adept technology PA-4 Series User manual

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Adept PA-4 Power Chassis
User’s Guide
for PA-4 CAT-3
CAUTION
HIGH
VOLTAGE
INSIDE
B
R
A
K
ESTATUS
SmartServo
1
2
R
S
2
3
2
E
X
P
I
O
X
S
L
V
C
N
P
G
1
2
3
C
N
P
G
4
5
6
C
N
2
5
C
N
2
9
DAI
s
adept
technology, inc.
LOWVOLTS ON
HV SAG/OVERTEMP FAULT
DO NOT REMOVEOR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGHVOLTS LED
IS COMPLETELYDISTINGUISHED
PWM ON
CH1
HIGH VOLTSON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
J-AMP J-AMP J-AMP
LOWVOLTS ON
HV SAG/OVERTEMP FAULT
DO NOT REMOVEOR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGHVOLTS LED
IS COMPLETELYDISTINGUISHED
PWM ON
CH1
HIGH VOLTSON
CH2
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
LOWVOLTS ON
HV SAG/OVERTEMP FAULT
DO NOT REMOVEOR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGHVOLTS LED
IS COMPLETELYDISTINGUISHED
PWM ON
CH1
HIGH VOLTSON
CH2
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
®
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Adept PA-4 Power Chassis
User’s Guide
for PA-4 CAT-3
P/N: 02725-000, Rev F
February 2009
CAUTION
HIGH
VOLTAGE
INSIDE
B
R
A
K
ESTATUS
SmartServo
1
2
R
S
2
3
2
E
X
P
I
O
X
S
L
V
C
N
P
G
1
2
3
C
N
P
G
4
5
6
C
N
2
5
C
N
2
9
DAI
s
adept
technology, inc.
LOWVOLTS ON
HV SAG/OVERTEMP FAULT
DO NOT REMOVEOR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGHVOLTS LED
IS COMPLETELYDISTINGUISHED
PWM ON
CH1
HIGH VOLTSON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
J-AMP J-AMP J-AMP
LOWVOLTS ON
HV SAG/OVERTEMP FAULT
DO NOT REMOVEOR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGHVOLTS LED
IS COMPLETELYDISTINGUISHED
PWM ON
CH1
HIGH VOLTSON
CH2
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
LOWVOLTS ON
HV SAG/OVERTEMP FAULT
DO NOT REMOVEOR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGHVOLTS LED
IS COMPLETELYDISTINGUISHED
PWM ON
CH1
HIGH VOLTSON
CH2
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
®
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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 sub-
ject 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 doc-
umentation. Please email your comments to: [email protected].
Copyright ©2005-2009 by Adept Technology, Inc. All rights reserved.
Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview,
FireBlox, Fireview, HexSight, 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.
ActiveV, Adept 1060 / 1060+, Adept 1850 / 1850 XP, Adept 540 Adept 560, Adept AnyFeeder, Adept
Award, Adept C40, Adept C60, Adept CC, Adept Cobra 350, Adept Cobra 350 CR/ESD, Adept Cobra 550,
Adept 550 CleanRoom, Adept Cobra 600, Adept Cobra 800, Adept Cobra i600, Adept Cobra i800, Adept
Cobra PLC server, Adept Cobra PLC800, Adept Cobra s600, Adept Cobra s800, Adept Cobra s800 Inverted,
Adept Cobra s850, Adept Cobra Smart600, Adept Cobra Smart800, Adept DeskTop, Adept FFE, Adept
FlexFeeder 250, Adept IC, Adept iSight, Adept Impulse Feeder, Adept LineVision, Adept MB-10 ServoKit,
Adept MC, Adept MotionBlox-10, Adept MotionBlox-40L, Adept MotionBlox-40R, Adept MV Adept
MV-10, Adept MV-19, Adept MV4, Adept MV-5, Adept MV-8, Adept OC, Adept Python, Adept Quattro
s650, Adept Quattro s650H, Adept sDIO, Adept SmartAmp, Adept SmartAxis, Adept SmartController CS,
Adept SmartController CX, Adept SmartModule, Adept SmartMotion, Adept SmartServo, Adept sMI6,
Adept sSight, Adept Viper s650, Adept Viper s850, Adept Viper s1300, Adept Viper s1700, AdeptCartesian,
AdeptCast, AdeptForce, AdeptFTP, AdeptGEM, AdeptModules, AdeptMotion, AdeptMotion Servo,
AdeptMotion VME, AdeptNet, AdeptNFS, AdeptOne, AdeptOne-MV, AdeptOne-XL, AdeptRAPID,
AdeptSight, AdeptSix, AdeptSix 300, AdeptSix 300 CL, AdeptSix 300 CR, AdeptSix 600, AdeptTCP/IP,
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AdeptVision GV, AdeptVision I, AdeptVision II, AdeptVision VME, AdeptVision VXL, AdeptVision XGS,
AdeptVision XGS II, AdeptWindows, AdeptWindows Controller, AdeptWindows DDE, AdeptWindows
Offline Editor, AdeptWindows PC, AIM Command Server, AIM Dispense, AIM PCB, AIM VisionWare,
A-Series, FlexFeedWare, HyperDrive, IO Blox, IO Blox, 88, MicroV+, MotionBlox, MotionWare,
ObjectFinder, ObjectFinder 2000, PackOne, PalletWare, sAVI, S-Series, UltraOne, V, V+ and VisionTeach
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
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Adept PA-4 Power Chassis User’s Guide, Rev E 5
Table of Contents
1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 Manual Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Compatibility Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.5 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Dangers, Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Reading and Training for Users and Operators . . . . . . . . . . . . . . . . . . . . . . 15
Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2Mounting the PA-4 Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.1 Space Around the Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2 Panel or Rack Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Panel Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Rack Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.3 Adept PA-4 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3Installation for Adept Viper and Cobra s850 Robots . . . . . . . . . . . . . . 25
