Adept Cobra s600/s800 Robot User's Guide
Adept Cobra s600/s800 Robot User's Guide P/N: 03017-000, Rev L April, 2013 5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452 Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450 Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.
Copyright Notice The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. The documentation is periodically reviewed and revised. Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation.
Table of Contents Chapter 1: Introduction 1.1 Product Description Adept Cobra s600/s800™ Robots AIB™, eAIB™ (Amplifiers in Base) Adept SmartController™ 9 9 9 10 11 1.2 Dangers, Warnings, Cautions, and Notes 12 1.3 Safety Precautions 13 1.4 What to Do in an Emergency Situation 13 1.5 Additional Safety Information 13 Manufacturer’s Declaration of Conformity (MDOC) Adept Robot Safety Guide 13 14 1.6 Intended Use of the Robots 14 1.7 Installation Overview 14 1.
Table of Contents PC Requirements 25 3.5 Installing Adept ACE Software 25 3.6 Cable Connections from Robot to SmartController 25 3.7 Connecting 24 VDC Power to Robot 26 Specifications for 24 VDC Power Details for 24 VDC Mating Connector Procedure for Creating 24 VDC Cable Installing 24 VDC Robot Cable 3.8 Connecting 200-240 VAC Power to Robot Specifications for AC Power Details for AC Mating Connector Creating the 200-240 VAC Cable Installing AC Power Cable to Robot 3.
Table of Contents 5.2 Periodic Maintenance Schedule 53 5.3 Checking Safety Systems 54 5.4 Checking Robot Mounting Bolts 54 5.5 Checking for Oil Leakage 54 5.6 Lubricating Joint 3 55 Lubrication Procedure 55 5.7 Replacing the AIB or eAIB Chassis Removing the AIB or eAIB Chassis Installing a New AIB or eAIB Chassis 5.
Table of Contents 6.9 Installing Adjustable Hardstops Joint 1 Adjustable Hardstops Joint 2 Adjustable Hardstops Chapter 7: Technical Specifications 7.1 Dimension Drawings 86 87 91 99 99 7.2 Cobra s600/s800 Robot Internal E-STOP Connections 105 7.3 XSYS/XSYSTEM Connector 105 7.4 XSLV Connector 106 7.5 Robot Specifications 106 Chapter 8: IP-65 Option 109 8.1 Cobra s800 IP-65 Classification 109 8.2 Installing Cable Seal Assembly 109 Cable Seal Identification Installation Procedure 8.
Chapter 1: Introduction 1.1 Product Description Adept Cobra s600/s800™ Robots The Adept Cobra s600 and s800 robots are four-axis SCARA robots (Selective Compliance Assembly Robot Arm). See the following figure. Joints 1, 2, and 4 are rotational; Joint 3 is translational. For a description of the robot joint locations, see Robot Joint Motions on page 10. The Adept Cobra s600 and s800 robots require an Adept SmartController™ motion controller.
Chapter 1: Introduction Joint 2 Joint 1 Joint 3 Inner Link Outer Link Joint 4 Figure 1-2. Robot Joint Motions AIB™, eAIB™ (Amplifiers in Base) The amplifiers for the Adept Cobra s600 and s800 robots are embedded in the base of the robot. There are two versions offered: the AIB and the eAIB. Both provide power amplifiers and full servo control.
Chapter 1: Introduction Figure 1-3. Amplifier on Robot, AIB, s600 Shown Adept SmartController™ The SmartController is the foundation of Adept’s family of high-performance distributed motion controllers. The SmartController is designed for use with: l Adept Cobra s-Series robots l Adept Quattro robots l Adept Viper s-Series robots l Adept Python linear modules l Adept MotionBlox-10 l Adept sMI6 (SmartMotion) The SmartController supports a conveyor tracking option, as well as other options.
Chapter 1: Introduction Figure 1-4. Adept SmartController EX, CX sDIO™ Module The sDIO module provides 32 optical isolated digital inputs and 32 optical isolated outputs and also includes an IEEE 1394 interface. 1.2 Dangers, Warnings, Cautions, and Notes There are six levels of special alert notation used in Adept manuals. In descending order of importance, they are: DANGER: This indicates an imminently hazardous electrical situation which, if not avoided, will result in death or serious injury.
Chapter 1: Introduction CAUTION: This indicates a situation which, if not avoided, could result in damage to the equipment. NOTE: Notes provide supplementary information, emphasize a point or procedure, or give a tip for easier operation. 1.3 Safety Precautions DANGER: An Adept Cobra s600/s800 robot can cause serious injury or death, or damage to itself and other equipment, if the following safety precautions are not observed.
Chapter 1: Introduction Adept Robot Safety Guide The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also gives resources for more information on relevant standards. It ships with each robot manual, and is also available from the Adept Document Library. For details, see Adept Document Library on page 16. 1.6 Intended Use of the Robots The Adept Cobra s600 and s800 robots are intended for use in parts assembly and material handling for payloads less than 5.5 kg (12.
Chapter 1: Introduction Task to be Performed Reference Location including end-effectors, user air and electrical lines, external equipment, solenoids, etc. 1.8 Manufacturer’s Declaration The Manufacturer’s Declaration of Incorporation and Conformity for Adept robot systems can be found on the Adept website, in the Download Center of the Support section. http://www.adept.com/support/downloads/file-search NOTE: The Download Center requires that you are logged in for access.
Chapter 1: Introduction Table 1-2. Related Manuals Manual Title Description Adept Robot Safety Guide Contains safety information for Adept robots. Adept SmartController User's Guide Contains information on the installation and operation of the Adept SmartController and the optional sDIO product. Adept T2 Pendant User's Guide Describes the use of the optional Adept manual control pendant. Adept ACE User’s Guide Instruction for the use of the Adept ACE software.
Chapter 2: Robot Installation 2.1 Transport and Storage This equipment must be shipped and stored in a temperature-controlled environment, within the range –25 C to +55 C. The recommended humidity range is 5 to 90 percent, noncondensing. It should be shipped and stored in the Adept-supplied packaging, which is designed to prevent damage from normal shock and vibration. You should protect the package from excessive shock and vibration.
