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Chapter 6: System Operation

!

WARNING:

PERSONAL INJURY RISK

If an operator is going to be in the work cell in manual mode, it is
strongly recommended that the operator carry an enabling device. The
Enable button on the manual control pendant is such a device.

4.

High Power On/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-sup-
plied PC, an executing program, or the optional 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, and high power will be enabled.

NOTE:

The use of the blinking High Power button can be configured (or

eliminated) in software. Your system may not require this step.

IMPORTANT:

Disabling the High Power button violates IEC 60204-1. It

is strongly recommended that you not alter the use of the High Power but-
ton.

NOTE:

If enabled, the Front Panel button must be pressed while blinking

(default time-out is 10 seconds). If the button stops blinking, you must
enable power again.

5.

Emergency Stop Switch

The E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safety require-
ments. Pressing this button turns off high power to the robot motors.

NOTE:

The Front Panel must be installed to be able to enable power to the robot.

To operate without a Front Panel, the user must supply the equivalent circuits.

6.4 Initial Power-up of the System

The first time you power-up the system, you must follow the steps in this section to safely
bring up your robot system. The tasks include:

l

Verifying installation, to confirm all tasks have been performed correctly

l

Starting up the system by turning on power for the first time

l

Verifying all E-Stops in the system function correctly

l

Moving each joint of the robot (with the pendant or ACE software Jog Control) to con-
firm that each moves in the proper directions

Verifying Installation

Verifying that the system is correctly installed and that all safety equipment is working cor-
rectly is an important process. Before using the robot, make the following checks to ensure that
the robot, eMB-40R, and optional SmartController EX have been properly installed.

05624-000 Rev. K

Cobra 350 User's Guide

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Содержание Cobra 350 CR/ESD

Страница 1: ...I591 E 05 Cobra 350 Robot User s Guide...

Страница 2: ...ation is periodically reviewed and revised Omron Adept Technologies Inc assumes no responsibility for any errors or omissions in the doc umentation Critical evaluation of the documentation by the user...

Страница 3: ...Personnel 15 2 3 What to Do in an Emergency or Abnormal Situation 16 Releasing the Brakes 16 Releasing an E Stop 16 2 4 Robot Behavior 17 Hardstops 17 Limiting Devices 17 Singularities 17 2 5 Intende...

Страница 4: ...ut Cable 46 4 6 Mounting the eMB 40R 48 Dimensions and Mounting Holes 48 Mounting Clearances 49 Chapter 5 System Cable Installation 51 5 1 System Cables without SmartController EX 51 List of Cables an...

Страница 5: ...lling User Supplied Safety Equipment 76 Emergency Stop Circuits 82 Remote Manual Mode 84 User Manual Auto Indication 84 User High Power On Indication 85 Remote High Power On Off Control 85 High Power...

Страница 6: ...er Battery 106 Battery Replacement Time Periods 106 Replacement Procedure 107 8 7 Inspecting Timing Belts 110 8 8 Replacing the eMB 40R Amplifier 110 Remove the eMB 40R Amplifier 110 Installing a New...

Страница 7: ...R ESD Cleanroom Option 129 Introduction 129 Specifications 130 10 2 Connections 130 10 3 Requirements 131 10 4 ESD Control Features 131 10 5 Maintenance 132 Bellows Replacement 132 Lubrication 134 10...

Страница 8: ...oughout manual l Updated recommended power supply part numbers l Update T20 and XMCP jumper cable part numbers l Error reporting and Line E Stop clarification l Update ACE software disk to ACE softwar...

Страница 9: ...oint locations NOTE The robot motors are powered by an eMB 40R servo controller amplifier The robot can be controlled by the eMB 40R running eV or an optional SmartController EX motion controller whic...

Страница 10: ...ion controller is the foundation of our family of high performance distributed motion and vision controllers The SmartController EX is designed for use with l Cobra 350 robots l eCobra robots l Quattr...

Страница 11: ...the Cobra 350 robot and runs the eV operating system for motion control of the robot The eMB 40R features l Four AC servo motor amplifiers l Emergency stop circuitry l High servo rate to deliver low p...

