adept technology Quattro s650H User manual

Adept Quattro
User’s Guide
covers the Adept Quattro s650H, s650HS,
s800H, and s800HS Robots

Adept Quattro
User’s Guide
covers the Adept Quattro s650H, s650HS,
s800H, and s800HS Robots
P/N: 09955-000, Rev E
March, 2013
5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone [phone] • Fax [phone]
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone [phone] • Fax [phone]
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone [phone] • Fax [phone]

Copyright Notice
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. The documentation is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation.
Critical evaluation of the documentation by the user is welcomed. Your comments assist us in
preparation of future documentation. Please submit your comments to: [e-mail].
Copyright 2010-2013 by Adept Technology, Inc. All rights reserved.
Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,
Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks
of Adept Technology, Inc.
Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.
Adept ACE, Adept Quattro s650H, Adept Quattro s650HS, Adept Quattro s800H, Adept Quattro s800HS,
Adept SmartController CX, Adept SmartController EX, Adept T2, Adept T20, AIB, eAIB, eV+, and V+ are
trademarks of Adept Technology, Inc.
Any trademarks from other companies used in this publication
are the property of those respective companies.
Created in the United States of America

Adept Quattro User's Guide, Rev E
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Table of Contents
Chapter 1: Introduction 11
1.1 Adept Quattro™ Robots, Product Description 11
Major Differences between Quattro H and HS Robots 11
Adept AIB™ 14
Quattro Robot Base 14
Inner Arms 15
Ball Joints, Outer Arms 16
Platforms 17
Adept SmartController™ 20
1.2 Warnings, Cautions, and Notes in Manual 21
1.3 Safety Precautions 22
1.4 What to Do in an Emergency 22
1.5 Additional Safety Information 22
Manufacturer’s Declaration of Conformity (MDOC) 23
Adept Robot Safety Guide 23
1.6 Intended Use of the Robots 23
1.7 Installation Overview 23
1.8 Manufacturer’s Declaration 25
1.9 How Can I Get Help? 25
Related Manuals 25
Adept Document Library 26
Chapter 2: Robot Installation - H 27
2.1 Transport and Storage 27
2.2 Unpacking and Inspecting the Adept Equipment 27
Before Unpacking 27
Upon Unpacking 27
Unpacking 27
2.3 Repacking for Relocation 29
2.4 Environmental and Facility Requirements 29
2.5 Mounting Frame 29
Frame Orientation 31
Frame Construction 31
Robot-to-Frame Considerations 31
Mounting 31
Gussets 32

2.6 Mounting the Robot Base 32
Robot Orientation 32
Mounting Surfaces 32
Mounting Options 33
Mounting Procedure from Above the Frame 33
Mounting Procedure from Below the Frame 34
Install Mounting Hardware 35
2.7 Attaching the Outer Arms and Platform 37
Clocking the Platform to the Base 37
Attaching the Outer Arms 39
Chapter 3: Robot Installation - HS 43
3.1 Transport and Storage 43
3.2 Unpacking and Inspecting the Adept Equipment 43
Before Unpacking 43
Upon Unpacking 43
Unpacking 43
3.3 Repacking for Relocation 45
3.4 Environmental and Facility Requirements 46
3.5 Mounting Frame 46
Frame Mounting Tabs 46
Overview 47
Robot-to-Frame Considerations 47
Mounting 47
Gussets 48
3.6 Cable Inlet Box 48
Assembling Cable Inlet Box 48
Connecting the Cables 52
Installing the Cable Inlet Box 53
3.7 Mounting the Robot Base 54
Robot Orientation 55
