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eCobra 600
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15
0
eC
ob
ra
User
's
Guide
14
4
02
-00
0
Rev.
F
7.8
Ins
t
al
lin
g
Ad
justable
Ha
rd
stops
F
ig
u
re
7-25
.
Robot
Edi
t
o
r,
w
ith
J
o
int
s
Ex
pa
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ed
4.
C
l
ick
the
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ont
of
[2]
,
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ope
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the
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al
ue
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f
or
joint
2
.
F
ig
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re
7-26
.
Robot
Edi
t
o
r,
w
ith
J
o
int
2
Ex
pa
n
d
ed
149
151
Table of Contents
Main Page
Default Chapter
3
Table of Contents
3
Chapter 1: Introduction
11
Product Description
11
Ecobra Robot Models
12
Eaib (Amplifiers in Base)
13
Ecobra Robot Features and Options
14
Smartcontroller EX
15
Eplc Connect Software
15
IO Blox
15
Smartvision MX
15
T20 Pendant
15
Intelligent Force Sensing
15
ACE Packxpert Process Manager
15
How Can I Get Help
16
Related Manuals
16
Chapter 2: Safety
17
Dangers, Warnings, and Cautions
17
Alert Levels
17
Alert Icons
17
Falling Hazards
17
Special Information
18
What to Do in an Emergency/Abnormal Situation
18
Releasing the Brakes
18
Releasing an E-Stop
18
Emergency Stop Circuit and Buttons
19
General Hazards
19
Safety Precautions
19
User's Responsibilities
19
Qualification of Personnel
20
Robot Behavior
21
Hardstops
21
Limiting Devices
21
Singularities
21
Intended and Non-Intended Use
21
Intended Use
21
Non-Intended Use
22
Robot Modifications
22
Additional Safety Information
22
Manufacturer's Declaration of Incorporation
22
Robot Safety Guide
23
T20 Manual Control Pendant (Option)
23
Disposal
23
Chapter 3: Robot Installation
25
Installation Overview
25
Transport and Storage
25
Unpacking and Inspecting the Equipment
26
Before Unpacking
26
Upon Unpacking
26
Repacking for Relocation
26
Environmental and Facility Requirements
27
Mounting an Upright Ecobra Robot
27
Mounting Surface
28
Mounting Procedure
29
Mounting an Ecobra 800 Inverted Robot
30
Mounting Surface
30
Mounting Procedure
30
Mounting the Front Panel
32
Connectors on Robot Interface Panel (Eaib)
33
Chapter 4: System Installation
35
System Cables, Without Smartcontroller EX
35
List of Cables and Parts
36
Cable Installation Overview
38
System Cables, with Smartcontroller EX
40
Installing a Smartcontroller EX Motion Controller
41
List of Cables and Parts
41
Cable Installation Overview
43
Optional Cables
44
XIO Breakout Cable
44
DB9 Splitter Cable
44
Eaib XBELT IO Adapter Cable
44
Smartcontroller EX Belt Encoder Y-Adapter Cable
44
ACE Software
49
User-Supplied PC
49
Installing ACE Software
49
Connecting 24 VDC Power to Robot
50
Specifications for 24 VDC Power
50
VDC Mating Connector
51
Creating 24 VDC Cable
52
Connecting 24 VDC Cable
52
Connecting 200-240 VAC Power to Robot
54
Specifications for AC Power
54
AC Mating Connector
58
Creating the 200-240 VAC Cable
58
Connecting AC Power Cable
59
Grounding the Robot System
59
Grounding the Robot Base
59
Grounding Robot-Mounted Equipment
60
Configuring a PLC
60
Installing User-Supplied Safety Equipment
62
Emergency Stop Circuits
68
Remote Manual Mode
70
User Manual/Auto Indication
70
User High Power on Indication
70
Remote High Power On/Off Control
71
High Power On/Off Lamp
71
Remote Front Panel or User-Supplied Control Panel Usage
71
Remote Pendant Usage
72
Chapter 5: System Operation
73
Robot Status LED Description
73
Status Panel Fault Codes
73
Status Panel
74
Brakes
80
Brake Release Button
80
Remote Brake Release Feature
81
Front Panel
81
Connecting Digital I/O to the System
83
Optional I/O Products
83
Default Digital I/O Signal Configuration
84
Eaib XIO Connector Signals
86
XIO Input Signals
87
XIO Output Signals
90
XIO Breakout Cable
93
Starting the System for the First Time
94
Verifying Installation
95
Turning on Power
96
Starting ACE
96
Enabling High Power
97
Verifying E-Stop Functions
97
Verify Robot Motions
97
Learning to Program the Ecobra Robot
97
Chapter 6: Maintenance
99
Field-Replaceable Parts
99
Periodic Maintenance Schedule
99
Warning Labels
100
Rev. F Ecobra User's Guide
101
Checking Safety Systems
103
Checking Robot Mounting Bolts
103
Checking for Oil Leakage
103
Lubricating Joint
104
Replacing the Eaib Chassis
107
Removing the Eaib Chassis
107
Installing a New Eaib Chassis
109
Commissioning a System with an Eaib
110
Safety Commissioning Utilities
110
E-Stop Configuration Utility
112
E-Stop Verification Utility
113
Teach Restrict Configuration Utility
113
Teach Restrict Verification Utility
114
Replacing a Microsd Card
115
Removing a Microsd Card from an Eaib
115
Installing a Microsd Card into an Eaib
117
Replacing the Encoder Battery Pack
117
Battery Replacement Time Periods
118
Battery Replacement Procedure
118
Changing the Lamp in the Front Panel High-Power Indicator
119
Chapter 7: Optional Equipment Installation
123
Installing End-Effectors
123
Removing and Installing the Tool Flange
123
Removing the Flange
123
Installing the Flange
124
User Connections on the Robot
125
User Air Lines
125
User Electrical Lines
126
Internal User Connectors
126
SOLND Connector
127
OP3/4 Connector
128
EOAPWR Connector
129
Internal User Connector Output Specifications
129
ESTOP Connector
130
Mounting Locations for External Equipment
132
Installing the Robot Solenoid Kit
132
Tools Required
133
Signal Setup
133
Installation
134
Testing
139
Installing the Camera Bracket Kit
140
Tools Required
140
Procedure
141
Installing Adjustable Hardstops
142
Joint 1 Adjustable Hardstops
142
Joint 2 Adjustable Hardstops
146
Chapter 8: Technical Specifications
153
Dimension Drawings
153
Robot Specifications
166
Physical
166
Performance
167
Stopping Distances and Times
167
Key to Graphs
168
Hardstops and Softstops
174
Chapter 9: IP65 Option
175
Ecobra 800 Robots IP65 Classification
175
Installing Cable Seal Assembly
176
Cable Seal Identification
176
Installation Procedure
176
Robot Outer Link Cover Removal and Reinstallation
178
Cover Removal Procedure
178
Cover Reinstallation Procedure
180
Customer Requirements
181
Sealing the Tool Flange
181
Pressurizing the Robot
182
User Connectors
183
User Electrical and Devicenet
183
User Air Lines
184
Robot Solenoid Option
184
Maintenance
185
IP65 Bellows Replacement
185
Dimension Drawing for Cable Seal Assembly
186
Chapter 10: Cleanroom Robots
189
Cleanroom Specifications
189
Connections
190
Requirements
190
Exclusions and Incompatibilities
191
Cleanroom Maintenance
191
Bellows Replacement
191
Lubrication
192
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12 pages
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80 pages
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148 pages
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