Adept technology Adept RS-232/TERM Podręcznik Użytkownika

Adept Cobras600/s800 RobotUser's Guide

Chapter 1: IntroductionJoint 1Inner LinkOuter LinkJoint 2Joint 4Joint 3Figure 1-2. Robot Joint MotionsAIB™, eAIB™ (Amplifiers in Base)The amplifiers f

Chapter 7: Technical SpecificationsRequired clearance to open eAIB/AIBChassis31Required cable clearance 417183200918894398342188046378004250234Figure

Chapter 7: Technical Specifications2X M4x0.7-6H +.10-.03 102X M4x0.7-6H 610453.0457 to base of robot2X54 10All dimensions in mmFigure 7-3. Dimensio

Chapter 7: Technical SpecificationsUnits in mm4X M6 x 1- 6H ThruUser GroundSee Detail ADetail A6.80 mm(0.268 in.)1.5 mm(0.059 in.)4.14 mm(0.163 in.)1

Chapter 7: Technical Specifications251054X M4x0.7 - 6H 8601054X M4x0.7 - 6H 6Inner LinkExternal Mounting LocationsOuter LinkExternal Mounting

Chapter 7: Technical SpecificationsFigure 7-7. Adept Cobra s600 Robot Working EnvelopeMaximum Radial ReachFunctional Area800 mm (31.50 in.)Maximum Int

Chapter 7: Technical Specifications7.2 Cobra s600/s800 Robot Internal E-STOP ConnectionsCobra s600/s800Internal ConnectionsSmartControllerConnectionsF

Chapter 7: Technical SpecificationsXSYSPin #XSYSTEMPin #Description Comment Pin Location8 N/C9 16ESTOP_SRC E-Stop System +24 VShell ShellSHIELD7.4 XSL

Chapter 7: Technical SpecificationsDescription s600 Robot s800 RobotAdept Cycle—Sustained (no J4 rotation)0 kg 0.42 sec at 20° C0.48 sec at 40° C0.48

Chapter 7: Technical SpecificationsDescription s600 Robot s800 RobotDeviceNet pass-through One availableWeight (without options) 41 kg (90 lb) 43 kg (

Adept Cobra s600/s800 Robot, User’s Guide, Rev LPage 109 of 126Chapter 8: IP-65 Option8.1 Cobra s800 IP-65 ClassificationThe factory installed IP-65 o

Chapter 1: IntroductionFigure 1-3. Amplifier on Robot, AIB, s600 ShownAdept SmartController™The SmartController is the foundation of Adept’s family of

Chapter 8: IP-65 OptionCable Seal HousingFigure 8-2. Cable Seal PartsInstallation Procedure1.Disassemble the cable seal assembly into separate pieces

Chapter 8: IP-65 Optionc.Finally push down on the flange to secure it against the housing. See Figure 8-5for the lower flange in the installed positio

Chapter 8: IP-65 Optionfollow the procedures below.Cover Removal Procedure1.Turn off main power to the controller and power chassis.2.Turn off the air

Chapter 8: IP-65 OptionFigure 8-9. IP-65 Robot with Outer Link Cover RemovedCover Reinstallation Procedure1.Check the cover O-ring around the inner gr

Chapter 8: IP-65 Option8.4 Customer RequirementsThe IP-65 robot provides most of the hardware needed to achieve an IP-65 protection level, butcustomer

Chapter 8: IP-65 Option1.Remove the red shipping plug from the compressed air fitting on the top of the robot.See the following figure.Figure 8-11. Co

Chapter 8: IP-65 OptionNOTE:The user electrical connector (DB-25) and the IO Blox connector (DB-9) onthe back of the Joint 1 cover require a gel seal

Chapter 8: IP-65 OptionWhen routing air lines outside of the robot, any fittings you use must maintain an adequateseal in the cover to prevent moistur

Chapter 8: IP-65 OptionFigure 8-14. Bellows ReplacementNOTE: Align the bellows clamps with thebellows seam, on both upper and lowerclamps.Bellows Seam

