adept technology 550 manual 

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Adept 550 Robot
Instruction Handbook
Including Adept 550 CleanRoom Robot
®
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Adept 550 Robot
Instruction Handbook
Including Adept 550 CleanRoom Robot
00556-00100, Rev A
February, 1996
®
adept
te hnology, inc.
®
c
150 Rose Orchard Way • San Jose, CA 95134 • USA • Phone [phone] • Fax [phone]
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone [phone] • Fax [phone]
11, Voie la Cardon • 91126 • Palaiseau • France • Phone [phone] • Fax [phone]
Via don Luigi Sturzo 39/41 • 52100 Arezzo • Italy • Phone [phone] • Fax [phone]
1-2, Aza Nakahara Mitsuya-Cho • Toyohashi, Aichi-Ken • 441-31 • Japan • (0532) 65-2391 • Fax [phone]
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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 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. A form is provided at the back of the book for submitting
your comments.
Copyright © 1996 by Adept Technology, Inc. All rights reserved.
The Adept logo is a registered trademark of Adept Technology, Inc.
Adept, AdeptOne, AdeptOne-MV, AdeptThree, AdeptThree-MV, PackOne, PackOne-MV,
HyperDrive, Adept 550, Adept 550 CleanRoom, Adept 1850, Adept 1850XP,
A-Series, S-Series, Adept MC, Adept CC, Adept IC, Adept OC, Adept MV,
AdeptVision, AIM, VisionWare, AdeptMotion, MotionWare, PalletWare,
AdeptNet, AdeptFTP, AdeptNFS, AdeptTCP/IP, AdeptForce, AdeptModules,
and V+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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P/N 01554-00000
Rev. P1
MANUFACTURER’S DECLARATION
We, Adept Technology, with Corporate Headquarters at 150 Rose Orchard Way, San Jose, CA.,
USA, and European Technical Center at Otto-Hahn-Str. 23, 44227 Dortmund, Germany,
herewith declare that the Robot comprised of:
1. Controller: MV-8 (P/N 30330-15000), MV-19 (P/N 30330-25000)
MV-5 (P/N 30340-10000), or MV 10 (P/N 30340-20000)
2. PA-4 Power Chassis (P/N 30336-31000)
3. B+ Power Amplifiers (P/N 10338-51000)
4. Manual Control Pendant (MCP III) (P/N 90332-48050)
5. VME Front Panel Category 1 (P/N 90332-00380)
6. 550A Mechanism (Model Number 556 for standard, Model Number 557 for
cleanroom) covered under a Declaration of Incorperation
in the form delivered by us to which this Declaration relates, complies with the relevant and fundamental safety and
health requirements defined in the EC Directive 89/336/EEC, Appendix 1, and the following standards:
EN 55011:1991, Class A
EN 50082-2: 1992
EN 292: 1992
EN 60204-1: 1992, IP20
EN 954, Category 1
EN 775; 1992
following the provision of Directives:
89/336/EEC
89/392/EEC
73/23/EEC
under the following usage and environmental conditions:
1. The Robot must not be put into operation until all of the machinery into which it is incorporated
has been declared in compliance with the provisions of the effective versions of the Directives.
This includes all supplementary equipment and protective devices.
2. The system must be used in accordance with instructions specified in Adept Instruction
Handbook for Category 1 Operation per EN 954.
3. The Robot must incorporate only those MV Plug-in Modules listed in Table 1 or Table 2.
If Plug-in Modules listed in Table 2 are installed, the user must verify conformance to the
EMC Directive after installation.
This Declaration is based upon extensive tests and evaluation by TÜV Rheinland, a Notified Body, in their Project
Number E9572254. The complete File is available at the California address.
Place: San Jose, California, USA Signed:
Date: 1 February 1996 Full Name: Richard J. Casler, Jr.
