adept technology Cobra s600, User Manual

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Chapter 6 - Maintenance
74 Adept Cobra s600/s800 Robot User’s Guide, Rev H
6.7 Replacing the SmartAmp AIB Chassis
This procedure provides details on how to replace the SmartAmp AIB chassis on a Cobra
s-series robot.
Removing the SmartAmp AIB Chassis
1. Switch off the SmartController.
2. Switch off the 24 VDC input supply to the chassis.
3. Switch off the 200/240 VAC input supply to the chassis.
4. Disconnect the 24 VDC supply cable from the c24 VDC input connector.
See Figure 3-3 on page 40 for locations of connectors.
5. Disconnect the 200/240 VAC supply cable from the chassis AC Input connector.
6. Disconnect the XSLV cable from the chassis XSLV connector.
7. Disconnect the 1394 cable from the chassis SmartServo connector.
8. Disconnect any other cables, which may be connected to the chassis, such as XIO,
RS-232, or any others.
9. Using a 5 mm Allen wrench, carefully unscrew the chassis securing screw. See
Figure 6-2 . Note that 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 6-2.
Securing Screw on SmartAmp AIB Chassis
10. While holding the chassis heat sink, carefully and slowly lower the chassis down
(see Figure 6-3 on page 75 ), so that enough access is available to remove the
internal cables. The chassis can be laid flat or placed to the right side of the robot
for better access.
CAUTION: Follow appropriate ESD procedures during the
removal/replacement phases.
Securing Screw on
SmartAmp AIB