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adept technology Adept Cobra i600 User Manual Download Page 11

Adept Cobra i600/i800 Robot User’s Guide, Rev E

11

List of Figures

Figure 1-1. 

 Adept Cobra i800 Robot   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  15

Figure 1-2. 

 Robot Joint Motions   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  16

Figure 1-3. 

 Adept AIB  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  16

Figure 2-1. 

 Electrical and Thermal Warning Labels on AIB Chassis . . . . . . . . . . . . . . . . .  20

Figure 2-2. 

 Thermal Warning Label on Underside of Inner Link  . . . . . . . . . . . . . . . . . . . .  20

Figure 2-3. 

 Warning Label on Encoder Cables  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  21

Figure 3-1. 

 Cobra Robot on a Transportation Pallet   . . . . . . . . . . . . . . . . . . . . . . . . . . . .  35

Figure 3-2. 

 Mounting Hole Pattern for Robot   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  38

Figure 3-3. 

 Robot Interface Panel   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  40

Figure 4-1. 

 iCobra System Cable Diagram  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  42

Figure 4-2. 

 Adept ACE CD-ROM Startup Menu   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  45

Figure 4-3. 

 Setup Welcome Screen  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  45

Figure 4-4. 

 Ready-to-Install Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  45

Figure 4-5. 

 Install Screen   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  46

Figure 4-6. 

 Installation Completed  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  46

Figure 4-7. 

 User-Supplied 24 VDC Cable  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  49

Figure 4-8. 

 Typical AC Power Installation with Single-Phase Supply . . . . . . . . . . . . . . . .  51

Figure 4-9. 

 Single-Phase Load across L1 and L2 of a Three-Phase AC Supply   . . . . . . .  52

Figure 4-10.   AC Power Mating Connector  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  53

Figure 4-11.   Ground Point on Robot Base  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  54

Figure 5-1. 

 Tool Flange Removal Details  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  58

Figure 5-2. 

 User Connectors on Joint1  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  59

Figure 5-3. 

 User Connectors on Joint 2   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  59

Figure 5-4. 

 Internal User Connectors - OP3/4, EOAPWR, ESTOP   . . . . . . . . . . . . . . . . . . .  60

Figure 5-5. 

 SOLND Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  60

Figure 5-6. 

 OP3/4 and SOLND Circuits  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  62

Figure 5-7. 

 Internal E-Stop Connector Circuit  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  64

Figure 5-8. 

 Selecting the Configuration Manager  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  64

Figure 5-9. 

 Solenoid Mounting Bracket with Connector and Spare Air Line . . . . . . . . .  67

Figure 5-10.   Solenoid Placement Using Mounting Hardware  . . . . . . . . . . . . . . . . . . . . . .  68

Figure 5-11.   Removing the Cable Strap Plate   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  68

Figure 5-12.   Connecting Spare Air Line to User Connector   . . . . . . . . . . . . . . . . . . . . . . .  69

Figure 5-13.   Joint 1 Adjustable Hardstops  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  70

Figure 5-14.   Configuration Manager - Modifying Joint 1 Limits   . . . . . . . . . . . . . . . . . . . .  71

Figure 5-15.   Configuration Manager - Apply Changes  . . . . . . . . . . . . . . . . . . . . . . . . . . .  72

Figure 5-16.   Joint 2 Hardstop Kit  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  72

Figure 5-17.   Joint 2 Adjustable Hardstop Locations  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  73

Figure 5-18.   Fixed Hardstop Device for Joint 2  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  73

Figure 5-19.   Screw Locations for Joint 2 Adjustable Hardstops . . . . . . . . . . . . . . . . . . . . .  74

Summary of Contents for Adept Cobra i600

Page 1: ...Adept Cobra i600 i800 Robot User s Guide ...

Page 2: ......

Page 3: ... 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 Block 5000 Ang Mo Kio Avenue 5 05 12 Techplace II Singapore 569870 Phone 65 6755 2258 Fax 65 6755 0598 ...

Page 4: ... Cobra Smart600 Adept Cobra Smart800 Adept DeskTop Adept FFE Adept FlexFeeder 250 Adept IC Adept iSight Adept Impulse Feeder Adept LineVision Adept MB 10 ServoKit Adept MC Adept MotionBlox 10 Adept MotionBlox 40L Adept MotionBlox 40R Adept MV Adept MV 10 Adept MV 19 Adept MV4 Adept MV 5 Adept MV 8 Adept OC Adept Python Adept Quattro s650 Adept Quattro s650H Adept sDIO Adept SmartAmp Adept SmartAxi...

Page 5: ... Safety Barriers 22 Front Panel Location 22 Impact and Trapping Points 23 Instructions for Emergency Movement without Drive Power 23 Emergency Recovery Procedures 23 Additional Safety Information 24 2 4 Risk Assessment 25 Exposure 25 Severity of Injury 26 Avoidance 26 Slow Speed Control Function and Testing 26 Control System Behavior Category 27 2 5 Intended Use of the Robots 28 2 6 Robot Modifica...

Page 6: ...8 3 6 Connectors on the Robot Interface Panel 40 4 System Installation 41 4 1 Cable and Parts List 41 4 2 System Cable Diagram 42 4 3 Cable Connections to the Robot 43 Installing AIB XPANEL Cable 43 Installing Peripherals and Options 43 4 4 Connecting User Supplied PC to Robot 43 PC Requirements 44 Installing Serial Cable 44 4 5 Installing Adept ACE Software 44 4 6 Connecting 24 VDC Power to Robot...

Page 7: ...Output Specifications 63 ESTOP Connector 63 5 5 Mounting Locations for External Equipment 65 5 6 Installing the Robot Solenoid Kit 65 Introduction 65 Tools Required 66 Procedure 66 5 7 Installing Adjustable Hardstops 70 Joint 1 Adjustable Hardstops 70 Joint 2 Adjustable Hardstops 72 6 System Operation 77 6 1 Robot Status LED 77 6 2 Status Panel Fault Codes 78 6 3 Using the Brake Release Button 79 ...

Page 8: ...ctions 103 6 9 Learning to Program the Adept Cobra i Series Robot 103 7 Maintenance 105 7 1 Field replaceable Parts 105 7 2 Periodic Maintenance Schedule 105 7 3 Checking Safety Systems 106 7 4 Checking Robot Mounting Bolt Torque 106 7 5 Checking Robot for Oil Around Harmonic Drive 107 7 6 Lubricating Joint 3 Ball Screw Spline 107 Required Grease for the Robot 107 Lubrication Procedure 107 7 7 Rep...

Page 9: ... i800 IP 65 Classification 131 10 2 Installing Cable Seal Assembly 131 Cable Seal Identification 131 Installation Procedure 132 10 3 Robot Outer Link Cover Removal and Reinstallation 134 Cover Removal Procedure 134 Cover Reinstallation Procedure 135 10 4 Customer Requirements 137 Sealing the Tool Flange 137 Pressurizing the Robot 138 10 5 User Connectors 139 User Electrical and DeviceNet 139 User ...

Page 10: ......