Mounting Surfaces 55
Mounting Options 55
Mounting Procedure from Above the Frame 56
Mounting Procedure from Below the Frame 57
Install Mounting Hardware 58
3.8 Attaching the Outer Arms and Platform 59
Clocking the Platform to the Base 59
Attaching the Outer Arms 60
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3.9 Attaching the Cable Tray 63
Chapter 4: System Installation 69
4.1 System Cable Diagram 69
4.2 Cable Parts List 70
4.3 Installing the SmartController Motion Controller 70
4.4 Connecting User-Supplied PC to Robot 70
PC Requirements 71
4.5 Installing Adept ACE Software 71
4.6 Description of Connectors on Robot Interface Panel 72
4.7 Cable Connections from Robot to SmartController 72
4.8 Connecting 24 VDC Power to Robot 73
Specifications for 24 VDC Robot and Controller Power 73
Details for 24 VDC Mating Connector 74
Procedure for Creating 24 VDC Cable 74
Installing 24 VDC Robot Cable 75
4.9 Connecting 200-240 VAC Power to Robot 76
Specifications for AC Power 77
Details for AC Mating Connector 78
Procedure for Creating 200-240 VAC Cable 79
Installing AC Power Cable to Robot 80
4.10 Grounding the Adept Quattro Robot System 80
Adept Quattro Robot Base 80
Quattro HS Robot Base 80
Robot-Mounted Equipment 80
4.11 Installing User-Supplied Safety Equipment 81
Chapter 5: System Operation 83
5.1 Robot Status Display Panel 83
5.2 Status Panel Fault Codes 84
5.3 Using the Brake-Release Button 84
Brakes 84
Brake-Release Button 85
5.4 Front Panel 85
5.5 Connecting Digital I/O to the System 86
5.6 Using Digital I/O on Robot XIO Connector 87
Optional I/O Products 89
XIO Input Signals 89
XIO Output Signals 90
XIO Breakout Cable 92
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5.7 Starting the System for the First Time 94
Verifying Installation 94
Turning on Power and Starting Adept ACE 95
Enabling High Power 95
Verifying E-Stop Functions 96
Verify Robot Motions 96
5.8 Quattro Motions 96
Straight-line Motion 96
Containment Obstacles 97
Tool Flange Rotation Extremes 97
5.9 Learning to Program the Adept Quattro Robot 101
Chapter 6: Optional Equipment Installation 103
6.1 End-Effectors 103
Attaching 103
Aligning 103
Grounding 103
Accessing Vacuum 103
6.2 Routing End-effector Lines 103
6.3 Ball Stud Locks 105
Installing a Ball Stud Lock 106
Removing a Ball Stud Lock 107
Chapter 7: Technical Specifications 109
7.1 Dimension Drawings 109
7.2 Adept Quattro Internal Connections 117
7.3 XSLV Connector 117
7.4 Robot Specifications 118
7.5 Payload Specifications 119
Torque and Rotation Limits 119
Payload Mass vs. Acceleration 120
Payload Inertia vs. Acceleration 121
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7.6 Robot Mounting Frame, Quattro s650H Robot 122
Chapter 8: Maintenance - H 127
8.1 Periodic Maintenance Schedule 127
8.2 Checking Safety Systems 130
8.3 Checking Robot Mounting Bolts 130
8.4 Checking Robot Gear Drives 130
8.5 Checking Fan Operation 131
8.6 Replacing the AIB Chassis 131
Removing the AIB Chassis 131
Installing a New AIB Chassis 134
8.7 Replacing the Encoder Battery Pack 135
Battery Replacement Interval 135
Battery Replacement Procedure 135
8.8 Replacing a Platform 138
Replacement 138
Configuration 138
8.9 Replacing a Ball Joint Insert 139
8.10 Replacing Outer Arm Spring Assemblies 139
Removing Outer Arm Spring Assemblies 139
Installing Outer Arm Spring Assemblies 141
Chapter 9: Maintenance - HS 143
9.1 Cleaning 143
Water Shedding 143
Wash-Down 143
