Intro to the Adept Robot - MFET 248, Automated...

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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 1 MFET 248 Automated Manufacturing III Introduction to The Adept Robot T.E. Kostek Spring 2010 Topics • Introduction • Adept Manuals •A rm G e om e t ry • The Manual Control Pendent (MCP) • Start up Procedure • Creating Adept Programs • Basic V+ Commands • Shut Down Procedure 2 • Misc Topics
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 2 Introduction Introduction • Droplines 1, 3, and 5 of the MFET conveyor system have AdeptOne SCARA ( S elective C ompliance A ssembly R obot A rm) robots ompliance ssembly obot rm) robots. • Droplines 2, 4, and 6 have Adept 550 table top SCARA robots. 4
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 3 Adept 550 table top SCARA robot (Droplines 2, 4, and 6) 5 Payload – 12.1 lbs AdeptOne SCARA Robot (Droplines 1, 3, and 5) Payload – 20 lbs 6
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 4 Adept Manuals Adept Manuals • A few of the Adept robot manuals are available on the MFET course web site. • All of the Adept manuals are available online at www.adept.com 8 (continued on next slide …)
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 5 Adept Manuals 9 (continued on next slide …) Adept Manuals 10 (continued on next slide …)
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 6 Adept Manuals 11 (continued on next slide …) Select V+ Adept Manuals 12 (continued on next slide …)
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 7 Adept Manuals 13 Arm Geometry
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 8 Arm Geometry The AdeptOne SCARA robot 15 Joint 1, Shoulder Arm Geometry 16
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 9 Joint 2, Elbow Arm Geometry 17 Joint 3 - Wrist Arm Geometry 18
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 10 The Manual Control Pdt ( M C P Pendent (MCP) The Manual Control Pendant (MCP) • The MCP allows the user to manually position the arm to any point in its work envelope • The MCP is used when setting robot positions • The MCP can also be used as a simple operator interfac 20 interface
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 11 21 The Manual Control Pendant, MCP If the arm-power interlock switch interlock switch (deadman switch) is released the robots arm power will go off. Feel free to place the MCP in its holding 22 MCP in its holding fixture in order to activate the deadman switch.
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 12 The Manual Control Pendant (MCP) • The MCP supports the following types of motion: – Joint state –Wor ld s ta te – Tool state – Free mode 23 (continued on next slide …) Joint State Move each joint one at a time 24 – one at a time.
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MFET 248, Automated Manufacturing III 1/8/2010 Introduction to The Adept Robot 13 World State Straight line motion – frame in base 25 Tool State Straight line motion – frame in flange 26
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This note was uploaded on 02/29/2012 for the course MFET 248 taught by Professor T.e.kostek during the Spring '10 term at Purdue University-West Lafayette.

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Intro to the Adept Robot - MFET 248, Automated...

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