Page 11: ...f a Three Phase AC Supply 52 Figure 4 10 AC Power Mating Connector 53 Figure 4 11 Ground Point on Robot Base 54 Figure 5 1 Tool Flange Removal Details 58 Figure 5 2 User Connectors on Joint1 59 Figure 5 3 User Connectors on Joint 2 59 Figure 5 4 Internal User Connectors OP3 4 EOAPWR ESTOP 60 Figure 5 5 SOLND Connector 60 Figure 5 6 OP3 4 and SOLND Circuits 62 Figure 5 7 Internal E Stop Connector C...

Page 12: ...indow 102 Figure 6 19 Jog Pendant Menu 103 Figure 7 1 Lubrication of Joint 3 Quill 109 Figure 7 2 Securing Screw on AIB Chassis 110 Figure 7 3 Opening and Removing AIB Chassis 111 Figure 7 4 Connectors on AIB Chassis 111 Figure 7 5 Ground Screw on AIB Chassis 112 Figure 7 6 AIB Jumper 112 Figure 7 7 Installing AIB Chassis in Robot Base 113 Figure 7 8 Location of Encoder Battery 115 Figure 8 1 Adep...

Page 13: ...Instructions 135 Figure 10 9 IP 65 Robot with Outer Link Cover Removed 135 Figure 10 10 Cobra IP 65 Tool Flange 137 Figure 10 11 Compressed Air Fitting on Robot 138 Figure 10 12 User Connectors on Joint 1 Cover 139 Figure 10 13 IP 65 Internal Connectors with Outer Link Cover Removed 139 Figure 10 14 Bellows Replacement 141 Figure 10 15 Bellows Clamp Alignment 142 Figure 10 16 Cable Seal Assembly D...

Page 14: ......

Page 15: ...cription of the robot joint locations The Adept Cobra i series robots are programmed and controlled using Adept ACE software running on a user supplied PC Mechanical specifications for the Adept Cobra i series robots are provided in Chapter 8 NOTE The descriptions and instructions in this manual apply to both the Cobra i600 and the Cobra i800 except for instances where there is a difference as in ...

Page 16: ...atures On board digital I O Low EMI for use with noise sensitive equipment No external fan for quiet robot operation 8 kHz servo rate delivers low positional errors and superior path following Sine wave commutation lowers cogging torque and improves path following Digital feed forward design maximizes efficiency torque and velocity Temperature sensors for all amplifiers and motors for maximum reli...

Page 17: ... 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 3 5 on page 37 2 Install the system cables and options See Section 4 3 on page 43 3 Connect the PC to the robot See Section 4 4 on page 43 4 Install Adept ACE software on the PC See the Adept Cobra i600 i800 Robot Quick Setup Guide 5 Create ...

Page 18: ...ns documentation for Adept products You can access the ADL from the Adept Software CD shipped with your system or 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...

Page 19: ...ectrical 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 whi...

Page 20: ...de Rev E 2 2 Warning Labels on the Robot Figure 2 1 Figure 2 2 and Figure 2 3 show the warning labels on the Adept Cobra i series robots Figure 2 1 Electrical and Thermal Warning Labels on AIB Chassis Figure 2 2 Thermal Warning Label on Underside of Inner Link ...

Page 21: ...les WARNING When the outer link cover is removed you see the label shown above Do not remove the J3 ENC or J4 ENC encoder cable connectors from their sockets If they are removed the calibration data will be lost and the robot must be run through a factory recalibration process which requires special software and tools ...

Page 22: ... workcell must be designed according to the applicable local and national standards see Section 2 8 on page 30 The safe distance to the robot depends on the height of the safety fence The height and the distance of the safety fence from the robot must ensure that personnel cannot reach the danger zone of the robot The Adept control system has features that aid the user in constructing system safeg...

Page 23: ...ttached payload all contribute to the total amount of energy available to cause injury Instructions for Emergency Movement without Drive Power In an emergency when power is removed from the system the arm can be moved manually Emergency Recovery Procedures In an emergency follow your internal procedures for emergency recovery of systems DANGER The robot system must be installed to avoid interferen...

Page 24: ...nderwriters Laboratories Inc 333 Pfingsten Road Northbrook IL 60062 2096 USA Phone 1 847 272 8800 Fax 1 847 272 8129 http www ul com info standard htm BSI Group British Standards 389 Chiswick High Road London W4 4AL United Kingdom Phone 44 0 20 8996 9000 Fax 44 0 20 8996 7400 http www bsi global com Global Engineering Documents 15 Inverness Way East Englewood CO 80112 USA Phone 800 854 7179 Fax 30...

Page 25: ...on is for teaching the robot in Manual Mode by a skilled programmer see Qualification of Personnel on page 31 who must wear safety equipment see Safety Equipment for Operators on page 32 and carry the T2 pendant Therefore exposure of personnel to hazards related to the robot is limited seldom and or short exposure time DIN Deutsches Institut für Normung e V German Institute for Standardization Bur...

Page 26: ... the T2 pendant Per EN 775 ISO 10218 the maximum speed of the robot is limited to 250 mm per second 10 ips in Manual mode It is important to remember that the robot speed is not limited when the robot is in Automatic AUTO mode The Risk Assessment for teaching this product depends on the application In many applications the programmer will need to enter the robot workcell while Arm Power is enabled...

Page 27: ...current temperature EMI and well tried safety principles The standard control system described in this manual employs hardware components in its safety system that meet or exceed the requirements of the EU Machinery Directive and Low Voltage Directive The standard control system is fully hardened to all EMI influences per the EU EMC Directive and meets all functional requirements of ISO 10218 EN 7...

Page 28: ...In hazardous explosive atmospheres In mobile portable marine or aircraft systems In life support systems In residential installations In situations where the Adept equipment will be subject to extremes of heat or humidity See Table 3 1 on page 37 for allowable temperature and humidity ranges Non intended use of an Adept Cobra i series robot can Cause injury to personnel Damage the robot or other e...

Page 29: ...c lines or cables to the robot These should be designed so they do not restrict joint motion or cause robot motion errors Unacceptable Modifications The modifications listed below may damage the robot reduce system safety and reliability or shorten the life of the robot Modifying any of the robot harnesses or robot cables Modifying any robot access covers or drive system components Modifying inclu...

Page 30: ...onal standards For robot systems these include EN 775 ISO 10218 sections 5 6 EN 292 2 and EN 60204 For safety fences see EN 294 In other countries Adept strongly recommends in addition to complying with the applicable local and national regulations that a similar level of safety be obtained In the USA applicable standards include ANSI RIA R15 06 and ANSI UL 1740 In Canada applicable standards incl...

Page 31: ...rsonnel This manual assumes that all personnel have attended an Adept training course and have a working knowledge of the system The user must provide the necessary additional training for all personnel who will be working with the system As noted in this user s guide certain procedures should be performed only by skilled or instructed persons For a description of the level of qualification Adept ...

Page 32: ...rkcell Safety glasses Protective headgear hard hats Safety shoes Install warning signs around the workcell to ensure that anyone working around the robot system knows they must wear safety equipment 2 14 Protection Against Unauthorized Operation The system must be protected against unauthorized use Restrict access to the keyboard and the pendant by locking them in a cabinet or use another adequate...

Page 33: ...tion or programming of the robot system Unauthorized use of cables other than those supplied or use of modified components in the system Defeating interlocks so that an operator can enter the workcell with High Power ON 2 17 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 organiza...

Page 34: ......

