adept technology Cobra s600 - Figure 8-8. Adept Cobra S800 Robot Working Envelope

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Chapter 8 - Technical Specifications

112 Adept Cobra s600/s800 Robot User’s Guide, Rev H

Figure 8-8. Adept Cobra 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˚

105˚

Main Page

Table of Contents5
Introduction15
Product Description15
Adept Cobra S600/S800 Robots15
Figure 1-1. Adept Cobra S800 Robot15
Adept Smartamp AIB16
Figure 1-2. Robot Joint Motions16
Figure 1-3. Adept Smartamp AIB16
Adept Smartcontroller17
Adept Smartcontroller CX17
Sdio Module17
Figure 1-4. Adept Smartcontroller CX17
Installation Overview18
Manufacturer's Declaration18
How Can I Get Help19
Related Manuals19
Adept Document Library19
Safety21
Dangers, Warnings, Cautions, and Notes in Manual21
Warning Labels on the Robot22
Figure 2-1. Electrical and Thermal Warning Labels on AIB Chassis22
Figure 2-2. Thermal Warning Label on Underside of Inner Link22
Precautions and Required Safeguards23
Figure 2-3. Warning Label on Encoder Cables23
Safety Barriers24
Front Panel Location24
Impact and Trapping Points24
Instructions for Emergency Movement Without Drive Power24
Emergency Recovery Procedures24
Additional Safety Information25
Risk Assessment26
Exposure27
Severity of Injury27
Avoidance27
Slow Speed Control Function and Testing28
Control System Behavior Category28
Intended Use of the Robots28
Robot Modifications30
Acceptable Modifications30
Unacceptable Modifications30
Transport30
Safety Requirements for Additional Equipment31
Sound Emissions31
2.10 Thermal Hazard31
2.11 Working Areas32
2.12 Qualification of Personnel32
2.13 Safety Equipment for Operators33
2.14 Protection against Unauthorized Operation33
2.15 Safety Aspects While Performing Maintenance33
2.16 Risks Due to Incorrect Installation or Operation34
2.17 What to Do in an Emergency34
Robot Installation35
Transport and Storage35
Figure 3-1. Cobra S600/S800 Robot on a Transportation Pallet35
Unpacking and Inspecting the Adept Equipment36
Before Unpacking36
Upon Unpacking36
Repacking for Relocation36
Environmental and Facility Requirements37
Mounting the Robot37
Mounting Surface37
Robot Mounting Procedure38
Figure 3-2. Mounting Hole Pattern for Robot38
Description of Connectors on Robot Interface Panel40
Figure 3-3. Robot Interface Panel40
System Installation41
System Cable Diagram41
Figure 4-1. System Cable Diagram for Adept Cobra S600/S800 Robots41
Cable and Parts List42
Installing the Smartcontroller42
Cable Connections from Robot to Smartcontroller43
Connecting 24 VDC Power to Robot43
Specifications for 24 VDC Power43
Details for 24 VDC Mating Connector44
Procedure for Creating 24 VDC Cable44
Installing 24 VDC Robot Cable45
Figure 4-2. User-Supplied 24 VDC Cable45
Connecting 200-240 VAC Power to Robot46
Specifications for AC Power46
Facility Overvoltage Protection47
AC Power Diagrams48
Details for AC Mating Connector48
Figure 4-3. Typical AC Power Installation with Single-Phase Supply48
Figure 4-4. Single-Phase AC Power Installation from a Three-Phase AC Supply48
Procedure for Creating 200-240 VAC Cable49
Installing AC Power Cable to Robot49
Figure 4-5. AC Power Mating Connector49
Grounding the Adept Robot System50
Ground Point on Robot Base50
Robot-Mounted Equipment Grounding50
Figure 4-6. Ground Point on Robot Base50
Installing User-Supplied Safety Equipment51
System Operation53
Robot Status LED Description53
Figure 5-1. Robot Status LED Indicator Location53
Status Panel Fault Codes54
Figure 5-2. Status Panel54
Using the Brake Release Button55
Brakes55
Brake Release Button56
Connecting Digital I/O to the System57
