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Adept eCobra 600/800 Robot User`s Guide

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1. O A Figure 4 3 Front Panel 1 XFP connector Connects to the XFP connector on the eAIB XSYSTEM cable or the optional SmartController EX if one is being used 2 System 5 V Power On LED Indicates whether or not power is connected to the robot 3 Manual Automatic Mode Switch Switches between Manual and Automatic mode In Automatic mode executing programs control the robot and the robot can run at full speed In Manual mode the system limits robot speed and torque so that an operator can safely work in the cell Manual mode initiates hardware and software restrictions on robot speed commanding no more than 250 mm sec 4 High Power On Off Switch and Lamp Controls high power which is the flow of current to the robot motors Enabling high power is a two step process An Enable Power request must be sent from the user supplied 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 Adept eCobra Robot User s Guide Rev A Page 58 of 148 Chapter 4 System Operation NOTE If enabled the Front Panel b
2. Figure 5 11 Lamp Body Contact Alignment Adept eCobra Robot User s Guide Rev A Page 92 of 148 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 6 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 If hazardous voltages are present at the end effector you must install a ground connection from the base of the robot or the outer link to the end effector See Grounding Robot Mounted Equipment on page 45 NOTE A threaded hole is provided on the tool flange See Figure 7 6 The user may attach a ground wire through the quill connecting the outer link and the tool flange 6 2 Removing and Installing the Tool Flange The tool flange can be removed and reinstalled If the flange is removed it must be reinstalled in exactly the same position to avoid losing the calibration for the system There is a setscrew on the flange that holds the rotational position of the flange on the quill shaft A steel ball behind the setscrew contacts the shaft in one of the vertical spline grooves in the shaft Follow the procedures below to remove and reinstall the
3. Refer to Installing a New eAIB Chassis on page 80 5 10 Replacing the Encoder Battery Pack The data stored by the encoders is protected by a 3 6 V lithium backup battery pack located in the base of the robot CAUTION Replace the battery pack only with a 3 6 V 6 8 Ah lithium battery pack Adept P N 09977 000 Adept eCobra Robot User s Guide Rev A Page 88 of 148 Chapter 5 Maintenance 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 If the robot is turned on with 24 VDC supplied to the robot more than half the time then you can increase the replacement interval to a maximum of 10 years NOTE Dispose of the battery according to all local and national environmental regulations regarding electronic components Battery Replacement Procedure 1 yee Y Obtain the replacement battery pack Switch off the 24 VDC input supply to the robot Switch off the 200 240 VAC input supply to the robot Switch off the optional SmartController EX if you are using one Disconnect the 24 VDC supply cable from the robot 24 VDC input connector For the connector location see Figure 2 6 Disconnect the 200 240 VAC supply cable fr
4. Cable Installation Overview Power requirements for the SmartVision MX industrial PC are covered in that user guide For 24 VDC both the eCobra robot and a SmartVision MX can usually be powered by the same power supply Connect eAIB XSYSTEM cable to XSYSTEM on eAIB Connect a user E Stop or Muted Safety Gate to the eAIB XSYSTEM cable XUSR connector or verify XUSR jumper plug is installed in eAIB XSYSTEM cable XUSR connector C Connect Front Panel cable to Front Panel and eAIB XSYSTEM cable XFP connector or if no Front Panel install FP jumper on eAIB XSYSTEM cable XFP connector See NOTE after table Connect T20 adapter cable to eAIB XSYSTEM cable XMCP connector or if no T20 install XMCP jumper or T20 Adapter Cable with T20 bypass plug Connect user supplied ground to robot See Grounding the Adept Robot System n a on page 44 Connect 200 240 VAC to AC Input on eAIB Interface Panel secure with clamp SmartVision MX user s guide for location Connect Ethernet cable from SmartVision MX if used to switch R S Connect optional camera and cable to SmartVision MX if used d la gt rri ER d e un Adept eCobra Robot User s Guide Rev A Page 31 of 148 Chapter 3 System Installation NOTE A front panel ships with each eCobra robot system but you can choose not to use it if you replace its functionality with equivalent circuits That is beyond the scope of this guide Optional Cables NOT
5. Connect user supplied ground to SmartController EX See SmartController n a EX user s guide for location Connect user supplied ground to SmartVision MX if used See SmartVision n a MX user s guide for location conn 200260 VAC AC een Ese Game Gonna Bremer catte tom PC Satan ROP se one Eemer etiese sanyin ira d Optional Cables NOTE The following cables are not covered in the steps in the preceding table Adept eCobra Robot User s Guide Rev A Page 35 of 148 Chapter 3 System Installation XIO Breakout Cable 12 inputs Available as option 8 outputs 5 M Y Cable for XSYS cable connections Available as option with to dual robots SmartController EX eAIB XBELT IO Adapter Cable Available as option The XIO Breakout cable is for using the I O on the eAIB See Optional XIO Breakout Cable on page 66 The Y cable attaches at the SmartController EX XSYS connector and splits it into two XSYS connectors This is part number 00411 000 See the Dual Robot Configuration Guide The optional eAIB XBELT IO Adapter cable splits the eAIB XBELTIO port into a belt encoder lead an Intelligent Force Sensor or IO Blox lead and an RS 232 lead If the system has a SmartController EX this is only needed for Intelligent Force Sensing 3 3 Adept ACE Software User supplied PC The user loads the Adept ACE software onto the PC and connects it to the eAIB via an Ethernet cable Depending on the other equipment in the system there m
6. Install the appropriate lengths of 5 32 inch plastic tubing supplied into the two output ports on the manifold e Route the tubing up along the tower bracket next to the quill and down through the center of the quill Use cable ties as needed to secure the tubing Loosen the securing screw on the eAIB chassis and lower the chassis down flat See Figure 5 2 for the location of the securing screw Remove the cable strap plate by removing two screws and split washers See Figure 6 12 This allows the harness to move when you lift the Jl cover in the next step Adept eCobra Robot User s Guide Rev A Page 104 of 148 Chapter 6 Optional Equipment Installation 67099 Cable Strap Plate 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 Joint 1 cover lifted to access spare air line User Air fitting for connecting spare line Remove factory installed tubing first Tubing bundle containing spare air line Figure 6 13 Connecting Spare Air Line to User Connector Adept eCobra Robot User s Guide Reo A Page 105 of 148 Chapter 6 Optional Equipment Installation 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 cable ties 14 Locate the spare air line contained in the tubing bundle inside the front e
7. L 24VDC Xe Signal 0097 2 equivalent Signal 0098 22 circuit Signal 0099 a Signal 0100 Signal 0101 Load Signal 0102 Signal 0103 PS e Signal 0104 26 E i Customer GND e f AC Power ta Typical User Loads Toad 22 23 AX TAS Outputs 1 8 DDD Supply XIO Connector 26 Pin Female D Sub Figure 4 6 Typical User Wiring for XIO Output Signals XIO Breakout Cable The XIO Breakout cable is available as an option see the following figure This cable connects to the XIO connector on the eAIB and provides flying leads on the user s end for connecting input and output signals in the workcell The cable length is 5 M 16 4 ft For the wire chart on the cable see the following table NOTE This cable is not compatible with the XIO Termination Block Figure 4 7 Optional XIO Breakout Cable Adept eCobra Robot User s Guide Rev A Page 66 of 148 Chapter 4 System Operation Table 4 8 XIO Breakout Cable Wire Chart ea EA Designation GND White White Black Yellow Black Green Black GND Blue White Sg Orange Black Violet White Pink Black Light Blue Black Light Green Light Green Black Adept eCobra Robot User s Guide Rev A Page 67 of 148 Chapter 4 System Operation Signal Designation Pin 1 P
8. System Installation Description Requirements for User Supplied Front Panel Manual Open Automatic Closed Auto Mode only operation 4 12 Remote Manual Automatic switch CH 2 Optional jumper closed for Manual Open Automatic Closed Auto Mode only operation 6 14 Remote High Power on off momentary push User must supply button momentary push button to enable High Power to system Non voltage Free Contacts 5 13 Adept Supplied 5 VDC and GND for High Power User must supply lamp or On Off Switch Lamp use 1 W 47 ohm resistor system will not operate if not present Controller system 5 V power on LED 5 V 20 mA Optional indicator only pee pe See the figure Front Panel Schematic on page 50 for a schematic diagram of the Adept Front Panel Users must exercise caution to avoid inadvertently connecting 24 V signals to these pins because this will damage the electronics NOTE The system was evaluated by Underwriters Laboratory with an Adept Front Panel If you provide a substitute front panel this could void UL compliance Table 3 9 Remote Pendant Connections on the XMCP Connector Pin XMCP Description 15 Pin D Sub Pendant Enable CH 1 Hold to run Pendant Enable CH 2 Hold to run Serial GND Logic GND Pendant TXD V to Pendant TXD Adept eCobra Robot User s Guide Rev A Page 47 of 148 Chapter 3 System Installation Pin XMCP Description 15 Pin D Sub is Pendant RXD V to Penda
9. unless they are plugged into the correct connector Remote Pendant Usage Customers can build an extension cable to place the pendant in a remote location The extension cable must conform to the following specifications e Wire Size must be larger than 26 AWG e Connectors must be 15 pin standard D sub male and female e Maximum cable length is 10 meters CAUTION Do not modify the cable that is attached to the pendant This could cause unpredictable behavior from the robot system Adept eCobra Robot User s Guide Rev A Page 54 of 148 Chapter 4 System Operation 4 1 Robot Status LED Description The robot Status LED indicator is located on the top of the upright robots and at the top of the status panel for the eCobra Inverted robot The blinking pattern indicates the status of the robot The eCobra robots support the UL standard The LED on these robots is amber See the following figure and table k Robot Status LED E Indicator Figure 4 1 Robot Status LED Indicator Location Upright Model Shown Table 4 1 Status LED Definitions on UL Certified Robots 24 VDC not present Adept eCobra Robot User s Guide Reo A Page 55 of 148 Chapter 4 System Operation 4 2 Status Panel Fault Codes The status panel shown in the following figure displays alpha numeric codes that indicate the operating status of the robot including fault codes The following table gives meanings of the fault codes which
10. 0 000 0 000 Parent Motion Limits User minimum and maximum limits for joint motion in mm or deg Figure 6 18 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 Jl Hardstop Position 1 Lower limit 49 Upper limit 49 Jl Hardstop Position 2 Lower limit 87 Upper limit 87 6 Reboot eV Controller gt Control gt Reboot eV NOTE This can also be accomplished by momentarily removing 24 VDC Adept eCobra Robot User s Guide Reo A Page 111 of 148 Chapter 6 Optional Equipment Installation power from the controller The new joint limits will be in effect when the system reboot is done Joint 2 Adjustable Hardstops The Joint 2 Adjustable Hardstop kit shown in the following figure 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 19 Joint 2 Hardstop Kit Installation Procedure 1 Slide the two adjustable hardstop plates into the space between inner and outer links See Figure 6 20 Looking up at the inner
11. 172167 1 4 pin Mini Universal Mate N Lok AMP Tyco 770985 1 Pin Contact Mini Univ Mate N Lok OP3 4 Connector This 4 pin connector provides the output signals for a second set of optional robot hand valve solenoids or other user supplied devices See the following table and figure For the connector location see Figure 6 4 Table 6 2 OP3 4 Connector Pinout ban Zana Oo peme O OP3 4 Connector Mating Connector AMP Tyco 172167 1 4 pin Mini Universal Mate N Lok AMP Tyco 770985 1 Pin Contact Mini Univ Mate N Lok Adept eCobra Robot User s Guide Rev A Page 97 of 148 Chapter 6 Optional Equipment Installation SOLND Connector Circuit For optional Robot Solenoid Kit installation or 24VDC other user supplied devices in 1 Signal 3001 equivalent GND Pin 2 circuit Signal 3002 GND OP3 4 Connector Circuit For optional second set of solenoids or other user supplied devices Pin 1 se Signal 3003 circuit GND Signal 3004 GND Figure 6 6 OP3 4 and SOLND Circuits EOAPWR Connector This 4 pin connector provides 24 VDC power and ground for user applications See the following table for the pinouts and the following section for the output specifications For the connector location see Figure 6 4 Table 6 3 EOAPWR Connector Pinout CE MS O 24 VDC see the next table for current specs nd o 24 VDC see the next table for current specs EOAPWR Connector Mat
12. Amplifier on Robot eCobra 600 Shown Adept eCobra Robot User s Guide Rev A Page 13 of 148 Chapter 1 Introduction 1 2 eCobra Robot Features and Options The eAIB controller provides varying levels of vision support and connectivity for Standard and Pro models of the robot Some applications may call for more in which case you may want to add an Adept SmartController EX and or an Adept SmartVision MX industrial PC toro T setae PPEtopnon Mme ves ve e p m c omes 3 03 o0 omes mme Sms Seems _ sao YY armas seams a A mam OR pma o a fe tracked mewm ve mew _ mel clc PackXpert as ww option option Pass through 5 air 5 air 5 air Ji to J2 24 user electric 24 user electric 24 user electric 1 DeviceNet 1 DeviceNet 1 DeviceNet 1 Requires eAIB XBELT IO Adapter cable 7 More I O can be attained using DeviceNet and combinations of RS ports if needed Adept eCobra Robot User s Guide Rev A Page 14 of 148 Chapter 1 Introduction SmartController EX The SmartController EX motion controller can coordinate up to 4 Adept robots increasing the number of robot axes to 24 from the eAIB s 4 It increases the I O available raises the number of serial ports by 3 and provides for tracking up to 4 additional conveyors It also enables you to use the sDIO option which adds even more I O ports The SmartController EX supports the
13. Auto Indication Two pairs of pins on the XUSR connector pins 9 22 and 10 23 provide a voltage free contact to indicate whether the Front Panel and or remote Manual Automatic switches are closed The user may use these contacts to control other mechanisms for example conveyor linear modules etc when Manual mode is selected The load on the contacts should not exceed 40 VDC or 30 VAC at a maximum of 1 A User High Power On Indication In the optional SmartController EX V controls a normally open relay contact on the XDIO connector pins 45 46 see the table System Installation on page 29 that will close when high power has been enabled The user can use this feature to power an indicator lamp or other device that signals High Power is On The limit on these contacts is 1 A at 30 VDC or 30 VAC Remote High Power On Off Control The easiest and most effective way to provide the high power on off control in a remote location is to mount the Adept Front Panel in the desired location with an extension cable However if the user needs to control high power on off from other control equipment or from a location other than the Adept Front Panel then a custom splitter cable will be required See the Front Panel schematic Front Panel Schematic on page 50 for details of the Front Panel s Adept eCobra Robot User s Guide Rev A Page 52 of 148 Chapter 3 System Installation wiring In this situation a second momentary contact fo
14. Battery Pack on page 88 years Adept eCobra Robot User s Guide Rev A Page 73 of 148 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 The access covers on the robot are not interlocked turn off and disconnect power if covers or the eAIB will be removed 5 3 Checking Safety Systems These tests should be done every six months 1 Test operation of s E Stop button on Front Panel e E Stop button on pendant e Enabling switch on pendant e Auto Manual switch on Front Panel NOTE Operating any of the above switches should disable high power 2 Test operation of any external user supplied E Stop buttons 3 Test operation of barrier interlocks etc 5 4 Checking Robot Mounting Bolts Check the tightness of the base mounting bolts after one week and then every 6 months Tighten to 85 N m 63 ft lbf Also check the tightness of all cover plate screws Tighten to 1 6 N m 14 in lbf 5 5 Checking for Oil Leakage The Adept eCobra robots use oil in the Harmonic Drive components for lubrication Periodically inspect t
15. Guide Rev A Page 40 of 148 Chapter 3 System Installation Average RMS Current Peak Power cobra robot ore Power W aFor short durations 100 ms gt For details on Adept cycle see Robot Specifications on page 128 NOTE The Adept eCobra robot system is intended to be installed as a piece of equipment in a permanently installed system WARNING Adept systems require an isolating transformer for connection to mains systems that are asymmetrical or use an isolated impedant neutral Many parts of Europe use an impedant neutral DANGER AC power installation must be performed by a skilled and instructed person refer to the Adept Robot Safety Guide During installation unauthorized third parties must be prevented from turning on power through the use of fail safe lockout measures 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 Transient overvoltages at the point of connection to the power source shall be controlled not to exceed overvoltages Category II i e not higher than the impulse voltage corresponding to the rated voltage for the basic insulation The use
16. Ib maximum Burst Adept Cycle 2 kg payload sustained no J4 rotation e Joint 1 105 123 5 Inverted Joint 2 157 5 156 5 Inverted Airline pass through 6 mm diameter 2 4 mm diameter 3 quantity Electrical pass through 24 conductors 12 twisted pair Weight without options 41 kg 90 lb 43 kg 95 lb 51 kg 112 lb Inverted Specifications subject to change without notice Adept eCobra Robot User s Guide Rev A Page 128 of 148 Chapter 7 Technical Specifications Table 7 2 Softstop and Hardstop Specifications 105 4123 5 108 127 5 0 to 210 mm 5 to 215 mm 0 to 210 mm 5 to 215 mm not applicable not applicable 150 151 157 5 156 5 160 155 Inv IP 65 158 5 Inv IP 65 Adept eCobra Robot User s Guide Rev A Page 129 of 148 Chapter 8 IP 65 Option 8 1 eCobra 800 Robots 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 e Dust Resistance protection of the equipment inside the robot shell against ingress of solid foreign objects e Specifically for IP 65 Dust Protection No ingress of dust is allowed e Water Resistance protection of the equipment inside the robot shell against harmful effects due to the ingress of water e Specifically for IP 65 Water Protection Water projected in jets against the robot encl