Page 35: ...ct the package from excessive shock and vibration Use a forklift pallet jack or similar device to transport and store the packaged equipment see Figure 3 1 The robots must always be stored and shipped in an upright position in a clean dry area that is free from condensation Do not lay the crate on its side or any other non upright position this could damage the robot The i600 robot weighs 41 kg 90...

Page 36: ...der 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 4 on page 18 Retain all containers and packaging materials These items may be necessary to settle claims or at a later date to relocate equipment 3 3 Repacking for Relocation If the robot or other equipment needs to be relocated reverse...

Page 37: ...rigid steel tube frame Excessive vibration or mounting flexure will degrade robot performance Figure 3 2 shows the mounting hole pattern for the Adept Cobra i series robots NOTE On the underside of the base there is a hole and a slot that can be used as locating points for user installed dowel pins in the mounting surface see Figure 3 2 Using locating pins can improve the ability to remove and rei...

Page 38: ...ny slack but do not lift the robot at this time 3 Remove the four bolts securing the robot base to the pallet Retain these bolts for possible later relocation of the equipment 4 Lift the robot and position it directly over the mounting surface 5 Slowly lower the robot while aligning the base and the tapped mounting holes in the mounting surface WARNING Do not attempt to lift the robot at any point...

Page 39: ...g bolts and washers Tighten the bolts to the torque specified in Table 3 2 NOTE Check the tightness of the mounting bolts one week after initial installation and then recheck every 6 months See Chapter 7 for periodic maintenance WARNING The center of mass of the robot may cause the robot to fall over if the robot is not secured with the mounting bolts Table 3 2 Mounting Bolt Torque Specifications ...

Page 40: ...ser supplied computer running Adept ACE software DB 9 male XPANEL for connecting the AIB XPANEL cable The AIB XPANEL cable has connectors for the Front Panel XFP T2 pendant XMCP and user IO XUSR DB26 high density male XIO for user I O signals for peripheral devices This connector provides 8 outputs and 12 inputs See Section 6 6 on page 83 for connector pin allocations for inputs and outputs That s...

Page 41: ...el Cable 10356 10500 90356 10358 Standard iCobra E XMCP Jumper Plug 04737 000 04081 000 Standard iCobra F T1 T2 Bypass Plug 05004 000 04965 203 04965 210 T2 option 3 m 10 m G T1 T2 Adapter Cable 05002 000 H T2 optional 05215 103 05215 110 J AC Power Cable to supply AC power to robot User supplied K 24 VDC Power Cable to supply 24 VDC to robot User supplied L 24 VDC 6 A Power Supply User supplied A...

Page 42: ... need AC cable K L 8 Connect null modem serial cable to Interface Panel and serial port on PC M Adept Cobra i600 i800 Robot 24 VDC 6 A Power Supply 200 240 VAC 10 A single phase AC Power Cable DC Power Cable Front Panel Cable Front Panel User Supplied PC running Adept ACE T1 T2 Adapter Cable XMCP Jumper Plug XMCP XFP XUSR XUSR Jumper Plug AIB XPANEL Cable Robot Interface Panel XUSR for User E Stop...

Page 43: ...circuits to the XUSR connector 2 Connect the Front Panel cable to the XFP connector on the AIB XPANEL cable 3 Connect the other end of the Front Panel cable to the Front Panel 4 If you are not using the optional T2 pendant verify that The XMCP Jumper Plug is installed in the XMCP connector of the AIB XPANEL cable or The T1 T2 Bypass Plug is plugged into the S1 end of the T1 T2 Adapter Cable and th...

Page 44: ...oft NET Framework 2 0 or later included in the installation of the Adept ACE installer Microsoft Internet Explorer version 5 01 or later necessary for viewing Online help Installing Serial Cable 1 Locate the RS 232 null modem serial cable that is included in the Accessory Kit 2 Connect one end of the serial cable to the RS 232 connector on the robot interface panel See Figure 4 1 on page 42 3 Conn...

Page 45: ...Software CD ROM menu click Install the Adept ACE Software Figure 4 2 Adept ACE CD ROM Startup Menu 3 The Adept ACE Setup wizard opens see Figure 4 4 and Figure 4 5 Follow the instructions as you step through the installation process Figure 4 3 Setup Welcome Screen Figure 4 4 Ready to Install Screen ...

Page 46: ...E Figure 4 5 Install Screen 4 When the install is complete click Finish Figure 4 6 Installation Completed 5 After closing the Adept ACE Setup wizard click Exit on the CD ROM menu and proceed to the Start up Procedure NOTE You will have to restart the PC after installing Adept ACE ...

Page 47: ...y must incorporate overload protection to limit peak power to less than 300 W or 8 A in line fuse protection must be added to the 24 V power source In case of multiple robots on a common 24 V supply each robot must be fused individually NOTE Fuse information is located on the AIB electronics Output must be less than 300 W peak or 8 Amp in line fuse Power Cabling 1 5 1 85 mm 16 14 AWG Shield Termin...

Page 48: ... end of the cable for connection to your user supplied 24 VDC power supply Installing 24 VDC Robot Cable 1 Connect one end of the shielded 24 VDC cable to your user supplied 24 VDC power supply See Figure 4 7 The cable shield should be connected to frame ground on the power supply Do not turn on the 24 VDC power until instructed to do so in Chapter 6 2 Plug the mating connector end of the 24 VDC c...

Page 49: ... ends of the cable Creating AC Cable to 24 VDC Power Supply If the power supply does not come with an AC power cable you will have to build one The cable should be at least 18 AWG 3 wire rated for 300 V Refer to the 24 VDC power supply you are using for AC input requirements 24 V 6 A Frame Ground User Supplied Power Supply 24 VDC Adept Cobra i600 i800 Robot User Supplied Shielded Power Cable Attac...

Page 50: ...4 Specifications for 200 240 VAC User Supplied Power Supply Auto Ranging Nominal Voltage Range Minimum Operating Voltagea a Specifications are established at nominal line voltage Low line voltage can affect robot performance Maximum Operating Voltage Frequency Phasing Recommended External Circuit Breaker User Supplied 200 to 240 V 180 V 264 V 50 60 Hz 1 phase 10 Amps Table 4 5 Typical Robot Power ...

Page 51: ...ng the energy in the transient In the industrial environment non periodic overvoltage peaks may appear on mains power supply lines as a result of power interruptions to high energy equipment such as a blown fuse on one branch in a 3 phase system This will cause high current pulses at relatively low voltage levels The user shall take the necessary steps to prevent damage to the robot system such as...

Page 52: ...ed plug is internally labeled for the AC power connections L E N Table 4 6 AC Mating Connector Details AC Connector details AC in line power plug straight female screw terminal 10 A 250 VAC Qualtek P N 709 00 00 Digi Key P N Q217 ND Adept P N 02710 000 E E N L3 L L1 L2 F5 10 A F4 10 A Adept Cobra s600 s800 and i600 i800 Robots 1 Ø 200 240 VAC User Supplied AC Power Cable Note F4 and F5 are user su...

Page 53: ...into the connector through the removable bushing 7 Connect each wire to the correct terminal screw and tighten the screw firmly 8 Tighten the screws on the cable clamp 9 Reinstall the cover and tighten the screw to seal the connector 10 Prepare the opposite end of the cable for connection to the facility AC power source Figure 4 10 AC Power Mating Connector Installing AC Power Cable to Robot 1 Con...