Chapter 2: Robot Installation 2.2 Unpacking and Inspecting the Adept Equipment Before Unpacking Carefully inspect all shipping crates for evidence of damage during transit. Pay special attention to any tilt and shock indication labels on the exteriors of the containers. If any damage is indicated, request that the carrier’s agent be present at the time the container is unpacked.
Chapter 2: Robot Installation Pollution degree 2 Robot protection class IP 20 (NEMA Type 1) NOTE: For robot dimensions, see Dimension Drawings on page 99. 2.5 Mounting the Robot WARNING: Only qualified service personnel may install or service the robot system. Mounting Surface The Adept Cobra s600 and s800 robots are designed to be mounted on a smooth, flat, level tabletop. The mounting structure must be rigid enough to prevent vibration and flexing during robot operation.
Chapter 2: Robot Installation Robot Mounting Procedure 1. Using the dimensions shown in the previous figure, drill and tap the mounting surface for four M12 - 1.75 x 36 mm (or 7/16 - 14 UNC x 1.50 in.) machine bolts (bolts are usersupplied). 2. While the robot is still bolted to the transportation pallet, connect the hydraulic lift to the eyebolt at the top of the inner link (see Figure 2-1). Take up any slack, but do not lift the robot at this time.
Chapter 2: Robot Installation 2.6 Description of Connectors on Robot Interface Panel Figure 2-3. Robot Interface Panels - AIB and eAIB The following connections are the same for both the AIB and the eAIB: 24 VDC—for connecting user-supplied 24 VDC power to the robot. The mating connector is provided. Ground Point—for connecting cable shield from user-supplied 24 VDC cable.
Chapter 2: Robot Installation 200/240 VAC—for connecting 200-240 VAC, single-phase, input power to the robot. The mating connector is provided. SmartServo x2 (IEEE 1394) — for connecting the IEEE 1394 cable from the controller (SmartServo 1.1) to the robot. The other robot connector can be used to connect to a second robot or another 1394-based motion axis. XIO (DB26, high density, female) — for user I/O signals for peripheral devices. This connector provides 8 outputs and 12 inputs.
Chapter 3: System Installation 3.1 System Cable Diagram IEEE 1394 Cable Controller SmartServo (Port 1.1) to AIB/eAIB SmartServo Adept Cobra s600/s800 Robot Adept SmartController SmartServo HPE LAN SF ES HD 1 2 3 1.1 SW1 1 2 3 4 1.2 IEEE-1394 2.1 Device Net 2.
Chapter 3: System Installation 3.2 Cable and Parts List Table 3-1. Cable and Parts List Part Description Notes IEEE 1394 Cable, 4.5 M Standard cable—supplied with system XSYS Cable, AIB only, 4.5 M Standard cable—supplied with AIB system eAIB XSYS Cable, 4.
Chapter 3: System Installation 3.4 Connecting User-Supplied PC to SmartController The SmartController for Adept Cobra s600/s800 robots must be connected to a user-supplied PC for setup, control, and programming. The user loads the Adept ACE software onto the PC and connects it to the SmartController via an Ethernet cable. PC Requirements The Adept ACE CD-ROM will display a ReadMe file when inserted in your PC. This contains hardware and software requirements for running Adept ACE software.
Chapter 3: System Installation l For an eAIB system, locate the eAIB XSYS cable or eAIB XSLV Adapter cable, which can be used with an existing XSYS cable. Install one end of the IEEE 1394 cable into the SmartServo port 1.1 connector on the SmartController, and the other end into a SmartServo connector on the AIB or eAIB interface panel. See Figure 3-1.
Chapter 3: System Installation solenoids and digital I/O loads. If multiple robots are sharing a 24 V power supply, increase the supply capacity by 3 A for each additional robot. CAUTION: Make sure you select a 24 VDC power supply that meets the specifications in the previous table. Using an under-rated supply can cause system problems and prevent your equipment from operating correctly. See the following table for recommended power supplies. Table 3-3.
Chapter 3: System Installation NOTE: The 24 VDC cable is not supplied with the system, but is available in the optional Power Cable kit. See Table 3-1. Procedure for Creating 24 VDC Cable 1. Locate the connector and pins shown in Table 3-4. 2. Use 14-16 AWG wire to create the 24 VDC cable. Select the wire length to safely reach from the user-supplied 24 VDC power supply to the robot base. NOTE: You also must create a separate 24 VDC cable for the SmartController.
Chapter 3: System Installation Adept Cobra s600/s800 Robot GND User-Supplied Power Supply 24 VDC – + Attach shield from usersupplied cable to ground screw on Cobra s600/s800 Interface Panel. Adept SmartController User-Supplied Shielded Power Cable Attach shield from user-supplied cable to side of controller using star washer and M3 x 6 screw. + 24V, 8A – Frame Ground + 24V, 5A – Attach shield from usersupplied cables to frame ground on power supply.
Chapter 3: System Installation Specifications for AC Power Table 3-5. Specifications for 200/240 VAC User-Supplied Power Supply Auto-Ranging Nominal Voltage Ranges 200 V to 240 V Minimum Operating Voltagea 180 V Maximum Operating Voltage 264 V Frequency/ Phasing 50/60 Hz Recommended External Circuit Breaker, User-Supplied 10 Amps 1-phase a Specifications are established at nominal line voltage. Low line voltage can affect robot performance. Table 3-6.
Chapter 3: System Installation Facility overvoltages Protection The user must protect the robot from excessive overvoltages and voltage spikes. If the country of installation requires a CE-certified installation, or compliance with IEC 1131-2, the following information may be helpful: IEC 1131-2 requires that the installation must ensure that Category II overvoltages (i.e., line spikes not directly due to lightning strikes) are not exceeded.
