified (see Verifying Installation on page 67), you are ready to start up the system. 1. Switch on AC power to the MB-60R. 2. Switch on the 24 VDC power to the controller. 3. Follow the instructions, beginning with Starting the Adept ACE Software, in the following 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 software. Double-click the Adept ACE icon on your Windows desktop or, from the Windows Start menu bar, Select Start > Programs > Adept Technology > Adept ACE > Adept ACE. 2. On the Adept ACE Startup menu, click New SmartController Workspace. 3. Click-select the SmartController you want to use, and click OK.
68
Verifying E-Stop Functions
Enabling High Power After you have started the Adept ACE software and connected to the controller, enable high power to the robot motors: 1. From the Adept ACE main menu, click the Enable High Power icon: 2. If the High Power button on the Front Panel is blinking, press and release it. NOTE: The use of the blinking High Power button can be configured (or eliminated) in software. Your system may not require this step. The Front Panel, which is mounted just outside the workcell safety barrier, is shown in the following figure. If enabled, the High Power button must be pressed while blinking (default time-out is 10 seconds). If the button stops blinking, you must enable power again.
Switch, in Auto Mode Press High Power button when blinking
Figure 5-4. High Power Button on Front Panel This step turns on high power to the robot motors and calibrates the robot. The amplifier status LED blinks green rapidly (a slow green blink has a different meaning). In addition, for Adept IP-65 Viper robots, the lamps on the robot glow solid amber. The status panel on the robot or amplifier chassis displays ON.
5.5
Verifying E-Stop Functions

Verify that all E-Stop devices are functional (pendant, Front Panel, and user-supplied). Test each mushroom button, safety gate, light curtain, etc., by enabling high power and then opening the safety device. The High Power push button/light on the Front Panel should go out.
69
5.6
Verify Robot Motions

Use the pendant to test the motion of each axis on the robot to confirm it moves in the proper directions. Refer to the Adept T2 Pendant Users Guide for instructions on using the T2 pendant. If the optional pendant is not installed in the system, you can move the robot using the Robot Jog Control in the Adept ACE software. For details, see the Adept ACE Users Guide. NOTE: When using a pendant with an Adept Viper robot, the Free mode is disabled for safety reasons.
5.7
Learning to Program the Robot

To learn how to use and program the robot, see the Adept ACE Users Guide, which provides information on robot configuration, control and programming through the Adept ACE software point and click user interface. For V+ programming information, refer to the following optional manuals: V+ Language Users Guide V+ Language Reference Guide V+ Operating System Reference Guide
5.8
Installing Axis Labels

The system includes a set of axis directional labels that can be installed on the robot. See Table 5-3. Also refer to Figure 1-1 on page 11 for a drawing of the axis identification. The yellow X-Y label can be used to indicate the X and Y axes in the World coordinate system in your workcell.
70
Caution Label on Robot
Table 5-3. Axis Directional Labels
Axis 2
Axis 1
Axis 4
Axis 6 Axis 5 Axis 3
5.9
Caution Label on Robot

The Caution label shown in Figure 5-5 refers to rotation of Joint 4. When power is turned off, do not manually rotate Joint 4 more than the Joint Limits of 190. If Joint 4 is rotated beyond these limits, the internal wiring can be damaged.
71
Figure 5-5. Caution Label on Joint 4 Rotation NOTE: There is no CALSET operation on the Adept Viper robot, and there is no Installation and Maintenance Guide.
5.10 Installing User-Supplied Hardstops

For the purpose of limiting the robot working envelope, the hardstops, or mechanical ends, 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 have been installed. For more information, see the Adept Viper s650/s850 Hardstop Installation Guide.
CAUTION: Failures caused by user-supplied hardstops are not covered by the warranty, even if the robot is under warranty.
72
Maintenance
WARNING: Lockout and Tagout power before servicing.
WARNING: 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 access covers on the robot are not interlocked - turn off and disconnect power if covers have to be removed.
6.1
Replacing Encoder Backup Battery
CAUTION: Replace the battery only with 3.6 V, 8.5 Ah lithium batteries, Adept part number: 05234-000. Battery information is located in the base of the robot.
Battery Replacement Intervals