17. M3 x 6 screw i User Supplied Shielded Power Cable Figure 3 3 User Supplied 24 VDC Cable Power Supply Adept eCobra Robot User s Guide Rev A Page 39 of 148 Chapter 3 System Installation CAUTION The 24 VDC output must be less than 300 W peak or 8 Amp max in line circuit protection must be provided separately for each connected robot SmartController EX and SmartVision MX NOTE In order to maintain compliance with standards Adept recommends that DC power be delivered over a shielded cable with the shield connected to frame ground at both ends of the cable 3 5 Connecting 200 240 VAC Power to Robot WARNING Appropriately sized Branch Circuit Protection and Lockout Tagout Capability must be provided in accordance with the National Electrical Code and any local codes Ensure compliance with all local and national safety and electrical codes for the installation and operation of the robot system Specifications for AC Power Table 3 4 Specifications for 200 240 VAC User Supplied Power Supply Auto Ranging Minimum Maximum Frequ new External Circuit Nominal Operating Operating rl y Breaker Voltage Voltage Voltage 9 User Supplied 200 V to 240 V 180 V 264 V Specifications are established at nominal line voltage Low line voltage can affect robot performance Table 3 5 Typical Robot Power Consumption Average RMS Current Peak Power Power W Adept eCobra Robot User s
18. Output XSYSTEM 42 XUSR 23 XSYSTEM 27 XUSR 22 Muted Safety Gate Active in Auto mode only Jumper closed when not used Auto Mode Path XSYSTEM 26 XUSR 8 XSYSTEM 10 XUSR 7 User ESTOP Output XSYSTEM 25 XUSR 20 XSYSTEM 40 XUSR 21 Single Phase High Power to AC Input 200 240 VAC 1 Amplifiers Internal Connections Figure 3 8 E Stop Circuit on XUSR and XFP Connectors Adept eCobra Robot User s Guide Rev A Page 49 of 148 Chapter 3 System Installation Adept Front Panel Schematic ESTOPSRC XFP 15PDSUBM ko ESTOPFP1 MANUALSRC1 ESTOPEP2 MANUALRLY1 u MANUALSRC2 MANUALRLY2 HPLT5V E HIPWRLT HIPWRREQ SYSPWRLT NC a System Power LED MANUAL AUTO HIGH POWER ON OFF EMERGENCY STOP ESTOPSRC MANUALSRC2 SYSPWRLT Lo MANUALSRC1 een jee cT 2 PIN MINI Y HIPWRLT ee MANUALRLY2 HIPWRREQ ESTOPFP2 E MANUALRLY1 ESTOPFP1 N Figure 3 9 Front Panel Schematic Emergency Stop Circuits The eAIB XSYSTEM cable provides connections for Emergency Stop E Stop circuits on the XUSR and XFP connectors This gives the controller system the ability to duplicate E Stop functionality from a remote location using voltage free contacts See Figure 3 8 The XUSR connector
19. chassis bracket 6 Carefully insert the chassis into the robot base in the groove at the bottom of the base 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 Once the chassis is in place use a 5 mm hex wrench to tighten the chassis securing screw See Figure 5 2 for details 8 Connect the 200 240 VAC supply cable to the chassis AC input connector 9 Connect the eAIB XSYSTEM cable to the chassis XSYSTEM connector or if you are using an optional SmartController EX connect the eAIB XSYS cable to the Adept eCobra Robot User s Guide Rev A Page 80 of 148 Chapter 5 Maintenance chassis XSYSTEM connector 10 Connect any other cables that were connected to the chassis such as XIO RS 232 1394 or any others If you are using an optional SmartController EX connect the XSYS end of the eAIB XSYS cable to the XSYS port on the controller 11 Connect the 24 VDC supply cable to the chassis 24 VDC input connector 12 Switch on the 200 240 VAC input supply to the chassis 13 Switch on the 24 VDC input supply to the chassis 14 Switch on the optional SmartController EX if you are using one 15 Once the system has completed booting test the system for proper operation 5 8 Commissioning a System with an eAIB Commissioning a system involves synchronizing the robot with the eAIB For a new syst
20. configured NOTE If the commissioning jumper is plugged into the XBELTIO jack on the eAIB remove it before you start this procedure Automatic Mode Procedure WARNING The robot will move during this wizard Ensure that personnel stay clear of the robot work area From within the Adept ACE software 1 Open the robot object editor 2 Select Configure gt Safety Settings gt Verify Teach Restrict then click Next 3 Teach a Start Position This can be any position that does not conflict with obstacles or the limits of joint movements s If the robot is already in such a position you can just click Next e Otherwise move the robot to such a position then click Next e The screen will display the number of degrees that each joint is expected to move during the verification process e You can click Preview Motions on this screen to view the motions at slow speed The default speed is 10 but you can change that speed with this screen s speed control e You can click Move to Ready to move the robot to the Ready position The robot will move each joint in succession It will generate an over speed condition for each and verify that the hardware detected the over speed condition 4 Click Next to proceed to the Manual Mode Procedure If the Automatic Mode Procedure fails you will not be allowed to proceed with the Manual Mode Manual Mode Procedure The manual mode of this verification requires the use of an Adept p
21. eee ee aaa 36 User supplied PC 2 claro a a rasa 36 Installing Adept ACE Software cir a 36 3 4 Connecting 24 VDC Power to Robot 37 Specifications tor 24 VDC Power 22220522 5 0cecbesnaheedceenccnskedideaeeadcesedact saat dsd 37 24 VDE Mating Connector 4 lec slocoenker n Hee een li ede deen ede ia cada 38 Creating 24 VDG Cable icono ctra a E 38 Connecting 24 VDE Cables ieii scsueitecsagees nodo Eaa 39 35 Connecting 200 240 VAC Power to Robot 40 Specifications for AC POW T neviccoin tercio 40 AC Mating Connector nro 42 Creating the 200 240 VAC Cable 15 acsi nte e carril rca 43 Connecting AC Power Cable 02 02 02 Ka is catia sg euer ned Ra od Ri ein PER KRA ees Rac 44 36 Grounding the Adept Robot System e 44 Grounding the Robot Base 22222 RARA R dA eee ERa RRR eeeeeeeeeeeeeeees 44 Grounding Robot Mounted Equipment ee e e cece cece eee eee eee eee ette 45 3 7 Installing User Supplied Safety Equipment e 45 Emergency Stop Circuits cc 50 Remote Manual Mode 2 Lic eed geicc e eias Madddegenessaadeetenssiedee Ea uaea ENE 52 User Manual Auto Indication 5 0 2212100242 4009020 a La RR RN noci oel0ddig eredi R DRE eid 52 User High Power On Indication ess sx e gr gg aa Sa RRR RRR aR RRR R RRR RR isp RRR RRR das 52 Remote High Power On Off Control 52 High Power On Off Lamp 2 222225 hes conte ste eed e E cides rr idas 53 Remote Front Panel or User Supplied Control Panel Usage e 53 Remote Pendant Usage ccc
22. flange assembly Removing the Flange 1 Turn off high power and system power to the robot 2 Remove any attached end effectors or other tooling from the flange 3 Use a 2 5 mm hex wrench to loosen the setscrew See Figure 6 1 Note the vertical spline groove that is in line with the setscrew You must reinstall the flange in the same position 4 Use a socket driver to loosen the two M4 socket head screws 5 Slide the flange down slowly until it is off the shaft NOTE Be careful not to lose the steel ball 3 5 mm that is inside the flange behind the setscrew Adept eCobra Robot User s Guide Rev A Page 93 of 148 Chapter 6 Optional Equipment Installation Quill shaft M4 Socket head cap screws Tool flange assembly ee Figure 6 1 Tool Flange Removal Details Setscrew 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 5 mm hex wrench to tighten the setscrew to finger tight Do not over tighten the setscrew because this will cause the flange to be off center from the quill shaft 4 Use a socket driver to tighten one of the socket head screws part of the way then tighten the other one the same amount Alternate b
23. green to indicate they are active Digital I O e Series Controller 67 e Series Controller 67 PI Show 7 Output F Inputs V Robot 30012016 3339 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 eCobra Robot Camera Bracket Kit provides a convenient way of mounting cameras to the outer link of the robot The kit consists of the following One camera plate Two camera brackets One camera mount slide bracket One camera mount channel M4 x 12 mm screws M4 stainless steel flat washers M5 x 12 mm screws Tools Required M4 hex wrench M3 hex wrench Procedure 1 Install the camera plate to the outer link with four M5 x 12 mm screws See Figure 6 14 as you perform this procedure 2 Install the two camera brackets to the camera plate with two stainless steel washers and two M4 x 12 mm screws for each bracket The camera brackets are not required unless you are mounting more than one camera 3 Mount the camera channel to the camera brackets or camera plate with Adept eCobra Robot User s Guide Rev A Page 107 of 148 Chapter 6 Optional Equipment Installation M4 x 12 mm screws 4 Mount the camera to the camera mount 5 Mount the camera and camera mount to the camera channel using M5 x 12 mm screws Camera Mount Camera Plate Cam
24. on the flange and push it toward the robot 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 Mp lock washers and two M6 flat washers Make sure none of the cable are pinched or crimped when installing the upper flange 7 Attach the flange assembly using one M6 x 20 screw one M6 lock washer and one M6 flat washer See Figure 8 6 Figure 8 6 Upper Flange Installed Figure 8 7 Splash Guard Installed Adept eCobra Robot User s Guide Rev A Page 133 of 148 8 Chapter 8 IP 65 Option Install the splash guard using two M6 x 20 screws two M6 lock washers and two M6 flat washers See Figure 8 7 8 3 Robot Outer Link Cover Removal and Reinstallation The robot outer link cover has special sealing hardware to ensure nothing can enter the inside of the robot If you need to remove the outer link cover from the robot for any reason please follow the procedures below Cover Removal Procedure 1 2 Turn off main power to the robot Turn off power to the optional SmartController if one is being used Turn off the air supply to the robot Clean the exterior of the outer link thoroughly to remove any dust or parti
25. plug from the compressed air fitting on the top of the robot See the following figure Adept eCobra Robot User s Guide Rev A Page 137 of 148 Chapter 8 IP 65 Option Compressed Air Fitting 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 Compressed Air Specifications 3 bar 10 57 liters per minute 44 PSI 10 2 cubic feet per minute CAUTION The compressed air supply must be clean and dry and it must be turned on continuously to maintain a positive air pressure inside the robot Failure to do this could result in moisture or particle buildup inside the robot and lead to reduced performance or damage to the robot This will also void your warranty 8 5 User Connectors User Electrical and DeviceNet On the back of the Joint 1 cover the user electrical IO Blox and DeviceNet connectors are filled with removable plugs at the factory See Figure 8 12 If you use any of these connectors you must provide a seal see note below at the connection to prevent moisture from entering the robot Adept eCobra Robot User s Guide Rev A Page 138 of 148 Chapter 8 IP 65 Option NOTE The IO Blox device is not available with the eCobra Lite The DeviceNet connector requires the optional Adept SmartController EX motion controller NOTE The user electrical connector DB
26. provide information for isolating problems during troubleshooting 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 Status Panel for Displaying Fault Codes Z Brake Release Button Figure 4 2 Status Panel Upright Model Shown Table 4 2 Status Panel Codes ox ox MA T s E r E E T m Adept eCobra Robot User s Guide Rev A Page 56 of 148 Chapter 4 System Operation IEEE 1394 Fault Hard Envelope Error Joint For more information on status codes go to the Adept Document Library on the Adept website and in the Procedures FAQs amp Troubleshooting section look for the Adept Status Code Summary document 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 braking system will not prevent you from moving the robot manually once the robot has stopped and high power has been removed In addition Joint 3 has an electromechanical brake The brake is released when high power is enabled When high power is turned off the brake engages and holds the position of Joint 3 Brake Release Button Under s
27. the Front Panel High Power Indicator 2 2 2 90 Adept eCobra Robot User s Guide Rev A Page 7 of 148 Table of Contents Chapter 6 Optional Equipment Installation 93 6 1 Installing End Effectors 25305 ccs ance scacieuen tl ciie 93 6 2 Removing and Installing the Tool Flange 93 Removing the Flange 2220 52 2 22 ease aii 93 Installing the Flange 22 cued ngs eee eles hd cae cid ia 94 6 3 User Connections on Robot 94 Dser Air desc doles te Acc I Lt eect eL ct id bie ee t 94 User Electrical Lines 1 1 2222 2l122llilnlillInieeeille422GRlIIdli 0 Lk las Gin Spes RD IR ide eld xr e us 95 6 4 Internal User Connectors 95 SOLND Connector K 97 OPIJA COnmmectO riconetraicnn liarla prieta raras 97 IBOAPWIR CONNECT TTT 98 Internal User Connector Output Specifications e e e eee eee 99 ESTOP COBectOE lt S i4ek noe in cee dci RR ARA RR A RTT d AAAH RR 99 6 5 Mounting Locations for External Equipment 2 2 2 222eeceeeeeeeeeeeeeeeeeee es 101 6 6 Installing the Robot Solenoid KIL 101 MATOCRICI DINE 103 Procedure ET CIT E ES 103 6 7 Installing the Camera Bracket KL 107 Tools Reg ir d zosman deriva 107 Procedure A e aes 107 6 8 Installing Adjustable Hardstops ipeo eed ni n it pde d c 108 Joint 1 Adjustable Hardstops e e 2222222 cec cece eee cece cece eee e tees eeeeeeeeeeeeeeeeeeeees 108 Joint 2 Adjustable Hardstop
28. with cables removed 5 Remove the shoulder screw and retention bracket Save both of these for re installation 6 Remove the installed MicroSD card This is removed by pressing it all the way in and then releasing The card will pop out slightly and can be pulled out See the following figure Adept eCobra Robot User s Guide Rev A Page 87 of 148 Chapter 5 Maintenance Figure 5 9 MicroSD Card In top and Partially Out bottom Continue with the following section Installing a MicroSD Card into an Adept eAIB This procedure assumes you have already removed the MicroSD card 1 Install the MicroSD card into its holder in the eAIB controller Press the card in all the way and gently let it slide back out to a stop Place the hook end of the MicroSD retention bracket around the 1 4 in standoff to the left of the MicroSD card holder The standoff is directly beneath the Phillips screw shown towards the left side in the preceding figure The slotted tab on the other end of the bracket should line up with the hole shown at the top right side of the preceding figure Secure the retention bracket with the previously removed shoulder screw This requires a 5 64 in Allen key Seat the screw so that the bracket is not loose Push the bracket all the way to the right to secure the hook end around the standoff It will be somewhat tight but will slide when pressed hard enough Re install the eAIB into the robot
29. you pull the front cover away from the body NOTE Separate the cover from the body slowly to avoid damaging the two wires that go between the LED and the PC board inside the body Pull the front cover as straight out as possible You do not have to disconnect the wires from the PC board although you can if needed Locate the lamp body in the center of the back side of the front cover Turn the lamp body approximately 20 in either direction and then pull straight back The lamp body is now free You can remove the old lamp and insert a new one Re install the lamp body by pushing it straight into the lamp housing receptacle Make sure the contacts on the lamp body are properly oriented as shown in the following figure Make sure to reconnect the wires from the LED if you disconnected them earlier Push the front cover into the body taking care to align all of the plug type connectors Verify that the wires do not get crimped as you reinstall the cover Re install the two screws on the back of the body Re install the Front Panel in its mounting Reconnect the cable between the Front Panel and the eAIB or controller Adept eCobra Robot User s Guide Rev A Page 91 of 148 Chapter 5 Maintenance Back side of front cover o lo Wires between LED and body of Front Panel Be careful when separating front cover from body to avoid High Power On Off damaging the wires Lamp Body
30. 0 0 000 0 000 0 000 Figure 6 23 Robot Editor with Joints Collapsed 3 Click the in front of Joints to display all of the joints e Series Controller 67 e Series Controller 67 e Series Controller 67 R1 Cobra800 Pro Object Configure Control 4 3D Visualization Visible Configuration Enabled Robot Number Joints gt 1 gt 2 gt 3 gt 4 gt Motors 4 item collection Default Hand Open Signal 3001 Default Hand Close Signal 3002 Break away E stop Enable False Enable Brake Release Input False Control Configuration Pro Controller e Series Controller 67 e Series Controller 67 Inverted False Motion Specifications gt Timing Specifications End Effector Selected End Effector Location Offset From Parent Parent e Series Controller 67 Gripper R1 Cobra800 Pro 0 000 0 000 0 000 0 000 0 000 0 000 Joints List of robot joints Note that Joint 1 of the robot is element 0 Figure 6 24 Robot Editor with Joints Expanded Adept eCobra Robot User s Guide Rev A Page 115 of 148 Chapter 6 Optional Equipment Installation 4 Click the in front of 2 to open the values for joint 2 e Series Controller 67 e Series Controller 67 C e Series Controller 67 R1 Cobra800 Pro Object Configure Control 4 3D Visualization Visible Configuration Enabled True Robot Number 1 Joints 4 item collection 1 Shoulder 4 2 Elbow Motion Limits 157 5 157 5 3
31. 2 e Signal 1097 ERY S iom Feeder Empty Sensor 4 Signal 1098 Part d Signal 1099 e v Ta Jammed Sensor lant Read Signal 1100 e V Sealant Ready Sensor Signal 1101 4 SS Signal 1102 e Bank 1 Common 24V sindu NdN Duue JO peunByuoo yueg GND Signal 1103 e Signal 1104 e Signal 1105 Signal 1106 f e m Signal 1107 E Signal 1108 e i Bank 2 Common GND o 5 SA Q o Es E D i E Ex A x g o D c c 9 O o X sindu qNd Bunos 10 peunBijuoo z yueg 24V See Input Bark S eese Figure 4 5 Typical User Wiring for XIO Input Signals NOTE The OFF state current range exceeds the leakage current of XIO outputs This guarantees that the inputs will not be turned on by the leakage current from the outputs This is useful in situations where the outputs are looped back to the inputs for monitoring purposes XIO Output Signals The eight digital outputs share a common high side sourcing driver IC The driver is designed to supply any kind of load with one side connected to ground It is designed for a range of user provided voltages from 10 to 24 VDC and each channel is capable of up to 0 7 A of current This driver has overtemperature protection shorted load protection and is current Adept eCobra Robot User s Guide Rev A Page 64 of 148 Chapter 4 System Operation limitin
