adept technology 550 User manual

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Instra

Adept 550
Table-Top Robot
User’s Guide
Including Class 10 Clean Room Version
and Adept PA-4 Power Chassis
®
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Adept 550
Table-Top Robot
User’s Guide
Including Class 10 Clean Room Version
and Adept PA-4 Power Chassis
Part Number 00554-00030, Rev A
April 1995
®
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]
1-2, Aza Nakahara, Mitsuya-Cho • Toyohashi-Shi 441-31 • Japan • (0532) 65-2391 • Fax [phone]
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

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 useris welcomed. Your comments assist us in preparation
offuture documentation. A formis provided at the back of the bookfor submittingyour comments.
Copyright 1994, 1995 by Adept Technology, Inc. All rights reserved.
The Adept logo is a registered trademark of Adept Technology, Inc.
Adept, AdeptOne, AdeptOne-MV, AdeptThree, PackOne, 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, VisionWare, AdeptMotion, MotionWare, PalletWare, AIM,
AdeptNet, 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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Adept 550 Table-Top Robot User’s Guide, Rev A iii
Table of Contents
1General Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 How to Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Follow These Steps to Install and Configure the Adept 550 Robot . . . . . . . .2
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Standard Manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Other Adept Product Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Optional V+ Developer’s Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
1.2 Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Reading and Training for Users and Operators . . . . . . . . . . . . . . . . . . . . . . . .4
System Safeguards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Safety Features on External VME Front Panel (VFP) . . . . . . . . . . . . . .5
Computer-Controlled Robots and Motion Devices . . . . . . . . . . . . . .5
Manually-Controlled Robots and Motion Devices . . . . . . . . . . . . . . .5
Other Computer-Controlled Devices. . . . . . . . . . . . . . . . . . . . . . . . . .5
1.4 Robot Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Acceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Unacceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
1.5 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Within the Continental United States. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Service Calls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Application Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Applications Internet E-Mail Address . . . . . . . . . . . . . . . . . . . . . . . . . .7
Training Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Within Europe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
France . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Outside Continental United States or Europe. . . . . . . . . . . . . . . . . . . . . . . . . .8
Adept Bulletin Board Service (BBS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
2Robot Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 Adept 550 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
General Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Joint Motions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Joint 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Joint 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Joint 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Joint 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
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Table of Contents
iv Adept 550 Table-Top Robot User’s Guide, Rev A
Robot Working Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3Power Chassis/Controller Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.1 Adept PA-4 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.2 Dual B5 Amplifier Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3 Adept MV Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4Robot Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1 Environmental and Facility Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Facility Ambient Air Quality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Robot Workcell Free Space. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.2 Unpacking and Inspecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Before Unpacking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
After Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Repacking for Relocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.3 Robot Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Mounting Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Mounting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.4 User Flange Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.5 End-Effectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.6 User Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
User Air Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
User Electrical Lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5Power Chassis Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.1 Environmental and Facility Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Ambient Air Quality. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.2 Power Chassis Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Power Chassis Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Connecting to AC Power, Model 3303 Power Chassis. . . . . . . . . . . . . . . . . 30
Power Requirements for Model 3303 Power Chassis . . . . . . . . . . . . 30
Connecting Power Cord, Model 3303 Power Chassis. . . . . . . . . . . 31
Connecting to AC Power, Model 3306 Power Chassis. . . . . . . . . . . . . . . . . 32
Power Requirements for Model 3306 Power Chassis . . . . . . . . . . . . 32
Changing Voltage Setting (Model 3306 only) . . . . . . . . . . . . . . . . . 32
Connecting AC Power Cord, Model 3306 Power Chassis . . . . . . . 33
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Table of Contents
Adept 550 Table-Top Robot User’s Guide, Rev A v
