Adept technology Viper s650 Manuale utente

Adept Viper

s650/s850 Robot

with MB-60R/eMB-60R

User's Guide

Adept Viper

s650/s850 Robot

with MB-60R/eMB-60R

User's Guide

P/N: 05173-060 Rev F

August, 2012

5960 Inglewood Drive • Pleasanton,CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452

Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450

Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598

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

Page 4 of 100

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 com-

mitment by Adept Technology, Inc. The documentation is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in the doc-

umentation. Critical evaluation of the documentation by the user is welcomed. Your comments

assist us in preparation of future documentation. Please submit your comments to: tech-

pubs@adept.com.

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, Fire-

Blox, Fireview, Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines

are registered trademarks of Adept Technology, Inc.

Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.

Adept ACE, Adept Cobra, Adept SmartController CX, Adept SmartController EX, Adept Motion-

Blox-10, Adept Python, Adept sMI6, Adept Viper s650, AdeptViper s850, eMB-60R, MB-60R,

eV+, V+, and MotionBlox-60R

are trademarks of Adept Technology, Inc.

Any trademarks from other companies used in this publication are the property

of those respective companies.

Created in the United States of America

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
Page 5 of 100
Table of Contents
Chapter 1: Introduction 9
1.1 Product Description 9
Adept Viper s650/s850 Robots 9
Adept SmartController 10
Adept MotionBlox-60R 10
1.2 Dangers, Warnings, Cautions, and Notes 11
1.3 Intended Use of the Robots 12
1.4 Safety Precautions 12
1.5 What to Do in an Emergency Situation 13
1.6 Additional Safety Information 13
Manufacturer’s Declaration of Compliance (MDOC) 13
1.7 Installation Overview 13
1.8 Manufacturer’s Declaration 14
1.9 How Can I Get Help? 15
Related Manuals 15
Adept Document Library 15
Chapter 2: Robot Installation 17
2.1 Unpacking and Inspecting the Adept Equipment 17
Before Unpacking 17
Upon Unpacking 17
2.2 Repacking for Relocation 17
2.3 Environmental and Facility Requirements 18
2.4 Transporting the Robot 18
Precautions when Transporting Robot 18
Transport Procedure 20
Mounting the Robot 22
2.5 Grounding the Robot 23
2.6 Description of Connectors on Robot Interface Panel 24
2.7 Air Lines and Signal Wiring 24
Optional Solenoid Cable 26
Solenoid Valve Specifications 28
External Mounting Locations on Robot 29
2.8 Designing End-Effectors 29
Continuous Turn on J6 29
Mass of End-Effector 29

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
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Table of Contents
Center of Gravity Position of End-Effector 30
Moment of Inertia Around J4, J5, and J6 30
Chapter 3: MotionBlox-60R 33
3.1 Introduction 33
3.2 Description of Connectors on MB-60R/eMB-60R Interface Panel 34
3.3 MB-60R/eMB-60R Operation 35
Status LED on MB-60R/eMB-60R 35
Status Panel 36
Brake Release Button on MB-60R/eMB-60R 37
Brake Release Connector 38
3.4 Connecting Digital I/O to the System 38
3.5 Using Digital I/O on MB-60R/eMB-60R XIO Connector 40
Optional I/O Products 42
XIO Input Signals 42
XIO Output Signals 44
XIO Breakout Cable 45
3.6 MB-60R/eMB-60R Dimensions 47
3.7 Mounting the MB-60R/eMB-60R 48
Panel-Mounting the MB-60R/eMB-60R 48
Chapter 4: System Installation 49
4.1 System Cable Diagram 49
Cables and Parts List 50
4.2 Installing the SmartController 50
4.3 Installing the Adept ACE Software 51
4.4 Connecting the PC to the SmartController 51
4.5 Connecting Cables from the MB-60R/eMB-60R to the SmartController 52
4.6 Connecting Cables from the MB-60R/eMB-60R to the Robot 52
Installing the Arm Power/Signal Cable 52
4.7 Connecting 24 VDC Power to MB-60R/eMB-60R Servo Controller 53
Specifications for 24 VDC Power 53
Details for 24 VDC Mating Connector 54
Procedure for Creating 24 VDC Cable 54
Installing the 24 VDC Cable 55
4.8 Connecting 200-240 VAC Power to MB-60R/eMB-60R 55
Specifications for AC Power 56
Facility Overvoltage Protection 57
AC Power Diagrams 57
Details for AC Mating Connector 58
Procedure for Creating 200-240 VAC Cable 58
Installing AC Power Cable to MB-60R/eMB-60R 59