32. 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 User Electric DeviceNet 10 Blox 6 mm Air Lines 2x 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 4 mm Air Line 6 mm Air Line DeviceNet User Electric 4 mm Air Line 2 Spare Air Lines Figure 8 13 IP 65 Internal Connectors with Outer Link Cover Removed Adept eCobra Robot User s Guide Rev A Page 139 of 148 Chapter 8 IP 65 Option User Air Lines On the back of the Joint 1 cover the user air line connectors are fitted with removable plugs at the factory See Figure 8 12 The user air line connectors on the outer link are accessible with the cover removed See Figure 8 13 for locations of the internal connectors 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 Robot Solenoid Option In an IP 65 robot if you are installing the internally mounted solenoid hand valves Adept Option Kit P N 02853 000 you must use a different air line than descri
33. 3 Mounting Bolt Torque Specifications Metric M12 x 1 75 ISO Property Class 8 8 85 Nm N 85Nm Me pe 14 UNC SAE J429 Grade 5 or 65 ft lb ASTM A449 2 7 Mounting an eCobra 800 Inverted Robot Mounting Surface The Adept Cobra s800 Inverted robot is designed to be mounted in an inverted position When designing the mounting structure you must account for both load and stiffness The mounting structure must be rigid enough to prevent vibration and flexing during robot operation Excessive vibration or mounting flexure will degrade robot performance Adept recommends the mounting structure be stiff enough so that the first vibration mode is greater than 70 Hz The following figure shows the mounting hole pattern Adept eCobra Robot User s Guide Rev A Page 23 of 148 Chapter 2 Robot Installation 4X 9 14 Thru 0 015 0 000 2XR4 v6 8 0015 y6 0 000 Units in mm Figure 2 3 Robot Mounting Dimensions for eCobra Inverted Robot NOTE On the robot mounting surface there is a hole and a slot that can be used as locating points for user installed dowel pins in the mounting surface Using locating pins can improve the ability to remove and reinstall the robot in the same position Mounting Procedure e Always use at least two people and preferably three to mount the robot e The robot should be in the folded position when lifting See the following figure Adept eCobra Robo
34. 4 User E Stop CH 1 mushroom N C contacts Shorted if NOT Used push button safety gates etc 2 15 User E Stop CH 2 same as pins N C contacts Shorted if NOT Used 1 14 Line E Stop used for other robot or N C contacts Shorted if NOT Used assembly line E Stop interconnection Does not affect E Stop indication pins 7 20 4 17 Line E Stop same as pins 3 16 N C contacts Shorted if NOT Used 5 18 Muted safety gate CH 1 causes E N C contacts Shorted if NOT Used Stop in Automatic mode only 6 19 Muted Safety Gate CH 2 same as N C contacts Shorted if NOT Used pins 5 18 Voltage Free Contacts provided by Adept E Stop indication CH 1 Contacts are closed when Front Panel pendant and customer E Stops are not tripped E Stop indication CH 2 same as Contacts are closed when Front Panel pins 7 20 pendant and customer E Stops are not tripped Manual Automatic indication CH 1 Contacts are closed in Automatic mode 10 23 Manual Automatic indication CH 2 Contacts are closed in Automatic mode nd MEME Table 3 8 Contacts Provided by the XFP Connector Description Requirements for User Supplied Front Panel Voltage Free Contacts Provided by Customer 1 9 Front Panel E Stop CH 1 User must supply N C contacts 2 10 Front Panel E Stop CH 2 User must supply N C contacts Remote Manual Automatic switch CH 1 Optional jumper closed for Adept eCobra Robot User s Guide Reo A Page 46 of 148 Chapter 3
35. 8 Chapter 2 Robot Installation 19 2 1 Installation Overview ess 19 22 Transport and Storage araya ae dR aoe RR RER Aaaa Eus eir l tal 19 2 3 Unpacking and Inspecting the Adept Equipment ee 20 Before Unpacking occ cnc 20 Upon Wnpacking 234 cr euer le did iodo asocia acia 20 2 4 Repacking for Relocation s25s 25522855 ritos enh ee Bee seein ues ene tele eee 20 2 5 Environmental and Facility Requirements e 20 2 6 Mounting an Upright eCobra Robot 21 Motinting S rface A Ee I Ode ure ns 22 Mounting Procedure lt s5sa sas e a 0 gaa aa esesta cerns Ern in n Eni Prii EEE NE ESEE EEEn Ene RES HESS 22 2 7 Mounting an eCobra 800 Inverted Robot 23 Mo nting S tfate c occot eb ote eet eee ida 23 Mounting Procedure 2222222 2c2c nireti nt S EESE eee IEE eee eee raars eeeeeeeeeeeeeeeeeeeeeeees 24 Adept eCobra Robot User s Guide Rev A Page 5 of 148 Table of Contents 2 8 Connectors on Robot Interface Panel eAIB 0 2 220 e eee eee eee cece cece e eee ees 27 Chapter 3 System Installation 29 3 1 System Cables eAIB Only no SmartController EX 29 Listtor Cablesiand Parts a 30 Cable Installation Overview ooo 31 Optional Cables ccoo icons diia 32 3 2 System Cables with EmartController EX ocio A A es 33 Installing a SmartController EX Motion Controller se 34 Listof Cables and Parts void ise a 34 Cable Installation Overview ec e ec e c ee e e rn 35 Optional Cables coccion orto aa 35 33 Adept ACE SoftW re st ii
36. 9 IP 65 Robot with Outer Link Cover Removed Adept eCobra Robot User s Guide Rev A Page 135 of 148 Chapter 8 IP 65 Option 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 Slowly lower the cover down onto the outer link making sure the O ring does not fall out or get pinched as the cover presses down to make the seal NOTE As you lower the cover down onto the outer link make sure the 8 side screws are pushed all the way in so the clamp nuts will slide into the correct position 4 Reinstall the two screws and nylon washers at the top of the outer link and tighten to 5 indb 0 56 N m 5 Reinstall the 2 screws check for O ring on screw near the front of the outer link and tighten to 10 in Ib 1 1 N m 6 Tighten the 8 side screws to 10 in lb 1 1 N m Be careful to not over tighten Begin with the two screws one on each side at the back of the outer link then move forward to the next two and so on until all eight are tightened This pattern is recommended to achieve a balanced secure fit around the cover 7 Reinstall the collar nut and tighten until secure 8 Remember to turn on the compressed air su
37. Adept eCobra Robot User s Guide Covers the eCobra 600 800 and 800 Inverted Robots Adept eCobra 600 800 Robot User s Guide Covers the eCobra 600 800 and 800 Inverted Robots P N 14402 000 Rev A March 2015 5960 Inglewood Drive Pleasanton CA 94588 USA Phone 925 245 3400 Fax 925 960 0452 adept Revierstrafte 5 44379 Dortmund Germany Phone 49 0 231 75 89 4 0 Fax 49 231 75 89 4 50 Block 5000 Ang Mo Kio Avenue 5 405 12 Techplace Il Singapore 569870 Phone 65 6755 2258 Fax 65 6755 0598 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 Critical evaluation of the documentation by the user is welcomed Your comments assist us in preparation of future documentation Please submit your comments to techpubs adept com Copyright 2015 by Adept Technology Inc All rights reserved Adept the Adept logo the Adept Technology logo AdeptVision AIM Blox Bloxview FireBlox Fireview Meta Controls MetaControls Metawire Motivity Soft Machines and Visual Machines are registe
38. DeviceNet option and allows for the use of third party vision systems One RS 485 port is available Both the SmartController EX and the sDIO Module are covered in the Adept SmartController EX User s Guide sDIO Module The sDIO expansion module provides 32 optically isolated digital inputs 32 optically isolated outputs and an IEEE 1394 interface Up to 16 sDIO modules can be added to the system A SmartController EX must be present to use an sDIO module IO Blox Up to 8 IO Blox units can be added to increase the available I O ports by 8 inputs and 8 outputs per unit The IO Blox does not require a SmartController EX Refer to the Adept IO Blox User s Guide SmartVision MX The SmartVision MX is an industrial PC that provides vision oriented connectivity as well as extra I O It can drive up to 4 Gigabit and 4 USB 3 0 cameras The Gigabit ports are PoE so no extra power is needed to the cameras The SmartVision MX industrial PC is covered in the Adept SmartVision MX User s Guide T20 Pendant The T20 pendant provides manual control of an Adept robot This is generally used when teaching pick and place locations Refer to the Adept T20 Pendant User s Guide 1 3 Dangers Warnings Cautions and Notes There are five 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
39. E The following cables are not covered in the steps in the preceding table XIO Breakout Cable 12 inputs Available as option 8 outputs 5 M eAIB XBELT IO Adapter Cable Available as option The XIO Breakout cable is for using the I O on the eAIB See XIO Breakout Cable on page 66 The optional eAIB XBELT IO Adapter cable splits the eAIB XBELTIO port into a belt encoder lead an Intelligent Force Sensor or IO Blox lead and an RS 232 lead Adept eCobra Robot User s Guide Rev A Page 32 of 148 Chapter 3 System Installation 3 2 System Cables with SmartController EX When the optional SmartController EX is included in the system the Pendant Front Panel and XUSR connections must connect to the SmartController EX Adept SmartVision EX option T20 Adapter User Supplied Ground Wire Gable T20 Pendant is optional T20 Bypass as Plug XMCP 1 Jumper Te 3 Plug i Fai UT en g UH lt Either T20 Pendant A D U T20 B Plug User Supplied 9 Ce E 9 0 Bypass Plug or XMCP Jumper Plu Ground Wire J must be gus i XUSR for User E Stop Safety Gate Muted Safety Gate Jumper plug required when not used XUSR Jumper Plug Adept eCobra Robot User supplied switch option i opti n Front Panel User Supplied Ethernet to Either Front Panel or Ground Wire SmartController EX F
40. EM on the eAIB e Pendant to the XSYSTEM on the eAIB e XUSR to the XSYSTEM on the eAIB Adept eCobra Robot User s Guide Rev A Page 68 of 148 Chapter 4 System Operation e User supplied 200 240 VAC power to the robot 200 240 VAC connector e User supplied 24 VDC power to the robot 24 VDC connector If you are using an optional Adept SmartController EX you should check the following s eAIB XSYS cable between the robot interface panel XSYSTEM connector and XSYS connector on the SmartController and the latching screws tightened s Front Panel to the SmartController e Pendant to the SmartController via the pendant adapter cable e User supplied 24 VDC power to the controller e User supplied ground wire between the SmartController and ground s One end of the IEEE 1394 cable into the SmartServo connector on the SmartController and the other end into a SmartServo connector on the robot interface panel User Supplied Safety Equipment Checks Verify that all user supplied safety equipment and E Stop circuits are installed correctly Turning on Power After the system installation has been verified you are ready to turn on AC and DC power to the system and start up Adept ACE 1 Manually move the robot joints away from the folded shipping position See Transport and Storage on page 19 2 Turn on the 200 240 V AC power DANGER Make sure personnel are skilled and instructed refer to the Adept Robot Safety Guide 3
41. 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 ona 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 Each valve has two output ports A and B The output ports are arranged so that when Port A is pressurized Port B is not pressurized Conversely when Port B is pressurized Port A is not In the Adept eCobra robots the air lines from Port A on each valve are plugged at the factory at the solenoid assembly The Solenoid Kit for the Adept eCobra robots is available through Adept Contact your Adept Sales Representative for current price and availability Table 6 6 Air Pressure Air Pressure Psi Air Pressure MPa 28 114 0 19 0 786 Adept eCobra Robot User s Guide Rev A Page 102 of 148 Chapter 6 Optional Equipment Installation Tools Required e Hex drivers e Cable ties e Diagonal wire cutters e Solenoid Valve upgrade Kit Adept P N 02853 000 Procedure 1 2 Turn off all power to the robot Remove two screws on an eCobra 600 three screws on an 800 on each side of the outer link cover Remove two screws on top and remove the cover Connect the Internal Solenoid Valve Cable assembly to the Solenoid Manifold assembly by plugging the SOL 1 connector into Valve 1 and S
42. 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 It will then report the delay that it set for each 3 Reboot V Controller gt Control gt Reboot V NOTE This can also be accomplished by momentarily removing 24 VDC power from the controller NOTE In this whole section the term Controller can refer to an eAIB controller an Adept SmartController EX or any Adept e Series controller E Stop Verification Utility This utility verifies that the hardware E Stop parameters are set correctly and that the hardware E Stop is working The hardware E Stop must have already been configured for this wizard to run Adept eCobra Robot User s Guide Rev A Page 83 of 148 Chapter 5 Maintenance NOTE If the commissioning jumper is plugged into the XBELTIO jack on the eAIB remove it before you start this procedure Procedure From within the Adept ACE software 1 2 3 Teach This Open the robot object editor Select Configure Safety Settings Verify ESTOP Hardware Delay then click Next Enable high power if not already enabled then click Next Press an E Stop button on the Front Panel then click Next The utility will confirm that the hardware delay has been verified for this robot and display the delay times for channels A and B Re
43. L 4 Wrist Motors 4 item collection Default Hand Open Signal 3001 Default Hand Close Signal 3002 Break away E stop Enable False Enable Brake Release Input False ontrol Configuration Pro Controller e Series Controller 67 e Series Controller 67 Inverted False Motion Specifications Timing Specifications End Effector Selected End Effector e Series Controller 67 Gripper R1 Cobra800 Pro Location Offset From Parent 0 000 0 000 0 000 0 000 0 000 0 000 Parent Motion Limits User minimum and maximum limits for joint motion in mm or deg Figure 6 25 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 Joint 2 Ranges for Adjustable Hardstops Recommended Hardstop Value Joint Limit Softstop J2 Hardstop Position 1 Lower limit 80 Upper limit 80 J2 Hardstop Position 2 Lower limit 50 Upper limit 50 J2 Hardstop Position 3 Lower limit 20 Upper limit 20 Note J2 Hardstops can be installed in a number of positions depending on how the robot workcell needs to be configured The positions are spaced 30 apart Adept eCobra Robot User s Guide Rev A Page 116 of 148 Chapter 6 Optional Equipment Installation 6 Reboot eV Controller gt Control gt Reboot eV NOTE This can also be accomplished by momentarily removing 24 VDC power from the controll
44. Maintenance 73 5 1 Field replaceable Parts a es Se a rnn 73 5 2 Periodic Maintenance Schedule 73 5 3 Checking Safety Systems PAME S 74 54 Checking Robot Mounting Bolts asiaticos ellos tt 74 5 5 Checking for Oil Leakage MMMM e 74 5 6 Lubricating Joint AA Aare ee On Re See eee SRE SoS 75 5 7 Replacing the eAIB Chassis 78 Removing the eAIB Chassis 222 022 russe cicatrices b i men 78 Installing a New eAIB Chassis c eaa as ea e dr KARR AR RAR aa RR RR RRR RRR eee eeeeeeeeeeeeeeeeeee 80 5 8 Commissioning a System with an BATH ta 81 Safety Commissioning Utilities 2 2 2 2 222 222 c eo eee eee eee eee sss eeeeeeeeeeeeeeeee 81 E stop Contiguration Utility 2 202 ieedaes eacccuee faltaria are daa ed 83 F Stop Verification Utility 25 22 atesesests ieee tes Seca cise te degen ida 83 Teach Restrict Configuration Un 84 Teach Restrict Verification Utility 2 222220 cee eee cece cece ee eee eee III RRR A RR 85 5 9 Replacing a MicroSD Card 86 Removing a MicroSD Card from an Adept eAIB 2222 22 222222 eee eec cece cece eee eeeeeeeee esses 86 Installing a MicroSD Card into an Adept eAIB 2222222 e cece cee eee eee eee eee cnet eee eeeeeeeees 88 5 10 Replacing the Encoder Battery Pack 88 Battery Replacement Time Periods e cza ORN Eaa RN detiene 89 Battery Replacement Procedure ee 89 5 11 Changing the Lamp in
45. OL 2 into Valve 2 Spare air line Connector for the solenoid valves Pem nuts to mount the solenoid manifold Figure 6 10 Solenoid Mounting Bracket with Connector and Spare Air Line 4 Cut and discard the cable ties holding the spare air line at the top of the mounting bracket Move the air line away to facilitate the mounting of the solenoid manifold See the preceding figure Mount the solenoid manifold onto the bracket using the supplied M3 x 25 mm screws and washers See Figure 6 11 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 Adept eCobra Robot User s Guide Rev A Page 103 of 148 Chapter 6 Optional Equipment Installation 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 You will have to provide a piece of 6 mm tubing to run from one of the 6 mm user air lines at the Joint 2 cover to the air intake coupling mentioned above 7 Plug the connector plug into the female connector jack marked SOLND on the bracket 8 Use cable ties to secure air line to the bracket as needed 10 11 Air intake coupling with spare air line Tubing connected to output port SS Mounting screws for solenoid assembly Figure 6 11 Solenoid Placement Using Mounting Hardware
46. P plug must be used eAIB Optional PLC XSYS Q Cable mil 9 from Controller XSYS Port Ethernet from PC to PLC A Switch or SmartController EX DC Power DC Power VAC Universal a Input 7 24 VDC 6A Power Supply User Supplied PC 200 240 VAC running PLC or ACE 10A Programming Software single phase AC Power Cable Figure 3 2 System Cable Diagram with SmartController EX Adept eCobra Robot User s Guide Rev A Page 33 of 148 Chapter 3 System Installation Installing a SmartController EX Motion Controller Refer to the Adept SmartController EX User s Guide for complete information on installing the optional Adept SmartController EX This list summarizes the main steps 1 Mount the SmartController EX and Front Panel 2 Connect the Front Panel to the SmartController EX 3 Connect the pendant if purchased to the SmartController EX Connect a jumper plug if no pendant is being used 4 Connect user supplied 24 VDC power to the controller Instructions for creating the 24 VDC cable and power specification are covered in the Adept SmartController EX User s Guide 5 Install a user supplied ground wire between the SmartController EX and ground List of Cables and Parts eAIB XSYS Cable standard eAIB User E Stop Safety Gate user supplied XUSR Jumper Plug standard SmartController EX Rewrite F
47. The AC mating connector is supplied with each system It is shipped in the cable accessories box The supplied plug is internally labeled for the AC power connections L E N Adept eCobra Robot User s Guide Rev A Page 42 of 148 Chapter 3 System Installation Table 3 6 AC Mating Connector Details AC Connector details AC in line power plug straight female screw terminal 10 A 250 VAC pe Qualtek P N 709 00 00 Digi Key P N Q217 ND The AC power cable is not supplied with the system Creating the 200 240 VAC Cable 1 Locate the AC mating connector shown in the previous table 2 Open the connector by unscrewing the screw on the shell and removing the cover 3 Loosen the two screws on the cable clamp See Figure 3 6 4 Use 18 AWG wire to create the AC power cable Select the wire length to safely reach 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 Prepare the opposite end of the cable for connection to the facility AC power source Adept eCobra Robot User s Guide Rev A Page 43 of 148 Chapter 3 System Installation Removable Bushing Cable Earth c ON C