3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.2 H, I, J, K, and L Amplifier Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.3 sDAI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.4 PA-4 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Arm Power/Signal Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Power and Encoder Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
External Brake Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.5 Removing the Interface Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4Installation for AdeptSix Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.2 E, F, and G Amplifier Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.3 sMAI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
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Table of Contents
6 Adept PA-4 Power Chassis User’s Guide, Rev E
5Installation for AdeptOne Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.2 A Amplifier Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.3 B+ Amplifier Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
5.4 sEJI Amplifier Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
6Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
6.1 Adept PA-4 Air Filter Inspection and Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . 47
6.2 PA-4 Power Chassis Circuit Breaker and Fuse Information . . . . . . . . . . . . . . . . 48
Chassis Circuit Breaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Chassis and Amplifier Module Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
6.3 Removing and Installing Amplifier and Control Modules . . . . . . . . . . . . . . . . . . 48
Removing Amplifier Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Installing Amplifier Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
6.4 PA-4 CAT-3 Power Chassis LED Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6.5 Changing the Power Chassis Voltage Setting . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Changing From 380-415 VAC to 200-240 VAC. . . . . . . . . . . . . . . . . . . . . . . . 51
Part 1 – Insulating the Power Chassis Power Cord . . . . . . . . . . . . . . 51
Part 2 – Rotating the Voltage Selector in the Power Chassis . . . . . 52
Changing From 200-240 VAC to 380-415 VAC. . . . . . . . . . . . . . . . . . . . . . . . 53
Part 1 – Rotating the Voltage Selector in the Power Chassis . . . . . 53
Part 2 – Insulating the Power Chassis Power Cord . . . . . . . . . . . . . . 53
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
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Adept PA-4 Power Chassis User’s Guide, Rev E 7
List of Figures
Figure 1-1. Adept PA-4 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Figure 1-2. Product ID Label for CAT-3 PA-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 2-1. Installing Mounting Brackets on an Adept PA-4 Chassis . . . . . . . . . . . . . . . 21
Figure 2-2. Adept PA-4 Power Chassis Dimensions for Adept Viper
and Cobra s850 Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 2-3. Basic Adept PA-4 Power Chassis Dimensions (Without Modules) . . . . . . . . 23
Figure 2-4. PA-4 Dimensions With Mounting Brackets Installed . . . . . . . . . . . . . . . . . . . . 24
Figure 3-1. Adept PA-4 Power Chassis with sDAI Module (Viper s650/s850 Robots) . . . 26
Figure 3-2. Adept PA-4 Power Chassis with sDAI Module (Cobra s850 Robots) . . . . . . 27
Figure 3-3. Adept PA-4 Power Chassis with sDAI 100W Module (Viper s1300 Robots) . 28
Figure 3-4. Adept PA-4 Power Chassis with sDAI HP Module (Viper s1700 Robots) . . . 29
Figure 3-5. J Amplifier Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . 31
Figure 3-6. sDAI Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Figure 3-7. External Brake Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Figure 3-8. PA-4 with Interface Box Tilted Open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 4-1. Adept PA-4 Power Chassis with sMAI Module . . . . . . . . . . . . . . . . . . . . . . . . 38
Figure 4-2. Amplifier Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . 39
Figure 4-3. sMAI Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Figure 5-1. PA-4 with sEJI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Figure 5-2. A Amplifier Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Figure 5-3. B+ Amplifier Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Figure 5-4. sEJI Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Figure 6-1. PA-4 Chassis LED Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Figure 6-2. Insulating Blue Wire in Power Cord (200-240 VAC) . . . . . . . . . . . . . . . . . . . . 52
Figure 6-3. Changing Voltage in Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Figure 6-4. Removing Insulation from Blue Wire in Power Cord (380-415 VAC) . . . . . . 54
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List of Figures
8 Adept PA-4 Power Chassis User’s Guide, Rev E
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Adept PA-4 Power Chassis User’s Guide, Rev E 9
Introduction 1
1.1 Manual Overview
This manual describes the installation and maintenance of the Adept PA-4 CAT-3 power
chassis as it is used in the:
• Adept Viper and Cobra s850 robot product lines (see Chapter 3)
• AdeptSix robot product line (see Chapter 4)
• AdeptOne robot with the Adept SmartController product line (see Chapter 5)
NOTE: For this manual, occurrences of Viper s650/s850 refer to those
robots used with the PA-4 power chassis.
