Omron Viper 1300 Six-Axis Robot User guide

Omron Adept Viper

s1300 Robot

User’s Guide

Adept Viper s1300 Robot User’s Guide, Rev B 5

Table of Contents

1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Adept Viper s1300™ Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Adept SmartController CX™. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Adept PA-4™ CAT-3 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.2 Dangers, Warnings, Cautions, and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.4 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.5 Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Manufacturer’s Declaration of Compliance (MDOC) . . . . . . . . . . . . . . . . 12

Adept Robot Safety Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.6 Intended Use of the Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.7 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.8 Manufacturer’s Declaration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.9 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.1 Unpacking and Inspecting the Adept Equipment. . . . . . . . . . . . . . . . . . . . . . . 17

2.2 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.3 Transporting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Precautions in Transporting Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Transport Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2.4 Mounting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2.5 Grounding the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.6 Description of Connectors on Robot Interface Panel . . . . . . . . . . . . . . . . . . . . 24

2.7 Air Lines and Signal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Optional Solenoid Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Solenoid Valve Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

External Mounting Locations on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2.8 Designing End-Effectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Mass of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Center of Gravity Position of End-Effector . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Moment of Inertia Around J4, J5 and J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Table of Contents

6 Adept Viper s1300 Robot User’s Guide, Rev B

3System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.2 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.3 Installing the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.4 Connecting the PC to the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.5 Installing the PA-4 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.6 Connecting 3-Phase AC Power to PA-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

PA-4 3-Phase Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Connecting the PA-4 3-Phase AC Power Cord to AC Supply . . . . . . . . . . 38

Typical 3-Phase AC Power Installation Diagrams . . . . . . . . . . . . . . . . . . . . . 39

4System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4.1 Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Mechanical Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

System Cable Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

User-Supplied Safety Equipment Checks . . . . . . . . . . . . . . . . . . . . . 42

System Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Running the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Starting the Adept ACE Software . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Enabling High Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Verifying E-Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Verifying Robot Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.2 Learning to Program the Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.3 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4.4 Status Panel Codes on sDAI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

4.5 Installing and Using the Brake Release Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

5Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.1 Replacing Encoder Backup Battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.2 Installing User-Supplied Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

6Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

6.1 Robot Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

6.2 Robot Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

6.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Adept Viper s1300 Robot User’s Guide, Rev B 7

List of Figures

Figure 1-1. Robot Axis Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Figure 1-2. Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Figure 2-1. Robot in Hoisting Sling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Figure 2-2. Mounting Hole Pattern for Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Figure 2-3. Ground Point on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Figure 2-4. Robot Interface Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Figure 2-5. External Mounting Holes on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Figure 2-6. Allowable Range of Center of Gravity Position of End-effector . . . . . . . . . . . . . . . . . . . . 29

Figure 2-7. Moment of Inertia Calculation Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Figure 3-1. System Cable Diagram for Adept Viper s1300 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Figure 3-2. Adept PA-4 Power Chassis with sDAI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Figure 3-3. Typical 3-Phase 200-240 VAC Connection for PA-4 System . . . . . . . . . . . . . . . . . . . . . . . . 39

Figure 3-4. Typical 3-Phase 380-415 VAC Connection for PA-4 System . . . . . . . . . . . . . . . . . . . . . . . . 39

Figure 4-1. High Power Button on Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Figure 4-2. Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Figure 4-3. Manual Brake Release Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Figure 5-1. Removing Cover to Replace Encoder Batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Figure 5-2. Removing Battery Support Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Figure 5-3. Removing Dummy Connector Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Figure 5-4. Connecting First New Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Figure 5-5. Connecting Second New Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Figure 5-6. Connecting Third New Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Figure 5-7. Reconnecting Dummy Connector Cap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Figure 6-1. Adept Viper s1300 Side Dimensions and Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Figure 6-2. Adept Viper s1300 Top Dimensions and Work Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Figure 6-3. Robot Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Adept Viper s1300 Robot User’s Guide, Rev B 9

Introduction 1

1.1 Product Description

Adept Viper s1300™ Robots

The Adept Viper s1300 is a high-performance, six-axis robot designed specifically for

assembly applications. The speed and precision of the Adept Viper robots also make them

ideal for material handling, packaging, machine tending, and many other operations

requiring fast and precise automation.