48. Turn on the 24 VDC power to the robot TheStatus Panel will display OK The Robot Status LED will be off 4 Verify the Auto Manual switch on the Front Panel is set to Auto Mode 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 e Double click the Adept ACE icon on your Windows desktop or Adept eCobra Robot User s Guide Rev A Page 69 of 148 Chapter 4 System Operation e From the Windows Start menu bar select Start gt Programs gt Adept Technology gt Adept ACE gt Adept ACE 2 On the Adept ACE Getting Started screen e Select Connect To Controller e Select Create New Workspace for Selected Controller to make the connection to the controller e Select the IP address of the controller you wish to connect to or manually type in the IP address 3 Click OK You will see the message Working please wait Enabling High Power After you have started Adept ACE and connected to the controller enable high power to the robot motors Using Adept ACE to Enable High Power 1 From the Adept ACE main menu click the Enable High Power icon 2 Press and release the blinking High Power button on the Front Panel within 10 seconds The Front Panel is shown in Figure 4 3 If the button stops blinking you must Enable Power again NOTE The use of the blinking High Power button can be configured or eliminated in so
49. al signals from the user panel through the robot and up to the outer link Wire Specifications Wire size 0 1 mm2 Pin Numbers 1 24 12 pairs twisted in pairs as 1 amp 2 3 amp 4 586 23 amp 24 Maximum current per line 1 Amp 6 4 Internal User Connectors The internal user connectors OP3 4 EOAPWR and ESTOP can be accessed with the Outer Link cover removed see Figure 6 4 The SOLND connector is located on the opposite of the bulkhead area see Figure 6 5 Adept eCobra Robot User s Guide Rev A Page 95 of 148 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 SOLND Connector Figure 6 5 SOLND Connector Adept eCobra Robot User s Guide Rev A Page 96 of 148 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 101 Table 6 1 SOLND Connector Pinout mr me mmm or CTE as viewed on robot Mating Connector AMP Tyco
50. alanced WARNING The center of mass of the robot may cause the robot to fall over if the robot is not secured to the pallet 5 Slowly lift the robot while aligning the base and the tapped mounting holes in the mounting surface 6 Install but do not tighten the user supplied mounting bolts and washers CAUTION The base casting of the robot is aluminum and can easily be dented if bumped against a harder surface NOTE Verify that the robot is mounted squarely will not rock back and forth before tightening the mounting bolts Adept eCobra Robot User s Guide Rev A Page 26 of 148 Chapter 2 Robot Installation 7 Remove the bolts securing the robot to the pallet e Retain these bolts for possible later relocation of the equipment e Move the pallet out of the way 8 Tighten the mounting bolts to the torque specified Table 2 4 Mounting Bolt Torque Specifications Metric M12 x 1 75 ISO Property Class 8 8 85Nm o N m EN 14 UNC SAE J429 Grade 5 or 65 ft lbf ASTM A449 NOTE Check the tightness of the mounting bolts one week after installation and then recheck every 6 months See Maintenance on page 73 for periodic maintenance 2 8 Connectors on Robot Interface Panel eAIB C OOOOOOOOOOO OOOOOOOOOOO000 O ensi ES 000000000 000000000 00000000 XBELTIO OOOOOOOOO OOOOOOOO of Figure 2 6 Robot Interface Panel 24 VDC for con
51. anel High Power Indicator on page 90 for information on changing this lamp Remote Front Panel or User Supplied Control Panel Usage Users can mount the Front Panel remotely by using an extension cable or by wiring a user supplied Front Panel control panel to the controller using the 15 pin XFP connector The Front Panel contains no active components only switches and lights Customers should be able to adapt the Front Panel s functionality into their own Front Panel design To automatically control the Front Panel s signals use relay contacts instead of switches See the figure Front Panel Schematic on page 50 for a schematic drawing of the Front Panel and see the table System Installation on page 29 for a summary of connections and pin numbers NOTE The system was evaluated by Underwriters Laboratory with an Adept Front Panel If you provide a substitute Front Panel the system may no longer be UL compliant Customers can build an extension cable to place the Front Panel in a remote location The extension cable must conform to the following specifications e Wire Size must be larger than 26 AWG e Connectors must be 15 pin standard D sub male and female e Maximum cable length is 10 meters Adept eCobra Robot User s Guide Rev A Page 53 of 148 Chapter 3 System Installation NOTE The XMCP and XFP connectors can be interchanged without electrical damage However neither the Front Panel nor the pendant will work properly
52. ay be an Ethernet switch between the two Installing Adept ACE Software The Adept ACE disk will display a ReadMe file when inserted in your PC This contains hardware and software requirements for running Adept ACE software You install Adept ACE from the Adept Software disk Adept ACE needs Microsoft NET Framework The Adept ACE Setup Wizard scans your PC for NET and installs it automatically if it is not already installed 1 Insert the disk into the disk drive of your PC If Autoplay is enabled the Adept software disk menu is displayed If Autoplay is disabled you will need to manually start the disk NOTE The online document that describes the installation process opens in the background when you select one of software installation steps below 2 Especially if you are upgrading your Adept ACE software installation from the Adept ACE software disk menu click Read Important Information 3 From the Adept ACE software disk menu select Install the Adept ACE Software The Adept ACE Setup wizard opens 4 Follow the online instructions as you step through the installation process 5 When the installation is complete click Finish Adept eCobra Robot User s Guide Rev A Page 36 of 148 Chapter 3 System Installation 6 After closing the Adept ACE Setup wizard click Exit on the disk menu to close the menu NOTE You will have to restart the PC after installing Adept ACE software 3 4 Connecting 24 VDC Power to Ro
53. bed in Installing the Robot Solenoid Kit on page 101 The internal air line normally used to supply the solenoid manifold is instead used to provide positive airflow pressure to the bellows outer link You can use one of the passive 6 mm user air lines shown in Figure 8 12 and Figure 8 13 8 6 Maintenance IP 65 Bellows Replacement Check the bellows Adept P N 04625 000 periodically for cracks wear or damage Replace bellows if necessary using the procedure below 1 Remove the lower bellows clamp by removing two M3 screws and pulling the clamp apart See Figure 8 14 2 Remove the tool flange For the tool flange removal procedure refer to Removing and Installing the Tool Flange on page 93 3 Remove the upper bellows clamp by removing two M3 screws and pulling the clamp apart 4 Slide the old bellows down off of the quill 5 Install a new bellows by sliding it up onto the quill 6 Re install the upper bellows clamp You must align mating surface of the clamp half rings with the bellows seam see Figure 8 15 Tighten the screw to secure the bellows 7 Re install the tool flange 8 Place new gaskets in the lower bellows clamp extra gaskets are shipped in the accessory kit Then install the clamp over the bottom of the bellows on the bearing ring just above the tool flange Align the mating surfaces of the clamp half rings with the bellows seam see Figure 8 15 Tighten the screw to secure the clamp Adept eCo
54. boot V4 Controller gt Control gt Reboot V NOTE This can also be accomplished by removing 24 VDC power from the controller Restrict Configuration Utility 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 2 3 Open the robot object editor Select Configure gt Safety Settings gt Configure Teach Restrict then click Next From the Prerequisite screen click Next The wizard will go through all of the robot s motors and display messages that it is configuring Channel A and B for each It will then record the configuration and display the target times that it set Click Finish Reboot V Controller gt Control gt Reboot V Adept eCobra Robot User s Guide Rev A Page 84 of 148 Chapter 5 Maintenance NOTE This can also be accomplished by momentarily removing 24 VDC power from the controller Teach Restrict Verification Utility This utility verifies that the Teach Restrict parameters are set correctly and that the hardware Teach Restrict maximum speed control is working This is a two part wizard The first is run in Auto mode The second is run in Manual mode Before running this verification utility the Teach Restrict must be
55. bot Specifications for 24 VDC Power Table 3 1 Specifications for 24 VDC User Supplied Power Supply User Supplied Power Supply 24 VDC 10 150 W 6 A 21 6 V lt V 264 V Circuit Protection Output must be less than 300 W peak or 8 Amp indine circuit protection Power Cabling 1 5 1 85 mm 16 14 AWG Shield Termination Braided shield connected to frame ground terminal at both ends of cable See Figure 3 3 User supplied 24 V power supply must incorporate overload protection to limit peak power to less than 300 W or 8 A in line circuit protection must be added to the 24 V power source In case of multiple units on a common 24 V supply each unit must be protected individually NOTE Fuse information is located on the eAIB electronics The power requirements for the user supplied power supply will vary depending on the configuration of the robot and connected devices Adept recommends a 24 V 6 A power supply to allow for startup current draw and load from connected user devices such as 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 e Single eCobra robot no other units 6 A e Additional eCobra robots add 3 A per robot e SmartVision MX add 4 to 7 A depending on camera load e SmartController EX add 2 to 5 A depending on I O load CAUTION Make sure you select a 24 VDC power supply that meets the specifica
56. bot on page 40 Install user supplied safety barriers in the workcell See Installing User Supplied Safety Equipment on page 45 Learn about connecting digital I O through the XIO See eAIB XIO Connector Signals on connector on the eAIB page 61 Learn about starting the system for the first time See Starting the System for the First Time on page 68 Learn about installing optional equipment See Optional Equipment Installation including end effectors user air and electrical lines on page 93 external equipment solenoids etc 2 2 Transport and Storage This equipment must be shipped and stored in a temperature controlled environment within the range 25 to 55 C 13 to 4131 F The recommended humidity range is 5 to 90 percent non condensing It should be shipped and stored in the Adept supplied crate which is designed to prevent damage from normal shock and vibration You should protect the crate from excessive shock and vibration Use a forklift pallet jack or similar device to transport the packaged equipment see the following figure Adept eCobra Robot User s Guide Rev A Page 19 of 148 Chapter 2 Robot Installation The robots must always be stored and shipped in an upright position in a clean dry area that is free from condensation Do not lay the crate on its side or any other position this could damage the robot The eCobra 600 robot weighs 41 kg 90 Ib the eCobra 800 robot weighs 43 kg 95 lb a
57. bra Robot User s Guide Rev A Page 140 of 148 Chapter 8 IP 65 Option NOTE Align the bellows clamps with the bellows seam on both upper and lower Bellows Seam Bellows Clamp Bellows Cross section View Figure 8 14 Bellows Replacement Figure 8 15 Bellows Clamp Alignment Adept eCobra Robot User s Guide Rev A Page 141 of 148 Chapter 8 IP 65 Option 8 7 Dimension Drawing for Cable Seal Assembly Required clearance to open eAIB controller with the IP 65 connector Cable sealing box on IP 65 version only Units in mm Figure 8 16 Cable Seal Assembly Dimensions Adept eCobra Robot User s Guide Rev A Page 142 of 148 Chapter 9 Cleanroom Robots The Adept eCobra 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 This vacuum system incorporates a compressed air vacuum generator mounted in the base of the robot to pro
58. cles that might fall inside the robot when the cover is removed Unscrew the collar nut on the top of the outer link See Figure 8 8 Remove 2 screws and nylon washers on the top of the outer link Remove 2 screws one on each side at the front of the outer link Make sure the O ring on each screw stays in place and is not lost For the 8 screws along the side of the cover 4 on each side see Figure 8 8 loosen only 1 to 2 turns just enough to loosen the inside clamp nuts You do not want to completely remove the screws See the label on the side of the outer link cover CAUTION Do not loosen these screws any more than 2 turns because the special clamp nut on the inside of the cover might come loose and fall inside the robot Adept eCobra Robot User s Guide Rev A Page 134 of 148 Chapter 8 IP 65 Option Remove this screw one on each side Collar Nut Caution loosen these screws only 1 2 turns Four screws on each side If you loosen more than that the internal clamp nut could come loose and fall inside the robot Remove this screw one on each side Figure 8 8 Cover Removal Instructions 8 When all 8 screws are loose but not removed lift the cover up and slide it back along the cable track and out of the way Protect the cover with a soft cloth or other padding material so the cover does not get scratched See Figure 8 9 Figure 8
59. e 144 93 Exclusions and Incompatibilities ee 144 9 4 Cleanroom Maintenance 145 Bellows Replacement eee ee e e 145 AA 146 Adept eCobra Robot User s Guide Rev A Page 9 of 148 Chapter 1 Introduction 1 1 Product Description Adept eCobra robots are four axis SCARA robots Selective Compliance Assembly Robot Arm Joints 1 2 and 4 are rotational Joint 3 is translational For a description of the robot joint locations see Figure 1 2 NOTE The descriptions and instructions in this manual apply to the eCobra 600 eCobra 800 and eCobra 800 Inverted robots When there are differences such as in dimensions and work envelopes the different models will be covered separately Figure 1 1 Adept eCobra 800 Robot Adept eCobra Robot User s Guide Rev A Page 11 of 148 Chapter 1 Introduction Joint 1 C Joint 4 Figure 1 2 Robot Joint Motions eCobra 600 Robot Shown eCobra Robot Models There are three tiers of eCobra robots with 600 and 800 mm upright models and an 800 mm Inverted robot in each tier In increasing order of performance and features they are e eCobra Lite e eCobra Standard e eCobra Pro Robots of any given size and orientation are identical physically for each of the three tiers The Pro models offer the fastest performance and the most features and connectivity The Lite models offer the least All nine models are covered in this manual All eCobra robots will typically be connected to a u
60. e Robot Specifications on page 128 for complete information on the robot specifications Refer to the Adept Robot Safety Guide for details on the intended use of Adept robots 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 If you are not logged in you will be redirected to the Adept website Login page and then automatically returned to the Download Center when you have completed the login process 1 From the Download Types drop down list select Manufacturer Declarations 2 From the Product drop down list select your Adept robot product category such as Adept Cobra Robots Adept Viper robots etc 3 Click Begin Search The list of available documents is shown in the Search Results area which opens at the bottom of the page You may need to scroll down to see it 4 Use the Description column to locate the document for your Adept robot and then click the corresponding Download ID number to access the Download Details page 5 On the Download Details page click Download to open or save the file 1 9 How Can I Get Help Refer to the How to Get Help Resource Guide Adept P N 00961 00700 for details on getting assistance with your Adept software and hard
61. em with an eAJB the robot and the eAIB will have been commissioned at the factory and should not need commissioning In rare cases with a new robot with an eAIB you may need to commission the system e If the system will not power up and the robot status display shows SE you need to commission the system e If the system will not power up in Manual mode and the robot status display shows TR you need to commission the system Safety Commissioning Utilities The Adept eAIB adds two functions that implement safety in hardware e E Stop This serves as a backup to the standard software E Stop process The system will always try to stop the robot using the software E Stop first The hardware E Stop will take over in the event of a failure of the software E Stop e Teach Restrict This limits the maximum speed of the robot when it is operated in Manual mode As with the E Stop this is a hardware backup to software limits on robot speed If the software fails to limit the robot speed during manual operation the hardware Teach Restrict will disable power to the system These two functions are supported by four wizards e E Stop Configuration This sets the E Stop hardware delay to factory specifications e E Stop Verification This verifies that the hardware E Stop is functioning correctly e Teach Restrict Configuration Adept eCobra Robot User s Guide Rev A Page 81 of 148 Chapter 5 Maintenance This sets the hardware Teach Rest
62. endant Adept eCobra Robot User s Guide Rev A Page 85 of 148 Chapter 5 Maintenance For this verification the Front Panel keyswitch must be in Manual mode 1 From the Introduction screen click Next s Set the pendant to Joint mode e Set the pendant manual control speed to 100 2 Click Next 3 Using the pendant jog any of the robot s joints until power is disabled This indicates that the Teach Restrict function is working 4 Click Next The results of the verification will be displayed 5 Click Finish 6 Reboot V Controller gt Control gt Reboot V NOTE This can also be accomplished by removing 24 VDC power from the controller 7 Reset the Front Panel keyswitch to Auto mode 5 9 Replacing a MicroSD Card NOTE Without a functioning MicroSD card the eAIB will not function to the point that it will not even indicate that it is receiving power Removing a MicroSD Card from an Adept eAIB 1 Make sure that the eAIB controller is powered off 2 Remove the eAIB from the robot Refer to Removing the eAIB Chassis on page 78 3 Lay the chassis on its back next to the robot so you will have access to the connector end of the eAIB 4 Unscrew the shoulder screw that secures the MicroSD card retention bracket This requires a 5 64 in Allen key Adept eCobra Robot User s Guide Rev A Page 86 of 148 Chapter 5 Maintenance MicroSD Shoulder Retention Screw Bracket Figure 5 8 Connector end of eAIB
63. entation for Adept products You can access the ADL from the Adept website Select Support gt Document Library from the Adept home page To go directly to the Adept Document Library type the following URL into your browser http www adept com Main KE DATA adept_search htm To locate information on a specific topic use the Document Library search engine on the ADL main page To view a list of available product documentation use the menu links located above the search field Adept eCobra Robot User s Guide Rev A Page 18 of 148 Chapter 2 Robot Installation 2 1 Installation Overview The system installation process is summarized in the following table NOTE For dual robot installations see the Adept Dual Robot Configuration Procedure which is available in the Adept Document Library Table 2 1 Installation Overview Task to be Performed Reference Location Mount the robot to a flat secure mounting surface See Mounting an Upright eCobra Robot on page 21 or Mounting an eCobra 800 Inverted Robot on page 23 Install the Front Panel pendant and Adept ACE System Installation on page 29 software The pendant is an option Create a 24 VDC cable and connect it between the See Connecting 24 VDC Power to robot and the user supplied 24 VDC power supply Robot on page 37 Create a 200 240 V AC cable and connect it between See Connecting 200 240 V AC Power to the robot and the facility AC power source Ro