Position: Vice President, Engineering
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P/N 01554-00000
Rev. P1
English
Manufacturer’s Declaration
as defined in Machinery Directive 89/392EEC, Appendix IIB
We herewith declare that the machine as delivered by us complies with the
relevant and fundamental safety and health requirements defined in the EC
Directive, Appendix 1.
The machine must not be put into operation until all of the machinery into which
it is incorporated has been declared in compliance with the provisions of the
effective versions of the directives. This includes all supplementary equipment
and protective devices.
Deutsch
Herstellererklärung
im Sinne der EG-Maschinenrichtlinie 89-392/EWG, Anhang II B
Hiermit erklären wir, daß die nachstehende Maschine in der von uns gelieferten
Ausführung, den einschlägigen, grundlegenden Sicherheits- und
Gesundheitsanforderungen der EG-Richlinie Anhang I, entspricht.
Wir weisen daraufhin, daß die Inbetriebnahme der Maschine solange untersagt
ist, bis festgestellt ist, daß die Maschine, in die diese Maschine eingebaut werden
soll, den Bestimmungen der Richtlinie in der jeweils gueltigen Fassung entspricht.
Dies schließt die anwenderseitig in die Maschine zu installierenden Ergänzungen
und Schutzeinrichtungen ein.
Française
Déclaration du Constructeur
selon la Directive Communautaire relative aux machines
89/392/CEE, Annexe II B.
Par la présente, nous déclarons que la machine décrite ci-dessous, livrée en l'état,
est conforme à la directive communautaire, Annexe I, sur les impératifs
fondamentaux en matière de santé et de sécurité.
La machine ne pourra être mise en service avant que la machine dans laquelle elle
sera incorporée ne soit déclarée complètement conforme aux dispositions des
directives en cours de validité. Ceci comprend tout équipement complémentaire
et dispositif de protection.
Italiano
Dichiarazione del Costruttore
ai sensi della direttiva CE 89/392/EEC relativa a macchinari Appendice IIB
Si dichiara che la macchina , come da noi fornita, soddisfa i requisiti fondamentali
definiti nella direttiva CE, Appendice I,in fatto di sicurezza e sanità.
La messa in funzione della macchina resta vietata fintanto che l'intero sistema nel
quale questa è incorporata sia stato dichiarato conforme alla versione vigente
della suddetta normativa. Il sistemasi intende comprensivo di tutte le parti
accessorie e dispositivi di sicurezza.
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P/N 01554-00000
Rev. P1
Table 1
VME Plug-in Modules that meet all applicable Directives and that may be installed, without
additional EMC conformance testing, in MV-8 and MV-19 Controllers
Table 2
Plug-in Modules and Accessories that may be installed in MV-8 and MV-19 Controllers but
must first be tested in the final system configuration to assume full compliance.