Page 54: ...nge If hazardous voltages are present at any user supplied robot mounted equipment or tooling you must install a ground connection from that equipment tooling to the ground point on the robot base Hazardous voltages can be considered anything in excess of 30 VAC 42 4 VAC peak or 60 VDC See also Figure 8 4 on page 120 for the grounding point on the tool flange 4 9 Installing User Supplied Safety Eq...

Page 55: ... User s Guide Rev E 55 Refer to Section 6 7 on page 89 for information on connecting safety equipment to the system through the XUSR connector on the AIB XPANEL cable There is a detailed section on Emergency Stop Circuits and diagrams on recommended E Stop configurations ...

Page 56: ...Chapter 4 System Installation 56 Adept Cobra i600 i800 Robot User s Guide Rev E ...

Page 57: ...er link and the tool flange 5 2 Removing and Installing the Tool Flange The tool flange can be removed and reinstalled if required If the flange is removed it must be reinstalled in exactly the same position to avoid losing the calibration for the system There is a setscrew on the flange that holds the rotational position of the flange on the quill shaft A ball bearing behind the setscrew contacts...

Page 58: ...n one of the socket head screws part of the way then tighten the other one the same amount Alternate between the two screws so there is even pressure on both once they are tight The torque specification for each screw is 8 N m 70 in lb 5 3 User Connections on the Robot User Air Lines There are five user air line connectors on the robot user panel on the back of Joint 1 see Figure 5 2 The five air ...

Page 59: ...trical lines see Figure 5 2 This connector is wired directly to a 25 pin female connector on the top of the outer link see Figure 5 3 These connectors can be used to run user electrical signals from the user panel through the robot and up to the outer link Wire Specifications Wire size 0 1 mm2 Pin Numbers 1 24 12 pairs twisted in pairs as 1 2 3 4 5 6 23 24 Maximum current per line 1 Amp Figure 5 3...

Page 60: ...PWR ESTOP Figure 5 5 SOLND Connector WARNING When the outer link cover is removed you see the label shown above Do not remove the J3 ENC or J4 ENC encoder cable connectors from their sockets If they are removed the calibration data will be lost and the robot must be run through a factory recalibration process which requires special software and tools NOTE On early Cobra i600 robots the J3 BRK and ...

Page 61: ...her user supplied devices See the following table and Figure 5 6 on page 62 Table 5 1 SOLND Connector Pinout Pin Description Pin Location 1 Output signal 9 SOLND Connector as viewed on robot 2 Ground 3 Output signal 10 4 Ground Mating Connector AMP Tyco 172167 1 4 pin Mini Universal Mate N Lok AMP Tyco 770985 1 Pin Contact Mini Univ Mate N Lok Table 5 2 OP3 4 Connector Pinout Pin Description Pin L...

Page 62: ... 4 for current specs EOAPWR Connector as viewed on robot 2 Ground 3 24 VDC see Table 5 4 for current specs 4 Ground Mating Connector AMP Tyco 172167 1 4 pin Mini Universal Mate N Lok AMP Tyco 770985 1 Pin Contact Mini Univ Mate N Lok Pin 1 Pin 2 Pin 3 Pin 4 For optional second set of solenoids or other user supplied devices Pin 1 Pin 2 Pin 3 Pin 4 For optional Robot Solenoid Kit installation or ot...

Page 63: ...op condition See Figure 5 7 Table 5 4 Internal User Connector Output Circuit Specifications Parameter Value Power supply voltage range 24 VDC 10 150 W 6 A 21 6 V Vin 26 4 V Operational current range per channel Iout 700 mA Total Current Limitation all channels on a a NOTE Total current is the sum of the output current used by output signals 3001 3004 SOLND and OP3 4 and any user current drawn from...

Page 64: ...ect in the Folder pane of the Workspace Explorer 2 In the object editor select Configure Configuration Manager See the following figure Figure 5 8 Selecting the Configuration Manager Table 5 5 ESTOP Connector Pin Description Pin Location 1 ESTOP_INPUT ESTOP Connector as viewed on robot 2 24 V Mating Connector AMP Tyco 172165 1 2 pin Mini Universal Mate N Lock AMP Tyco 770985 1 Pin Contact Mini Uni...

Page 65: ...bottom side of the outer link Each location has a set of four threaded holes See Figure 8 5 on page 121 and Figure 8 6 on page 122 for the dimensions NOTE The cover on the outer link must be removed for maintenance lubrication so keep this in mind when mounting any external equipment to the outer link cover 5 6 Installing the Robot Solenoid Kit Introduction This procedure describes how to mount th...

Page 66: ...h valve are plugged at the factory at the solenoid assembly The Solenoid Kit for the Adept Cobra i series robot is available through Adept Contact your Adept Sales Representative for current price and availability Tools Required Assorted Allen drivers Cable ties Diagonal wire cutters Solenoid Valve upgrade Kit Adept P N 02853 000 Procedure 1 Turn off all power to the robot 2 Remove two screws on t...

Page 67: ...ir intake coupling of the solenoid manifold Make sure the air line is pushed in all the way and secured in place by the intake coupling Confirm by pulling on the air line NOTE If you are installing a Solenoid Kit on a Cleanroom or IP 65 robot the spare air line is used for a different purpose in those robots You will have to provide a piece of 6 mm tubing to run from one of the 6 mm user airlines ...

Page 68: ...the securing screw on the AIB chassis and lower the chassis down flat See Figure 7 2 on page 110 for the location of the securing screw 11 Remove the cable strap plate by removing two screws and split washers See Figure 5 11 This allows the harness to move when you lift the J1 cover in the next step Figure 5 11 Removing the Cable Strap Plate 12 Remove the four screws for the Joint 1 cover and lift...

Page 69: ... is inside the cover and nothing gets crimped or pinched when pushing the cover into position Reinstall the screws to secure the cover Tighten the screws to 1 6 N m 14 in lb 17 Reinstall the outer link cover and tighten the screws to 1 6 N m 14 in lb of torque 18 Connect the factory air supply to the modified 6 mm User Air connector 19 Turn on system power and boot the system The default values fo...

Page 70: ...See the following figure Figure 5 13 Joint 1 Adjustable Hardstops Installation Procedure 1 Remove the plug from the desired threaded hole Position 1 or 2 on each side of the robot 2 Install the adjustable hardstop into the threaded hole using an 8 mm Allen wrench Tighten to a torque of 45 ft lb 61 N m 3 Repeat the process on the other side of the robot Modifying Joint Limit Softstop Locations for ...

Page 71: ... the Upper Limit field enter the new value for the J1 upper limit softstop See the preceding table for recommended softstop values for Position 1 or Position 2 6 Click Apply The Apply Changes window opens as illustrated in Figure 5 15 7 Select the required options for saving joint limit values to temporary or permanent memory For more information on saving changes click Help 8 Click Write to apply...

Page 72: ...ar block that is the fixed hardstop and the required screws to install them The adjustable hardstop plates can be installed in different locations depending on how much you need to limit the Joint 2 range of motion Figure 5 16 Joint 2 Hardstop Kit Installation Procedure 1 Slide the two adjustable hardstop plates into the space between inner and outer links See Figure 5 17 Looking up at the inner l...

