Adept Viper Robot with eMB-60N User`s Guide

Transcription

Adept Viper 700 and
Adept Viper 900 Robots
with eMB-60N User's Guide
Adept Viper 700 and
Adept Viper 900 Robots
with eMB-60N User's Guide
14987-000 Rev. A
October, 2015
5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452
Revierstraße 5 44379 Dortmund Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598
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: [email protected].
Copyright  2015 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 Cobra, Adept SmartController CX, Adept SmartController EX, Adept
MotionBlox-10, Adept Python, Adept sMI6, Adept Viper 700, Adept Viper 900, Adept Viper
s650, Adept Viper s850, eMB-60N, eMB-60R, MB-60R, eV+, V+, MotionBlox-60N, and
MotionBlox-60R
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 Viper 700/900 Robots with eMB-60N User’s Guide, Rev 1
Page 4 of 116
Table of Contents
Chapter 1: Introduction
1.1 Product Description
Adept Viper 700/900 Robots
Intended Use of the Robots
Adept MotionBlox-60N
Adept SmartController EX
11
11
11
11
11
12
1.2 Dangers, Warnings, Cautions, and Notes
13
1.3 Safety Precautions
14
1.4 What to Do in an Emergency Situation
14
1.5 Additional Safety Information
14
Manufacturer’s Declaration of Compliance (MDOC)
Adept Robot Safety Guide
14
14
1.6 Installation Overview
15
1.7 Manufacturer’s Declaration
16
1.8 How Can I Get Help?
16
Related Manuals
Adept Document Library
16
17
Chapter 2: Robot Installation
2.1 Unpacking and Inspecting the Adept Equipment
Before Unpacking
Upon Unpacking
19
19
19
19
2.2 Repacking for Relocation
19
2.3 Environmental and Facility Requirements
19
Environment
Workcell Layout
19
20
2.4 Uncrating the Robot
21
2.5 Mounting the Robot
22
Transporting the Robot
Mounting Surface
Mounting Procedure
Grounding the Robot
22
22
23
24
2.6 Apply Axis Labels
24
2.7 Mounting the Front Panel
25
2.8 Designing End-Effectors
25
Mass of End-Effector
Page 5 of 116
25
Table of Contents
Center of Gravity Position of End-Effector
Moment of Inertia Around J4, J5, and J6
Chapter 3: MotionBlox-60N
25
26
31
3.1 Introduction
31
3.2 Connectors on Interface Panel
32
3.3 Digital I/O
33
3.4 Mounting the eMB-60N
36
Dimensions
Panel-Mounting
36
37
Chapter 4: System Installation
39
4.1 Connectors on the Robot Interface Panel
39
4.2 Robot Connections - Standard
40
Parts Table
Steps Table
41
42
4.3 Robot Connections with SmartController EX
Parts Table
Steps Table
SmartController EX
4.4 Robot Connections - with a PLC
Parts Table
Steps Table
43
44
45
46
47
48
49
4.5 Installing the Adept ACE Software
49
4.6 Connecting Cables from the eMB-60N to the Robot
50
Installing the Motor Power Cable
Installing the Robot Encoder Cable
Creating an I/O Harness
Installing the I/O Harness
Creating a CN10A Cable
4.7 Connecting 24 VDC Power to eMB-60N Servo Controller
Specifications for 24 VDC Power
Details for 24 VDC Mating Connector
Creating a 24 VDC Cable
Installing the 24 VDC Cable
4.8 Connecting 200-240 VAC Power to eMB-60N
50
50
51
52
53
53
53
54
54
55
57
Specifications for AC Power
Facility Overvoltage Protection
AC Power Diagrams
Details for AC Mating Connector
Procedure for Creating 200-240 VAC Cable
Installing AC Power Cable to eMB-60N
57
58
58
59
59
60
4.9 Grounding the Adept Robot System
60
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Table of Contents
Ground Point on Robot Base
Ground Point on eMB-60N
Robot-Mounted Equipment Grounding
4.10 Air Lines and Signal Wiring
Solenoids and Air Lines
User Electric Lines
60
61
62
62
62
65
4.11 External Mounting Locations on the Robot
66
4.12 User-Supplied Safety Equipment
67
XMCP Connector
XUSR Connector
Connecting User-Supplied Safety and Power-Control Equipment
Emergency Stop Circuits
Remote Pendant Usage
Chapter 5: PLC Configuration
67
67
67
71
73
75
5.1 Resources on the Adept Support Disk
75
5.2 PLC-Robot Connection
75
Setting the Robot IP Address
Setting the Robot IP Address on the PLC
Chapter 6: System Operation
6.1 eMB-60N Operation
Status LED
Status Panel
RELEASE Button
BRAKE Connector
6.2 Verifying Installation
Mechanical Checks
System Cable Checks
User-Supplied Safety Equipment Checks
75
77
79
79
79
80
80
81
81
81
82
82
6.3 System Start-up Procedure
82
Viper Robots not using a PLC
Viper Robots using a PLC
Running the Adept ACE Software
Verifying E-Stop Functions
Verify Robot Motions
83
83
84
85
85
6.4 Front Panel Controls and Indicators
86
6.5 Learning to Program the Robot
87
6.6 Viper Axes
87
6.7 Brake Release Box
88
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Table of Contents
Chapter 7: Maintenance
91
7.1 Field-replaceable Parts
91
7.2 Periodic Inspection Schedule
92
7.3 Checking Safety Systems
93
7.4 Checking Robot Mounting Bolts
93
7.5 Replacing Encoder Backup Batteries
93
Replacement Intervals
Replacement Procedure
7.6 Replacing the eMB-60N Amplifier
Remove the eMB-60N Amplifier
Installing a New eMB-60N Amplifier
7.7 Commissioning a System with an eMB-60N
Safety Commissioning Utilities
E-Stop Configuration Utility
E-Stop Verification Utility
Teach Restrict Configuration Utility
Teach Restrict Verification Utility
7.8 Changing the Lamp in the Front Panel High-Power Indicator
Chapter 8: Options
94
94
96
96
97
97
97
99
100
100
101
102
105
8.1 Brake-Release Box
105
8.2 Pin Calibration Kit
105
8.3 I/O Harness
105
8.4 Adept Intelligent Force Sensing System
105
8.5 Digital I/O
105
IO Blox Device
SmartController EX
sDIO Module
105
106
106
8.6 T20 Pendant
106
8.7 SmartVision MX Industrial PC (Vision Processor)
106
8.8 Power Cable Kits
107
8.9 Y Cable, for XSYS Connection to Dual Robots
107
8.10 Panel-Mount Kit
107
8.11 ISO Tool Flange
107
Chapter 9: Technical Specifications
109
9.1 Robot Dimensions
109
9.2 Tool Flange Dimensions
111
9.3 eMB-60N Mounting Bracket Dimensions
112
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Table of Contents
9.4 Specifications
Physical
Performance
Environment
112
112
113
113
Page 9 of 116
1.1 Product Description
Adept Viper 700/900 Robots
The Adept Viper 700 and 900 robots are high-performance, six-axis robots designed specifically for assembly applications. The speed and precision of the 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 Adept
Viper 700 and the Adept Viper 900 robots. Where there are differences, the information is presented separately. All of the robot motors are powered by an eMB-60N
servo-controller/amplifier.
Intended Use of the Robots
The Adept Viper robots are intended for use in parts assembly and material handling for payloads up to 7 kg. See Technical Specifications on page 109 for complete specifications on the
robot. Refer to the Adept Robot Safety Guide for details on the intended use of Adept robots.
Adept MotionBlox-60N
The Adept MotionBlox-60N™ (eMB-60N™) distributed servo controller contains the amplifiers
to power the high-power motors of the Adept Viper 700/900 robots.
The Adept eMB-60N features:
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Six AC servo motor amplifiers
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Emergency-stop circuitry
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High servo rate, to deliver low positional errors and superior path following
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Sine wave commutation, for low cogging torque and improved path following
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Digital feed-forward design, to maximizes efficiency, torque, and velocity
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Integral temperature sensors and status monitoring for maximum reliability
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Two-digit diagnostics display for easy troubleshooting
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Adept’s eV+ software runs on the eMB-60N servo controller.
This will support up to two conveyor belts, unless a PLC is being used. A PLC with
Adept’s ePLC Connect does not support conveyor belt tracking.
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For applications with a user-supplied PLC, communication is between the PLC and
Adept’s ePLC Connect software running on the eMB-60N controller.
Use of a PLC and a SmartController EX are not supported on the same system.
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®
RELEASE
eMB-60N
EXPIO
BRAKE
STATUS
ROBOT
ENCODER
XSYSTEM
ENET
ENET
Ø
AC
1
XIO
GND
XBELTIO
DC
IN
24V
Servo
200 240V
MOTOR
POWER
Figure 1-1. MotionBlox-60N (eMB-60N)
NOTE: The SmartController EX cannot be used with the Viper 700/900 robots if a
user-supplied PLC and Adept’s ePLC Connect software are being used.
The SmartController EX is designed for use with:
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Adept Cobra™ s-Series robots
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Adept Quattro™ robots
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Adept Viper™ robots
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Adept Python™ linear modules
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Adept MotionBlox-10™
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Adept sMI6™ (SmartMotion)
The SmartController EX adds support for four additional conveyor belts, as well as other
options. It uses the eV+ Operating System. 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
SmartController EX also includes Fast Ethernet and DeviceNet.
Page 12 of 116
Figure 1-2. Adept SmartController EX Motion Controller
1.2 Dangers, Warnings, Cautions, and Notes
There are five levels of special alert notation used in Adept manuals. In descending order of
importance, they are:
DANGER: This indicates an imminently hazardous electrical situation which, if not avoided, will result in death or serious injury.
DANGER: This indicates an imminently hazardous situation
which, if not avoided, will result in death or serious injury.
WARNING: This indicates a potentially hazardous electrical situation which, if not avoided, could result in injury or major damage to the equipment.
WARNING: This indicates a potentially hazardous situation
which, if not avoided, could result in injury or major damage to
the equipment.
CAUTION: This indicates a situation which, if not avoided,
could result in damage to the equipment.
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NOTE: Notes provide supplementary information, emphasize a point or procedure,
or give a tip for easier operation.
1.3 Safety Precautions
DANGER: An Adept Viper 700/900 robot can cause serious
injury or death, or damage to itself and other equipment, if the
following safety precautions are not observed:
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All personnel who install, operate, teach, program, or maintain the system must read
this guide, read the Adept Robot Safety Guide, and complete a training course for their
responsibilities in regard to the robot.
All personnel who design the robot system must read this guide, read the Adept Robot
Safety Guide, and must comply with all local and national safety regulations for the location in which the robot is installed.
The robot system must not be used for purposes other than described in Introduction on
page 11. Contact Adept if you are not sure of the suitability for your application.
The user is responsible for providing safety barriers around the robot to prevent anyone
from accidentally coming into contact with the robot when it is in motion.
Power to the robot and its amplifiers must be locked out and tagged out before any
maintenance is performed.
1.4 What to Do in an Emergency Situation
Press any E-Stop button (a red push-button on a yellow background/field) and then follow the
internal procedures of your company or organization for an emergency situation. If a fire
occurs, use CO to extinguish the fire.
2
1.5 Additional Safety Information
Adept provides other sources for more safety information:
Manufacturer’s Declaration of Compliance (MDOC)
This lists all standards with which each robot complies. Refer to the Manufacturer’s Declaration on page 16.
Adept Robot Safety Guide
The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also
gives resources for more information on relevant standards.
It ships with each robot manual, and is also available from the Adept Document Library. See
Adept Document Library on page 17.
Page 14 of 116
1.6 Installation Overview
The system installation process is summarized in the following table. Refer also to the system
cable diagrams in System Installation on page 39.
For multi-robot installations with an Adept SmartController EX, see the Adept DualRobot Configuration Procedure, which is available in the Adept Document Library.
Table 1-1. Installation Overview
Task to be Performed
Reference Location
Mount the robot on a flat, secure mounting surface.
Mounting the Robot on page 22.
Install the Front Panel.
Mounting the Front Panel on
page 25.
Install Adept ACE software.
Installing the Adept ACE Software on page 49.
Install the Motor Power cable between the
eMB-60N and the robot.
on page 50.
Install the Robot Encoder cable between eMB-60N and
the robot.
Installing the Robot Encoder
Cable on page 50.
Install the I/O Harness between the eMB-60N and the
robot. This may include creating this cable.
Creating an I/O Harness on page
51.
Create a 24 VDC cable and connect it between the
eMB-60N and the user-supplied 24 VDC power supply.
Creating a 24 VDC Cable on page
54.
SmartController
EX option only
Install the SmartController EX.
SmartController EX on page 46.
Install the IEEE 1394 and XSYS
cables between the eMB-60N and
SmartController EX.
Connecting Cables from the eMB60N to the SmartController EX
on page 46.
Create a 24 VDC cable and connect it Specifications for 24 VDC Power
between the SmartController EX
on page 53.
and the user-supplied 24 VDC power
supply.
Create a 200 - 240 VAC cable and connect it between
the eMB-60N and the facility AC power source.
Connecting 200-240 VAC Power
to eMB-60N on page 57.
Install user-supplied safety barriers in the workcell.
User-Supplied Safety Equipment
on page 67.
Learn about connecting digital I/O through the eMB60N.
Digital I/O on page 33.
Read Chapter 5 to learn about system start-up and
testing operation.
System Operation on page 79.
Page 15 of 116
1.7 Manufacturer’s Declaration
The Manufacturer’s Declaration of Incorporation and Conformity for Adept robot systems can
be found on the Adept website, in the Download Center of the Support section.
http://www.adept.com/support/downloads/file-search
NOTE: The Download Center requires that you be logged in for access. If you are
not logged in, you will be redirected to the Adept website Login page.
1. From the Download Types drop-down list, select Manufacturer Declarations.
2. From the Product drop-down list, select your Adept robot product category (such as
Adept Cobra Robots, Adept Viper robots, etc.).
3. Click Begin Search.
4. The list of available documents is shown in the Search Results area, which opens at the
bottom of the page. You may need to scroll down to see it.
5. Use the Description column to locate the document for your Adept robot, and then click
the corresponding Download ID number to access the Download Details page.
6. On the Download Details page, click Download to open or save the file.
1.8 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
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For Contact information:
http://www.adept.com/contact/americas
For Product Support information:
http://www.adept.com/support/service-and-support/main
For user discussions, support, and programming examples:
http://www.adept.com/forum/
Related Manuals
This manual covers the installation, operation, and maintenance of an Adept Viper 700/900
robot systems. There are additional manuals that cover programming the system, reconfiguring installed components, and adding other optional components. See the following table.
These manuals are available on the Adept Document Library, and the software CD-ROM
shipped with each system.
Page 16 of 116
Table 1-2. Related Manuals
Manual Title
Description
Adept Robot Safety
Guide
Contains general safety information for all Adept robots.
Adept ACE User’s Guide
Describes the installation and use of Adept ACE.
Adept SmartController
EX User’s Guide
Contains complete information on the installation and operation
of the Adept SmartController EX and the optional sDIO product.
Adept T20 Pendant
User's Guide
Describes the Adept T20™ pendant.