The encoder backup batteries should be replaced according to the intervals that follow. If the robot is kept in storage and not in production, or the robot is turned off (no 24 VDC supply) most of the time, then the battery should be replaced every two years. NOTE: Dispose of the battery according to all local and national environmental regulations regarding electronic components. If the robot is turned on with 24 VDC supplied to the robot half the time, the battery should be replaced every four years. If the robot is turned on with 24 VDC more than half the time, then you can increase the replacement interval to seven years. If, for example, a robot is typically turned off only on weekends, the battery would need to be replaced every seven years.
73
Chapter 6 - Maintenance
Battery Replacement Procedure

Replace the batteries according to the following procedure: 1. Prepare a new set of 3 backup batteries for replacement. 2. Turn off AC power to the MB-60R and DC power to the controller. 3. Remove the cover from the robot. See the following figure.
Cover Cover
Cross pan-head screw

Note: the IP-54/65 and Cleanroom robots use Hex socket-head bolts.
Figure 6-1. Removing Cover to Replace Encoder Batteries 4. Remove the dummy connector cap from the battery board. See the following figure.
Dummy connector cap
Figure 6-2. Removing Dummy Connector Cap 5. Connect a new battery (1st one) to the pin from which you disconnected the dummy connector cap in Step 4. See Figure 6-3. NOTE: Do not disconnect old backup batteries before connecting a new one to the pin from which the dummy connector cap is removed. If you do so, the encoder positional data may be lost.
74
New backup battery

Figure 6-3. Connecting First New Battery 6. Disconnect the old backup battery that is right next to the new battery connected in Step 5, and then connect a new battery (2nd one). See the following figure. NOTE: Be sure to replace all of three batteries with new ones at one time. Otherwise, the battery service life will be reduced.
Old backup battery
New backup battery
Figure 6-4. Connecting Second New Battery
75
Chapter 6 - Maintenance
7. Disconnect the old backup battery that is right next to the new battery connected in Step 6, and then connect a new battery (3rd one). See the following figure.
Old backup battery
New backup battery
Figure 6-5. Connecting Third New Battery 8. Remove the last old battery and connect the dummy connector cap disconnected in Step 4. See the following figure.
Dummy connector cap
Old backup battery

Figure 6-6. Reconnecting Dummy Connector Cap 9. Replace the cover on the robot. Tightening torque: Standard models - cross pan-head screw: 0.59 Nm (0.4 ft-lbf) Tightening torque: IP-54/65 models - Hex socket bolt: 2.0 Nm (1.5 ft-lbf)
76
Technical Specifications
7.1 Robot Dimensions
578.42 80 375 295 108 115 575.68
7
270 90
Point P
105 65 J5 + R5 7
120
12
8.4 2
0
+ -
J3
R2
19.
74
10 0
135
J2 + R3 08 .42
R158.79
20
390.95 73.46 164.34 203
76
75
Workable space defined by point P

Figure 7-1. Adept Viper s650 Side Dimensions and Work Envelope
335
.42 R308
77
Chapter 7 - Technical Specifications
170
187.7 (Note 1)
R2 33 .79
Point P J6 + J4 +
79 67 51 59
J1
CN21 3A 3B AIR2 2A 2B 1A 1B
360 190
65
3.
42
170
Note 1: On IP-54/65 and Cleanroom robots, clearance dimension for cables is 222 mm.
Figure 7-2. Adept Viper s650 Top Dimensions and Work Envelope
78
Robot Dimensions
779.88 80 485 405 218
779.88
Point P
105 65 J5 +
120
12
0
+ -
J3
R77
9.88
10 0
135
R3
23.
J2 + -
R166.34
20
79
75
143.26
203
Figure 7-3. Adept Viper s850 Side Dimensions and Work Envelope
79
337.97
335
365
R4 14 .88
35
90
R414 .88
170
4 R2 1.3 4
187.7 (Note 1)
Point P
J6 + J4 +
79 67 51 59
J1
CN21 3A 3B AIR2 2A 2B 1A 1B
360 190
85
4.
88
170
Note 1: On IP-54/65 and Cleanroom robots, clearance dimension for cables is 222 mm.
Figure 7-4. Adept Viper s850 Top Dimensions and Work Envelope
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Robot Flange Dimensions
7.2
Robot Flange Dimensions