The following chapters apply to all four families of robots:
•Chapter 1 - Introduction
•Chapter 2 - Mounting the PA-4 Chassis
•Chapter 6 - Maintenance
Figure 1-1. Adept PA-4 Power Chassis
NOTE: This PA-4 CAT-3 is also compatible with earlier Adept products.
See Section 1.3 on page 11.
CAUTION
HIGH
VOLTAGE
INSIDE
B
R
A
K
ESTATUS
SmartServo
1
2
R
S
2
3
2
E
X
P
I
O
X
S
L
V
C
N
P
G
1
2
3
C
N
P
G
4
5
6
C
N
2
5
C
N
2
9
DAI
s
adept
technology, inc.
LOWVOLTSON
HVSAG/OVER TEMP FAULT
DONOT REMOVE OR INSTALLTHIS
SHORTFAULT
OPENCKT FAULT
MODULEUNLESS HIGH VOLTSLED
ISCOMPLETELY DISTINGUISHED
PWMON
CH1
HIGHVOLTSON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
J-AMP J-AMP J-AMP
LOWVOLTSON
HVSAG/OVER TEMP FAULT
DONOT REMOVE OR INSTALLTHIS
SHORTFAULT
OPENCKT FAULT
MODULEUNLESS HIGH VOLTSLED
ISCOMPLETELY DISTINGUISHED
PWMON
CH1
HIGHVOLTSON
CH2
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
LOWVOLTSON
HVSAG/OVER TEMP FAULT
DONOT REMOVE OR INSTALLTHIS
SHORTFAULT
OPENCKT FAULT
MODULEUNLESS HIGH VOLTSLED
ISCOMPLETELY DISTINGUISHED
PWMON
CH1
HIGHVOLTSON
CH2
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
®
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Chapter 1 - Introduction
10 Adept PA-4 Power Chassis User’s Guide, Rev E
1.2 Environmental and Facility Requirements
The Adept PA-4 installation must meet the operating environment requirements shown
in Table 1-1. See the robot manual that came with your system for environment
requirements for the robot.
Table 1-1. Adept PA-4 Operating Environment Requirements
Ambient temperature 5° to 40°C (41° to 104°F)
Humidity 5 to 90%, noncondensing
Altitude up to 2000 m (6500 ft)
Pollution degree 2 (IEC 1131-2/EN61131-2)
Free space around power chassis for proper
cooling
50 mm (2 inches) in front
25 mm (1 inch) at top
Power chassis subassembly protection class,
unmounted
IP-20 (NEMA Type 1)
Recommendations for customer-supplied
enclosure for Adept power chassis (mandatory
for installations in EU or EEA countries).
Enclosure should meet EN60204 (IEC 204)
requirements and be rated at IP-54. Also,
enclosure must provide a method of locking
the enclosure power-disconnect in the OFF
position.
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Manual Overview
Adept PA-4 Power Chassis User’s Guide, Rev E 11
1.3 Compatibility Information
The CAT-3 version of the PA-4, P/N 01044-000, was developed primarily to support the
Category 3 robot systems. You can identify this new version of the PA-4 from earlier
versions in two ways:
• the product ID label with the new part number 01044-000, located on the right side
of the chassis. See Figure 1-2.
• on the lower-right side of the PA-4 front panel, there are additional labels for
diagnostic LEDs. See Figure 6-1 on page 50.