64. er The new joint limits will be in effect when the system reboot is done Adept eCobra Robot User s Guide Rev A Page 117 of 148 Chapter 7 Technical Specifications 7 1 Dimension Drawings Required clearance to open eAIB Chassis 31 Required cable clearance Figure 7 1 Adept eCobra 600 Robot Top and Side Dimensions Adept eCobra Robot User s Guide Rev A Page 119 of 148 Chapter 7 Technical Specifications SS Required clearance to open eAIB Chassis 31 Required cable clearance X T Figure 7 2 Adept eCobra 800 Robot Top and Side Dimensions Adept eCobra Robot User s Guide Rev A Page 120 of 148 Chapter 7 Technical Specifications Figure 7 3 Adept eCobra 800 Inverted Robot Top and Side Dimensions Adept eCobra Robot User s Guide R
65. er packaging for shipment will void your warranty Specify this to the carrier if the robot is to be shipped CAUTION Before unbolting the robot from the mounting surface fold the outer arm against the Joint 2 hardstops to help centralize the center of gravity The robot must always be shipped in an upright orientation 2 5 Environmental and Facility Requirements The Adept robot system installation must meet the operating environment requirements shown in the following table Adept eCobra Robot User s Guide Rev A Page 20 of 148 Chapter 2 Robot Installation Table 2 2 Robot System Operating Environment Requirements Ambient temperature 5 to 40 C 41 to 104 F Humidity 5 to 90 non condensing Altitude up to 2000 m 6500 ft 2 Pollution degree Robot protection class IP 20 NEMA Type 1 Cleanroom rating cleanroom models only ISO 4 Fed Reg Class 10 NOTE For robot dimensions see Dimension Drawings on page 119 2 6 Mounting an Upright eCobra Robot This section applies to the eCobra 600 and eCobra 800 robots but not the eCobra 800 Inverted robot Eyebolt for lifting robot after robot has been unbolted from the transportation pallet Place forklift or pallet jack here Figure 2 1 eCobra 600 Robot on a Transportat
66. era Brackets optional Camera Channel Figure 6 14 Mounting a Camera on the Robot 6 8 Installing Adjustable Hardstops Adept offers an adjustable hardstop kit for Joint 1 and Joint 2 on the Adept eCobra robots These are user installed options that can be used to limit the work envelope of the robot The Adept part number for the kit is 02592 000 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 Adept eCobra Robot User s Guide Rev A Page 108 of 148 Chapter 6 Optional Equipment Installation Joint 1 Adjustable Location for H Hardstop Position 1 installed in Position 2 Figure 6 15 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 Install the adjustable hardstop into the threaded hole using an 8 mm hex wrench Tighten to a torque of 5 1 N m 45 in Ibf 3 Repeat the process on the other side of the robot NOTE The two sides do not have to have a hardstop in the same position i e you can use Position 1 on one side and Position 2 or none on the other if you choose Modifying Joint Limit Softstop Locations for Joint 1 After installing the adjustable hardstops you mu
67. etween the two screws so there is even pressure on both once they are tight The torque specification for each screw is 8 N m 70 in lb 6 3 User Connections on Robot User Air Lines There are five user air line connectors on the robot user panel on the back of Joint 1 See Figure 6 2 The five air lines run through the robot up to another set of five matching connectors on the top of the outer link See Figure 6 3 The two larger connectors are 6 mm diameter e The three smaller connectors are 4 mm diameter Adept eCobra Robot User s Guide Rev A Page 94 of 148 Chapter 6 Optional Equipment Installation 6 mm Air Lines DeviceNet User Electrical IO Blox DeviceNet User Electrical 4 mm Air Lines 6 mm Air Lines 4 mm Aur Line Figure 6 2 User Connectors on Joint 1 Figure 6 3 User Connectors on Joint 2 NOTE The IO Blox device is not available with the eCobra Lite The DeviceNet connector requires the optional Adept SmartController EX motion controller For information on the IO Blox connector see Connecting Digital I O to the System on page 59 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 This connector is wired directly to a 25 pin female connector on the top of the outer link See Figure 6 3 These connectors can be used to run user electric
68. ev A Page 121 of 148 Chapter 7 Technical Specifications 2X M4x0 7 6H Y 10 2X M4x0 7 6H Y 10 All dimensions in mm Figure 7 4 Dimensions of the Camera Bracket Mounting Pattern Upright eCobra NT de d L Hr n 211 z 4x M4x0 7 6H y 10 All dimensions in mm Figure 7 5 Dimensions of the Camera Bracket Mounting Pattern Inverted eCobra Adept eCobra Robot User s Guide Rev A Page 122 of 148 Chapter 7 Technical Specifications 12 0 mm 0 47 in See Detail A 3 0 mm 0 12 in 03 mm 41 15 mm O0 mm 4 001 in 000 in 1 620 in Dowel Pin Hole A 6 0 mm dd 63 0 mm 2 48 in 0 2362 in Pm C 50 0 mm 1 9685 in 4X M6 x 1 6H Thru i User Ground A 004 in A LTE R 3 56mm R 0 140in Y 5 08mm 0 20in M3 X 0 5 6H Thru Units in mm 4 14 mm 0 163 in 1 5 mm 0 059 in Detail A Figure 7 6 Tool Flange Dimensions for eCobra Robots Adept eCobra Robot User s Guide Rev A Page 123 of 148 Chapter 7 Technical Specifications m AX M4x0 7 6H v6 Inner Link External Mounting Locations Units in mm Outer Link External Mounting Locations Fi
69. fault Hand Close Signal 3002 Break away E stop Enable False Enable Brake Release Input False Control Configuration Controller Inverted Motion Specifications gt Timing Specifications End Effector Selected End Effector Location Offset From Parent Parent Joints Pro e Series Controller 67 e Series Controller 67 False e Series Controller 67 Gripper R1 Cobra800 Pro 0 000 0 000 0 000 0 000 0 000 0 000 List of robot joints Note that Joint 1 of the robot is element 0 Figure 6 17 Robot Editor with Joints Expanded Adept eCobra Robot User s Guide Rev A Page 110 of 148 Chapter 6 Optional Equipment Installation 4 Click the in front of 1 to open the values for joint 1 e Series Controller 67 e Series Controller 67 e Series Controller 67 R1 Cobra800 Pro Object Configure Control 4 3D Visualization Visible True Configuration Enabled True Robot Number 1 Joints 4 item collection 4 1 Shoulder 105105 gt 2 Elbow 3 Z gt 4 Wrist Motors 4 item collection Default Hand Open Signal 3001 Default Hand Close Signal 3002 Break away E stop Enable False Enable Brake Release Input False Control Configuration Pro Controller e Series Controller 67 e Series Controller 67 Inverted False Motion Specifications Timing Specifications End Effector Selected End Effector e Series Controller 67 Gripper R1 Cobra800 Pro Location Offset From Parent 0 000 0 000 0 000 0 000
70. ftware Your system may not require this step This step turns on high power to the robot motors and calibrates the robot The Robot Status LED glows amber e The code on the Robot Status Panel displays ON See Status Panel Fault Codes on page 56 Verifying E Stop Functions Verify that all E Stop devices are functional pendant Front Panel and user supplied Test each mushroom button safety gate light curtain etc by enabling high power and then opening the safety device The High Power push button light on the Front Panel should go out for each 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 Adept eCobra Robot User s Guide Rev A Page 70 of 148 Chapter 4 System Operation 4 7 Learning to Program the Adept eCobra Robot To learn how to use and program the robot see the Adept ACE User s Guide which provides information on robot configuration control and programming through the Adept ACE software point and click user interface For eV programming information refer to the eV user and reference guides in the Adept Document Library ADL on the Adept website For more details on the ADL see Adept Docu
71. g In the event of an output short or other overcurrent situation the affected output of the driver IC turns off and back on automatically to reduce the temperature of the IC The 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 ve E Power supply voltage range See Specifications for 24 VDC Power on page 37 Operational current range per I E 700 mA channel i Total Current Limitation all I T 1 0 A e 50 C ambient channels on T I lt 1 5 A 25 C ambient total On state resistance I 0 5 A R lt 0 32 Q 85 C out PO bula Output leakage current I ut lt 25 uA Turn on response time 125 usec max 80 usec typical hardware only Turn off response time 60 usec max 28 usec typical hardware only Output voltage at inductive load V 65 lt V demas V 45 turnoff 1 0 5A Load 1 mH E DC short circuit current limit 07A lt Lo lt 25A lt 4A BED ovpk Adept eCobra Robot User s Guide Rev A Page 65 of 148 Chapter 4 System Operation Typical Output Wiring Example Adept Supplied Equipment User Supplied Equipment Wiring Terminal Block
72. generate an E Stop for other equipment in the workcell The load on the contacts must not exceed 40 VDC or 30 VAC at a maximum of 1 A These voltage free contacts are provided by a redundant cyclically checked positive drive safety relay circuit for Category 3 PL d per EN ISO 13849 operation see Figure 3 8 and the table System Installation on page 29 for the customer E Stop circuitry Line E Stop Input The XUSR connector on the controller contains a two channel Line E Stop input for workcell or other equipment emergency stop inputs Generally the customer E Stop Indication contact outputs are used to generate an emergency stop in such external equipment Thus if one were to wire the same equipment s outputs into the customer E Stop input that is in series with the local robot s E Stop push buttons a lock up situation could occur The Line E Stop input comes into the circuit at a point where it cannot affect the customer E Stop indication relays and will not cause such a lock up situation For any situation where two systems should be cross coupled for example the customer E Stop indication of one controller is to be connected to the input of another controller the Line E Stop input is the point to bring in the other controller s output contacts See the figure E Stop Circuit on XUSR and XFP Connectors on page 49 for more information Do not use the Line E Stop for such devices as local E Stop push buttons since their status sho
73. gure 7 7 External Tooling on Top of Robot Arm Upright eCobra 76 eCobra 600 135 eCobra 800 Outer Link Bottom View 4X M4x0 7 6H v 8 Units in mm Figure 7 8 External Tooling on Underside of Outer Link Upright eCobra Adept eCobra Robot User s Guide Rev A Page 124 of 148 Chapter 7 Technical Specifications ZA TA CID gt rf Outer Link Bottom View 4X M4x0 7 6H v 8 Figure 7 10 External Tooling on Underside of Outer Link Inverted eCobra Adept eCobra Robot User s Guide Reo A Page 125 of 148 Chapter 7 Technical Specifications Maximum Radial Reach Maximum Intrusion Functional Area Contact Radius 600 mm 23 62 in 647 mm 25 50 in Minimum Radial Reach 162 6 mm 6 40 in Cartesian Limits 300 mm 11 8 in Maximum Intrusion Maximum Radial Reach Contact Radius E ps Functional Area 847 3 mm 33 36 in A an as MELOS 800 mm 31 50 in Minimum Radial Reach 163 6 mm 6 44 in i E wd gt uf K EM Cartesian Limits 300 mm 11 8 in Figure 7 12 Adept eCobra 800 Robo
74. have to be symmetrical 3 Slide the fixed hardstop device into the slot on the underside of the outer link See Figure 6 22 Joint 2 Fixed Hardstop Block installed on underside of Outer Link Figure 6 22 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 lbf 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 Adept eCobra Robot User s Guide Rev A Page 114 of 148 Chapter 6 Optional Equipment Installation e Series Controller 67 e Series Controller 67 e Series Controller 67 R1 Cobra800 Pro E Object Configure Control isible True Configuration Enabled True Robot Number 1 gt Joints 4 item collection Motors 4 item collection Default Hand Open Signal 3001 Default Hand Close Signal 3002 Break away E stop Enable False Enable Brake Release Input False Control Configuration Controller Inverted Pro e Series Controller 67 e Series Controller 67 False gt Motion Specifications gt Timing Specifications End Effector Selected End Effector Location Offset From Parent Parent e Series Controller 67 Gripper R1 Cobra800 Pro 0 000 0 000 0 00
75. he robot for any signs of oil in areas immediately outside of the Harmonic Drives Check these locations e the area around Joint 1 e the area around Joint 2 Adept eCobra Robot User s Guide Rev A Page 74 of 148 Chapter 5 Maintenance e inside the base of the robot by opening the eAIB chassis and inspecting internally WARNING Remove all power to the robot before opening the 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 an Adept eCobra robot may cause damage to the robot 1 Turn off main power to the robot If an optional SmartController EX is being used turn off main power to that too 2 Remove the outer link cover by removing screws located on the sides and top of the cover Carefully remove the cover WARNING When the outer link cover is removed you see the label shown in Figure 6 4 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 For the IP 65 version refer to Robot Outer Link Cover Removal and Reinstallation on page 134 for instructions on removing the link cover and IP 65 Bellows Replacement on page 140 for instructions on re
76. iciuillelellullieelllcllocalelicemcilp e c2 cel eesi eseis siei 54 Chapter 4 System Operation 55 4 1 Robot Status LED Description ostenta A easier doe ce shape cada 55 4 2 Status Panel Fault Codes 56 A 57 Brake Release Button 200 0 e aa a ea IPLA o e 57 Adept eCobra Robot User s Guide Rev A Page 6 of 148 Table of Contents Remote Brake Release Feature 2 eue satelite E EREE aod sie 57 4A Pront Panel ih Cl ae Re ee ee M E ee eee 58 45 Connecting Digital I O to the System 2 31 esa adree esae et eerte rene renun Eidacessese nitas 59 Optional I O Products 2604 cued tee See aig Ried elder coded RA aR eked ew neg gece Dem 59 Default Digital I O Signal Configuration 2 22 0222222 eeee cece eee eee eee cece ss n nns 60 eAIB XIO Connector Signals 0222222 KaR RRR RRR RRR RRR R 61 XIO Input Sig tals adas 62 XIO Output Signals 20 as a ri kde boi a eG ee 64 XIO Breakout Cable ceetcooriidr ritos 66 4 6 Starting the System tor the First Time estais iii idad 68 Verifying Installation vicios td da ia 68 Tumime ON POWER c 69 Starting Adept ACE concimaccrentoid rd iris 69 Enabling High Power 1 22 do illo ias 70 Verifying E Stop Functions 1lllldllilloxsilibeuiRi b04uielllqelli id db 70 Verify RODOPMOHONS 2 224 cree sciee apelli Semis alee kee nate SE tc 70 4 7 Learning to Program the Adept eCobra Robot 71 Chapter 5
77. ide Rev A Page 145 of 148 Chapter 9 Cleanroom Robots Lubrication The upper and lower quill requires lubrication in the same manner as the standard eCobra robots See Lubricating Joint 3 on page 75 Adept eCobra Robot User s Guide Rev A Page 146 of 148 adept 5960 Inglewood Drive Pleasanton CA 94588 P N 14402 000 Rev A 925 245 3400
78. ill open up the object editor for the robot 2 Select Break away E Stop Enable 3 Change the value of this field to True Adept eCobra Robot User s Guide Rev A Page 100 of 148 Chapter 6 Optional Equipment Installation e Series Controller 43 e Series Controller 43 e Series Controller 43 R1 Cobra600 Lite Object Configure Control 4 3D Visualization Visible 4 Configuration Enabled Robot Number Joints Motors Default Hand Open Signal Default Hand Close Signal Break away E stop Enable Enable Brake Release Input Control Configuration Controller Motion Specifications Timing Specifications End Effector Selected End Effector Location Offset From Parent Parent True True 1 4 item collection 4 item collection 3001 3002 False False Lite e Series Controller 43 e Series Controller 43 e Series Controller 43 Gripper R1 Cobra600 Lite 0 000 0 000 0 000 0 000 0 000 0 000 Figure 6 8 Robot Object Editor 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 5 Mounting Locations for External Equipment Three locations are provided for mounting external user equipment on the robot arm The first location is on the J1 Harness Support top
79. in 9 0000000090 Pin 10 0 00000000 Pin 18 pig ee Pin 26 4 6 Starting the System for the First Time Follow the steps in this section to safely bring up your robot system The steps include e Verifying installation to confirm all tasks have been performed correctly e Starting up the system by turning on power for the first time e Verifying all E Stops in the system function correctly e Moving each axis of the robot generally with the pendant to confirm it moves in the proper directions Verifying Installation Verifying that the system is correctly installed and that all safety equipment is working correctly is an important process Before using the robot make the following checks to ensure that the robot system has been properly installed DANGER After installing the robot you must test it before you use it for the first time Failure to do this could cause death or serious injury or equipment damage Mechanical Checks Verify that e The robot is mounted level and that all fasteners are properly installed and tightened e Any end of arm tooling is properly installed e All other peripheral equipment is properly installed and in a state where it is safe to turn on power to the robot system System Cable Checks Verify the following connections NOTE The first three connections are made via the eAIB XSYSTEM cable if you are not using an optional SmartController EX motion controller e Front Panel to the XSYST
80. in death or serious injury DANGER This indicates an imminently hazardous situation which if not avoided will result in death or serious injury Adept eCobra Robot User s Guide Rev A Page 15 of 148 Chapter 1 Introduction WARNING This indicates a potentially hazardous electrical situation which if not avoided could result in injury or major damage to the equipment the equipment CAUTION This indicates a situation which if not avoided could result in damage to the equipment WARNING This indicates a potentially hazardous situation which if not avoided could result in injury or major damage to NOTE Notes provide supplementary information emphasize a point or procedure or give a tip for easier operation 1 4 Safety Precautions DANGER An Adept eCobra robot can cause serious injury or death or damage to itself and other equipment if the following safety precautions are not observed e All personnel who install operate teach program or maintain the system must read this guide read the Adept Robot Safety Guide and complete a training course for their responsibilities in regard to the robot All personnel who design the robot system must read this guide read the Adept Robot Safety Guide and must comply with all local and national safety regulations for the location in which the robot is installed e The robot system must not be used for purposes other than described in Intended Use of the R
