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Adept Vipers650/s850 Robotwith MB-60R/eMB-60RUser's Guide

Chapter 1: IntroductionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 10 of 100Adept SmartControllerThe SmartController™ moti

P/N: 05173-060 Rev F5960 I nglewood DrivePleas ant on, CA 94588925·245·3400

Chapter 1: IntroductionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 11 of 100The Adept MB-60R/eMB-60R feature:lSix AC servo

Chapter 1: IntroductionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 12 of 100DANGER:This indicates an imminently hazardous

Chapter 1: IntroductionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 13 of 100location in which the robot is installed.lThe

Chapter 1: IntroductionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 14 of 100Table 1-1. Installation OverviewTask to be Per

Chapter 1: IntroductionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 15 of 1003.Click Begin Search.4.The list of available d

Chapter 1: IntroductionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 16 of 100selecting Document Library from the Support ta

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 17 of 100Chapter 2: Robot Installation2.1 Unpacking and Inspecting the Adept E

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 18 of 1002.3 Environmental and Facility Requireme

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 19 of 100lDo not hold the first arm, elbow, eithe

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 20 of 100Transport ProcedureStep Procedure Drawin

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 21 of 100Step Procedure Drawinglocation is free o

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 22 of 100Mounting the Robot2X Ø6 200160R2066 ±0.0

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 23 of 1006.Secure the robot to the mount with fou

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 24 of 1002.6 Description of Connectors on Robot I

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 25 of 100Valve Symbols and Air intake/Exhaust Sta

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 26 of 100Connector set partNo.Connector No. Model

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 27 of 100Table 2-3. Viper Solenoid ControlActive

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 28 of 100Solenoid Valve SpecificationsTable 2-5.

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 29 of 100External Mounting Locations on RobotFigu

Adept Vipers650/s850 Robotwith MB-60R/eMB-60RUser's GuideP/N: 05173-060 Rev FAugust, 20125960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phon

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 30 of 100Center of Gravity Position of End-Effect

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 31 of 100Table 2-6. Moment of Inertia Formulas

Chapter 2: Robot InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 32 of 100Figure 2-10. Moment of Inertia Calculati

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 33 of 100Chapter 3: MotionBlox-60R3.1 IntroductionThe Adept MotionBlox-60R (MB

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 34 of 1003.2 Description of Connectors on MB-60R/eMB-

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 35 of 100Table 3-1. Connectors on the MB-60R/eMB-60R

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 36 of 100Figure 3-4. Controls and Indicators on MB-60

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 37 of 100Table 3-3. Status Panel CodesLED Status Code

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 38 of 100Brake Release ConnectorThe 9-pin Brake Relea

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 39 of 100Figure 3-5. Connecting Digital I/O to the Sy

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 4 of 100Copyright NoticeThe information contained herein is the property of Ad

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 40 of 100Type Signal RangeIO Blox 2 Inputs 1121 - 112

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 41 of 100Table 3-7. XIO Signal DesignationsPinNo.Desi

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 42 of 100Optional I/O ProductsThese optional products

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 43 of 100NOTE:The input current specifications are p

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 44 of 100XIO Output SignalsThe eight digital outputs

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 45 of 100Typical Output Wiring ExampleFigure 3-7. Typ

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 46 of 100Table 3-10. XIO Breakout Cable Wire ChartPin

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 47 of 1003.6 MB-60R/eMB-60R DimensionsThe following f

Chapter 3: MotionBlox-60RAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 48 of 1003.7 Mounting the MB-60R/eMB-60RThe MB-60R/eM

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 49 of 100Chapter 4: System Installation4.1 System Cable DiagramCN22CN20AIR1AIR

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 5 of 100Table of ContentsChapter 1: Introduction 91.1 Product Description9Adep

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 50 of 100NOTE:See Installing the 24 VDC Cable o

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 51 of 1005.Connect user-supplied 24 VDC power to

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 52 of 1004.5 Connecting Cables from the MB-60R/e

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 53 of 1004.7 Connecting 24 VDC Power to MB-60R/e

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 54 of 100Details for 24 VDC Mating ConnectorThe

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 55 of 100Installing the 24 VDC CableDo not turn

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 56 of 100WARNING:Appropriately-sized Branch Cir