Adept IO Blox User’s
Guide
Describes the IO Blox product.
Adept ePLC Connect 3.0
Software User's Guide
Instructions for the use of the Adept PLC-to-robot interface software.
Adept Dual Robot
Configuration Procedure
Contains cable diagrams and configuration procedures for a
multi-robot system with an Adept SmartController.
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 disk shipped with your system. Additionally, an Internet version of the ADL can be accessed by going to the Adept Web site and
selecting Document Library from the Support tab. 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, use the menu links located
above the search field.
Page 17 of 116
2.1 Unpacking and Inspecting the Adept Equipment
Before Unpacking
Carefully inspect all shipping crates for evidence of damage during transit. If any damage is
apparent, request that the carrier’s agent be present at the time the container is unpacked.
Upon Unpacking
Before signing the carrier’s delivery sheet, please compare the actual items received (not just
the packing slip) with your equipment purchase order and verify that all items are present and
that the shipment is correct and free of visible damage.
If the items received do not match the packing slip, or are damaged, do not sign the receipt.
Contact Adept as soon as possible.
If the items received do not match your order, please contact Adept immediately.
Inspect each item for external damage as it is removed from its container. If any damage is
evident, contact Adept. See How Can I Get Help? on page 16.
Retain all containers and packaging materials. These items may be necessary to settle claims
or, at a later date, to relocate equipment.
2.2 Repacking for Relocation
If the robot or other equipment needs to be relocated, reverse the steps in the installation procedures that follow in this chapter. Reuse all original packing containers and materials and follow all safety notes used for installation. Improper packaging for shipment will void your
warranty. Specify this to the carrier if the robot is to be shipped.
CAUTION: Before transportation, set the robot in a transport position by manually moving the second, third, and fourth axes. See the
following figure.
2.3 Environmental and Facility Requirements
Environment
The Adept robot system installation must meet the operating environment requirements
shown in the following table.
Page 19 of 116
Table 2-1. Robot System Operating Environment Requirements
Item
Condition
Mounting surface
Flatness: within 0.2 mm (0.0079 in.)
Height: 0.2 ± 0.1 mm (0.0079 ± 0.0039 in.)
Installation type
Upright or overhead-mount
Ambient
temperature
0 to 40° C (32 to 104° F) up to 1000 m elevation
Humidity
20 - 85%, non-condensing
Vibration
4.9 m/s2 (0.5 G) or less
Safe Installation
Environment
The robot should not be installed in an environment where:
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There are flammable gases or liquids
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There are any acidic, alkaline, or other corrosive gases
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There is sulfuric or other types of cutting or grinding oil mist
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There are any large inverters, high output/high frequency transmitters, large contactors, welders, or other sources of electrical
noise
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There are any shavings from metal processing or other conductive
material that could reach the robot
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It may be directly exposed to water, oil, or cutting chips
Working space,
etc.
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Protective Earth
Ground
Sufficient service space must be available for inspection and disassembly.
Keep wiring space (270 mm or more) behind the robot, and fasten
the wiring to the mounting surface so that the weight of the cables
will not be directly applied to the connectors.
Grounding resistance: 100 millliOhms or less (Type D)
See Robot Installation on page 19.
Workcell Layout
The following figure shows a simple workcell layout with a user-supplied safety barrier and EStops provided by the Front Panel and optional T20 pendant.
Page 20 of 116
Adept 700
Viper Robot
Restricted Area
Inside Safety
Barrier
Safety Barrier
eMB-60N Amplifier
XUSR
User-Supplied
Components
STOP
T20 Pendant Optional
R
ROBOT
ENCODER
Front Panel
24 VDC
XSYSTEM
ENET
Optional
Programmable
Logic
Controller (PLC)
PC running
Adept ACE
Software
ENET
DC
Ø
AC
1
XIO
GND
200-240 VAC
XBELTIO
IN
24V
Servo
200 240V
MOTOR
POWER
Figure 2-1. Typical Workcell Layout, Viper 700 Shown
2.4 Uncrating the Robot
1. Remove the top shell of the shipping crate.
2. Remove the yellow shipping bracket from the robot and the shipping pallet.
A yellow bracket anchors the robot between the shipping pallet and the sixth axis. See
the following figure.
Page 21 of 116
Figure 2-2. Yellow Shipping Bracket - Screws to pallet on left, to Axis 6 on right
a. Remove two screws from the top of the yellow bracket.
These hold Joint 6 to the shipping bracket.
b. Remove four screws from the base of the yellow bracket.
These hold the bracket to the shipping pallet.
2.5 Mounting the Robot
Transporting the Robot
The robots weigh 38 and 39 kg (83.8 and 86 lb). Use a suitable lifting device for the robot
weight.
Mounting Surface
Adept Viper robots are designed to be mounted on a smooth, flat, level surface. The mounting
structure must be rigid enough to prevent vibration and flexing during robot operation. Excessive vibration or mounting flexure will degrade robot performance.
Adept recommends a 25 mm (1 in.) thick steel plate mounted to a rigid tube frame. If mounting on concrete, it should be at least 150 mm (6 in.) thick.
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The flatness of the mounting surface must be within 0.2 mm (0.0079 in.).
The deviation in height at the four mounting points must not exceed 0.2 mm ±0.1 mm
(0.0079 ± 0.0039 in.).
The following figure shows the mounting hole pattern for the Adept Viper 700/900 robots.
NOTE: Leave at least 270 mm of free space behind the robot base for access to
cabling.
Page 22 of 116
95.5 ± 0.1
160
190.5
160
189.5
95.5 ± 0.1
4x Ø11
198
Units are mm
Figure 2-3. Mounting Hole Pattern for Robot
Mounting Procedure
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Have at least two workers handle this job.
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Workers should wear helmets, safety shoes, and gloves during transport.
1. Drill four mounting holes (M10), at least 20 mm deep.
2. The robot can be lifted by a crane, with a nylon sling around the joint between the arm
and the body. It can also be lifted manually by two workers.
Do not hold either of the wrists or the forearm, or apply force to any of them.
See the following figure.
WARNING: Do not attempt to lift the robot from any points
other than the base, body, or arm. This could cause damage the
robot.
Page 23 of 116
Forearm
Wrist 1
Arm
Wrist 2
Body
Base
Figure 2-4. Robot Axes
3. Set the robot into place on the mounting surface.
4. Secure the robot to the mounting surface with four bolts and plain washers.
NOTE: Because the mounting surface is user-supplied, the mounting hardware is also user-supplied.
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Bolts: M10 (strength class: 12.9)
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Washers: Plain, min. 4.5 mm (0.18 in.) thick, HRC35 hardness
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Tightening torque: 67 N·m (50 ft-lbf)
Grounding the Robot
The robot base and eMB-60N need to be grounded. This is covered in Grounding the Adept
Robot System on page 60.
2.6 Apply Axis Labels
The robot comes with labels to help you identify which direction each axis will move, and
which is positive and negative. Refer to the following figure.
Page 24 of 116
6
4
5
3
2
1
2
3
4
5
6
1
Figure 2-5. Robot Axis Labels
2.7 Mounting the Front Panel
Install the Front Panel. The Front Panel must be outside of the work area, but near the work
area.
2.8 Designing End-Effectors
Design an end-effector such that it is in compliance with items described in this section.
Mass of End-Effector
Design the end-effector so that the total mass of the end-effector and the payload it is holding
will be lighter than the maximum payload capacity of the robot (7 kg). The total mass includes
wiring, tubing, etc.
Center of Gravity Position of End-Effector
Design an end-effector so that the center of gravity of the end-effector (including workpiece) is
within the range shown in the following figure.
Page 25 of 116
Distance from J6
Rotation Center (mm)
7 kg
6 kg
5 kg
200
150
100
50
50 100 150 200 250
Distance from Tool Flange (mm)
Figure 2-6. Allowable Range of Center of Gravity of End-effector
Moment of Inertia Around J4, J5, and J6
Design an end-effector so that its moments of inertia around J4, J5, and J6 (including the payload it is holding) do not exceed the maximum allowable moments of inertia of the robot.
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J4 and J5: 0.47 kgm2
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J6: 0.15 kgm2
When calculating the moment of inertia around J4, J5, and J6 of the end-effector, use the formulas given in the following graphics.
Page 26 of 116
Table 2-2. Moment of Inertia Formulas
Page 27 of 116
Figure 2-7. Moment of Inertia Calculation Examples
Page 28 of 116
Figure 2-8. Calculating the Moment of Inertia of Each Axis
Page 29 of 116
3.1 Introduction
The Adept MotionBlox-60N (eMB-60N) is a distributed servo controller and amplifier. It is
designed with a dedicated digital signal processor to communicate, coordinate, and execute
servo commands.
The eMB-60N consists of:
l
a distributed servo amplifier
l
a RISC processor for servo loop control
l
a node on the IEEE 1394 network
l
a power controller that uses single-phase AC power, 200-240 Volts
a status panel with 2-digit alpha-numeric display to indicate operating status and fault
codes
®
RELEASE
eMB-60N
EXPIO
BRAKE
STATUS
ROBOT
ENCODER
XSYSTEM
ENET
ENET
AC
1
XIO
GND
XBELTIO
DC
IN
24V
Ø
l
Servo
200 240V
MOTOR
POWER
Figure 3-1. Adept eMB-60N
Page 31 of 116
3.2 Connectors on Interface Panel
Figure 3-2. eMB-60N Interface Panel
Table 3-1. Connectors on the eMB-60N Interface Panel
24 VDC
For connecting user-supplied 24 VDC power. The mating connector is provided.
Ground Point
For connecting cable shield from user-supplied 24 VDC cable.
200/240
VAC
For connecting 200-240 VAC, single-phase, input power. The mating connector is provided.
SmartServo
For connecting the IEEE 1394 cable from an optional SmartController to a
SmartServo on the eMB-60N.
XIO
Connects to the CNR010 port on the robot interface panel, which connects to
the CN10A port on the wrist and to the solenoids.
XSYSTEM
Connects to the optional SmartController EX XSYS connector. This requires an
eAIB XSYS cable.
Connects to the XUSR, XFP, and XMCP cables. This requires an eAIB XSYSTEM
cable. This is used when a SmartController EX is not.
ENET
Reserved for future use.
XBELTIO
Reserved for future use.
Page 32 of 116
3.3 Digital I/O
You can connect digital I/O to the system in several different ways. See the following table and
figure.
Table 3-2. Digital I/O Connection Options
Product
I/O Capacity
Optional IO Blox Devices, con- 8 inputs, 8 outputs per device;
nect to EXPIO connector on
up to four IO Blox devices per
the eMB-60N
system
For more details
see Adept IO Blox User’s
Guide
Viper 700 and 900 robots with SmartController EX only:
XDIO Connector on
SmartController EX
12 inputs
8 outputs
see Adept SmartController
EX User’s Guide
Optional sDIO Module,
connects to controller
32 inputs, 32 outputs per module; up to four sDIO devices per
system
see Adept SmartController
EX User’s Guide
Page 33 of 116
IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112
eMB-60N Servo
Controller
®
RELEASE
Optional
IO Blox Device
eMB-60N
EXPIO
BRAKE
STATUS
Viper 700/900 Robots with SmartController
sDIO #1
ROBOT
ENCODER
IEEE-1394
1.1
1.2
R
*S/N 3563-XXXXX*
X1
X2
X3
X4
LINK
XDC1 XDC2
24V
-+
OK SF
0.5A
-+
SmartController EX
XSYSTEM
ENET
ENET
DC
Ø
AC
1
XIO
GND
XBELTIO
IN
24V
Servo
200 240V
MOTOR
POWER
XDIO Connector
Figure 3-3. Connecting Digital I/O to the System
Table 3-3. Digital I/O Signal Ranges
SmartController XDIO connector
sDIO Module 1
sDIO Module 2
Type
Signal Range
Inputs
1001 - 1012
Outputs
0001 - 0008
Inputs
1033 - 1064
Outputs
0033 - 0064
Inputs
1065 - 1096
Outputs
0065 - 0096
Page 34 of 116
SC-DIO
Optional
sDIO #1
IO Blox 1
IO Blox 2
IO Blox 3
IO Blox 4
Type
Signal Range
Inputs
1113 - 1120
Outputs
0105 - 0112
Inputs
1121 - 1128
Outputs
0113 - 0120
Inputs
1129 - 1136
Outputs
0121 - 0128
Inputs
1137 - 1144
Outputs
0129 - 0136
Page 35 of 116
3.4 Mounting the eMB-60N
Dimensions
The following figure shows dimensions of the eMB-60N chassis and mounting holes.
197.8
0
47.6
47.6
0
377.8
377.8
C
0
B
32.7
0
7.6
45.7
51.6
20.6
9.8
0
204.2
C
A
B
331.7
425.5
404.9
45.7
7.6
0
129.54
0
eMB-60N
0
BRAKE
MOTOR
POWER
ROBOT
ENCODER
STATUS
RELEASE
®
0
32.7
32.7
EXPIO
ENET
Servo
67.3
106.7
ENET
XBELTIO
IN
DC
197.8
200 240V
AC
1
24V
XSYSTEM
GND
XIO
Ø
170.2
182.9
197.8
6X, SHCS,M4 X 6
0
7.6
C
228.6
45.7
222.3
Note: 112 mm clearance required
in front of unit to remove AIB from
box enclosure.
M4 X 7mm DP BLIND STUDS
SPCD AS SHOWN, 20X
45.7
7.6
0
47.6
377.8
C
0
Figure 3-4. eMB-60N Mounting Dimensions
Page 36 of 116
Units in mm
Panel-Mounting
The eMB-60N can be panel-mounted, with the optional panel-mount kit. See Panel-Mount Kit
on page 107.
NOTE: The mounting of the eMB-60N and all terminations at the eMB-60N must
be performed in accordance with all local and national standards.
Page 37 of 116
4.1 Connectors on the Robot Interface Panel
Air2
Air1
CNR010
I/O Harness
Air Purge
CNR04
Encoder
CNR01
Motor
Power
Figure 4-1. Robot Interface Panel
NOTE: The connectors on the eMB-60N interface panel are covered in Connectors
on Interface Panel on page 32.
Table 4-1. Robot Interface Connections
CNR01
The Motor Power cable from the eMB-60N connects here.
CNR04
The Robot Encoder cable from the eMB-60N connects here.
CNR010 The I/O Harness (available as an option) from the eMB-60N XIO port connects here.
Pins 1 to 10 are wired directly to corresponding pins 1 to 10 on CN10A on the wrist.
Pins 11 to 17 are for solenoid control. See Air Lines and Signal Wiring on page 62.
AIR 1
Air line connector (BSPT1/4) for three solenoids in robot. System Installation on
page 39.
AIR 2
Air line connector (BSPT1/4), connects directly to AIR 7 on the wrist.
AIR
Purge
Air Purge is not used.
Page 39 of 116
4.2 Robot Connections - Standard
Adept eMB-60N
2
NOTE: Objects are
not drawn to scale.
