adept technology Adept Cobra i600, User Manual

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Mounting Locations for External Equipment
Adept Cobra i600/i800 Robot User’s Guide, Rev E 65
3. Click the Advanced tab.
4. Check the Break-away E-STOP box.
5. Click Apply .
NOTE: When the Breakaway E-Stop function has been enabled, you must
connect a normally-closed circuit to pins 1 and 2 of the ESTOP connector,
as described above. If this is not done, the system will be in an E-Stop
condition and you will not be able to enable power.
5.5 Mounting Locations for External Equipment
Three locations are provided for mounting user’s external equipment on the robot arm.
The first location is on the J1 Harness Support (top side of the inner link), a second is on
the top side of the outer link, and a third is on the 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 the 24 V solenoid option kit on an Adept Cobra
i-series robot. The solenoid kit is available as Adept P/N 02853-000.
The robot has been pre-wired to accommodate a bank of two 24 VDC solenoid valves.
Power for the internal mounting is accessible via a connector mounted inside the outer
link cover (see
Figure 5-9 on page 67 ). The signals actuating the valves are directly
switchable from MicroV
+
utilizing software signals 9 and 10. Each driver is designed to
handle 24 VDC solenoids at a nominal 75 mA per valve.