Chemical Compatibility 144
9.2 Periodic Maintenance 144
9.3 Checking Safety Systems 148
9.4 Checking Robot Mounting Bolts 148
9.5 Checking Robot Gear Drives 148
9.6 Checking Fan Operation 149
9.7 Removing and Installing the Cable Inlet Box 150
Removing the Cable Inlet Box 150
Installing the Cable Inlet Box 151
9.8 Replacing the AIB Chassis 151
Removing the AIB Chassis 152
Installing a New AIBChassis 154
9.9 Replacing the Encoder Battery Pack 155
Battery Replacement Interval 155
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Battery Replacement Procedure 155
9.10 Replacing a Platform 158
Replacement 158
Configuration 159
9.11 Replacing a Ball Joint Insert 159
9.12 Replacing Outer Arm Spring Assemblies 160
Removing Outer Arm Spring Assemblies 160
Installing Outer Arm Spring Assemblies 162
Chapter 10: Robot Cleaning/ Environmental Concerns- H 165
10.1 Ambient Environment 165
Humidity 165
Temperature 166
10.2 Cleaning 166
Caustic Compatibility 166
Water Shedding 166
Wipe-Down 166
10.3 Cleanroom Classification 166
10.4 Design Factors 166
Robot Base and Components 167
Inner Arms 167
Ball Joints 167
Outer Arms 167
Springs 167
Platforms 168
10.5 Installing Cable Seal Kit 168
Overview 168
Installation Procedure 169
Chapter 11: Environmental Concerns - HS 175
11.1 Ambient Environment 175
Humidity 175
Temperature 176
11.2 Cleanroom Classification 176
11.3 Design Factors 176
Robot Base and Components 176
Inner Arms 176
Ball Joints 176
Outer Arms 177
Spring Assemblies 177
Platforms 177
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Adept Quattro User's Guide, Rev E
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Chapter 1: Introduction
1.1 Adept Quattro™ Robots, Product Description
The Adept Quattro robot is a four-axis parallel robot. The four identical axis motors control
movement of the robot tool in X, Y, and Z directions, as well as Theta rotation.
The Adept Quattro robot requires an Adept SmartController™ motion controller for operation.
The robot is user-programmed and controlled using the SmartController motion controller. The
robot servo code runs on an Adept SmartServo distributed-motion control platform embedded
in the robot base as part of the power amplifiers.
There are two sizes of Adept Quattro robots, each available with anodized and electroless
nickel (EN) aluminum platforms and outer arm spoons:
lAdept Quattro s650H (Standard) and Adept Quattro s650HS (EN)
and
lAdept Quattro s800H (Standard) and Adept Quattro s800HS (EN)
The Adept Quattro s650H and s650HS arealso available with stainless steel (SS)
platforms and outer arm spoons. The inner arm ends, AIB, and cable box are
electroless nickel.
The electroless nickel and stainless steel versions of the Quattro s650HS robot are USDA
Accepted.
In most aspects, the robots are similar enough that they will be covered together. In areas
where there are significant differences, the Quattro H and Quattro HS robots will be presented
in two chapters, using titles such as Robot Installation - H for the s650H and s800H robots,
and Robot Installation—HS for the s650HS and s800HS robots.
Major Differences between Quattro H and HS Robots
Note that any of the available aluminum platforms can be used on the Quattro s650H and
s800H robots.
The Quattro s650HS and s800HS have electroless nickel plating on all aluminum parts. The
s650HS is also available with stainless steel in place of aluminum for platforms and outer arm
ends.
