adept technology PA-4 CAT-3, User Manual

Page 1: ...underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In...

Page 2: ...E R C O N T R O L CH2 CH1 M O T O R P O W E R O U T P U T J AMP J AMP J AMP LOW VOLTS ON HV SAG OVER TEMP FAULT DO NOT REMOVE OR INSTALL THIS SHORT FAULT OPEN CKT FAULT MODULE UNLESS HIGH VOLTS LED IS...

Page 3: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 4: ...OT REMOVE OR INSTALL THIS SHORT FAULT OPEN CKT FAULT MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUISHED PWM ON CH1 HIGH VOLTS ON CH2 CH2 CH1 M O T O R P O W E R O U T P U T LOW VOLTS ON HV SAG O...

Page 5: ...Top Adept FFE Adept FlexFeeder 250 Adept IC Adept iSight Adept Impulse Feeder Adept LineVision Adept MB 10 ServoKit Adept MC Adept MotionBlox 10 Adept MotionBlox 40L Adept MotionBlox 40R Adept MV Adep...

Page 6: ...ssis 19 2 1 Space Around the Chassis 19 2 2 Panel or Rack Mounting 20 Panel Mounting 20 Rack Mounting 20 2 3 Adept PA 4 Dimensions 22 3 Installation for Adept Viper and Cobra s850 Robots 25 3 1 Overvi...

Page 7: ...Installing Amplifier and Control Modules 48 Removing Amplifier Modules 49 Installing Amplifier Modules 49 6 4 PA 4 CAT 3 Power Chassis LED Functions 50 6 5 Changing the Power Chassis Voltage Setting...

Page 8: ...HP Module Viper s1700 Robots 29 Figure 3 5 J Amplifier Module Connectors and Indicators 31 Figure 3 6 sDAI Module Connectors and Indicators 32 Figure 3 7 External Brake Connector Pinouts 34 Figure 3...

Page 9: ...List of Figures 8 Adept PA 4 Power Chassis User s Guide Rev E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 10: ...ION HIGH VOLTAGE INSIDE B R A K E STATUS SmartServo 1 2 R S 2 3 2 E X P I O X S L V C N P G 1 2 3 C N P G 4 5 6 C N 2 5 C N 2 9 DAI s adept technology inc LOW VOLTS ON HV SAG OVER TEMP FAULT DO NOT RE...

Page 11: ...ng Altitude up to 2000 m 6500 ft Pollution degree 2 IEC 1131 2 EN 61131 2 Free space around power chassis for proper cooling 50 mm 2 inches in front 25 mm 1 inch at top Power chassis subassembly prote...

Page 12: ...ee Figure 1 2 on the lower right side of the PA 4 front panel there are additional labels for diagnostic LEDs See Figure 6 1 on page 50 This new PA 4 is also backwards compatible with earlier Adept sy...

Page 13: ...contain the circuitry and amplifying components for driving two motors H and I Amps Adept Viper s1700 robot systems J Amp Adept Viper s650 s850 and Adept Viper s1300 robot systems K Amp Adept Viper s...

Page 14: ...stallation and operation of the Adept Viper s650 s850 Adept Viper s1300 and Adept Viper s1700 robots Adept Cobra s850 Robot User s Guide Adept Cobra s850 Inverted Robot User s Guide Contains complete...

Page 15: ...VAC or 380 415 VAC You must be very careful when installing and operating these products Read and understand the Safety chapter in your robot manual before attempting to install these products Observ...

Page 16: ...equirements published by the Robotic Industries Association RIA in conjunction with the American National Standards Institute The publication ANSI RIA R15 06 contains guidelines for robot system insta...

Page 17: ...Kingdom Phone 44 0 20 8996 9000 Fax 44 0 20 8996 7400 http www bsi global com Document Center Inc 1504 Industrial Way Unit 9 Belmont CA 94002 USA Phone 415 591 7600 Fax 415 591 7617 http www document...

Page 18: ...ries Inc 333 Pfingsten Road Northbrook IL 60062 2096 USA Phone 1 847 272 8800 Fax 1 847 272 8129 http www ul com Table 1 4 Sources for International Standards and Directives Continued Artisan Technolo...

Page 19: ...Chapter 1 Introduction 18 Adept PA 4 Power Chassis User s Guide Rev E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 20: ...tandards such as OSHA Lockout Tagout USA IEC 204 1 EN 60204 1 2 1 Space Around the Chassis When the PA 4 chassis is installed you must allow 50 mm 2 in at the front of the chassis and 25 mm 1 in at th...