B
®
RELEASE
XUSR
2a
C
EXPIO
Connector
STATUS
EXPIO
The Jumper Plug is required if
neither of these is used
Servo Controller
BRAKE
XUSR for:
- User E-Stop/Safety Gate
- Muted Safety Gate
External Brake
Connector
eMB-60N
XUSR Jumper Plug
3
User-Supplied
200-240 VAC,
single phase
XFP
3a
F
ROBOT
ENCODER
12
FP Jumper Plug
K
J
4
H
T20 Bypass Plug
V
4a
T20 Adapter
Cable
4a
5
G
XMCP Jumper Plug
MOTOR
POWER
DC Power
Cable
XSYSTEM
ENET
GND
7
AC
1
6
P
User-Supplied
Ground Wire
on Back Side
ENET
13
DC
IN
24 V
Q
S
AC Power
Cable
L
M
DC Power
Cable
Ethernet from
Switch to eMB-60N
200-240 VAC
10 A
single-phase
7a
Ethernet from
eMB-60N to
SmartVision MX
9b
R
Ethernet from
Camera to
POE Port
T
Camera
(option)
Air2
13
Air Purge
Adept SmartVision MX (option)
10
CNR010
Air1
12
Ethernet from
PC to Switch
5a
W
Servo
200 240 V
Ethernet
Switch
8
U
I/O
Harness
9
XIO
M
Motor Power
Cable
11
eMB-60N
Interface
Panel
eAIB
XSYSTEM
Cable
N
Servo
200 240V
Ø
85 - 264 VAC
AC Input
24 VDC, 6 A
Power Supply
User-Supplied PC
running Adept
ACE Software
GND
Ø
4
Robot Encoder
Cable
ENET
IN
24V
User-Supplied
Ground Wire
1
User-supplied Items
ENET
AC
1
A
XMCP
Either T20 Pendant,T20 Bypass Plug, or
XMCP Jumper Plug must be used
T20 Pendant (option)
XSYSTEM
DC
XIO
FP plug must be used
XBELTIO
Front Panel Either Front Panel or
XBELTIO
E
D
3
Front Panel
Cable
Adept Viper
700 Robot
Figure 4-2. System Cable Diagram for Adept Viper 700/900 Robots
Page 40 of 116
CNR04
11
CNR01
Robot Interface Panel
Parts Table
Part Cable and Parts List
Part #
Part of:
Use
A
eAIB XSYSTEM Cable Assembly
13323-000
B
User E-Stop, Safety Gate
n/a
n/a
user-supplied
C
XUSR Jumper Plug
04736-000
13323000
standard
D
Front Panel
9035610358
E
Front Panel Cable
1035610500
9035610358
standard
F
Front Panel Jumper Plug
10053-000
13323000
standard
G
XMCP Jumper Plug
04737-000
13323000
standard
H
T20 Bypass Plug
10048-000
10055000
standard, T20
J
T20 Adapter Cable
10051-003
10055000
standard, T20
K
10055-000
L
AC Power Cable (option)
04118-000
90565010
user-supplied
M
24 VDC Power Cable (option)
04120-000
90565010
user-supplied
N
24 VDC, 6 A Power Supply
(option)
04536-000
90565010
user-supplied
P
Ethernet Cable - PC -> switch
n/a
n/a
user-supplied
Q
Ethernet Cable - switch -> eMB60N
n/a
n/a
user-supplied
R
Ethernet Cable - switch ->
SmartVision MX
n/a
n/a
user-supplied
for vision option
S
Ethernet switch
n/a
n/a
user-supplied
T
Camera and cable
n/a
n/a
option
U
Motor Power Cable
04465-200
standard
V
Robot Encoder Cable
04465-300
standard
W
I/O Harness
04465-100
option
standard
standard
option
Page 41 of 116
Steps Table
Step
Connection
Part
1
Connect eAIB XSYSTEM cable to XSYSTEM on eMB-60N
A
2
Connect a user E-Stop or Muted Safety Gate to the eAIB XSYSTEM cable XUSR
connector or
B
2a
verify XUSR jumper plug is installed in eAIB XSYSTEM cable XUSR connector.
C
3
Connect Front Panel cable to Front Panel and eAIB XSYSTEM cable XFP connector D, E
or
3a
if no Front Panel, install FP jumper on eAIB XSYSTEM cable XFP connector. See
NOTE after table.
F
4
Connect T20 adapter cable to eAIB XSYSTEM cable XMCP connector or
J, K
4a
if no T20, install XMCP jumper or T20 Adapter Cable with T20 bypass plug.
G or
H
5
Connect user-supplied ground to robot. See robot user's guide for location.
n/a
5a
Connect user-supplied ground to SmartVision MX, if used. See SmartVision MX
user's guide for location.
n/a
6
Connect 200-240 VAC to AC input on eMB-60N Interface Panel;
secure with clamp.
L
7
Connect 24 VDC to DC input on Interface Panel.
N, M
7a
Connect 24 VDC to SmartVision MX, if used.
N, M
8
Connect Ethernet cable from PC to switch.
P
9
Connect Ethernet cable from switch to eMB-60N.
Q, S
9b
Connect Ethernet cable from SmartVision MX, if used, to switch.
R, S
10
Connect optional camera and cable to SmartVision MX, if used.
T
11
Connect Motor Power cable between eMB-60N and robot Interface Panel.
U
12
Connect Robot Encoder cable between eMB-60N and robot Interface Panel.
V
13
Connect I/O Harness between XIO on eMB-60N and CNR010 on robot Interface
Panel.
W
Page 42 of 116
4.3 Robot Connections with SmartController EX
®
RELEASE
EXPIO
BRAKE
STATUS
Adept eMB-60N
not drawn to scale.
Servo Controller
eMB-60N
NOTE: Objects are
ROBOT
ENCODER
XIO
GND
Ø
AC
1
11
Servo
200 240V
MOTOR
POWER
5
P
8
9a
24 VDC to
Controller
XDC1
7a
5a
1
12
ENET
XBELTIO
IEEE 1394 Cable
from Controller SmartServo
to eMB-60N SmartServo
ENET
DC
IN
24V
External Brake
Connector
Robot Encoder
Cable
XSYSTEM
User-Supplied
Ground Wire
EXPIO
Connector
Motor Power
Cable
V
eMB-60N Interface
Panel
4
User-Supplied Ground
A
XSYS to
XSYSTEM
XSYSTEM
ENET
U
2
6
B
Servo
2a
C
E
13
XUSR
AC Power
Cable
XUSR Jumper Plug
D
XBELTIO
AC
1
XIO
7
GND
200 240 V
XUSR for:
- Muted Safety Gate
3
ENET
DC
IN
24 V
Ø
Q
Front Panel
Cable
3
I/O
Harness
User-supplied
200-240 VAC,
10 A, single-phase
XFP
CNR010
3a
F
W
L
Air1
Air2
13
FP Jumper Plug
M
4a
K
T20 Adapter
Cable
4a
4
G
4
H
T20 Bypass Plug
11
12
Ethernet to
SmartController EX
XMCP Jumper Plug
CNR04
CNR01
24 VDC, 6 A
Power Supply
User-supplied Items
85 - 264 VAC
Universal
Input
N
S
Ethernet from PC
User-supplied
Switch
User-supplied PC
Running Adept ACE
Ethernet to SmartVision MX
R
M
User-Supplied
Ground Wire
(back-side of box)
Air Purge
DC Power
Cable
XMCP
J
DC Power
Cable
Adept Viper
700 Robot
7b
5b
10
9b
T
Camera
(option)
Ethernet from Camera
to POE Port
Figure 4-3. System Cable Diagram for Adept Viper 700/900 Robot with SmartController
Page 43 of 116
NOTE: See Grounding the Adept Robot System on page 60 for additional system
grounding information.
Parts Table
Part #
Part of:
Use
A
eAIB XSYS Cable (to XSYSTEM)
11585-000
B
n/a
n/a
user-supplied
C
XUSR Jumper Plug
04736-000
09200-000
standard
D
Front Panel
9035610358
E
Front Panel Cable
1035610500
9035610358
standard
F
10053-000
09200-000
standard
G
XMCP Jumper Plug
04737-000
09200-000
standard
H
T20 Bypass Plug
10048-000
09200-000
standard
J
T20 Adapter Cable
10051-003
10055-000
standard with T20
K
10055-000
L
04118-000
90565-010
user-supplied
M
04120-000
90565-010
user-supplied
N
(option)
04536-000
90565-010
user-supplied
P
IEEE 1394 Cable
13632-045
R
SmartVision MX
n/a
n/a
user-supplied,
for vision option
S
Ethernet switch, cable
n/a
n/a
user-supplied
T
Camera and cable
n/a
n/a
option
U
Motor Power Cable
04465-200
standard
V
Robot Encoder Cable
04465-300
standard
W
I/O Harness
04465-100
option
standard
standard
option
standard
Page 44 of 116
Steps Table
Step
Connection
Part
1
Connect eAIB XSYS cable to XSYSTEM plug on eMB-60N.
2
Connect a user E-Stop or Muted Safety Gate to the XUSR connector on controller B
or
2a
verify XUSR jumper plug is installed in controller XUSR port.
3
or
3a
if no Front Panel, install FP jumper in controller XFP port.
F
4
Connect T20 adapter cable to XMCP connector or
J, K
4a
if no T20, install XMCP jumper or T20 Adapter Cable with T20 bypass plug in controller XMCP port.
G or
H
5
n/a
5a
Connect user-supplied ground to SmartController EX. See SmartController EX
n/a
5b
n/a
6
Connect 200-240 VAC to AC input on eMB-60N Interface Panel; secure with
clamp.
L
7
N, M
7a
Connect 24 VDC to SmartController EX.
N, M
7b
N, M
8
Connect IEEE 1394 cable from SmartController EX to eMB-60N.
P
9a
Connect Ethernet cable from switch to SmartController EX.
Q, S
9b
R, S
10
T
11
U
12
V
13
Panel.
W
Page 45 of 116
A
C
Table 4-2. Optional Cables and Parts List
Part Description
Notes
Power Cable Kit - contains 24
VDC and AC power cables
Available as option
Y Cable, for XSYS cable connections to dual robots
Available as option
SmartController EX
This section only applies to Viper 700 and 900 robots used with a SmartController EX.
Installing
Refer to the Adept SmartController EX User's Guide for complete information on installing the
Adept SmartController EX motion controller. This list summarizes the main steps.
1. Mount the SmartController EX motion controller.
2. Connect the Front Panel to the controller.
3. Connect the optional pendant (if purchased) to the controller.
4. Connect user-supplied 24 VDC power to the controller.
Instructions for creating the 24 VDC cable, and power specifications, are covered in the
Adept SmartController EX User's Guide.
5. Install a user-supplied ground wire between the controller and ground.
6. Install the Adept ACE software (PC user interface). Refer to the following section.
Connecting the PC to the SmartController
The Adept SmartController EX motion controller must be connected to a user-supplied PC or
the Adept SmartVision MX vision processor for setup, control, and programming.
l
Connect an Ethernet crossover cable between the PC and the SmartController EX motion
controller
or
l
Use two standard Ethernet cables with a network hub or switch in place of the Ethernet
crossover cable.
NOTE: Do not use an Ethernet crossover cable with a network hub or switch.
For more details, refer to the Adept ACE User’s Guide.
Connecting Cables from the eMB-60N to the SmartController EX
1. Locate the IEEE 1394 cable (length 4.5 M) and the eAIB XSYS cable (length 4.5 M). They
are shipped in the cable/accessories box.
2. Install one end of the IEEE 1394 cable into the SmartServo connector on the
Page 46 of 116
SmartController EX, and install the other end into a SmartServo connector on the eMB60N interface panel. See System Cable Diagram for Adept Viper 700/900 Robot with
SmartController on page 43. Make sure the plug is oriented correctly to the connector.
3. Install the XSYS cable between the XSYS connector on the SmartController EX and the
eMB-60N XSYSTEM connector.
NOTE: The IEEE 1394 and eAIB XSYS cables should be routed away from
AC power and robot interconnect cables.
4.4 Robot Connections - with a PLC
Adept eMB-60N
2
NOTE: Objects are
not drawn to scale.
B
®
RELEASE
2a
C
XFP
K
H
T20 Bypass Plug
5
XMCP Jumper Plug
1
M
9
8
XSYSTEM
GND
7
ENET
CNR010
Air1
Air2
13
Air Purge
11
12
Q
AC Power
Cable
L
M
W
Servo
200 240 V
Ethernet
Switch
Ethernet from
PC to PLC
User-Supplied PC
running PLC
Programming Software
User-Supplied
Ground Wire
13
AC
1
I/O
Harness
9a
ENET
DC
IN
24 V
S
or Siemens
U
eMB-60N
Interface
Panel
DC Power
Cable
N
Motor Power
Cable
MOTOR
POWER
eAIB
XSYSTEM
Cable
24 VDC, 6 A
Power Supply
11
Servo
200 240V
6
Power/Ground
on back-side
GND
Ø
G
V
ENET
IN
24V
4
PLC: AB
P
ENET
AC
1
85 - 264 VAC
AC Input
User-supplied Items
XSYSTEM
DC
A
XMCP
Robot Encoder
Cable
4a
J
4
12
XIO
T20 Adapter
Cable
4a
ROBOT
ENCODER
User-Supplied
Ground Wire
FP Jumper Plug
XBELTIO
3a
XIO
F
XBELTIO
Ø
E
D
3
User-Supplied
200-240 VAC,
single phase
3
External Brake
Connector
eMB-60N
XUSR Jumper Plug
Front Panel
Cable
EXPIO
Connector
STATUS
EXPIO
Servo Controller
XUSR
BRAKE
XUSR for:
- Muted Safety Gate
Ethernet from
PLC to eMB-60N
CNR04
CNR01
200-240 VAC
10 A
single-phase
DC Power
Cable
7a
5a
R
10
Ethernet from Camera
to POE Port
9b
T
Ethernet from
eMB-60N to
SmartVision MX
Camera
(option)
Adept Viper
700 Robot
Figure 4-4. System Cable Diagram for Adept Viper 700/900 Robots with a PLC
Page 47 of 116
Parts Table
Part #
Part of:
Use
A
eAIB XSYSTEM Cable Assembly
13323-000
B
n/a
n/a
user-supplied
C
XUSR Jumper Plug
04736-000
13323000
standard
D
Front Panel
9035610358
E
Front Panel Cable
1035610500
9035610358
standard
F
10053-000
13323000
standard
G
XMCP Jumper Plug
04737-000
13323000
standard
H
T20 Bypass Plug
10048-000
10055000
standard, T20
J
T20 Adapter Cable
10051-003
10055000
standard, T20
K
10055-000
L
04118-000
90565010
user-supplied
M
04120-000
90565010
user-supplied
N
(option)
04536-000
90565010
user-supplied
P
Ethernet Cable - PC -> PLC
(Only while programming PLC)
n/a
n/a
user-supplied
Q
Ethernet Cable - PLC -> switch
n/a
n/a
user-supplied
R
SmartVision MX
n/a
n/a
user-supplied
for vision option
S
Ethernet switch, cable
n/a
n/a
user-supplied
T
Camera and cable
n/a
n/a
option
U
Motor Power Cable
04465-200
standard
V
Robot Encoder Cable
04465-300
standard
W
I/O Harness
04465-100
option
standard
standard
option
Page 48 of 116
Steps Table
Step
Connection
Part
1
Connect eAIB XSYSTEM cable to XSYSTEM on eMB-60N
A
2
Connect a user E-Stop or Muted Safety Gate to the eAIB XSYSTEM cable XUSR
connector or
B
2a
verify XUSR jumper plug is installed in eAIB XSYSTEM cable XUSR connector.