System Grounding Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Circuit Breaker and Fuse Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Chassis Circuit Breaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Chassis Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Amplifier Module Fuses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Joining an Adept PA-4 Power Chassis to an Adept MV Controller . . . . . . .34
Joining at the Top . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Joining at the Bottom. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
Installation in a Rack or Panel Mount . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
Space Around the Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
Panel Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
Rack Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
Removing and Installing Amplifier Modules . . . . . . . . . . . . . . . . . . . . . . . . . .39
Removing Amplifier Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
Installing Amplifier Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
5.3 Installing Cables: Robot/Controller/Power Chassis. . . . . . . . . . . . . . . . . . . . . . 40
System Cable Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Connecting Adept 550 Robot to Power Chassis . . . . . . . . . . . . . . . . . . . . . .41
Connecting Robot to Adept MV Controller. . . . . . . . . . . . . . . . . . . . . . . . . .44
Connecting Adept MV Controller to Power Chassis . . . . . . . . . . . . . . . . . . .45
6Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
6.1 Verify Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Physical Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
6.2 Turn On Controller and Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
6.3 Calibrate Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
About Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
6.4 Learning to Operate and Program the Adept 550 Robot . . . . . . . . . . . . . . . . . 49
6.5 Limiting Joint Travel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Softstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
6.6 Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Brake Release Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
7Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
7.1 Maintenance Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.2 Checking Mounting Bolts and Leveling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.3 Lubricate Joint 3 Ball Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.4 Check Tension and Wear On J3 and J4 Drive Belts. . . . . . . . . . . . . . . . . . . . . . 55
7.5 Adept PA-4 Power Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Fan Filter Inspection and Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
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Table of Contents
vi Adept 550 Table-Top Robot User’s Guide, Rev A
ADimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
A.1 Dimensions for Adept 550 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
A.2 Dimensions for Adept PA-4 Power Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
A.3 Dimensions for Power Chassis and Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 64
A.4 Mounting Bracket Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
BAdept 550 CleanRoom Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
B.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Vacuum Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
B.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
B.3 Adept 550 CleanRoom Robot Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
CDual Adept 550 Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
C.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Dual Adept 550 Robot System Description . . . . . . . . . . . . . . . . . . . . . . . . . . 72
C.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
VMEbus Address for VJI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Adept PA-4 Power Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Cable Installation (Model 3303, with two power chassis) . . . . . . . . . . . . . . 73
C.3 Operation with the Manual Control Pendant (MCP) . . . . . . . . . . . . . . . . . . . . . 73
C.4 Programming Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
V+ Language Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
V+ Monitor Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
C.5 Emergency Stop Circuit Shuts Off Both Robots. . . . . . . . . . . . . . . . . . . . . . . . . . 74
List of Figures
Figure 2-1 Adept 550 Robot Joint Locations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 2-2 Joint 1 Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 2-3 Robot LEFTY and RIGHTY Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Figure 2-4 Joint 3 and Joint 4 Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Figure 2-5 Adept 550 Robot Working Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Figure 3-1 Adept PA-4 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 3-2 Adept MV-8 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 4-1 Mounting Hole Pattern (Robot-to-Mounting Surface). . . . . . . . . . . . . . . . . . . 25
Figure 4-2 User Flange Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Figure 4-3 User Flange Close-up Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Figure 5-1 Power Entry Module on Adept PA-4 Chassis (Model 3303). . . . . . . . . . . . . . . 31
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Table of Contents
Adept 550 Table-Top Robot User’s Guide, Rev A vii
Figure 5-2 Joining the Power Chassis and Controller at the Top. . . . . . . . . . . . . . . . . . . .35
Figure 5-3 Joining the Power Chassis and Controller at the Bottom. . . . . . . . . . . . . . . . .36
Figure 5-4 Installing Mounting Brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
Figure 5-5 Adept 550 System Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Figure 5-6 Adept 550 Robot Back Plate and Ground Connections . . . . . . . . . . . . . . . . .42
Figure 5-7 Amplifier Modules 1 and 2 in Power Chassis, Model 3303 . . . . . . . . . . . . . . . .43
Figure 5-8 Robot to VJI Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
Figure 5-9 Power Chassis to VJI Cable Installation, Model 3303 . . . . . . . . . . . . . . . . . . . .45
Figure 7-1 Lubrication of Joint 3 Ball Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