Page 21: ...ackets screws and washers to rack mount the PA 4 chassis in a standard 19 inch equipment rack You must build an extender panel and attach it to the mounting brackets The brackets can be installed in t...

Page 22: ...m pan head screw 2 places M4 x 10 mm pan head screw Rack Mount Flush Rack Mount Set Back Panel Mount To Install Mounting Brackets on Adept PA 4 Power Chassis Remove and discard 3 existing countersunk...

Page 23: ...imensions Figure 2 2 Adept PA 4 Power Chassis Dimensions for Adept Viper and Cobra s850 Robots WARNING Do not turn on AC power to the PA 4 until you have completed installation of the robot controller...

Page 24: ...ic Adept PA 4 Power Chassis Dimensions Without Modules 216 mm 8 5 in 290 mm 11 4 in 479 mm 18 9 in Front View Side View Top View 136 mm 5 4 in 18 mm 0 7 in adept technology inc 290 mm 11 4 in Artisan...

Page 25: ...35 mm 5 25 in 146 05 mm 5 75 in 133 35 mm 5 25 in 33 1 mm 1 30 in 8 56 mm 0 34 in 10 3 mm 0 41 in 4x 6 8 mm 0 27 in 4x 22 2 mm 0 87 in 3 2 mm 0 13 in 479 mm 18 8 in 266 mm 10 47 in PA 4 Power Chassis...

Page 26: ...s Viper s1300 J and K amps Viper s650 s850 J amps Cobra s850 L amps The amplifiers in the Adept Viper robot system are controlled by an sDAI distributed control module The sDAI module resides in the P...

Page 27: ...L I F I E R C O N T R O L CH2 CH1 M O T O R P O W E R O U T P U T J AMP J AMP J AMP LOW VOLTS ON HV SAG OVER TEMP FAULT DO NOT REMOVE OR INSTALL THIS SHORT FAULT OPEN CKT FAULT MODULE UNLESS HIGH VOL...

Page 28: ...GH VOLTS ON CH2 A M P L I F I E R C O N T R O L CH2 CH1 M O T O R P O W E R O U T P U T L AMP L AMP LOW VOLTS ON HV SAG OVER TEMP FAULT DO NOT REMOVE OR INSTALL THIS SHORT FAULT OPEN CKT FAULT MODULE...

Page 29: ...CH1 M O T O R P O W E R O U T P U T K AMP K AMP J AMP LOW VOLTS ON HV SAG OVER TEMP FAULT DO NOT REMOVE OR INSTALL THIS SHORT FAULT OPEN CKT FAULT MODULE UNLESS HIGH VOLTS LED IS COMPLETELY DISTINGUI...

Page 30: ...G 1 2 3 C N P G 4 5 6 C N 2 5 C N 2 9 DAI s adept technology inc LOW VOLTS ON HV SAG OVER TEMP FAULT DO NOT REMOVE OR INSTALL THIS SHORT FAULT OPEN CKT FAULT MODULE UNLESS HIGH VOLTS LED IS COMPLETELY...

Page 31: ...n an Adept Viper s1300 robot See Table 3 1 The L Amplifier modules are dual dual channel plug in modules that contain the cir cuitry and amplifying components for driving two of the motors in an Adept...

Page 32: ...at an open circuit in the motor leads has been detected HV Sag Over Temp Fault left LED when lit indicates that the fault was caused by a sag in voltage The right LED when lit indicates the fault was...

Page 33: ...eed to access it 4 CNPG123 connector the CNPG123 plug on the Interface Box wire harness is installed on this connector Provides an interface for the respective joint position encoders 5 CN25 connector...

Page 34: ...ncoder Joint MA Manual Mode hV High Voltage Bus Fault 24 24 V Supply Fault I Initialization Stage Step A Amp Fault Joint M Motor Stalled Joint B IO Blox Fault Address NV Non Volatile Memory AC AC Powe...

Page 35: ...or carries encoder feedback connections External Brake Connector The External Brake connector s wire list and pinouts are shown below See Figure 3 1 on page 26 for the connector s location This connec...

Page 36: ...A 4 power chassis and the SmartController 2 Loosen the 3 latching screws at the top of the Interface Box See Figure 3 1 on page 26 3 Lift the Interface Box up slightly and tilt it down Be careful to a...

Page 37: ...Chapter 3 Installation for Adept Viper and Cobra s850 Robots 36 Adept PA 4 Power Chassis User s Guide Rev E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 38: ...h the sMAI smart Multi Axis Interface module meet the Category 3 E Stop requirements per EN 954 The PA 4 can be configured with E F and G amplifier modules to support the AdeptSix robot systems See Se...