Chapter 3: System Installation Note: F4 and F5 are user-supplied, must be slow blow. L1 200–240VAC F5 10A 3Ø 200–240VAC L2 L3 F4 10A E User-Supplied AC Power Cable E L = Line 1 N = Line 2 E = Earth Ground N L Adept Cobra s600/s800 and i600/i800Robots 1Ø 200–240VAC Figure 3-4. Single-Phase Load across L1 and L2 of a Three-Phase Supply NOTE: If a three-phase power source is used, it must be symmetrically-earthed (with grounded neutral).
Chapter 3: System Installation from the user-supplied AC power source to the robot base. 5. Strip approximately 18 to 24 mm insulation from each of the three wires. 6. Insert the wires into the connector through the removable bushing. 7. Connect each wire to the correct terminal screw, and tighten the screw firmly. 8. Tighten the screws on the cable clamp. 9. Reinstall the cover and tighten the screw to seal the connector. 10.
Chapter 3: System Installation Figure 3-6. Ground Point on Robot Base Grounding Robot-Mounted Equipment The following parts of an Adept Cobra s600/s800 robot are not grounded to protective earth: the Joint 3 quill and the tool flange. If hazardous voltages are present at any user-supplied robot-mounted equipment or tooling, you must install a ground connection from that equipment/tooling to the ground point on the robot base. Hazardous voltages can be considered anything in excess of 30 VAC (42.
Chapter 4: System Operation 4.1 Robot Status LED Description The robot Status LED indicator is located on the top of the robot. The blinking pattern indicates the status of the robot. The current robot models support the UL standard. The LED on these robots is amber. See the following figure and table. Figure 4-1. Robot Status LED Indicator Location Table 4-1.
Chapter 4: System Operation The displayed fault code will continue to be displayed even after the fault is corrected or additional faults are recorded. All displayed faults will be cleared from the display, and reset to a no-fault condition, upon successfully enabling high power to the robot, or power cycling the 24 V supply to the robot. Figure 4-2. Status Panel Table 4-2.
Chapter 4: System Operation 4.3 Brakes The robot has a braking system that decelerates the robot in an emergency condition, such as when the emergency stop circuit is open or a robot joint passes its softstop. The E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safety requirements. It supports a customer-programmable E-Stop delay that maintains motor power for a programmed time after the E-Stop is activated.
Chapter 4: System Operation If this button is pressed while high power is on, high power will automatically shut down. WARNING: Due to the effect of gravity, pressing the Brake Release button may cause the quill and tool flange to fall. When the Brake Release button is pressed, Joint 3 may drop to the bottom of its travel.
Chapter 4: System Operation power is a two-step process. An “Enable Power” request must be sent from the usersupplied PC, an executing program, or the Adept 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.
Chapter 4: System Operation Cobra s600/s800 Robot IO Blox #1 8 Input signals: 1113 to 1120 8 Output signals: 0105 to 0112 Optional IO Blox Device sDIO #1 32 Input signals: 1033 to 1064 32 Output signals: 0033 to 0064 IEEE-1394 1.1 1.2 R *S/N 3563-XXXXX* X1 X2 X3 X4 XDC1 XDC2 LINK 24V -+ OK SF 0.
Chapter 4: System Operation Location Type Signal Range IO Blox 3 Inputs 1129–1136 Outputs 0121–0128 Inputs 1137–1144 Outputs 0129–0136 IO Blox 4 a For Dual Robot systems, see Adept Dual-Robot Configuration Procedure. Using Digital I/O on Robot XIO Connector The XIO connector on the robot interface panel offers access to digital I/O, 12 inputs and 8 outputs. These signals can be used by V+ or eV+ to perform various functions in the workcell.
Chapter 4: System Operation Pin No. Designation Signal Bank V+/eV+ Signal Number 17 Input 5.2 2 1107 18 Input 6.2 2 1108 19 Output 1 0097 20 Output 2 0098 21 Output 3 0099 22 Output 4 0100 23 Output 5 0101 24 Output 6 0102 25 Output 7 0103 26 Output 8 0104 Pin 9 Pin 1 Pin 18 Pin 10 Pin 19 Pin 26 Optional I/O Products These optional products are also available for use with digital I/O: l XIO Breakout Cable For information, see XIO Breakout Cable on page 46.
Chapter 4: System Operation XIO Input Specifications Table 4-6. XIO Input Specifications Operational voltage range 0 to 30 VDC “Off” state voltage range 0 to 3 VDC “On” state voltage range 10 to 30 VDC Typical threshold voltage V Operational current range 0 to 7.5 mA “Off” state current range 0 to 0.5 mA “On” state current range 2.5 to 7.5 mA Typical threshold current 2.0 mA Impedance (V /I ) 3.
Chapter 4: System Operation Typical Input Wiring Example Adept-Supplied Equipment User-Supplied Equipment Wiring Terminal Block (equivalent circuit) Signal 1097 Signal 1098 Input Bank 1 Signal 1101 Signal 1102 4 Part Present Sensor 5 Feeder Empty Sensor 6 Part Jammed Sensor 7 Sealant Ready Sensor 8 9 Bank 1 3 Common 2 +24V GND 1 Signal 1103 Signal 1104 Input Bank 2 Signal 1105 Signal 1106 Signal 1107 Signal 1108 13 14 15 16 17 18 Bank 2 12 Common 10 GND +24V Bank 2 configured for Sour
Chapter 4: System Operation driver draws power from the primary 24 VDC input to the robot through a self-resetting polyfuse. The outputs are accessed through direct connection to the XIO connector (see Table 4-5). Optionally, use the XIO Termination Block. See the documentation supplied with the termination block for details. XIO Output Specifications Table 4-7. XIO Output Circuit Specifications Parameter Value Power supply voltage range See Specifications for 24 VDC Power on page 26.