Page 73: ...s can be installed in different positions depending on how much you need to limit the range of Joint 2 See Table 5 8 on page 75 3 Slide the fixed hardstop block into the slot on the underside of the outer link See Figure 5 18 Figure 5 18 Fixed Hardstop Device for Joint 2 4 Use a 3 mm Allen wrench to install two supplied M4 x 10 screws to secure the hardstop device Tighten the screws to a torque of...

Page 74: ... the online help for more details on this utility 1 Double click the iCobra object in the Folder pane of the Workspace Explorer 2 In the object editor select Configure Configuration Manager 12 thru holes for M5 x 10 screws for installing Joint 2 hardstops located 30 degrees apart Joint 2 Left Hardstop Plate installed in 81 degree position Joint 2 Fixed Hardstop Device Joint 2 Positive direction Jo...

Page 75: ...s illustrated in Figure 5 15 7 Select the required options for saving joint limit values to temporary or permanent memory For more information saving changes click Help 8 Click Write to apply and save the changes 9 Once the joint limits have been changed and written to memory the system is ready to use with the new limits in place NOTE With both adjustable hardstop plates installed Joint 2 has a m...

Page 76: ...Chapter 5 Optional Equipment Installation 76 Adept Cobra i600 i800 Robot User s Guide Rev E ...

Page 77: ...ing pattern indicates the status of the robot See the following table Table 6 1 Robot Status LED Definition LED Status 2 Digit Status Panel Display Description Off Off 24 VDC not present Off OK High Power Disabled Amber Solid ON High Power Enabled Amber Fast Blink Fault Code s Fault see Status Display Amber Solid Fault Code s Fault see Status Display Table 6 2 Legacy Robot Status LED Definition LE...

Page 78: ...ling high power to the robot or power cycling the 24 V supply to the robot Figure 6 2 Status Panel Green Fast Blink High Power Enabled Red Fast Blink Fault see Status Display Solid Green or Red Initialization or Robot Fault Table 6 3 Status Panel Fault 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 Vo...

Page 79: ... Button Under some circumstances you may want to manually position Joint 3 on the Z Axis without turning on High Power For such instances a Z Brake Release button is located above the robot status panel see Figure 6 2 on page 78 When system power is on pressing this button releases the brake which allows movement of Joint 3 If this button is pressed while High Power is on High Power will automatic...

Page 80: ... Off Switch and Lamp Controls high power which is the flow of current to the robot motors Enabling high power is a two step process An Enable Power request must be sent from the user supplied PC an executing program or the T2 pendant Once this request has been made and the High Power On Off lamp button is blinking the operator must press and release this button within 10 seconds and high power wil...

Page 81: ...reakout cable with flying leads on user s end from optional I O products 12 inputs 8 outputs See page 87 for information XIO Termination Block with terminals for user wiring plus input and output status LEDs Connects to the XIO connector with 6 foot cable 12 inputs 8 outputs See the Adept XIO Termination Block Installation Guide for details IO Blox Device adds digital I O capacity connects to robo...

Page 82: ...ox 1 Inputs 1033 1044 Outputs 0033 0040 IO Blox 2 Inputs 1041 1048 Outputs 0041 0048 IO Blox 3 Inputs 1049 1056 Outputs 0049 0056 IO Blox 4 Inputs 1057 1064 Outputs 0057 0064 GND XSLV 1 2 SmartServo RS 232 XPANEL AC INPUT 200 240 VAC 1 24V DC INPUT 24 VDC XIO Cobra i600 i800 Robot XIO Connector 12 Input signals 1001 to 1012 8 Output signals 0001 to 0008 IO Blox 1 8 Input signals 1033 to 1040 8 Out...

Page 83: ... Connector Table 6 6 XIO Signal Designations Pin No Designation Signal Bank MicroV Signal Number Pin Locations 1 GND XIO 26 pin female connector on Robot Interface Panel 2 24 VDC 3 Common 1 1 4 Input 1 1 1 1001 5 Input 2 1 1 1002 6 Input 3 1 1 1003 7 Input 4 1 1 1004 8 Input 5 1 1 1005 9 Input 6 1 1 1006 10 GND 11 24 VDC 12 Common 2 2 13 Input 1 2 2 1007 14 Input 2 2 2 1008 15 Input 3 2 2 1009 16 ...

Page 84: ...errupts or vision triggers XIO Input Specifications NOTE The input current specifications are provided for reference Voltage sources are typically used to drive the inputs Table 6 7 XIO Input Specifications Operational voltage range 0 to 30 VDC Off state voltage range 0 to 3 VDC On state voltage range 10 to 30 VDC Typical threshold voltage Vin 8 VDC Operational current range 0 to 7 5 mA Off state ...

Page 85: ...ed Equipment User Supplied Equipment Signal 1001 Part Present Sensor 4 Signal 1002 Feeder Empty Sensor 5 Signal 1003 Part Jammed Sensor 6 Signal 1004 Sealant Ready Sensor 7 Signal 1005 8 Signal 1006 24 V GND 9 Bank 1 Common Bank 2 Common 3 2 1 Signal 1007 13 Signal 1008 14 Signal 1009 15 Signal 1010 16 Signal 1011 17 Signal 1012 18 12 GND 10 24 V 11 Wiring Terminal Block Typical User Input Signals...

Page 86: ...rough a self resetting polyfuse The outputs are accessed through direct connection to the XIO connector see Table 6 6 on page 83 or through the optional XIO Termination Block See the documentation supplied with the XIO Termination Block for details XIO Output Specifications Table 6 8 XIO Output Circuit Specifications Parameter Value Power supply voltage range See Table 4 1 on page 47 Operational c...

Page 87: ...ls in the workcell The part number for the cable is 04465 000 and the length is 5 M 16 4 ft See Table 6 9 on page 88 for the wire chart on the cable NOTE this cable is not compatible with the XIO Termination Block Figure 6 7 Optional XIO Breakout Cable M Adept Supplied Equipment User Supplied Equipment Outputs 1 8 Typical User Loads XIO Connector 26 Pin Female D Sub 24 VDC 19 Signal 0001 20 Signal...

Page 88: ...3 1 Yellow Black 7 Input 4 1 Green 8 Input 5 1 Green Black 9 Input 6 1 Blue 10 GND Blue White 11 24 VDC Brown 12 Common 2 Brown White 13 Input 1 2 Orange 14 Input 2 2 Orange Black 15 Input 3 2 Gray 16 Input 4 2 Gray Black 17 Input 5 2 Violet 18 Input 6 2 Violet White 19 Output 1 Pink 20 Output 2 Pink Black 21 Output 3 Light Blue 22 Output 4 Light Blue Black 23 Output 5 Light Green 24 Output 6 Ligh...

Page 89: ...cts Provided by the XUSR Connector Pin Pairs Description Comments Shorted if NOT Used Voltage Free Contacts Provided by Customer 1 14 User E Stop CH 1 mushroom PB safety gates etc N C contacts Yes 2 15 User E Stop CH 2 same as pins 1 and 14 N C contacts Yes 3 16 Not supported on Cobra i series robot 4 17 Not supported on Cobra i series robot 5 18 Muted Safety Gate CH 1 causes E Stop in AUTOMATIC m...