Chapter 8: IP-65 Option8.7 Dimension Drawing for Cable Seal AssemblyRequiredclearanceto open AIBcontrollerwith the IP-65connectorCable sealing box onI

Chapter 1: IntroductionFigure 1-4. Adept SmartController EX, CXsDIO™ ModuleThe sDIO module provides 32 optical isolated digital inputs and 32 optical

Adept Cobra s600/s800 Robot, User’s Guide, Rev LPage 121 of 126Chapter 9: Cleanroom RobotsThe Adept Cobra s600/s800 robots are available in Class 10 C

Chapter 9: Cleanroom Robots9.1 ConnectionsFigure 9-2. Cleanroom Connections9.2 RequirementsTable 9-2. Cleanroom Robot RequirementsVacuumsource0.80 m3/

Chapter 9: Cleanroom Robots9.4 Cleanroom MaintenanceBellows ReplacementCheck the bellows periodically for cracks, wear, or damage. Replace bellows (Ad

P/N: 03017-000, Rev L5960 Inglewood D rivePleasant on, C A 94588925·245·3400

Chapter 1: IntroductionCAUTION:This indicates a situation which, if notavoided, could result in damage to the equipment.NOTE:Notes provide supplemen

Chapter 1: IntroductionAdept Robot Safety GuideThe Adept Robot Safety Guide provides detailed information on safety for Adept robots. It alsogives res

Chapter 1: IntroductionTask to be Performed Reference Locationincluding end-effectors, user air and electrical lines,external equipment, solenoids, et

Chapter 1: IntroductionTable 1-2. Related ManualsManual Title DescriptionAdept Robot Safety Guide Contains safety information for Adept robots.Adept S

Adept Cobra s600/s800 Robot, User’s Guide, Rev LPage 17 of 126Chapter 2: Robot Installation2.1 Transport and StorageThis equipment must be shipped and

Chapter 2: Robot Installation2.2 Unpacking and Inspecting the Adept EquipmentBefore UnpackingCarefully inspect all shipping crates for evidence of dam

Chapter 2: Robot InstallationPollution degree 2Robot protection class IP 20 (NEMA Type 1)NOTE: For robot dimensions, see Dimension Drawings on page 99

Chapter 2: Robot InstallationRobot Mounting Procedure1.Using the dimensions shown in the previous figure, drill and tap the mounting surfacefor four M

Chapter 2: Robot Installation2.6 Description of Connectors on Robot Interface PanelFigure 2-3. Robot Interface Panels - AIB and eAIBThe following conn

Chapter 2: Robot Installation200/240 VAC—for connecting 200-240 VAC, single-phase, input power to the robot. Themating connector is provided.SmartServ

Adept Cobra s600/s800 Robot, User’s Guide, Rev LPage 23 of 126Chapter 3: System Installation3.1 System Cable DiagramGNDXSLV12SmartServoRS-232XPANELAC

Chapter 3: System Installation3.2 Cable and Parts ListTable 3-1. Cable and Parts ListPart Description NotesIEEE 1394 Cable, 4.5 M Standard cable—suppl

Chapter 3: System Installation3.4 Connecting User-Supplied PC to SmartControllerThe SmartController for Adept Cobra s600/s800 robots must be connected

Chapter 3: System InstallationlFor an eAIB system, locate the eAIB XSYS cable or eAIB XSLV Adapter cable, which canbe used with an existing XSYS cable

Chapter 3: System Installationsolenoids and digital I/O loads. If multiple robots are sharing a 24 V power supply, increasethe supply capacity by 3 A

Chapter 3: System InstallationNOTE:The 24 VDC cable is not supplied with the system, but is available in theoptional Power Cable kit. See Table 3-1.P

Chapter 3: System Installation–+24V, 8AFrame Ground24V, 5A–+User-SuppliedPower Supply24 VDCAdept Cobras600/s800 RobotUser-Supplied Shielded Power Cabl

Adept Cobras600/s800 RobotUser's GuideP/N: 03017-000, Rev LApril, 20135960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fa

Chapter 3: System InstallationSpecifications for AC PowerTable 3-5. Specifications for 200/240 VAC User-Supplied Power SupplyAuto-RangingNominalVoltag