Part Number Minimum Acceptable
Revision Description
10332-11150 P6 PCA, VME 030 Processor
10332-00710 P1 PCA, VME 040 Processor
30332-12350 P2 SYSIO 2 Module Assy FD/HD (SIO2)
30332-12351 P2 SYSIO 2 Module Assy FD
10332-00800 P2 PCA, VME Digital I/O (DIO)
10332-10250 P3 PCA, VME Graphics Board (VGBIII)
10332-00600 P2 PCA VME Frame Grabber (VIS)
10332-11400 P4 PCA, VME Motion Interface, MI-3
10332-12400 P2 PCA, VME Motion Interface, MI-6
10332-00500 P2 PCA, VME Joint Interface (VJI III)
Part Number Minimum Acceptable
Revision Description
90332-02020 P1 AdeptNet 10BaseT Kit
10330-00970 B PCA, VME Analog I/O (AIO)
90211-00000 B Adept Force Kit
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Adept 550 Robot Instruction Handbook, Rev A vii
Table of Contents
1Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Adept Equipment Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Definition of a Manipulating Industrial Robot. . . . . . . . . . . . . . . . . . . . . . . . . .3
1.2 Notes, Cautions, and Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
1.3 Risk Assessment – Category 1 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
1.4 Precautions and Required Safeguards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Robot Static Forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Safety Barriers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Impact and Trapping Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Hazards from Expelling a Part or Attached Tooling. . . . . . . . . . . . . . . . . .6
Additional Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
1.5 Intended Use of the Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
1.6 Robot Modifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Acceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Unacceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
1.7 Endangerment Through Additional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . .9
1.8 Working Areas. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
1.9 Qualification of Personnel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
1.10 Transport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
1.11 Safety Equipment for Operators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
1.12 Protection Against Unauthorized Operation . . . . . . . . . . . . . . . . . . . . . . . . . . .11
1.13 Operating Modes of Adept Robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Automatic Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Manual Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
1.14 Safety Aspects While Performing Maintenance. . . . . . . . . . . . . . . . . . . . . . . . .12
1.15 Risks That Cannot Be Avoided . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
1.16 What to Do in an Emergency Situation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
1.17 How to Get Help. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
In Europe. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Europe/Germany . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
France. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Italy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
In the United States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Service Calls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Application Questions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Applications Internet E-Mail Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Training Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Outside Continental United States or Europe. . . . . . . . . . . . . . . . . . . . . . . . .14
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Table of Contents
viii Adept 550 Robot Instruction Handbook, Rev A
2Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.1 Environmental and Facility Requirements for Robot. . . . . . . . . . . . . . . . . . . . . . 17
Facility Ambient Air Quality For Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Robot Workcell Free Space. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Environmental and Facility Requirements for Controller . . . . . . . . . . . . . . . . . . 17
2.3 Environmental and Facility Requirements Power Chassis . . . . . . . . . . . . . . . . . 18
2.4 Before Unpacking Adept Equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.5 Adept Shipment Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.6 Transport and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.7 Unpacking and Inspecting the Adept Equipment . . . . . . . . . . . . . . . . . . . . . . . 19
2.8 Repackaging For Relocation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.9 Robot Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Mounting Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Tool and Equipment Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Mounting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.10 Installation of the Adept MV Controller and
the Adept PA-4 Power Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Joining an Adept PA-4 Power Chassis to an Adept MV Controller . . . . . . 22
Joining at the Top. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Joining at the Bottom. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Space Around the Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Installation in a Rack or Panel Mount. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Panel Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Rack Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.11 Installing the A-Series Monitor and Keyboard . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Installation Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.12 Installing a Terminal in an S-Series System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Recommended Terminal for S-Series Systems . . . . . . . . . . . . . . . . . . . . . . . . 28
Installation Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.13 Installing the External Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Controls and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Installing the External Front Panel (VFP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.14 Signal Interconnection Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
System Cable Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Connecting the Robot to the Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . 32