C
3
or
3a
if no Front Panel, install FP jumper on eAIB XSYSTEM cable XFP connector. See
NOTE after table.
F
4
Connect T20 adapter cable to eAIB XSYSTEM cable XMCP connector or
J, K
4a
if no T20, install XMCP jumper or T20 Adapter Cable with T20 bypass plug.
G or
H
5
n/a
5a
n/a
6
Connect 200-240 VAC to AC input on eMB-60N Interface Panel;
secure with clamp.
L
7
N, M
7a
N, M
8
Connect Ethernet cable from PC to PLC.
P
9
Connect Ethernet cable from PLC to switch.
S
9a
Connect Ethernet cable from switch to eMB-60N.
Q, S
9b
R, S
10
T
11
U
12
V
13
Panel.
W
4.5 Installing the Adept ACE Software
The Adept ACE software is installed from the Adept ACE software disk.
1. Insert the disk into the disk drive of your PC.
If Autoplay is enabled, the Adept software disk menu is displayed. If Autoplay is disabled, you will need to manually start the disk.
Page 49 of 116
2. Especially if you are upgrading your Adept ACE software installation: from the Adept
ACE software disk menu, click Read Important Information.
3. From the Adept ACE software disk menu, select:
Install the Adept ACE Software
The Adept ACE Setup wizard opens.
4. Follow the online instructions as you step through the installation process.
5. When the installation is complete, click Finish.
6. After closing the Adept ACE Setup wizard, click Exit on the disk menu to close the
menu.
NOTE: You will have to restart the PC after installing Adept ACE software.
4.6 Connecting Cables from the eMB-60N to the Robot
The cables between the robot base and the eMB-60N are the Motor Power and Robot Encoder
cables and the I/O Harness.
1. Connect one end of the Motor Power cable to the CNR01 connector on the robot interface panel.
Turn the ring lock a quarter turn to lock it.
2. Connect the other end of the cable to the circular MOTOR POWER connector on the
eMB-60N. See System Cable Diagram for Adept Viper 700/900 Robot with SmartController on page 43.
WARNING: Verify that all connectors are fully-inserted and
locked down. Failure to do this could cause unexpected robot
motion. Also, a connector could get pulled out or dislodged
unexpectedly.
Installing the Robot Encoder Cable
1. Connect one end of the Robot Encoder cable to the CNR04 connector on the robot interface panel.
2. Connect the other end of the cable to the circular ROBOT ENCODER connector on the
eMB-60N. See System Cable Diagram for Adept Viper 700/900 Robots on page 40.
Page 50 of 116
WARNING: Verify that all connectors are fully-inserted and
locked down. Failure to do this could cause unexpected robot
motion. Also, a connector could get pulled out or dislodged
unexpectedly.
Creating an I/O Harness
The I/O Harness connects the XIO port on the eMB-60N to the CNR010 port on the robot interface panel. This provides signals to the CN10A port on the wrist, as well as signals to the
solenoids.
The connector for the CNR010 is provided standard with the system. The connector for the
XIO port and the cable are user-supplied. As an option, you can purchase a complete I/O Harness, p/n 04465-100, which is a cable with appropriate connectors on each end.
If you purchased a pre-made I/O Harness, skip to Installing the I/O Harness on page 52.
To create an I/O Harness, you will need:
l
l
Cable:
o
5m
o
13 twisted pairs, 28 AWG, shielded
o
OD Ø8.5 mm
o
UL2464 or equivalent
XIO Connector: HD26P Male, with screw connectors
Wire list:
CNR010
Cable
XIO
Name (Loc)
Color
HD26
Name
eV+
Signal
Remarks
A01 (A1)
WHITE
1
GND
GND
A02 (A2)
WHT/BLK
2
24V
24V
A03 (A3)
RED
3
IO_Bank1
INPUT1 REF A03
A04 (A4)
RED/BLK
4
IO_Input1_1 1097
IN1_1
A05 (A5)
YELLOW
5
IO_Input1_2 1098
IN1_2
A06 (B1)
YEL/BLK
6
IO_Input1_3 1099
IN1_3
A07 (B2)
GREEN
7
IO_Input1_4 1100
IN1_4
A08 (B3)
GRN/BLK
8
IO_Input1_5 1101
IN1_5
BLUE
9
IO_Input1_6
BLUE/WHT
10
GND
A11 (C1)
Page 51 of 116
SOL REF GND
CNR010
Cable
XIO
Name (Loc)
Color
HD26
eV+
Signal
Name
Remarks
BROWN
11
24V
SOL REF PWR
A18 (D3)
BRW/WHT
12
IO_Bank2
INPUT2 REF A18
A19 (D4)
ORANGE
13
IO_Input2_1 1103
IN2_1
A20 (D5)
ORG/BLK
14
IO_Input2_2 1104
IN2_2
A21 (A6)
GRAY
15
IO_Input2_3 1105
IN2_3
A22 (B6)
GRY/BLK
16
IO_Input2_4 1106
IN2_4
VIOLET
17
IO_Input2_5
VIO/WHI
18
IO_Input2_6
A09 (B4)
PINK
19
IO_Output1
0097
OUT1
A10 (B5)
PINK/BLK
20
IO_Output2
0098
OUT2
A12 (C2)
LT BLUE
21
IO_Output3
0099
OUT3-SOL 1A
A13 (C3)
LB/BLK
22
IO_Output4
0100
OUT4-SOL 1B
A14 (C4)
LIGHT GRN
23
IO_Output5
0101
OUT5-SOL 2A
A15 (C5)
LG/BLK
24
IO_Output6
0102
OUT6-SOL 2B
A16 (D1)
WHT-RED
25
IO_Output7
0103
OUT7-SOL 3A
A17 (D2)
WHT-BLUE
26
IO_Output8
0104
OUT8-SOL 3B
(D6)
Shield
Shell
Shield
Shield
The pattern of pins for the CNR010 plug is as follows:
6
5
4
3
2
1
D
G A20 A19 A18 A17 A16
C
A15 A14 A13 A12 A11
B A22 A10 A09 A08 A07 A06
A A21 A05 A04 A03 A02 A01
Installing the I/O Harness
1. Plug the HD26 end of the cable into the XIO port on the eMB-60N.
Tighten the connector latching screws into the eMB-60N, to secure the connector.
Page 52 of 116
2. Plug the rectangular connector into the CNR010 port on the robot interface panel.
Ensure that the connector latches to the plug on the robot interface panel.
Creating a CN10A Cable
The CN10A cable connects the lines of the CN10A port to any end-effector you need to communicate with. The plug that fits the CN10A port on the robot wrist is provided.
Because the use of the lines from the CN10A port are site-specific, a pre-made cable is available only as an option. See I/O Harness on page 105.
4.7 Connecting 24 VDC Power to eMB-60N Servo Controller
Specifications for 24 VDC Power
Table 4-3. Specifications for 24 VDC User-Supplied Power Supply
Customer-Supplied Power Supply
24 VDC (± 10%), 150 W (6 A)
(21.6 V< Vin < 26.4 V)
Circuit Protection 1
Output must be less than 300 W peak
or
8 Amp in-line fuse
Power Cabling
1.5 – 1.85 mm² (16-14 AWG)
Shield Termination
Cable shield connected to frame ground on
power supply and ground point on
eMB-60N. See User-Supplied 24 VDC Cable
on page 56.
1User-supplied 24 VDC power supply must incorporate overload protection to limit peak
power to less than 300 W, or 8 A in-line fuse protection must be added to the 24 V power
source.
NOTE: Fuse information is located on the eMB-60N electronics.
The power requirements for the user-supplied power supply will vary depending on the configuration of the robot and connected devices. Adept recommends a 24 V, 6 A power supply to
allow for startup current draw and load from connected user devices, such as digital I/O loads.
CAUTION: Make sure you select a 24 VDC power supply that
meets the specifications in the preceding table. Using an underrated supply can cause system problems and prevent your
equipment from operating correctly. See the following table for
recommended power supplies.
Page 53 of 116
Table 4-4. Recommended 24 VDC Power Supplies
Vendor Name
Model
Ratings
XP Power
JPM160PS24
24 VDC, 6.7 A, 160 W
Mean Well
SP-150-24
24 VDC, 6.3 A, 150 W
Astrodyne
ASM150-24
24 VDC, 6.66 A, 150 W
Details for 24 VDC Mating Connector
The 24 VDC mating connector and two pins are supplied with each system. They are shipped
in the cable/accessories box.
A complete 24 VDC cable is available, as an option, as part of either of two kits. See Power
Cable Kits on page 107.
If you have purchased this option, you can skip to Installing the 24 VDC Cable on page 55.
Table 4-5. 24 VDC Mating Connector Specs
Connector Details
Connector receptacle, 2 position, type:
Molex Saber, 18 A, 2-Pin
Molex P/N 44441-2002
Digi-Key P/N WM18463-ND
Pin Details
Molex connector crimp terminal,
female, 14-18 AWG
Molex P/N 43375-0001
Recommended crimping tool, Molex Hand Crim- Molex P/N 63811-0400
per
Creating a 24 VDC Cable
1. Locate the connector and pins from the preceding table.
2. Use shielded two-conductor cable with 14-16 AWG wire to create the 24 VDC cable.
Select the wire length to safely reach from the user-supplied 24 VDC power supply to
the eMB-60N base.
Page 54 of 116
NOTE: You also must create a separate 24 VDC cable for the SmartController
EX, if you are using one. That cable uses a different style of connector. See the
Adept SmartController EX User’s Guide.
3. Crimp the pins onto the wires using the recommended crimping tool.
4. Insert the pins into the connector. Confirm that the +24 V and ground wires are in the
correct terminals in the plug.
5. Install a user-supplied ring lug (for an M3 screw) on the shield at the eMB-60N end of
the cable.
6. Prepare the opposite end of the cable for connection to the user-supplied 24 VDC power
supply, including a terminal to attach the cable shield to frame ground.
Installing the 24 VDC Cable
Do not turn on the 24 VDC power until instructed to do so in the next chapter.
1. Connect one end of the shielded 24 VDC cable to your user-supplied 24 VDC power supply. See User-Supplied 24 VDC Cable on page 56. The cable shield should be connected
to frame ground on the power supply.
2. Plug the mating connector end of the 24 VDC cable into the 24 VDC connector on the
interface panel on the eMB-60N. The cable shield should be connected to the ground
point on the interface panel.
Page 55 of 116
eMB-60N
Servo Controller
Attach shield from
user-supplied cable
to ground screw on
eMB-60N Interface
Panel.
All Viper 700/900 Robots
GND
User-Supplied
Power Supply
24 VDC
–
+
User-Supplied Shielded
Power Cable
+ 24 V, 6 A
–
Frame Ground
+ 24 V, 5 A
–
Viper 700/900 Robots with
SmartController EX
Attach shield from usersupplied cables to frame
ground on power supply.
-+
Attach shield from user-supplied
cable to controller using
star washer and M3 x 6 screw.
User-Supplied Shielded
Power Cable
Figure 4-5. User-Supplied 24 VDC Cable
NOTE: Adept recommends that DC power be delivered over shielded cables, with
the shield connected to frame ground at the power supply, and to the ground points
shown in the diagram above for the eMB-60N and SmartController, if used. The
length of the wire from the cable shield to the ground points should be less than 50
mm.
Page 56 of 116
4.8 Connecting 200-240 VAC Power to eMB-60N
WARNING: Ensure compliance with all local and national
safety and electrical codes for the installation and operation of
the robot system.
WARNING: Appropriately-sized Branch Circuit Protection and
Lockout / Tagout Capability must be provided in accordance
with the National Electrical Code and any local codes.
Specifications for AC Power
Table 4-6. Specifications for 200/240 VAC User-Supplied Power Supply
Auto-Ranging
Nominal
Voltage
Ranges
Minimum
Operating
Voltage1
Maximum
Operating
Voltage
Frequency/
Phasing
Recommended
External Circuit
Breaker, UserSupplied
200 to 240 V
180 V
264 V
50/60 Hz
10 Amps
1-phase
1Specifications are established at nominal line voltage. Low line voltage can affect robot per-
formance.
The Adept robot system is intended to be installed as a piece of equipment in a permanently-installed system.
Table 4-7. Typical Robot Power Consumption 220 VAC, 60 Hz, 1-Phase Nominal
Average Power
(W)
Peak Power
(W)1
No load - Adept cycle2
371
947
5.0 kg - Adept cycle2
477
1526
5.0 kg - all joints move
834
2088
Move
1For short durations (100 ms).
2Adept cycle: the robot tool performs continuous path, straight-line
motions 25 mm up, 305 mm over, 25 mm down, and back along the
same path. COARSE is enabled and BREAKs are used at each end location. Not achievable over all paths.
Page 57 of 116
DANGER: AC power installation must be performed by a skilled and
instructed person - refer to the Adept Robot Safety Guide. During installation, unauthorized third parties must be prevented from turning on
power through the use of fail-safe lockout measures.
Facility Overvoltage Protection
The user must protect the robot from excessive overvoltages and voltage spikes. If the country
of installation requires a CE-certified installation, or compliance with IEC 1131-2, the following
information may be helpful: IEC 1131-2 requires that the installation must ensure that
Category II overvoltages (i.e., line spikes not directly due to lightning strikes) are not exceeded.
Transient overvoltages at the point of connection to the power source shall be controlled not to
exceed overvoltage Category II, i.e., not higher than the impulse voltage corresponding to the
rated voltage for the basic insulation. The user-supplied equipment or transient suppressor
shall be capable of absorbing the energy in the transient.
In the industrial environment, nonperiodic over-voltage peaks may appear on mains power
supply lines as a result of power interruptions to high-energy equipment (such as a blown fuse
on one branch in a 3-phase system). This will cause high-current pulses at relatively low
voltage levels. The user shall take the necessary steps to prevent damage to the robot system
(such as by interposing a transformer). See IEC 1131-4 for additional information.
AC Power Diagrams
Note: F1 is user-supplied, must be slow blow.
L
1Ø
200–240 VAC
20A
F1 10A
N
E
User-Supplied
AC Power Cable
L = Line
N = Neutral
E = Earth Ground
E
N
L
eMB-60N
1Ø 200–240 VAC
Figure 4-6. Typical AC Power Installation with Single-Phase Supply
Page 58 of 116
Note: F4 and F5 are user-supplied, must be slow blow.
L1
200–240 VAC
F5 10A
3Ø
200–240 VAC
L2
L3
F4 10A
E
User-Supplied
AC Power Cable
E
L = Line 1
N = Line 2
E = Earth Ground
N
L
eMB-60N
1Ø 200–240 VAC
Figure 4-7. Single-Phase Load across L1 and L2 of a Three-Phase Supply
Details for AC Mating Connector
The AC mating connector is supplied with each system. It is shipped in the cable/accessories
box. The supplied plug is internally labeled for the AC power connections (L, E, N).