Chapter 3: System InstallationFacility overvoltages ProtectionThe user must protect the robot from excessive overvoltages and voltage spikes. If the c

Chapter 3: System InstallationEENL3LL1L2F5 10AF4 10AAdept Cobra s600/s800 andi600/i800Robots1Ø 200–240VACUser-Supplied AC Power CableNote: F4 and F5 a

Chapter 3: System Installationfrom the user-supplied AC power source to the robot base.5.Strip approximately 18 to 24 mm insulation from each of the t

Chapter 3: System InstallationFigure 3-6. Ground Point on Robot BaseGrounding Robot-Mounted EquipmentThe following parts of an Adept Cobra s600/s800 r

Adept Cobra s600/s800 Robot, User’s Guide, Rev LPage 35 of 126Chapter 4: System Operation4.1 Robot Status LED DescriptionThe robot Status LED indicato

Chapter 4: System OperationThe displayed fault code will continue to be displayed even after the fault is corrected oradditional faults are recorded.

Chapter 4: System Operation4.3 BrakesThe robot has a braking system that decelerates the robot in an emergency condition, such aswhen the emergency st

Chapter 4: System OperationIf this button is pressed while high power is on, high power will automatically shut down.WARNING:Due to the effect of gra

Chapter 4: System Operationpower is a two-step process. An “Enable Power” request must be sent from the user-supplied PC, an executing program, or the

Copyright NoticeThe information contained herein is the property of Adept Technology, Inc., and shall not be reproducedin whole or in part without pri

Chapter 4: System OperationSFIEEE-1394X2SC-DIOLINK*S/N 3563-XXXXX*X124V 0.5AROKX4 - + - +1.1 1.2XDC1 XDC2X31 2 3RS-422/485XUSRX

Chapter 4: System OperationLocation Type Signal RangeIO Blox 3 Inputs 1129–1136Outputs 0121–0128IO Blox 4 Inputs 1137–1144Outputs 0129–0136aFor Dual R

Chapter 4: System OperationPin No. DesignationSignalBankV+/eV+ SignalNumber17 Input 5.2 2 110718 Input 6.2 2 110819 Output 1 009720 Output 2 009821 Ou

Chapter 4: System OperationXIO Input SpecificationsTable 4-6. XIO Input SpecificationsOperational voltage range 0 to 30 VDC“Off” state voltage range 0

Chapter 4: System OperationTypical Input Wiring ExampleAdept-Supplied EquipmentUser-Supplied EquipmentSignal 1097Part Present Sensor 4Signal 1098Feede

Chapter 4: System Operationdriver draws power from the primary 24 VDC input to the robot through a self-resettingpolyfuse.The outputs are accessed thr

Chapter 4: System OperationTypical Output Wiring ExampleMAdept-Supplied EquipmentUser-Supplied EquipmentOutputs 1-8Typical User LoadsXIO Connector – 2

Chapter 4: System OperationTable 4-8. XIO Breakout Cable Wire ChartPin No.SignalDesignation Wire Color1 GND White2 24 VDC White/Black3 Common 1 Red4 I

Chapter 4: System Operation4.6 Starting the System for the First TimeFollow the steps in this section to safely bring up your robot system. The steps

Chapter 4: System OperationlXSYS cable between the XSYS connector on the SmartController and the robot interfacepanel XSLV connector (AIB) or eAIB XSL

Table of ContentsChapter 1: Introduction 91.1 Product Description9Adept Cobra s600/s800™ Robots 9AIB™, eAIB™ (Amplifiers in Base) 10Adept SmartControl

Chapter 4: System OperationStarting Adept ACEThe robot should be on, and the status panel should display OK before proceeding.1.Turn on the user-suppl

Chapter 4: System OperationVerify Robot MotionsUse the pendant (if purchased) to verify that the robot moves correctly. Refer to your Adeptpendant use

Adept Cobra s600/s800 Robot, User’s Guide, Rev LPage 53 of 126Chapter 5: Maintenance5.1 Field-replaceable PartsWARNING:Only qualified service personn