Страница 12: ...stem reconfiguring installed com ponents and adding other optional components See the following table Table 1 2 Related Manuals Manual Title Description Robot Safety Guide Contains safety information...

Страница 13: ...ich if not avoided might result in minor injury moderate injury or property damage Alert Icons The icon that starts each alert can be used to indicate the type of hazard These will be used with the ap...

Страница 14: ...NING PERSONAL INJURY OR PROPERTY DAMAGE RISK A Cobra 350 robot can cause serious injury or death or damage to itself and other equipment if safety precautions are not observed WARNING ELECTROCUTION RI...

Страница 15: ...llowing situations could result in injury or damage to the equipment l Do not place objects on the robot l Do not exceed the maximum payload capacity l Do not exceed the maximum recommended limits giv...

Страница 16: ...nd then follow the internal procedures of your company or organization for an emergency or abnormal situation If a fire occurs use CO2 to extinguish the fire Releasing the Brakes In case of an emergen...

Страница 17: ...tall their own safety rated category 0 or 1 dynamic limiting devices if needed that comply with ISO 10218 1 Clause 5 12 2 Singularities No singularities exist that cause a hazardous situation with a C...

Страница 18: ...or not 2 6 Additional Safety Information We provide other sources for more safety information Manufacturer s Declaration of Incorporation This lists all standards with which the robot complies The Man...

Страница 19: ...onment by the proper disposal of WEEE Waste Electronics and Electrical Equipment All electrical and elec tronic products should be disposed of separately from the municipal waste system via des ignati...

Страница 20: ......

Страница 21: ...erify 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 your loc...

Страница 22: ...m Operating Environment Requirements Ambient temperature 5 to 40 C 41 to 104 F Humidity 5 to 90 noncondensing Altitude up to 1000 m Pollution degree 2 Robot protection class IP20 NEMA Type 1 NOTE See...

Страница 23: ...ed as loc ating points for user installed dowel pins in the mounting surface These are shown in the following figure Using locating pins can improve the ability to remove and reinstall the robot in th...

Страница 24: ...the dimensions of the mounting holes in the robot base l Drill four bolt holes M10 x 30 mm or 3 8 16 UNC for machine bolts user sup plied These either need to be tapped for the bolts or you can drill...

Страница 25: ...ll an internally threaded positioning pin into the other 6H7 hole in the robot base 4 Turn joint 2 until the arm comes into contact with the mechanical hardstop to keep the robot in a safe position 1...

Страница 26: ...ounted squarely will not rock back and forth before tightening the mounting bolts WARNING PERSONAL INJURY OR PROPERTY DAMAGE RISK The center of mass of the robot may cause the robot to fall over if th...

Страница 27: ...rvo loop control l a node on the IEEE 1394 network l a power controller that uses single phase AC power 200 240 Volts l a status panel with a 2 digit alpha numeric display to indicate operating status...

Страница 28: ...or cable shield from user supplied 24 VDC cable 3 24 V Pin 24V connection point 4 24 VDC Input Used for user supplied 24 VDC power The mating connector is provided 5 200 240 VAC Input Used for 200 240...

Страница 29: ...d green LED The color and blinking pattern indicates the status of the robot See the following table 1 2 5 4 3 Figure 4 3 Controls and Indicators on eMB 40R Table 4 3 eMB 40R Control and Indicator Des...

Страница 30: ...Solid Green or Red Initialization or Robot Fault Status Panel The status panel shown in Controls and Indicators on eMB 40R on page 29 displays alpha numeric codes that indicate the operating status of...

Страница 31: ...power connections for shorts or opens Turn high power back on and restart the program If the error persists con tact your local Omron support AC RSC Power Fail ure 670 A loss of AC power was detected...

Страница 32: ...normal response to many E STOP conditions Remove the source of the ESTOP and re enable high power F1 E STOP detected by robot 643 The End Of Arm Break away Sensor has tripped open circuit Reporting o...

Страница 33: ...ation stages These steps nor mally sequence I0 I1 on the display during normal system boot None unless an ini tialization code per sists longer than 30 seconds This may indicate servo ini tialization...