Installing Signal Cables: Robot to MV Controller. . . . . . . . . . . . . . . . . . . . . . 33
Installing Signal Cables: MV Controller to Power Chassis. . . . . . . . . . . . . . . 34
Connecting the MCP to the VFP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
MCP Cradle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.15 Grounding Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Adept MV Controller Grounding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Adept PA-4 Power Chassis Grounding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Adept Robot Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Robot-Mounted Equipment Grounding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.16 Connecting to AC Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Connecting AC Power to the MV Controller. . . . . . . . . . . . . . . . . . . . . . . . . 37
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Table of Contents
Adept 550 Robot Instruction Handbook, Rev A ix
AC Power Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
Power Entry Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
Connecting AC Power Cord . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
Connecting AC Power to the Adept PA-4 Power Chassis . . . . . . . . . . . . . .39
AC Power Requirements for Power Chassis . . . . . . . . . . . . . . . . . . . . . . .39
Connecting the Power Chassis AC Power Cord. . . . . . . . . . . . . . . . . . .40
Typical AC Power Installation Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . .41
Changing Voltage Setting for Power Chassis . . . . . . . . . . . . . . . . . . . . .42
2.17 Additional Power Chassis Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
Overview of B+ Amplifier Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
Circuit Breaker and Fuse Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
Chassis Circuit Breaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
Chassis Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
Amplifier Module Fuses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
Removing and Installing Amplifier Modules . . . . . . . . . . . . . . . . . . . . . . . . . .45
Removing Amplifier Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
Installing Amplifier Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
2.18 Installing End-Effectors on an Adept 550 Robot. . . . . . . . . . . . . . . . . . . . . . . . .46
2.19 Removing and Installing the User Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Removing the Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Installing the Flange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
2.20 User Connections on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
User Air Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
User Electrical Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
3Preparation for Safe and Effective Use of the Robot. . . . . . . . . . . . . . . 49
3.1 Overview of Safety System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
Operating in Manual Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
User-Supplied E-Stop Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
Terminal Block On External Front Panel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
External E-Stop Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
Passive E-Stop Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
Digital Inputs and Outputs of the System Input/Output (SIO) Module . . . .53
Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
Digital I/O Connector Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
Typical Emergency Stop Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
4Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
4.2 Check Of Physical Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
Physical Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
4.3 VFP Operating Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
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Manual Operating Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Automatic Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4.4 Using the Brake Release Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Brake Release Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.5 Description of the Manual Control Pendant (MCP) . . . . . . . . . . . . . . . . . . . . . . 63
How to Hold the MCP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Description of Buttons on the MCP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Mode Control and Joint/Axis Control Buttons. . . . . . . . . . . . . . . . . . . . . 64
Speed Bars. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.6 How to Stop a Robot in Manual Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.7 How to Start the Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Enable High Power with the MCP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
In Automatic Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
In Manual Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Calibration of the Robot with the MCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
4.8 Moving the Robot with the MCP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
MAN/HALT Button for Selecting Joint State . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Joint/Axis Control Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Speed Bars. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Selecting Joint State and Moving the Robot . . . . . . . . . . . . . . . . . . . . . . . . 69
Selecting and Moving Joint 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Selecting and Moving Joint 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Selecting and Moving Joint 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Selecting and Moving Joint 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
4.9 Limiting Joint Travel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Softstops. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Hardstops. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
5Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
5.2 Checking Robot Mounting Bolts and Leveling . . . . . . . . . . . . . . . . . . . . . . . . . . 74
