adept technology AdeptViper s650 User manual

AdeptViper
s650/s850 Robot
User’s Guide

AdeptViper
s650/s850 Robot
User’s Guide
P/N: 05173-000, Rev A
August 2005
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AdeptViper s650s/850 Robot User’s Guide, Rev A 5
Table of Contents
1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
AdeptViper s650/s850 Robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Adept PA-4 CAT-3 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3 Manufacturer’s Declaration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1 Dangers, Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2 Precautions and Required Safeguards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Definition of a Manipulating Industrial Robot . . . . . . . . . . . . . . . . . . . . . . . 14
Safety Barriers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Impact and Trapping Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Hazards From Expelling a Part or Attached Tooling . . . . . . . . . . . . 15
Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3 Risk Assessment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Exposure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Severity of Injury . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Avoidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Control System Behavior Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.4 Intended Use of the Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.5 Robot Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Acceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Unacceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.6 Transport. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.7 Safety Requirements for Additional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.8 Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.9 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.10 Safety Equipment for Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.11 Protection Against Unauthorized Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.12 Safety Aspects While Performing Maintenance . . . . . . . . . . . . . . . . . . . . . . . 23
2.13 Risks That Cannot Be Avoided . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Table of Contents
6 AdeptViper s650s/850 Robot User’s Guide, Rev A
2.14 Risks Due to Incorrect Installation or Operation . . . . . . . . . . . . . . . . . . . . . . . . 23
2.15 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.1 Unpacking and Inspecting the Adept Equipment . . . . . . . . . . . . . . . . . . . . . . . 25
Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.2 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.3 Transporting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Precautions in Transporting Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Transport Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.4 Mounting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.5 Grounding the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.6 Description of Connectors on Robot Interface Panel . . . . . . . . . . . . . . . . . . . . 32
3.7 Air Lines and Signal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.8 Designing End-Effectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Mass of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Center of Gravity Position of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Moment of Inertia Around J4, J5 and J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.2 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.3 Installing the PA-4 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.4 Connecting 3-Phase AC Power to PA-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
PA-4 3-Phase Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Connecting the PA-4 3-Phase AC Power Cord to AC Supply . . . . . . . . . . 43
Typical 3-Phase AC Power Installation Diagrams. . . . . . . . . . . . . . . . . . . . . . 44
4.5 Connecting 1-Phase AC Power to PA-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
PA-4 1-Phase AC Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Connecting the PA-4 1-Phase AC Power Cord to AC Supply . . . . . . . . . . . 45
Typical Single Phase, 220 VAC Power Installation Diagrams . . . . . . . . . . . . 47
5System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.1 System Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.2 Learning to Program the Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.3 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.4 Installing Axis Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.5 Caution Label on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Table of Contents
AdeptViper s650s/850 Robot User’s Guide, Rev A 7
5.6 Status Panel Codes on sDAI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.1 Installing and Using Brake Release Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.2 Replacing Encoder Backup Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
6.3 Installing User-Supplied Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
7.1 Robot Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
7.2 Robot Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
7.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Table of Contents
8 AdeptViper s650s/850 Robot User’s Guide, Rev A

AdeptViper s650/s850 Robot User’s Guide, Rev A 9
Introduction 1
1.1 Product Description
AdeptViper s650/s850 Robots
The AdeptViper s650 and AdeptViper s850 are high-performance, six-axis robots designed
specifically for assembly applications. The speed and precision of the AdeptViper robots
also make them ideal for material handling, packaging, machine tending, and many other
operations requiring fast and precise automation.
NOTE: The descriptions and instructions in this manual apply to both the
AdeptViper s650 and the AdeptViper s850, except for instances where
there is a difference, as in dimension and work envelope drawings. In
those cases the information is presented for both robots.
Figure 1-1. Robot Axis Identification
3rd-axis motor cover (rear side)
2nd-axis motor cover (rear side)
Second arm cover
(+)
(+)
(+)
(-)
(-)
(-)
(+) (+)
(+)
(-)
(-)
(-)
6th axis (J6) 5th axis (J5)
3rd axis (J3)
2nd axis (J2)
1st axis (J1)
4th axis (J4)
Base
First arm
Second arm
4th-axis cove
r

