User`s guide
Chapter 3: System Installation
Figure 3-6. Ground Point on Robot Base
Grounding Robot-Mounted Equipment
The following parts of Adept Cobra ePLC600/800 robots 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 (42.4 VAC peak) or 60VDC.
Also, for the grounding point on the tool flange, see Tool Flange Dimensions for Both Robots
on page 85.
DANGER:Failing to ground robot-mounted equipment or
tooling that uses hazardous voltages could lead to injury or
death of a person touching the end-effector when an
electrical fault condition exists.
3.6 Connecting the PLC to the Robot
The user-supplied PLC and the ePLCCobra need to be connected, either through a shared
network, or with a direct connection using a user-supplied Ethernet cable. In the latter case,
connect the cable between the PLC and either of the Ethernet connectors on the eAIB.
When the Cobra ePLC robot is powered on and waiting for a PLC connection, the robot status
panel will display its IP address, two digits at a time.
The format will be:
IP xxx-xxx-xxx-xxx OK
NOTE: If you can use the default IP address, then you can skip the Adept ACE
software installation completely.
Installing Adept ACE Software
You install Adept ACE software onto your PC from the Adept Software CD-ROM. Adept ACE
software needs Microsoft .NET Framework. The Adept ACE Setup Wizard scans your PC for
Adept Cobra ePLC600/800 Robot, User’s Guide, Rev A
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