Figure 7-2 Location of Access Cover on Underside of Outer Link. . . . . . . . . . . . . . . . . . .56
Figure 7-3 Location of Joint 3 and Joint 4 Drive Belts . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
Figure 7-4 Close-up View of Joint 3 Brake Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
Figure A-1 Adept 550 Robot Top and Side Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . .62
Figure A-2 Adept PA-4 Power Chassis Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
Figure A-3 Power Chassis and Controller Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64
Figure A-4 Power Chassis and Controller with Mounting Brackets Installed. . . . . . . . . . .65
Figure B-1 Adept 550 CleanRoom Robot Top and Side Dimensions. . . . . . . . . . . . . . . . .69
List of Tables
Table 2-1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Table 4-1 Mounting Bolt Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
Table 5-1 Adept PA-4 Power Chassis Model 3303 Power Requirements. . . . . . . . . . . . .30
Table 5-2 Adept PA-4 Power Chassis Model 3306 Power Requirements . . . . . . . . . . . .32
Table 5-3 AC Power Cord Specifications, Model 3306 Power Chassis . . . . . . . . . . . . . .33
Table 6-1 Softstop and Hardstop Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
Table 7-1 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
Table B-1 Adept 550 CleanRoom Robot Vacuum Specifications . . . . . . . . . . . . . . . . . .68
Table C-1 Typical Robot-VJI-Amplifier Assignments in Dual Adept 550 Robot System. .73
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Adept 550 Table-Top Robot User’s Guide, Rev A 1
General Information 1
1.1 How to Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Follow These Steps to Install and Configure the Adept 550 Robot . . . . . . . .2
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Standard Manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Other Adept Product Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Optional V+ Developer’s Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
1.2 Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Reading and Training for Users and Operators . . . . . . . . . . . . . . . . . . . . . . . .4
System Safeguards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Safety Features on External VME Front Panel (VFP) . . . . . . . . . . . . . .5
Computer-Controlled Robots and Motion Devices . . . . . . . . . . . . . .5
Manually-Controlled Robots and Motion Devices . . . . . . . . . . . . . . .5
Other Computer-Controlled Devices. . . . . . . . . . . . . . . . . . . . . . . . . .5
1.4 Robot Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Acceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Unacceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
1.5 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Within the Continental United States. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Service Calls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Application Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Applications Internet E-Mail Address . . . . . . . . . . . . . . . . . . . . . . . . . .7
Training Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Within Europe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
France . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Outside Continental United States or Europe. . . . . . . . . . . . . . . . . . . . . . . . . .8
Adept Bulletin Board Service (BBS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
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Chapter 1 - General Information
2 Adept 550 Table-Top Robot User’s Guide, Rev A
1.1 How to Use This Manual
Follow These Steps to Install and Configure the Adept 550 Robot
1. Read Chapter 1 to learn about Safety and Customer Service issues.
2. Read Chapter 2 to get an overview of the Adept 550 Robot and Chapter 3 for an
overview of the Adept PA-4 power chassis.
3. Read Chapter 4 to learn the steps in installing the robot.
4. Read Chapter 5 to learn the steps in installing the power chassis and connecting
cables between all components.
5. Read Chapter 6 to find out how to turn on the system and where to find program-
ming information.
6. Read Chapter 7 for periodic maintenance for the system.
7. Read Appendix A for dimension information, Appendix B for CleanRoom infor-
mation, and Appendix C for Dual Adept 550 robot information.
Related Manuals
Adept products come with a set of documentation that is defined by the products you
have ordered. In addition, there are optional manuals available if you are going to be
programming the Adept system. This manual refers to both the standard and optional
manuals. The following sections give a brief description of the contents and organization
of the Adept documentation set.
Standard Manuals
In addition to this Adept 550 Table-Top Robot User’s Guide the following manuals are
shipped with the system:
Manual Material Covered
Adept MV Controller User's Guide This manual details the installation,
configuration, and maintenance of your
Adept controller.
V+Operating System User’s Guide A description of the V+operating system.
Loading, storing, and executing programs is
covered in this manual.
Instructions for Adept Utility Programs Adept provides a series of programs for
configuring and calibrating various features
of your Adept system. These utility programs
are described in this manual.
V+ Release Notes Descriptions of the changes to V+. This
document is updated as each version of V+is
released.
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How to Use This Manual
Adept 550 Table-Top Robot User’s Guide, Rev A 3
Other Adept Product Manuals
When you order AdeptVision VME, AdeptMotion VME, AdeptForce VME, or any AIM
software product, you will receive manuals that cover those products. Also, optional
hardware such as the Manual Control Pendant will come with a manual. A partial list is
shown below.
Optional V+ Developer’s Manuals
If you will be programming V+applications, you should order the optional V+devel-
oper’s manuals (first three in the list below). These manuals contain a complete descrip-
tion of the commands, instructions, functions, and other features available in the V+
language and operating system. These manuals are essential for advanced applications
programming.