Chapter 4: System Operation Typical Output Wiring Example (equivalent circuit) User-Supplied Equipment Wiring Terminal Block +24VDC Outputs 1-8 XIO Connector – 26-Pin Female D-Sub Adept-Supplied Equipment Signal 0097 Signal 0098 Signal 0099 Signal 0100 Signal 0101 Signal 0102 Signal 0103 Signal 0104 GND GND Typical User Loads 19 20 21 22 Load 23 24 Load Load 25 26 1 M L 10 N Customer AC Power Supply M Figure 4-6.
Chapter 4: System Operation Table 4-8. XIO Breakout Cable Wire Chart Signal Designation Pin No. Wire Color 1 GND White 2 24 VDC White/Black 3 Common 1 Red 4 Input 1.1 Red/Black 5 Input 2.1 Yellow 6 Input 3.1 Yellow/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 4.2 Gray/Black 17 Input 5.
Chapter 4: System Operation 4.6 Starting the System for the First Time Follow the steps in this section to safely bring up your robot system.
Chapter 4: System Operation l XSYS cable between the XSYS connector on the SmartController and the robot interface panel XSLV connector (AIB) or eAIB XSLV adapter and XSYSTEM connector (eAIB), with the latching screws tightened. or eAIB XSYS (eAIB) cable between the robot interface panel XSYSTEM connector and XSYS connector on the SmartController, and the latching screws tightened. See Cable Connections from Robot to SmartController on page 25. l User-supplied 24 VDC power to the robot 24 VDC connector.
Chapter 4: System Operation Starting Adept ACE The robot should be on, and the status panel should display OK before proceeding. 1. Turn on the user-supplied PC and start Adept ACE. l Double-click the Adept ACE icon on your Windows desktop, or l From the Windows Start menu bar, select: Start > Programs > Adept Technology > Adept ACE > Adept ACE. 2. On the Adept ACE Getting Started screen: l Select New SmartController Workspace.
Chapter 4: System Operation Verify Robot Motions Use the pendant (if purchased) to verify that the robot moves correctly. Refer to your Adept pendant user's guide for complete instructions on using the pendant. If the optional pendant is not installed in the system, you can move the robot using the Robot Jog Control in the Adept ACE software. For details, see the Adept ACE User’s Guide. 4.
Chapter 5: Maintenance 5.1 Field-replaceable Parts WARNING: Only qualified service personnel may install or service the robot system. The following parts are the only field-replaceable parts: Table 5-1. Field-replaceable Parts Part Adept Part Number Encoder battery 09977-000 (3.6 V, 6.8 Ah) (This has replaced part number 02704-000) AIB (Amp-In-Base) 04900-000 eAIB (Amp-In-Base) s600 s800 19800-600 19800-800 These parts must only be replaced with the Adept part numbers in the preceding table.
Chapter 5: Maintenance NOTE: The frequency of these procedures will depend on the particular system, its operating environment, and amount of usage. Use the times in this table as guidelines and modify the schedule as needed. WARNING: Lockout and tagout power before servicing. WARNING: The procedures and replacement of parts mentioned in this section should be performed only by skilled or instructed persons, as defined in the Adept Robot Safety Guide.
Chapter 5: Maintenance l inside the base of the robot, by opening the AIB/eAIB chassis and inspecting internally. WARNING: Remove all power to the robot before opening the AIB/eAIB chassis. Contact Adept if you find any signs of oil in these areas. 5.6 Lubricating Joint 3 Use LG-2 Grease (Lithium Soap/Synthetic Hydrocarbon), Adept part number: 90401-04029. CAUTION: Using improper lubrication products on the Adept Cobra s600 or s800 robot may cause damage to the robot. Lubrication Procedure 1.
Chapter 5: Maintenance Apply grease to the three vertical grooves and the spiral groove. 6. Press the brake button and move Joint 3 to the bottom of its travel. Remove any existing grease with a clean, lint-free, soft cloth. 7. Apply a small bead of grease to any grooves of the ball screw that are now exposed. 8. Move Joint 3 up and down several times to spread the grease evenly. 9. Remove 24 VDC power from the robot. 10. Reinstall the outer link cover. For the Cleanroom version, replace the bellows.
Chapter 5: Maintenance Joint 3 Ball Screw Lubrication Points A A A Joint 3 Ball Screw Lubrication Points A Lower Quill Grease Locations Upper Quill Grease Locations Quill Shaft Vertical Groove Lube Point A Vertical Groove Lube Point B Top View Looking Down NOTE: Apply grease to the three vertical grooves Vertical Groove Lube Point C and the spiral groove Section A-A Figure 5-1.
Chapter 5: Maintenance 5.7 Replacing the AIB or eAIB Chassis CAUTION: Follow appropriate ESD procedures during the removal/replacement phases. Removing the AIB or eAIB Chassis 1. Switch off the SmartController. 2. Switch off the 24 VDC input supply to the chassis. 3. Switch off the 200/240 VAC input supply to the chassis. 4. Disconnect the 24 VDC supply cable from the chassis +24 VDC input connector. For the connector location, see Figure 2-3. 5.
Chapter 5: Maintenance Figure 5-3. Opening and Removing Chassis 11. Disconnect the “white” amplifier cable from the amplifier connector located on the chassis bracket. See the following figure. Figure 5-4. Connectors on Chassis and PMAI/ePMAI Board - AIB Shown 12.
Chapter 5: Maintenance Figure 5-5. Ground Screw on AIB Chassis Figure 5-6. Ground Screw Hole on eAIB Chassis 14. Carefully remove the chassis from the robot, and place it aside. Tag it with the appropriate fault diagnosis faults/errors and robot serial number information. Installing a New AIB or eAIB Chassis 1. Carefully remove the new chassis from its packaging, check it for any signs of damage, and remove any foreign packing materials or debris from inside the chassis. 2.
Chapter 5: Maintenance 5. Carefully connect the “white” amplifier cable to the amplifier connector located on the chassis bracket. Figure 5-7. Installing AIB Chassis in Robot Base 6. Carefully insert the chassis into the robot base in the groove at the bottom of the base— see Figure 5-7. Tilt the chassis up and into place against the robot, making sure that none of the cables get trapped or pinched and that the chassis O-ring is not damaged during installation. 7.
