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Table of Contents
Adept Quattro s650H Robot User’s Guide, Rev A 9
9 Robot Cleaning/ Environmental Concerns . . . . . . . . . . . . . . . . . . . . . 109
9.1 Ambient Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
9.2 Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Caustic Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Water Shedding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Wipe-Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
9.3 Cleanroom Classification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
9.4 Design Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Robot Base and Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Inner Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Ball Joints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Outer Arms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Springs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Platforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
9.5 Installing Cable Seal Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
- Adept Quattro 1
- Table of Contents 5
- List of Figures 11
- Introduction 1 13
- Quattro Robot Base 14
- Adept AIB 14
- Inner Arms 15
- Ball Joints, Outer Arms 16
- Platform 16
- ° platform is 9.78 mm 17
- ° Platform, Top View 18
- ° Platform, Bottom View 18
- 1.2 Installation Overview 20
- 1.4 How Can I Get Help? 21
- Related Manuals 22
- Adept Document Library 22
- Safety 2 23
- Safety Barriers 24
- Impact and Trapping Points 25
- Emergency Recovery Procedures 25
- Chapter 2 - Safety 26
- 2.4 Risk Assessment 27
- 2.6 Robot Modifications 30
- 2.7 Transport 31
- 2.9 Sound Emissions 31
- 2.10 Thermal Hazard 32
- 2.11 Working Areas 32
- Robot Installation 3 35
- 3.3 Repacking for Relocation 37
- 3.5 Mounting Frame 38
- Frame Orientation 39
- Frame Construction 39
- Robot-to-Frame Considerations 39
- 3.6 Mounting the Robot Base 40
- Robot Orientation 41
- Mounting Surfaces 41
- Mounting Options 41
- Install Mounting Hardware 44
- Attaching the Outer Arms 46
- 4.1 System Cable Diagram 51
- 4.2 Cable Parts List 52
- Installing 24 VDC Robot Cable 56
- Specifications for AC Power 57
- IEC 1131-2 58
- IEC 1131-4 for additional 58
- 200–240 VAC 59
- System Operation 5 63
- 5.2 Status Panel Fault Codes 64
- Brake Release Button 65
- SmartController CX 66
- Optional I/O Products 69
- XIO Input Signals 69
- Adept-Supplied Equipment 70
- User-Supplied Equipment 70
- XIO Output Signals 71
- XIO Breakout Cable 72
- 5.6 Commissioning the System 73
- Verifying Installation 74
- System Start-up Procedure 75
- 5.7 Quattro Motions 76
- Containment Obstacles 77
- Tool Flange Rotation Extremes 77
- ° platforms) are 77
- Optional Equipment 81
- Installation 6 81
- 7.1 Dimension Drawings 83
- Units are mm 84
- Dimension Drawings 85
- Figure 7-5. Arm Travel Volume 86
- Quattro AIB 87
- Internal Connections 87
- Quattro XSLV 87
- Panel Connections 87
- 7.3 XSLV Connector 88
- 7.4 Robot Specifications 89
- 7.5 Platform Specifications 90
- 7.6 Robot Mounting Frame 90
- UNLESS OTHERWISE SPECIFIED: 92
- Robot Mounting Frame 93
- Maintenance 8 95
- 8.2 Checking Safety Systems 97
- 8.5 Checking Fan Operation 98
- 8.6 Replacing the AIB Chassis 99
- Securing Screw on AIB Chassis 100
- Securing Screw on AIB 100
- Installing a New AIB Chassis 102
- Battery Replacement Interval 103
- Battery Replacement Procedure 103
- 8.8 Replacing a Platform 105
- °±60° 09023-000 QP09023.SPC 106
- Configuration 106
- °±185° 09068-000 QP09068.SPC 106
- Robot Cleaning/ 109
- Environmental 109
- Concerns 9 109
- 9.2 Cleaning 110
- 9.3 Cleanroom Classification 111
- 9.4 Design Factors 112
- 9.5 Installing Cable Seal Kit 113
- Installation Procedure 114
- Numerics 119
- 3011 Triad Drive 126
- Livermore, CA 94551 126
- 925·245·3400 126
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