Page 90: ...Mode only operation 6 14 Remote High Power On Off momentary PB User must supply momentary push button to enable High Power to system Nonvoltage Free Contacts 5 13a a Users must exercise caution to avoid inadvertently connecting 24 V signals to these pins because this will damage the electronics Adept Supplied 5 VDC and GND for High Power On Off Switch Lamp User must supply lamp or use 1 4 W 220 Oh...

Page 91: ...n 4 12 13 15 T2 Enable CH 2 Hold to run 13 1 4 Serial GND Logic GND 7 2 T2 TXD Micro V to MCP TXD 8 3 T2 RXD Micro V to MCP RXD 14 5 No connection 15 8 No connection Shield 9 Shield GND 6 24 V used by T2 Power Adapter 5 10 No connection Table 6 12 Remote T2 Pendant Connections on the XMCP Connector Pin XMCP 15 Pin D Sub Pin T2 16 Pin CPC Description ...

Page 92: ...els independently if used NOTE The Line E Stop and User Manual Auto Indication functions of the XUSR connector are not supported on the Cobra i600 i800 robots T2 4 3 Position Enable Switch XMCP 4 XPANEL 17 XMCP 3 XPANEL 8 XMCP 11 XPANEL 9 XMCP 12 XPANEL 18 XFP 4 XPANEL 12 Front Panel Manual Auto Keyswitch XFP 3 XPANEL 3 XUSR 6 XUSR 5 XUSR 18 XPANEL 4 XUSR 19 XPANEL 13 Muted Safety Gate Active in A...

Page 93: ...her channel is opened It will also display an error if the channels are shorted together Muted Safety Gate E Stop Circuitry Two pairs of pins on the XUSR connector pins 5 18 and 6 19 provide connections for a safety gate designed to yield an E Stop allowing access to the workspace of the robot in Manual mode only not in Automatic mode The E Stop is said to be muted in Manual mode see Figure 6 8 on...

Page 94: ... Front Panel then a custom splitter cable or complete replacement of the Adept Front Panel will be required See the Front Panel schematic Figure 6 9 on page 93 for details of the Front Panel s wiring In this situation a second momentary contact for high power on off would be placed in parallel with the Adept Front Panel push button contact This second contact should be suppressed when in Manual mo...

Page 95: ... this lamp Remote Front Panel or User Supplied Replacement Users can mount the Front Panel remotely by using an extension cable or by wiring a user supplied Front Panel control panel to the robot using the 15 pin XFP connector The Front Panel contains no active components only switches and lights Users should be able to adapt the Front Panel s functionality into their own Front Panel design To aut...

Page 96: ...correctly is an important process Before using the robot make the following checks to ensure that the robot system has been properly installed Mechanical Checks Verify that the robot is mounted level and that all fasteners are properly 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 whe...

Page 97: ... older iCobras the Robot Status LED blinks green slowly 4 Verify the Auto Manual switch on the Front Panel is set to Auto Mode See Figure 6 15 on page 100 5 Turn on the user supplied PC and start Adept ACE 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 6 Connect a serial cable from the PC to the ...

Page 98: ...ions below to enable high power to the robot motors Option 1 recommended Use the Diagnostics Wizard which steps you through the process of bringing up your system Option 2 Enable high power directly from Adept ACE See page 101 Option 1 Using the Diagnostics Wizard to Enable High Power NOTE This start up procedure using the Diagnostics Wizard is also shown in the Adept Cobra i600 i800 Robot Quick S...

Page 99: ...igure Diagnostics Wizard See the following figures Figure 6 12 Selecting the Diagnostics Wizard The following screen opens Figure 6 13 Adept DIagnostics Wizard 3 The Wizard verifies the workcell configuration to confirm all equipment is installed correctly Click Next to continue to the Enable Power sequence ...

Page 100: ...n on the Front Panel See Figure 6 15 This step turns on high power to the robot motors The Robot Status LED glows solid amber or on older iCobras blinks green rapidly The code on the Diagnostic Panel displays ON NOTE The Front Panel button must be pressed within 10 seconds Figure 6 15 High Power Button on Front Panel Switch set to Auto Mode Press High Power button when blinking within 10 seconds ...

Page 101: ... Using Adept ACE to Enable High Power 1 From the Adept ACE main menu click the Enable High Power icon See the following figure Figure 6 17 High Power and Launch Robot Jog Control Icons 2 Press and release the blinking High Power button on the Front Panel within 10 seconds The Front Panel is shown in Figure 6 15 on page 100 If the button stops blinking you must Enable Power again This step turns on...

Page 102: ...ccess the Robot Jog Control on the Adept ACE toolbar click the Launch Robot Jog Control icon See Figure 6 17 The Robot Jog Control opens See the following figure Figure 6 18 Robot Jog Control Window b In the Mode section click Joint By default Comp will be selected c Use the Robot Jog Control arrows to move Joint 1 a short distance in both directions Repeat for Joints 2 3 and 4 See the following f...

Page 103: ...er 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 must go out for each E Stop See Section 6 7 on page 89 6 9 Learning to Program the Adept Cobra i Series Robot To learn how to use and program the robot go to the Adept ACE and MicroV online documentation in the Adept Docum...

Page 104: ...Chapter 6 System Operation 104 Adept Cobra i600 i800 Robot User s Guide Rev E ...

Page 105: ...service the robot system Table 7 1 Field replaceable Parts Part Adept Part Number Encoder battery 02704 000 3 6 V 8 5 Ah AIB Amp In Base 04900 000 Table 7 2 Inspection and Maintenance Item Period Reference Check E Stop enable and key switches and barrier interlocks 6 months See Section 7 3 Check robot mounting bolt torque 6 months See Section 7 4 Check for signs of oil around harmonic drive 3 mont...

Page 106: ...f E Stop button on Front Panel E Stop button on T2 Enabling switch on T2 Auto Manual switch on Front Panel NOTE Operating any of the above switches should disable High Power 2 Test operation of all external user supplied E Stop buttons 3 Test operation of barrier interlocks etc 7 4 Checking Robot Mounting Bolt Torque Check the tightness of the base mounting bolts every 6 months Tighten to 85 N m 6...

Page 107: ...oint 3 Ball Screw Spline Required Grease for the Robot Lubrication Procedure 1 Turn off main power to the robot 2 Remove the outer link cover by removing six screws located on the sides and top of the cover Carefully remove the cover 3 Switch on 24 VDC power to the robot Ball Screw Spline Assembly Grease LG 2 Lubricating Grease Lithium Soap Synthetic Hydrocarbon Adept part number 85139 00002 CAUTI...

Page 108: ...int free soft cloth 6 Using a syringe apply a small bead of grease to the Joint 3 ball screw grooves see Figure 7 1 on page 109 7 Move Joint 3 to the bottom of its travel Remove any existing grease with a clean lint free soft cloth 8 Apply a thin film of grease to any grooves of the ball screw that you did not reach in Step 6 9 Move Joint 3 up and down several times to spread the grease evenly 10 ...

Page 109: ... Ball Screw Lubrication Points NOTE Apply grease to the three vertical grooves and the spiral groove A A Section A A Top View Looking Down Quill Shaft Vertical Groove Lube Point A Vertical Groove Lube Point B Vertical Groove Lube Point C Upper Quill Grease Locations Lower Quill Grease Locations Joint 3 Ball Screw Lubrication Points A A ...