Chapter 1 - Introduction
10 AdeptViper s650/s850 Robot User’s Guide, Rev A
Adept SmartController CX
The SmartController CX is the foundation of Adept’s family of high-performance
distributed motion and vision controllers. The SmartController CX is designed for use
with Adept Cobra s600 and s800 robots, Adept SmartModules, the AdeptViper robot, and
the Adept sMI6 Module for the SmartMotion product.
The SmartController CX supports an integrated vision option and a conveyor tracking
option. It offers scalability and support for IEEE 1394-based digital I/O and general
motion expansion modules. The IEEE 1394 interface is the backbone of Adept SmartServo,
Adept's distributed controls architecture supporting Adept products. The controller also
includes Fast Ethernet and DeviceNet.
Figure 1-2. Adept SmartController CX
Adept PA-4 CAT-3 Power Chassis
The PA-4 CAT-3 includes AC-DC power conversion electronics that supports a range of
Adept power amplifiers and robot control modules. In addition, the PA-4 CAT-3 includes
dual (redundant) high-power AC contactors that, in combination with the sDAI, meet the
Category-3 E-Stop requirements per EN-954. The PA-4 is configured with J Amplifier
modules to support the AdeptViper robot systems.
The J amplifiers in the AdeptViper robot system are controlled by the sDAI distributed
control module. The sDAI module resides in the PA-4 chassis and contains a RISC
microprocessor and interface circuitry that close the servo loops for high- performance
robot motion. The sDAI is connected to a host Adept SmartController via the SmartServo
interface (based on IEEE 1394).
R
ON
SmartServo IEEE-1394
1234
SF ES HD
SW1 1.1 1.2 2.1 2.2
OK
123
XDIO
LANHPE
OFF
XSYS
CAMERA
Eth 10/100
XUSR
Device Net
XFP
RS-232/TERM
RS-232-1
XMCP
BELT ENCODER
SmartController CX
-+ -+
RS-422/485
XDC1 XDC2
24V 5A
*S/N 3562-XXXXX*
RS-232-2

Installation Overview
AdeptViper s650/s850 Robot User’s Guide, Rev A 11
1.2 Installation Overview
The system installation process is summarized in the following table. Refer also to the
system cable diagram in Figure 4-1 on page 39.
1.3 Manufacturer’s Declaration
The Manufacturer’s Declaration of Incorporation and Conformity for AdeptViper robot
systems can be found on the Adept Website, in the Download Center of the Support
section.
http://www.adept.com/support/downloads_disclaimer.asp
In the Download Types search box, select Regulatory Certificates to find the document,
which you can then download.
Table 1-1. Installation Overview
Task to be Performed Reference Location
1. Mount the robot on a flat, secure mounting surface. See Section 3.4 on page 30.
2. Install the SmartController, Front Panel, and
AdeptWindows software. See Section 4.2 on page 40.
3. Install the PA-4 power chassis. See Section 4.3 on page 40.
4. Install the Arm Power/Signal cable between the
PA-4 and the robot. See Section 4.3 on page 40.
5. Install the IEEE 1394 and XSYS cables between
the PA-4 and SmartController. See Section 4.3 on page 40.
6. Connect AC power to PA-4 power chassis. See Section 4.4 on page 42.
7. Start AdeptWindows, connect to the controller, and
turn on power to the system. See Section 5.1 on page 49.

