Adept technology Cobra s800 Manuals

Table of Contents

5

Introduction

15

Product Description

15

Adept Cobra S600/S800 Robots

15

Figure 1-1. Adept Cobra S800 Robot

15

Adept Smartamp AIB

16

Figure 1-2. Robot Joint Motions

16

Figure 1-3. Adept Smartamp AIB

16

Adept Smartcontroller

17

Adept Smartcontroller CX

17

Sdio Module

17

Figure 1-4. Adept Smartcontroller CX

17

Installation Overview

18

Manufacturer's Declaration

18

How Can I Get Help

19

Related Manuals

19

Adept Document Library

19

Safety

21

Dangers, Warnings, Cautions, and Notes in Manual

21

Warning Labels on the Robot

22

Figure 2-1. Electrical and Thermal Warning Labels on AIB Chassis

22

Figure 2-2. Thermal Warning Label on Underside of Inner Link

22

Precautions and Required Safeguards

23

Figure 2-3. Warning Label on Encoder Cables

23

Safety Barriers

24

Front Panel Location

24

Impact and Trapping Points

24

Instructions for Emergency Movement Without Drive Power

24

Emergency Recovery Procedures

24

Additional Safety Information

25

Risk Assessment

26

Exposure

27

Severity of Injury

27

Avoidance

27

Slow Speed Control Function and Testing

28

Control System Behavior Category

28

Intended Use of the Robots

28

Robot Modifications

30

Acceptable Modifications

30

Unacceptable Modifications

30

Transport

30

Safety Requirements for Additional Equipment

31

Sound Emissions

31

2.10 Thermal Hazard

31

2.11 Working Areas

32

2.12 Qualification of Personnel

32

2.13 Safety Equipment for Operators

33

2.14 Protection against Unauthorized Operation

33

2.15 Safety Aspects While Performing Maintenance

33

2.16 Risks Due to Incorrect Installation or Operation

34

2.17 What to Do in an Emergency

34

Robot Installation

35

Transport and Storage

35

Figure 3-1. Cobra S600/S800 Robot on a Transportation Pallet

35

Unpacking and Inspecting the Adept Equipment

36

Before Unpacking

36

Upon Unpacking

36

Repacking for Relocation

36

Environmental and Facility Requirements

37

Mounting the Robot

37

Mounting Surface

37

Robot Mounting Procedure

38

Figure 3-2. Mounting Hole Pattern for Robot

38

Description of Connectors on Robot Interface Panel

40

Figure 3-3. Robot Interface Panel

40

System Installation

41

System Cable Diagram

41

Figure 4-1. System Cable Diagram for Adept Cobra S600/S800 Robots

41

Cable and Parts List

42

Installing the Smartcontroller

42

Cable Connections from Robot to Smartcontroller

43

Connecting 24 VDC Power to Robot

43

Specifications for 24 VDC Power

43

Details for 24 VDC Mating Connector

44

Procedure for Creating 24 VDC Cable

44

Installing 24 VDC Robot Cable

45

Figure 4-2. User-Supplied 24 VDC Cable

45

Connecting 200-240 VAC Power to Robot

46

Specifications for AC Power

46

Facility Overvoltage Protection

47

AC Power Diagrams

48

Details for AC Mating Connector

48

Figure 4-3. Typical AC Power Installation with Single-Phase Supply

48

Figure 4-4. Single-Phase AC Power Installation from a Three-Phase AC Supply

48

Procedure for Creating 200-240 VAC Cable

49

Installing AC Power Cable to Robot

49

Figure 4-5. AC Power Mating Connector

49

Grounding the Adept Robot System

50

Ground Point on Robot Base

50

Robot-Mounted Equipment Grounding

50

Figure 4-6. Ground Point on Robot Base

50

Installing User-Supplied Safety Equipment

51

System Operation

53

Robot Status LED Description

53

Figure 5-1. Robot Status LED Indicator Location

53

Status Panel Fault Codes

54

Figure 5-2. Status Panel

54

Using the Brake Release Button

55

Brakes

55

Brake Release Button

56

Connecting Digital I/O to the System

57

Figure 5-3. Connecting Digital I/O to the System

57

Using Digital I/O on Robot XIO Connector

59

Optional I/O Products

60

XIO Input Signals

60

XIO Input Specifications

60

Typical Input Wiring Example

61

Figure 5-4. Typical User Wiring for XIO Input Signals

61

XIO Output Signals

62

XIO Output Specifications

62

Typical Output Wiring Example

63

XIO Breakout Cable

63

Figure 5-5. Typical User Wiring for XIO Output Signals

