Adept Python Manual do Utilizador descarregar pdf (Página 148)

Chapter 10 - System Operation

148 Adept Python Modules User’s Guide, Rev. E

Figure 10-4. DC_SETUP Program Current Configuration Screen

After you run DC_SETUP to configure each axis, you might need to run DC_SETUP again

if you:

• change your module configuration

• replace modules

You should not need to run DC_SETUP again if you replace the MotionBlox-10 amplifiers

only.

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Adept Python 1
Table of Contents 5
List of Figures 11
Introduction 1 15
L18 Module with 16
MotionBlox-10 Amp 16
L12 Module with 16
Product Description 17
Special and Custom Orders 18
Adept SmartController CX 18
1.4 How Can I Get Help? 21
1.5 Related Manuals 22
Safety 2 23
2.3 Risk Assessment 25
Avoidance 26
Maximum Thrust 27
Safety Barriers 28
2.5 Equipment Modifications 30
2.6 Transport 31
2.8 Sound Emissions 32
2.9 Thermal Hazard 32
2.10 Working Areas 32
Python Linear Module 37
Descriptions 3 37
L-Series Module Types 38
Payloads and Moments 38
Stroke Length 41
Accuracy 41
Acceleration 43
Resolution and Repeatability 43
143.50 mm 45
168.50 mm 45
295.50 mm 46
Motor Mount Configuration 47
Linear Module Options 49
Harness Exit Configurations 50
Module Preparation (Assembly) 51
L18 030 S10 B0 M10 0 P0 0 0 52
L18 030 S10 B0 53
M10 0 P0 0 0 54
L08 010 S10 B0 57
LG6 020 P0 0 0 59
Python Theta Module 61
Description 4 61
Gear Ratio 63
Interface 63
± 360° RANGE OF MOTION 64
(CONTINUOUS TURN AVAILABLE) 64
LT1 G30 B0 64
Module System Descriptions 5 67
10 S 1 0 0 0 69
A0 A0 A0 A0 X00 0 70
S 2 0 0 0 72
Single-Axis Configurations 73
Z-Axis motion 74
Single-Axis Theta Modules 75
5.4 System Orientation 86
Single-Axis Orientations 87
Typical Two-Axis Orientations 87
Module 1, Flipped 89
Module 2, Rolled 89
(Amp 2 facing Amp 1) 89
5.5 Mounting Options 90
Mounting Feet Drawings 91
Toe Clamp Drawings 92
All dimensions 93
CABLE 4 KIT - No cable 97
CABLE 1 KIT - No cable 97
5.7 Gantry Mounting Kits 98
GANTRY MOUNTING 99
Dimension determined 100
Y module 100
LG6 Gantry Support Module 100
5.8 IO Blox 103
IO BLOX OPTIONS 104
CABLING/PLUMBING 107
Module Installation 6 109
Mounting Plate 110
General Installation Notes 110
Cleanroom System Installation 115
Space Around the Chassis 117
7.2 System Cable Diagram 118
7.3 Installing the PDU3 119
Power Distribution Unit 8 121
8.2 Installing the PDU3 122
200–240V~ 123
380–415V~ 123
8.5 PDU3 Fuses 125
8.6 PDU3 Mounting Brackets 126
8.7 PDU3 Dimensions 127
Note: All dimensions 128
8.9 PDU3 Specifications 129
XDCS Connector 131
XSLV1/2 Connector 131
Adept MB-10 Amps 9 133
9.2 MB-10 Operation 134
Indicator LED 135
Brake Release Button 135
MB-10 Connectors 135
IO Blox Connector 136
9.3 MB-10 Firmware 137
9.4 MB-10 Specifications 138
Motor Connector 139
Encoder Connector 139
System Operation 10 143
Power Checks 144
Cable Installation Checks 144
10.3 Turning On Power 145
10.4 Software Configuration 145
Load and Run DC_SETUP.V2 146
10.5 Enable High Power 150
10.6 Run-Time Calibration 151
10.7 Turning Off Power 151
Maintenance 11 153
11.2 Checking Safety Systems 154
Battery Replacement Procedure 155
Retaining clip 156
Replacement 158
11.6 Additional Maintenance 159
11.7 MB-10 Decommissioning 159
Advanced System 161
Configurations 12 161
Robot #1 Robot #2 162
User-Supplied 163
24VDC Power 163
Terminator 164
Installed 164
5960 Inglewood Drive 170
Pleasanton, CA 94588 170
925·245·3400 170

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