Figure 1-1. Robot Axis Identification

(+)

(-)

3rd-axis motor cover (rear side)

2nd-axis motor cover (rear side)

Second arm

(+)

(-)

(+)

(-)

6th axis (J6)

5th axis (J5)

3rd axis (J3)

2nd axis (J2)

1st axis (J1)

4th axis (J4)

Base

First arm

4th-axis cover

Tool mounting

flange

Chapter 1 - Introduction

10 Adept Viper s1300 Robot User’s Guide, Rev B

Adept SmartController CX™

The SmartController CX is the foundation of Adept’s family of high-performance

distributed motion controllers. The SmartController CX is designed for use with Adept

Cobra s600 and s800 robots, Adept Python Modules, Adept Viper robots, Adept Quattro

robots, and the Adept sMI6 Module for the SmartMotion product.

The SmartController CX supports a conveyor tracking option. It offers scalability and

support for IEEE 1394-based digital I/O and general motion expansion modules. The

IEEE 1394 interface is the backbone of Adept SmartServo, Adept's distributed controls

architecture supporting Adept products. The controller also includes Fast Ethernet and

DeviceNet.

Figure 1-2. Adept SmartController CX

Adept PA-4™ CAT-3 Power Chassis

The PA-4 CAT-3 includes AC-DC power conversion electronics that support a range of

Adept power amplifiers and robot control modules. In addition, the PA-4 CAT-3 includes

dual (redundant) high-power AC contactors. The PA-4 is configured with J Amplifier

modules to support the Adept Viper s1300 robot systems.

The J and K amplifiers in the Adept Viper s1300 robot system are controlled by the sDAI

(100 W) distributed control module. The sDAI module resides in the PA-4 chassis and

contains a RISC microprocessor and interface circuitry that close the servo loops for high-

performance robot motion. The sDAI is connected to a host Adept SmartController via the

SmartServo interface (based on IEEE 1394).

R

ON

SmartServo IEEE-1394

1234

SF ES HD

SW1 1.1 1.2 2.1 2.2

OK

123

XDIO

LANHPE

OFF

XSYS

CAMERA

Eth 10/100

XUSR

Device Net

XFP

RS-232/TERM

RS-232-1

XMCP

BELT ENCODER

SmartController CX

-+ -+

RS-422/485

XDC1 XDC2

24V 5A

*S/N3562-XXXXX*

RS-232-2

Dangers, Warnings, Cautions, and Notes

Adept Viper s1300 Robot User’s Guide, Rev B 11

1.2 Dangers, Warnings, Cautions, and Notes

There are six levels of special alert notation used in Adept manuals. In descending order

of importance, they are:

NOTE: Notes provide supplementary information, emphasize a point or

procedure, or give a tip for easier operation.

DANGER: This indicates an imminently hazardous

electrical situation which, if not avoided, will result in

death or serious injury.

DANGER: This indicates an imminently hazardous

situation which, if not avoided, will result in death or

serious injury.

WARNING: This indicates a potentially hazardous

electrical situation which, if not avoided, could result in

injury or major damage to the equipment.

WARNING: This indicates a potentially hazardous

situation which, if not avoided, could result in injury or

major damage to the equipment.

CAUTION: This indicates a situation which, if not avoided,

could result in damage to the equipment.

Chapter 1 - Introduction

12 Adept Viper s1300 Robot User’s Guide, Rev B

1.3 Safety Precautions

• All personnel who install, operate, teach, program, or maintain the system must

read this guide, read the Adept Robot Safety Guide, and complete a training

course for their responsibilities in regard to the robot.

• All personnel who design the robot system must read this guide, read the Adept

Robot Safety Guide, and must comply with all local and national safety

regulations for the location in which the robot is installed.