Страница 34: ...cal Omron support P5 Power system failure Code 5 1115 An inrush error was detected by the power sequencer This means the high voltage DC bus failed to rise at the expec ted rate when power was enabled...

Страница 35: ...failure on chan nel 2 during the cyclic check of dual channel power system This may indicate a welded relay contact or other hard ware failure If the problem per sists contact your local Omron suppor...

Страница 36: ...problem per sists contact your local Omron support T0 Safety System Fault Code 10 1109 An error was detected during a software self test of a secondary safety and monitoring cir cuit SRV_DIRECT SRV_ST...

Страница 37: ...on is pressed while high power is on high power will auto matically shut down Brake Release Connector The 9 pin Brake Release connector provides low active input signals to manually release the brakes...

Страница 38: ...inform ation Table 4 7 Digital I O Connection Options Product I O Capacity For more details XIO Connector on eMB 40R 12 inputs 8 outputs Using Digital I O on eMB 40R XIO Connector on page 39 XDIO on o...

Страница 39: ...lox 2 8 Inputs 1121 1128 8 Outputs 0113 0120 5 Optional IO Blox 3 8 Inputs 1129 1136 8 Outputs 0121 0128 6 Optional IO Blox 4 8 Inputs 1137 1144 8 Outputs 0129 0136 4 5 Using Digital I O on eMB 40R XI...

Страница 40: ...ctor on eMB 40R Interface Panel 2 24 VDC 3 Common 1 1 4 Input 1 1 1 1097 5 Input 2 1 1 1098 6 Input 3 1 1 1099 7 Input 4 1 1 1100 8 Input 5 1 1 1101 9 Input 6 1 1 1102 10 GND 11 24 VDC 12 Common 2 2 1...

Страница 41: ...nector see the following table or through the optional XIO Termination Block See the documentation supplied with the Termination Block for details The XIO inputs cannot be used for REACTI programming...

Страница 42: ...e sources are typically used to drive the inputs Typical Input Wiring Example 1097 4 1098 5 1099 6 1100 7 1101 8 1102 24V GND 9 3 2 1 1103 13 1104 14 1105 15 1106 16 1107 17 1108 18 12 GND 10 24V 11 1...

Страница 43: ...ealant ready sensor etc 6 Bank 1 configured for Sinking NPN inputs 7 Bank 2 configured for Sourcing PNP inputs 8 Input Bank 1 9 Input Bank 2 10 Bank 1 Common 11 Bank 2 Common NOTE The off state curren...

Страница 44: ...ting polyfuse The outputs are accessed through direct connection to the XIO connector see XIO Signal Desig nations on page 40 or through the optional XIO Termination Block See the documentation suppli...

Страница 45: ...gure 4 6 Typical User Wiring for XIO Output Signals Table 4 13 Typical User Wiring for XIO Output Signal Description Item Description 1 Supplied Equipment 2 User supplied Equipment 3 Wiring Terminal B...

Страница 46: ...he following figure This cable connects to the XIO connector on the eMB 40R and provides flying leads on the user s end for con necting input and output signals in the workcell The cable length is 5 m...

Страница 47: ...ow 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...

Страница 48: ...es 0 425 5 20 6 204 2 404 9 51 6 331 7 9 8 0 228 6 67 3 222 3 106 7 182 9 170 2 6X SHCS M4 X 6 A B 0 47 6 377 8 0 7 6 45 7 129 54 C 0 32 7 197 8 0 7 6 45 7 C 0 32 7 197 8 0 7 6 45 7 C 0 47 6 377 8 0 7...

Страница 49: ...d the eMB 40R for proper cooling 100 200 50 1 2 3 Figure 4 9 Clearance for the eMB 40R Units in mm Table 4 15 eMB 40R Clearance Description Item Surface Air Gap 1 Back 0 mm 2 Sides 50 mm 3 Front when...

Страница 50: ......

Страница 51: ...cludes the optional T20 pendant and optional SmartVision MX industrial PC These items may not be present in your system DC IN 24 V GND AC 200 240 V 1 XBELTIO XIO Servo ENET ENET XSYSTEM eMB 40R XMCP X...