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 57 of 100DANGER:AC power installation must be p

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 58 of 100EENL3LL1L2F5 10AF4 10AMB-60R1Ø 200–240

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 59 of 1007.Connect each wire to the correct term

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 6 of 100Table of ContentsCenter of Gravity Position of End-Effector 30Moment o

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 60 of 100CN22CN20AIR1AIR2Grounding Terminal (M5)

Chapter 4: System InstallationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 61 of 100Robot-Mounted Equipment GroundingThe ro

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 63 of 100Chapter 5: System Operation5.1 Status Panel CodesThe status panel dis

Chapter 5: System OperationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 64 of 100123456OFFBRAKERELEASEAxis selector switchS

Chapter 5: System OperationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 65 of 1005.3 Starting the System for the First Time

Chapter 5: System OperationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 66 of 100eMB-60R XSYSTEM safety interlock connector

Chapter 5: System OperationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 67 of 100(default time-out is 10 seconds). If the b

Chapter 5: System OperationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 68 of 1005.5 Installing Axis LabelsThe system inclu

Chapter 5: System OperationAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 69 of 1005.6 Caution Label on RobotThe Caution labe

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 7 of 100Table of Contents4.9 Grounding the Adept Robot System59Ground Point on

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 71 of 100Chapter 6: Maintenance6.1 Field-replaceable PartsWARNING:Only qualif

Chapter 6: MaintenanceAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 72 of 100lEnabling switch on pendantlAuto/Manual switch

Chapter 6: MaintenanceAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 73 of 100Battery Replacement ProcedureNOTE:Dispose of t

Chapter 6: MaintenanceAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 74 of 100NOTE:Do not disconnect old backup batteries be

Chapter 6: MaintenanceAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 75 of 100Figure 6-5. Connecting Third New Battery8.Remov

Chapter 6: MaintenanceAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 76 of 100Remove the MB-60R/eMB-60R Amplifier1.Switch off

Chapter 6: MaintenanceAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 77 of 1006.7 Commissioning a System with an eMB-60RCommi

Chapter 6: MaintenanceAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 78 of 100PrerequisiteslThe robot must be set up and func

Chapter 6: MaintenanceAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 79 of 100E-Stop Configuration UtilityThis utility sets t

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 8 of 100Table of ContentsChapter 7: Technical Specifications 837.1 Robot Dimen

Chapter 6: MaintenanceAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 80 of 100Teach Restrict Configuration UtilityThis utilit

Chapter 6: MaintenanceAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 81 of 1003.Teach a Start Position.NOTE:This procedure w

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 83 of 100Chapter 7: Technical Specifications7.1 Robot DimensionsFigure 7-1. Ad

Chapter 7: Technical SpecificationsAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 84 of 100Figure 7-2. Adept Viper s650 Top D

Chapter 7: Technical SpecificationsAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 85 of 100Figure 7-3. Adept Viper s850 Side

Chapter 7: Technical SpecificationsAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 86 of 100Figure 7-4. Adept Viper s850 Top D

Chapter 7: Technical SpecificationsAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 87 of 1007.2 Robot Flange DimensionsFigure

Chapter 7: Technical SpecificationsAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 88 of 100Specification s650 s850Maximum pay

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 89 of 100Chapter 8: IP-54/65 Option8.1 IntroductionThe Adept Viper s650 and s8

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 9 of 100Chapter 1: Introduction1.1 Product DescriptionAdept Viper s650/s850 Ro

Chapter 8: IP-54/65 OptionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 90 of 1008.2 Differences from the Standard Robot Mod

Chapter 8: IP-54/65 OptionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 91 of 100Cable ClearanceFor the IP-54/65 robot, the

Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 93 of 100Chapter 9: Cleanroom Option9.1 IntroductionThe Adept Viper s650 and s

Chapter 9: Cleanroom OptionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 94 of 100Robot Connector PanelFor the Cleanroom rob

Chapter 9: Cleanroom OptionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 95 of 100Table 9-2. Air Intake/Exhaust StatesAir Co

Chapter 9: Cleanroom OptionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 96 of 100Pins A to K on CN20 and #1 to #10 on CN21

Chapter 9: Cleanroom OptionAdept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev FPage 97 of 100Figure 9-4. J6 Cleanroom Cover Dimensions9