0 - 0.039
40 H8
4X M5 x 0.08 8 Deep (31.5 B.C.)
20 H7 6 Deep
+ 0.021 0
5 H7 7 Deep
+ 0.012 0
Figure 7-5. Robot Flange Dimensions
7.3
XSLV Connector
Table 7-1. XSLV Connector Pinout
Pin # 1 2 3 4 5 6 7 8 9
Description ESTOPGND MAN1 MAN2 HIPWRDIS ESTOP_RESET AUTO1 AUTO2 N/C ESTOP_SRC
Comment ESTOP System Ground ESTOP Manual Input Ch 1 ESTOP Manual Input Ch 2 High Power Disable Normally Closed Check Contacts ESTOP Auto Input Ch 1 ESTOP Auto Input Ch 2
Pin 9 Pin 5
Pin Location
Pin 1
Pin 6
XSLV1/2 Connector as viewed on MB-60R
ESTOP System +24 V
Mating Connector: AMP/Tyco #747904-2, 9-pin D-Sub AMP/Tyco #748676-1, D-Sub Cable Clamp
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7.4
Specifications
Table 7-2. Robot Specifications
Specification Overall arm length Arm offset Maximum motion area
s650 270 (first arm) + 295 (second arm) = 565 mm
s850 365 (first arm) + 405 (second arm) = 770 mm
J1 (swing): 75 mm, J3 (front arm): 90 mm 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 (Point P: J4, J5, J6 center)
Motion range
J1: 170 J2: -190, +45 J3: -29, +256 J4: 190 J5: 120 J6: 360 J1: 328/sec J2: 300/sec J3: 375/sec J4: 375/sec J5: 375/sec J6: 600/sec 8200 mm/s J1: 250/sec J2: 250/sec J3: 250/sec J4: 375/sec J5: 375/sec J6: 600/sec 7600 mm/s
Maximum joint speed
Maximum composite speed (at the center of an end-effector mounting face) Maximum payload Position repeatability (Note 1) Maximum allowable inertia moment Position detection Drive motor and brake User air lines (Note 2) User signal line Air source - Operating pressure Air source - Maximum allowable pressure
5 kg In each of X, Y and Z directions: 0.02 mm In each of X, Y and Z directions: 0.03 mm
Around J4: 0.295 kgm2 Around J5: 0.295 kgm2 Around J6: 0.045 kgm2 Simplified absolute encoder Simplified absolute encoder
AC servomotors for all joints, Brakes for joints J2 to J6 7 systems (4x6, 6x1), 3 solenoid valves (2-position, double solenoid) contained. 10 (for proximity sensor signals, etc.) 0.1 to 3.9 MPa (14.5 to 56.6 psi) 0.49 MPa (71.1 psi)
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Specifications
Table 7-2. Robot Specifications (Continued) Specification Degree of Protection Weight s650 IP-40 (IP-54/65 w/ option) Approx. 28 kg s850 IP-40 (IP-54/65 w/ option) Approx. 29 kg
Note 1: Position repeatability is the value at constant ambient temperature. Note 2: Only the 4x6 air tubing system may be controlled by built-in solenoid valves.
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IP-54/65 Option
8.1 Introduction
The Adept Viper s650 and s850 robots can be ordered with an IP-54/65 option that is a dust-proof, 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 SmartController and MB-60R are not dustor splash-proof. Therefore, when using these products in an environment exposed to mist, put them in protective enclosures.
Figure 8-1. Adept Viper s650 Robot with IP-54/65 Option
8.2
Differences from the Standard Robot Model

The installation, operation, and specifications of the IP-54/65 robot are the same as the standard robot, except for issues noted in this section.
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Chapter 8 - IP-54/65 Option
Installation Environment
The IP-54/65 robot should not be installed in any environment where: there are any flammable gases or liquids, there are any acidic, alkaline, or other corrosive gases, there are any large-sized inverters, high output/high frequency transmitters, large contactors, welders, or other sources of electrical noise, it may likely be submerged in fluid, there is sulfuric cutting or grinding oil mist. NOTE: Any machining oil used around the robot must be compatible with NBR (nitrile) and a polyurethane resin paint.
Robot Connector Panel

For the IP-54/65 robot, the robot connector panel is different than the standard robot. The panel is shown in the following figure.
CN22
Air 1
Air 2
Ground Terminal
CN20
Figure 8-2. IP-54/65 Robot Connector Panel NOTE: On the IP-54/65 robot, the CN20 and CN21 connectors are IP-65 rated. Also, the robot cable has a splash-proof connector on the robot end. NOTE: The mating connector sets for CN20 and CN21 are different for IP-54/65 and Cleanroom robots. See Table 9-2 on page 88. NOTE: For IP-54/65 compliance, keep the factory-installed plugs over I/O connectors in place.
Cable Clearance
For the IP-54/65 robot, the cable clearance dimension at the back of the robot is 222 mm. See Figure 7-2 on page 78 and Figure 7-4 on page 80 for dimension drawings.