If you will be programming vision applications, you should order the AdeptVision Reference
Guide (in addition to the V+developer’s manuals).
Manual Material Covered
AdeptVision VME User's Guide Concepts and strategies for programming the
AdeptVision VME system. (see also the
optional AdeptVision Reference Guide below)
AdeptMotion VME User’s Guide Installation, configuration, and tuning of an
AdeptMotion VME system.
AdeptForce VME User’s Guide Installation, operation, and programming of
the AdeptForce VME product.
Manual Control Pendant User’s Guide Basic use and programming of the manual
control pendant.
Manual Material Covered
V+Operating System Reference Guide Descriptions of the V+operating system
commands (known as monitor commands).
V+Language User’s Guide V+is a complete high-level language as well
as an operating system. This manual covers
programming principles for creating V+
programs.
V+Language Reference Guide A completedescription of the keywords in the
basic V+language system.
AdeptVision Reference Guide Descriptions of the additional V+keywords
available with the AdeptVision VME option.
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Chapter 1 - General Information
4 Adept 550 Table-Top Robot User’s Guide, Rev A
1.2 Warnings, Cautions, and Notes
There are three levels of special notation used in this manual. They are:
WARNING: Injury or major equipment damage could result if the actions
indicated in a “WARNING” are not complied with. A warning statement
typically describes the hazard, its possible effect, and the measures that
must be taken to reduce the hazard.
CAUTION: Damage to your equipment could result if the action specified
in the “CAUTION” is not complied with.
NOTE: A “NOTE” provides supplementary information, emphasizes a
point or procedure, or gives a tip for easier operation.
1.3 Safety
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.
We also 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 -
1992, contains guidelines for robot system installation, safeguarding, maintenance, test-
ing, start-up, and operator training. The document is available from the American
National Standards Institute, 11 West 42nd Street, #13THF, New York, NY 10036-8002.
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.
There may be warnings in Adept manuals that specify only skilled or instructed persons
should attempt certain procedures. These are defined as:
•Skilled persons have technical knowledge or sufficient experience to enable them
to avoid the dangers which electricity may create (engineers and technicians).
•Instructed persons are adequately advised or supervised by skilled persons to
enable them to avoid the dangers which electricity may create (operating and
maintenance staff).
!
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Safety
Adept 550 Table-Top Robot User’s Guide, Rev A 5
System Safeguards
Safeguards should be an integral part of robot or motion workcell design, installation,
operator training, and operating procedures.
Adept systems have various communication features to aid in constructing system safe-
guards. These include the emergency stop circuitry and digital input and output lines.
These features are described in the Adept MV Controller User's Guide.
Safety Features on External VME Front Panel (VFP)
On the Adept MV controller, the optional external VME Front Panel (VFP) has three
important safety features, the HIGH POWER and PROGRAM RUNNING indicators, and the
EMERGENCY STOP switch. If you choose not to use the VFP, you should provide similar
safety features by using the Front Panel/MCP and Digital I/O connectors on the System
I/O module. Refer to the Adept MV Controller User's Guide for more information, or call
Adept Customer Service.
WARNING: Entering the workcell when either the HIGH POWER or the
PROGRAM RUNNING light is on can result in severe injury. This warning
applies to each of the next three sections.
Computer-Controlled Robots and Motion Devices
Adept systems are computer controlled, and the program that is currently running the
robot or motion device may cause it to move at times or along paths you may not antici-
pate. When the HIGH POWER light and the PROGRAM RUNNING light on the optional VFP
are illuminated, do not enter the workcell because the robot or motion device might move
unexpectedly. (The LAMP TEST button on the VFP allows these lights to be periodically
checked.)
Manually-Controlled Robots and Motion Devices
Adept robots and other motion devices can also be controlled manually when the HIGH
POWER light on the VFP is illuminated. When this light is lit, motion can be initiated from
the system keyboard or from the optional Manual Control Pendant (MCP). If you have to
enter the workcell when this light is lit, press the MAN/HALT button on the MCP. This will
prevent anyone else from initiating unexpected motion from the system keyboard.
Other Computer-Controlled Devices
In addition, Adept systems can be programmed to control equipment or devices other
than the robot or main motion device. The program controlling these other devices may
cause them to operate unexpectedly. Make sure that safeguards are in place to prevent
personnel from entering the workcell when a program is running.