Страница 52: ...em Description Part Standard Option User supplied Notes A eAIB XSYSTEM Cable Assembly 13323 000 X B User E Stop Safety Gate n a X C XUSR Jumper Plug 04736 000 X Required if no E stop safety gate or mu...

Страница 53: ...a X P Camera and cable n a X X Q Arm Power Signal Cable 05020 000 X R Robot Interface Panel n a X S User supplied ground wire n a X T PC running ACE Software n a X U Ethernet Cable PC ethernet switch...

Страница 54: ...ing User Supplied Safety Equipment on page 76 for more information B C 3 Connect Front Panel cable to Front Panel and eAIB XSYSTEM cable XFP con nector If no Front Panel is used install FP jumper 3a o...

Страница 55: ...hernet cable from PC to switch if used Refer to Connecting the PC to the SmartController EX on page 65 for more information T U NOTE A front panel ships with each Cobra 350 robot system but you can ch...

Страница 56: ...t to the SmartController EX The figure includes the optional T20 Pendant SmartVision MX and SmartController EX These items may not be present in your system SmartController EX COM1 COM2 MOUSE KEYBD DV...

Страница 57: ...in the SmartController EX User s Guide 5 Install a user supplied ground wire between the SmartController EX and ground List of Cables and Parts Table 5 3 Cables and Parts Description with SmartContro...

Страница 58: ...er Cable 04118 000 X X 200 240 VAC single phase K 24 VDC Power Cable 04120 000 X X L 24 VDC 6 A Power Supply 04536 000 X X 85 264 VAC universal input M Ethernet Cable Switch if used SmartController EX...

Страница 59: ...XFP connector or if no Front Panel install FP jumper on XFP connector 3a D E F 4 Connect Pendant adapter cable to XMCP connector and T20 Pendant If no Pendant install XMCP jumper 4a or bypass plug 4b...

Страница 60: ...2 inputs and 8 outputs 5 m Refer to XIO Breakout Cable on page 46 for more information DB9 Splitter Cable An optional Y cable attaches at the SmartController EX XSYS connector and splits it into two X...

Страница 61: ...ontroller EX Figure 5 3 System Cable Diagram with Belt Encoders Units in mm Table 5 5 Conveyor Belt Encoder Cables Description Item Description Part Standard Option User supplied Notes A Robot Interfa...

Страница 62: ...9 PIN 1 PIN 4 PIN 12 PIN 2 ENC1_A PIN 3 ENC1_A PIN 11 ENC1_B PIN 12 ENC1_B PIN 19 ENC1_Z PIN 20 ENC1_Z PIN 4 ENC2_A PIN 5 ENC2_A PIN 13 ENC2_B PIN 14 ENC2_B PIN 21 ENC2_Z PIN 22 ENC2_Z PIN 1 5V PIN 10...

Страница 63: ...IN 7 ENC1_A PIN 4 PIN 14 ENC1_B PIN 5 PIN 6 ENC1_B PIN 6 PIN 13 ENC1_I PIN 8 PIN 5 ENC1_I PIN 2 PIN 4 5V PIN 7 PIN 12 GND PIN 11 ENC2_A PIN 3 ENC2_A PIN 10 ENC2_B PIN 2 ENC2_B PIN 9 ENC2_I PIN 1 ENC2_...

Страница 64: ...IN 2 PIN 9 PIN 1 PIN 12 PIN 4 PIN 8 PIN 1 PIN 15 PIN 9 PIN 8 PIN 1 PIN 15 PIN 9 PIN 1 PIN 10 PIN 19 PIN 9 PIN 18 PIN 26 Figure 5 8 SmartController EX Belt Encoder Y Adapter Cable Connections NOTE Cabl...

Страница 65: ...installing ACE software 5 6 Connecting the PC to the SmartController EX The SmartController EX motion controller must be connected to a user supplied PC or the SmartVision MX vision processor for set...

Страница 66: ...nstallation on page 51 1 Connect one end of the Arm Power Signal cable to the CN22 connector on the back plate of the robot Tighten the thumb screw securely For both ends of the cable line up the groo...

Страница 67: ...Supplied 24 VDC Cable on page 69 1User supplied 24 VDC power supply 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...