For the IP-54/65 robot, the procedure to replace the encoder battery is the same as the standard robot, except the cover uses hex socket-head bolts instead of screws. See Figure 6-1 on page 74. Tightening torque: Hex socket bolt: 2.0 Nm (1.5 ft-lbf).
86
Cleanroom Option
9.1 Introduction
The Adept Viper s650 and s850 robots are available in Class 1 Cleanroom models.
Figure 9-1. Adept Viper s850 Robot - Cleanroom Model
9.2
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.
Technical Specifications
Table 9-1. Cleanroom Robot Specifications Adept Viper s650/s850 Clean Class for Cleanroom Robot Recommended vacuum flow rate User air lines Class 1 (0.1) 130 liters/minute (4.6 SCFM) 6 systems (4x6), 3 solenoid valves (2-position, double solenoid) contained.
87
Chapter 9 - Cleanroom Option
Robot Connector Panel

For the Cleanroom robot, the robot connector panel is different than the standard robot.
Valve In Air Intake for Solenoids (1/4 BSPT) Valve Out Exhaust from Solenoids (1/4 BSPT) Ground Terminal CN20
CN22
Vacuum Connection, OD 32, ID 25
Figure 9-2. Cleanroom Robot Connector Panel See Table 9-1 on page 87 for the recommended vacuum flow rate.
88
9.3

The Cleanroom robot is equipped with six air lines. The six lines, from Valve In input, are controlled by the three internal solenoid valves. There are ten user electric lines. The air lines and signal wiring are shown in the following figure.
Connector (CN21) for end-effector control signal wires View A
CN21 pin layout
Table 9-2. Air Intake/Exhaust States

Air Connections Air Intake (Valve In) 1A 1B 2A Exhaust (Valve Out) 1B 1A 2B 2A 3B 3A Valve Signal Solenoid Solenoid valve 1 1 2 2 3 3 A ON OFF ON OFF ON OFF B OFF ON OFF ON OFF ON
Solenoid Ports (M5)
2B 3A 3B
AIR 2 - Not used on Cleanroom Robot
CN20, see robot connector panel figure for view.

L K J H G T S F U V R E M N P D A B C
CN 20 pin layout
Table 9-3. CN 20 Pin Assignments, M to U

NPN type (source IN, sink OUT) CN20 pin No. M N P R S T U Used for: +24V Solenoid 1A (solenoid valve 1) Solenoid 1B (solenoid valve 1) Solenoid 2A (solenoid valve 2) Solenoid 2B (solenoid valve 2) Solenoid 3A (solenoid valve 3) Solenoid 3B (solenoid valve 3) PNP type (sink IN, source OUT) CN20 pin No. M N P R S T U Used for: 0V Solenoid 1A (solenoid valve 1) Solenoid 1B (solenoid valve 1) Solenoid 2A (solenoid valve 2) Solenoid 2B (solenoid valve 2) Solenoid 3A (solenoid valve 3) Solenoid 3B (solenoid valve 3)
Table 9-4. CN 20 Pin Assignments, A to K

Pins A to K on CN20 and #1 to #10 on CN21 are connected with each other as shown below. The allowable current per line is 1 A.
CN20 CN21
A 1
B 2
C 3
D 4
E 5
F 6
G 7
H 8
J 9
K 10
89
Chapter 9 - Cleanroom Option
Use the supplied mating connector sets shown in the table below for CN20 and CN21. Table 9-5. CN20 and CN21 Mating Connectors
Connector Set Part No. Connector No. for CN20 Model and Part Name H/M3106A22-14S (straight plug) (HIROSE ELECTRIC CO., LTD.) H/MS3057-12A (cord clamp) (HIROSE ELECTRIC CO., LTD.) H/MS3057-12A1 (cord clamp) (HIROSE ELECTRIC CO., LTD.) EBLP1610M (L type plug connector) (Dai-ichi Electronic Industry) Applicable wire diameter 11.4 to 15.9 Applicable wire diameter 8 to 11.6 Appearance
for CN20
05584-000
for CN20
for CN21
NOTE: The mating connectors are the same for Cleanroom and IP-54/65 robots.
9.4
Cleanroom Cover at J6 Flange