• The robot system must not be used for purposes other than described in Section

1.6. Contact Adept if you are not sure of the suitability for your application.

• The user is responsible for providing safety barriers around the robot to prevent

anyone from accidentally coming into contact with the robot when it is in motion.

• Power to the robot and its power supply must be locked out and tagged out before

any maintenance is performed.

1.4 What to Do in an Emergency Situation

Press any E-Stop button (a red push-button on a yellow background/field) and then

follow the internal procedures of your company or organization for an emergency

situation. If a fire occurs, use CO2 to extinguish the fire.

1.5 Additional Safety Information

Adept provides other sources for more safety information:

Manufacturer’s Declaration of Compliance (MDOC)

This lists all standards with which each robot complies. See “Manufacturer’s

Declaration” on page 13.

Adept Robot Safety Guide

The Adept Robot Safety Guide provides detailed information on safety for Adept robots.

It also gives resources for more information on relevant standards.

It ships with each robot manual, and is also available from the Adept Document Library.

See “Adept Document Library” on page 15.

DANGER: The Adept Viper s1300 robot can cause serious

injury or death, or damage to itself and other equipment, if

the following safety precautions are not observed:

Intended Use of the Robots

Adept Viper s1300 Robot User’s Guide, Rev B 13

1.6 Intended Use of the Robots

The Adept Viper robots are intended for use in parts assembly and material handling for

payloads less than 10 kg. See Chapter 2 for complete information on tooling and

payloads.

1.7 Installation Overview

The system installation process is summarized in the following table. Refer also to the

system cable diagram in Figure 3-1 on page 33.

NOTE: For dual-robot installations, see the Adept Viper Dual Robot

Configuration Procedure, which is available in the Adept Document

Library.

1.8 Manufacturer’s Declaration

The Manufacturer’s Declaration of Incorporation and Conformity lists all standards for

which the Adept Viper robot system complies. It can be found on the Adept Web site, in

the Download Center of the Support section.

ftp://ftp1.adept.com/Download-Library/Manufacturer-Declarations/

Each Manufacturer's Declaration is supplied in PDF format and stored on the website in a

ZIP archive. To access the PDF document:

1. Click on the appropriate .zip file. You are prompted to Open or Save the file.

2. Click Open to open the file and display the archive contents.

3. Double-click on a .pdf file to open it.

Table 1-1. Installation Overview

Task to be Performed Reference Location

1. Mount the robot on a flat, secure mounting surface. See Section 2.4 on page 22.

2. Install the SmartController, Front Panel, and Adept

ACE™ software. See Section 3.2 on page 34.

3. Install the PA-4 power chassis. See Section 3.5 on page 35.

4. Install the Arm Power/Signal cable between the

PA-4 and the robot. See Section 3.5 on page 35.

5. Install the IEEE 1394 and XSYS cables between

the PA-4 and SmartController. See Section 3.5 on page 35.

6. Connect AC power to PA-4 power chassis. See Section 3.6 on page 37.

7. Start the Adept ACE software, connect to the

controller, and turn on power to the system. See Section 4.1 on page 41.

Chapter 1 - Introduction

14 Adept Viper s1300 Robot User’s Guide, Rev B

1.9 How Can I Get Help?

Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on

getting assistance with your Adept software and hardware. Additionally, you can access

information sources on Adept’s corporate web site:

http://www.adept.com

• For Contact information:

http://www.adept.com/contact/americas

http://www.adept.com/contact/asiapacific-rim

http://www.adept.com/contact/europe

• For Product Support information:

http://www.adept.com/support/service-and-support/main

• For user discussions, support, and programming examples:

http://www.adept.com/forum/

• WEEE/RoHS, Policy:

ftp://ftp1.adept.com/Download-Library/Regulatory/

• WEEE Drop-off Sites:

http://www.adept.com/contact/americas

http://www.adept.com/contact/asiapacific-rim

http://www.adept.com/contact/europe

The Download Center (ID # 500080) provides Adept WEEE/RoHS Policy. The

Contact area of the web site gives locations of WEEE drop-off sites.