This new PA-4 is also backwards-compatible with earlier Adept systems, such as Adept
Cobra and Adept XL robots. See Table 1-2 on page 12.
NOTE: The CAT-3 version of the PA-4 in AdeptSix robot systems must
use the sMAI (smart Multi-Axis Interface) or MAI-2 module; it is not
compatible with the earlier MAI-1 module.
Figure 1-2. Product ID Label for CAT-3 PA-4
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Chapter 1 - Introduction
12 Adept PA-4 Power Chassis User’s Guide, Rev E
Table 1-2. PA-4 Plug-in Module Compatibility
Modules Compatible with CAT-3PA -4
Robot Control Modules
sDAI Adept Viper s650/s850 and Cobra s850 robot systems
sDAI-100WAdept Viper s1300 robot systems
sDAI-HP Adept Viper s1700 robot systems
sMAI AdeptSix robot systems, starting in October 2004
MAI-2 AdeptSix robot systems prior to the sMAI module
sEJI AdeptOne robot systems
Amplifier Modules
NOTE: “A” amplifiers are single-channel, plug-in modules that
contain the circuitry and amplifying components to drive one
motor. All amplifiers labeled “B+” and later are “dual”
(dual-channel) plug-in modules that contain the circuitry and
amplifying components for driving two motors.
H and I Amps Adept Viper s1700 robot systems
J Amp Adept Viper s650/s850 and Adept Viper s1300 robot
systems
K Amp Adept Viper s1300 robot systems
L Amp Adept Cobra s850 robot systems
E Amp AdeptSix 300 and 300CR robot systems
F and G Amps AdeptSix 600 robot systems
A and B+ Amps AdeptOne with SmartController, AdeptOne-XL, and
AdeptThree-XL robot systems
B+II Amp AdeptVicron 300S robot systems
C Amp Adept Cobra 600 and 800 robot systems
MV-4 Insert Used when PA-4 is configured as a Compact
Controller
Modules NOT Compatible with CAT-3PA-4
MAI-1 (just MAI on label) The original MAI module was used in early AdeptSix
300 robot systems. This module can only be used in
the earlier PA-4, P/N30336-31000.
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Manual Overview
Adept PA-4 Power Chassis User’s Guide, Rev E 13
1.4 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 Adept’s corporate Web
site:
http://www.adept.com
Related Manuals
This manual covers the installation, operation, and maintenance of an Adept PA-4 power
chassis. There are additional manuals that cover programming the system, reconfiguring
installed components, and adding other optional components; see Table 1-3. These
manuals are available on the Adept Document Library CD-ROM shipped with each
system.
Table 1-3. Related Manuals
Manual Title Description
AdeptViper s650/s850 Robot
User’s Guide
AdeptViper s1300 Robot
User’s Guide
AdeptViper s1700 Robot
User’s Guide
Contains complete information on the installation and operation
of the Adept Viper s650/s850, Adept Viper s1300, and Adept
Viper s1700 robots.
Adept Cobra s850 Robot
User’s Guide
Adept Cobra s850 Inverted
Robot User’s Guide
Contains complete information on the installation and operation
of the Adept Cobra s850 robots.
AdeptOne with
SmartControler User’s
Guide
Contains complete information on the installation and operation
of the AdeptOne with SmartController robot.
AdeptSix 300 Robot
Instruction Handbook
AdeptSix 300CR Robot
Instruction Handbook
AdeptSix 600 Robot
Instruction Handbook
Contains complete information on the installation and operation
of the AdeptSix 300, AdeptSix 300CR, and AdeptSix 600
robots.
Adept SmartController
User’s Guide
Contains complete information on the installation and operation
of the Adept SmartController.
AdeptWindows Installation
Guide
Describes complex network installation, installation and use of
NFS server software, the AdeptWindows Offline Editor, and the
AdeptWindows DDE software.
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Chapter 1 - Introduction
14 Adept PA-4 Power Chassis User’s Guide, Rev E
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You
can access the ADL from:
• the Adept Software CD shipped with your system
• the separate ADL CD shipped with your system.
• the Adept Web site. Select Document Library from the Adept home page. 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.
1.5 Safety
The Adept PA-4 operates on either 200-240 VAC or 380-415 VAC. You must be very
careful when installing and operating these products. Read and understand the Safety
chapter in your robot manual before attempting to install these products. Observe all
warnings in this manual and in the robot and controller manuals as you set up your
Adept system.
Dangers, Warnings, Cautions, and Notes
There are six levels of special alert notation used in this manual. 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.