Chapter 5: Maintenance 5.8 Commissioning a System with an eAIB Commissioning a system involves synchronizing the robot with the eAIB. NOTE: This section only applies to robots that have an eAIB amplifier. A robot with an AIB amplifier does not need the Adept ACE commissioning. For a new system with an eAIB, the robot and the eAIB will have been commissioned at the factory and should not need commissioning. If you are replacing an AIB with an eAIB, you will need to commission the system.
Chapter 5: Maintenance Prerequisites l The robot must be set up and functional. l The robot must use eAIB amplifiers. The AIB amplifiers do not support these hardware functions, and these wizards will not run. l Adept ACE software must be installed. l The Front Panel keyswitch must be in Auto mode. Figure 5-8. Adept Front Panel l No E-Stops can be activated. l For Configuration (E-Stop and Teach Restrict), the eAIB Commissioning Jumper must be plugged into the XBELTIO jack on the eAIB.
Chapter 5: Maintenance E-Stop Configuration Utility This utility sets the E-Stop hardware delay to factory specifications. NOTE: Ensure that the commissioning jumper is plugged into the XBELTIO jack on the eAIB before you start this procedure. Procedure From within the Adept ACE software: 1. Open the robot object editor. 2. Select Configure > Safety Settings > Configure ESTOP Hardware Delay, then click Next. This procedure will configure Channel A and then Channel B.
Chapter 5: Maintenance Teach Restrict Configuration Utility This utility sets the hardware Teach Restrict maximum speed parameter to factory specifications. NOTE: Ensure that the commissioning jumper is plugged into the XBELTIO jack on the eAIB before you start this procedure. Procedure NOTE: This procedure takes 2 or 3 minutes to complete. From within the Adept ACE software: 1. Open the robot object editor. 2. Select Configure > Safety Settings > Configure Teach Restrict, then click Next. 3.
Chapter 5: Maintenance 3. Teach a Start Position. This can be any position that does not conflict with obstacles or the limits of joint movements. l If the robot is already in such a position, you can just click Next. l Otherwise, move the robot to such a position, then click Next. l The screen will display the number of degrees that each joint is expected to move during the verification process. l You can click Preview Motions on this screen to view the motions at slow speed.
Chapter 5: Maintenance CAUTION: Replace the battery pack only with a 3.6 V, 6.8 Ah lithium battery pack, Adept P/N 09977-000. NOTE: The previous battery, P/N 02704-000, has been superseded by this battery pack. The battery replacement interval and procedure have not changed. Battery Replacement Time Periods If the robot is kept in storage and not in production, or the robot is turned off (no 24 VDC supply) most of the time, then the battery should be replaced every 5 years.
Chapter 5: Maintenance Figure 5-10. Location of Encoder Battery Pack 9. The battery cable assembly has two sets of connectors. Locate the secondary (unused) battery cable in the wire bundle in the base area. 10. Place the new battery pack next to the original one, but do not disconnect the original one. 11. Connect the new battery pack to the connectors on the secondary battery cable. Make sure to verify the positive and negative connections are correct. 12.
Chapter 6: Optional Equipment Installation 6.1 Installing End-Effectors The user is responsible for providing and installing any end-effector or other end-of-arm tooling. End-effectors can be attached to the tool flange using four M6 screws. See Figure 7-4. for a detailed dimension drawing of the tool flange. A 6 mm diameter x 12 mm dowel pin (user-supplied) fits in the through hole in the tool flange and can be used as a keying or anti-rotation device in a user-designed end-effector.
Chapter 6: Optional Equipment Installation Quill shaft M4 Socket-head cap screws Tool flange assembly Setscrew Figure 6-1. Tool Flange Removal Details Installing the Flange 1. Make sure the steel ball is in the setscrew hole inside the flange. Hold it in place with your finger as you get ready to install the flange. 2. Slide the flange up on the quill shaft as far as it will go, and rotate until the setscrew is lined up with the original vertical groove. 3. Support the flange while using a 2.
Chapter 6: Optional Equipment Installation Figure 6-2. User Connectors on Joint 1 Figure 6-3. User Connectors on Joint 2 For information on the IO Blox connector, see Connecting Digital I/O to the System on page 39. Also, refer to the Adept IO Blox User’s Guide for details. User Electrical Lines There is a 25-pin male connector (24 conductor) on the robot user panel on the back of Joint 1 for user electrical lines, see Figure 6-2.
Chapter 6: Optional Equipment Installation Figure 6-4. Internal User Connectors—OP3/4, EOAPWR, ESTOP WARNING: When the Outer link cover is removed, you see the label shown above. Do not remove the J3-ENC or J4-ENC encoder cable connectors from their sockets. If they are removed, the calibration data will be lost and the robot must be run through a factory recalibration process, which requires special software and tools. Figure 6-5.
Chapter 6: Optional Equipment Installation SOLND Connector This 4-pin connector provides the output signals for the optional Robot Solenoid Kit. See the previous figure and following table. For installation details, see Installing the Robot Solenoid Kit on page 77. Table 6-1.
Chapter 6: Optional Equipment Installation SOLND Connector Circuit +24VDC Signal 3001 (equivalent circuit) GND Signal 3002 For optional Robot Solenoid Kit installation, or other user supplied devices. Pin 1 Load Pin 2 Pin 3 Load Pin 4 GND OP3/4 Connector Circuit +24VDC Signal 3003 (equivalent circuit) GND Signal 3004 For optional second set of solenoids, or other user supplied devices. Pin 1 Load Pin 2 Pin 3 Load Pin 4 GND Figure 6-6.
Chapter 6: Optional Equipment Installation Table 6-4. Internal User Connector Output Circuit Specifications Parameter Value Power supply voltage range 24 VDC ± 10% See Specifications for 24 VDC Power on page 26. Operational current range, per channel I Total Current Limitation, all channels ona I ≤ 1.0 A @ 50° C ambient I ≤ 1.5 A @ 25° C ambient out ≤ 700 mA total total On-state resistance (I out = 0.5 A) R on ≤ 0.