Adept Technology highly recommends the use of additional safety features such as light
curtains, safety gates, or safety floor mats to prevent entry to the workcell while HIGH
POWER is enabled. These devices can be connected using the emergency stop circuitry.
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Chapter 1 - General Information
6 Adept 550 Table-Top Robot User’s Guide, Rev A
1.4 Robot Modifications
It is often necessary to make modifications to Adept robots to successfully integrate them
into a workcell. Unfortunately, many seemingly simple modifications can either cause a
robot failure, or reduce the robot’s performance, reliability, or lifetime.
Acceptable Modifications
In general, the following robot modifications will not cause any problems, but may affect
robot performance:
• Attaching tooling, utility boxes, solenoid packs, vacuum pumps, screwdrivers,
cameras, lighting, etc. to the inner link, outer link, or column. Any loads attached
to the moving robot parts must be considered part of the payload.
• Attaching hoses, pneumatic lines, or cables to the robot. These should be designed
so they do not restrict joint motion or cause robot motion errors.
• Modifying robot access covers as long as adequate protection is provided after the
modification.
Unacceptable Modifications
If not done properly, the modifications listed below will damage the robot, reduce system
reliability, or shorten the life of the robot.
CAUTION: Making any of the modifications outlined below will void
the warranty of any components that Adept determines were damaged
due to the modification. Please contact Adept Customer Service before
attempting any of the following modifications to determine if they can be
made without causing problems.
• Modifying any of the robot harnesses or robot to controller cables.
• Modifying any drive system components.
• Modifying, including drilling or cutting, any robot casting.
• Modifying any robot electrical component or PC board other than those explicitly
stated in the robot user’s guide.
• Routing additional hoses, air lines, or wires through the robot.
!
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How Can I Get Help?
Adept 550 Table-Top Robot User’s Guide, Rev A 7
1.5 How Can I Get Help?
Within the Continental United States
Adept Technology maintains a Customer Service Center at its headquarters in San Jose,
CA. The phone numbers are:
Service Calls
[phone] (24 hours per day, 7 days a week)
[phone] FAX
Application Questions
[phone] (Monday to Friday, 8:00 a.m. to 5:00 p.m., Pacific time)
[phone] FAX
Applications Internet E-Mail Address
If you have access to the Internet, you can send applications questions by e-mail to:
[e-mail]
This method also enables you to attach a file, such as a portion of V+program code, to
your message.
Training Information
For information regarding Adept Training Courses in the USA, please call [phone].
Within Europe
For European customers outside of France, Adept Technology maintains a Customer Ser-
vice Center in Dortmund, Germany. The phone numbers are:
(49) 231/75 89 40 from within Europe (Monday to Friday, 8:00 a.m. to 5:00 p.m., CET)
(49) 231/75 89 450 FAX
France
For customers in France, Adept Technology maintains a CustomerService Center in Paris,
France. The phone numbers are:
(33) 1 69 19 16 16 (Monday to Friday, 8:30 a.m. to 5:30 p.m., CET)
(33) 1 69 32 04 62 FAX
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Chapter 1 - General Information
8 Adept 550 Table-Top Robot User’s Guide, Rev A
Outside Continental United States or Europe
For service calls, application questions, and training information, call the Adept customer
service center in San Jose, California USA:
[phone]
[phone] FAX (service requests)
[phone] FAX (application questions)
NOTE: When calling with a controller related question, please have the
serial number of the controller. If your system includes an Adept robot,
also have the serial number of the robot. The serial numbers can be
determined by using the ID command (see the V+Operating System User’s
Guide).
Adept Bulletin Board Service (BBS)
Adept maintains a bulletin board service for Adept customers. Adept posts application
hints and utilities to this bulletin board and users may post their own hints and applica-
tion notes. There is no charge for access to the bulletin board. The BBS number is (203)
264-5590. The first time you call you will be able to set up an account right from the BBS. If
you have any questions, call [phone] and ask about the BBS.
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Adept 550 Table-Top Robot User’s Guide, Rev A 9
Robot Overview 2
2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 Adept 550 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
General Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Joint Motions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Joint 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Joint 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Joint 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Joint 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Robot Working Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
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