Page 39: ...ach mode safety circuits Smartservo IEEE 1394 interface for distributed control See page 40 for a description of the connectors and indicators on the sMAI adept technology inc LOW VOLTS ON HV SAG OVER...

Page 40: ...s on It does not go on until calibration is complete Low Volts On indicates the low voltage supply in the power chassis is on Note the three LED pairs below indicate faults and are visible momentarily...

Page 41: ...tion encoders 5 CN25 connector for AdeptSix 600 robots only the CN25 cable from the Arm Signal cable is installed on this connector 6 CN29 connector the CN29 cable from the Arm Power cable is installe...

Page 42: ...ncoder Joint MA Manual Mode hV High Voltage Bus Fault 24 24 V Supply Fault I Initialization Stage Step A Amp Fault Joint M Motor Stalled Joint B IO Blox Fault Address NV Non Volatile Memory AC AC Powe...

Page 43: ...Chapter 4 Installation for AdeptSix Robots 42 Adept PA 4 Power Chassis User s Guide Rev E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 44: ...INGUISHED PWM ON LOW VOLTS ON OPEN CKT FAULT HV SAG OVER TEMP HIGH VOLTS ON A PHASE SHORT FAULT B PHASE SHORT FAULT C PHASE SHORT FAULT C O N T R O L S I G N A L A AMP M O T O R P O W E R O U T P U T...

Page 45: ...On indicates the low voltage supply in the power chassis is on Note the three LED pairs below indicate faults and are visible momentarily before the system turns off Open Ckt Fault indicates that an o...

Page 46: ...that an open circuit in the motor leads has been detected HV Sag Over Temp indicates that either the input voltage has dropped below the specified level or an over temperature fault has been detected...

Page 47: ...ontroller 3 RS 232 connector reserved for future use 4 Teach Restrict connector used for optional CAT 3 safety installations When used the Teach Restrict to B Amp cable is installed on this connector...

Page 48: ...unauthorized return to service 2 Open the front grill by loosening two screws and swinging the grill out 3 Pull the air filter out and inspect it for dust or dirt particles If cleaning is required use...

Page 49: ...s used with an Adept Viper or Cobra robot system see Section 3 5 on page 35 for information on removing the interface box The Adept PA 4 power chassis ships from the factory with the amplifier modules...

Page 50: ...e of the module is flush with the other modules 5 Do not use excessive pressure or force to engage the connector If the board does not properly connect with the rear power connector remove the module...

Page 51: ...nt 3 Red SC LS This FAULT LED lights when the lower right mounting screw in any of the four slots is loose The fault will reset when the screws are tightened 4 Red K1 K2 F This FAULT LED lights when a...

Page 52: ...nk tubing one 7 mm 1 4 inch in diameter the other 19 mm 3 4 inch 4 Place the 7 mm 1 4 inch shrink tubing over the end of the blue wire in the power cord and use a heat gun to apply it 5 Fold the blue...

Page 53: ...ed setting is shown and re install it See Figure 6 3 3 Close the grill and secure the two screws 4 Clearly mark or alter the ID label which is located on the side of the PA 4 chassis to show the new v...

Page 54: ...of this procedure 2 If installed remove the 4 wire plug 3 Remove and discard the 19 mm 3 4 inch shrink tubing from the end of the power cord 4 Remove and discard the 7 mm 1 4 inch shrink tubing from t...

Page 55: ...ser s Guide Rev E Figure 6 4 Removing Insulation from Blue Wire in Power Cord 380 415 VAC 19 mm 3 4 inch shrink tubing blue wire power cord from power chassis Artisan Technology Group Quality Instrume...

Page 56: ...I 40 Customer Service assistance 13 D Dimensions PA 4 mounting brackets 23 PA 4 power chassis 23 Document Library CD ROM 13 14 E E amplifier modules connections indicators 39 functions in AdeptSix rob...

Page 57: ...y information for plug in modules 12 identification methods 11 LED functions 50 product ID label 11 PA 4 power chassis air filter inspection and cleaning 47 changing voltage setting From 200 240 VAC t...

Page 58: ...ew 38 Sources for international standards and directives 16 Space around the chassis 19 Status LEDs A amps 44 B amps 45 E amps 39 F amps 39 G amps 39 H amps 31 I amps 31 J amps 31 K amps 31 L amps 31...

Page 59: ...Index 58 Adept PA 4 Power Chassis User s Guide Rev E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 60: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 61: ...3011 Triad Drive Livermore CA 94551 925 245 3400 P N 02725 000 Rev F Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 62: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...