How Can I Get Help?

Adept Viper s1300 Robot User’s Guide, Rev B 15

Related Manuals

This manual covers the installation, operation, and maintenance of an Adept Viper s1300

robot system. There are additional manuals that cover programming the system,

reconfiguring installed components, and adding other optional components. See Tabl e

1-2. These manuals are available on the Adept Document Library CD-ROM shipped with

each system.

Adept Document Library

The Adept Document Library (ADL) contains documentation for Adept products. You

can access the ADL from:

• the Adept Software CD shipped with your system

• the Adept Web site. Select Document Library from the Adept home page. To go

directly to the Adept Document Library, type the following URL into your

browser:

http://www.adept.com/Main/KE/DATA/adept_search.htm

To locate information on a specific topic, use the Document Library search engine on the

ADL main page. To view a list of available product documentation, select the Document

Titles option.

Table 1-2. Related Manuals

Manual Title Description

Adept Robot Safety Guide Contains general safety information for all Adept robots.

Adept SmartController

User’s Guide

Contains complete information on the installation and

operation of the Adept SmartController and the optional sDIO

product.

Adept PA-4 Power Chassis

User’s Guide

Contains complete information on the installation and

operation of the PA-4 Power Chassis.

Adept ACE User’s Guide Describes installation of Adept ACE software.

Adept Viper Dual Robot

Configuration Procedure

Contains cable diagrams and configuration procedures for a

dual-robot system.

Instructions for Adept

Utility Programs

Describes the utility programs used for advanced system

configurations, system upgrades, file copying, and other

system configuration procedures.

V+ Operating System User’s

Guide

Describes the V+ operating system, including disk file

operations, monitor commands, and monitor command

programs.

V+ Language User’s Guide Describes the V+ language and programming of an Adept

control system.

Adept Viper s1300 Robot User’s Guide, Rev B 17

Robot Installation 2

2.1 Unpacking and Inspecting the Adept Equipment

Before Unpacking

Carefully inspect all shipping crates for evidence of damage during transit. Pay special

attention to tilt and shock indication labels on the exteriors of the containers, if installed. If

any damage is indicated, request that the carrier’s agent be present at the time the

container is unpacked.

Upon Unpacking

Before signing the carrier’s delivery sheet, please compare the actual items received (not

just the packing slip) with your equipment purchase order and verify that all items are

present and that the shipment is correct and free of visible damage.

If the items received do not match the packing slip, or are damaged, do not sign the

receipt. Contact Adept as soon as possible.

If the items received do not match your order, please contact Adept immediately.

Inspect each item for external damage as it is removed from its container. If any damage is

evident, contact Adept (see Section 1.9 on page 14).

Retain all containers and packaging materials. These items may be necessary to settle

claims or, at a later date, to relocate equipment.

Chapter 2 - Robot Installation

18 Adept Viper s1300 Robot User’s Guide, Rev B

2.2 Environmental and Facility Requirements

The Adept robot system installation must meet the operating environment requirements

shown in Table 2-1.

Table 2-1. Robot System Operating Environment Requirements

Item Condition

Flatness of the mounting

surface

0.1/500 mm

Installation type Floor-mount or Overhead-mount

Ambient temperature During operation: 0 to 40°C

During storage and transportation: -10 to 60°C

Humidity During operation: 90% or less (No dew condensation allowed.)

During storage and transportation: 75% or less (No dew

condensation allowed.)

Vibration During operation: 4.9 m/s2 (0.5G) or less

During storage and transportation: 29.4 m/s2 (3G) or less

Safe Installation

Environment

The robot should not be installed in an environment where:

• there are flammable gases or liquids,

• there are any acidic, alkaline or other corrosive gases,

• there is sulfuric or other types of cutting or grinding oil

mist, or

• there are any large-sized inverters, high output/high

frequency transmitters, large contactors, welders, or other

sources of electrical noise.