63

Figure 5-6. Optional XIO Breakout Cable

63

Commissioning the System

65

Verifying Installation

65

Mechanical Checks

65

System Cable Checks

65

User-Supplied Safety Equipment Checks

66

System Start-Up Procedure

66

Figure 5-7. Typical Startup Screen

66

Verifying E-Stop Functions

67

Verify Robot Motions

67

Learning to Program the Adept Cobra S-Series Robot

67

Maintenance

69

Field-Replaceable Parts

69

Periodic Maintenance Schedule

69

Checking Safety Systems

70

Checking Robot Mounting Bolts

71

Check Robot for Oil Around Harmonic Drive

71

Lubricate Joint 3 Ball Screw

71

Required Grease for the Robot

71

Lubrication Procedure

72

Figure 6-1. Lubrication of Joint 3 Quill

73

Replacing the Smartamp AIB Chassis

74

Removing the Smartamp AIB Chassis

74

Figure 6-2. Securing Screw on Smartamp AIB Chassis

74

Figure 6-3. Opening and Removing AIB Chassis

75

Figure 6-4. Connectors on AIB Chassis

75

Installing a New Smartamp AIB Chassis

76

Figure 6-5. Ground Screw on AIB Chassis

76

Figure 6-6. Installing AIB Chassis in Robot Base

77

Replacing the Encoder Battery

78

Battery Replacement Time Periods

78

Battery Replacement Procedure

78

Figure 6-7. Location of Encoder Battery

79

Optional Equipment Installation

81

Installing End-Effectors

81

Removing and Installing the Tool (User) Flange

81

Removing the Flange

81

Installing the Flange

82

Figure 7-1. Tool Flange Removal Details

82

User Connections on Robot

83

User Air Lines

83

User Electrical Lines

83

Figure 7-2. User Connectors on Joint 1

83

Figure 7-3. User Connectors on Joint 2

83

Internal User Connectors

84

Figure 7-4. Internal User Connectors - OP3/4, EOAPWR, ESTOP

84

Figure 7-5. SOLND Connector

84

SOLND Connector

85

OP3/4 Connector

85

EOAPWR Connector

86

Figure 7-6. OP3/4 and SOLND Circuits

86

Internal User Connector Output Specifications

87

ESTOP Connector

88

Procedure to Enable Breakaway E-Stop Function

88

Figure 7-7. Internal E-Stop Connector Circuit

88

Mounting Locations for External Equipment

89

Installing Robot Solenoid Kit

90

Introduction

90

Tools Required

90

Procedure

90

Figure 7-8. Solenoid Mounting Bracket with Connector and Spare Air Line

91

Figure 7-9. Solenoid Placement Using Mounting Hardware

92

Figure 7-10. Removing the Cable Strap Plate

92

Figure 7-11. Connecting Spare Air Line to User Connector

93

Robot Camera Bracket Kit

94

Introduction

94

Tools Required

94

Procedure

94

Devicenet Communication Link

95

Figure 7-12. Mounting a Camera on the Robot

95

Recommended Vendors for Mating Cables and Connectors

96

Figure 7-13. Micro-Style Connector Pinouts for Devicenet

96

Installing Adjustable Hardstops

97

Joint 1 Adjustable Hardstops

97

Installation Procedure

97

Modifying Joint Limit Softstop Locations for Joint 1

97

Figure 7-14. Joint 1 Adjustable Hardstops

97

Figure 7-15. SPEC Program Main Menu

98

Figure 7-16. Robot Specs Menu

98

Figure 7-17. Joint 1 Motion Parameters Menu

99

Figure 7-18. Joint 1 Menu - Lower Limits

99

Joint 2 Adjustable Hardstops

100

Figure 7-19. Joint 1 Menu - Upper Limits

100

Figure 7-20. Joint 2 Hardstop Kit

100

Installation Procedure

101

Figure 7-21. Joint 2 Adjustable Hardstop Locations

101

Figure 7-22. Screw Locations for Joint 2 Adjustable Hardstops

101

Modifying Joint Limit Softstop Locations for Joint 2

102

Figure 7-23. Fixed Hardstop Device for Joint 2

102

Figure 7-24. Joint 2 Motion Parameters Menu

103

Figure 7-25. Joint 2 Menu - Lower Limits

103

Figure 7-26. Joint 2 Menu - Upper Limits

104

Technical Specifications

105

Dimension Drawings

105

Figure 8-1. Adept Cobra S600 Robot Top and Side Dimensions

105

Figure 8-2. Adept Cobra S800 Robot Top and Side Dimensions

106

Figure 8-3. Dimensions of the Camera Bracket Mounting Pattern

107

Figure 8-4. Tool Flange Dimensions for Adept Cobra Robots

108

Figure 8-5. External Tooling on Top of Robot Arm

109

Figure 8-6. External Tooling on Underside of Outer Link

110

Figure 8-7. Adept Cobra S600 Robot Working Envelope