Chapter 1 - Introduction
12 AdeptViper s650/s850 Robot User’s Guide, Rev A
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 Cobra
s600/s800 robot system. There are additional manuals that cover programming the
system, reconfiguring installed components, and adding other optional components; see
Table 1-2. These manuals are available on the Adept Document Library CD-ROM shipped
with each system.
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You
can access a local copy of the ADL from the Adept Software CD shipped with your
system, or from the separate ADL CD. Additionally, an Internet version of the ADL can be
accessed by going to the Adept Web site and selecting Document Library from the 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.
Table 1-2. Related Manuals
Manual Title Description
Adept SmartController
User’s Guide
Contains complete information on the installation and
operation of the Adept SmartController and the optional sDIO
product.
Adept PA-4 Power Chassis
User’s Guide
Contains complete information on the installation and
operation of the PA-4 Power Chassis.
AdeptWindows Installation
Guide
Describes installation of AdeptWindows software.
Instructions for Adept
Utility Programs
Describes the utility programs used for advanced system
configurations, system upgrades, file copying, and other
system configuration procedures.
V+ Operating System User’s
Guide
Describes the V+operating system, including disk file
operations, monitor commands, and monitor command
programs.
V+ Language User’s Guide Describes the V+language and programming of an Adept
control system.

AdeptViper s650/s850 Robot User’s Guide, Rev A 13
Safety 2
2.1 Dangers, Warnings, Cautions, and Notes
There are four levels of special alert notation used in this manual. In descending order of
importance, they are:
NOTE: This provides supplementary information, emphasizes a point or
procedure, or gives a tip for easier operation.
DANGER: This indicates an imminently hazardous
situation which, if not avoided, will result in death or
serious injury.
WARNING: This indicates a potentially hazardous
situation which, if not avoided, could result in serious
injury or major damage to the equipment.
CAUTION: This indicates a situation which, if not avoided,
could result in minor injury or damage to the equipment.

Chapter 2 - Safety
14 AdeptViper s650/s850 Robot User’s Guide, Rev A
2.2 Precautions and Required Safeguards
This manual must be read by all personnel who install, operate, or maintain Adept
systems, or who work within or near the workcell.
Definition of a Manipulating Industrial Robot
The definition of a manipulating robot according to (ISO 10218:1992(E)) is as follows:
“A manipulating robot is an automatically controlled, reprogrammable, multipurpose,
manipulative machine with several degrees of freedom, which may be either fixed in
place or mobile for use in industrial automation applications.”
Safety Barriers
Safety barriers must be provided that prevent personnel from entering the workcell
whenever power is applied to the equipment. Adept systems are computer-controlled and
may activate remote devices under program control at times or along paths not
anticipated by personnel. It is critical that safeguards be in place to prevent personnel
from entering the workcell whenever power to the equipment is present.
The robot system integrator (user or operator) must ensure that adequate safeguards,
safety barriers, light curtains, safety gates, safety floor mats, etc., are installed. The robot
workcell must comply with applicable local and national standards (see Section 2.7 on
page 21).
The height and the distance of the safety fence from the robot must ensure that personnel
cannot reach the danger zone of the robot.
The Adept control system has features that aid the user in constructing system safeguards,
including customer emergency stop circuitry and digital input and output lines. The
emergency power-off circuitry is capable of switching external power systems and can be
interfaced to the appropriate user-supplied safeguards. See the Adept SmartController
User’s Guide for additional information.
Impact and Trapping Points
Adept robots are capable of moving at high speeds. If a person is struck by a robot
(impacted) or trapped (pinched) serious injury could occur. Robot configuration, joint
speed, joint orientation, and attached payload all contribute to the total amount of energy
available to cause injury.
CAUTION: Adept Technology strictly prohibits
installation, commissioning, or operation of an Adept
robot without adequate safeguards. These must be
compliant with applicable local and national standards.
Installations in EU and EEA countries must comply with
EN 775/ISO 10218, especially sections 5,6; EN 292-2; and
EN 60204-1, especially section 13.

Precautions and Required Safeguards
AdeptViper s650/s850 Robot User’s Guide, Rev A 15
Hazards From Expelling a Part or Attached Tooling
The maximum joint tip speeds that can be achieved by the robot are listed in Tabl e 9- 1 on
page 83. Any tooling, fixtures, end-effectors, etc., mounted to the user flange, or one of the
other axes of the robot must be attached by sufficient means to resist being expelled from
the robot. Additionally, any payload must be held by the end-effector in a manner that
prevents the payload from being expelled accidentally.
The safety fence or barrier constructed around the robot must be designed to withstand
the impact of any item expelled accidentally from the robot. Projectile energy can be
calculated using the formula E = mv2.
NOTE: In the Projectile energy formula above:
•E = Energy
•M = Mass
•V = Velocity
Additional Safety Information
The standards and regulations listed in this handbook contain additional guidelines for
robot system installation, safeguarding, maintenance, testing, start-up, and operator
training. Table 2-1 on page 16 lists some sources for the various standards.
1
2
---