Страница 68: ...upplied with the system but is available in the optional Power Cable kit See List of Cables and Parts on page 52 Procedure for Creating 24 VDC Cable 1 Locate the connector and pins from the preceding...

Страница 69: ...r supplied 24 VDC power sup ply See the following figure 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 System Op...

Страница 70: ...supplied cables to frame ground on power supply NOTE We recommend that DC power be delivered over shielded cables with the shield connected to frame ground at the power supply and to the ground points...

Страница 71: ...of 200 240 VAC can lead to malfunction or failures of the robot or haz ardous situations Facility Overvoltage Protection The user must protect the robot from excessive overvoltages and voltage spikes...

Страница 72: ...ase Supply Table 5 12 AC Power Installation with Single Phase Supply Description Item Description 1 Single phase 200 240 VAC 20 A L Line N Neutral E Earth Ground 2 User supplied must be slow blow 3 Us...

Страница 73: ...male screw ter minal 10 A 250 VAC Qualtek P N 709 00 00 Digi Key P N Q217 ND NOTE The AC power cable is not supplied with the system but is available in the optional Power Cable kit See List of Cables...

Страница 74: ...AC power source 1 2 5 4 3 Figure 5 13 AC Power Mating Connector Table 5 15 AC Power Mating Connector Description Item Description 1 Earth 2 Neutral 3 Removable bushing 4 Cable clamp 5 Line Installing...

Страница 75: ...he user is responsible for supplying the ground wire to con nect to earth ground 1 Figure 5 14 1 Ground Point on Robot Base Ground Point on eMB 40R The user can install a ground wire at the eMB 40R ch...

Страница 76: ...azardous voltages can be considered anything in excess of 30 VAC 42 4 VAC peak or 60 VDC Also see Tool Flange Dimensions for Cobra 350 Robots Units in mm on page 122 for the grounding point on the too...

Страница 77: ...C contacts Shorted if NOT Used 3 16 Line E Stop used for other robot or assembly line E Stop inter connection Does not affect E Stop indication pins 7 20 N C contacts Shorted if NOT Used 4 17 Line E...

Страница 78: ...ly operation 6 14 Remote High Power on off momentary push but ton User must supply moment ary push button to enable High Power to system Non voltage Free Contacts 5 13 System Supplied 5 VDC and GND fo...

Страница 79: ...E Stop Push button CH 1 2 10 Pendant E Stop Push button CH 2 3 11 Pendant Enable CH 1 Hold to run 4 12 Pendant Enable CH 2 Hold to run 13 Serial GND Logic GND 7 Pendant TXD eV to Pendant TXD 8 Pendan...

Страница 80: ...XPND 23 XUSR 2 XUSR 15 XSYSTEM 43 XUSR 4 XSYSTEM 39 XUSR 17 XSYSTEM 9 XUSR 16 XPND 8 XSYSTEM 38 XPND 25 XSYSTEM 29 XUSR 18 XSYSTEM 44 XUSR 19 ES1 ES2 SR1 SR2 AM2 AM1 XSYSTEM 14 XUSR 5 XSYSTEM 30 XUSR...

Страница 81: ...f used 6 LINE E Stop external user E Stop system 7 T20 Pendant Enable 8 Muted Safety Gate Active in auto mode only jumper closed when not used 9 Manual Mode Path 10 Auto Mode Path 11 Force Guided Rela...

Страница 82: ...R XSYSTEM cable provides connections for Emergency Stop E Stop circuits on the XUSR and XFP connectors This gives the controller system the ability to duplicate E Stop functionality from a remote loca...

Страница 83: ...is in series with the local robot s E Stop push buttons a lock up situation could occur The Line E Stop input comes into the circuit at a point where it cannot affect the customer E Stop indication re...

Страница 84: ...point of control If the user needs to control the Manual Automatic mode selection from other control equip ment then a custom splitter cable or complete replacement of the Front Panel may be required...

Страница 85: ...space of the robot Pins 6 14 and 5 13 of the XFP connector provide this remote capability Pins 5 13 provide power for the lamp 5 VDC and ground respectively Pins 6 14 are inputs for voltage free nor m...