81. ing Connector AMP Tyco 172167 1 4 pin Mini Universal Mate N Lok AMP Tyco 770985 1 Pin Contact Mini Univ Mate N Lok Adept eCobra Robot User s Guide Rev A Page 98 of 148 Chapter 6 Optional Equipment Installation Internal User Connector Output Specifications The output specifications in the following table apply to the EOAPWR OP3 4 and SOLND internal user connectors Table 6 4 Internal User Connector Output Circuit Specifications Parameter 24 VDC 10 See Specifications for 24 VDC Power on page 37 on 1 5 A 25 C ambient On state resistance U 0 5 A lt 0 32 Q 85 C Output leakage current Touts 25 HA Turn on response time 125 usec max 80 usec typical hardware only Turn off response time 60 usec max 28 usec typical hardware Output voltage at inductive load turnoff V 65 lt s 05A Load 1 mH DC short circuit current limit 0 7A lt lt 25A aNOTE Total current is the sum of the output current used by output signals 3001 3004 SOLND and OP3 4 and any user current drawn from EOAPWR ESTOP Connector The Break away E STOP function is provided to enable a high power shutdown from the outer link area For example it would be used if you want a break away gripper to shut down robot high power It lets you disable high power through a user relay circuit inside the robot The 2 pin ESTOP connector provides a pair of contacts that can be used for a Break away E S
82. ion Pallet WARNING Only qualified service personnel may install or service the robot system Adept eCobra Robot User s Guide Rev A Page 21 of 148 Chapter 2 Robot Installation Mounting Surface The upright Adept eCobra robots are designed to be mounted on a smooth flat level surface The mounting structure must be rigid enough to prevent vibration and flexing during robot operation Adept recommends a 25 mm 1 in thick steel plate mounted to a rigid tube frame Excessive vibration or mounting flexure will degrade robot performance The following figure shows the mounting hole pattern for the Adept eCobra robots NOTE On the under side of the base there is a hole and a slot that can be used as locating points for user installed dowel pins in the mounting surface see the following figure Using locating pins will improve the ability to remove and reinstall the robot in the same position 4X 14 THRU Units in mm Figure 2 2 Mounting Hole Pattern for Upright eCobra Robots 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 mounting hardware is user supplied 2 If you are using dowel pins for locating the robot insert those in the mounting surface 3 While the robot is still bolted to the transportation pallet connect a hydraulic lift to the eyeb
83. l air line normally used to supply the internally mounted considerations hand valves Adept Option Kit P N 02853 000 is instead used to provide vacuum to the bellows outer link One of the passive 6 mm user air lines would need to be used instead Performance The air exhausting from the internally mounted hand valves Adept Adept eCobra Robot User s Guide Rev A Page 144 of 148 Chapter 9 Cleanroom Robots considerations Option Kit P N 02853 000 may be of sufficient quantity quality to cause the robot to exceed Class 10 Particulate Limits For these reasons Adept recommends mounting hand valves externally 9 4 Cleanroom Maintenance Bellows Replacement Check the bellows periodically for cracks wear or damage Replace bellows Adept P N 04625 000 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 93 3 Remove the upper bellows clamp ring by loosening the screw on the clamp 4 Slide the old bellows down off of the quill 5 Install a new bellows and reverse the steps listed above Upper Bellows Clamp Ring mn Bellows Sr co rr omame Lower Bellows Clamp Ring User Tool Flange Figure 9 3 Cleanroom Bellows Replacement Adept eCobra Robot User s Gu
84. lamp Neutral gt lt Line Figure 3 6 AC Power Mating Connector Connecting AC Power Cable 1 Connect the unterminated end of the AC power cable to your facility AC power source See AC Power Diagrams on page 42 Do not turn on AC power at this time 2 Plug the AC connector into the AC power connector on the interface panel on the robot 3 Secure the AC connector with the locking latch 3 6 Grounding the Adept Robot System Proper grounding is essential for safe and reliable robot operation Follow these recommendations to properly ground your robot system Grounding the Robot Base The user can install a ground wire at the robot base to ground the robot See the following figure The robot ships with an M8 x 12 stainless steel hex head screw and M8 split and flat washers installed in the grounding hole The user is responsible for supplying the ground wire to connect to earth ground Adept eCobra Robot User s Guide Rev A Page 44 of 148 Chapter 3 System Installation Ground Point on Robot Base with M8 x 12 screw and washers installed Figure 3 7 Ground Point on Robot Base Grounding Robot Mounted Equipment The following two parts of an Adept eCobra 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 or tooli
85. link from underneath align the holes in the plates with the holes in the inner link See Figure 6 21 Adept eCobra Robot User s Guide Rev A Page 112 of 148 Chapter 6 Optional Equipment Installation Joint 2 Adjustable Hardstop Plates Installed in Position 1 Figure 6 20 Joint 2 Adjustable Hardstop Locations 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 21 Screw Locations for Joint 2 Adjustable Hardstops Adept eCobra Robot User s Guide Rev A Page 113 of 148 Chapter 6 Optional Equipment Installation 2 Use a 4 mm hex wrench to install three supplied M5 x 10 screws to secure the plate Tighten the screws to a torque of 4 5 Num 40 in Ib Repeat the process for the second plate Note that the plates can be installed in a number of different positions depending on how much you need to limit the range of Joint 2 NOTE The two hardstop sides do not have to be in the same position so the workspace does not
86. m Installation the correct terminals in the plug 5 Prepare the opposite end of the cable for connection to the user supplied 24 VDC power supply NOTE If you are using the optional SmartController EX motion controller you also must create a separate 24 VDC cable for it That cable uses a different style of connector See the Adept SmartController EX User s Guide Connecting 24 VDC Cable 1 Connect one end of the shielded 24 VDC cable to your user supplied 24 VDC power supply The cable shield should be connected to frame ground on the power supply Do not turn on the 24 VDC power until instructed to do so in Turning on Power on page 69 See the following figure 2 Plug the mating connector end of the 24 VDC cable into the 24 VDC connector on the interface panel on the back of the robot The cable shield should be connected to the ground point on the interface panel Adept eCobra Robot Cao Attach shield from user 24 VDC supplied cable to ground screw on eCobra robot Attach shield from user Interface Panel supplied cables to frame im ground on power supply L Frame Ground Circuit Protection User Supplied Shielded ga max Power Cable Optional Equipment Adept SmartVision MX Attach shield from wee user supplied Circuit cable to left wire slot Protection of SmartVision MX Attach shield from user supplied Circuit Pa cable to side of controller using nn 4 Protection star washer and
87. ment Library on page 18 Adept eCobra Robot User s Guide Rev A Page 71 of 148 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 Encoder battery 09977 000 3 6 V 6 8 Ah This has replaced part ie 02704 000 eCobra 600 600 eCobra 800 800 eAIB Amp In Base 600 m 800 MicroSD card 12053 000 These parts must only be replaced with the Adept part numbers in the preceding table 5 2 Periodic Maintenance Schedule The following table gives a summary of the preventive maintenance procedures and guidelines on frequency Also for cleanroom robots see Cleanroom Maintenance on page 145 for IP 65 robots see Customer Requirements on page 136 Table 5 2 Inspection and Maintenance CON NL NN Check E Stop enable and key 6 months Checking Safety Systems on page 74 switches and barrier interlocks Check robot mounting bolts robot Check robot mounting bolts bolts 6 months Checking Robot Mounting Bolts on page 74 Checking Robot Mounting Bolts on page 74 Mounting Bolts on page 74 Check for signs o oil around 3 months Checking for Oil Leakage on page 74 Harmonic Drive area Lubricate Joint 3 Z axis ball 3 months Lubricating Joint 3 on page 75 screw Replace encoder battery Replacing the Encoder
88. moving the bellows For the Cleanroom version refer to Bellows Replacement on page 145 for instructions on removing the bellows The outer link cover is standard 3 Switch on 24 VDC power to the robot 4 Press the brake button and move Joint 3 to the top of its travel Remove any existing grease with a clean lint free soft cloth 5 Using a syringe apply a small bead of grease to the Joint 3 ball screw grooves see Figure 5 1 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 Adept eCobra Robot User s Guide Rev A Page 75 of 148 10 Chapter 5 Maintenance Remove any existing grease with a clean lint free soft cloth Apply a small bead of grease to any grooves of the ball screw that are now exposed Move Joint 3 up and down several times to spread the grease evenly Remove 24 VDC power from the robot Reinstall the outer link cover For the Cleanroom version reinstall or replace the bellows Adept eCobra Robot User s Guide Rev A Page 76 of 148 Chapter 5 Maintenance Joint 3 Ball Screw Lubrication Points Joint 3 Ball Screw Lubrication Points Lower Quill Grease Locations Upper Quill Grease Locations Quill Shaft Vertical Groove Lube Point A Vertical Groove Lube Point B NOTE Apply grease to the three ve
89. n to the XIO connector see the previous table or through the optional XIO Termination Block See the documentation supplied with the termination block for details The XIO inputs cannot be used for REACTI programming high speed interrupts or vision triggers 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 V7 8 VDC Operational current range 0 to 7 5 mA Adept eCobra Robot User s Guide Rev A Page 62 of 148 Chapter 4 System Operation OFF state current range 0 to 0 5 mA ON state current range 25 to 7 5 mA Impedance V ich 3 9 K Q minimum Turn on response time hardware 5 usec maximum Software scan rate response time 16 ms scan cycle 32 ms max response time Turn off response time hardware 5 usec maximum Software scan rate response time 16 ms scan cycle 32 ms max response time NOTE The input current specifications are provided for reference Voltage sources are typically used to drive the inputs Adept eCobra Robot User s Guide Rev A Page 63 of 148 Chapter 4 System Operation Typical Input Wiring Example Adept Supplied Equipment User Supplied Equipment Note all Input signals can be used for either sinking or sourcing configurations Wiring Terminal Typical User Block Input Signals equivalent circuit p art Present Sensor
90. nd of the cover Remove the spare air line from the bundle 15 Insert the spare air line into the back of the empty 6 mm User Air fitting 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 Reinstall the cable strap plate that you removed earlier in the procedure 18 Raise the eAIB chassis to the closed position and tighten the securing screw 19 Reinstall the outer link cover and tighten the screws to 1 6 N m 14 in lb of torque 20 Connect the factory air supply to the 6 mm User Air connector For the non IP 65 robot this is the air connector just modified 21 From the Adept ACE software a Click the Digital I O button in the controller toolbar b The Digital I O window will open Digital 1 0 e Series Controller 67 e Series Controller 67 u E Show 7 Output F Inputs v Robot 2001 2015 4444 c Check Robot d Select Signal 3001 and Signal 3002 the first two blocks to activate the solenoids one at a time Adept eCobra Robot User s Guide Rev A Page 106 of 148 Chapter 6 Optional Equipment Installation e The selected blocks will turn
91. nd the eCobra 800 Inverted weighs 51 kg 112 Ib all with no options installed 2 3 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 Upon Unpacking Before signing the carrier s delivery sheet please compare the actual items received not just the packing slip with your equipment purchase order and verify that all items are present and that the shipment is correct and free of visible damage e If the items received do not match the packing slip or are damaged do not sign the receipt Contact Adept as soon as possible e If the items received do not match your order please contact Adept immediately Inspect each item for external damage as it is removed from its container If any damage is evident contact Adept See How Can I Get Help on page 17 Retain all containers and packaging materials These items may be necessary to settle claims or at a later date to relocate equipment 2 4 Repacking for Relocation If the robot or other equipment needs to be relocated reverse the steps in the installation procedures that follow Reuse all original packing containers and materials and follow all safety notes used for installation Improp
92. necting 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 Adept eCobra Robot User s Guide Rev A Page 27 of 148 Chapter 2 Robot Installation 200 240 VAC for connecting 200 240 VAC single phase input power to the robot The mating connector is provided The cable is user supplied XIO DB26 high density female for user I O signals for peripheral devices This connector provides 8 outputs and 12 inputs For connector pin allocations for inputs and outputs see eAIB XIO Connector Signals on page 61 That section also contains signal numbers to access these I O signals via eV XBELTIO this is not supported on eCobra Lite robots adds two belt encoders Pro only an RS 232 interface and either Intelligent Force Sensing or IO Blox support This requires the eAIB XBELT IO Adapter cable SmartServo x2 IEEE 1394 for connecting the IEEE 1394 cable from an optional controller to the robot The servo connectors can also be used to connect to a second robot or another 1394 based motion axis XSYSTEM The Front Panel optional T20 pendant and XUSR cable connect here This uses the eAIB XSYSTEM cable See System Cables eAIB Only no SmartController EX on page 29 If you are using an optional SmartController EX this uses the eAIB XSYS cable instead of this cable and the Front Panel and T20 pendant connect to the Sma
93. nector Reconnect the 24 VDC supply cable to the robot 24 VDC input connector For the connector location see Figure 2 6 5 11 Changing the Lamp in the Front Panel High Power Indicator The system is equipped with circuitry to detect the potentially dangerous condition of a burned out High Power indicator on the Front Panel If this lamp is burned out you cannot enable high power until the lamp has been replaced Follow this procedure to replace the High Power indicator lamp The Adept part number for the lamp is 27400 29006 Adept eCobra Robot User s Guide Rev A Page 90 of 148 10 11 12 13 14 Chapter 5 Maintenance WARNING Lockout and tagout power before servicing WARNING The procedures and replacement of parts mentioned in this section should be performed only by trained authorized personnel The access covers on the Front Panel are not interlocked turn off and disconnect power before removing the cover Turn off system power to the robot Turn off power to the optional SmartController EX if you are using one Disconnect the cable between the Front Panel and the eAIB or controller Remove the Front Panel from its mounting location Remove the two screws on the back of the Front Panel Save the screws for re installation Carefully pull the front cover away from the body of the Front Panel You will encounter some resistance as there are three plug type connectors that you need to disconnect as
94. ng to the ground point on the robot base Hazardous voltages can be considered anything in excess of 30 VAC 42 4 VAC peak or 60 VDC Also for the grounding point on the tool flange see Figure 7 6 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 7 Installing User Supplied Safety Equipment The user is responsible for installing safety barriers to protect personnel from coming in contact with the robot unintentionally Depending on the design of the workcell safety gates light curtains and emergency stop devices can be used to create a safe environment Read the Adept Robot Safety Guide for a discussion of safety issues The user supplied safety and power control equipment connects to the system through the XUSR and XFP connectors on the eAIB XSYSTEM cable The XUSR connector 25 pin and XFP 15 pin connector are both female D sub connectors Refer to the following table for the XUSR pin out descriptions See Contacts Provided by the XFP Connector for the XFP pin out descriptions See the figure E Stop Circuit on XUSR and XFP Connectors on page 49 for the XUSR wiring diagram Adept eCobra Robot User s Guide Rev A Page 45 of 148 Chapter 3 System Installation Table 3 7 Contacts Provided by the XUSR Connector M MEME EN Voltage Free Contacts Provided by Customer 1 1
95. nt RXD ey The following figure shows an E Stop diagram for the system See Emergency Stop Circuits on page 50 for a description of the functionality of this circuit Adept eCobra Robot User s Guide Reo A Page 48 of 148 ESTOP 24V Source X YSTEM 31 XFP 1 bad XSYSTEM 20 XFP 9 XPND 7 bmd XSYSTEM 24 XPND 24 XUSR 1 XUSR 14 XSYSTEM 13 XUSR 3 Chapter 3 System Installation ESTOP XSYSTEM 32 Ground XFP 2 Front Panel ESTOP Pushbutt xrp io on XPND 6 T20 ESTOP Pushbutton XPND 23 XUSR 2 User E Stop and Gate Interlock Jumper closed when not used MUST open both channels XUSR 15 independently if used XSYSTEM 43 XUSR 4 LINE E Stop External User E Stop System XSYSTEM 39 XUSR 17 XSYSTEM 9 XUSR 16 T20 Pendant Enable x XSYSTEM 8 XPND 26 Manual Mode Path Force Gui Cyclic Control AM2 AM1 XSYSTEM 14 XUSR 5 XSYSTEM 38 XPND 25 XSYSTEM 29 XUSR 18 XSYSTEM 44 XUSR 19 ided Relay Check Circuit XSYSTEM 31 XFP 6 XSYSTEM 3 XFP 5 XSYSTEM 33 XFP 13 XSYSTEM 34 XFP 14 ESTOP 24 V Source XFP 3 Front Panel Auto Manual Keyswitch XSYSTEM 4 XFP 11 AM2 Y lr Coil 4 XSYSTEM 30 XUSR 6 Front Panel High Power ON OFF XSYSTEM 5 XSYSTEM 19 XFP 12 AM1 Coil XSYSTEM 12 XUSR 9 XSYSTEM 28 XUSR 10 Auto Manual AM1
96. obots on page 17 Contact Adept if you are not sure of the suitability for your application e The user is responsible for providing safety barriers around the robot to prevent anyone from accidentally coming into contact with the robot when it is in motion e Power to the robot and its power supply must be locked out and tagged out before any maintenance is performed 1 5 What to Do in an Emergency Situation Press any E Stop button a red push button on a yellow background and then follow the internal procedures of your company or organization for an emergency situation If a fire occurs use CO to extinguish the fire 1 6 Additional Safety Information Adept provides other sources for more safety information Adept eCobra Robot User s Guide Rev A Page 16 of 148 Chapter 1 Introduction Manufacturer s Declaration of Conformity MDOC This lists all standards with which each robot complies For details see Manufacturer s Declaration on page 17 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 18 1 7 Intended Use of the Robots The Adept eCobra robots are intended for use in parts assembly and material handling for payloads less than 5 5 kg 12 1 lb Se