Figure 5-3. Connecting Digital I/O to the System57
Using Digital I/O on Robot XIO Connector59
Optional I/O Products60
XIO Input Signals60
XIO Input Specifications60
Typical Input Wiring Example61
Figure 5-4. Typical User Wiring for XIO Input Signals61
XIO Output Signals62
XIO Output Specifications62
Typical Output Wiring Example63
XIO Breakout Cable63
Figure 5-5. Typical User Wiring for XIO Output Signals63
Figure 5-6. Optional XIO Breakout Cable63
Commissioning the System65
Verifying Installation65
Mechanical Checks65
System Cable Checks65
User-Supplied Safety Equipment Checks66
System Start-Up Procedure66
Figure 5-7. Typical Startup Screen66
Verifying E-Stop Functions67
Verify Robot Motions67
Learning to Program the Adept Cobra S-Series Robot67
Maintenance69
Field-Replaceable Parts69
Periodic Maintenance Schedule69
Checking Safety Systems70
Checking Robot Mounting Bolts71
Check Robot for Oil Around Harmonic Drive71
Lubricate Joint 3 Ball Screw71
Required Grease for the Robot71
Lubrication Procedure72
Figure 6-1. Lubrication of Joint 3 Quill73
Replacing the Smartamp AIB Chassis74
Removing the Smartamp AIB Chassis74
Figure 6-2. Securing Screw on Smartamp AIB Chassis74
Figure 6-3. Opening and Removing AIB Chassis75
Figure 6-4. Connectors on AIB Chassis75
Installing a New Smartamp AIB Chassis76
Figure 6-5. Ground Screw on AIB Chassis76
Figure 6-6. Installing AIB Chassis in Robot Base77
Replacing the Encoder Battery78
Battery Replacement Time Periods78
Battery Replacement Procedure78
Figure 6-7. Location of Encoder Battery79
Optional Equipment Installation81
Installing End-Effectors81
Removing and Installing the Tool (User) Flange81
Removing the Flange81
Installing the Flange82
Figure 7-1. Tool Flange Removal Details82
User Connections on Robot83
User Air Lines83
User Electrical Lines83
Figure 7-2. User Connectors on Joint 183
Figure 7-3. User Connectors on Joint 283
Internal User Connectors84
Figure 7-4. Internal User Connectors - OP3/4, EOAPWR, ESTOP84
Figure 7-5. SOLND Connector84
SOLND Connector85
OP3/4 Connector85
EOAPWR Connector86
Figure 7-6. OP3/4 and SOLND Circuits86
Internal User Connector Output Specifications87
ESTOP Connector88
Procedure to Enable Breakaway E-Stop Function88
Figure 7-7. Internal E-Stop Connector Circuit88
Mounting Locations for External Equipment89
Installing Robot Solenoid Kit90
Introduction90
Tools Required90
Procedure90
Figure 7-8. Solenoid Mounting Bracket with Connector and Spare Air Line91
Figure 7-9. Solenoid Placement Using Mounting Hardware92
Figure 7-10. Removing the Cable Strap Plate92
Figure 7-11. Connecting Spare Air Line to User Connector93
Robot Camera Bracket Kit94
Introduction94
Tools Required94
Procedure94
Devicenet Communication Link95
Figure 7-12. Mounting a Camera on the Robot95
Recommended Vendors for Mating Cables and Connectors96
Figure 7-13. Micro-Style Connector Pinouts for Devicenet96
Installing Adjustable Hardstops97
Joint 1 Adjustable Hardstops97
Installation Procedure97
Modifying Joint Limit Softstop Locations for Joint 197
Figure 7-14. Joint 1 Adjustable Hardstops97
Figure 7-15. SPEC Program Main Menu98
Figure 7-16. Robot Specs Menu98
Figure 7-17. Joint 1 Motion Parameters Menu99
Figure 7-18. Joint 1 Menu - Lower Limits99
Joint 2 Adjustable Hardstops100
Figure 7-19. Joint 1 Menu - Upper Limits100
Figure 7-20. Joint 2 Hardstop Kit100
Installation Procedure101
Figure 7-21. Joint 2 Adjustable Hardstop Locations101
Figure 7-22. Screw Locations for Joint 2 Adjustable Hardstops101
Modifying Joint Limit Softstop Locations for Joint 2102
Figure 7-23. Fixed Hardstop Device for Joint 2102