Страница 86: ...fications l Wire Size must be larger than 26 AWG l Connectors must be 15 pin standard D sub male and female l Maximum cable length is 10 m NOTE The XMCP and XFP connectors can be interchanged without...

Страница 87: ...removed In addition Joints 3 and 4 have electromechanical brakes The brakes are released when high power is enabled When High Power is turned off the brakes engage and hold the positions of Joints 3...

Страница 88: ...d ance with the requirements of IEC 60204 1 and ISO 13849 The push button of the E Stop must comply with ISO 13850 Clause 5 5 2 1 2 5 4 3 Figure 6 2 Front Panel 1 XFP connector Connects to the XFP con...

Страница 89: ...seconds If the button stops blinking you must enable power again 5 Emergency Stop Switch The E Stop is a dual channel passive E Stop that supports Category 3 CE safety require ments Pressing this but...

Страница 90: ...the XSYSTEM on the eMB 40R l Pendant to the XSYSTEM on the eMB 40R l XUSR to the XSYSTEM on the eMB 40R l User supplied 200 240 VAC power to the robot 200 240 VAC connector l User supplied 24 VDC pow...

Страница 91: ...robot should be on and the status panel should display OK before proceeding 1 Turn on the user supplied PC and start ACE l Double click the ACE icon on your Windows desktop or l From the Windows Star...

Страница 92: ...See System Operation on page 87 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...

Страница 93: ...threaded hole is provided on the tool flange The user may attach a ground wire through the quill connecting the outer link and the tool flange 7 2 Removing and Reinstalling the Tool Flange The tool f...

Страница 94: ...to tighten the setscrew to finger tightness Do not over tighten the setscrew because this will cause the flange to be off center from the quill shaft 3 Tighten one of the M4 screws part of the way th...

Страница 95: ...Air and Electrical Connectors on Robot Table 7 2 User Air and Electrical Connectors on Robot Description Item Description 1 Brake release switch 2 Air piping joints M5 3 CN21 pin layout 4 CN20 pin lay...

Страница 96: ...e XDIO connector on the SmartController EX and the CN20 connector on the robot Note this solenoid cable does not work with the Cobra 350CR ESD robots The part number is 05739 040 The solenoid cable br...

Страница 97: ...E Do not remove the mechanical end bolts on the 1st and 2nd joints or the mechanical stoppers on the quill see the following figure Also do not use these bolts and stoppers to secure a stay to support...

Страница 98: ...er parts of the robot Attaching Stays to Support User Connections You can attach a user supplied stay on the exterior of the robot to support air and electrical lines See the following figure See Dime...

Страница 99: ...dia 5 1 101 6 R 2 0 2 0 30 0 76 2 8 9 2x dia 5 6 Figure 7 5 Dimensions for Fabricating User Supplied Stay Units in mm 7 4 Camera Mounting Camera Channel An optional camera channel 40861 00830 and cam...

Страница 100: ...on 1 Camera Bracket 2 Camera Channel 3 Camera Mounting Block Camera Bracket A camera can be mounted on the Cobra 350 by installing a user supplied camera bracket The bracket is installed on the unders...

Страница 101: ...0 25 B C L Figure 7 7 Camera Bracket Drawing 1 of 2 Units in mm Unless otherwise specified l Dimensions apply after process l Interpret drawing per ANSI Y14 5 l Tolerances l 2 place decimals 0 8 mm l...

Страница 102: ...1 B 12 7 3 3 R Full 2x R 50 8 82 0 15 2x 111 1 2x 167 4 A 92 5 14 2 R 12 7 R 50 8 78 2 25 4 32 3 dia 26 9 2x 57 2 15 1 2 3 Figure 7 8 Camera Bracket Drawing 2 of 2 Units in mm Table 7 8 Camera Bracke...

Страница 103: ...ts on 3rd and 4th joints 12 months Inspecting Timing Belts on page 110 WARNING ELECTROCUTION RISK The procedures and replacement of parts mentioned in this section should be performed only by skilled...

Страница 104: ...ls instruct the user to read the user s guide before using the robot and to be aware of the potential of impact by the robot Figure 8 1 Read Manual and Impact Warning Label This is placed on the side...