Chapter 2 - Safety
16 AdeptViper s650/s850 Robot User’s Guide, Rev A
Table 2-1. Sources for International Standards and Directives
SEMI International Standards
3081 Zanker Road
San Jose, CA 95134
USA
Phone: [phone]
Fax: [phone]
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a.118/200
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]
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Document Center, Inc.
1504 Industrial Way, Unit 9
Belmont, CA 94002
USA
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Fax [phone]
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DIN, Deutsches Institut für Normung e.V.
German Institute for Standardization
Burggrafenstrasse 6
10787 Berlin
Germany
Phone.: [phone]
Fax: [phone]
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http://www2.beuth.de/ (publishing)
Global Engineering Documents
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IEC, International Electrotechnical Commission
Rue de Varembe 3
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Switzerland
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Robotic Industries Association (RIA)
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Phone [phone]
Fax [phone]
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Risk Assessment
AdeptViper s650/s850 Robot User’s Guide, Rev A 17
2.3 Risk Assessment
Without special safeguards in its control system, the AdeptViper robot could inflict
serious injury on an operator working within its work envelope. Safety standards in
several countries require appropriate safety equipment to be installed as part of the
system. Table 2-2 lists some of the safety standards that affect industrial robots. It is not a
complete list. Safeguards must comply with all applicable local and national standards for
the location where the robot is installed.
Adept has performed a Risk Assessment for this product, based on the intended
applications of the robot. The conclusions are summarized below.
Exposure
When arm power is on, all personnel must be kept out of the robot work envelope by
interlocked perimeter barriers. The only permitted exception is for teaching the robot in
Manual Mode by a skilled programmer (see “Qualification of Personnel” on page 22),
who must wear safety equipment (see “Safety Equipment for Operators” on page 22)
and carry the pendant (T1 or MCP). Therefore, exposure of personnel to hazards related to
the robot is limited (seldom and/or short exposure time).
Severity of Injury
Provided that skilled personnel who enter the robot work envelope are wearing protective
headgear, eyeglasses, and safety shoes, it is likely that any injuries caused by the robot
would be slight (normally reversible).
Table 2-2. Partial List of Robot and Machinery Safety Standards
International USA Canada Europe Title of Standard
ISO 10218 EN 775 Manipulating Industrial Robots -
Safety
ANSI/RIA
R15.06
CAN/CSA-
Z434-94
Industrial Robots and Robot
Systems - Safety Requirements
EN 292-2 Safety of Machinery - Basic
Concepts, General Principles for
Design
EN 954-1 Safety Related Parts of Control
Systems - General Principles for
Design
EN 1050 Safety of Machinery - Risk
Assessment