The Cleanroom robot has a J6 Cleanroom Cover that is not present on the standard robot. See Figure 9-3. Any user tooling at the flange must allow for clearance - see Figure 9-4.
J6 Cleanroom Cover
Figure 9-3. Adept Viper s850 J6 Cleanroom Cover
90
Cable Clearance
Clearance must be made between the J6 Cleanroom Cover and User Tooling 3X 5.5 (M3 BOLT HEAD) 59 BOLT CENTER 0 40 -0.039
3.7 3
0.43 CHAMF
Figure 9-4. J6 Cleanroom Cover Dimensions
9.5
Cable Clearance
For the Cleanroom robot, the cable clearance dimension at the back of the robot is 222 mm. See Figure 7-2 on page 78 and Figure 7-4 on page 80 for dimension drawings.

For the Cleanroom robot, the procedure to replace the encoder battery is the same as the standard robot, except the cover uses hex socket-head bolts instead of screws. See Figure 6-1 on page 74. Tightening torque: Hex socket bolt: 2.0 Nm (1.5 ft-lbf).
91
Index
Numerics
200/240 VAC connector 36 24 VDC connector 36 24 VDC power circuit protection 54 connecting to MB-60R 54 making cable 56 mating connector 55 specifications 54 user-supplied cable, shielding 57 24 VDC power supplies cautions 55 recommended 55
C
cable diagram for system 51 cables and parts list 52 circuit protection 24 VDC power 54 Cleanroom robot cable clearance dimension 91 CN20/CN21 connector signal wiring CN20/CN21 mating connectors 90 connector panel 88 cover at J6 flange 90 differences from standard robot 87 solenoids, signal wiring 89 specifications 87 vacuum specifications 87 CN20 connector description 27 CN20/CN21 connector signal wiring 28 commissioning, system 67 connectors 200/240 VAC 36, 59 24 VDC 36, 55 AC power 59 Cleanroom CN20/CN21 90 CN20 27 CN20/CN21 wiring 28 EXPIO 37 EXPIO for IO Blox 40 MB-60R brake release 39 on MB-60R, description 36 on robot, description 27 RS-232 36 XIO 36 XIO digital input circuit 43 XIO digital output circuit 45 XIO signal designations 42 XPANEL 36 XSLV pinouts 81 Customer Service assistance 17
89
A
AC power connecting to MB-60R 57 diagrams 59 making cable 60 mating connector 59 robot power consumption, typical specifications 58 turning on 68 Adept ACE starting 68 Adept Document Library 17 AIR1/AIR2 air lines, description 28 axis identification, on robot 11 axis labels, installing 70
58
B
Brake Release button on MB-60R 38, 39 brake release connector, on MB-60R 39 brake release switch 64 brakes releasing J3 for manual movement 39 Breakout Cable, XIO 46
93
Index
D
DC power, see 24 VDC power declaration, manufacturers 16 Digital I/O connecting to system 40 input specifications 43 on MB-60R XIO connector 42 optional products 43 output specifications 45 signal designations 42, 47 digital I/O default signal configuration 66 in single robot systems 65 dimensions MB-60R 48 robot flange 81 s650 robot, side view 77 s650 robot, top view 78 s850 robot, side view 79 s850 robot, top view 80 Document Library CD-ROM 17
I
I/O products, optional 43 IEEE 1394 cable 36, 52, 53 installation 24 VDC power to MB-60R 54 AC power to MB-60R 61 robot 25 SmartController 52 system, overview 16 user-supplied safety equipment verifying 67 intended use of the robot 14 interface panel on MB-60R 36 on robot 27 IO Blox connecting to MB-60R 40 signal designations 41 IP-54/65 option 85 IP-54/65 robot pressurizing the robot 86
62
E
emergency situation, what to do 15 end-effectors flange dimensions 81 inertia 32 mass, center of gravity 31 environmental requirements robot 20 EXPIO connector for IO Blox 40 location on MB-60R 37 external mounting holes, on robot 31
J
Joint 3 Brake Release button 39
M
manufacturers declaration 16 MB-60R Brake Release button 38 brake release connector 39 description 35 dimensions 48 interface panel 36 mounting 48 status LED 37 status panel codes 38 moment of inertia, end-effectors 32 mounting hole pattern, for robot 25 mounting procedure 25
F
facility overvoltage protection 58 flange on robot, dimensions 81 Front Panel cable 52
G
ground point, on MB-60R interface panel 36 grounding 26 at MB-60R 61 at robot base 26, 61 robot-mounted equipment 62 user-supplied 24 VDC cable 57 grounding the robot 26
N
Notes, Cautions, and Warnings, description of 14
O
operating requirements 20 optional I/O products 43 overview system installation 16 overvoltage protection facility 58
H
hoisting sling 22 How Can I Get Help? 17
94
Index
P
panel mounting MB-60R 49 performance specifications 82 power cable kit, optional 52 programming the robot 70 protection facility overvoltage 58
T
tool flange, dimensions 81 transporting robot 21 precautions 21 setting position 23
U
unpacking and inspecting Adept equipment 19
R
related manuals 17 repacking for relocation 19 requirements environmental, robot 20 robot, operating environment robot intended uses 14 RS-232 connector 36
V
valve specifications, solenoids 30
W
20
What to do in an emergency situation work envelope s650 robot, side view 77 s650 robot, top view 78 s850 robot, side view 79 s850 robot, top view 80 15
S
s650 dimensions, side view 77 s650 dimensions, top view 78 s850 dimensions, side view 79 s850 dimensions, top view 80 SmartController installation 52 SmartServo connector 36 solenoid cable, optional 29 solenoids, in robot cable 29 controlling from V+ 29 signal wiring 28 valve specifications 30 solenoids, signal wiring 28 specifications 24 VDC power 54 AC power 58 Cleanroom robot 87 robot performance 82 status LED, description 37 status panel codes, on MB-60R 38 system cable diagram 51 commissioning 67 connecting digital I/O 40 operating environment requirements, robot 20 startup procedure 68
X
XIO Breakout Cable description 46 part number 52 wire chart 47 XIO connector description and location 36 digital input circuit specifications 43 digital output circuit specifications 45 signal designations 42 XIO Termination Block, description 43 XPANEL connector 36 XSLV connector 36, 81 XSYS cable 52, 53
Z
Z Brake Release button 39
95
P/N: 05173-060, Rev D
5960 Inglewood Drive 5960 Inglewood Drive Pleasanton, CA 94588 Pleasanton, CA 94588 9252453400 9252453400

