Adept s650HS Quattro - Manual (Page 165)

Chapter 9: Maintenance - HS
Installing a New AIB/eAIB Chassis
Harness Connections
1. Carefully remove the new chassis from its packaging, check it for any signs of damage,
and remove any packing materials or debris from inside the chassis.
2. Carefully place the chassis, on its heat-sink fins, next to the robot.
3. Using a 5 mm hex key, connect the ground wire to the chassis. See Figure 9-3.
4. Connect the INT1, INT2, ENC1, and ENC2 cables to their connector on the PMAI/ePMAI
board and engage the securing latches.
5. Connect the white amplifier cable (motor power) to the amplifier connector located on
the chassis bracket. See Figure 9-3.
6. Lower the chassis into place, making sure that none of the cables get trapped or
pinched and that the chassis gasket is in place and not damaged.
7. Once the chassis is in place, tighten the six M4 chassis-securing bolts. See Figure 9-1.
l
Use Loctite 222 in the bolt holes, not on the bolts themselves.
l
Torque the bolts to 1.1 N·m (10 in-lbf).
External Connections
1. Connect the 200-240 VAC supply cable to the chassis AC input connector.
2. Connect the XSYS cable to the chassis XSLV connector (AIB) or XSYS cable and eAIB
XSLV Adapter cable (eAIB) to the chassis XSYSTEM connector
or
Connect the eXSYS cable (eAIB) to the chassis XSYSTEM connector.
3. Connect the 1394 cable to the chassis SmartServo connector.
4. Connect any other cables connected to the chassis, such as XIO or RS-232.
5. Connect the 24 VDC supply cable to the chassis +24 VDC input connector.
6. Install the cable inlet box. Refer to Installing the Cable Inlet Box on page 53.
7. Switch ON the 200-240 VAC input supply to the chassis.
8. Switch ON the 24 VDC input supply to the chassis.
9. Switch ON the SmartController.
10. Once the system has completed booting, test the robot for proper operation.
If you have problems bringing up the robot after AIB/eAIB replacement
l Verify that all system cables are fully seated and installed correctly. See Figure 4-1.
l
Remove power from the AIB/eAIB, then verify that all AIB/eAIB electrical connectors are
fully seated.
Adept Quattro User's Guide, Rev F
Page 165 of 196