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
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Table of Contents
4.9 Grounding the Adept Robot System 59
Ground Point on Robot Base 59
Ground Point on MotionBlox-60R 60
Robot-Mounted Equipment Grounding 61
4.10 Installing User-Supplied Safety Equipment 61
Chapter 5: 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 Starting the System for the First Time 65
Verifying Installation 65
System Start-up Procedure 66
Running the Adept ACE Software 66
Verifying E-Stop Functions 67
Verify Robot Motions 67
5.4 Learning to Program the Robot 67
5.5 Installing Axis Labels 68
5.6 Caution Label on Robot 69
5.7 Installing User-Supplied Hardstops 69
Chapter 6: Maintenance 71
6.1 Field-replaceable Parts 71
6.2 Periodic Maintenance Schedule 71
6.3 Checking Safety Systems 71
6.4 Checking Robot Mounting Bolts 72
6.5 Replacing Encoder Backup Batteries 72
Battery Replacement Intervals 72
Battery Replacement Procedure 73
6.6 Replacing the MB-60R/eMB-60R Amplifier 75
Remove the MB-60R/eMB-60R Amplifier 76
Installing a New MB-60R/eMB-60R 76
6.7 Commissioning a System with an eMB-60R 77
Safety Commissioning Utilities 77
E-Stop Configuration Utility 79
E-Stop Verification Utility 79
Teach Restrict Configuration Utility 80
Teach Restrict Verification Utility 80

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

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Table of Contents

Chapter 7: Technical Specifications 83

7.1 Robot Dimensions 83

7.2 Robot Flange Dimensions 87

7.3 Specifications 87

Chapter 8: IP-54/65 Option 89

8.1 Introduction 89

8.2 Differences from the Standard Robot Model 90

Installation Environment 90

Robot Connector Panel 90

Cable Clearance 91

Replacing Encoder Backup Battery 91

Chapter 9: Cleanroom Option 93

9.1 Introduction 93

9.2 Differences from Standard Robot Model 93

Cleanroom Technical Specifications 93

Robot Connector Panel 94

9.3 Air Lines and Signal Wiring 94

9.4 Cleanroom Cover at J6 Flange 96

9.5 Cable Clearance 97

9.6 Replacing Encoder Backup Battery 97

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

Page 9 of 100

Chapter 1: Introduction

1.1 Product Description

Adept Viper s650/s850 Robots

The Adept Viper s650™ robot and Adept Viper s850™ 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 robots, except for instances where there is a

difference, as in dimension and work envelope drawings. In those cases, the infor-

mation is presented for both robots. Either robot's motors can be powered by either

an MB-60R or eMB-60R servo-controller/amplifier. Either robot can be controlled by

either an Adept SmartController CX or Adept SmartController EX motion controller.

Figure 1-1. Robot Axis Identification

Chapter 1: Introduction

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

Page 10 of 100

Adept SmartController

The SmartController™ motion controller is the foundation of Adept’s family of high-per-

formance distributed motion and vision controllers. The SmartController is designed for use

with:

lAdept Cobra™ s-Series robots

lAdept Quattro™ robots

lAdept Viper™ s-Series robots

lAdept Python™ linear modules

lAdept MotionBlox-10™

lAdept sMI6™ (SmartMotion)

The SmartController supports a conveyor tracking option, as well as other options. There are

two models available: the SmartController CX, which uses the V+ Operating System, and the

SmartController EX, which uses the eV+ Operating System. Both models offer 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 SmartController also includes Fast Ethernet and DeviceNet.

Figure 1-2. Adept SmartController EX and CX Motion Controllers

Adept MotionBlox-60R

The Adept MotionBlox-60R™ (MB-60R™/eMB-60R™) distributed servo controller contains the

amplifiers to power the high-power motors of the Adept Viper s650/s850 robots.

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