NOTE: The AC power cable is not supplied with the system, but is available as
part of the optional Power Cable kits. See Power Cable Kits on page 107.
If you have purchased this option, skip to Installing AC Power Cable to eMB-60N on page 60.
Table 4-8. AC Mating Connector Details
AC Connector details
AC in-line power plug, straight,
female, screw terminal, 10 A,
250 VAC
Qualtek P/N 709-00/00
Digi-Key P/N Q217-ND
Procedure for Creating 200-240 VAC Cable
1. Locate the AC mating connector shown in the preceding table.
2. Open the connector by unscrewing the screw on the shell and removing the cover.
3. Loosen the two screws on the cable clamp. See AC Power Mating Connector on page 60.
4. Use 18 AWG wire to create the AC power cable. Select the wire length to safely reach
from the user-supplied AC power source to the eMB-60N base.
5. Strip approximately 18 to 24 mm of insulation from each of the three wires.
Page 59 of 116
6. Insert the wires into the connector through the removable bushing.
7. Connect each wire to the correct terminal screw, and tighten the screw firmly.
8. Tighten the screws on the cable clamp.
9. Replace the cover and tighten the screw to seal the connector.
10. Prepare the opposite end of the cable for connection to the facility AC power source.
Figure 4-8. AC Power Mating Connector
Installing AC Power Cable to eMB-60N
1. Connect the unterminated end of the AC power cable to your facility AC power source.
See Figure 4-6. and Figure 4-7.
Do not turn on AC power at this time.
2. Plug the AC connector into the AC power connector on the interface panel on the
eMB-60N.
3. Secure the AC connector with the locking latch.
4.9 Grounding the Adept Robot System
Proper grounding is essential for safe and reliable robot operation. Follow these steps to properly ground your robot system.
Ground Point on Robot Base
Install a protective earth ground wire at the robot base to ground the robot. See the following
figure. A strip on the right side of the robot base, near the bottom, has been left unpainted, so
that it can be used for grounding. Any of the four threaded holes can be used.
Ground the robot base with a wire of 12 AWG or larger. Ground resistance must be less than
100 milliOhms. The screw must be stainless or zinc-plated steel. Use an external-tooth lock
washer, touching the mounting screw head. The washer must be stainless or zinc-plated steel.
The user is responsible for supplying the ground wire, screw, and washer to connect to protective earth ground.
Page 60 of 116
NOTE: Use a dedicated grounding wire and grounding electrode. Do not share
them with any other electric power or power equipment, such as a welder.
WARNING: Wiring must be performed by authorized or certified personnel. Failure to observe this precaution may result in
fire or electric shock.
Grounding
Holes
Figure 4-9. Ground Points on Robot Base
Ground Point on eMB-60N
Install a ground wire at the eMB-60N chassis. Use the hole below the eMB-60N interface panel.
See the following figure. The user should provide a ground wire and use the provided M4
screw and external tooth lock washer to connect to earth ground. Make sure to tighten the
screw on the ground wire to create a proper ground connection. Optionally, two tapped holes
are provided to attach user-supplied strain relief.
XSYSTEM
ENET
ENET
GND
Ø
AC
1
XIO
24V
XBELTIO
DC
IN
Servo
200 240V
MOTOR
POWER
Ground Point
Figure 4-10. User Ground Location, eMB-60N
Page 61 of 116
Robot-Mounted Equipment Grounding
The robot tool flange is not reliably grounded to the robot base. If hazardous voltages are
present at any user-supplied robot-mounted equipment or tooling, you must install a ground
connection from that equipment or tooling to the ground point on the robot base. Hazardous
voltages can be considered anything in excess of 30 VAC (42.4 VAC peak) or 60 VDC.
DANGER: Failing to ground robot-mounted equipment or tooling that uses hazardous voltages could lead to injury or death of
a person touching the end-effector when an electrical fault condition exists.
4.10 Air Lines and Signal Wiring
The robot wrist can have up to seven active 4 mm air ports. Six lines, from AIR1 input, are
controlled by three internal solenoid valves. One line, from AIR2 input, is connected directly to
Port7 on the wrist. There are also ten user electric lines that are routed inside the robot body to
the wrist. See the following figures and tables.
Solenoids and Air Lines
An air filter should be used for the incoming air. Only clean, dry air should enter the robot.
The filtering grade must be 5 μm or less. Ensure that no oil or chemicals are present in the
incoming air.
l
Port 1: SOL1A
l
Port 2: SOL1B
l
Port 3: SOL2A
l
Port 4: SOL2B
l
Port 5: SOL3A
l
Port 6: SOL3B
Air Line
AIR1
Air
Exhaust
intake
Valve Signal
Solenoid Solenoid
valve
A
B
1A
1B
1
ON
OFF
1B
1A
1
OFF
ON
2A
2B
2
ON
OFF
Page 62 of 116
Air Line
Valve Signal
2B
2A
2
OFF
ON
3A
3B
3
ON
OFF
3B
3A
3
OFF
ON
AIR2
Direct to Port7 on robot wrist
AIR1 goes to the solenoids, which go to Port1 through Port6.
AIR2 goes to air Port7 on the wrist.
AIR Purge is not used.
The air inputs at the robot base are Ø6 mm.
Air output ports at the wrist are Ø4 mm.
Table 4-9. Solenoid Wiring
CNR010 Pin
Used for:
11
Common
12
Solenoid 1A (solenoid valve 1)
13
Solenoid 1B (solenoid valve 1)
14
15
16
17
A silencer, mounted in the end of the forearm cover, is part of the solenoid installation. See the
following figure.
Page 63 of 116
Figure 4-11. Solenoid Silencer
Table 4-10. Solenoid Valve Specifications
Valve
Solenoid
Item
Specifications
Switching system
2-position double
Applicable fluid
Air
Lubrication
Oilless
Operating pressure range
0.1 to 0.5 MPa (14.5 to 72.5 psi)a
Response time
15 ms or less at 0.5 MPa (72.5 psi)
Maximum operating frequency
10 Hz
Ambient temperature
-10 to 50° C (Dry air, non-condensing)
Operating voltage
24 V ±10%
Power consumption (current)
0.35 W
Surge voltage protection circuit
Diode (Non-polarity type: valistor)
aNote that the robot is rated at 0.1 to 0.39 MPa, 0.49 Max (14 - 56.6 psi, 71.1 Max). This
upper limit is lower than the solenoid's upper limit.
Page 64 of 116
User Electric Lines
I/O Control
Figure 4-12. Adept ACE Digital I/O Icon
Figure 4-13. Adept ACE Digital I/O Box (Output Shown)
Wrist Connections
The CNR010 connector at the robot base is connected to the eMB-60N XIO port. Its 22 pins
provide the following connections:
l
10 lines are routed inside the robot to the CN10A connector on the wrist
The CN10A connector is JAE JN1AS10ML1-R.
The mating connector (supplied) is JAE JN1DS10SL2.
l
7 lines are routed inside the robot to the solenoids
There are 3 solenoids, each with 2 valves. The 7th line is common.
l
5 lines are reserved
Page 65 of 116
Port6
Port7
Port4
Port5
Port1
Wrist
Port3
Port2
Forearm
CN10A
A03
A02
3
2
A01
1
A07
A06
A05
7
6
5
A04
4
A10
A09
A08
10
9
8
CN10A
Figure 4-14. Connections on the Robot Wrist
4.11 External Mounting Locations on the Robot
Five pairs of threaded holes are provided from the base to the wrist for attaching user tubing
or cabling to the tool. Ensure that any such tubing or cabling does not interfere with the movement of the robot in any way.
Forearm-mount
Wrist-mount
Arm-mount
Body-mount
Base-mount
Figure 4-15. External Mounting Locations
Page 66 of 116
4.12 User-Supplied Safety Equipment
The user is responsible for installing safety barriers to protect personnel from coming in contact with the robot unintentionally. Depending on the design of the workcell, safety gates, light
curtains, and emergency stop devices can be used to create a safe environment. Read the Adept
Robot Safety Guide for a discussion of safety issues.
XMCP Connector
The optional Adept T20 pendant plugs into this connector, via the T20 adapter cable, which
has the mating connector for the XMCP connector. This is a 15-Pin D-Sub connector.
NOTE: A terminator plug must be installed in this connector in the absence of a
pendant, or the E-Stop circuit will remain open, and you will not be able to start the
system.
XUSR Connector
This connector provides switch functions for emergency stop (E-Stop) and Manual/Automatic
interfaces to external push-buttons and other equipment. For example, an external E-Stop can
be connected to the XUSR connector. A line E-Stop from other equipment can be connected. A
muted safety gate that causes an E-Stop only in Automatic mode is included. Also included
are contacts to report the status of E-Stop push-buttons and the Manual/Automatic switch.
NOTE: A terminator plug must be installed in the XUSR connector in the absence
of any user-supplied safety equipment used to close the E-Stop circuit, or the E-Stop
circuit will remain open, and you will not be able to start the system.
For more information about the XUSR connector, see the following section.
Connecting User-Supplied Safety and Power-Control Equipment
The user-supplied safety and power-control equipment connects to the system through the
XUSR and XFP connectors on the controller. The XUSR connector (25-pin) and XFP (15-pin)
connector are both female D-sub connectors. Refer to the following table for the XUSR pin-out
descriptions. Refer to the table Contacts Provided by the XFP Connector on page 69 for the XFP
pin-out descriptions. See the figure E-Stop Circuit on XUSR and XFP Connectors on page 71 for
the XUSR wiring diagram.
Page 67 of 116
Table 4-11. Contacts Provided by the XUSR Connector
Pin
Pairs
Description
Comments
Voltage-Free Contacts Provided by Customer
1, 14
User E-Stop CH 1 (mushroom pushbutton, safety gates, etc.)
N/C contacts, Shorted if NOT Used
2, 15
User E-Stop CH 2 (same as pins
1, 14)
3, 16
Line E-Stop (used for other robot or
assembly line E-Stop interconnection. Does not affect E-Stop
indication (pins 7, 20))
4, 17
Line E-Stop (same as pins 3, 16)
5, 18
Muted safety gate CH 1 (causes EStop in Automatic mode only)
6, 19
Muted Safety Gate CH 2 (same as
pins 5, 18)
Voltage-Free Contacts provided by Adept
7, 20
E-Stop indication CH 1
Contacts are closed when Front Panel,
pendant, and customer E-Stops are not
tripped
8, 21
E-Stop indication CH 2 (same as
pins 7, 20)
Contacts are closed when Front Panel,
pendant, and customer E-Stops are not
tripped
9, 22
Manual/Automatic indication CH 1
Contacts are closed in Automatic mode
10, 23
Manual/Automatic indication CH 2
Contacts are closed in Automatic mode
11, 12,
13, 24,
25
No connection
Page 68 of 116
Table 4-12. Contacts Provided by the XFP Connector
Pin
Pairs
Description
Requirements for UserSupplied Front Panel
Voltage-Free Contacts Provided by Customer
1, 9
Front Panel E-Stop CH 1
User must supply N/C contacts
2, 10
Front Panel E-Stop CH 2
User must supply N/C contacts
3, 11
Remote Manual/Automatic switch CH 1.
Manual = Open Automatic = Closed
Optional - jumper closed for
Auto Mode-only operation
4, 12
Remote Manual/Automatic switch CH 2.
Manual = Open Automatic = Closed
Optional - jumper closed for
Auto Mode-only operation
6, 14
Remote High Power on/off momentary push-button
User must supply momentary push-button to enable
High Power to system
Non-voltage-Free Contacts
5, 13
Adept Supplied 5 VDC and GND for High Power
On/Off Switch Lamp
User must supply lamp, or
use 1 W, 47 ohm resistor system will not operate if not
present
7, 15 a
Controller system 5 V power on LED, 5 V, 20 mA
Optional - indicator only
8
No connection
Pin 8
Pin 15
XFP
Pin 1
Pin 9
See the following figure for a schematic diagram of the Adept Front Panel.
aUsers must
exercise caution to avoid inadvertently connecting 24 V signals to these pins,
because this will damage the electronics.
Page 69 of 116
Adept Front Panel Schematic
ESTOPSRC
XFP
24 VS
MANUALSRC1
MANUALSRC2
HPLT5V
5 VD
SYSPWRLT
NC
16
15PDSUBM
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
ESTOPFP1
ESTOPFP2
MANUALRLY1
MANUALRLY2
HIPWRLT
HIPWRREQ
17
D
"System Power LED"
"MANUAL/AUTO"
"HIGH POWER ON/OFF"
"EMERGENCY STOP"
5 VD
HPLT5 V
SYSPWRLT
ESTOPSRC
24 VS
MANUALSRC2
MANUALSRC1
2-PIN_MINI
D
SWL1
D
SW2
SW1
HIPWRLT
MANUALRLY2
MANUALRLY1
HIPWRREQ
Figure 4-16. Front Panel Schematic
Table 4-13. Remote Pendant Connections on the XMCP Connector
Pin XMCP
Description
1, 9
Pendant E-Stop Push-button CH 1
2, 10
Pendant E-Stop Push-button CH 2
3, 11
Pendant Enable CH 1 (Hold-to-run)
4, 12
Pendant Enable CH 2 (Hold-to-run)
13
Serial GND/Logic GND
7
Pendant TXD: “eV+ to Pendant TXD”
8
Pendant RXD: “eV+ to Pendant RXD”
14
No connection
15
No connection
Shield
Shield GND
6
24 V
5
No connection
Page 70 of 116
ESTOPFP2
ESTOPFP1
Emergency Stop Circuits
The eMB-60N provides connections for Emergency Stop (E-Stop) circuits on the XUSR and XFP
connectors. This gives the controller system the ability to duplicate E-Stop functionality from a
remote location using voltage-free contacts. See the system cable diagrams starting at Robot
Connections with SmartController EX on page 43.
ESTOP 24 V
Source
XSYSTEM-31
(XFP-1)
XSYSTEM-32
(XFP-2)
ESTOP
Ground
6 V, 1.2 W
Bulb
XSYSTEM-31 (XFP-6)
XSYSTEM-3 (XFP-5)
XSYSTEM-20
(XFP-9)
(XFP-10)
(XPND-7)
(XPND-6)
Front Panel
ESTOP
Pushbutton
Front Panel
High Power
ON/OFF
XSYSTEM-33 (XFP-13)
XSYSTEM-34 (XFP-14)
ESTOP 24 V
Source
T20 ESTOP
Pushbutton
XSYSTEM-24
(XPND-24)
(XUSR-1)
(XUSR-14)
XSYSTEM-13
(XUSR-3)
(XFP-3)
XSYSTEM-5
(XFP-4)
Front Panel
Auto/Manual
Keyswitch
(XPND-23)
XSYSTEM-4
(XFP-11)
(XUSR-2) User E-Stop and Gate Interlock
(Jumper closed when not used,
MUST open both channels
(XUSR-15) independently if used.)