Table 1-1. Quattro H/HS Differences
Standard (s650H/s800H) HS (s650HS/s800HS)
USDA Accepted
(Meat and Poultry)
No s650HS - Yes/s800HS - No
IP- rating IP-65, Option IP-66, Standard
P30 Platform, no
rotation
Hard-anodized, EN, or SS Electroless Nickel (EN) or Stainless Steel
(SS on s650HS only)

Chapter 1: Introduction
Standard (s650H/s800H) HS (s650HS/s800HS)
P31 Platform, 46.25° Hard-anodized, EN, or SS EN or SS (SS on s650HS only)
P32 Platform, 92.5° Hard-anodized, EN, or SS EN or SS (SS on s650HS only)
P34 Platform, 185° Hard-anodized, EN, or SS EN or SS (SS on s650HS only)
Inner Arm Hubs and
Ends
Hard-Anodized Electroless Nickel
Outer Arm Spoons Hard-Anodized EN or SS (SS on s650HS only)
Base Mounting Pad
Holes
M16-2.0, through-hole M16-2.0, blind, 40 mm bolt
Base Coating material White polyurethane
powder
White ETFE (Teflon), USDA approved
Adept AIB Black Anodized, Single-
bolt installation
EN, 6-bolt installation
Cable Inlet box Hard-Anodized, Option EN, Standard
Cable tray Not required Required (for USDA)
Status Display Half-height Full-height, to shield labels
Protective Earth
Ground
On base-mounting pad In cable inlet box
Motor covers White with blue Adept
label
Solid white, no label
Exposed bolts/screws
all gasketed
No Yes
Similarities Between the Quattro Robots
lAll models use the same motors
lAll models share the same base casting, although the H and HS have some machining
and coating differences.
lThe mounting hole pattern for the bases is the same.
lAll share the same inner arm design. Platform coatings/materials differ for HS robots,
but dimensions do not.
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Chapter 1: Introduction
Figure 1-1. Adept Quattro Robots (s650 shown)
Note the difference between the Status Display Panels, as shown in these two photos.
Outer
Arms
Platform
(P31 shown)
Cable Inlet Box
Inner
Arms
Motor
Cover
AIB
Mounting
Pads
Base
Ball Joints
and Spring
Assemblies
Status Display
Panel
Figure 1-2. Major Robot Components, Isometric View (s650HS shown)
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Chapter 1: Introduction
Adept AIB™
The power amplifiers for the Adept Quattro robot are embedded in the base of the robot. This
amplifier section is known as the Amplifiers in Base (AIB)distributed motion control platform,
and provides closed-loop servo control of the robot amplifiers, as well as robot I/O.
The Adept AIB features:
lOn-board digital I/O: 12 inputs, 8 outputs
lLow EMI for use with noise-sensitive equipment
lNo external fan for quiet operation
l8 kHz servo rate to deliver low positional errors and superior path following
lSine-wave commutation to lower cogging torque and improve path following
lDigital feed-forward design to maximize efficiency, torque, and velocity
lTemperature sensors on all amplifiers and motors for maximum reliability and easy
troubleshooting
NOTE:The H and HSamplifiers and their cable inlet boxes are not
interchangeable.
Quattro Robot Base
The Adept Quattro robot base is an aluminum casting that houses the four drive motors, and
supports the power amplifiers. It provides four mounting pads for attaching the base to a rigid
support frame. The Status Display Panel is mounted on the side of the robot base.
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Chapter 1: Introduction
Figure 1-3. Adept AIBs (Quattro H AIB on left)
Inner Arms
The four robot motors attach directly to the inner arms through a high-performance gear
reducer. Other than optional, user-supplied hardware mounted on the platform, these are the
only drive motors in the Quattro robot. The following figures show the precision carbon fiber
assembly of the inner arms on a Quattro H robot and Quattro HS robot. The ends of the inner
arms on the Quattro HS robots are plated with electroless nickel, rather than hard-anodized.
The RIA-compliant hard stops limit the inner arm motion to -52° and +124°.
Figure 1-4. Quattro H Robot Inner Arm, Status Panel
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Chapter 1: Introduction
Figure 1-5. Quattro HS Robot Inner Arm, Status Panel
Ball Joints, Outer Arms
The inner arm motion is transmitted to the platform through the outer arms, which are
connected between the inner arms and platform with precision ball joints. The outer arms are
carbon fiber epoxied assemblies with identical ball joint sockets at each end. A bearing insert
in each socket accepts the ball joint studs on the inner arms and platform, and allows for
approximately ± 60° of relative motion. No ball joint lubrication is required.