Chapter 5: MaintenanceNOTE:The frequency of these procedures will depend on the particular system, itsoperating environment, and amount of usage. Use

Chapter 5: Maintenancelinside the base of the robot, by opening the AIB/eAIB chassis and inspecting internally.WARNING:Remove all power to the robot

Chapter 5: MaintenanceApply grease to the three vertical grooves and the spiral groove.6.Press the brake button and move Joint 3 to the bottom of its

Chapter 5: MaintenanceJoint 3 Ball ScrewLubrication PointsNOTE:Apply grease to thethree vertical groovesand the spiral grooveAA Section A-ATop View L

Chapter 5: Maintenance5.7 Replacing the AIB or eAIB ChassisCAUTION:Follow appropriate ESD procedures duringthe removal/replacement phases.Removing th

Chapter 5: MaintenanceFigure 5-3. Opening and Removing Chassis11. Disconnect the “white” amplifier cable from the amplifier connector located on thech

Table of ContentsPC Requirements 253.5 Installing Adept ACE Software253.6 Cable Connections from Robot to SmartController253.7 Connecting 24 VDC Power

Chapter 5: MaintenanceFigure 5-5. Ground Screw on AIB ChassisFigure 5-6. Ground Screw Hole on eAIBChassis14.Carefully remove the chassis from the rob

Chapter 5: Maintenance5.Carefully connect the “white” amplifier cable to the amplifier connector located on thechassis bracket.Figure 5-7. Installing

Chapter 5: Maintenance5.8 Commissioning a System with an eAIBCommissioning a system involves synchronizing the robot with the eAIB.NOTE:This section

Chapter 5: MaintenancePrerequisiteslThe robot must be set up and functional.lThe robot must use eAIB amplifiers.The AIB amplifiers do not support thes

Chapter 5: MaintenanceE-Stop Configuration UtilityThis utility sets the E-Stop hardware delay to factory specifications.NOTE:Ensure that the commissi

Chapter 5: MaintenanceTeach Restrict Configuration UtilityThis utility sets the hardware Teach Restrict maximum speed parameter to factoryspecificatio

Chapter 5: Maintenance3.Teach a Start Position.This can be any position that does not conflict with obstacles or the limits of jointmovements.lIf the

Chapter 5: MaintenanceCAUTION:Replace the battery pack only with a 3.6 V,6.8 Ah lithium battery pack, Adept P/N 09977-000.NOTE:The previous battery,

Chapter 5: MaintenanceFigure 5-10. Location of Encoder Battery Pack9.The battery cable assembly has two sets of connectors. Locate the secondary (unus

Adept Cobra s600/s800 Robot, User’s Guide, Rev LPage 69 of 126Chapter 6: Optional Equipment Installation6.1 Installing End-EffectorsThe user is respon

Table of Contents5.2 Periodic Maintenance Schedule535.3 Checking Safety Systems545.4 Checking Robot Mounting Bolts545.5 Checking for Oil Leakage545.6

Chapter 6: Optional Equipment InstallationTool flange assemblySetscrewM4 Socket-head cap screwsQuill shaftFigure 6-1. Tool Flange Removal DetailsInsta

Chapter 6: Optional Equipment InstallationFigure 6-2. User Connectors on Joint 1 Figure 6-3. User Connectors on Joint 2For information on the IO Blox

Chapter 6: Optional Equipment InstallationFigure 6-4. Internal User Connectors—OP3/4, EOAPWR, ESTOPWARNING:When the Outer link cover is removed, yous

Chapter 6: Optional Equipment InstallationSOLND ConnectorThis 4-pin connector provides the output signals for the optional Robot Solenoid Kit. See the

Chapter 6: Optional Equipment InstallationPin 1Pin 2Pin 3Pin 4For optional second set of solenoids, or other user supplied devices.Pin 1Pin 2Pin 3Pin

Chapter 6: Optional Equipment InstallationTable 6-4. Internal User Connector Output Circuit SpecificationsParameter ValuePower supply voltage range24

Chapter 6: Optional Equipment InstallationTable 6-5. ESTOP ConnectorPin # Description Pin Location1ESTOP_INPUTESTOP Connectoras viewed on robot2 24 VM