Chapter 2 - Safety
18 AdeptViper s650/s850 Robot User’s Guide, Rev A
Avoidance
Due to its light payload capacity, it is likely that such personnel could avoid being hit by
the robot even in a high-acceleration, runaway, failure condition. However, the
programmer must always carry the pendant when inside the work envelope, as the
pendant provides both E-Stop and Enabling switch functions.
For normal operation (AUTO mode), user-supplied interlocked guarding must be installed
to prevent any person entering the workcell while Arm Power is on.
The Risk Assessment for teaching this product depends on the application. In many
applications, the programmer will need to enter the robot workcell while Arm Power is
enabled to teach the robot. Other applications can be designed so that the programmer
does not have to enter the work envelope while Arm Power is on. Examples of alternative
methods of programming include:
1. Programming from outside the safety barrier.
2. Programming with Arm Power off.
3. Copying program from another (master) robot.
4. Off-line or CAD programming.
Control System Behavior Category
The following paragraphs relate to the requirements of European (EU/EEA) directives for
Machinery, Electric Safety, and Electromagnetic Compatibility (EMC).
In situations with low exposure consideration factors, European Standard EN 1050
specifies use of a Category 1 Control System per EN 954. EN 954 defines a Category 1
Control System as one that employs Category B components designed to withstand
environmental influences, such as voltage, current, temperature, EMI, and well-tried
safety principles. The standard control system described in this handbook employs
hardware components in its safety system that meet or exceed the requirements of the EU
Machinery Directive and Low Voltage Directive.
The standard control system is fully hardened to all EMI influences per the EU EMC
Directive and meets all functional requirements of ISO 10218 (EN 775) Manipulating Robots
Safety. In addition, a software-based reduced speed mode has been incorporated to limit
speed and impact forces on the Operator and production tooling when the robot is
operated in Manual Mode.
DANGER: The Adept-supplied system components
provide a Category 1 control system as defined by EN 954.
The robot system must be installed with user-supplied
interlock barriers. The interlocked barrier should interrupt
the DC and AC supplies to the control system in the event
of personnel attempting to enter the workcell when Arm
Power is enabled, except for teaching in Manual Mode.
Failure to install suitable guarding could result in injury or
death.

Intended Use of the Robots
AdeptViper s650/s850 Robot User’s Guide, Rev A 19
The standard control system meets or exceeds the requirements imposed by the EN 954
specified Category 1 level of safety.
2.4 Intended Use of the Robots
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 (see Section 2.7 on page 21).
The AdeptViper robots are intended for use in parts assembly and material handling for
payloads less than 5 kg. See Chapter 5 for complete information tooling and payloads.
The Adept controller is a component subassembly of a complete industrial automation
system. The controller subassembly must be installed inside a suitable enclosure. The
controller subassembly must not come into contact with liquids. Additionally, the robot
must not come into contact with liquids.
The Adept equipment is not intended for use in any of the following situations:
• In hazardous (explosive) atmospheres
• In mobile, portable, marine, or aircraft systems
• In life-support systems
• In residential installations
• In situations where the Adept equipment will be subject to extremes of heat or
humidity.
Non-intended use of an AdeptViper robot can:
• Cause injury to personnel
• Damage the robot or other equipment
• Reduce system reliability and performance
CAUTION: For safety reasons, it is prohibited to make
certain modifications to Adept robots (see Section 2.5).
CAUTION: The instructions for operation, installation, and
maintenance given in this manual must be strictly
observed.

Chapter 2 - Safety
20 AdeptViper s650/s850 Robot User’s Guide, Rev A
All persons that install, commission, operate, or maintain the robot must:
• Have the necessary qualifications
• Read and follow the instructions in this Instruction Handbook exactly
If there is any doubt concerning the application, ask Adept to determine if it is an
intended use or not.
2.5 Robot Modifications
It is sometimes necessary to modify the robot in order to successfully integrate it into a
workcell. Unfortunately, many seemingly simple modifications can either cause a robot
failure or reduce the robot’s performance, reliability, or lifetime. The following
information is provided as a guideline to modifications.
Acceptable Modifications
In general, the following robot modifications do not cause problems, but may affect robot
performance:
• Attaching tooling, utility boxes, solenoid packs, vacuum pumps, cameras, lighting,
etc., to the robot tool mount flange.
• 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.
Unacceptable Modifications
The modifications listed below may damage the robot, reduce system safety and
reliability, or shorten the life of the robot. The warranty of the entire robot or certain parts
may be voided.
• Modifying any of the robot harnesses or robot-to-controller cables.
• Modifying any robot access covers or drive system components.
• Modifying, including drilling or cutting, any robot surface.
• Modifying any robot electrical component or printed-circuit board.
• Routing additional hoses, air lines, or wires through the inside of the robot.
• Modifications that compromise EMC performance, including shielding.
CAUTION: Making any of the modifications outlined
below voids the warranty of any components that Adept
determines were damaged due to the modification. You
must contact Adept Customer Service if you are
considering any of the following modifications: