Adept Viper

s1300 Robot
User’s Guide
 Adept Viper
s1300 Robot
User’s Guide

P/N: 06561-000, Rev B

December 2011

5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450
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The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced
in whole or in part without prior written approval of Adept Technology, Inc. The information herein is sub-
ject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This
manual is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical
evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future doc-
umentation. Please email your comments to: techpubs@adept.com.

Copyright  2006, 2011 by Adept Technology, Inc. All rights reserved.

The Adept logo, AdeptVision, AIM, HexSight, and HexaVision

are registered trademarks of Adept Technology, Inc.

Adept ACE, Adept Viper s1300, Adept PA-4, and

Adept SmartController CX are trademarks of Adept Technology, Inc.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Printed in the United States of America

 Table of Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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

2 Robot 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

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

Table of Contents

3 System 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

4 System 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

5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.1 Replacing Encoder Backup Battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.2 Installing User-Supplied Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

6 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6.1 Robot Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6.2 Robot Flange Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

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

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

 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 7

List of Figures

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

 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.

3rd-axis motor cover (rear side)

Second arm 4th axis (J4)
Tool mounting
flange (+) 4th-axis cover

(+) (+) (+)

6th axis (J6) (-) (-) (-) 3rd axis (J3)
(-)
5th axis (J5)

2nd-axis motor cover (rear side)

First arm

(+)
(-) 2nd axis (J2)

(-) (+)

Base 1st axis (J1)

Figure 1-1. Robot Axis Identification

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

Chapter 1 - Introduction

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.

*S/N 3562-XXXXX*

CAMERA RS-232/TERM
R
RS-422/485

SmartController CX
SmartServo IEEE-1394
Device Net Eth 10/100
OK HPE LAN SW1 1.1 1.2 2.1 2.2 BELT ENCODER RS-232-1 RS-232-2
SF ES HD 1 2 3 4
ON

OFF
1 2 3
XDIO XUSR XSYS XFP XMCP XDC1 XDC2
24V 5A

-+ -+

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).

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

 Dangers, Warnings, Cautions, and Notes

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:

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.

NOTE: Notes provide supplementary information, emphasize a point or

procedure, or give a tip for easier operation.

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

Chapter 1 - Introduction

1.3 Safety Precautions

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:

• 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.

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

 Intended Use of the Robots

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.

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 See Section 3.2 on page 34.
ACE™ software.

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

4. Install the Arm Power/Signal cable between the See Section 3.5 on page 35.
PA-4 and the robot.

5. Install the IEEE 1394 and XSYS cables between See Section 3.5 on page 35.
the PA-4 and SmartController.

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

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.

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

Chapter 1 - Introduction

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.

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

 How Can I Get Help?

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

Table 1-2. Related Manuals

Manual Title Description

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

Adept SmartController Contains complete information on the installation and

User’s Guide operation of the Adept SmartController and the optional sDIO
product.

Adept PA-4 Power Chassis Contains complete information on the installation and
User’s Guide operation of the PA-4 Power Chassis.

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

Adept Viper Dual Robot Contains cable diagrams and configuration procedures for a
Configuration Procedure dual-robot system.

Instructions for Adept Describes the utility programs used for advanced system
Utility Programs configurations, system upgrades, file copying, and other
system configuration procedures.

V+ Operating System User’s Describes the V+ operating system, including disk file
Guide operations, monitor commands, and monitor command
programs.

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

control 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.

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

Chapter 1 - Introduction

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

 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.

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

Chapter 2 - Robot Installation

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 0.1/500 mm

surface

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 The robot should not be installed in an environment where:

Environment
• 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.

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

 Transporting the Robot

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.

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.

Wire
(Belt sling)

Waste Cloth

Eyebolts

Robot Mounting
Bolts

Figure 2-1. Robot in Hoisting Sling

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

Chapter 2 - Robot Installation

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

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

 Transporting the Robot

Step Procedure Drawing

4 As shown at right, place a waste cloth

on the second arm and pass the wire
through the two eyebolts.

Wire
(Belt sling)
Note: Before transporting the robot,
check that the path to the target
position is free of obstacles.

Waste Cloth

Eyebolts

Robot Mounting
Bolts

5 Worker 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 Caution: Before running the robot unit, be
unit. sure to remove the eyebolts. Otherwise, the
robot arm will strike against those eyebolts.

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

Chapter 2 - Robot Installation

2.4 Mounting the Robot

150 250

250
192
240
155 ± 0.1

φ30

25 190 25
Reference 4-φ14.5 drill
plane 155 ± 0.1 150 (for M12 screw)

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)

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

 Grounding the Robot

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.

WARNING: Wiring must be performed by authorized or

certified personnel. Failure to observe this caution may
result in fire or electric shock.

CN22 A IR 1
CN20

A IR 2

Grounding
Terminal (M5)
User-Supplied
Ground Wire
5.5mm2 or more

Figure 2-3. Ground Point on Robot

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

Chapter 2 - Robot Installation

2.6 Description of Connectors on Robot Interface Panel

C N 22 CN20
A IR 1 AIR 1

A IR 2
AIR 2

Ground
Terminal (M5) CN20

CN22 Power/Signal Cable,

to PA-4

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.

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

 Air Lines and Signal Wiring

2.7 Air Lines and Signal Wiring

CN21 pin layout CN21 for end-effector Valve Symbols and Air Intake and Exhaust States
View (A) control signal wires (1A and 1B are piping joint symbols.)
3 2 1 Air piping joint Valve signal
●  ●  ●
AIR2 Air Solenoid Solenoid
7 6 5 4 Exhaust valve
Air Piping intake A B
●  ●  ● ●
Joint (M5) 1A 1B 1 ON OFF
10 9 8
●  ●  ● 1A 1B
1B 1A 1 OFF ON
AIR1
CN21 2A 2B 2 ON OFF
2A 2B
2B 2A 2 OFF ON
3A 3B 3A 3B 3 ON OFF
3B 3A 3 OFF ON
AIR2

(A)

View (B)
Connector (CN20) for end-effector
signal/valve control wires
(B)

CN20 pin layout

C N 22 AIR1
C N 20
For controller I/O unit, PNP type
(sink IN, source OUT)
AIR1 piping joint
AIR2 (BSPT 1/4) CN20 pin No. Used for:
AIR2 piping joint 12 0V
(BSPT 1/4) 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.

Connector set part No. Model and part name Appearance

SRCN6A25-24S
for CN20 (round type connector)
(Japan Aviation Electronics Industry Ltd)
05019-000
JMLP1610M
for CN21 (L type plug connector)
DDK Electronics, Inc.

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

Chapter 2 - Robot Installation

Optional Solenoid Cable

An optional 4 meter Solenoid cable is available that connects between the XDIO connector
on the SmartController and the CN20 connector on the robot. The part number is
05739-040.

Installing this cable allows you to control the three internal robot solenoids directly from
V+. See Table 2-2 for the details on activating the individual ports on each solenoid.

Table 2-2. Viper Solenoid Control from V+

Active Output Port V+ Signal Statesa

Solenoid 1 A 0001 –0002

B –0001 0002

Solenoid 2 A 0003 –0004

B –0003 0004

Solenoid 3 A 0005 –0006

B –0005 0006
a The two-position, double solenoids require both V+ signal states to be
activated. Invalid states will result in indeterminate outputs.

In addition to controlling the internal robot solenoids, the Solenoid cable brings a portion
of the other XDIO signals out to the CN21 connector at the top of the robot. See Table 2-3
for the details of which signals are available at CN21. See the Adept SmartController
User’s Guide for the electrical specifications for the signals from the XDIO connector.

Table 2-3. CN21 Signal List When Using Solenoid Cable

Signal from XDIO on Signal from XDIO on

CN21 Pin # SmartController CN21 Pin # SmartController

1 Input 1001a 6 Not connected

2 Input 1002a 7 Output 0007b

3 Input 1003a 8 Output 0008b

4 Input 1004a 9 24V Outputc

5 Input 1005a 10 Ground

a Inputs 1001 to 1005 are preconfigured as low-active (sinking) inputs.
b Outputs 0007 and 0008 are preconfigured as high-side (sourcing) outputs.
c Limited to a combined total of 1A of current.

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

 Air Lines and Signal Wiring

Solenoid Valve Specifications

Table 2-4. Solenoid Valve Specifications

Item Specifications

Valve Switching system 2-position double

Applicable fluid Air

Operating system Pilot type

Effective cross section 0.27 (P-->A/B) 0.3 (A/B-->EA/EB)

(Cv value)

Lubrication Oilless

Operating pressure range 0.1 to 0.7 Mpa

Response time 10 ms or less (at 0.5 Mpa)

Maximum operating frequency 10 Hz

Ambient temperature -5 to 50 degrees C (No dew condensation

allowed. When dry air is used)

Solenoid Operating voltage 24 V ±10%

Power consumption (current) 0.65 W (27 mA)

Surge voltage protection circuit Diode

Adept Viper s1300 Robot User’s Guide, Rev B 27

Chapter 2 - Robot Installation

External Mounting Locations on Robot

2 M4 12 deep 2 M6 18 deep

50 90

2 M6 18 deep

120

2 M12 34 deep

30

Figure 2-5. External Mounting Holes on Robot

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

 Designing End-Effectors

2.8 Designing End-Effectors

Design an end-effector such that it is in compliance with items described in this section.

CAUTION: If the end-effector design precautions are not

observed, the clamped parts of the robot unit may become
loose, rattle or be out of position. In the worst case, the
mechanical parts of the robot and robot controller may
become damaged.

Mass of End-Effector
Design the end-effector so that the total mass of the end-effector (including workpiece)
will be lighter than the maximum payload capacity of the robot. The total mass includes
the wiring, piping, etc.

Maximum total mass of end-effector (including workpiece) must be less than or equal to
maximum payload capacity (10 kg).

Center of Gravity Position of End-Effector

Design an end-effector so that the center of gravity position of the end-effector (including
workpiece) is within the range shown in Figure 2-6.

190
Center of rotation of J5
100 90
80

Allowable range of center of

gravity position Center of rotation of J4 and J6
Figure 2-6. Allowable Range of Center of Gravity Position of End-effector

Adept Viper s1300 Robot User’s Guide, Rev B 29

Chapter 2 - Robot Installation

Moment of Inertia Around J4, J5 and J6

Design an end-effector so that its moments of inertia around J4, J5, and J6 (including
workpiece) do not exceed the maximum allowable moment of inertia of the robot.

Moment of inertia around J4, J5, and J6 of end-effector (including mass of workpiece)
must be less than or equal to the maximum allowable moment of inertia

Maximum allowable moment of inertia around J4 and J5: 0.36 kgm2

Maximum allowable moment of inertia around J6: 0.064 kgm2

When calculating the moment of inertia around J4, J5, and J6 of the end-effector, use the
formulas given in Table 2-5, and see examples in Figure 2-7 on page 31.

Table 2-5. Moment of Inertia Formulas

1. Cylinder (1) 4. Sphere

(Axis of rotation = Center axis) (Axis of rotation = Center axis)

2. Cylinder (2) 5. Center of gravity not on the axis of rotation

(The axis of rotation passes through the center of gravity.)
: Inertia moment around center of gravity

3. Rectangular parallelepiped
(The axis of rotation passes through the center of gravity.) 2
l: Moment of inertia ❲kgm ❳
m: Mass ❲kg❳
r: Radius ❲m❳
b, c, : Length ❲m❳

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

 Designing End-Effectors

Calculation example : When calculating the moment of inertia of a complicated shape, divide it into
simple parts as much as possible for easier calculations.
As shown in the figure below, divide the end-effector into three parts (Q, R, S).

(1) Moment of inertia around J6

Q
Moment of inertia around J6 of Q: I1 (from 3 and 5 in Table
Table 3-5
2-3)

Robot flange
center Center of
gravity of Q

Moment of inertia around J6 of R: I2 (from 1 and 5 in Table

Table 3-5
2-3)

φ40

R
φ20
Moment of inertia around J6 of S: I3 (from 1 and 5 in Table 3-5
2-3)
Around J6
Around J6

Center of S Center of
gravity of R gravity of S
φ40
Moment of inertia around J6 of entire end-effector: IJ6

Unit: mm

(2) Moment of inertia around J4 and J5 For the end-effector shown below, the moment of
inertia around J4 and J5 can be calculated according
to the same formula.

Moment of inertia around J4 and J5 of Q: I1 (from 3 and 5 in Table

Table 3-5
2-3)

((0.08 + 0.005)2+0.01)

1.03 × 10-3 [kgm2]

Moment of inertia around J4 and J5 of R: I2 (from 2 and 5 in Table 3-5
2-3)

80 ((0.08 + 0.01 + 0.02)2+0.042)

1.39 × 10-3 [kgm2]
Moment of inertia around J4 and J5 of S: I3 (from 2 and 5 in Table 3-5
2-3)

((0.08 + 0.01 + 0.05)2+0.052)

2.30 × 10-3 [kgm2]
80
Moment of inertia around J4 and J5 of entire end-effector: IJ4, IJ5

2.54×10-2 [kgm2]

Figure 2-7. Moment of Inertia Calculation Examples

Adept Viper s1300 Robot User’s Guide, Rev B 31

Chapter 2 - Robot Installation

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

 3.1 System Cable Diagram
System Installation 3
K Amp
K Amp
J Amp
sDAI Module
K AMP K AMP J AMP
(100W)
s DAI

IEEE 1394 Cable B

CAUTION
HIGH
VOLTAGE
INSIDE

R
DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS
A
MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED K
IS COMPLETELY DISTINGUISHED IS COMPLETELY DISTINGUISHED IS COMPLETELY DISTINGUISHED E STATUS

HIGH VOLTS ON HIGH VOLTS ON HIGH VOLTS ON

PWM ON PWM ON PWM ON

LOW VOLTS ON LOW VOLTS ON LOW VOLTS ON

OPEN CKT FAULT OPEN CKT FAULT OPEN CKT FAULT

1 R
S
HV SAG/OVER TEMP FAULT HV SAG/OVER TEMP FAULT HV SAG/OVER TEMP FAULT SmartServo 2
SHORT FAULT SHORT FAULT SHORT FAULT 3
2 2
CH1 CH2 CH1 CH2 CH1 CH2

Adept A
M
P
A
M
P
A
M
P
E
X
P
I

XSYS cable
L L L O
I I I
F F F

SmartController CX
I I I
E E E
R R R

C C C
O O O
N N N
T T T X
R R R S
O O O L
L L L
V

*S/N 3562-XXXXX*

CAMERA RS-232/TERM
R
RS-422/485

C C
SmartController CX

N N
P P
G G
1 4
2 5
SmartServo IEEE-1394 3 6
Device Net Eth 10/100 CH1 CH2 CH1 CH2 CH1 CH2
OK HPE LAN SW1 1.1 1.2 2.1 2.2 BELT ENCODER RS-232-1 RS-232-2 M
O
M
O
M
O
SF ES HD 1 2 3 4 T T T
O O O
R R R
ON
P P P
O O O
OFF W W W C
E E E N
R R R
1 2 3 2
O O O 5
XDIO XUSR XSYS XFP XMCP XDC1 XDC2 U
T
U
T
U
T
P P P
24V 5A U
T
U
T
U
T C
N
2
9

-+ -+

100W
Terminator adept

Installed
technology, inc.

Arm Power/
Signal Cable
User-Supplied Ground Wire

Controller (XFP) to 24VDC Power from Adept PA-4

Front Panel (XFP) User-Supplied Power Chassis
Ethernet to PC

Power Supply to
200-240 VAC 3-Phase
Controller (XDC1)
STOP or
380-415 VAC 3-Phase

User-Supplied
Front Panel Power Supply

T2 Pendant
(optional)
Adept Viper s1300
Robot
User-supplied PC
running AdeptWindows Grounding
User-Supplied Terminal
Ground Wire

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

Adept Viper s1300 Robot User’s Guide, Rev B 33

Chapter 3 - System Installation

3.2 Installing the SmartController

Refer to the Adept SmartController User’s Guide for complete information on installing
the Adept SmartController. This list summarizes the main steps.

1. Mount the SmartController and Front Panel.

2. Connect the Front Panel to the SmartController.
3. Connect the optional pendant to the SmartController, if included.
4. Connect user-supplied 24 VDC power to the controller.
5. Install a user-supplied ground wire between the SmartController and ground.
6. Install the Adept ACE PC software on the user-supplied PC. This includes
connecting the supplied Ethernet crossover cable between the user-supplied PC
and the Ethernet port on the SmartContoller.

3.3 Installing the Adept ACE Software

The Adept ACE software is installed from the Adept ACE software CD-ROM.

1. Insert the CD-ROM into the CD-ROM drive of your PC.

If Autoplay is enabled, the Adept software CD-ROM menu is displayed. If
Autoplay is disabled, you will need to manually start the CD-ROM.
2. Especially if you are upgrading your Adept ACE software installation: from the
Adept ACE software CD-ROM menu, click Read Important Information.
3. From the Adept ACE software CD-ROM menu, select:
Install the Adept ACE Software
The Adept ACE Setup wizard opens.
4. Follow the online instructions as you step through the installation process.
5. When the installation is complete, click Finish.
6. After closing the Adept ACE Setup wizard, click Exit on the CD-ROM menu to
close the menu.

NOTE: You will have to restart the PC after installing the Adept ACE
software.

3.4 Connecting the PC to the SmartController

The Adept SmartController motion controller must be connected to a user-supplied PC or
the Adept SmartVision EX processor for setup, control, and programming.

• Connect an Ethernet crossover cable between the PC and the SmartController

motion controller
or

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

 Installing the PA-4 Power Chassis

• Use two standard Ethernet cables with a network hub or switch in place of the
Ethernet crossover cable.

NOTE: Do not use an Ethernet crossover cable with a network hub or

switch.

For more details, refer to the Adept ACE User’s Guide.

3.5 Installing the PA-4 Power Chassis

Refer to the Adept PA-4 Power Chassis User’s Guide for complete information on the
PA-4 chassis. This list summarizes the main steps.

1. Mount the PA-4 chassis.

NOTE: For the PA-4 in an Adept Viper system, only the panel-mounting
option is available.

2. Locate these cables, shipped in the cable/accessories box.

• IEEE 1394 cable (length 4.5M)
• XSYS cable (length 4.5M)
• Arm Power/Signal cable (length 4 M)
3. Install one end of the IEEE 1394 cable into the SmartServo port 1.1 connector on
the SmartController, and install the other end into the SmartServo port 1
connector on the sDAI module in the PA-4. See Figure 3-1 on page 33 and Figure
3-2 on page 36.
4. Install the XSYS cable between the XSYS connector on the SmartController, and
the XSLV connector on the sDAI module, and tighten the latching screws.
5. Install the Arm Power/Signal cable between the CN22 connector on the robot and
the Arm Power/Signal connector on the PA-4.

Adept Viper s1300 Robot User’s Guide, Rev B 35

Chapter 3 - System Installation

K-Amp
K-Amp
J-Amp
sDAI Module (100 W)

K-AMP K-AMP J-AMP s DAI

CAUTION
Brake Release
HIGH
VOLTAGE
INSIDE

DO NOT REMOVE OR INSTALL THIS

MODULE UNLESS HIGH VOLTS LED
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
B
R
A
K
Status Panel
IS COMPLETELY DISTINGUISHED IS COMPLETELY DISTINGUISHED IS COMPLETELY DISTINGUISHED E STATUS

HIGH VOLTS ON HIGH VOLTS ON HIGH VOLTS ON

PWM ON PWM ON PWM ON

LOW VOLTS ON LOW VOLTS ON LOW VOLTS ON

OPEN CKT FAULT OPEN CKT FAULT OPEN CKT FAULT

1 R
HV SAG/OVER TEMP FAULT

SHORT FAULT
HV SAG/OVER TEMP FAULT

SHORT FAULT
HV SAG/OVER TEMP FAULT

SHORT FAULT
SmartServo

2
S
2
3
2
RS-232
CH1 CH2 CH1 CH2 CH1 CH2

SmartServo 1 & 2
E
X

EXPIO
A A A
M M M
P
P P P I
O

Latching Screws
L L L
I I I
F F F
I I I
E E E

XSLV
R R R

C C C
O O O
N N N
T T T X
R R R S
O O O L
L L L
V

Interface Box C
N
P
G
C
N
P
G
1 4
2 5
3 6
CH1 CH2 CH1 CH2 CH1 CH2
M M M
O O O
T T T
O O O
R R R

P P P
O O O
W W W C

External Brake
E E E N
R R R
2
O O O 5

Arm Power/Signal U
T
P
U
T
U
T
P
U
T
U
T
P
U
T C
N Connector
Connector 2
9

adept
technology, inc.

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

NOTE: In Adept Viper s1300 systems, the sDAI module must be a 100 W
version. A standard sDAI will not work.

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

 Connecting 3-Phase AC Power to PA-4

3.6 Connecting 3-Phase AC Power to PA-4

PA-4 3-Phase Power Requirements

Table 3-1. Adept PA-4 Power Chassis 3-Phase Power Requirements

Recommended
Nominal Minimum Maximum External
Voltage Frequency/ Operating Operating Circuit Breaker
Range Phasing Voltage Voltage (user-supplied)

200 to 240 50-60 Hz, 180 VAC 245 VAC 20 amps

VAC 3-phase

380 to 415 50-60 Hz, 342 VAC 424 VAC 20 amps

VAC 3-phase with
neutral

Table 3-2. Typical Robot Power Consumptiona

Average Power Peak Power

Robot Move (W) (W)b

No load - Adept cyclec 385 1871

Adept Viper
10.0 kg - Adept cyclec 319 1382
s1300
10.0 kg - all joints move 912 3674
a Typical power data is with 220 VAC, 60 Hz, 3-phase nominal input.
b For short durations (100 ms)
c Adept cycle: the robot tool performs continuous path, straight-line motions 25 mm up, 305 mm
over, 25 mm down, and back along the same path. COARSE is enabled and BREAKs are used
at each end location. Not achievable over all paths.

The Adept PA-4 power chassis can be shipped from the factory configured for either
3-phase 200-240 VAC or 380-415 VAC operation, depending on your sales order.

A voltage setting label is located on the front of the chassis below the circuit breaker. The
voltage setting is also shown on the ID label on the side of the chassis. Verify that the
setting matches your facility power before installation.

If you need to change the AC voltage setting from 200-240 VAC to 380-415 VAC, or vice
versa, see the Adept PA-4 Power Chassis User’s Guide.

WARNING: Verify the voltage settings are correct before

turning on power. Operating the Adept PA-4 power
chassis with incorrect voltage settings can cause damage
or injury.

Adept Viper s1300 Robot User’s Guide, Rev B 37

Chapter 3 - System Installation

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

The user end of the cord is unterminated. Connect each conductor of the power cord
securely to your AC power source, using the color code shown in Table 3-3. The
installation must meet all applicable European, international, and national standards and
regulations.

Table 3-3. 3-Phase AC Power Cord Specifications for PA-4

Cord length 3 meters ±0.1 m (9 ft 10 in ±4 in)

Cord rating 25 amps

Number and size of 5 x 2.5 mm2

conductor size

Color code: 200 - 240 VAC

line 1 black
line 2 black (or gray)a
line 3 brown
no connection blue (must be insulated)
ground green/yellow

Color code: 380 - 415 VAC

line 1 black
line 2 black (or gray)a
line 3 brown
neutral blue
ground green/yellow
a Note: The two black wires can also be one black and one gray wire, but the
functionality is the same for either case.

DANGER: Electrical hazard!

The installation of the power cord must be done by a
skilled person. The power supply can injure or kill the
person who installs the cord. An incorrect installation can
injure or kill anyone that touches the equipment in the
robot workcell.

The protective ground conductor (colored green/yellow) of the Adept PA-4 power
chassis is internally connected to the accessible metal parts of the power chassis. To
ensure electrical-shock protection, the ground conductor must be connected to a properly
grounded power source.

WARNING: Ensure that a proper protective ground

connection exists before turning on the power.

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

 Connecting 3-Phase AC Power to PA-4

Typical 3-Phase AC Power Installation Diagrams

L1
3Ø L2
L3
200–240V~
20A
PE

PE L3 L2 L1

Adept PA-4
3Ø 200–240V~

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

L1
3Ø L2
380–415V~ L3

20A N
PE

PE N L3 L2 L1

Adept PA-4
3Ø 380–415V~

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

Adept Viper s1300 Robot User’s Guide, Rev B 39

Chapter 3 - System Installation

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

 System Operation 4
4.1 Commissioning the System
Turning on the robot system for the first time is known as “commissioning the system.”
Follow the steps in this section to safely bring up your robot system. The steps include:

• Verifying installation, to confirm all tasks have been performed correctly

• Starting up the system by turning on power for the first time
• Verifying all E-Stops in the system function correctly
• Moving each axis of the robot to confirm it moves in the proper directions

Verifying Installation
Verifying that the system is correctly installed and that all safety equipment is working
correctly is an important process. Before using the robot, make the following checks to
ensure that the robot and controller have been properly installed.

DANGER: After installing the robot, you must test it before

you use it for the first time. Failure to do this could cause
death, serious injury, or equipment damage.

Mechanical Checks
• Verify that the robot is mounted level and all fasteners are installed and tightened.
• Verify that any end-of-arm tooling is properly installed.
• Verify that all other peripheral equipment is properly installed and in a state
where it is safe to turn on power to the robot system.

System Cable Checks

Verify the following connections:

• Front Panel to the SmartController.

• Pendant to the SmartController, via the pendant adapter cable.
• User-supplied 24 VDC power to the controller.
• User-supplied 200/240 VAC power to the PA-4.
• User-supplied ground wire between the SmartController and ground.
• XSYS cable between the robot interface panel XSLV safety interlock connector and
XSYS connector on the SmartController, and the latching screws tightened.

Adept Viper s1300 Robot User’s Guide, Rev B 41

Chapter 4 - System Operation

• One end of the IEEE 1394 cable into the SmartServo port 1.1 connector on the
SmartController, and the other end into the SmartServo port 1 connector on the
robot interface panel.
• XSYS cable between the robot interface panel XSLV safety interlock connector and
XSYS connector on the SmartController, and the latching screws tightened.

User-Supplied Safety Equipment Checks

Verify that all user-supplied safety equipment and E-Stop circuits are installed correctly.

System Start-up Procedure

Once the system installation has been verified (see “Verifying Installation” on page 41),
you are ready to start up the system.

1. Switch on AC power to the PA-4.

2. Switch on the 24 VDC power to the SmartController.
3. Turn on power to the robot.
4. Follow the instructions, beginning with Starting the Adept ACE Software, in the
following section.

Running the Adept ACE Software

Starting the Adept ACE Software
The robot should be on, and the status panel should display OK before proceeding.

1. Turn on the PC and start the Adept ACE software.

• Double-click the Adept ACE icon on your Windows desktop
or, from the Windows Start menu bar,
• Select Start > Programs > Adept Technology > Adept ACE > Adept ACE.
2. On the Adept ACE Startup menu, click New SmartController Workspace.
3. Click-select the SmartController you want to use, and click OK.

Enabling High Power

After you have started the Adept ACE software and connected to the controller, enable
high power to the robot motors:

1. From the Adept ACE main menu, click the Enable High Power icon:
2. If the High Power button on the Front Panel is blinking, press and release it.

NOTE: The use of the blinking High Power button can be configured (or
eliminated) in software. Your system may not require this step.

The Front Panel, which is mounted just outside the workcell safety barrier, is
shown in the following figure. If enabled, the High Power button must be pressed
while blinking (default time-out is 10 seconds). If the button stops blinking, you
must enable power again.

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

 Learning to Program the Robot

Switch, in
Auto Mode

Press High Power button

when blinking

Figure 4-1. High Power Button on Front Panel

This step turns on high power to the robot motors and calibrates the robot.
• The amplifier status LED blinks green rapidly
(a slow green blink has a different meaning).
In addition, for Adept IP-65 Viper robots, the lamps on the robot glow solid
amber.
• The status panel on the robot or amplifier chassis displays ON.

Verifying E-Stop Functions

Verify that all E-Stop devices are functional (pendant, Front Panel, and user-supplied).
Test each mushroom button, safety gate, light curtain, etc., by enabling high power and
then opening the safety device. The High Power push button/light on the Front Panel
should go out.

Verifying Robot Motions

Use the pendant to test the motion of each axis on the robot to confirm it moves in the
proper directions. Refer to the Adept SmartController User’s Guide and the T2 Pendant
User’s Guide for complete instructions on using the pendant.

NOTE: If the optional pendant is not installed in the system, you can
move the robot using the Robot Jog Control in the Adept ACE software.
For details, see the Adept ACE User's Guide.

4.2 Learning to Program the Robot

To learn how to use and program the robot, see the Adept ACE User’s Guide, which
provides information on robot configuration, control and programming through the
Adept ACE software "point and click" user interface.

For V+ programming information, refer to the following optional manuals:

• V+ Language User’s Guide

• V+ Language Reference Guide
• V+ Operating System Reference Guide
NOTE: When using an Adept pendant with an Adept Viper robot, the
Free Mode is disabled for safety reasons.

Adept Viper s1300 Robot User’s Guide, Rev B 43

Chapter 4 - System Operation

4.3 Connecting Digital I/O to the System

You can connect digital I/O to the system in several different ways. See Table 4-1 and
Figure 4-2. Also refer to page 26 for information on the optional Solenoid cable.

Table 4-1. Digital I/O Connection Options

Product I/O Capacity For more details

XDIO Connector on 12 inputs see Adept SmartController
SmartController 8 outputs User’s Guide
Optional IO Blox Device, 8 inputs, 8 outputs per device; up see Adept IO Blox User’s
connects to sDAI in PA-4 to four IO Blox devices per robot Guide
Optional sDIO Module, 32 inputs, 32 outputs per module; see Adept SmartController
connects to controller up to four sDIO per system User’s Guide

Adept Viper s1300

Robot
CN20 Connector
For input signals to control
internal robot solenoids
and general user I/O.
Signals can come from
IO Blox #1 IO Blox device or XDIO
8 Input signals: 1113 to 1120 on SmartController.
8 Output signals: 0105 to 0112

Adept PA-4 sDIO #1

32 Input signals: 1033 to 1064
K AMP K AMP J AMP s DAI
CAUTION
32 Output signals: 0033 to 0064
Optional
HIGH
VOLTAGE
INSIDE

B
R
DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS DO NOT REMOVE OR INSTALL THIS
A
MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED MODULE UNLESS HIGH VOLTS LED K
IS COMPLETELY DISTINGUISHED IS COMPLETELY DISTINGUISHED IS COMPLETELY DISTINGUISHED E STATUS

IO Blox Device
HIGH VOLTS ON HIGH VOLTS ON HIGH VOLTS ON

PWM ON PWM ON PWM ON

LOW VOLTS ON LOW VOLTS ON LOW VOLTS ON

OPEN CKT FAULT OPEN CKT FAULT OPEN CKT FAULT

1 R
S
HV SAG/OVER TEMP FAULT HV SAG/OVER TEMP FAULT HV SAG/OVER TEMP FAULT SmartServo 2
SHORT FAULT SHORT FAULT SHORT FAULT 3
2 2
CH1 CH2 CH1 CH2 CH1 CH2

E
X
A A A
P

Optional
M M M
P P P I
L L L O IEEE-1394 *S/N 3563-XXXXX*
I I I
F
I
F
I
F
I
R 1.1 1.2 X1 X2 X3 X4
SC-DIO

XDC1 XDC2
E
R
E
R
E
R
LINK 24V 0.5A
C
O
N
T
R
C
O
N
T
R
C
O
N
T
R
X
S To EXPIO -+ -+

sDIO #1
O O O L OK SF
L L L
V

on sDAI
C C
N N
P P
G G
1 4
2 5
3 6
CH1 CH2 CH1 CH2 CH1 CH2
M M M
O O O
T T T
O O O
R R R
*S/N 3562-XXXXX*
P P P
O O O
W W W C CAMERA
E E E N R RS-232/TERM RS-422/485
R R R
2
O O O 5
U U U
SmartController CX

T T T
P P P
U U U
T T T C
N
2 SmartServo IEEE-1394

SmartController
9 Device Net Eth 10/100
OK HPE LAN SW1 1.1 1.2 2.1 2.2 BELT ENCODER RS-232-1 RS-232-2
SF ES HD 1 2 3 4
ON

OFF
1 2 3
XDIO XUSR XSYS XFP XMCP XDC1 XDC2
24V 5A

adept -+ -+
technology, inc.

XDIO Connector
12 Input signals: 1001 to 1012
8 Output signals: 0001 to 0008

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

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

 Connecting Digital I/O to the System

Table 4-2. Default Digital I/O Signal Configuration, Single Robot System

Location Type Signal Range

Controller XDIO connector Inputs 1001 - 1012
Outputs 0001 - 0008
sDIO Module 1 Inputs 1033 - 1064
Outputs 0033 - 0064
sDIO Module 2 Inputs 1065 - 1096
Outputs 0065 - 0096
sDIO Module 3 Inputs 1201 - 1232
(recommended)
Outputs 0201 - 0232
sDIO Module 4 Inputs 1233 - 1264
(recommended)
Outputs 0233 - 0264
IO Blox 1 Inputs 1113 - 1120
Outputs 0105 - 0112
IO Blox 2 Inputs 1121 - 1128
Outputs 0113 - 0120
IO Blox 3 Inputs 1129 - 1136
Outputs 0121 - 0128
IO Blox 4 Inputs 1137 - 1144
Outputs 0129 - 0136

Adept Viper s1300 Robot User’s Guide, Rev B 45

Chapter 4 - System Operation

4.4 Status Panel Codes on sDAI Module

The status panel display on the sDAI module in the PA-4 displays alpha-numeric codes
that indicate the operating status of the robot, including detailed fault codes. See Table
4-3 for definitions of the status codes. These codes provide details for quickly isolating
problems during troubleshooting. See the Adept PA-4 Power Chassis User’s Guide for
additional information on the sDAI module.

Table 4-3. Status Panel Codes

LED Status Code LED Status Code

OK No Fault h# High Temp Amp (Joint #)
ON High Power ON Status H# High Temp Encoder (Joint #)
MA Manual Mode hV High Voltage Bus Fault
24 24V 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 Power Fault P# Power System Fault (Code #)
D# Duty Cycle Exceeded (Joint #) PR Processor Overloaded
E# Encoder Fault (Joint #) RC RSC Fault
ES E-Stop SW Watchdog Timeout
F# External Sensor Stop S# Safety System Fault (Code #)
FM Firmware Mismatch T# Safety System Fault
(Code 10 + #)
FW 1394 Fault V# Hard Envelope Error (Joint #)

For more information on status codes, go to the Adept Document Library on the Adept
website, and in the Procedures, FAQs, and Troubleshooting section, look for the Adept
Status Code Summary document.

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

 Installing and Using the Brake Release Box

4.5 Installing and Using the Brake Release Box

The manual brake release box can be used to release the brakes on a specific axis of the
robot. This procedure describes how to install and use this device. See Figure 4-3 on page
47.

WARNING: Secure the robot prior to releasing the brakes

on axes 2 and 3, to prevent injury to personnel or equip-
ment damage.

1. Make sure that high power is disabled (off).

2. Connect the 15-pin male D-sub connector into the 15-pin female D-sub connector
marked Brake on the sDAI board.
3. Press one of the E-Stops (Pendant, Front Panel, or external).
4. Using the axis selector switch, select the axis that you want to release the brake.
5. Depress the brake release push button, to release the brake.
6. Repeat steps 4 and 5 above for releasing the brakes on another axis.

NOTE: When the Status LED (Green) is on, it indicates that the circuit is
enabled, when the brake release push button is pressed.

Axis selector switch 2 3 4

1 5 Status LED
6
OFF

BRAKE

RELEASE
Brake Release
Pushbutton

15-pin male
D-Sub connector

Figure 4-3. Manual Brake Release Box

Adept Viper s1300 Robot User’s Guide, Rev B 47

Chapter 4 - System Operation

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

5.1 Replacing Encoder Backup Battery
Maintenance 5
The encoder backup batteries should be replaced every two years. Replace the batteries
according to the procedure below.

1. Prepare a new set of 3 backup batteries for replacement.

2. Turn off AC power to the PA-4 and DC power to the controller.
3. Remove the cover from the robot unit. See Figure 5-1.

Connector Plate

Battery Support
Plate

Figure 5-1. Removing Cover to Replace Encoder Batteries

4. Pull out the battery support plate. See Figure 5-2.

Adept Viper s1300 Robot User’s Guide, Rev B 49

Chapter 5 - Maintenance

Battery support plate

Figure 5-2. Removing Battery Support Plate

5. Remove the dummy connector cap from the battery board. See Figure 5-3.

Dummy connector cap

Figure 5-3. Removing Dummy Connector Cap

6. Connect a new battery (1st one) to the pin from which you have disconnected the
dummy connector cap in Step 5. See Figure 5-4.

NOTE: Do not disconnect old backup batteries before connecting a new

one to the pin from which the dummy connector cap is removed. If you
do so, the encoder positional data may be lost.

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

 Replacing Encoder Backup Battery

New battery (1st one)

Figure 5-4. Connecting First New Battery

7. Disconnect the old backup battery that is next to the new battery connected in
Step 6, and then connect a new battery (2nd one). See Figure 5-5.

Old battery New battery (2nd one)

Battery holder
New battery (1st one)
Figure 5-5. Connecting Second New Battery

NOTE: Be sure to replace all of three batteries with new ones at one time.
Otherwise, the battery service life will be reduced.

8. Disconnect the old backup battery that is next to the new battery connected in
Step 7, and then connect a new battery (3rd one). See Figure 5-6.

Adept Viper s1300 Robot User’s Guide, Rev B 51

Chapter 5 - Maintenance

Old battery New battery (3rd one)

Battery holder
New battery (2nd one)
Figure 5-6. Connecting Third New Battery

9. Remove the last old battery and connect the dummy connector cap disconnected
in Step 5. See Figure 5-7.

Old battery Dummy connector cap

Battery holder
New battery (3rd one)
Figure 5-7. Reconnecting Dummy Connector Cap

10. Secure the battery support plate to the connector plate.

Tightening torque: 1.6 +/- 0.3 Nm

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

 Installing User-Supplied Hardstops

5.2 Installing User-Supplied Hardstops

For the purpose of limiting the robot working envelope, the hardstops, or mechanical
ends, for Joints 1, 2, and 3 on the Adept Viper robots can be changed by installing
user-supplied hardstop devices. In addition, the default softstops, or software limits, must
be modified after the hardstops have been installed.

If you need information on modifying hardstops, please contact Adept.

CAUTION: Failures caused by user-supplied hardstops are

not covered by the warranty, even if the robot is under
warranty.