• there are any shavings from metal processing or other

conductive material flying about,

• it may be directly exposed to water, oil, or cutting chips.

Working space, etc. • Sufficient service space must be available for inspection and

disassembly.

• Keep wiring space (230 mm or more) behind the robot, and

fasten the wiring to the mounting face or beam so that the

weight of the cables will not be directly applied to the

connectors.

Installation conditions Grounding resistance: 100 milliohms or less

See Figure 2-3 on page 23.

Transporting the Robot

Adept Viper s1300 Robot User’s Guide, Rev B 19

2.3 Transporting the Robot

Precautions in Transporting Robot

• The robot weighs approximately 78 kg. Use a crane suitable for the robot weight.

• Have at least two workers handle this job.

• Workers should wear helmets, safety shoes, and gloves during transport.

• Do not hold the first arm, elbow, either side of the 2nd arm, 2nd-axis cover, or

3rd-axis cover, or apply force to any of them. See Figure 1-1 on page 9.

Figure 2-1. Robot in Hoisting Sling

CAUTION: Pass the hoisting wires through the specified

eyebolts as illustrated below. Passing them through other

sections may drop the robot unit, resulting in injuries to

personnel or damage to the robot.

Waste Cloth

Robot Mounting

Bolts

Wire

(Belt sling)

Eyebolts

Chapter 2 - Robot Installation

20 Adept Viper s1300 Robot User’s Guide, Rev B

Transport Procedure

Step Procedure Drawing

1 Before transportation, set the robot in

a transport position as shown at right

by manually moving the second, third

and fourth axes.

When unpacked first, the robot is in

the transport position, so this job is

not required.

Transport Position

Axis Angle

First axis (J1) +90°

Second axis (J2) -175°

Third axis (J3) +255°

Fourth axis (J4) -90°

Fifth axis (J5) -90°

2 Disconnect the robot control cable, air

piping and user signal cables from the

robot unit.

When the robot unit is first unpacked,

this job is not required.

3 As shown at right, mount the

eyebolts.

When delivered, the robot unit is

packed with eyebolts attached, so this

job is not required

Eyebolts

Transporting the Robot

Adept Viper s1300 Robot User’s Guide, Rev B 21

4 As shown at right, place a waste cloth

on the second arm and pass the wire

through the two eyebolts.

Note: Before transporting the robot,

check that the path to the target

position is free of obstacles.

5Worker A: Remove the four bolts

while supporting the robot unit to

prevent it from getting overturned.

6 Worker B: Operate the crane and

move the robot unit to the target site.

7 Worker B: Put the robot unit down in

the target position.

Worker A: Temporarily secure the

robot unit with four bolts.

8 Secure the robot unit according to the

instructions in Section 2.4 on page 22.

9 Remove the eyebolts from the robot

unit.

Caution: Before running the robot unit, be

sure to remove the eyebolts. Otherwise, the

robot arm will strike against those eyebolts.

Step Procedure Drawing

Waste Cloth

Robot Mounting

Bolts

Wire

(Belt sling)

Eyebolts

Chapter 2 - Robot Installation

22 Adept Viper s1300 Robot User’s Guide, Rev B

2.4 Mounting the Robot

Figure 2-2. Mounting Hole Pattern for Robot

1. See Figure 2-2 for the dimensions of the mounting holes in the robot mounting

position where the robot unit is to be secured.

2. Drill four bolt holes (M12), 15 mm deep or more.

3. Secure keys or pins to the reference planes.

NOTE: Be sure to secure keys or pins. They can minimize positional

deviations that may be caused by the removal and installation of the

robot unit for maintenance.

4. Set the robot unit into place on the robot mount. When transporting the robot

unit, follow the instructions given in Section 2.3 on page 19.