5.3 Lubricate Joint 3 Ball Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.4 Check Tension and Wear On J3 and J4 Drive Belts . . . . . . . . . . . . . . . . . . . . . . 76
5.5 Maintenance and Inspection of Air Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Adept PA-4 Fan Filter Inspection and Cleaning . . . . . . . . . . . . . . . . . . . . . . 79
Adept MV Controller Fan Filter Inspection and Cleaning . . . . . . . . . . . . . . 79
5.6 Check Lamps on VFP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
6Technical Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
6.1 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Dimensions for Adept 550 Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
User Flange Dimensions for Adept 550 Robot . . . . . . . . . . . . . . . . . . . . . . . . 83
Dimensions for Adept MV-8 Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Dimensions for Adept MV-19 Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
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xi Adept 550 Robot Instruction Handbook, Rev A
Dimensions for Adept PA-4 Power Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Dimensions of the External Front Panel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Dimensions of the Mounting Brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
MCP Cradle Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
6.2 Joint Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Joint 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Joint 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Joint 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Joint 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
6.3 Adept 550 Robot Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Adept 550 Robot Working Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
6.4 Adept PA-4 Power Chassis Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
AAdept 550 CleanRoom Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
A.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Vacuum Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
A.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
A.3 Adept 550 CleanRoom Robot Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
BDual Adept 550 Robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
B.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Dual Adept 550 Robot System Description . . . . . . . . . . . . . . . . . . . . . . . . . 102
B.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
VMEbus Address for VJI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Adept PA-4 Power Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
B.3 Operation with the Manual Control Pendant (MCP) . . . . . . . . . . . . . . . . . . . . 103
B.4 Programming Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
V+ Language Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
V+ Monitor Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
B.5 Emergency Stop Circuit Shuts Off Both Robots . . . . . . . . . . . . . . . . . . . . . . . . . 104
CEMC Test Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
C.1 Electromagnetic Compatibility Testing Results. . . . . . . . . . . . . . . . . . . . . . . . . 105
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Table of Contents
xii Adept 550 Robot Instruction Handbook, Rev A
List of Figures
Figure 1-1 Adept 550 Robot with Joint Locations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 1-2 Adept MV-8 Controller and PA-4 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 1-3 Robot Impact and Trapping Point Hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 2-1 Adept 550 Robot on a Transportation Pallet . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 2-2 Mounting Hole Pattern (Robot-to-Mounting Surface). . . . . . . . . . . . . . . . . . . 20
Figure 2-3 Joining the Power Chassis and Controller at the Top . . . . . . . . . . . . . . . . . . . 22
Figure 2-4 Joining the Power Chassis and Controller at the Bottom . . . . . . . . . . . . . . . . 23
Figure 2-5 Installing Mounting Brackets on an Adept MV Controller. . . . . . . . . . . . . . . . 25
Figure 2-6 Installing Mounting Brackets on an Adept PA-4 Power Chassis . . . . . . . . . . . 26
Figure 2-7 Connecting the A-Series Monitor and Keyboard. . . . . . . . . . . . . . . . . . . . . . . 27
Figure 2-8 External Front Panel (VFP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Figure 2-9 External VME Front Panel Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 2-10 Adept 550 Robot System Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Figure 2-11 Adept 550 Robot Rear Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Figure 2-12 Robot-to-VJI Cable Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 2-13 Power Chassis to VJI Cable Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Figure 2-14 MCP Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 2-15 Adept MV Controller Power Entry Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Figure 2-16 Typical 380-415 V AC Connection for Category 1 System . . . . . . . . . . . . . . . 41
Figure 2-17 Typical 3-Phase 200-240 V AC Connection for Category 1 System. . . . . . . . 41
Figure 2-18 Insulating Blue Wire in Power Cord. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Figure 2-19 Changing Voltage in Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Figure 2-20 User Flange Removal Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Figure 3-1 Digital I/O Connector Pin Locations on SIO Module . . . . . . . . . . . . . . . . . . . . 56
Figure 3-2 E-Stop Diagram with VFP and MCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Figure 3-3 E-Stop Circuitry with Additional Safety Equipment . . . . . . . . . . . . . . . . . . . . . 58
Figure 4-1 Holding the MCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Figure 4-2 MCP Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Figure 4-3 Command (CMD) Function Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Figure 4-4 Mode Control Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Figure 4-5 Speed Bars . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Figure 4-6 Joint State (SCARA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Figure 5-1 Lubrication of Joint 3 Ball Screw. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Figure 5-2 Location of Access Cover on Underside of Outer Link . . . . . . . . . . . . . . . . . . 76