Chapter 6: Optional Equipment Installation Table 6-5. ESTOP Connector Pin # Description 1 ESTOP_INPUT 2 24 V Pin Location ESTOP Connector as viewed on robot Mating Connector: AMP/Tyco #172165-1, 2-pin Mini-Universal Mate-N-Lock AMP/Tyco #770985-1, Pin Contact, Mini-Univ. Mate-N-Lok Typical ESTOP Connector Circuit User-supplied normally-closed contact. Can be connected to a break-away sensor to cause an E-Stop condition when circuit is open.
Chapter 6: Optional Equipment Installation 2. Select Break-away E-Stop Enable. 3. Change the value of this field to True. Figure 6-8. Screen Shot with Break-away E-Stop Parameter Field NOTE: When the Break-away E-Stop function has been enabled, you must connect a normally-closed circuit to pins 1 and 2 of the ESTOP connector, as described above. If this is not done, the system will be in an E-Stop condition and you will not be able to enable power. 6.
Chapter 6: Optional Equipment Installation 1. Open the gripper object editor. 2. Select the Open/Close tab. 3. Set the signal values for Open, Close, and Release. Figure 6-9. Setting Solenoid Signal Values The Adept-supplied solenoids each draw a nominal 75 mA from 24 VDC. The solenoid valve assembly consists of two independent valves (Valve #1 and Valve #2) on a common manifold. The manifold supplies air at the user’s line pressure: minimum 28 psi (0.19 MPa), to maximum 114 psi (0.786 MPa).
Chapter 6: Optional Equipment Installation Table 6-6. Air Pressure Air Pressure (Psi) Air Pressure (MPa) 28 - 114 0.19 - 0.786 Tools Required l Hex drivers l Cable ties l Diagonal wire cutters l Solenoid Valve upgrade Kit (Adept P/N 02853-000) Procedure 1. Turn off all power to the robot. 2. Remove two screws on s600 (three screws on s800) on each side of the outer link cover. Remove two screws on top and remove the cover. 3.
Chapter 6: Optional Equipment Installation 6. Insert the spare air line into the air intake coupling of the solenoid manifold. Make sure the air line is pushed in all the way and secured in place by the intake coupling. Confirm by gently pulling the air line. NOTE: If you are installing on a Cleanroom or IP-65 robot, the spare air line is used for a different purpose in those robots.
Chapter 6: Optional Equipment Installation Figure 6-12. Removing the Cable Strap Plate 12. Remove the four screws for the Joint 1 cover and lift the cover up so you have access to the tubing under the cover. See Figure 6-13. Figure 6-13. Connecting Spare Air Line to User Connector 13. Disconnect the tubing from the 6 mm User Air fitting shown in Figure 6-13. Fold the tubing out of the way and restrain using tie-wraps. 14.
Chapter 6: Optional Equipment Installation NOTE: This 6 mm User Air connector and the 6 mm User Air connector at the top of Figure 6-2 are not available for other uses after this modification. 16. Reinstall the Joint 1 cover, taking care to ensure that all tubing is inside the cover and nothing gets crimped or pinched while pushing the cover into position. Reinstall four screws to secure the cover. Tighten the screws to 1.6 N·m (14 in-lb) of torque. 17.
Chapter 6: Optional Equipment Installation WARNING: Disconnect robot air pressure until this test has been done to prevent unsecured pneumatic lines from accidentally injuring personnel. 6.7 Installing the Camera Bracket Kit The Adept Cobra Robot Camera Bracket Kit provides a convenient way of mounting cameras to the outer link of the robot.
Chapter 6: Optional Equipment Installation Camera Mount Camera Plate Camera Brackets (optional) Camera Channel Figure 6-14. Mounting a Camera on the Robot 6.8 DeviceNet Communication Link DeviceNet is a communications link that connects industrial I/O devices to a messagepacketing network. All nodes connect to the same backbone cable, eliminating the need for individual wiring for each I/O point.
Chapter 6: Optional Equipment Installation Use Adept ACE, controller configuration, for software setup. This assigns the controller signals to the physical ports of the DeviceNet nodes. NOTE: The local setting baud rate must match the DeviceNet node’s setting. From the Adept ACE software: 1. Double-click on the controller in the tree structure pane. This opens the object editor for the controller. 2. Select Configure > Configure V+ (or eV+). 3. Select DEVICENET. 4.
Chapter 6: Optional Equipment Installation l Signal - the input or output signal number (e.g. 1013 or 013) where mapping starts. l Bit_length - the number of input or output signals to map. l MACID - the MACID returned by the Scan. 8. When you are finished, click Done. 9. Check that the assignments worked correctly by opening the Digital I/O tab. The new signals should show up as being mapped now.
Chapter 6: Optional Equipment Installation Joint 1 Adjustable Hardstops The Joint 1 Adjustable Hardstops consist of two black rubber stop cylinders, and the required screws to install them. There are two locations for the hardstops on each side of the robot, Position 1 and Position 2. See the following figure. Figure 6-16. Joint 1 Adjustable Hardstops Installation Procedure 1. Remove the plug from desired threaded hole, Position 1 or 2, on each side of the robot. 2.
Chapter 6: Optional Equipment Installation Figure 6-17. Robot Editor, with Joints Collapsed 3. Click the ‘+’ in front of Joints, to display all of the joints.
Chapter 6: Optional Equipment Installation Figure 6-18. Robot Editor, with Joints Expanded 4. Click the ‘+’ in front of [1], to open the values for joint 1.
Chapter 6: Optional Equipment Installation Figure 6-19. Robot Editor, with Joint 1 Expanded 5. Highlight the current values for joint 1, and replace them with the new values. See the following table for recommended softstop values for Position 1 or Position 2. Table 6-7. Joint 1 Ranges for Adjustable Hardstops Hardstop Value Recommended Joint Limit Softstop J1 Hardstop Position 1 ± 50° Lower limit: – 49° Upper limit: + 49° J1 Hardstop Position 2 ± 88° Lower limit: – 87° Upper limit: + 87° 6.