Figure 7-24. Joint 2 Motion Parameters Menu103
Figure 7-25. Joint 2 Menu - Lower Limits103
Figure 7-26. Joint 2 Menu - Upper Limits104
Technical Specifications105
Dimension Drawings105
Figure 8-1. Adept Cobra S600 Robot Top and Side Dimensions105
Figure 8-2. Adept Cobra S800 Robot Top and Side Dimensions106
Figure 8-3. Dimensions of the Camera Bracket Mounting Pattern107
Figure 8-4. Tool Flange Dimensions for Adept Cobra Robots108
Figure 8-5. External Tooling on Top of Robot Arm109
Figure 8-6. External Tooling on Underside of Outer Link110
Figure 8-7. Adept Cobra S600 Robot Working Envelope111
Figure 8-8. Adept Cobra S800 Robot Working Envelope112
Cobra S600/S800 Internal Connections113
XSLV Connector113
Figure 8-9. Adept Cobra S600/S800 Internal Connections Diagram113
Robot Specifications114
Cleanroom Robots117
Cobra S600/S800 Cleanroom Option117
Introduction117
Specifications117
Figure 9-1. Adept Cobra S600 Cleanroom Robot117
Connections118
Requirements118
Figure 9-2. Cleanroom Connections118
Exclusions and Incompatibilities119
Maintenance119
Bellows Replacement119
Lubrication120
Figure 9-3. Cleanroom Bellows Replacement120
10.1 Cobra S800 IP-65 Classification121
Figure 10-1. Adept Cobra S800 Robot - IP-65 Version121
10.2 Installing Cable Seal Assembly122
Cable Seal Identification122
Installation Procedure122
Figure 10-2. Cable Seal Parts122
Figure 10-3. Cable Seal Housing Installed122
Figure 10-4. Installing Lower Flange123
Figure 10-5. Lower Flange in Position123
Figure 10-6. Upper Flange Installed123
Figure 10-7. Splash Guard Installed123
10.3 Robot Outer Link Cover Removal and Replacement124
Cover Removal Procedure124
Figure 10-8. Cover Removal Instructions124
Cover Replacement Procedure125
Figure 10-9. IP-65 Robot with Outer Link Cover Removed125
10.4 Customer Requirements126
Sealing the Tool Flange126
Figure 10-10. Cobra IP-65 Tool Flange126
Pressurizing the Robot127
Figure 10-11. Compressed Air Fitting on Robot127
10.5 User Connectors128
User Electrical and Devicenet128
Figure 10-12. User Connectors on Joint 1 Cover128
Figure 10-13. IP-65 Internal Connectors with Outer Link Cover Removed128
User Air Lines129
Robot Solenoid Option129
10.6 Maintenance129
IP-65 Bellows Replacement129
Figure 10-14. Bellows Replacement130
Figure 10-15. Bellows Clamp Alignment130
10.7 Dimension Drawing for Cable Seal Assembly131
Figure 10-16. Cable Seal Assembly Dimensions131
Dual Robot Systems133
11.1 System Installation133
Figure 11-1. Dual Robot System Cable Diagram133
11.2 System Configuration134
Connecting Digital I/O to a Dual Robot System135
Figure 11-2. Digital I/O Connections to a Dual Robot System135
11.4 Digital I/O Block Configuration137
XIO Inputs/Outputs137
XIO Outputs137
XIO Inputs137
Internal Robot Outputs137
IO Blox Inputs/Outputs137
Sdio Inputs/Outputs137
Figure 11-3. Input/Output Block Configuration in Dual Robot Systems138
Figure 11-4. Input/Output Block Configuration for Optional Sdio Modules139
11.5 Using CONFIG_C to Configure I/O140
IO Configuration by Editing System File140
Figure 11-5. CONFIG_C Menu140
Figure 11-6. Controller Configuration Editor Menu141
Figure 11-7. System Configuration Editor Menu141
Figure 11-8. Sample Configuration File for Digital I/O142
IO Configuration by Importing Pre-Configured File143
11.6 System Startup Procedure143
11.7 Operation with the Adept T1/T2 pendant144
11.8 Programming Information144
Language Programming144
Monitor Commands144
11.9 Emergency Stop Circuit Shuts off both Robots145
Index147

adept technology Cobra s600 - Figure 8-8. Adept Cobra S800 Robot Working Envelope

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