97. of the robot for better access Adept eCobra Robot User s Guide Rev A Page 78 of 148 Chapter 5 Maintenance Figure 5 3 Opening and Removing Chassis 10 Disconnect the white amplifier cable from the amplifier connector located on the chassis bracket See the following figure PTE AA Amplifier ON Connector Figure 5 4 Connectors on Chassis and ePMAI Board 11 Carefully disconnect the INT1 INT2 ENC1 and ENC2 cables from their connectors on the ePMAI board by disengaging the securing latches Adept eCobra Robot User s Guide Rev A Page 79 of 148 Chapter 5 Maintenance 12 Using a 5 mm hex wrench disconnect and remove the ground wire from the chassis Keep the screw for reassembly later See the following figures PN 3800 000 x Vii Mm Figure 5 5 Ground Screw Hole on eAIB Chassis 13 Tag the chassis with the appropriate fault diagnosis faults errors and robot serial number information Installing a New 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 Carefully place the chassis next to the robot 3 Using a 5 mm hex wrench connect the ground wire to the chassis 4 Reconnect the cables you removed from their connectors on the ePMAI board and engage the securing latches a Connect the white amplifier cable to the amplifier connector located on the
98. olt at the top of the inner link See Figure 2 1 Take up any slack but do not lift the robot at this time Adept eCobra Robot User s Guide Rev A Page 22 of 148 Chapter 2 Robot Installation WARNING Do not attempt to lift the robot at any points other than the eyebolt provided Do not attempt to extend the inner or outer links of the robot until the robot has been secured in position Failure to comply could result in the robot falling and causing either personnel injury or equipment damage 4 Remove the four bolts securing the robot base to the pallet Retain these bolts for possible later relocation of the equipment 5 Lift the robot and position it directly over the mounting surface 6 Slowly lower the robot while aligning the base and the tapped holes in the mounting surface NOTE The base casting of the robot is aluminum and can easily be dented if bumped against a harder surface 7 Verify that the robot is mounted squarely cannot rock back and forth before tightening the mounting bolts 8 Install the user supplied mounting bolts and washers Tighten bolts to the torque specified in the following table WARNING The center of mass of the robot may cause the robot to fall over if the robot is not secured with the mounting bolts NOTE Check the tightness of the mounting bolts one week after initial installation and then recheck every 6 months See Maintenance on page 73 for periodic maintenance Table 2
99. om the robot AC input connector Using a 5 mm hex wrench carefully unscrew the eAIB chassis securing screw See Figure 5 2 Note that the screw does not need to be completely removed in order to remove the chassis as this screw is captured on the chassis heat sink While holding the chassis heat sink carefully and slowly lower the chassis down see Figure 5 3 This provides access to the battery pack as shown in the following figure Adept eCobra Robot User s Guide Rev A Page 89 of 148 10 11 12 13 14 15 16 Chapter 5 Maintenance Encoder Battery Pack Figure 5 10 Location of Encoder Battery Pack The battery cable assembly has two sets of connectors Locate the secondary unused battery cable in the wire bundle in the base area Place the new battery pack next to the original one but do not disconnect the original one Connect the new battery pack to the connectors on the secondary battery cable Make sure to verify the positive and negative connections are correct Once the new battery pack is connected disconnect and remove the original battery pack NOTE Dispose of the battery pack in accordance with all local and national environmental regulations regarding electronic components Place the new battery pack in the original location on the base of the robot Close the robot by reversing the steps in the beginning of this procedure Reconnect the 200 240 VAC supply cable to the robot AC input con
100. ome circumstances you may want to manually position Joint 3 on the Z Axis without turning on high power For such instances a Z Brake Release button is located above the robot status panel as shown in Figure 4 2 When system power is on pressing this button releases the brake which allows movement of Joint 3 NOTE 24 Volt robot power must be on to release the brake If this button is pressed while high power is on high power will automatically shut off WARNING 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 To prevent possible damage to the equipment make sure that Joint 3 is supported while releasing the brake and verify that the end effector or other installed tooling is clear of all obstructions Remote Brake Release Feature You can also configure the XIO Input 6 2 pin 18 to act as an alternate hardware brake release input The setting is available on the Robot page in the Adept ACE software The parameter is Remote Brake Release Input When enabled True activating XIO Input 6 2 is identical to pressing the brake button on the status display The input status will still reflect in the IO register Adept eCobra Robot User s Guide Rev A Page 57 of 148 Chapter 4 System Operation 4 4 Front Panel Manual Auto Mode Mode N Ee T L J Dx o 0 adept
101. osure from any direction shall have no harmful effects NOTE The IP 65 Option is available only for the eCobra 800 and eCobra 800 Inverted robots Figure 8 1 Adept eCobra 800 Robot IP 65 Version Adept eCobra Robot User s Guide Rev A Page 131 of 148 Chapter 8 IP 65 Option 8 2 Installing Cable Seal Assembly Cable Seal Identification The cable seal assembly 04813 000 must be mounted on the back of the robot during the robot installation process The cable seal assembly is shipped separately from the robot See the following figure to identify the cable seal parts Cable Seal Flange Upper Cable Seal Flange Lower Splash Guard 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 M4 x 50 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 Adept eCobra Robot User s Guide Rev A Page 132 of 148 Chapter 8 IP 65 Option 3 Attach all system cables to the robot See Figure 3 1 4 Install the lower cable seal flange onto the housing The lower flange fits into the groove at the bottom of the housing a Tilt the flange away from the robot as you install it see Figure 8 4 b Then pull up
102. out Cable For information see XIO Breakout Cable on page 66 This cable is not compatible with the XIO Termination Block e XIO Termination Block with terminals for user wiring plus input and output status LEDs Connects to the XIO connector with 6 foot cable See the Adept XIO Termination Block Installation Guide for details Adept eCobra Robot User s Guide Rev A Page 59 of 148 Chapter 4 System Operation Default Digital I O Signal Configuration eCobra Robot 9 0 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 Optional l ac pY spios 00s o djs Je c 5 e Optional Dico zT mm SmartController EX I ggg ES Eo send XIO Connector XDIO Connector 12 Input signals 1097 to 1108 12 Input signals 1001 to 1012 8 Output signals 0097 to 0104 8 Output signals 0001 to 0008 Figure 4 4 Connecting Digital I O to the System Table 4 4 Defaul
103. pply to the system before restarting the robot 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 In addition the robot must be inspected periodically to make sure these requirements are being met as part of a periodic maintenance program Sealing the Tool Flange The tool flange must be sealed so that the robot shell can be positively pressurized The positive pressure reinforces the sealing properties of the gaskets and seals provided in the IP 65 robot The tool flange for the IP 65 robot has an additional protective shield on the outer edge that is not present on the standard robot tool flange See eCobra 800 IP 65 Tool Flange on page 137 for the side view dimensions The bottom face of the flange mounting surface is the same as the standard flange so the dimensions in Figure 7 6 are correct Adept eCobra Robot User s Guide Rev A Page 136 of 148 Chapter 8 IP 65 Option Figure 8 10 eCobra 800 IP 65 Tool Flange Pressurizing the Robot The user must supply compressed air to keep a positive airflow pressure in the robot cavity 1 Remove the red shipping
104. provides external two channel E Stop input on pin pairs 1 14 and 2 15 The XFP connector provides two channel E Stop input on pin pairs 1 9 and 2 10 NOTE These pins must be shorted if not used Both channels must open independently if used Although an Emergency Stop will occur the controller will flag an error state if one channel is jumpered closed and the other channel is opened It will also flag an error state if the channels are shorted together User E Stop Indication Contacts Remote Sensing of E Stop These contacts provide a method to indicate the status of the ESTOP chain inclusive of the Front Panel Emergency Stop push button the pendant Emergency Stop push button and the User Emergency Stop Contacts Adept eCobra Robot User s Guide Rev A Page 50 of 148 Chapter 3 System Installation NOTE These contacts do not indicate the status of any connections below the User E Stop contacts Thus they will NOT indicate the status of the Line E Stop MCP ENABLE or the Muted Safety gate If you have a specific need in this area contact Adept Customer Service for information on alternate indicating modes Two pairs of pins on the XUSR connector pins 7 20 and 8 21 provide voltage free contacts one for each channel to indicate whether the E Stop chain as described above on that channel is closed Both switches are closed on each of the redundant circuits in normal operation no E Stop The user may use these contacts to
105. r high power on off would be placed in parallel with the Adept Front Panel push button contact This second contact should be suppressed when in Manual mode see the note on Single Point of Control below This method allows relocating the push button switch to a more convenient location Implementation of this method must conform to EN standard recommendations NOTE European standards require that the remote High Power push button be located outside of the workspace of the robot Pins 6 14 and 5 13 of the XFP connector provide this remote capability Pins 5 13 provide power for the lamp 5 VDC and ground respectively Pins 6 14 are inputs for voltage free normally open contacts from a user supplied momentary push button switch WARNING To fulfill the Single Point of Control requirement do not place the Manual Automatic and High Power On controls in multiple locations After putting the robot into Manual mode the operator should remove the key for safety purposes The system should not be wired so that a PLC or another operator can put the system back into Automatic mode High Power On Off Lamp The Front Panel High Power On Off Lamp P N 27400 29006 will cause an error from eV if the lamp burns out This error prevents High Power from being turned on This safety feature prevents a user from not realizing that High Power is enabled because the High Power indicator is burned out See Changing the Lamp in the Front P
106. r supplied equipment or transient suppressor shall be capable of absorbing the energy in the transient In the industrial environment nonperiodic overvoltage peaks may appear on mains power supply lines as a result of power interruptions to high energy equipment such as a blown fuse on one branch in a 3 phase system This will cause high current pulses at relatively low voltage levels The user shall take the necessary steps to prevent damage to the robot system such as by interposing a transformer See IEC 1131 4 for additional information Adept eCobra Robot User s Guide Rev A Page 41 of 148 Chapter 3 System Installation AC Power Diagrams Note F1 is user supplied must be slow blow 10 200 240 VAC TIR 20A User Supplied AC Power Cable L Line N Neutral E Earth Ground Adept eCobra Robots 1 200 240 VAC Figure 3 4 Typical AC Power Installation with Single Phase Supply Note F4 and F5 are user supplied must be slow blow F510A 200 240 VAC 30 200 240 VAC User Supplied AC Power Cable de uos Adept eCobra Robots E Earth Ground 19 2007249 VAG Figure 3 5 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 Connections called out as single phase can be wired Line to Neutral or Line to Line AC Mating Connector
107. re Figure 3 1 System Cable Diagram for Adept eCobra Robots Pendant and Vision Shown Adept eCobra Robot User s Guide Rev A Page 29 of 148 Chapter 3 System Installation The pendant is an option and may not be present in your system The figure includes the optional T20 pendant and optional SmartVision MX industrial PC NOTE For additional system grounding information see Connecting 24 VDC Cable on page 39 List of Cables and Parts Open the Accessory box and locate the eAIB XSYSTEM cable Connect the cables and peripherals as shown in the preceding figure Parts and steps are covered in the following two tables eABXSISTEN cable Assembly fis tme c Heres H Go Torsas meos pon 24 VDC 6 A Power Supply 04536 000 90565 010 or user supplied option Ethernet Cable PC gt PLC user supplied Only while programming PLC Ethernet Cable switch gt eAIB user supplied Ethernet Cable switch gt user supplied R SmartVision MX option Ethernet switch cable for SmartVision MX user supplied The XUSR XMCP and XFP jumpers intentionally bypass safety connections so you can test the system functionality during setup n a n a n a n a n a Adept eCobra Robot User s Guide Rev A Page 30 of 148 Chapter 3 System Installation WARNING Under no circumstances should you run an Adept system in production mode with all three jumpers installed This would leave the system with no E Stops
108. red trademarks of Adept Technology Inc Brain on Board is a registered trademark of Adept Technology Inc in Germany Adept ACE Adept eAIB Adept eCobra 600 Adept eCobra 800 Adept eCobra 800 Inverted Adept SmartController EX Adept T20 eV and V are trademarks of Adept Technology Inc Any trademarks from other companies used in this publication are the property of those respective companies Created in the United States of America Table of Contents Chapter 1 Introduction oos 11 1 1 a as 95522232 9 RES 22 2 o nain OER u cic Raa ARO EA Lo LRH RR irre e ate 11 eCobra Robot Models 5 caaea e a 12 eAIB Amplifiers in Base a 25202 2 sarc ce ori rd 13 1 2 eCobra Robot Features and Options 1 dir arena 14 SmartController EX atico tit dt ts 15 SDIOM Mod le re sd od asis 15 IO BION MERE 15 Smart Vision MX Lesert tera ip R aZ eee ee ale a I gi c eee a ae ees be dele Re 15 T20 Pendant M a ii ada 15 13 Dangers Warnings Cautions and Notes 15 ao T 16 1 5 What to Do in an Emergency Situation sn da 16 1 6 Additional Safety information iii i ite erroe cea desacdcsaibecc 16 Manufacturer s Declaration of Conformity MDOC ee 17 Adept Robot Safety Guide 2 oeil peelieokcepe p cue Pr et ee ead es Se et eS bel ec ee 17 1 7 Intended Use of the Robots Me 17 1 8 Manufacturer s Declaration 17 19 How Can Get Help ui nl mew ede a ew ote es 17 Related Manuals EEUU 18 Adept Document Library ee ones 1
109. rict maximum speed to factory specifications e Teach Restrict Verification This verifies that the hardware Teach Restrict is functioning correctly The initial utility screen will tell you which functions are commissioned If a function is not commissioned its verification wizard will not be displayed Any displayed verification wizard can be run at any time to ensure that its function is working properly Prerequisites e The robot must be set up and functional The robot must use eAIB amplifiers e Adept ACE software must be installed The Front Panel keyswitch must be in Auto mode Keyswitch in Auto mode Figure 5 6 Adept Front Panel s No E Stops can be activated e For Configuration E Stop and Teach Restrict the eAIB Commissioning Jumper must be plugged into the XBELTIO jack on the eAIB NOTE This is the only time that this jumper will be used It is part number 11901 000 and must be removed for Verification and normal operation Adept eCobra Robot User s Guide Rev A Page 82 of 148 Chapter 5 Maintenance Figure 5 7 eAIB Commissioning Jumper e An Adept pendant is required for the Teach Restrict verification 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
110. ront Panel Jumper Plug standard SmartController EX XMCP Jumper Plug standard SmartController EX H T20 Bypass Plug standard T20 T20 Adapter Cable standard T20 The following three items are available as an option in the Adept power supply cable kit 90565 010 AC Power Cable user supplied option 24 VDC Power Cable user supplied option 24 VDC 6 A Power Supply user supplied option D Ethernet Cable PC user supplied SmartController Ethernet Cable PC user supplied option SmartVision MX A E G Adept eCobra Robot User s Guide Rev A Page 34 of 148 Chapter 3 System Installation Camera and cable user supplied option The XUSR XMCP and XFP jumpers intentionally bypass safety connections so you can test the system functionality during setup WARNING Under no circumstances should you run an Adept system in production mode with all three jumpers installed This would leave the system with no E Stops Cable Installation Overview Connect eAIB XSYS cable to XSYSTEM on eAIB Connect a user E Stop or Muted Safety Gate to the XUSR connector or verify XUSR jumper plug is installed in XUSR connector Connect Front Panel cable to Front Panel and XFP connector or if no Front Panel install FP jumper on XFP connector 4 Connect Pendant adapter cable to XMCP connector or if no Pendant install XMCP jumper or bypass plug 5 Connect user supplied ground to robot See robot user s guide for location E 5a
111. rtController EX ENET Two Ethernet ports are available One will be needed to connect to a PC running Adept ACE software or a user supplied PLC Adept eCobra Robot User s Guide Rev A Page 28 of 148 Chapter 3 System Installation NOTE This chapter does not cover I O Refer to Connecting Digital I O to the System on page 59 3 1 System Cables eAIB Only no SmartController EX The letters in the following figure correspond to the letters in the table of cables and parts The numbers correspond to the steps in the cable installation overview table The tables are on the pages following the figure XUSR for User E Stop Safety Gate Muted Safety Gate The Jumper Plug is required neither of these is used o e Front Panel either Front Panel or c User Supplied FP plug must be used FP Jumper Plug Ground Wire gn unuumm t ja sce Jg eal T20 Bypass Plug XMCP Jumper Plug Either T20 Pendant T20 Bypass Plug or XMCP Jumper Plug must be used T20 Pendant option 24 VDC 6A 85 264 VAC Power Supply Universal Input Adept SmartVision MX option N DC Power Ba Zu eee 1 Cable 2 mm BIG p AC Power Cable 200 240 VAC 10A Camera single phase option Ethernet Ethernet to eAIB from PC User supplied User supplied User Supplied PC PLC not for Lite Switch running Adept ACE Softwa