Chapter 6: Optional Equipment Installation Joint 2 Adjustable Hardstops The Joint 2 Adjustable Hardstop kit (Figure 6-20) consists of two curved plates that are the adjustable hardstops, a small, black rectangular device that is the fixed hardstop, and the required screws to install them. The adjustable hardstop plates can be installed in different locations, depending on how much you need to limit the Joint 2 range of motion. Figure 6-20. Joint 2 Hardstop Kit Installation Procedure 1.
Chapter 6: Optional Equipment Installation Joint 2 Left Hardstop Plate, installed in +81 degree position Joint 2 Fixed Hardstop Device Joint 2 Positive direction Joint 2 Negative direction + _ 12 thru holes for M5 x 10 screws, for installing Joint 2 hardstops, located 30 degrees apart Joint 2 Right Hardstop Plate, installed in -81 degree position View of under side of Inner Link, looking up Figure 6-22. Screw Locations for Joint 2 Adjustable Hardstops 2.
Chapter 6: Optional Equipment Installation Figure 6-23. Fixed Hardstop Block for Joint 2 4. Use a 3 mm hex wrench to install two supplied M4 x 10 screws to secure the hardstop device. Tighten the screws to a torque of 2.5 N·m (22 in-lb). Modifying Joint Limit Softstop Locations for Joint 2 After installing the adjustable hardstops, you must modify the softstop locations using the Adept ACE software. 1. From the Adept ACE software, select the robot in the tree structure pane. 2. Open the robot editor.
Chapter 6: Optional Equipment Installation Figure 6-24. Robot Editor, with Joints Closed 3. Click the ‘+’ in front of Joints, to display all of the joints.
Chapter 6: Optional Equipment Installation Figure 6-25. Robot Editor, with Joints Expanded 4. Click the ‘+’ in front of [2], to open the values for joint 2.
Chapter 6: Optional Equipment Installation Figure 6-26. Robot Editor, with Joint 2 Expanded 5. Highlight the current values for joint 2, and replace them with the new values. See the following table for recommended softstop values. Table 6-8.
Chapter 6: Optional Equipment Installation 6. Once you have modified the upper and lower joint limit softstops, you must reboot the system by cycling 24 VDC power to the SmartController. The new joint limits will be in affect when the system reboot is done.
Chapter 7: Technical Specifications 7.1 Dimension Drawings 417 183 200 Required clearance to open eAIB/AIB Chassis 934 888 46 37 387 342 177 31 Required cable clearance 600 325 0 234 0 Figure 7-1.
Chapter 7: Technical Specifications 417 183 200 Required clearance to open eAIB/AIB Chassis 918 894 46 37 398 342 31 Required cable clearance 188 800 425 0 234 0 Figure 7-2.
Chapter 7: Technical Specifications 2X M4x0.7-6H 54 2X 3.0 +.10 -.03 10 6 45 10 457 to base of robot 2X M4x0.7-6H All dimensions in mm Figure 7-3.
Chapter 7: Technical Specifications 12.0 mm (0.47 in.) See Detail A 20.0 mm (0.79 in.) 3.0 mm (0.12 in.) 43 mm (1.69 in.) ∅ 41.15 mm +.03 mm –.00 mm 45° -A- (∅ 1.620 in.) (+.001 in.) (–.000 in.) Dowel Pin Hole ∅ 6.0 mm +.01 mm – 0 mm ∅ 63.0 mm (2.48 in.) (0.2362 in.) (+.0005 in.) (– 0 in.) -CBC 30° ∅ 50.0 mm (1.9685 in.) 4X M6 x 1- 6H Thru User Ground R 3.56mm (R 0.140in) 5.08mm (0.20in) M3 X 0.5-6H Thru ∅.10 mm (.004 in.) M A M B C M Units in mm 4.14 mm (0.163 in.) 1.5 mm (0.059 in.) 6.
Chapter 7: Technical Specifications 25 4X M4x0.7 - 6H 105 6 Inner Link External Mounting Locations 60 4X M4x0.7 - 6H Units in mm Outer Link External Mounting Locations 105 Figure 7-5. External Tooling on Top of Robot Arm 76 - Cobra s/i600 135 - Cobra s/i800 34 90 4X M4x0.7-6H Outer Link - Bottom View 8 Units in mm Figure 7-6.
Chapter 7: Technical Specifications Figure 7-7. Adept Cobra s600 Robot Working Envelope Maximum Intrusion Contact Radius 847.3 mm (33.36 in.) Maximum Radial Reach Functional Area 800 mm (31.50 in.) Minimum Radial Reach 163.6 mm (6.44 in.) 105˚ 105˚ 157.5˚ 157.5˚ Cartesian Limits 300 mm (11.8 in.) Figure 7-8.
Chapter 7: Technical Specifications 7.
Chapter 7: Technical Specifications XSYS Pin # XSYSTEM Pin # Description 8 N/C 9 16 ESTOP_SRC Shell SHIELD Shell Comment Pin Location E-Stop System +24 V 7.4 XSLV Connector Table 7-2.
Chapter 7: Technical Specifications Description s600 Robot s800 Robot Adept Cycle—Sustained (no J4 rotation) 0 kg 0.42 sec at 20° C 0.48 sec at 40° C 0.48 sec at 20° C 0.51 sec at 40° C 2 kg 0.45 sec at 20° C 0.51 sec at 40° C 0.54 sec at 20° C 0.54 sec at 40° C 5.5 kg 0.58 sec at 20° C 0.64 sec at 40° C 0.70 sec at 20° C 0.70 sec at 40° C Adept Cycle—Sustained (180° J4 rotation) 0 kg 0.42 sec at 20° C 0.48 sec at 40° C 0.48 sec at 20° C 0.48 sec at 40° C 2 kg 0.45 sec at 20° C 0.