AM2
Coil
XSYSTEM-19
(XFP-12)
AM1
Coil
XSYSTEM-43
(XUSR-4)
LINE E-Stop (External
User E-Stop System)
XSYSTEM-12 (XUSR-9)
XSYSTEM-39 (XUSR-17)
XSYSTEM-9 (XUSR-16)
AM1
AM2
AM2
(XPND-9)
(XPND-8)
XSYSTEM-14
(XUSR-5)
T20 Pendant
Enable
XSYSTEM-8
(XPND-26)
AM1
Auto/Manual
Output
XSYSTEM-30
(XUSR-6)
Muted Safety Gate Active in Auto mode only
(Jumper closed when
not used)
XSYSTEM-38
(XPND-25)
Auto Mode
Path
Manual Mode
Path
XSYSTEM-26 (XUSR-8)
XSYSTEM-10 (XUSR-7)
ES1
ES2
Force-Guided Relay
Cyclic Check
Control Circuit
ES1
User ESTOP
Output
ES2
Single-Phase
AC Input
200-240 VAC
High Power to
Amplifiers
(Internal Connections)
SR1
SR2
Figure 4-17. E-Stop Circuit on XUSR and XFP Connectors
Page 71 of 116
The XUSR connector provides external two-channel E-Stop input on pin pairs 1, 14 and 2, 15.
The XFP connector provides two-channel E-Stop input on pin pairs 1, 9 and 2, 10.
NOTE: These pins must be shorted if not used. Both channels must open independently if used. Although an Emergency Stop will occur, the controller will flag
an error state if one channel is jumpered closed and the other channel is opened. It
will also flag an error state if the channels are shorted together.
User E-Stop Indication Contacts - Remote Sensing of E-Stop
These contacts provide a method to indicate the status of the ESTOP chain, inclusive of the
Front Panel Emergency Stop push-button, the pendant Emergency Stop push-button, and the
User Emergency Stop Contacts.
NOTE: These contacts do not indicate the status of any connections below the User
E-Stop contacts. Thus, they will NOT indicate the status of the Line E-Stop, MCP
ENABLE, or the Muted Safety gate. If you have a specific need in this area, contact
Adept Customer Service for information on alternate indicating modes.
Two pairs of pins on the XUSR connector (pins 7, 20 and 8, 21) provide voltage-free contacts,
one for each channel, to indicate whether the E-Stop chain, as described above, on that channel
is closed. Both switches are closed on each of the redundant circuits in normal operation (no
E-Stop). The user may use these contacts to generate an E-Stop for other equipment in the workcell. The load on the contacts must not exceed 40 VDC or 30 VAC at a maximum of 1 A.
These voltage-free contacts are provided by a redundant, cyclically-checked, positive-drive,
safety relay circuit for Category 3 PL-d per EN ISO 13849 operation. See the preceding figure.
Line E-Stop Input
The XUSR connector on the controller contains a two-channel Line E-Stop input for workcell or
other equipment emergency-stop inputs. Generally, the customer E-Stop Indication contact outputs are used to generate an emergency stop in such external equipment. Thus, if one were to
wire the same equipment’s outputs into the customer E-Stop input (that is, in series with the
local robot’s E-Stop push-buttons), a lock-up situation could occur.
The Line E-Stop input comes into the circuit at a point where it cannot affect the customer EStop indication relays and will not cause such a lock-up situation. For any situation where two
systems should be cross-coupled, for example, the customer E-Stop indication of one controller
is to be connected to the input of another controller, the Line E-Stop input is the point to bring
in the other controller’s output contacts. See the preceding figure for more information.
Do not use the Line E-Stop for such devices as local E-Stop push-buttons, since their status
should be reported to the outside on the local user E-Stop indication output contact while the
Line E-Stop inputs will not.
Muted Safety Gate E-Stop Circuitry
Two pairs of pins on the XUSR connector (pins 5, 18 and 6, 19) provide connections for a
safety gate designed to yield an E-Stop allowing access to the workspace of the robot in
Manual mode only, not in Automatic mode. It is up to the customer to determine if teaching
the robot in Manual Mode, by a skilled programmer (See Qualification of Personnel in the
Adept Robot Safety Guide), wearing safety equipment and carrying an Adept pendant, is allowable under local regulations. The E-Stop is said to be “muted” in Manual mode (for the
Page 72 of 116
customer E-Stop circuitry, see the figures and tables at the beginning of the section Connecting
User-Supplied Safety and Power-Control Equipment on page 67).
The muted capability is useful for a situation where a shutdown must occur if the cell gate is
opened in Automatic mode, but you need to open the gate in Manual mode. If the mute gate is
opened in Automatic mode, the robot defaults to Manual mode operation when power is reenabled. In muted mode, the gate can be left open for personnel to work in the robot cell.
However, safety is maintained because of the speed restriction.
CAUTION: If you want the cell gate to always cause a robot shutdown,
wire the gate switch contacts in series with the user E-Stop inputs. Do not
wire the gate switch into the muted safety gate inputs.
Remote Pendant Usage
Customers can build an extension cable to place the pendant in a remote location. The extension cable must conform to the following specifications:
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Wire Size: must be larger than 26 AWG.
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Connectors: must be 15-pin, standard D-sub male and female.
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Maximum cable length is 10 meters.
CAUTION: Do not modify the cable that is attached to the pendant. This
could cause unpredictable behavior from the robot system.
Page 73 of 116
5.1 Resources on the Adept Support Disk
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The Adept ePLC Connect Software User's Guide
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The Siemens Function Block pdf
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The Siemens Robot Communication pdf
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Allen-Bradley PLC code examples
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Siemens PLC code examples
During the installation and start-up process, refer also to your PLC user’s guide.
5.2 PLC-Robot Connection
The user-supplied PLC and eMB-60N controller are connected either through a shared network
or via a user-supplied Ethernet cable.
When the robot is powered on and waiting for a PLC connection, the robot status panel will
display its IP address, two digits at a time.
The format will be:
IP xxx-xxx-xxx-xxx OK
NOTE: If you can use the robot’s default IP address, then you can skip the following section on setting the robot IP address completely.
Setting the Robot IP Address
Configure the IP address of the robot using Adept ACE software.
1. Connect the PC and the robot, either through a shared network or with an Ethernet
cable between them.
2. Start the Adept ACE software.
3. Click the Detect and Configure button, circled in the following figure.
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Figure 5-1. Detect and Configure Button
The IP address detection and configuration window will open. The ACE software will show
the IP address of any controllers it detects. See the following figure.
Figure 5-2. IP Addresses Detected
4. You can change the IP address and subnet mask in the Desired Address and Desired
Subnet fields, if needed.
5. Click OK. The ACE software will ask you to wait for the controller to reboot.
Page 76 of 116
Setting the Robot IP Address on the PLC
Allen-Bradley Systems
Using your PLC software, set the robot’s IP address for the PLC to connect to.
The following figure is an example of an Allen Bradley PLC, with RS Logix software.
Figure 5-3. Example: Setting an IP Address with RS Logix
The PLC should now be able to communicate with the robot.
Siemens Systems
The Siemens documentation is included on the support disk that came with your system. The
communications document will include the words "Siemens_RobotComm".
Refer to http://support.automation.siemens.com/WW/view/en/79100154, which links to the
Siemens manuals on Adept robots. Download FB610 "ADEPT_RobotComm".
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Scroll down to display the two files to download.
When accessing this link with Internet Explorer, right-click on the pdf that you want,
and select Open link.
Page 77 of 116
6.1 eMB-60N Operation
Status LED
The Status LED Indicator is located near the top of the eMB-60N. See the following figure. This
is a bi-color, red and green LED. The color and blinking pattern indicates the status of the
robot. See the following table.
®
RELEASE
Status Panel
Display
Status LED
Indicator
STATUS
EXPIO
Connector
eMB-60N
EXPIO
BRAKE
Brake-release
Connector
Figure 6-1. Upper Controls, Connectors, and Indicators on an eMB-60N
Table 6-1. Status LED Definition
LED Status
Description
Off
24 VDC not present
Green, Slow Blink
High Power Disabled
Green, Fast Blink
High Power Enabled
Green/Red Blink
Selected Configuration Node
Red, Fast Blink
Fault - refer to the following table
Solid Green or Red
Initialization or Robot Fault
Page 79 of 116
Status Panel
The status panel, shown in the preceding figure, displays alpha-numeric codes that indicate
the operating status of the eMB-60N, including fault codes. The following table gives definitions of the fault codes. These codes provide details for quickly isolating problems during
troubleshooting.
Table 6-2. Status Panel Codes
LED
Status Code
LED
Status Code
OK
No Fault
H#
High Temp Encoder (Joint #)
ON
High Power ON Status
hV
High Voltage Bus Fault
MA
Manual Mode
I#
Initialization Stage (Step #)
24
24 V Supply Fault
M#
Motor Stalled (Joint #)
A#
Amp Fault (Joint #)
NV
Non-Volatile Memory
B#
IO Blox Fault (Address #)
P#
Power System Fault (Code #)
BA
Backup Battery Low Voltage
PR
Processor Overloaded
AC
AC Power Fault
RC
RSC Fault
D#
Duty Cycle Exceeded (Joint #)
S#
Safety System Fault (Code #)
E#
Encoder Fault (Joint #)
SE
E-Stop Delay Fault
ES
E-Stop
SW
Watchdog Timeout
F#
External Sensor Stop
T#
Safety System Fault (Code 10 + #)
FM
Firmware Mismatch
TR
Teach Restrict Fault
FW
IEEE 1394 Fault
V#
Hard Envelope Error (Joint #)
h#
h# High Temp Amp (Joint #)
For more information on status codes, go to the Adept Document Library on the Adept website,
and in the Procedures, FAQs, and Troubleshooting section, look for the Adept Status Code Summary document.
NOTE: Due to the nature of the Adept Viper 700/900 robots’ bus line encoder wiring, a single encoder wiring error may result in multiple channels of displayed
encoder errors. Reference the lowest encoder number displayed.
RELEASE Button
The RELEASE button, located at the top right of the eMB-60N controller, is not functional for
Viper robots because the user needs the ability to specify a single axis when releasing brakes
on a six-axis robot. An optional Brake Release box can be connected to the BRAKE connector
on the eMB-60N to accomplish this. See the following section for details.
Page 80 of 116
BRAKE Connector
For manual release of the brakes on the Adept Viper 700/900 robot, a BRAKE connector is
provided on the eMB-60N for connecting a manual brake release box.
An optional brake-release box is available. See Brake-Release Box on page 105.
The 9-pin BRAKE connector provides an interface for connecting a manual brake release box.
Table 6-3. Brake Release Connector Pinouts
Pin #
Description
1
Release1_N
2
Release2_N
3
Release3_N
4
Release4_N
5
Release5_N
6
Release6_N
7
GND
8
Not connected
9
24 V
Pin Location
DB-9 Female
Brake Connector
Mating Connector:
D-Subminiature 9-Pin Male
Operation of the optional brake-release box is covered in Brake Release Box on page 88.
6.2 Verifying Installation
The first time you power-up the system, you must follow the steps in this section to safely
bring up your robot system. The tasks include verifying that the system is correctly installed
and that all safety equipment is working correctly. Before using the robot, make the following
checks to ensure that the robot and controller have been properly installed.
DANGER: After installing the robot, you must test it before
you use it for the first time. Failure to do this could cause death,
serious injury or equipment damage.
Mechanical Checks
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Verify that the robot is mounted level and that all fasteners are properly installed and
tightened.
Verify that any end-of-arm tooling is properly installed.
Page 81 of 116
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Verify that all other peripheral equipment is properly installed and in a state where it is
safe to turn on power to the robot system.
System Cable Checks
Verify the following connections:
For Viper Robots with a SmartController EX:
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Front Panel to the SmartController EX.
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Optional pendant to the SmartController EX.
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User-supplied 24 VDC power to the controller.
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User-supplied ground wire between the SmartController EX and ground.
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One end of the IEEE 1394 cable into the SmartServo port connector on the SmartController EX, and the other end into the SmartServo connector on the eMB-60N.
eAIB XSYS cable between the XSYS connector on the SmartController EX and the eMB60N XSYSTEM safety interlock connector, and latching screws are tight.
For Viper Robots without a SmartController EX:
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Front Panel to the eAIB XSYSTEM cable, XFP branch.
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Optional pendant to the eAIB XSYSTEM cable, XMCP branch.
This branch must be jumpered if there is no pendant connected.
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Jumper in the eAIB XSYSTEM cable, XUSR branch, unless that branch is being used for
user-supplied circuits.
For all Viper 700/900 Robots:
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User-supplied 24 VDC power to the eMB-60N 24 VDC connector.
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User-supplied 200/240 VAC power to the eMB-60N 200/240 VAC connector.
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User-supplied ground wire between the robot and ground.
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User-supplied ground wire between the eMB-60N and ground.
User-Supplied Safety Equipment Checks
Verify that all user-supplied safety equipment and E-Stop circuits are installed correctly.
6.3 System Start-up Procedure
Once the system installation has been verified you are ready to start up the system.
Page 82 of 116
Viper Robots not using a PLC
1. Switch on AC power to the eMB-60N.
2. Switch on the 24 VDC power to the SmartController EX, if used, and the eMB-60N.
3. Follow the instructions, beginning with Starting the Adept ACE Software, in the following section.
Viper Robots using a PLC
1. Switch on the PLC.
2. Switch on the robot.
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The Robot Status LED is off.
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The code on the Diagnostic Panel displays OK.
Siemens Systems
The Siemens documentation is included on the support disk that came with your system. The
control document will include the words "Siemens_Function_Block".
Refer to http://support.automation.siemens.com/WW/view/en/79100154, which links to the
Siemens manuals on Adept robots. Download FB600 "ADEPT_RobotControl".
l
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Scroll down to display the two files to download.
When accessing this link with Internet Explorer, right-click on the pdf that you want,
and select Open link.
Allen-Bradley Systems
The Adept support disk and Adept web site have some examples for the Allen Bradley PLC
using RS Logix. For the web site, go to adept.com, and then:
Support > User Forums > Controls > ePLC Connect Robot Control
These gives some examples to start with.
Using the PLC to Enable High Power
The details of enabling high power to the robot will vary, depending on the software running
on your PLC.
Page 83 of 116
Figure 6-2. Example: Enabling High Power with RS Logix
In the RS Logix example, double-clicking Controller Tags, and then setting the value of
pv_rbt_reset_fault to 1 will enable high power on the robot.
NOTE: pv_rbt_reset_fault is the name for a register, which is fixed when downloading the PLC code example from the support disk or Adept web site.
For Both PLC Types
Once high power is enabled, the Robot Status Panel displays ON, and the amber Robot Status
LED is on.
Running the Adept ACE Software
Starting the Adept ACE Software
The robot should be on, and the status panel should display OK before proceeding.
1. Turn on the PC and start the Adept ACE software.
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Double-click the Adept ACE icon on your Windows desktop
or, from the Windows Start menu bar,
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Select Start > Programs > Adept Technology > Adept ACE > Adept ACE.
2. On the Adept ACE Startup menu, click New Controller Workspace.
3. Click-select the controller you want to use, and click OK.
Page 84 of 116
Enabling High Power
After you have started the Adept ACE software and connected to the controller, enable high
power to the robot motors:
1. From the Adept ACE main menu, click the Enable High Power icon:
2. If the High Power button on the Front Panel is blinking, press and release it.
NOTE: The use of the blinking High Power button can be configured (or eliminated) in software. The default time-out is 10 seconds. Your system may not
require this step.