Страница 105: ...ightness of the base mounting bolts after one week and then every 6 months Tighten to 70 N m 52 ft lbf Also check the tightness of all cover plate screws 8 5 Lubricate Joint 3 Ball Screw Required Grea...

Страница 106: ...ated in the base of the robot IMPORTANT Replace the batteries only with 3 6 V 2 7 Ah lithium batteries P N 06126 000 Battery information is located in the base of the robot NOTE Dispose of the battery...

Страница 107: ...4 VDC input supply to the eMB 40R on 4 Switch off the 200 240 VAC input supply to the eMB 40R 5 Leave the 24 VDC supply cable from the eMB 40R 24 VDC input connector on See Connectors on eMB 40R Inter...

Страница 108: ...two batteries connected at all times Failure to do so may lose the encoder positional data requiring factory recal ibration NOTE Some robots have PCAs with four battery connections On those robots co...

Страница 109: ...om the holder 1 Figure 8 8 Top Old Backup Battery Removed from 1 Holder 10 Attach the second new backup battery to the connector that the old battery was dis connected from in the previous step 11 Rem...

Страница 110: ...ne every 12 months 1 Turn off power to the eMB 40R and SmartController EX if present 2 Visually inspect the timing belts for Joint 3 and Joint 4 for excessive wear or missing teeth 3 If you discover a...

Страница 111: ...an eMB 40R connect the existing XSYS cable to the eAIB XSLV Adapter which connects to the eMB 40R XSYSTEM connector 5 Connect the IEEE 1394 cable to the eMB 40R SmartServo Servo connector 6 Connect a...

Страница 112: ...e system These two functions are only in the eMB 40R amplifiers They were not implemented in hard ware in the MB 40R amplifiers so these utilities do not apply to those amplifiers These two functions...

Страница 113: ...Commissioning Jumper must be plugged into the XBELTIO jack on the eMB 40R NOTE This is the only time that this jumper will be used It is part num ber 11901 000 and must be removed for Verification and...

Страница 114: ...roller On some systems the controller will reboot automatically 4 Reboot the eMB 40R E Stop Verification Utility This utility verifies that the hardware E Stop parameters are set correctly and that th...

Страница 115: ...s that it set 4 Click Finish 5 Reboot the controller On some systems the controller will reboot automatically Teach Restrict Verification Utility This utility verifies that the Teach Restrict paramete...

Страница 116: ...the over speed condition 4 Click Next to proceed to the Manual Mode Procedure If the Automatic Mode Procedure fails you will not be allowed to proceed with the Manual Mode Manual Mode Procedure The m...

Страница 117: ...d to disconnect as you pull the front cover away from the body NOTE Separate the cover from the body slowly to avoid damaging the two wires that go between the LED and the PC board inside the body Pul...

Страница 118: ...dicator 1 2 3 Figure 8 12 Lamp Body Contact Alignment Table 8 3 Lamp Body Contact Alignment Description Item Description 1 Back side of Front Panel 2 Wires between LED and body of Front Panel Be caref...

Страница 119: ...nical Specifications 9 1 Dimension Drawings 75 75 60 60 0 4x 12 60 0 60 709 245 45 0 291 141 125 142 350 411 0 1 2 Figure 9 1 Cobra 350 Top and Side Dimensions Units in mm 05624 000 Rev K Cobra 350 Us...

Страница 120: ...ble 9 1 Cobra 350 Top and Side Dimension Description Item Description 1 Work Area 2 Cabling Space NOTE The supplied tool flange sits 10 0 mm below the bottom of the quill shown in the previous figure...

Страница 121: ...350 Robot Working Envelope Description Item Description 1 Maximum Intrusion Contact Radius R 412 mm 2 Maximum Radial Reach Functional Area R 350 mm 3 Minimal Radial Reach R 142 mm 4 Cartesian Limits...

Страница 122: ...K 9 1 Dimension Drawings 4x M6 x 1 6H Thru 6 80 1 5 4 14 12 0 20 0 3 0 43 30 25 45 41 15 63 0 C B A 10 50 0 BC 6 0 C A B 03 00 M M M R 3 56 5 08 M3 X 0 5 6 H Thru 01 0 1 2 Figure 9 3 Tool Flange Dime...