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Safety
Adept PA-4 Power Chassis User’s Guide, Rev E 15
NOTE: This provides supplementary information, emphasizes a point or
procedure, or gives a tip for easier operation.
Reading and Training for Users and Operators
Adept systems can include computer-controlled mechanisms that are capable of moving
at high speeds and exerting considerable force. Like all robot and motion systems, and
most industrial equipment, they must be treated with respect by the user and the
operator.
This manual should be read by all personnel who operate or maintain Adept systems, or
who work within or near the workcell.
The installation and use of Adept products must comply with all safety instructions and
warnings in this manual. Installation and use must also comply with all applicable local
and national requirements and safety standards.
We recommend you read the American National Standard for Industrial Robot Systems -
Safety Requirements, published by the Robotic Industries Association (RIA) in conjunction
with the American National Standards Institute. The publication, ANSI/RIA R15.06,
contains guidelines for robot system installation, safeguarding, maintenance, testing,
startup, and operator training.
We also recommend you read the International Standard IEC 204 or the European
Standard EN 60204, Safety of Machinery – Electrical Equipment of Machines, and ISO 10218
(EN 775), Manipulating Industrial Robots – Safety, particularly if the country of use requires
a CE-certified installation.
This manual assumes that the user has attended an Adept training course and has a basic
working knowledge of the system. The user should provide the necessary additional
training for all personnel who will be working with the system.
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.
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Chapter 1 - Introduction
16 Adept PA-4 Power Chassis User’s Guide, Rev E
Additional Safety Information
The standards and regulations listed in this manual contain additional guidelines for
robot system installation, safeguarding, maintenance, testing, start-up, and operator
training. Table 1-4 lists some sources for the various standards.
.
Table 1-4. Sources for International Standards and Directives
SEMI International Standards
3081 Zanker Road
San Jose, CA 95134
USA
Phone: [phone]
Fax: [phone]
http://www.semi.org/
American National Standards Institute (ANSI)
11 West 42nd Street, 13th Floor
New York, NY 10036
USA
Phone [phone]
Fax [phone]
http://www.ansi.org
BSI Group (British Standards)
389 Chiswick High Road
London W4 4AL
United Kingdom
Phone [phone]
Fax [phone]
http://www.bsi-global.com
Document Center, Inc.
1504 Industrial Way, Unit 9
Belmont, CA 94002
USA
Phone [phone]
Fax [phone]
http://www.document-center.com
DIN, Deutsches Institut für Normung e.V.
German Institute for Standardization
Burggrafenstrasse 6
10787 Berlin
Germany
Phone.: [phone]
Fax: [phone]
http://www.din.de
http://www2.beuth.de/ (publishing)
Global Engineering Documents
15 Inverness Way East
Englewood, CO 80112
USA
Phone [phone]
Fax [phone]
http://global.ihs.com
IEC, International Electrotechnical Commission
Rue de Varembe 3
PO Box 131
CH-1211 Geneva 20
Switzerland
Phone [phone]
Fax [phone]
http://www.iec.ch
Robotic Industries Association (RIA)
900 Victors Way
PO Box 3724
Ann Arbor, MI 48106
USA
Phone [phone]
Fax [phone]
http://www.robotics.org
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Safety
Adept PA-4 Power Chassis User’s Guide, Rev E 17
Underwriters Laboratories Inc.
333 Pfingsten Road
Northbrook, IL 60062-2096 USA
Phone: [phone]
Fax: [phone]
http://www.ul.com/
Table 1-4. Sources for International Standards and Directives (Continued)
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Chapter 1 - Introduction
18 Adept PA-4 Power Chassis User’s Guide, Rev E
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Adept PA-4 Power Chassis User’s Guide, Rev E 19
Mounting the PA-4 Chassis 2
The PA-4 chassis must be installed in a suitable enclosure that provides the environment
(temperature, etc.) specified in Table 1-1 on page 10. The enclosure must also provide a
power disconnect with a method for user service personnel to lock the power in the OFF
position. This is required for safety, including national and international standards, such
as:
• OSHA ‘Lockout/Tagout’ (USA)
• IEC 204-1
• EN 60204-1
2.1 Space Around the Chassis
When the PA-4 chassis is installed, you must allow 50 mm (2 in) at the front of the chassis
and 25 mm (1 in.) at the top of the chassis for proper air cooling.
DANGER: Failure to provide and use a suitable disconnect
device could cause death or injury to personnel.
CAUTION: It is important to keep the air filters clean so the
forced air cooling system can work efficiently. See
Section 6.1 on page 47 for details on cleaning the filters.
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