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Cobra s600
adept technology Cobra s600 User Manual
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5960 In
g
lewood Drive
Ple
a
s
a
nton, CA 945
88
925•245•3400
P/N: 03017-000, Re
v H
151
Table of Contents
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
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adept technology Cobra s600 Specifications
General
Brand
adept technology
Model
Cobra s600
Category
Robotics
Language
English
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