5. Secure the robot unit to the mount with four bolts and plain washers.

• Bolt: M12 x 40 mm (strength class: 12.9)

• Tightening torque: 110 +/- 22 Nm

• Plain washer: JIS B 1256 (polished round)

250

155 ± 0.1 150

150

155 ± 0.1

240

25

25 190

250

192

4-14.5 drill

30

(for M12 screw)

Reference

plane

Grounding the Robot

Adept Viper s1300 Robot User’s Guide, Rev B 23

2.5 Grounding the Robot

Ground the grounding terminal of the robot unit with a wire of 12 AWG or more. Ground

resistance must be less than 100 milliohms.

NOTE: Use a dedicated grounding wire and grounding electrode. Do not

share them with any other electric power or power equipment such as a

welder.

Figure 2-3. Ground Point on Robot

WARNING: Wiring must be performed by authorized or

certified personnel. Failure to observe this caution may

result in fire or electric shock.

AIR1

CN20

CN22

AIR2

Grounding

Terminal (M5)

User-Supplied

Ground Wire

5.5mm2 or more

Chapter 2 - Robot Installation

24 Adept Viper s1300 Robot User’s Guide, Rev B

2.6 Description of Connectors on Robot Interface Panel

Figure 2-4. Robot Interface Panel

CN22 - the Arm Power/Signal cable from the PA-4 is installed at this connector.

CN20 - Pins 1 to 10 are wired directly to corresponding pins 1 to 10 on CN21 on the upper

arm. Pins 12 to 18 are for solenoid control. See Section 2.7 on page 25.

AIR 1 - air piping connector (BSPT1/4) for three solenoids in robot. See Section 2.7 on

page 25.

AIR 2 - air piping connector (BSPT1/4), connects directly to AIR 2 on the second (upper)

arm.

Grounding Terminal - ground point on robot, see Section 2.5 on page 23.

AIR1

CN20

CN22

AIR2

Ground

Terminal (M5)

CN22 Power/Signal Cable,

to PA-4

CN20

AIR 1

AIR 2

Air Lines and Signal Wiring

Adept Viper s1300 Robot User’s Guide, Rev B 25

2.7 Air Lines and Signal Wiring

CN20 pin No.

Used for:

12 0V

13 Solenoid 1A (solenoid valve 1)

14 Solenoid 1B (solenoid valve 1)

15 Solenoid 2A (solenoid valve 2)

16 Solenoid 2B (solenoid valve 2)

17 Solenoid 3A (solenoid valve 3)

18 Solenoid 3B (solenoid valve 3)

Note 1: Pin #1 to #10 on CN21 and those on CN20 are connected with each other. The allowable current per line is 1 A.

Note 2: Use the supplied connector sets for CN20 and CN21.

ecnaraeppAeman trap dna ledoM.oN trap tes rotcennoC

for CN20

for CN21

SRCN6A25-24S

(round type connector)

(Japan Aviation Electronics Industry Ltd)

05019-000 JMLP1610M

(L type plug connector)

DDK Electronics, Inc.

Air Piping

Joint (M5)

Valve Symbols and Air Intake and Exhaust States

(1A and 1B are piping joint symbols.)

Air piping joint Valve signal

Solenoid

Air

intake Exhaust Solenoid

valve AB

1A 1B 1 ON OFF

1B 1A 1 OFF ON

2A 2B 2 ON OFF

2B 2A 2 OFF ON

3A 3B 3 ON OFF

AIR1

3B 3A 3OFFON

AIR2

Connector (CN20) for end-effector

signal/valve control wires

View (B)

AIR1 piping joint

(BSPT 1/4)

AIR2 piping joint

(BSPT 1/4)

CN20 pin layout

CN21 pin layout View (A) CN21 for end-effector

control signal wires

(B)

(A)

For controller I/O unit, PNP type

(sink IN, source OUT)

AIR1

CN20

CN22

AIR2

1A

2A

3A

1B

2B

3B

AIR2

CN21

3 2 1

7 6 5 4

10 9 8

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Omron Viper 1300 Six-Axis Robot User guide

Omron Viper 1300 Six-Axis Robot User guide

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