Страница 123: ...le 9 4 Cobra 350 and 350CR ESD Physical Robot Specifications1 Description Specification Reach 350 mm Payload rated maximum 2 0 kg 5 0 kg Joint Range Joint 1 155 Joint 2 145 Joint 3 200 mm 7 8 inches J...

Страница 124: ...45 147 Joint 3 0 to 200 mm 5 to 205 mm Joint 4 360 not applicable Stopping Distances and Times The following graphs present information required by Clause 7 2 n of ISO 10218 1 This information should...

Страница 125: ...ed Line Payload 66 Green Line Payload 100 1 Stopping Distance mm 2 Stopping Distance degrees 3 Stopping Time seconds 4 Speed 0 20 40 60 80 100 0 20 40 60 80 100 120 33 66 100 2 4 Figure 9 4 Joint 1 St...

Страница 126: ...Robot Specifications 0 0 1 0 2 0 3 0 20 40 60 80 100 120 33 66 100 3 4 Figure 9 5 Joint 1 Stopping Time for Cobra 350 in Seconds 0 20 40 60 80 100 0 20 40 60 80 100 120 33 66 100 2 4 Figure 9 6 Joint...

Страница 127: ...80 100 120 33 66 100 3 4 Figure 9 7 Joint 2 Stopping Time for Cobra 350 in Seconds 0 20 40 60 80 100 120 140 160 0 20 40 60 80 100 120 33 66 100 1 4 Figure 9 8 Joint 3 Stopping Distance for Cobra 350...

Страница 128: ...ances and times will not degrade as a result of either aging or normal use Stop ping distance will vary only if there is an actuating mechanism failure which may require replacement of the failed comp...

Страница 129: ...model This option is a factory installed configuration Changes to the robot include the addition of bel lows assemblies mounted at the Joint 3 quill increased sealing at the joints fully sealed acces...

Страница 130: ...ections Specifications Table 10 1 Cobra 350 CR ESD Cleanroom Robot Specifications Robot Performance Specification Same as standard robot Ambient Temperature Specification 5 to 35 C 41 to 95 F 10 2 Con...

Страница 131: ...inches of water differential pressure measured between the robot and the vacuum source 15 mm OD tube fitting at the back of the robot Quill inside diameter The inside diameter of the quill must be plu...

Страница 132: ...the screw on the clamp See the following figure for details 2 Remove the tool flange Refer to Removing and Reinstalling the Tool Flange on page 93 for the tool flange removal procedure 3 Remove the u...

Страница 133: ...n and remove the assembly at the top of the quill with a M3 hex wrench Note the position of the top assembly is such that the split nut lies just at the top of the quill 3 Replace the bellows 4 Replac...

Страница 134: ...per Bellows Description Item Description 1 Top Assembly 2 Upper Clamp Ring 3 Bellows 4 Lower Clamp Ring Lubrication The upper and lower ends of the Joint 3 quill shaft require lubrication in the same...

Страница 135: ...nroom Robots 10 6 Dimension Drawings 75 75 60 60 0 4x 12 60 0 60 810 245 45 0 291 141 125 142 350 411 0 1 2 Figure 10 5 Cobra 350 CR ESD Top and Side Dimensions Units in mm 05624 000 Rev K Cobra 350 U...

Страница 136: ...imension Description Item Description 1 Work Area 2 Cabling Space NOTE The total height of the Cobra 350 CR ESD robot is different than the standard robot See Cobra 350 Top and Side Dimensions Units i...

Страница 137: ...R ESD Robot Working Envelope Description Item Description 1 Maximum Intrusion Contact Radius R 412 mm 2 Maximum Radial Reach Functional Area R 350 mm 3 Minimal Radial Reach R 142 mm 4 Cartesian Limits...

Страница 138: ...DEPT TECHNOLOGIES INC 4550 Norris Canyon Road Suite 150 San Ramon CA 94583 U S A Tel 1 925 245 3400 Fax 1 925 960 0590 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Nethe...

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