112. rtical grooves Vertical Groove and the spiral groove Lube Point C Section A A Figure 5 1 Lubrication of Joint 3 Quill Adept eCobra Robot User s Guide Rev A Page 77 of 148 Chapter 5 Maintenance 5 7 Replacing the eAIB Chassis CAUTION Follow appropriate ESD procedures during the removal replacement phases Removing the eAIB Chassis 1 2 3 9 Switch off the 24 VDC input supply to the chassis Switch off the 200 240 VAC input supply to the chassis Switch off the optional SmartController EX if you are using one Disconnect the 24 VDC supply cable from the chassis 24 VDC input connector For the connector location see Figure 2 6 Disconnect the 200 240 VAC supply cable from the chassis AC Input connector Disconnect the eAIB XSYSTEM cable from the chassis XSYSTEM connector Disconnect any other cables which may be connected to the chassis such as XIO RS 232 1394 or any others Using a 5 mm hex wrench carefully unscrew the chassis securing screw which is shown in the following figure Note that the screw does not need to be completely removed in order to remove the chassis as this screw is captured on the chassis heat sink Figure 5 2 Securing Screw on eAIB Chassis While holding the chassis heat sink carefully and slowly lower the chassis down see the following figure so that enough access is available to remove the internal cables The chassis can be laid flat or placed to the right side
113. s 2 2 2 022 ccs0 oc gt nre oao e y UP e rre RE a rod eR Rc e 112 Chapter 7 Technical Specifications 119 71 Dimension Drawings sese eee eee eee 119 7 2 Robot Specifications A 1111011 riir rarr rnrn 128 Chapter 8 IP 65 Option 131 8 1 eCobra 800 Robots IP 65 Classification 22 20 0020 suse eene 131 8 2 Installing Cable Seal Assembly 132 Cable Seal Identification ccc c cc c c c c c c c e c ce K eK eee eee 132 Installation Procedure xc co etc tt gate cea kee cndese it ncn 132 8 3 Robot Outer Link Cover Removal and Reinstallation 00 20 00 22022 2 22222 134 Cover Removal Procedure ni ti dis 134 Cover Reinstallation Procedure oc 136 8 4 Customer Requirements MM A AS A RT 136 Sealing the Tool Flange ese eee 136 Pressurizing the Robot sa ac aa 90 2 2 ZK e e E Ear E aT aaas 137 80 User nni ME 138 Adept eCobra Robot User s Guide Rev A Page 8 of 148 Table of Contents User Electrical and DeviceNet e ened 138 User Air Lines mesi aaas aaa aa aaa R RR RA RRR icd da di RR RR RRR RRR RA RAR RRR 140 Robot Solenoid Option e 140 9 6 Maintenance e a E aa rir ere pee ibi 140 IP 65 Bellows Replacement e nn nro 140 8 7 Dimension Drawing for Cable Seal Assembly 2 2 2 202220e2cee cece eeeeeeeeees 142 Chapter 9 Cleanroom Robots 143 Cleanroom Specifications sses 2 22 ZA TET X eae eee el LA as 143 9 T CORA CHONS to Seats 144 92 REQUITEMENtS wx coe E Babee See heed Wee ide Be eee ee Eee ee
114. s Do not wire the gate switch into the muted safety gate inputs Remote Manual Mode The Front Panel provides for a Manual Mode circuit See Remote High Power On Off Control on page 52 for further details about the customer Remote Manual Mode circuitry The Adept Front Panel or the user supplied panel must be incorporated into the robot workcell to provide a Single Point of Control the pendant when the controller is placed in Manual mode Certain workcell devices such as PLCs or conveyors may need to be turned off when the operating mode switch is set to Manual mode This is to ensure that the robot controller does not receive commands from devices other than from the pendant the single point of control If the user needs to control the Manual Automatic mode selection from other control equipment then a custom splitter cable or complete replacement of the Adept Front Panel may be required See Front Panel Schematic on page 50 In this situation a pair of contacts should be wired in series with the Adept Front Panel Manual Automatic mode contacts Thus both the Adept Front Panel and the customer contacts need to be closed to allow Automatic mode WARNING Do not wire user supplied Manual Automatic contacts in parallel with the Adept Front Panel switch contact This would violate the Single Point of Control principle and might allow Automatic high speed mode to be selected while an operator is in the cell User Manual
115. ser supplied PC running the Adept ACE software Adept eCobra robots can optionally be used with an Adept SmartController EX motion controller if more features and connectivity are needed An Adept SmartVision MX industrial PC can be added for more vision support The eCobra Standard and eCobra Pro robots can be used with a user supplied PLC Adept eCobra Robot User s Guide Rev A Page 12 of 148 Chapter 1 Introduction eAIB Amplifiers in Base eCobra robots use an Adept eAIB amplifier The robots are programmed and controlled using the eAIB The amplifiers and full servo control for the Adept eCobra robots are contained in the eAIB which is embedded in the base of the robot The eAIB also provides the platform for running Adept s eV OS and language Adept eAIB Features On board digital I O Low EMI for use with noise sensitive equipment No external fan for quiet robot operation 8 kHz servo rate to deliver low positional errors and superior path following Sine wave commutation to lower cogging torque and improve path following Digital feed forward design to maximize efficiency torque and velocity Temperature sensors on all amplifiers and motors for maximum reliability and easy troubleshooting Hardware based E Stop and Teach Restrict controls For improved safety relative to European standards implemented in 2012 The eAIB fits all eCobra robots Adept eAIB on Adept eCobra 600 robot R Figure 1 3 eAIB
116. side of the inner link a second is on the top side of the outer link and a third is on the bottom side of the outer link Each location has a set of four tapped holes See Figure 7 7 and Figure 7 8 for the dimensions NOTE The cover on the outer link must be removed for maintenance lubrication so keep this in mind when mounting any external equipment to the outer link cover For information on mounting cameras on the robot see Installing the Camera Bracket Kit on page 107 6 6 Installing the Robot Solenoid Kit This procedure describes how to mount the 24 V Robot Solenoid option on Adept eCobra robots The kit is available as Adept P N 02853 000 The robot has been pre wired to accommodate a bank of two 24 VDC solenoid valves Power for the internal mounting is accessible via a connector mounted inside the outer link cover See Figure 6 10 The signals actuating the valves are directly switchable from the Adept ACE software using software signals 3001 and 3002 Adept eCobra Robot User s Guide Rev A Page 101 of 148 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 C e Senes Controller 67 81 Cobea800 Pro PU e Series Controller 67 Grigper R1 Cobra800 Pro 10 True No Selection as 1 Je Series Controller 67 R1 Cobra800 Pro false 1 Selected Index The currently selected end effector tip
117. st modify the softstop locations using the Adept ACE software 1 From Adept ACE select the robot in the tree structure pane 2 Open the robot editor Adept eCobra Robot User s Guide Rev A Page 109 of 148 Chapter 6 Optional Equipment Installation E e Series Controller 67 e Series Controller 67 e Series Controller 67 R1 Cobra800 Pro Object Configure Control isi True Configuration Enabled True Robot Number 1 gt Joints 4 item collection gt Motors 4 item collection Default Hand Open Signal 3001 Default Hand Close Signal 3002 Break away E stop Enable False Enable Brake Release Input False Control Configuration Pro Controller e Series Controller 67 e Series Controller 67 Inverted False gt Motion Specifications gt Timing Specifications End Effector Selected End Effector Location Offset From Parent Parent e Series Controller 67 Gripper R1 Cobra800 Pro 0 000 0 000 0 000 0 000 0 000 0 000 Figure 6 16 Robot Editor with Joints Collapsed Note that Joint 1 of the robot is Element 0 3 Click the in front of Joints to display all of the joints e Series Controller 67 e Series Controller 67 0 e Series Controller 67 R1 Cobra800 Pro Object Configure Control 4 3D Visualization Visible True 4 Configuration Enabled True Robot Number 1 gt al Shoulder gt 2 Elbow gt Bl Z gt 4 Wrist gt Motors 4 item collection Default Hand Open Signal 3001 De
118. t User s Guide Rev A Page 24 of 148 Chapter 2 Robot Installation Lot 0 01009322 tem a Units in mm Figure 2 4 Robot in Folded Position WARNING Do not attempt to extend the inner or outer links of the robot until the robot has been secured in position Failure to comply could result in the robot falling and causing either personnel injury or equipment damage Using the dimensions shown in Figure 2 3 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 mounting hardware is user supplied If you are using dowel pins for locating the robot insert those in the mounting surface Remove the four screws on top of the wooden robot base protection box See Figure 2 5 e Remove the robot base protection box e Retain the four screws and box for possible later relocation of the equipment Adept eCobra Robot User s Guide Rev A Page 25 of 148 Chapter 2 Robot Installation Place pallet jack underneath Place forklift here the pallet Figure 2 5 eCobra 800 Inverted Robot on a Transportation Pallet 4 While the robot is still bolted to the transportation pallet use a forklift or other mechanical lifting device to lift the robot and position it directly under the mounting surface Make sure that one person watches the robot carefully as it is lifted and transported to ensure it does slip or become unb
119. t Digital I O Signal Configuration Single Robot System ena me ser eee Controller XDIO connector Outputs 0001 0008 sDIO Module 2 1065 1096 Robot 1 XIO connector 1097 1108 On eAIB panel 0097 0104 Adept eCobra Robot User s Guide Rev A Page 60 of 148 Chapter 4 System Operation IO Blox 1 Inputs 1113 1120 Outputs 0105 0112 IO Blox 2 Inputs 1121 1128 Outputs 0113 0120 IO Blox 3 Inputs ee 10 Blox 4 Inputs E For Dual Robot systems see Adept Dual Robot Configuration Procedure eAIB XIO Connector Signals 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 eV to perform various functions in the workcell See the following table for the XIO signal designations s 12 Inputs signals 1097 to 1108 s 8 Outputs signals 0097 to 0104 Table 4 5 XIO Signal Designations be are ani Kamien wc aw Adept eCobra Robot User s Guide Rev A Page 61 of 148 Chapter 4 System Operation ASES 1104 is 1105 iE 1106 ms 1107 is 1108 B 0097 0098 0099 0100 0101 0102 0103 0104 _ yPin 1 Voooooooooc XIO Input Signals The 12 input channels are arranged in two banks of six Each bank is electrically isolated from the other bank and is optically isolated from the robot s ground The six inputs within each bank share a common source sink line The inputs are accessed through direct connectio
120. t Working Envelope Adept eCobra Robot User s Guide Rev A Page 126 of 148 Chapter 7 Technical Specifications Max Radial Reach Functional Area Max Intrusion R 800 0 mm AR Contact Radius 81 50 in 1 R 847 3 mm 33 36 in 338 0 mm 3 31 in 387 6 mm 15 26 in Minimum Radial Reach Cartesian R 167 0 mm Limits 6 58 in 314 0 mm 12 36 in Figure 7 13 Adept eCobra 800 Inverted Robot Working Envelope Max Radial Reach l Functional Area HER leales R 800 mm ontact Radius 31 50 in ut SESS R 852 12 mm 93 548 in NN 123 5 a Minimum Radial reach y R 179 90 mm 7 083 in 155 0 v bn 7 R 375 A L Cartesian Limits 824mm 12 76 in Figure 7 14 Adept eCobra 800 Inverted IP 65 Working Envelope Adept eCobra Robot User s Guide Rev A Page 127 of 148 Chapter 7 Technical Specifications 7 2 Robot Specifications Table 7 1 Adept eCobra Robot Specifications Description eCobra 600 Robot Payload rated 2 0 kg 4 4 Ib Moment of Inertia Joint 4 450 kg cm Joint 4 450 kg cm 150 Ib in max 150 Ib ir max I l Downward Push Force 343 N 77 lb maximum 298 N 67 lb maximum Burst no load Lateral Side Push Force 178 N 40 Ib maximum 133 N 30
121. tions 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 Adept eCobra Robot User s Guide Rev A Page 37 of 148 Chapter 3 System Installation Table 3 2 Recommended 24 VDC Power Supplies XP Power JPM160PS24 24 VDC 67 A 160 W Astrodyne SP 150 24 24 VDC 63 A 150 W Mean Well SP 150 24 24 VDC 63 A 150 W 24 VDC Mating Connector The 24 VDC mating connector and two pins are supplied with each system They are shipped in the cable accessories box Table 3 3 24 VDC Mating Connector Specs Molex Saber 18 A 2 Pin Pin Details Molex connector crimp terminal female 14 18 AWG Molex P N 43375 0001 Digi Key P N WM18493 ND Recommended crimping tool Molex Hand Molex P N 63811 0400 Crimpers a Digi Key P N WM9907 ND NOTE The 24 VDC cable is not supplied with the system but is available in the optional Power Cable kit See Chapter 3 Creating 24 VDC Cable 1 Locate the connector and pins shown in Table 3 3 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 3 Crimp the pins onto the wires using the crimping tool 4 Insert the pins into the connector Confirm that the 24 V and 24 V return wires are in Adept eCobra Robot User s Guide Rev A Page 38 of 148 Chapter 3 Syste
122. top function at the end of the arm See the following table The function is disabled by default when the system is shipped The user must enable this function using the Adept ACE software see below and connect a normally closed circuit to Pins 1 and 2 When the circuit is opened the system will stop in an E Stop condition See the following table and figure Adept eCobra Robot User s Guide Rev A Page 99 of 148 Chapter 6 Optional Equipment Installation Table 6 5 ESTOP Connector 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 Pin 1 Can be connected to a break away sensor to cause an E Stop condition when circuit is open pina Note This function is disabled by default it must be enabled in software Figure 6 7 Internal E Stop Connector Circuit NOTE This circuit will trigger an emergency stop of the local robot only It does not link to the E Stop chain of the host eAIB or the optional SmartController EX EX if you are using one Procedure to Enable the Break away E Stop Function To enable the Break away E Stop function you have to use the Adept ACE software to change the default configuration To change the Break away E Stop parameter from the Adept ACE software 1 Double click the robot in the structure pane This w
123. uld be reported to the outside on the local user E Stop indication output contact while the Line E Stop inputs will not Muted Safety Gate E Stop Circuitry Two pairs of pins on the XUSR connector pins 5 18 and 6 19 provide connections for a safety gate designed to yield an E Stop allowing access to the workspace of the robot in Manual mode only not in Automatic mode It is up to the customer to determine if teaching the robot in Manual Mode by a skilled programmer See Qualification of Personnel in the Adept Robot Safety Guide wearing safety equipment and carrying an Adept pendant is allowable under local regulations The E Stop is said to be muted in Manual mode for the customer E Stop circuitry see the figures and tables at the beginning of the section System Installation on page 29 The muted capability is useful for a situation where a shutdown must occur if the cell gate is opened in Automatic mode but you need to open the gate in Manual mode If the mute gate is opened in Automatic mode the robot defaults to Manual mode operation when power is re enabled In muted mode the gate can be left open for personnel to work in the robot cell However safety is maintained because of the speed restriction Adept eCobra Robot User s Guide Rev A Page 51 of 148 Chapter 3 System Installation CAUTION If you want the cell gate to always cause a robot shutdown wire the gate switch contacts in series with the user E Stop input
124. utton must be pressed while blinking default time out is 10 seconds If the button stops blinking you must enable power again 5 Emergency Stop Switch The E Stop is a dual channel passive E Stop that supports Category 3 CE safety requirements Pressing this button turns off high power to the robot motors NOTE The Front Panel must be installed to be able to Enable Power to the robot To operate without a Front Panel the user must supply the equivalent circuits 4 5 Connecting Digital I O to the System You can connect digital I O to the system in several different ways See the following table and figure ETS 4 3 ae I O Connection TT Product 1 0 1 0 Capacity For more For more details XIO Connector on robot 12 inputs see eAIB XIO Connector 8 outputs Signals on page 61 Optional IO Blox Device 8 inputs 8 outputs per device see Adept IO Blox User s connects to robot up to eight IO Blox devices per Guide Not available wit Not available with robot eCobra Lite The following I O connector and module require the optional SmartController EX motion controller XDIO Connector on 12 inputs Adept SmartController EX SmartController EX 8 outputs User s Guide Optional sDIO Module 32 inputs 32 outputs per Adept SmartController EX connects to a module up to 16 sDIO units per User s Guide SmartController system Optional I O Products These optional products are also available for use with digital I O s XIO Break
125. vide a high vacuum in the outer link and bellows area An additional high flow rate vacuum source is required to evacuate in the inner link and base Figure 9 1 Adept eCobra 600 Cleanroom Robot Cleanroom Specifications Table 9 1 Adept eCobra Cleanroom Robot Specifications Robot Performance Specification See Robot Specifications on page 128 Ambient Temperature Specification 5 to 35 C 41 to 95 F Adept eCobra Robot User s Guide Rev A Page 143 of 148 Chapter 9 Cleanroom Robots 9 1 Connections Compressed Air Inlet Port 3 8 Inch NPT Female Fitting High Flow Low Vacuum Port 3 4 Inch NPT Female Fitting Figure 9 2 Cleanroom Connections 9 2 Requirements Table 9 2 Cleanroom Robot Requirements Vacuum 0 80 m min 28 ft min minimum volumetric flow rate source 6 mm 0 2 in 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 Clean dry oil free compressed air air source 75 psi 0 52 MPa 1 4 SCFM 04 m min flow rate 3 8 inch NPT female thread pipe fitting at the back of the robot flow regulator not supplied Quill inside The inside diameter of the quill must be plugged by the user s end effector in diameter order for sufficient vacuum to develop in the outer link 9 3 Exclusions and Incompatibilities Table 9 3 Internally Mounted Hand Valves Installation The interna
126. ware Additionally you can access information sources on Adept s corporate website http www adept com Adept eCobra Robot User s Guide Rev A Page 17 of 148 Chapter 1 Introduction s For Contact information http www adept com contact americas e For Product Support information http www adept com support service and support main e For user discussions support and programming examples http www adept com forum Related Manuals This manual covers the installation operation and maintenance of an Adept eCobra robot system For additional manuals covering programming the system reconfiguring installed components and adding optional components see the following table Table 1 1 Related Manuals Adept Robot Safety Guide Contains safety information for Adept robots Adept ACE User s Guide Instruction for the use of the Adept ACE software Adept SmartController EX Instructions for use of the optional Adept SmartController User s Guide EX motion controller Adept SmartVision MX User s Instructions for use of the optional Adept SmartVision MX Guide industrial PC Adept IO Blox User s Guide Describes the IO Blox product Adept Dual Robot Contains cable diagrams and configuration procedures for a Configuration Procedure dual robot system Adept T20 Pendant User s Describes the use of the optional Adept T20 manual control Guide pendant Adept Document Library The Adept Document Library ADL contains docum

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