Chapter 7: Technical Specifications Description s600 Robot DeviceNet pass-through One available Weight (without options) a s800 Robot 41 kg (90 lb) 43 kg (95 lb) Specifications subject to change without notice. Table 7-4. Softstop and Hardstop Specifications Joint Cobra s600 Cobra s800 Softstop Hardstop – Approximate Softstop Hardstop – Approximate Joint 1 ± 105 ± 108 ± 105 ± 108 Joint 2 ± 150 ± 151 ± 157.
Chapter 8: IP-65 Option 8.1 Cobra s800 IP-65 Classification The factory installed IP-65 option kit provides an improved level of dust and water protection. IP-65 means “dust-tight and protection against water jetting.” l Dust Resistance—protection of the equipment inside the robot shell against ingress of solid foreign objects l Specifically for IP-65 Dust Protection—“No ingress of dust is allowed.
Chapter 8: IP-65 Option Cable Seal Housing Figure 8-2. Cable Seal Parts Installation Procedure 1. Disassemble the cable seal assembly into separate pieces by removing all screws. 2. Install the cable seal housing on the back of the robot using four M4x50 screws, four M4 lock washers, and four M4 flat washers. Note that the centered M6 threaded hole must be at the top. See the following figure. Figure 8-3. Cable Seal Housing Installed 3. Attach all system cables to the robot. See Figure 3-1. 4.
Chapter 8: IP-65 Option c. Finally push down on the flange to secure it against the housing. See Figure 8-5 for the lower flange in the installed position. Figure 8-4. Installing Lower Flange Figure 8-5. Lower Flange in Position 5. Seat all of the cables by pushing down into the foam on the lower flange. 6. Attach the upper flange to the lower flange using two M6 x 20 screws, two M6 lock washers, and two M6 flat washers.
Chapter 8: IP-65 Option follow the procedures below. Cover Removal Procedure 1. Turn off main power to the controller and power chassis. 2. Turn off the air supply to the robot. Clean the exterior of the outer link thoroughly to remove any dust or particles that might fall inside the robot when the cover is removed. 3. Unscrew the collar nut on the top of the outer link. See Figure 8-8. 4. Remove 2 screws and nylon washers on the top of the outer link. 5.
Chapter 8: IP-65 Option Figure 8-9. IP-65 Robot with Outer Link Cover Removed Cover Reinstallation Procedure 1. Check the cover O-ring around the inner groove of the cover to make sure it is in place and not crimped when installing cover. 2. Hold the cover over the outer link and check to see that the clamp nuts attached to the 8 side screws are positioned so they will slip into place when the cover is lowered down onto the outer link. 3.
Chapter 8: IP-65 Option 8.4 Customer Requirements The IP-65 robot provides most of the hardware needed to achieve an IP-65 protection level, but customers must provide a way of sealing the tool flange and pressurizing the robot through the compressed air attachment fitting (located at the top of the robot). These two requirements, sealing the tool flange and pressurizing the robot, are critical to achieving the IP-65 level of protection.
Chapter 8: IP-65 Option 1. Remove the red shipping plug from the compressed air fitting on the top of the robot. See the following figure. Figure 8-11. Compressed Air Fitting on Robot 2. Connect a compressed air source to the air fitting. The specification for the regulated air supply is shown in the following table. Table 8-1.
Chapter 8: IP-65 Option NOTE: The user electrical connector (DB-25) and the IO Blox connector (DB-9) on the back of the Joint 1 cover require a gel seal gasket to maintain an adequate seal. The gaskets are supplied in the accessory kit. Figure 8-12. User Connectors on Joint 1 Cover The user electrical and DeviceNet connectors on the outer link are accessible with the cover removed. See the following figure for locations of the internal connectors. Figure 8-13.
Chapter 8: IP-65 Option When routing air lines outside of the robot, any fittings you use must maintain an adequate seal in the cover to prevent moisture from entering the outer link. CAUTION: Failure to prevent water intrusion through improperly-sealed external fittings could void your warranty.
Chapter 8: IP-65 Option NOTE: Align the bellows clamps with the bellows seam, on both upper and lower clamps. Bellows Seam Bellows Clamp Bellows Clamp Bellows Cross-section View Figure 8-14. Bellows Replacement Figure 8-15.
Chapter 8: IP-65 Option 8.7 Dimension Drawing for Cable Seal Assembly 432 208 Required clearance to open AIB controller with the IP-65 connector Cable sealing box on IP-65 version only 74 308 Figure 8-16.
Chapter 9: Cleanroom Robots The Adept Cobra s600/s800 robots are available in Class 10 Cleanroom models. NOTE: Class 1 Limits can be achieved by maintaining the robot speed at Speed 50 or below. This option is a factory-installed configuration. Changes to the robot include the addition of a bellows assembly mounted at the Joint 3 quill, fully sealed access covers, and a two-stage vacuum system to evacuate the arm.
Chapter 9: Cleanroom Robots 9.1 Connections Figure 9-2. Cleanroom Connections 9.2 Requirements Table 9-2. Cleanroom Robot Requirements Vacuum source 0.80 m 3/min (28 ft3/min) minimum volumetric flow rate 6 mm of water (0.2 inches of water) differential pressure measured between the robot and the vacuum source 3/4 inch NPT female thread pipe fitting at the back of the robot Compressed air source Clean, dry, oil-free compressed air 75 psi (0.52 MPa) 1.4 SCFM (.04 m 3/min.
Chapter 9: Cleanroom Robots 9.4 Cleanroom Maintenance Bellows Replacement Check the bellows periodically for cracks, wear, or damage. Replace bellows (Adept P/N 04625000) if necessary, using the procedure below. 1. Remove the lower bellows clamp ring from the bearing ring by loosening the screw on the clamp. See Figure 9-3. 2. Remove the tool flange. For the tool flange removal procedure, refer to Removing and Installing the Tool Flange on page 69. 3.
P/N: 03017-000, Rev L 5960 Inglew ood D riv e Pleas anton, C A 94588 925 · 245 · 3400