Figure 5-3 Location of Joint 3 and Joint 4 Drive Belts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Figure 5-4 Close-up View of Joint 3 Brake Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Figure 6-1 Adept 550 Robot Top and Side Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Figure 6-2 User Flange Dimensions for Adept 550 Robot. . . . . . . . . . . . . . . . . . . . . . . . . . 83
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Table of Contents
xiii Adept 550 Robot Instruction Handbook, Rev A
Figure 6-3 User Flange Close-up Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Figure 6-4 Adept MV-8 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Figure 6-5 Adept MV-19 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Figure 6-6 Adept PA-4 Power Chassis Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Figure 6-7 Adept External Front Panel Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Figure 6-8 Adept MV-8 and PA-4 With Mounting Brackets Installed . . . . . . . . . . . . . . . . 89
Figure 6-9 MCP Cradle Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Figure 6-10 Joint-1 Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Figure 6-11 Joint-2 Motion and LEFTY/RIGHTY Configurations . . . . . . . . . . . . . . . . . . . . . . 91
Figure 6-12 Joint-3 and Joint-4 Motions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Figure 6-13 Adept 550 Robot Working Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Figure A-1 Adept 550 CleanRoom Robot Top and Side Dimensions . . . . . . . . . . . . . . . . 99
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Table of Contents
xiv Adept 550 Robot Instruction Handbook, Rev A
List of Tables
Table 1-1 Adept Hardware and Software Compatibility for Category 1 Systems . . . . . 3
Table 1-2 Robot Torques and Forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Table 1-3 Maximum Robot Joint Velocities in Runaway Situations . . . . . . . . . . . . . . . . . . 6
Table 1-4 Sources for International Standards and Directives. . . . . . . . . . . . . . . . . . . . . . 7
Table 2-1 Operating Environment Specifications for Adept Robots. . . . . . . . . . . . . . . . 17
Table 2-2 Operating Environment Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Table 2-3 Adept Shipping Crate Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Table 2-4 Mounting Bolt Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Table 2-5 Adept MV Controller Power Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Table 2-6 Adept MV Controller Power Cord Specifications. . . . . . . . . . . . . . . . . . . . . . . 38
Table 2-7 Adept PA-4 Power Chassis Power Requirements. . . . . . . . . . . . . . . . . . . . . . . 39
Table 2-8 AC Power Cord Specifications for Power Chassis . . . . . . . . . . . . . . . . . . . . . . 40
Table 3-1 Terminal Assignment of the Terminal Block on the Back of the VFP. . . . . . . . 51
Table 3-2 DIO Input Specifications (SIO module) on the Security Panel . . . . . . . . . . . . 53
Table 3-3 DIO Output Specifications (SIO module). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Table 3-4 Digital I/O Connector Pin Assignments on SIO Module. . . . . . . . . . . . . . . . . . 55
Table 4-1 Softstop and Hardstop Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Table 5-1 Inspection and Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Table 6-1 Adept 550 Robot Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Table 6-2 Power Consumption for PA-4 Power Chassis with an Adept 550 System . . . 96
Table A-1 Adept 550 CleanRoom Robot Vacuum Specifications. . . . . . . . . . . . . . . . . . 98
Table B-1 Typical Robot-VJI-Amplifier Assignments in Dual Adept 550 Robot System 103
Table C-1 EMC Test Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
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Adept 550 Robot Instruction Handbook, Rev A 1
Safety 1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Adept Equipment Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Definition of a Manipulating Industrial Robot. . . . . . . . . . . . . . . . . . . . . . . . . .3
1.2 Notes, Cautions, and Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Risk Assessment – Category 1 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Precautions and Required Safeguards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Robot Static Forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Safety Barriers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Additional Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
1.5 Intended Use of the Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.6 Robot Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Acceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Unacceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
1.7 Endangerment Through Additional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.8 Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.9 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.10 Transport. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.11 Safety Equipment for Operators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.12 Protection Against Unauthorized Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.13 Operating Modes of Adept Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Automatic Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Manual Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
1.14 Safety Aspects While Performing Maintenance. . . . . . . . . . . . . . . . . . . . . . . . 12
1.15 Risks That Cannot Be Avoided. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.16 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.17 How to Get Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
In Europe. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
In the United States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Outside Continental United States or Europe. . . . . . . . . . . . . . . . . . . . . . . . .14
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Chapter 1 - Safety
2 Adept 550 Robot Instruction Handbook, Rev A
1.1 Introduction
The Adept 550 robot is a four-axis SCARA (Selective Compliance Assembly Robot Arm)
robot. Joints 1, 2, and 4 are rotational and Joint 3 is translational. See Figure 1-1 for a
description of the robot joint locations.