NOTE: If enabled, the Front Panel button must be pressed while blinking. If
the button stops blinking, you must enable power again.
The Front Panel, which is mounted just outside the workcell safety barrier, is shown in
the following figure. If enabled, the High Power button must be pressed while blinking
(default time-out is 10 seconds). If the button stops blinking, you must enable power
again.
Figure 6-3. High Power Button on Front Panel
This step turns on high power to the robot motors and calibrates the robot.
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The amplifier status LED blinks green rapidly
(a slow green blink has a different meaning).
The status panel on the eMB-60N controller displays ON.
Verifying E-Stop Functions
Verify that all E-Stop devices are functional (pendant, Front Panel, and user-supplied). Test
each mushroom button, safety gate, light curtain, etc., by enabling high power and then opening the safety device. The High Power push button/light on the Front Panel should go out.
Verify Robot Motions
Use the pendant (or Adept ACE jog control) to test the motion of each axis on the robot to confirm it moves in the proper directions.
Refer to the Adept T20 Pendant User's Guide for instructions on using the pendant.
Page 85 of 116
If the optional pendant is not installed in the system, you can move the robot using the Robot
Jog Control in the Adept ACE software. For details, see the Adept ACE User’s Guide.
NOTE: When using a pendant with an Adept Viper robot, the Free mode is disabled for safety reasons.
6.4 Front Panel Controls and Indicators
2
Manual
Mode
Auto
Mode
4
1
5
3
Figure 6-4. Front Panel
1. XFP connector
Connects to the XFP connector on the SmartController or eAIB XSYSTEM cable.
2. System 5 V Power-On LED
Indicates whether or not power is connected to the robot.
3. Manual/Automatic Mode Switch
Switches between Manual and Automatic mode. In Automatic mode, executing programs control the robot, and the robot can run at full speed. In Manual mode, the system limits robot speed and torque so that an operator can safely work in the cell.
Manual mode initiates software restrictions on robot speed, commanding no more than
250 mm/sec.
4. High Power On/Off Switch and Lamp
Controls high power to the robot motors. Enabling high power is a two-step process. An
“Enable Power” request must be sent from the user-supplied PC, an executing program,
or the Adept pendant. Once this request has been made and the High Power On/Off
lamp/button is blinking, the operator must press and release this button, and high
power will be enabled.
5. Emergency Stop Switch
Page 86 of 116
The E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safety requirements. Pressing this button turns off high power to the robot motors.
NOTE: The Front Panel must be installed to Enable Power to the robot. To operate
without a Front Panel, the user must supply the equivalent circuits.
6.5 Learning to Program the Robot
To learn how to use and program the robot, see the Adept ACE User’s Guide, which provides
information on robot configuration, control and programming through the Adept ACE software “point and click” user interface.
For eV+ programming information, refer to the eV+ user and reference guides in the Adept
Document Library (ADL) on the Adept website. For more details on the ADL, see Adept Document Library on page 17.
For use with a user-supplied PLC, refer to the Adept ePLC Connect 3.0 Software User's Guide,
your PLC user guide, and PLC Configuration on page 75.
6.6 Viper Axes
Axis names and directions are shown in the following figure.
Axis 4
Forearm
RX-
Wrist 1
Axis 5
RX+
RY+
Z+
RY-
Z-
RZAxis 3
Axis 6
RZ+
Arm
Wrist 2
Y+ Y-
Body
Base
Axis 2
XAxis 1
X+
Figure 6-5. Axis Names and Directions
Page 87 of 116
6.7 Brake Release Box
Adept offers an optional manual brake-release box to release the brakes on a specific axis. See
also Brake-Release Box on page 105.
WARNING: Secure the robot prior to releasing the brakes on
axes 2 or 3, to prevent injury to personnel or equipment damage.
This procedure describes how to install and use a manual brake release box. See the following
figure.
1. Make sure that high power is disabled (off).
2. Connect the 9-pin male D-sub connector into the 9-pin female D-sub connector marked
BRAKE on the eMB-60N controller.
3. Press one of the E-Stops (Pendant, Front Panel, or external).
NOTE: An E-Stop must be activated in order for the brake release box to
work.
4. Using the axis selector switch, select the axis for which you want to release the brake.
5. Depress the Brake Release push button to release the brake.
6. Repeat steps 4 and 5 above for releasing the brakes on another axis.
NOTE: When the Status LED (Green) is on, it indicates that the circuit is enabled,
when the Brake Release push button is pressed.
Page 88 of 116
Axis selector switch
1
2 3 4
Status LED
5
6
OFF
BRAKE
RELEASE
Brake Release
Push button
9-pin male
D-Sub connector
Figure 6-6. Manual Brake-Release Box
Page 89 of 116
7.1 Field-replaceable Parts
WARNING: Only qualified service personnel may service the
robot system.
The only field-replaceable parts on the Viper 700/900 robots are the encoder backup batteries,
the eMB-60N, and the light bulb for the Front Panel.
Part
Adept Part Number
Encoder battery
14957-000
eMB-60N
19700-000
Front Panel bulb
27400-29006
Forearm
Wrist 1
Arm
Wrist 2
Body
Base
Figure 7-1. Main Components of a Viper 700
Page 91 of 116
7.2 Periodic Inspection Schedule
The following table gives a summary of the preventive maintenance procedures and
guidelines on frequency.
Item
Period
Reference
Check E-Stop, enable and key switches, and 6 months
barrier interlocks.
See Checking Safety Systems
on page 93
Check robot mounting bolts.
6 months
See Checking Robot Mounting
Bolts on page 93
Replace encoder battery.
2-7 years
See Replacing Encoder Backup
Batteries on page 93
Confirm that playback position has not
changed.
Daily
Wipe dirt, dust, and particles from the robot
body.
3 months
Retighten and coat paint lock of all exposed
bolts (refer to the following table), including
the tool flange bolts.
3 months
Activate and deactivate the limit switch.
Retighten and coat paint locks to the limit
switch bolts.
Yearly
Check for abnormal heat generation and
abnormal sounds.
Daily
Confirm that the robot arm and tool flange
never drop when motor power is turned
ON/OFF.
Daily
Confirm that the robot arm and tool flange
never drop when the brake release switch
(note) is set to OFF.
3 months
Check for abnormal vibration, abnormal
sounds or oil leakage.
3 months
Check for backlash by pushing the tool in for- 3 months
ward/backward, right/left, and upward/downward with hand.
NOTE: The frequency of these procedures will depend on the particular system, its
operating environment, and amount of usage. Use the times given here as
guidelines and modify the schedule as needed.
Page 92 of 116
SHCS
SHCS SS
M3
1.57 N·m (14 in-lbf)
1.47 N·m (13 in-lbf)
M4
3.63 N·m (32 in-lbf)
3.4 N·m (30 in-lbf)
M5
7.35 N·m (65 in-lbf)
6.9 N·m (61 in-lbf)
M6
12.4 N·m (110 in-lbf)
11.8 N·m (104 in-lbf)
M7
30.4 N·m (269 in-lbf)
28.4 N·m (251 in-lbf)
7.3 Checking Safety Systems
These tests should be done every six months.
1. Test operation of:
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E-Stop button on Front Panel
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E-Stop button on pendant
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Enabling switch on pendant
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Auto/Manual switch on Front Panel
NOTE: Operating any of the above switches should disable high power.
2. Test operation of any external (user-supplied) E-Stop buttons.
3. Test operation of barrier interlocks, etc.
7.4 Checking Robot Mounting Bolts
Check the tightness of the base mounting bolts every 6 months. Tighten to 70 ± 14 N·m (52 ±
10 ft-lbf).
7.5 Replacing Encoder Backup Batteries
WARNING: The procedures and replacement of parts mentioned in this section should be performed only by skilled or
instructed persons, as defined in the Adept Robot Safety Guide.
The access covers on the robot are not interlocked - turn off and
disconnect power if covers have to be removed.
CAUTION: Replace the batteries only with 3.6 V, 8.5 Ah lithium
batteries, Adept part number: 14957-000.
Page 93 of 116
Replacement Intervals
NOTE: The robot uses lithium batteries for backup of encoder data. If the battery
voltage drops too low, encoder data will be lost.
The encoder backup batteries should be replaced according to the intervals that follow.
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If the robot is kept in storage and not in production, or the robot is turned off (no 24
VDC supply) most of the time, then the batteries should be replaced every two years.
If the robot is turned on with 24 VDC supplied to the robot half the time, the batteries
should be replaced every four years.
If the robot is turned on with 24 VDC more than half the time, then you can increase the
replacement interval to seven years. If, for example, a robot is typically turned off only
on weekends, the batteries would need to be replaced every seven years.
Replacement Procedure
1. Turn the eMB-60N controller on.
This provides backup power to maintain the encoder data while replacing the batteries.
CAUTION: If the voltage is not maintained, either by backupbatteries or the controller, encoder data will be lost.
2. Disconnect AC at the eMB-60N, but leave 24 VDC connected and powered on.
WARNING: The robot interface panel is not interlocked. Do
not open it until AC power has been disconnected.
24 VDC power is necessary to maintain encoder data while the batteries are being
changed.
CAUTION: If 24 VDC is not on, do no proceed with these steps.
3. Press the E-Stop.
4. Remove the eight screws holding the robot interface panel to the robot.
Save the screws for reinstallation.
5. Carefully tilt the interface panel, with all of its connectors intact, away from the robot
base.
6. If the white cable tie holding two white connectors to the right side of the battery bracket
goes around the entire battery bracket, including the batteries, cut it.
This will be replaced by a cable tie that does not include the batteries.
For the moment, these two connectors will not be attached to the bracket.
Page 94 of 116
7. There is a small (≈1 x 1 inch) PCB in a black case tucked into the battery bracket.
This is the RSC. Carefully remove it from the bracket, but do not disconnect it.
8. Without cutting it, disconnect the orange cable tie that holds the batteries in the battery
bracket.
There is a tab at the locking end of the cable tie that releases it, so it can be reused.
This cable tie goes through two holes in the bottom of the bracket. Do not remove the tie
from the bracket.
9. Lift the battery pack out of the bracket.
10. Disconnect the following connectors from their mating connectors:
l
CNBAT12
l
CNBAT34
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CNBAT56
A battery voltage drop error will be displayed, which is normal.
These connections are secured with electrical tape.
11. Connect the three new battery connectors to their mating (CNBAT) connectors.
Secure the connections with electrical tape.
12. Place the new battery pack in the battery case, with the wires exiting the left side.
13. Put the RSC into the battery bracket so that some of the orange cable tie will hold it in,
but so that the cable tie does not interfere with the RSC wires.
14. Secure the batteries and RSC with the reusable orange cable tie.
15. If you cut a white cable tie that held the two white connectors to the side of the battery
bracket, do the following:
a. Gently rotate the two connectors 90°, so the wires enter and exit the connectors
from the top and bottom.
Some of the wires go to the RSC.
b. Secure the connectors to the right side of the battery bracket with a cable tie.
Page 95 of 116
RSC under
orange tie
Orange
cable tie
Battery
bracket
RSC/encoder
connectors
Wires, exit at
top and bottom
Batteries
Cable tie
(shown in blue)
Robot interface panel
Figure 7-2. Finished Battery Bracket, Viewed from Above
16. Reinstall the robot interface panel onto the robot base, using the screws previously
removed.
Make sure that no wires get pinches when you install the interface panel.
17. Reconnect AC power at the eMB-60N interface panel.
NOTE: Dispose of the batteries according to all local and national environmental
regulations regarding electronic components.
7.6 Replacing the eMB-60N Amplifier
Remove the eMB-60N Amplifier
1. Switch off the SmartController EX, if present.
2. Switch off the 24 VDC and 200/240 VAC input supplies to the eMB-60N.
3. Disconnect the 24 VDC supply cable from the eMB-60N 24 VDC connector.
See Connectors on Interface Panel on page 32 for locations of connectors.
4. Disconnect the 200/240 VAC supply cable from the eMB-60N AC connector.
5. Disconnect the eAIB XSYS or XSYSTEM cable from the eMB-60N XSYSTEM port.
6. Disconnect the I/O Harness from the eMB-60N XIO port.
7. Disconnect the Motor Power cable from the eMB-60N port.
8. Disconnect the Robot Encoder cable from the eMB-60N port.
9. Disconnect the IEEE 1394 cable, if installed, from the eMB-60N SmartServo connector.
10. Disconnect any other cables that are connected to the eMB-60N.
Page 96 of 116
Installing a New eMB-60N Amplifier
1. Carefully remove the new eMB-60N from its packaging, check it for any signs of damage, and remove any packing materials or debris.
2. Carefully place the eMB-60N near the robot.
3. Connect the eAIB XSYS or XSYSTEM cable to the eMB-60N XSYSTEM port.
4. Connect the Robot Encoder cable to the eMB-60N.
5. Connect the Motor Power cable to the eMB-60N.
6. Connect the I/O Harness to the eMB-60N XIO port.
7. Connect the IEEE 1394 cable, if used, to the eMB-60N SmartServo connector.
8. Connect any other cables that were connected to the eMB-60N.
9. Connect the 200/240 VAC supply cable to the eMB-60N AC input connector.
10. Connect the 24 VDC supply cable to the eMB-60N 24 VDC input connector.
11. Switch on the 200/240 VAC input supply to the eMB-60N.
12. Switch on the 24 VDC input supply to the eMB-60N.
13. Switch on the SmartController EX, if present.
14. Once the system has completed booting:
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l
Verify that the new eMB-60N has been commissioned. The initial commissioning
utility screen will tell you which functions are commissioned.
Test the system for proper operation.
7.7 Commissioning a System with an eMB-60N
Commissioning a system involves synchronizing the robot with the eMB-60N.
For a new system with an eMB-60N, the robot and the eMB-60N will have been commissioned
at the factory and should not need commissioning.
In rare cases with a new robot with an eMB-60N, you may need to commission the system.
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l
If the system will not power up, and the robot status display shows SE, you need to
commission the system.
If the system will not power up in Manual mode, and the robot status display shows
TR, you need to commission the system.
Safety Commissioning Utilities
The Adept eMB-60N adds two functions that implement safety in hardware:
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E-Stop serves as a backup to the standard software E-Stop process. The system will
always try to stop the robot using the software E-Stop first. The hardware E-Stop will
take over in the event of a failure of the software E-Stop.
Teach Restrict limits the maximum speed of the robot when it is operated in Manual
Page 97 of 116
mode. As with the E-Stop, this is a hardware backup to software limits on robot speed.
If the software fails to limit the robot speed during manual operation, the hardware
Teach Restrict will disable power to the system.
These two functions are supported by four wizards:
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E-Stop Configuration
This sets the E-Stop hardware delay to factory specifications.
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E-Stop Verification
This verifies that the hardware E-Stop is functioning correctly.
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Teach Restrict Configuration
This sets the hardware Teach Restrict maximum speed to factory specifications.
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Teach Restrict Verification
This verifies that the hardware Teach Restrict is functioning correctly.