Adept Viper s1300 Robot User’s Guide, Rev B 53

Chapter 5 - Maintenance

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

 6.1
Technical Specifications
Robot Dimensions
6
590
84 328
261 84.53
6

120.0°
58

100
R223.45
120.0°
R598
520 1593.41
90.0°
R795.38
1153
135.0° 135.0°
185

475
290

R1118.41 27

491.11
R598

180
520
R598.41

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

Adept Viper s1300 Robot User’s Guide, Rev B 55

Chapter 6 - Technical Specifications

170.0°

R1298
R403.45

130

150

188

170.0°

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

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

 Robot Flange Dimensions

6.2 Robot Flange Dimensions

4x 90°

Ø50 0.000 H8
-0.039
45°

+0.012
Ø6 0.000 H7 9

Ø25 +0.021 H7 9.5 4x M6 9

0.000
Ø40 Bolt circle

Figure 6-3. Robot Flange Dimensions

Adept Viper s1300 Robot User’s Guide, Rev B 57

Chapter 6 - Technical Specifications

6.3 Specifications

Table 6-1. Robot Specifications

Specification s1300

Overall arm length 520 (first arm) + 590 (second arm) = 1100 mm

Arm offset J1 (swing): 180 mm, J3 (front arm): 100 mm

Maximum motion area R = 1388 mm (end-effector mounting face)

R = 1298 mm (Point P: J4, J5, J6 center)

Motion range J1: ±170°

J2: -180°, +45°
J3: +10°, +255°
J4: ±185°
J5: ±120°
J6: ±360°

Maximum composite speed 8300 mm/s

(at the center of an
end-effector mounting face)

Maximum payload 10 kg

Position repeatability (Note 1) In each of X, Y and Z directions: ±0.07 mm

(at the center of an end-effector mounting face)

Maximum allowable inertia Around J4: 0.36 kgm2

moment Around J5: 0.36 kgm2
Around J6: 0.064 kgm2

Position detection Absolute encoder

Drive motor and brake AC servomotors for all joints

Brakes for joints J2 to J6

User air piping (Note 2) 7 systems (Ø4x6, Ø6x1), 3 solenoid valves (2-position,
double solenoid) contained.

User signal line 10 (for proximity sensor signals, etc.)

Air source - Operating 1.0 × 105 Pa to 3.9 × 105 Pa

pressure

Air source - Maximum 4.9 × 105 Pa

allowable pressure

Degree of Protection IP-40

Weight Approx. 78 kg

Note 1: Position repeatability is the value at constant ambient temperature.

Note 2: Only the Ø4x6 air piping system may be controlled by built-in solenoid valves.

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

 Index

A D
AC power digital I/O
connecting to power chassis 37 default signal configuration 45
installation diagram for 200-240VAC, 3- in single robot systems 44
phase 39 dimensions
installation diagram for 380-415VAC 39 robot flange 57
requirements for power chassis, 3- s1300 robot, side view 55
phase 37 s1300 robot, top view 56
robot power consumption, typical 37
Document Library CD-ROM 15
turning on 42
voltage/current ratings
power chassis, 3-phase 37 E
Adept ACE emergency situation, what to do 12
starting 42 end-effectors
Adept Document Library 15 flange dimensions 57
Adept PA-4, see PA-4 power chassis inertia 30
mass, center of gravity 29
AIR1/AIR2 air lines, description 25
environmental requirements
arm power/signal cable robot 18
installing 35
external mounting holes, on robot 28
axis identification, on robot 9
F
B
flange on robot, dimensions 57
brake release box 47
installation 47
G
C grounding the robot 23
CN20 connector
description 24
H
CN20/CN21 connector How Can I Get Help? 14
signal wiring 25
connecting I
AC power to PA-4 37 IEEE 1394 cable, installing 35
power chassis cord to AC supply 38 installation
connectors on robot, description 24 PA-4 power chassis 35
current/voltage ratings robot 22
power chassis, 3-phase 37 SmartController 34
system, overview 13
Customer Service assistance 14
verifying 41
intended use of the robot 13
interface box
location on PA-4 36
interface panel on robot 24

Adept Viper s1300 Robot User’s Guide, Rev B 59

Index

M S
messafe RL 14 sDAI module, status panel codes 46
message URL ftp SmartController
//ftp1.adept.com/Download-Library/ description 10
Regulatory/ 14 installation 34
message URL http solenoid cable, optional 26
//www.adept.com/contact/americas 14 solenoids, in robot
//www.adept.com/contact/asiapacific- cable 26
rim 14 controlling from V+ 26
moment of inertia, end-effectors 30 signal wiring 25
mounting hole pattern, for robot 22 valve specifications 27
specifications
N robot performance 58
Notes, Cautions, and Warnings, description startup procedure 42
of 11 status panel codes, on sDAI module 46
system
O cable diagram for single robots 33
operating environment requirements,
overview
robot 18
system installation 13
T
P
transporting robot
PA-4 power chassis
precautions 19
AC power requirements, 3-phase 37
setting position 20
installing 35
power requirements
U
PA-4 power chassis, 3-phase AC 37
unpacking
R and inspecting Adept equipment 17
related manuals 15
V
requirements
valve specifications, solenoids 27
environmental, robot 18
PA-4 power chassis, 3-phase AC 37 voltage
robot, operating environment 18 maximum operating
robot power chassis, 3-phase AC 37
AC power consumption, typical 37 minimum operating
axis identification 9 power chassis, 3-phase AC 37
external mounting holes 28
grounding 23 W
in hoisting sling 19 What to do in an emergency situation 12
intended uses 13
interface panel 24 work envelope
mounting hole pattern 22 s1300 robot, side view 55
mounting procedure 22 s1300 robot, top view 56
operating requirements 18
performance specifications 58 X
programming 43 XSYS cable, installing 35
s1300 dimensions, side view 55
s1300 dimensions, top view 56
solenoids, signal wiring 25
transporting 19
unpacking and inspection 17
robot flange, dimensions 57

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

 5960 Inglewood Drive
Pleasanton, CA 94588
P/N: 06561-000, Rev B 925·245·3400