111

Figure 8-8. Adept Cobra S800 Robot Working Envelope

112

Cobra S600/S800 Internal Connections

113

XSLV Connector

113

Figure 8-9. Adept Cobra S600/S800 Internal Connections Diagram

113

Robot Specifications

114

Cleanroom Robots

117

Cobra S600/S800 Cleanroom Option

117

Introduction

117

Specifications

117

Figure 9-1. Adept Cobra S600 Cleanroom Robot

117

Connections

118

Requirements

118

Figure 9-2. Cleanroom Connections

118

Exclusions and Incompatibilities

119

Maintenance

119

Bellows Replacement

119

Lubrication

120

Figure 9-3. Cleanroom Bellows Replacement

120

10.1 Cobra S800 IP-65 Classification

121

Figure 10-1. Adept Cobra S800 Robot - IP-65 Version

121

10.2 Installing Cable Seal Assembly

122

Cable Seal Identification

122

Installation Procedure

122

Figure 10-2. Cable Seal Parts

122

Figure 10-3. Cable Seal Housing Installed

122

Figure 10-4. Installing Lower Flange

123

Figure 10-5. Lower Flange in Position

123

Figure 10-6. Upper Flange Installed

123

Figure 10-7. Splash Guard Installed

123

10.3 Robot Outer Link Cover Removal and Replacement

124

Cover Removal Procedure

124

Figure 10-8. Cover Removal Instructions

124

Cover Replacement Procedure

125

Figure 10-9. IP-65 Robot with Outer Link Cover Removed

125

10.4 Customer Requirements

126

Sealing the Tool Flange

126

Figure 10-10. Cobra IP-65 Tool Flange

126

Pressurizing the Robot

127

Figure 10-11. Compressed Air Fitting on Robot

127

10.5 User Connectors

128

User Electrical and Devicenet

128

Figure 10-12. User Connectors on Joint 1 Cover

128

Figure 10-13. IP-65 Internal Connectors with Outer Link Cover Removed

128

User Air Lines

129

Robot Solenoid Option

129

10.6 Maintenance

129

IP-65 Bellows Replacement

129

Figure 10-14. Bellows Replacement

130

Figure 10-15. Bellows Clamp Alignment

130

10.7 Dimension Drawing for Cable Seal Assembly

131

Figure 10-16. Cable Seal Assembly Dimensions

131

Dual Robot Systems

133

11.1 System Installation

133

Figure 11-1. Dual Robot System Cable Diagram

133

11.2 System Configuration

134

Connecting Digital I/O to a Dual Robot System

135

Figure 11-2. Digital I/O Connections to a Dual Robot System

135

11.4 Digital I/O Block Configuration

137

XIO Inputs/Outputs

137

XIO Outputs

137

XIO Inputs

137

Internal Robot Outputs

137

IO Blox Inputs/Outputs

137

Sdio Inputs/Outputs

137

Figure 11-3. Input/Output Block Configuration in Dual Robot Systems

138

Figure 11-4. Input/Output Block Configuration for Optional Sdio Modules

139

11.5 Using CONFIG_C to Configure I/O

140

IO Configuration by Editing System File

140

Figure 11-5. CONFIG_C Menu

140

Figure 11-6. Controller Configuration Editor Menu

141

Figure 11-7. System Configuration Editor Menu

141

Figure 11-8. Sample Configuration File for Digital I/O

142

IO Configuration by Importing Pre-Configured File

143

11.6 System Startup Procedure

143

11.7 Operation with the Adept T1/T2 pendant

144

11.8 Programming Information

144

Language Programming

144

Monitor Commands

144

11.9 Emergency Stop Circuit Shuts off both Robots

145

Index

147

adept technology Cobra s800 Manuals

adept technology Cobra s800 User Manual (152 pages)

Table of Contents

adept technology Cobra s800 User Manual (156 pages)

Table of Contents

adept technology Cobra s800 User Manual (140 pages)

Table of Contents

Chapter 1: Introduction

Chapter 2: Robot Installation

Chapter 3: System Installation

Chapter 4: System Operation

Chapter 5: Maintenance

Chapter 6: Optional Equipment Installation

Chapter 7: Technical Specifications

Chapter 8: Cleanroom Robots

Chapter 9: IP-65 Option

adept technology Cobra s800 User Manual (126 pages)

Table of Contents

Chapter 1: Introduction

Chapter 2: Robot Installation

Chapter 3: System Installation

Chapter 4: System Operation

Chapter 5: Maintenance

Chapter 6: Optional Equipment Installation

Chapter 7: Technical Specifications

Chapter 8: IP-65 Option

Chapter 9: Cleanroom Robots

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