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Adept Viper s650/s850 Robot with MB-60R

Adept Viper s650/s850 Robot with MB-60R

P/N: 05173-060, Rev D December 2011

Printed in the United States of America

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev C

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev C

4.9 Connecting 200-240 VAC Power to MB-60R. . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev C

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev C

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev C

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev C

Adept Viper s650/s850 Robots

(+) (-) 3rd axis (J3)

1st axis (J1)

Figure 1-1. Robot Axis Identification

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

IEEE-1394 2.1 2.2

Eth 10/100 BELT ENCODER RS-232-1 RS-232-2

Figure 1-2. Adept SmartController CX

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

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

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

Dangers, Warnings, Cautions, and Notes

Intended Use of the Robots

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

What to Do in an Emergency Situation

Additional Safety Information

Manufacturers Declaration of Compliance (MDOC)

Adept Robot Safety Guide

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

See Section 4.9 on page 57.

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

How Can I Get Help?

How Can I Get Help?

Adept Document Library

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

Repacking for Relocation

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

Chapter 2 - Robot Installation

Figure 2-1. Robot in Transport Position

Environmental and Facility Requirements

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

Transporting the Robot

Transporting the Robot

Precautions in Transporting Robot

Figure 2-2. Lifting Form Label on Robot Base

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

Chapter 2 - Robot Installation

Figure 2-3. Eyebolts Label

Wire (Belt sling)

Waste Cloth Eyebolts

Robot Mounting Bolts

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

Transporting the Robot

Adept Viper s650/s850 Robot with MB-60R Users Guide, Rev D

Chapter 2 - Robot Installation

Wire (Belt sling)