The Adept 550 robot is designed to interface with the Adept MV controller and PA-4
power chassis (see Figure 1-2). The control and operation of the robot is programmed and
performed through the controller.
Figure 1-1. Adept 550 Robot with Joint Locations
Figure 1-2. Adept MV-8 Controller and PA-4 Power Chassis
®
Joint 1
"Shoulder"
Joint 3
Joint 2
"Elbow"
Inner Link Outer Link
Joint 4
"Wrist"
Base
User
Flange
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R
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4
2
2
/
4
8
5
OK
1
2
3
4
ON
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technology, inc.
1
2
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ACC V
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RESET
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2
4
6
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1
3
5
VJI
AMPLIFIER
SIGNAL
ARM
SIGNAL
BELT
ENCODER
Adept MV-8 Controller Adept PA-4 Power Chassis
DONOT REMOVE THIS PANEL UNLESS
SYSTEMPOWER IS OFF AND AMPLIFIER
HIGHVOLTS LED(S) IS COMPLETELY
EXTINGUISHED.DO NOT OPERATE
WITHOUTTHIS PANEL INSTALLED.
DONOT REMOVE THIS PANEL UNLESS
SYSTEMPOWER IS OFF AND AMPLIFIER
HIGHVOLTS LED(S) IS COMPLETELY
EXTINGUISHED.DO NOT OPERATE
WITHOUTTHIS PANEL INSTALLED.
PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP
HIGH VOLTS ON
SHORT FAULT
A
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P
L
I
F
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B+AMP
M
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W
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P
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B1
B2
B1 B2
DONOT REMOVE OR INSTALL THIS
MODULEUNLESS HIGH VOLTS LED
ISCOMPLETELY EXTINGUISHED.
T
E
A
C
H
R
E
S
T
R
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PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP
HIGH VOLTS ON
SHORT FAULT
A
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P
L
I
F
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R
C
O
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T
R
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B+AMP
M
O
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P
U
T
B1
B2
B1 B2
DONOT REMOVE OR INSTALL THIS
MODULEUNLESS HIGH VOLTS LED
ISCOMPLETELY EXTINGUISHED.
T
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A
C
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R
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technology, inc.
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Introduction
Adept 550 Robot Instruction Handbook, Rev A 3
Adept Equipment Compatibility
The Adept 550 Category 1 robot system must consist of the hardware and software listed
in the following table. All new systems shipped from the factory will include the correct
equipment as shown. If you have existing Adept equipment, this table can help
distinguish new equipment from older equipment, especially since some of it is visibly
similar. See the product data label for the robot, controller, and power chassis for model
number or part number information.
For information on the V+11.3 Operating System, refer to the V+11.3 Release Notes that is
shipped with each system.
Definition of a Manipulating Industrial Robot
An automatically controlled, reprogrammable, multi-purpose, manipulative machine
with several degrees of freedom, which may be either fixed in a place or mobile for use in
industrial automation applications is called a manipulating robot. (ISO 10218:1992(E))
aThe new Category 1 VFP has two keyswitches, older versions have only one.
bThe label on the back of the new MCP III is “Manual Control III Operator.” Also on
the new MCP, the button in the lower right corner (below T1) is labeled STEP.
Table 1-1. Adept Hardware and Software Compatibility for Category 1 Systems
Product Required Model, Part, or Version Number
Standard Adept 550 robot
CleanRoom Adept 550 robot
550A Mechanism, Model Number 556
550A Mechanism, Model Number 557
Adept MV-8 controller
Adept MV-19 controller
part number 30330-15000
part number 30330-25000
Adept PA-4 power chassis part number 30336-31000
B+ amplifier module part number 10338-51000
External VME Front Panel (VFP) Category 1, part number 90332-00380a
Manual Control Pendant MCP III, part number 90332-48050b
V+Operating System software Version 11.3 or later
Note: Category 1 hardware cannot be used
with earlier versions of V+
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