Document Outline

• DOCUMENT LIBRARY
• Adept Quattro s650 Robot User’s Guide
  • Table of Contents
  • List of Figures
• Introduction
  • 1.1 Product Description
    • Adept Quattro s650 Robot
    • Quattro Robot Base
    • Adept AIB
    • Inner Arms
    • Ball Joints, Outer Arms
    • Platform
    • Adept SmartController CX
  • 1.2 Installation Overview
  • 1.3 Manufacturer’s Declaration
  • 1.4 How Can I Get Help?
    • Related Manuals
    • Adept Document Library
• Safety
  • 2.1 Warnings, Cautions, and Notes in Manual
  • 2.2 Warning Labels on the Robot
  • 2.3 Precautions and Required Safeguards
    • Safety Barriers
    • Impact and Trapping Points
    • Instructions for Emergency Movement without Drive Power
    • Emergency Recovery Procedures
    • Additional Safety Information
  • 2.4 Risk Assessment
    • Exposure
    • Severity of Injury
    • Avoidance
    • Slow Speed Control Function and Testing
    • Control System Behavior Category
  • 2.5 Intended Use of the Robots
  • 2.6 Robot Modifications
    • Acceptable Modifications
    • Unacceptable Modifications
  • 2.7 Transport
  • 2.8 Safety Requirements for Additional Equipment
  • 2.9 Sound Emissions
  • 2.10 Thermal Hazard
  • 2.11 Working Areas
  • 2.12 Qualification of Personnel
  • 2.13 Safety Equipment for Operators
  • 2.14 Protection Against Unauthorized Operation
  • 2.15 Safety Aspects While Performing Maintenance
  • 2.16 Risks Due to Incorrect Installation or Operation
  • 2.17 What to Do in an Emergency
• Robot Installation
  • 3.1 Transport and Storage
  • 3.2 Unpacking and Inspecting the Adept Equipment
    • Before Unpacking
    • Unpacking
    • Upon Unpacking
  • 3.3 Repacking for Relocation
  • 3.4 Environmental and Facility Requirements
  • 3.5 Mounting Frame
    • Overview
    • Frame Orientation
    • Frame Construction
    • Robot-to-Frame Considerations
    • Gussets
  • 3.6 Mounting the Robot Base
    • Robot Orientation
    • Mounting Surfaces
    • Mounting Options
    • Mounting Procedure from Above the Frame
      • Mounting to Top of Frame Pads
      • Mounting to Bottom of Frame Pads
    • Mounting Procedure from Below the Frame
      • Mounting to Bottom of Frame Pads
      • Mounting to Top of Frame Pads
    • Install Mounting Hardware
  • 3.7 Attaching the Outer Arms and Platform
    • Clocking the Platform to the Base
    • Attaching the Outer Arms
• System Installation
  • 4.1 System Cable Diagram
  • 4.2 Cable Parts List
  • 4.3 Installing the SmartController
  • 4.4 Description of Connectors on Robot Interface Panel
  • 4.5 Cable Connections from Robot to SmartController
  • 4.6 Connecting 24 VDC Power to Robot
    • Specifications for 24 VDC Robot and Controller Power
    • Details for 24 VDC Mating Connector
    • Procedure for Creating 24 VDC Cable
    • Installing 24 VDC Robot Cable
  • 4.7 Connecting 200-240 VAC Power to Robot
    • 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 Robot
  • 4.8 Grounding the Adept Quattro s650 Robot System
    • Robot-Mounted Equipment Grounding
  • 4.9 Installing User-Supplied Safety Equipment
• System Operation
  • 5.1 Robot Status LED Description
  • 5.2 Status Panel Fault Codes
  • 5.3 Using the Brake Release Button
    • Brakes
    • Brake Release Button
  • 5.4 Connecting Digital I/O to the System
  • 5.5 Using Digital I/O on Robot XIO Connector
    • Optional I/O Products
    • XIO Input Signals
      • XIO Input Specifications
      • Typical Input Wiring Example
    • XIO Output Signals
      • XIO Output Specifications
      • Typical Output Wiring Example
    • XIO Breakout Cable
  • 5.6 Commissioning the System
    • Verifying Installation
      • Mechanical Checks
      • System Cable Checks
      • User-Supplied Safety Equipment Checks
    • System Start-up Procedure
    • Verifying E-Stop Functions
    • Verifying Robot Motions
  • 5.7 Quattro Motions
    • Straight-line Motion
    • Containment Obstacles
    • Tool Flange Rotation Extremes
  • 5.8 Learning to Program the Adept Quattro Robot
• Optional Equipment Installation
  • 6.1 End-Effectors
    • Attaching
    • Aligning
    • Grounding
    • Accessing Vacuum
  • 6.2 Routing End-effector Lines
• Technical Specifications
  • 7.1 Dimension Drawings
  • 7.2 Adept Quattro s650 Robot Internal Connections
  • 7.3 XSLV Connector
  • 7.4 Robot Specifications
  • 7.5 Platform Specifications
    • Rotation and Payload Inertia - Range
    • Rotation and Payload Inertia - Performance
  • 7.6 Robot Mounting Frame
• Maintenance
  • 8.1 Periodic Maintenance Schedule
  • 8.2 Checking Safety Systems
  • 8.3 Checking Robot Mounting Bolts
  • 8.4 Checking Robot Gear Drives
  • 8.5 Checking Fan Operation
  • 8.6 Replacing the AIB Chassis
    • Removing the AIB Chassis
    • Installing a New AIB Chassis
      • If you have problems bringing up the Quattro after AIB replacement
  • 8.7 Replacing the Encoder Battery
    • Battery Replacement Time Periods
    • Battery Replacement Procedure
  • 8.8 Replacing a Platform
    • Replacement
    • Configuration
      • Load the SPEC Program
      • Load Robot Specifications from a Disk File
      • Save ALL specifications to system disk
• Robot Cleaning/ Environmental Concerns
  • 9.1 Ambient Environment
    • Humidity
    • Temperature
  • 9.2 Cleaning
    • Caustic Compatibility
    • Water Shedding
    • Wipe-Down
  • 9.3 Cleanroom Classification
  • 9.4 Design Factors
    • Robot Base and Components
    • Inner Arms
    • Ball Joints
    • Outer Arms
    • Springs
    • Platforms
  • 9.5 Installing Cable Seal Kit
    • Overview
      • Components
      • Tasks
    • Installation Procedure
• Index