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Maintenance Joint 3 Ball Screw Lubrication Points A A Joint 3 Ball Screw Lubrication Points A A Upper Quill Grease Locations Lower Quill Grease Locations Quill Shaft Vertical Groove Lube Point A Vertical Groove Lube Point B Top View Looking Down NOTE: Apply grease to the three vertical grooves and the spiral groove Vertical Groove Lube Point C Section A-A Figure 8-1. Lubrication of Joint 3 Quill 118 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B
Check Robot for Oil Around Harmonic Drive 8.6 Replacing the SmartAmp AIB Chassis This procedure provides details on how to replace the SmartAmp AIB chassis on a <strong>Cobra</strong> PLC robot. CAUTION: Follow appropriate ESD procedures during the removal/replacement phases. Removing the SmartAmp AIB Chassis 1. Switch off the PLC Server. 2. Switch off the 24 VDC input supply to the chassis. 3. Switch off the 200/240VAC input supply to the chassis. 4. Disconnect the 24 VDC supply cable from the chassis +24 VDC input connector. See Figure 4-2 on page 44 for locations of connectors. 5. Disconnect the 200/240VAC supply cable from the chassis AC Input connector. 6. Disconnect the XSLV cable from the chassis XSLV connector. 7. Disconnect the 1394 cable from the chassis SmartServo connector. 8. Disconnect any other cables, which may be connected to the chassis, such as XIO, RS-232, or any others. 9. Using a 5 mm Allen key, carefully unscrew the chassis securing screw. See Figure 8-2. Note that the screw does not need to be <strong>com</strong>pletely removed in order to remove the chassis, as this screw is captured on the chassis heat sink. Securing Screw on SmartAmp AIB Figure 8-2. Securing Screw on SmartAmp AIB Chassis 10. While holding the chassis heat sink, carefully and slowly lower the chassis down (see Figure 8-3 on page 120), so that enough access is available to remove the internal cables. The chassis can be laid flat or placed to the right side of the robot for better access. <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 119
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Adept Cobr
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The information contained herein is
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Table of Contents 3 Equipment Insta
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Table of Contents Instruction Comma
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List of Figures Figure 1-1. <strong
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List of Tables Table 1-1. Installat
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Introduction 1 1.1 Product Descript
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Product Description Joint 2 Joint 1
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Product Description 1.3 How Can I G
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Safety 2.2 Warning Labels on the Ro
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Safety 2.3 Precautions and Required
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Safety 2.4 Intended Use of the Robo
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Safety 2.6 Transport Always use ade
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Safety All personnel must observe s
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Equipment Installation 3 3.1 Unpack
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Repacking for Relocation 3.4 Enviro
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Repacking for Relocation 2. While t
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PLC Server Installation Mounting th
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PLC Server Installation Table Mount
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R SmartServo IEEE-1394 OK HPE LAN S
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PLC Server Connectors and Indicator
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PLC Server Connectors and Indicator
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Connecting 24 VDC Power to Robot
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Connecting 24 VDC Power to Robot Pr
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Connecting 24 VDC Power to Robot AC
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Connecting 24 VDC Power to the PLC
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Grounding the Adept</strong
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Connecting Customer-Supplied Safety
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Page 67 and 68: Connecting Customer-Supplied Digita
Page 69 and 70: Connecting Customer-Supplied Digita
Page 71 and 72: System Operation 5 5.1 Robot Status
Page 73 and 74: Using the Brake Release Button NOTE
Page 75: Commissioning the System System Sta
Page 78 and 79: Programming the Robot RSLogix 500 F
Page 80 and 81: Programming the Robot 6.3 PLC Softw
Page 82 and 83: Programming the Robot Moving the Ro
Page 84 and 85: Programming the Robot To use the Ju
Page 86 and 87: Programming the Robot Output Signal
Page 88 and 89: Programming the Robot Motion Qualif
Page 90 and 91: Programming the Robot Bit 11, which
Page 92 and 93: Programming the Robot Bit RSLogix 5
Page 94 and 95: Programming the Robot To teach a lo
Page 96 and 97: Programming the Robot • For ST245
Page 98 and 99: Programming the Robot When defining
Page 101 and 102: 7 Optional Robot Equipment Installa
Page 103 and 104: Removing and Installing the User Fl
Page 109 and 110: Installing Robot Solenoid Kit 7.6 I
Page 111 and 112: Installing Robot Solenoid Kit Air i
Page 113 and 114: DeviceNet Pass-Through Cable 7.7 De
Page 115 and 116: Maintenance 8 8.1 Periodic Maintena
Page 117: Check Robot for Oil Around Harmonic
Page 121 and 122: Check Robot for Oil Around Harmonic
Page 123 and 124: Check Robot for Oil Around Harmonic
Page 125: Changing the Lamp in the High Power
Page 128 and 129: Technical Specifications 183 417 20
Page 130 and 131: Technical Specifications 25 4X M4x0
Page 132 and 133: Technical Specifications Maximum In
Page 134 and 135: R Technical Specifications 9.3 <str
Page 136 and 137: Technical Specifications 9.4 Mechan
Page 138 and 139: Robot Concepts Approach and Depart
Page 140 and 141: Robot Concepts Breaking Continuous-
Page 142 and 143: Robot Concepts 10.2 The Coordinate
Page 144 and 145: Robot Concepts Table 10-2. Values D
Page 146 and 147: Robot Concepts Figure 10-5. Definin
Page 148 and 149: Robot Concepts Figure 10-8. Pallet
Page 150 and 151: Diagnostic and Error Messages LED P
Page 152 and 153: Diagnostic and Error Messages *DF1
Page 154 and 155: Diagnostic and Error Messages DF1 P
Page 156 and 157: Diagnostic and Error Messages Hex C
Page 158 and 159: Index connection PLC to PLC Server
Page 160 and 161: Index E electrical lines user 104 i
Page 162 and 163: Index thermal warning label 22 loca
Page 164 and 165: Index to robot, connecting 200-240
Page 166 and 167: Index status LED 46 description 71
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P/N: 04866-000, Rev B 3011 Triad Dr
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