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Chapter 1: Introduction
Figure 1-6. Quattro Ball Joint Assembly, Quattro HS Robot shown
Each pair of outer arms is held together with spring assemblies that pre-tension the ball joints.
The outer arms can be installed and removed without tools.
Platforms
The platform converts the motion of the four Quattro motors into Cartesian motion and, for all
but the fixed platform, Theta rotation of the robot tool.
The Adept Quattro robot currently supports four models of platforms, depending on the
amount of Theta rotation and inertia needed.
NOTE:The four models of platforms require different robot parameters.
The suffix on the part numbers that follow indicates the finish or material of the platform.
Refer to Materials and Finishes on page 19.
P31 Platform (P/N 09503-xxx)
The P31 platform has a rotation range of ±46.25°. The tool flange is machined into one of the
pivot links. It does not rotate in relation to the pivot link, so there are no gears or belts
involved. See Figure 1-7.
P30 Platform (P/N 09730-xxx)
The P30 platform is a fixed platform that provides no Theta rotation. The tool flange is
machined into the one-piece platform. See Figure 1-8.
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Chapter 1: Introduction
P32 Platform (P/N 09732-xxx)
The P32 platform has a rotation range of ±92.5°. The tool flange is mounted on one of the pivot
links. See Figure 1-9.
P34 Platform (P/N 09734-xxx)
The P34 platform has a rotation range of ±185°. The tool flange is mounted on one of the pivot
links. See Figure 1-9.
Figure 1-7. P31 Platform, Hard-Anodized Version
NOTE:Adept logo, joint numbers, and axes will not be etched on the electroless
nickel platforms.
Figure 1-8. P30 Platform, Electroless Nickel and Stainless Steel Versions
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Chapter 1: Introduction
Model Number
& Two Dots
Figure 1-9. P32, P34 Platforms, Hard-Anodized Version
NOTE:The only visible difference between the P32 and P34 platforms is the model
number, and the two or four dots immediately below that number. Two dots
designate a P32 platform.
Materials and Finishes
Platforms are available in:
lAluminum with hard-anodized finish
lAluminum with electroless nickel finish
lStainless steel
The following table shows which materials and finishes are compatible with which robots:
s650H s650HS s800H Part Number
Hard
Anodized
Yes No Yes XXXXX-000
Electroless
Nickel
Yes Yes Yes XXXXX-100
Stainless
Steel
Yes Yes No XXXXX-200
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Chapter 1: Introduction
Platform Clocking
Rotational platforms are constructed such that the clocking, or rotational alignment, of the
platform relative to the robot base is critical. This is detailed in Clocking the Platform to the
Base on page 37.
Platform Shipping
lThe platform and outer arms are removed.
lThe platform is shipped pre-assembled as a unit.
You will need to connect the outer arms between the inner arms and the platform to
reassemble the robot. The outer-arm assemblies are interchangeable.
Any end-effectors and their air lines and wiring are user-supplied.
Adept SmartController™
The SmartController motion controller is the foundation of Adept’s family of high-
performance, distributed motion controllers. The SmartController is designed for use with:
lAdept Quattro robots
lAdept Cobra™ s600/s800 robots
lAdept Viper™ robots
lAdept Python™ linear modules
lAdept MotionBlox-10™ servo-controller and amplifier
lAdept sMI6™ (SmartMotion) interface modules
The contoller supports a conveyor tracking option, as well as other options. There are two
models available: the SmartController CX, which uses the V+ operating system, and the
SmartController EX, which uses the eV+ operating system. Both models offer scalability and
support for IEEE 1394-based digital I/O and general motion expansion modules. The IEEE
1394 interface is the backbone of Adept SmartServo, Adept's distributed controls architecture
supporting Adept products. The SmartController also includes Fast Ethernet and DeviceNet.
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