Download Adept Cobra PLC600 User's Guide - pulsar.com.tr

More documents

Recommendations

Info

Technical Specifications 9.4 Mechanical Specifications Table 9-1. <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong> Mechanical Specifications Reach 600 mm (23.6") Footprint 272mm (10.7 in) x 200 mm (7.9 in) Payload 2.0 kg (4.4 lb) - rated 5.5 kg (12.1 lb) - maximum Moment of Inertia Joint 4 - 450 kg-cm² (150 lb-in²) - max Downward Push Force (no load) 35 kg (77 lb) - maximum Repeatability XY: ±0.017 mm (±0.0007 in) Z: ±0.003 mm Theta: ±0.019° Joint Range Joint 1: ±105° Joint 2: ±150° Joint 3: 210 mm (8.3") Joint 4: ±360° Joint Speed (maximum) Joint 1: ±386°/sec Joint 2: ±720°/sec Joint 3: 1100 mm/sec (43 in/sec) Joint 4: 1200°/sec Encoder type Absolute Robot Brakes Joints 1, 2, and 3: Dynamic Joint 4: Electric Airline pass-through (quantity) 6 mm diameter (2), 4 mm diameter (3) Electrical pass-through 24 conductors (12 twisted pair) DeviceNet pass-through 1 Weight (without options) 34 kg (75 lb) 136 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B
Robot Concepts 10 10.1 Understanding Robot Motion Parameters When programming a robot, there are several factors that play an important part in performance. In order to achieve optimum performance from your robot, it is helpful to have an understanding of how these factors work. Speed, Acceleration, and Deceleration Robot speed is usually specified as a percentage of normal speed, not as an absolute velocity. The speed for a single robot motion is set in N240:4 or <strong>Adept</strong> Speed (see page 81) for each individual location. Note that the result obtained by the speed value depends on the operating mode of the robot - joint-interpolated versus straight-line (see “Joint-Interpolated Motion vs. Straight-Line Motion” on page 140 for details). Whether in joint-interpolated mode or straight-line mode, the maximum speed is gated by the slowest-moving joint during the motion, since all the joints are required to start and stop at the same time. For example, if a given motion requires that the tool tip is rotated during the motion, which requires joint 4 to rotate, that joint could gate the maximum speed achieved by the other joints, since joint 4 is the slowest-moving joint in the mechanism. Using the same example, if joint 4 was not rotated, the motion could be faster without any change to the speed value. NOTE: The motion speed specified in N240:4 or <strong>Adept</strong>_Speed must always be greater than zero for a regular robot motion, or in the range -127 to 127 when jogging the robot. Otherwise, an error will be returned. You can use the acceleration parameter to control the rate at which the robot reaches its designated speed and stops. Like speed, the acceleration/deceleration rate is specified as a percentage of the normal acceleration/deceleration rate. To make the robot start or stop less abruptly, set N240:5 or <strong>Adept</strong>_Acceleration to a low value. To make the robot accelerate and decelerate more quickly, set N240:5 or <strong>Adept</strong>_Acceleration to a higher value. NOTE: The value of N240:5 or <strong>Adept</strong>_Acceleration must always be greater than 0. Otherwise, an error will be returned. The speed and acceleration parameters are <strong>com</strong>monly modified for cycle-time optimization and process constraints. For instance, abrupt stops with a vacuum gripper may cause the part being held to shift on the gripper. This problem could be solved by lowering the robot speed. However, the overall cycle time would then be increased. An alternative is to slow down the acceleration/deceleration rate so the part does not shift on the gripper during motion start or stop. The robot can still move at the maximum designated speed for other movements. Another case would be a relatively high payload and inertia coupled with tight positioning tolerances. A high deceleration rate may cause overshoot and increase settling time. Higher acceleration/deceleration rates and higher speeds don't necessarily result in faster cycle times. <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 137
Page 1:
Adept Cobr
Page 4 and 5:
The information contained herein is
Page 6 and 7:
Table of Contents 3 Equipment Insta
Page 8 and 9:
Table of Contents Instruction Comma
Page 11 and 12:
List of Figures Figure 1-1. <strong
Page 13 and 14:
List of Tables Table 1-1. Installat
Page 15 and 16:
Introduction 1 1.1 Product Descript
Page 17 and 18:
Product Description Joint 2 Joint 1
Page 19:
Product Description 1.3 How Can I G
Page 22 and 23:
Safety 2.2 Warning Labels on the Ro
Page 24 and 25:
Safety 2.3 Precautions and Required
Page 26 and 27:
Safety 2.4 Intended Use of the Robo
Page 28 and 29:
Safety 2.6 Transport Always use ade
Page 30 and 31:
Safety All personnel must observe s
Page 33 and 34:
Equipment Installation 3 3.1 Unpack
Page 35 and 36:
Repacking for Relocation 3.4 Enviro
Page 37 and 38:
Repacking for Relocation 2. While t
Page 39 and 40:
PLC Server Installation Mounting th
Page 41 and 42:
PLC Server Installation Table Mount
Page 43 and 44:
R SmartServo IEEE-1394 OK HPE LAN S
Page 45 and 46:
PLC Server Connectors and Indicator
Page 47 and 48:
PLC Server Connectors and Indicator
Page 49 and 50:
Connecting 24 VDC Power to Robot
Page 51 and 52:
Connecting 24 VDC Power to Robot Pr
Page 53 and 54:
Connecting 24 VDC Power to Robot AC
Page 55 and 56:
Connecting 24 VDC Power to the PLC
Page 57 and 58:
Grounding the Adept</strong
Page 59 and 60:
Connecting Customer-Supplied Safety
Page 61 and 62:
Page 63 and 64:
Page 65 and 66:
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 and 118: 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 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
Page 170: P/N: 04866-000, Rev B 3011 Triad Dr
show all

Download Adept Cobra PLC600 User's Guide - pulsar.com.tr

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?