Commissioning Status
The initial utility screen will tell you which functions are commissioned. If a function is not
commissioned, its verification wizard will not be displayed. Any displayed verification wizard
can be run at any time, to ensure that its function is working properly.
Prerequisites
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The robot must be set up and functional.
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The robot must use eMB-60N amplifiers.
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A PC with Adept ACE software version 3.3.2.10 or later must be connected to the eMB60N.
The Front Panel keyswitch must be in Auto mode.
Page 98 of 116
Figure 7-3. Adept Front Panel
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An Adept pendant is required for the Teach Restrict verification.
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No E-Stops can be activated.
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For Configuration (E-Stop and Teach Restrict), the eAIB Commissioning Jumper must be
plugged into the XBELTIO jack on the eMB-60N.
NOTE: This is the only time that this jumper will be used. It is part number
11901-000, and must be removed for Verification and normal operation.
Figure 7-4. eAIB Commissioning Jumper
E-Stop Configuration Utility
This utility sets the E-Stop hardware delay to factory specifications.
NOTE: Ensure that the commissioning jumper is plugged into the XBELTIO jack on
the eMB-60N before you start this procedure.
Procedure
From within the Adept ACE software:
1. Open the robot object editor.
Double-click on the robot object in the tree structure, usually the left pane.
2. Select Configure > Safety Settings > Configure ESTOP Hardware Delay, then click
Next.
This procedure will configure Channel A and then Channel B.
It will then report the delay that it set for each.
3. If the SmartController EX does not reboot, cycle power on the SmartController EX.
4. Cycle power on the eMB-60N.
Page 99 of 116
E-Stop Verification Utility
This utility verifies that the hardware E-Stop parameters are set correctly and that the hardware E-Stop is working.
The hardware E-Stop must have already been configured for this wizard to run.
NOTE: If the commissioning jumper is plugged into the XBELTIO jack on the eMB60N, remove it before you start this procedure.
Procedure
2. Select Configure > Safety Settings > Verify ESTOP Hardware Delay, then click Next.
3. Enable high power, if not already enabled, then click Next.
4. Press an E-Stop button (on the Front Panel), then click Next.
The utility will confirm that the hardware delay has been verified for this robot, and display the delay times for channels A and B.
Teach Restrict Configuration Utility
This utility sets the hardware Teach Restrict maximum speed parameter to factory specifications.
NOTE: Ensure that the commissioning jumper is plugged into the XBELTIO jack on
the eMB-60N before you start this procedure.
Procedure
NOTE: This procedure takes 2 or 3 minutes to complete.
2. Select Configure > Safety Settings > Configure Teach Restrict, then click Next.
3. From the Prerequisite screen, click Next.
The wizard will go through all of the robot's motors, and display messages that it is configuring Channel A and B for each.
It will then record the configuration, and display the target times that it set.
Page 100 of 116
4. Click Finish.
Teach Restrict Verification Utility
This utility verifies that the Teach Restrict parameters are set correctly and that the hardware
Teach Restrict maximum speed control is working.
This is a two-part wizard. The first is run in Auto mode. The second is run in Manual mode.
Before running this verification utility, the Teach Restrict must be configured.
NOTE: If the commissioning jumper is plugged into the XBELTIO jack on the eMB60N, remove it before you start this procedure.
Automatic Mode Procedure
WARNING: The robot will move during this wizard. Ensure
that personnel stay clear of the robot work area.
2. Select Configure > Safety Settings > Verify Teach Restrict, then click Next.
3. Teach a Start Position.
NOTE: This procedure will move the robot approximately ±5 degrees from
the starting point of each joint.
This can be any position that does not conflict with obstacles or the limits of joint movements.
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If the robot is already in such a position, you can just click Next.
l
Otherwise, move the robot to such a position, then click Next.
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The screen will display the number of degrees that each joint is expected to move
during the verification process.
You can click Preview Motions on this screen to view the motions at slow speed.
The default speed is 10, but you can change that speed with this screen's speed
control.
You can click Move to Ready, to move the robot to the Ready position.
The robot will move each joint, in succession. It will generate an over-speed condition for each, and verify that the hardware detected the over-speed condition.
4. Click Next, to proceed to the Manual Mode Procedure.
Page 101 of 116
If the Automatic Mode Procedure fails, you will not be allowed to proceed with the
Manual Mode.
Manual Mode Procedure
The manual mode of this verification requires the use of an Adept pendant.
For this verification, the Front Panel keyswitch must be in Manual mode.
1. From the Introduction screen, click Next.
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Set the pendant to Joint mode.
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Set the pendant manual control speed to 100.
2. Click Next.
3. Using the pendant, jog any of the robot's joints until power is disabled.
This indicates that the Teach Restrict function is working.
4. Click Next.
The results of the verification will be displayed.
5. Click Finish.
7. Reset the Front Panel keyswitch to Auto mode.
7.8 Changing the Lamp in the Front Panel High-Power Indicator
The system is equipped with circuitry to detect the potentially dangerous condition of a
burned-out High Power indicator on the Front Panel. If this lamp is burned out, you cannot
enable high power until the lamp has been replaced. Follow this procedure to replace the High
Power indicator lamp. The Adept part number for the lamp is 27400-29006.
WARNING: Lockout and tagout power before servicing.
WARNING: The procedures and replacement of parts mentioned in this
section should be performed only by trained, authorized personnel. The
access covers on the Front Panel are not interlocked – turn off and disconnect power before removing the cover.
1. Turn off system power to the robot.
2. Turn off power to the optional SmartController EX, if you are using one.
3. Disconnect the cable between the Front Panel and the eAIB (or controller).
4. Remove the Front Panel from its mounting location.
Page 102 of 116
5. Remove the two screws on the back of the Front Panel.
Save the screws for re-installation.
6. Carefully pull the front cover away from the body of the Front Panel.
You will encounter some resistance, as there are three plug-type connectors that you
need to disconnect as you pull the front cover away from the body.
NOTE: Separate the cover from the body slowly to avoid damaging the two
wires that go between the LED and the PC board inside the body. Pull the
front cover as straight out as possible. You do not have to disconnect the
wires from the PC board, although you can if needed.
7. Locate the lamp body in the center of the back side of the front cover. Turn the lamp
body approximately 20° in either direction and then pull straight back.
8. The lamp body is now free. You can remove the old lamp and insert a new one.
9. Re-install the lamp body by pushing it straight into the lamp housing receptacle. Make
sure the contacts on the lamp body are properly oriented, as shown in the following figure.
10. Make sure to reconnect the wires from the LED if you disconnected them earlier.
11. Push the front cover into the body, taking care to align all of the plug-type connectors.
Verify that the wires do not get crimped as you reinstall the cover.
12. Re-install the two screws on the back of the body.
13. Re-install the Front Panel in its mounting.
14. Reconnect the cable between the Front Panel and the eAIB (or controller).
Page 103 of 116
Back side of front cover
High Power On/Off
Lamp Body
Wires between LED and
body of Front Panel.
Be careful when separating
front cover from body to avoid
damaging the wires.
Figure 7-5. Lamp Body Contact Alignment
Page 104 of 116
Chapter 8: Options
8.1 Brake-Release Box
Adept p/n 05522-000.
A brake-release box lets you release the brakes of a single axis at a time. Multiple axes can be
released by repeating this incrementally. The brake-release box plugs into the BRAKE connector on the eMB-60N. See Brake Release Box on page 88 for use of the brake-release box.
8.2 Pin Calibration Kit
Rough calibration can be accomplished with a pin-calibration kit. The process involves moving each joint accurately, so a brake-release box is needed.
Use of this kit requires factory training, which includes the license necessary for using the calibration software. Contact Adept Support.
For Product Support information:
http://www.adept.com/support/service-and-support/main
8.3 I/O Harness
Adept p/n 04465-100.
The Adept Viper 700 and 900 robots come standard with a connector for both the CN10A and
CNR010 ports, but the cabling and connectors for the other ends of these cables are user-supplied.
The I/O Harness option provides cables for both of these connectors. The CNR010 cable in the
I/O Harness option includes a completed cable that will connect between the robot interface
panel and the eMB-60N. The CN10A cable ends in flying leads, so the user can make appropriate attachments at the gripper.
8.4 Adept Intelligent Force Sensing System
Adept p/n 14161-400.
The Adept Intelligent Force Sensing system is a hardware and software package that allows
Adept-controlled robots to react to sensed forces and moments. Tight integration of the force
sensor to the robot control system dramatically reduces force overshoot and robot stopping
time when forces or moments exceed preset thresholds. As a result, assembly operations can
be performed at higher speeds.
8.5 Digital I/O
IO Blox Device
Adept p/n 90570-00001, “Multi-Purpose Kit”.
Page 105 of 116
Chapter 8: Options
Each IO Blox device adds 8 inputs and 8 outputs. This plugs into the EXPIO connector on the
eMB-60N. Up to four IO Blox devices can be added, daisy-chained together.
SmartController EX
See Adept SmartController EX on page 12.
Adept p/n 09200-000.
sDIO Module
Adept p/n 90356-20200.
This option requires the SmartController EX motion controller.
Offers 32 inputs and 32 outputs per module. Up to four sDIO modules can be added per
SmartController EX motion controller.
NOTE: The SmartController EX motion controller XDIO port gives the Viper 700
and 900 robots 12 inputs and 8 outputs.
8.6 T20 Pendant
Adept p/n 10046-010.
The Adept T20 pendant provides a user interface and teach pendant in an ergonomic and
rugged package. The T20 pendant is designed for right- or left-handed use. All gripping and
holding positions enable comfortable and fatigue-free operation.
The safety features include:
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Emergency stop switch (dual-channel circuit)
Three-position enable switch that prevents pendant input or robot motion when the
switch is not engaged.
The software features include the ability to:
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Control the robot by enabling and disabling power and jogging the robot
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Teach locations
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Use Smart Locations, which allow you to work with locations through the Frame and
Tool screens.
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Display robot position, system status, system identification, and error messages
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Display and change digital I/O
8.7 SmartVision MX Industrial PC (Vision Processor)
Adept p/n 14189-901.
The Adept SmartVision MX™ is a Windows® 7 Embedded industrial PC designed to run
Adept’s ACE software. It is compatible with Adept’s SmartController line of products, or can
be used with Adept robots that don’t use a SmartController.
Page 106 of 116
Chapter 8: Options
For inspection applications, the Adept SmartVision MX industrial PC is designed to be a
“plug-and-play” vision system. Using a USB or GigE camera, along with Adept’s PC-based vision software, the unit is a complete industrial vision solution.
When used with a SmartController, the Adept SmartVision MX provides expanded vision processing power for vision-guided robotics or inspection.
8.8 Power Cable Kits
Adept p/n 04972-000, cables only.
Adept p/n 90565-010, cables and power supply.
The 24 VDC and AC power cables, fully-assembled, that are needed to connect the eMB-60N to
the robot base are available in this kit.
The two cables just mentioned as well as a recommended 24 VDC power supply are available
as a kit, too.
8.9 Y Cable, for XSYS Connection to Dual Robots
Adept p/n 00411-000.
This is for multi-robot configurations using an Adept SmartController. Refer to the Adept DualRobot Configuration Procedure, which is available in the Adept Document Library.
8.10 Panel-Mount Kit
Adept p/n 13326-000.
To panel-mount the eMB-60N, install two brackets, one on each side at the rear of the unit (see
the following figure for the bracket dimensions). Use the screws from the kit.
Dimensions are given in eMB-60N Mounting Bracket Dimensions on page 112.
8.11 ISO Tool Flange
Adept p/n 14830-000
The ISO tool flange has the same hole pattern as previous Adept Viper robots, so users who
don’t want to change their tooling change simply use this tool flange.
Dimensions are given in Tool Flange Dimensions on page 111.
Page 107 of 116
9.1 Robot Dimensions
170°
50
R1
170°
221.4
73
340
50
345
1249
330
45
110.7
165
495
228
618
723
Figure 9-1. Adept Viper 700 Side Dimensions and Work Envelope
Page 109 of 116
170°
R1
50
170°
221.4
73
440
50
345
410
45
110.7
115
230
165
646
266
912
806
Figure 9-2. Adept Viper 900 Side Dimensions and Work Envelope
Page 110 of 116
9.2 Tool Flange Dimensions
4x M5
depth 7
2x Ø5 H7
depth 7
Ø72
H7
5
5
Wire hole
(same on opposite side)
23
Ø45
H7
Ø23
Diameter of
wire hole
C1
C1
BC 60
14
73
83
Figure 9-3. Standard Tool Flange
11 (Ø20 H7 Range)
0.5 x 45°
Ø20 H7
Section A-A
10
(Ø72 H7 Range)
5
Ø60
2x Ø5 H7
A
A
(Ø40 H7 Range)
Wire Hole
(Same on opposite side)
23
Ø40 H7
14
Ø72 H7
Ø31.5
4x M5 x 0.8 - 6H
6
7
1 x 45°
1 x 45°
95
88
Units are mm
Figure 9-4. ISO Tool Flange (option)
Page 111 of 116
9.3 eMB-60N Mounting Bracket Dimensions
Figure 9-5. eMB-60N Mounting Bracket Option
9.4 Specifications
Physical
Specification
Overall arm length
700
900
723 mm (28.5 in.)
912 mm (35.9 in.)
±170°
-135°, +80°
-136°, +270°
±190°
±120°
±360°
±170°
-135°, +80°
-139°, +270°
±190°
±120°
±360°
Absolute encoder
Absolute encoder
Motion range
J1:
J2:
J3:
J4:
J5:
J6:
Position detection
Drive motor and brake
AC servomotors for all joints,
Brakes for joints J2 to J6
Supply air lines at base
Ø6 mm (0.24 in.) x 2
Air outputs at wrist 1
Ø4 mm (0.16 in.) x 7 1
Page 112 of 116
Specification
700
900
User signal lines
10 (for proximity sensor signals, etc.)
Air source - Operating pressure
0.1 to 3.9 MPa
(14.5 to 56.6 psi)
Air source - Maximum allowable pressure
0.49 MPa (71.1 psi)
Weight
1: Ø4x6
37 kg (81.6 lb)
39 kg (86.0 lb)
air lines can be controlled by internal solenoids.
Performance
Specification
Maximum joint speed, °/sec:
J1:
J2:
J3:
J4:
J5:
J6:
700
900
450
380
520
550
550
1000
300
280
360
550
550
1000
Maximum payload
Position repeatability1
7 kg (15.4 lb)
±0.02 mm (0.00079 in.)
in each of X, Y and Z
Around J4: 0.47 kg·m2
Maximum allowable inertia
moment
1: Position
±0.03 mm (0.00118 in.)
in each of X, Y and Z
repeatability is measured at constant ambient temperature.
Environment
Specification
Ambient temperature
Ambient humidity
Degree of Protection
Cleanliness
700
900
0 to 40° C (32 to 113° F) up to 1000 m (3281 ft) elevation
20 - 85%, non-condensing
IP-67
ISO 14644-1 Class 4 equivalent
Page 113 of 116
14987-000 Rev 1
5960 Inglew ood D riv e
Pleas anton, C A 94588
925 · 245 · 3400

Adept Viper Robot with eMB-60N User`s Guide

Transcription

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