Adept Cobra i600/i800 Robot Quick Setup Guide P/N: 03588-000, Rev D May, 2010
Adept Technology, Inc. 1.0 Introduction This Quick Setup Guide steps you through the installation and start-up of your Adept Cobra i600/i800 robot. The major steps are: • Preparation, including Workcell Layout, Safety, and Unpacking • Hardware Installation, including Mounting the Robot and System Cable Connections • Software Installation, including .
Adept Technology, Inc. 3.0 Safety WARNING: Adept Technology strictly prohibits installation or operation of an Adept robot without adequate safeguards according to applicable local and national standards. See Figure 1 for a simple workcell layout. You must read Chapter 2 in the Adept Cobra i600/i800 Robot User’s Guide for information on topics related to safe operation of your robot system.
Adept Technology, Inc. 5.0 Mounting the Robot Mount the robot on a rigid surface that will prevent vibration and flexing during robot operation. Adept recommends a 25 mm (1 in.) thick steel plate, mounted to a rigid steel tube frame. See the following figure for the mounting hole dimensions. 160 4X Ø 14 THRU +0.015 2x R4 0 80 6 Use four M12 - 1.75 x 36 mm [85 N-m] (or 7/16 - 14 UNC x 1.50 in. [50 ft-lb]) machine bolts to secure the robot. Units in mm 10 45 160 200 50 Ø8 +0.
Adept Technology, Inc. 6.0 System Cable Connections Open the Accessory Box and locate the AIB XPANEL cable, and RS-232 null modem serial cable. Connect the system cables and peripherals as shown in Figure 5. Refer to Chapter 4 in the Adept Cobra i600/i800 Robot User’s Guide for AC power specifications and AC wiring diagrams. Parts used in System Cable Connections.
Adept Technology, Inc. Steps in Cable Connections Installation Procedure Step # Step Description Part(s) 1 Connect AIB XPANEL cable to XPANEL on Robot Interface Panel. A 2 Verify XUSR jumper plug is installed on XUSR connector. B 3 Connect Front Panel cable to Front Panel and XFP connector. C, D 4 If no T2, install XMCP jumper or T1/T2 bypass plug. Skip to 5. E, F 4a If you have T2, connect T1/T2 adapter cable to XMCP connector. G, H 5 Connect user-supplied ground.
Adept Technology, Inc. 7.0 Installing Adept ACE Software You install Adept ACE software from the Adept Software CD-ROM. You will need Microsoft .NET Framework. The Adept ACE Setup Wizard scans your PC for .NET, and installs it automatically, if needed. 1. Insert the CD-ROM into the CD-ROM drive of your PC. If Autoplay is enabled, the Adept Software CD-ROM menu is displayed - see Figure 6. If Autoplay is disabled, you will need to manually start the CD-ROM.
Adept Technology, Inc. Figure 8. Ready-to-Install Screen Figure 9. Install Screen 4. When the install is complete, click Finish. Figure 10. Installation Completed 5. After closing the Adept ACE Setup wizard, click Exit on the CD-ROM menu and proceed to the Start-up Procedure. NOTE: You will have to restart the PC after installing Adept ACE.
Adept Technology, Inc. 8.0 Start-up Procedure Turn On Power and Start Adept ACE 1. Manually move the robot joints away from the folded shipping position, similar to the position shown on the cover of this Guide. 2. Turn on 200/240 VAC power. DANGER: Make sure personnel are skilled and instructed refer to Chapter 2 in the Adept Cobra i600/i800 Robot User’s Guide. 3. Turn on 24 VDC power to the robot. The Diagnostic Panel displays OK. The Robot Status LED will be off.
Adept Technology, Inc. 8. Click Open. You will see the message “Working . . Please wait”. Figure 12. Connecting to the iCobra Use the Diagnostics Wizard 1. Double-click the iCobra object in the Folder pane of the Workspace Explorer. 2. In the object editor, select Configure > Diagnostics Wizard. See the following figures. Figure 13.
Adept Technology, Inc. The Welcome window opens: Figure 13-1. Diagnostics Wizard Welcome Screen 3. Click Next. Figure 14.
Adept Technology, Inc. 4. The Wizard verifies the workcell configuration, to confirm all equipment is installed correctly. Click Next to continue to the Enable Power sequence. Figure 15. Diagnostics Enable Power Sequence 5. The Wizard then tells you to press the blinking High Power button on the Front Panel. See Figure 16. This step turns on high power to the robot motors. • The Robot Status LED glows solid amber or, on older iCobras, blinks green rapidly. • The code on the Diagnostic Panel displays ON.
Adept Technology, Inc. Figure 17. Diagnostics Wizard Complete 9.0 Using the Sample Applications You can run the sample application included with Adept ACE to learn how to use your system. To load and run the application: 1. Start Adept ACE. 2. Select Tools > Application Samples > MicroV+ arm- or fixed-mount camera to start the application sample for the iCobra. Use of the application samples is covered in the AdeptSight Online Help. Figure 18.
Adept Technology, Inc. The following selections will be displayed: Figure 19. Application Samples Menu 10.
Adept Technology, Inc. Using the Configuration Manager Utility The Configuration Manager Utility allows you to configure these functions on a Cobra i600/i800 Robot: joint limits, hand open/close signals, and workcell obstacles. The utility is accessed from the Configure menu in the iCobra object editor in Adept ACE. NOTE: The Configuration Manager is covered in detail in the Adept ACE Online Help. 1. Double-click the iCobra object in the Folder pane of the Workspace Explorer. 2.
P/N: 03588-000, Rev D 5960 Inglewood Drive Pleasanton, CA 94588 925·245·3400