Page 110: ...able from the XPANEL connector 6 Disconnect any other cables which may be connected to the chassis such as XIO RS 232 or any others 7 Using a 5 mm Allen key carefully unscrew the chassis securing screw See the following figure NOTE The screw does not need to be completely removed in order to remove the chassis as this screw is captured on the chassis heat sink Figure 7 2 Securing Screw on AIB Chas...

Page 111: ...amplifier cable from the amplifier connector located on the chassis bracket See Figure 7 4 Figure 7 4 Connectors on AIB Chassis 10 Carefully disconnect the J1 cable from the J1 connector on the PMAI by disengaging the securing latches 11 Carefully disconnect the J11 cable from the J11 connector on the PMAI by disengaging the securing latches 12 Carefully disconnect the J27 cable from the J27 conne...

Page 112: ...fully remove the new chassis from its packaging check it for any signs for damage Remove any foreign packing materials or debris from inside the chassis 2 Verify that the E Stop jumper is set to Internal Figure 7 6 AIB Jumper 3 Carefully place the chassis next to the robot 4 Using a 5 mm Allen key carefully connect the ground wire to the chassis 5 Carefully connect the J28 cable to the J28 connect...

Page 113: ...ring installation 11 Once the chassis is in place use a 5 mm Allen key to tighten the chassis securing screw See Figure 7 2 on page 110 for details 12 Connect the 200 240 VAC supply cable to the chassis AC Input connector 13 Connect the AIB XPANEL cable to the XPANEL connector 14 Connect any other cables that were removed from the chassis such as XIO RS 232 or any others 15 Connect the 24 VDC supp...

Page 114: ...dure 1 Obtain the replacement battery Adept part number 02704 000 2 Switch off the 24 VDC input supply to the robot 3 Switch off the 200 240 VAC input supply to the robot 4 Disconnect the 24 VDC supply cable from the robot 24 VDC input connector See Figure 3 3 on page 40 for locations of connectors 5 Disconnect the 200 240 VAC supply cable from the robot AC Input connector 6 Using a 5 mm Allen key...

Page 115: ...onnectors on the secondary battery cable Make sure to verify the positive and negative connections are correct 11 Once the new battery is connected you can disconnect and remove the original battery 12 Place the new battery in the original location on the base of the robot 13 Close the robot by reversing the steps in the beginning of this procedure 14 Reconnect the 200 240 VAC supply cable to the ...

Page 116: ...Chapter 7 Maintenance 116 Adept Cobra i600 i800 Robot User s Guide Rev E ...

Page 117: ...de Rev E 117 Technical Specifications 8 8 1 Dimension Drawings Figure 8 1 Adept Cobra i600 s600 Top and Side Dimensions 934 888 387 342 177 0 600 325 0 234 46 37 417 183 200 Required clearance to open AIB Chassis 31 Required cable clearance ...

Page 118: ...ons 118 Adept Cobra i600 i800 Robot User s Guide Rev E Figure 8 2 Adept Cobra i800 s800 Top and Side Dimensions Required clearance to open AIB Chassis 31 Required cable clearance 417 183 200 918 894 398 342 188 0 46 37 800 425 0 234 ...

Page 119: ...Cobra i600 i800 Robot User s Guide Rev E 119 Figure 8 3 Dimensions of the Camera Bracket Mounting Pattern Cobra s i600 4X M4x0 7 6H Cobra s i800 4X M4x0 7 6H 10 03 6 10 45 3 0 3 0 Cobra s i600 2X 54 8 10 10 03 7 Cobra s i800 2X ...

Page 120: ...Detail A Detail A 6 80 mm 0 268 in 1 5 mm 0 059 in 4 14 mm 0 163 in 12 0 mm 0 47 in 20 0 mm 0 79 in 3 0 mm 0 12 in 43 mm 1 69 in 30 25 45 41 15 mm 63 0 mm 2 48 in Dowel Pin Hole C B A 10 mm 004 in 50 0 mm 1 9685 in BC 6 0 mm C A B 03 mm 00 mm 1 620 in 001 in 000 in M M M R 3 56mm R 0 140in 5 08mm 0 20in M3 X 0 5 6H Thru 0 2362 in 01 mm 0 mm 0005 in 0 in ...

Page 121: ...Adept Cobra i600 i800 Robot User s Guide Rev E 121 Figure 8 5 External Tooling on Top of Robot Arm 25 105 4X M4x0 7 6H 8 60 105 4X M4x0 7 6H 6 Inner Link External Mounting Locations Outer Link External Mounting Locations ...

Page 122: ...8 Technical Specifications 122 Adept Cobra i600 i800 Robot User s Guide Rev E Figure 8 6 External Tooling on Underside of Outer Link Outer Link Bottom View 76 Cobra s i600 135 Cobra s i800 4X M4x0 7 6H 90 8 34 ...

Page 123: ...ide Rev E 123 Figure 8 7 Adept Cobra i600 s600 Robot Working Envelope Maximum Radial Reach Functional Area 600 mm 23 62 in Maximum Intrusion Contact Radius 647 mm 25 50 in Minimum Radial Reach 162 6 mm 6 40 in Cartesian Limits 300 mm 11 8 in 105 150 150 105 ...

Page 124: ...User s Guide Rev E Figure 8 8 Adept Cobra i800 s800 Robot Working Envelope Maximum Radial Reach Functional Area 800 mm 31 50 in Maximum Intrusion Contact Radius 847 3 mm 33 36 in Minimum Radial Reach 163 6 mm 6 44 in Cartesian Limits 300 mm 11 8 in 105 157 5 157 5 105 ...

Page 125: ...ec 2 kg 0 42 sec 0 54 sec 5 5 kg 0 53 sec 0 64 sec Adept Cycle Burst 180 J4 rotation 0 kg 0 42 sec 0 48 sec 2 kg 0 42 sec 0 54 sec 5 5 kg 0 59 sec 0 76 sec Adept Cycle Sustained no J4 rotation b 0 kg 0 42 sec at 20 C 0 48 sec at 40 C 0 48 sec at 20 C 0 51 sec at 40 C 2 kg 0 45 sec at 20 C 0 51 sec at 40 C 0 54 sec at 20 C 0 54 sec at 40 C 5 5 kg 0 58 sec at 20 C 0 64 sec at 40 C 0 70 sec at 20 C 0...

Page 126: ...hrough One available Weight without options 41 kg 90 lb 43 kg 95 lb a Specifications subject to change without notice b The robot tool performs continuous path straight line motions 25 mm 1 in up 305 mm 12 in over 25 mm 1 in down and back along the same path COARSE is enabled and BREAKs are used at each end location Not achievable over all paths Table 8 2 Softstop and Hardstop Specifications Joint...

Page 127: ...by maintaining the robot speed at Speed 50 or below Contact Adept for details This option is a factory installed configuration Changes to the robot include the addition of a bellows assembly mounted at the Joint 3 quill fully sealed access covers and a two stage vacuum system to evacuate the arm This vacuum system incorporates a compressed air vacuum generator mounted in the base of the robot to p...

Page 128: ... rate 6 mm 0 2 inches of water differential pressure measured between the robot and the vacuum source 3 4 in NPT female thread pipe fitting at the back of the robot Compressed air source Clean dry oil free compressed air 75 psi 0 52 MPA 1 4 SCFM flow rate 0 04 m3 min 3 8 in NPT female thread pipe fitting at the back of the robot flow regulator not supplied Quill inside diameter The inside diameter...