Chapter 6: Optional Equipment Installation2.Select Break-away E-Stop Enable.3.Change the value of this field to True.Figure 6-8. Screen Shot with Brea

Chapter 6: Optional Equipment Installation1.Open the gripper object editor.2.Select the Open/Close tab.3.Set the signal values for Open, Close, and Re

Chapter 6: Optional Equipment InstallationTable 6-6. Air PressureAir Pressure (Psi) Air Pressure (MPa)28 - 114 0.19 - 0.786Tools RequiredlHex driversl

Table of Contents6.9 Installing Adjustable Hardstops86Joint 1 Adjustable Hardstops 87Joint 2 Adjustable Hardstops 91Chapter 7: Technical Specification

Chapter 6: Optional Equipment Installation6. Insert the spare air line into the air intake coupling of the solenoid manifold. Make surethe air line is

Chapter 6: Optional Equipment InstallationFigure 6-12. Removing the Cable Strap Plate12. Remove the four screws for the Joint 1 cover and lift the cov

Chapter 6: Optional Equipment InstallationNOTE:This 6 mm User Air connector and the 6 mm User Air connector at the topof Figure 6-2 are not available

Chapter 6: Optional Equipment InstallationWARNING:Disconnect robot air pressure until this testhas been done to prevent unsecured pneumatic linesfrom

Chapter 6: Optional Equipment InstallationCamera PlateCamera Brackets (optional)Camera ChannelCamera MountFigure 6-14. Mounting a Camera on the Robot

Chapter 6: Optional Equipment InstallationUse Adept ACE, controller configuration, for software setup. This assigns the controller signalsto the physi

Chapter 6: Optional Equipment InstallationlSignal - the input or output signal number (e.g. 1013 or 013) where mappingstarts.lBit_length - the number

Chapter 6: Optional Equipment InstallationJoint 1 Adjustable HardstopsThe Joint 1 Adjustable Hardstops consist of two black rubber stop cylinders, and

Chapter 6: Optional Equipment InstallationFigure 6-17. Robot Editor, with Joints Collapsed3.Click the ‘+’ in front of Joints, to display all of the jo

Chapter 6: Optional Equipment InstallationFigure 6-18. Robot Editor, with Joints Expanded4.Click the ‘+’ in front of [1], to open the values for joint

Adept Cobra s600/s800 Robot, User’s Guide, Rev LPage 9 of 126Chapter 1: Introduction1.1 Product DescriptionAdept Cobra s600/s800™ RobotsThe Adept Cobr

Chapter 6: Optional Equipment InstallationFigure 6-19. Robot Editor, with Joint 1 Expanded5.Highlight the current values for joint 1, and replace them

Chapter 6: Optional Equipment InstallationJoint 2 Adjustable HardstopsThe Joint 2 Adjustable Hardstop kit (Figure 6-20) consists of two curved plates

Chapter 6: Optional Equipment Installation12 thru holes for M5 x 10 screws, for installing Joint 2 hardstops, located 30 degrees apart Joint 2 Left

Chapter 6: Optional Equipment InstallationFigure 6-23. Fixed Hardstop Block for Joint 24.Use a 3 mm hex wrench to install two supplied M4 x 10 screws

Chapter 6: Optional Equipment InstallationFigure 6-24. Robot Editor, with Joints Closed3.Click the ‘+’ in front of Joints, to display all of the joint

Chapter 6: Optional Equipment InstallationFigure 6-25. Robot Editor, with Joints Expanded4.Click the ‘+’ in front of [2], to open the values for joint

Chapter 6: Optional Equipment InstallationFigure 6-26. Robot Editor, with Joint 2 Expanded5.Highlight the current values for joint 2, and replace them

Chapter 6: Optional Equipment Installation6.Once you have modified the upper and lower joint limit softstops, you must reboot thesystem by cycling 24

Adept Cobra s600/s800 Robot, User’s Guide, Rev LPage 99 of 126Chapter 7: Technical Specifications7.1 Dimension Drawings9348883873421770600325023446374