Page 129: ...osening the screw on the clamp 4 Slide the old bellows down off of the quill 5 Install a new bellows and reverse the steps listed above Table 9 3 Internally Mounted Hand Valves Installation considerations The internal air line normally used to supply the internally mounted hand valves Adept Option Kit P N 02853 000 is instead used to provide vacuum to the bellows outer link One of the passive 6 mm...

Page 130: ... Guide Rev E Figure 9 3 Cleanroom Bellows Replacement Lubrication The upper and lower quill requires lubrication in the same manner as the standard Cobra i600 i800 robot See Section 7 6 on page 107 Upper Bellows Clamp Ring Bellows Lower Bellows Clamp Ring Tool Flange ...

Page 131: ...tance protection of the equipment inside the robot shell against harmful effects due to the ingress of water Specifically for IP 65 Water Protection Water projected in jets against the robot enclosure from any direction shall have no harmful effects NOTE The IP 65 Option is available only for the Cobra i800 robot Figure 10 1 Adept Cobra i800 Robot IP 65 Version 10 2 Installing Cable Seal Assembly ...

Page 132: ...p See the following figure Figure 10 3 Cable Seal Housing Installed 3 Attach all system cables to the robot See Figure 4 1 on page 42 4 Install the lower cable seal flange onto the housing The lower flange fits into the groove at the bottom of the housing a Tilt the flange away from the robot as you install it see Figure 10 4 b Then pull up on the flange and push it toward the robot c Finally push...

Page 133: ...ushing down into the foam on the lower flange 6 Attach the upper flange to the lower flange using two M6x20 screws two M6 lock washers and two M6 flat washers Make sure none of the cable are pinched or crimped when installing the upper flange 7 Attach the flange assembly using one M6x20 screw one M6 lock washer and one M6 flat washer See Figure 10 6 Figure 10 6 Upper Flange Installed ...

Page 134: ...e exterior of the outer link thoroughly to remove any dust or particles that might fall inside the robot when the cover is removed 3 Unscrew the collar nut on the top of the outer link See Figure 10 8 4 Remove two screws and nylon washers on the top of the outer link 5 Remove two screws one on each side at the front of the outer link Make sure the O ring on each screw stays in place and is not los...

Page 135: ...material so the cover does not get scratched See Figure 10 9 Figure 10 9 IP 65 Robot with Outer Link Cover Removed Cover Reinstallation Procedure 1 Check the cover O ring around the inner groove of the cover to make sure it is in place and not crimped when installing the cover Remove this screw one on each side Remove this screw one on each side Caution loosen these screws only 1 2 turns Four scre...

Page 136: ...ay in so the clamp nuts will slide into the correct position 4 Reinstall the two screws and nylon washers at the top of the outer link and tighten to 0 56 N m 5 in lb 5 Reinstall the two screws check for O ring on screw near the front of the outer link and tighten to 1 1 N m 10 in lb 6 Tighten the eight side screws to 1 1 N m 10 in lb Be careful to not over tighten Begin with the two screws one on...

Page 137: ... periodically to make sure these requirements are being met as part of a periodic maintenance program Sealing the Tool Flange The tool flange must be sealed so that the robot shell can be positively pressurized The positive pressure reinforces the sealing properties of the gaskets and seals provided in the IP 65 robot The tool flange for the IP 65 robot has an additional protective shield on the o...

Page 138: ...o the air fitting The specification for the regulated air supply is shown in the following table Table 10 1 Compressed Air Specifications Required Air Pressure Required Air Flow Minimum 3 bar 10 44 PSI 10 57 liters per minute 2 cubic feet per minute CAUTION The compressed air supply must be clean and dry and it must be turned on continuously to maintain a positive air pressure inside the robot Fai...

Page 139: ... electrical connector DB 25 and the IO Blox connector DB 9 on the back of the Joint 1 cover require a gel seal gasket to maintain an adequate seal The gaskets are supplied in the Accessory Kit Figure 10 12 User Connectors on Joint 1 Cover The user electrical and DeviceNet connectors on the outer link are accessible with the cover removed See Figure 10 13 for locations of the internal connectors Fi...

Page 140: ...intain an adequate seal in the cover to prevent moisture from entering the outer link Robot Solenoid Option In an IP 65 robot if you are installing the internally mounted solenoid hand valves Adept Option Kit P N 02853 000 you must use a different air line than described in Section 5 6 on page 65 The internal air line normally used to supply the solenoid manifold is instead used to provide positiv...

Page 141: ...two M3 screws and pulling the clamp apart 4 Slide the old bellows down off of the quill 5 Install a new bellows by sliding it up onto the quill 6 Re install the upper bellows clamp You must align mating surface of the clamp half rings with the bellows seam see Figure 10 15 Tighten the screw to secure the bellows 7 Re install the user tool flange 8 Place new gaskets in the lower bellows clamp extra...

Page 142: ...r Cable Seal Assembly Figure 10 16 Cable Seal Assembly Dimensions Bellows Seam Bellows Clamp Cross section View Bellows Clamp Bellows NOTE Align the bellows clamps with the bellows seam on both upper and lower clamps REQUIRED CLEARANCE TO OPEN AIB CONTROLLER WITH THE IP 65 CONNECTOR CABLE SEALING BOX ON IP 65 VERSION ONLY 432 208 74 308 ...

Page 143: ...e seal assembly installing on IP 65 robot 132 camera bracket mounting dimensions 119 circuit protection 24 VDC power 47 cleanroom robot 127 connections 128 exclusions and incompatibilities 129 lubrication 130 replacing bellows 129 requirements 128 specifications 128 vacuum specifications 128 commissioning a system 96 compressed air cleanroom robot 128 IP 65 robot 138 Configuration Manager Breakawa...

Page 144: ...n Off Switch Front Panel 80 How Can I Get Help 18 I impact and trapping points 23 installation 24 VDC power to robot 47 AC power to robot 53 end effectors 57 overview 17 robot 37 solenoid kit 65 user supplied safety equipment 54 verifying 96 intended use of the robots 28 interface panel robot 40 Internal User connectors 60 EOAPWR 62 ESTOP 63 OP3 4 61 output specifications 63 SOLND 61 IO Blox conne...

Page 145: ...ontrol 94 repacking for relocation 36 requirements environmental 37 facility 37 risk assessment 25 RS 232 connector 40 S safety additional equipment 30 barriers 22 during maintenance 33 equipment for operators 32 impact and trapping points 23 required safeguards 22 sources for information 24 shipping and storage 35 SmartServo connector 40 softstops modifying for Joint 1 70 modifying for Joint 2 74...

Page 146: ...velope Cobra i600 s600 123 Cobra i800 s800 124 working areas 31 X XFP connector Front Panel 80 pin outs 90 XIO breakout cable 87 wire chart 88 XIO connector description and location 40 digital input circuit specifications 84 digital output circuit specifications 86 signal designations 83 XIO Termination Block 81 XMCP connector jumper plug 43 remote pendant connections 90 T1 T2 bypass plug 43 XPANE...

Page 147: ...Index Adept Cobra i600 i800 Robot User s Guide Rev E 147 ...

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Page 150: ...5960 Inglewood Drive Pleasanton CA 94588 925 245 3400 P N 03589 000 Rev E ...

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