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

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Index status LED 46 description 71 stop circuits, emergency 63 storage 33 straight-line motion vs. joint-interpolated motion 140 supply single-phase AC power installation from a three-phase AC 53 specifications for 200 - 240 VAC user-supplied power 52 specifications for 24 VDC user-supplied power 55 typical AC power installation with singlephase 53 surface, mounting 36 SW1 DIP switches 46 switches, remote sensing of user E-Stop 64 switches, SW1 DIP 46 system and reference frames, the coordinate 142 cable checks 74 cable diagram 43 <strong>com</strong>missioning 73 connecting equipment to the 60 grounding the 57 initializing a 77 operating environment requirements, robot 35 start-up procedure 75 world coordinate 142 systems, checking of safety 116 T table mounting PLC Server 41 thermal hazard 29 thermal warning label 22 tool flange dimensions 129 tooling on top of robot arm, external 130 on underside of outer link, external 131 tools required for solenoid kit installation 109 top of robot arm, external tooling on 130 torque specifications, mounting bolt 37 transport and storage, overview 33 transportation pallet, robot 34 transporting the robot 28 trapezoid vs. s-curve acceleration profile. 89, 98 trapping points 24 U unpacking information 33 inspecting <strong>Adept</strong> equipment 33 PLC Server 38 user air lines 103 air lines, in robot 103 connections on robot 103 connector connecting spare air line to 112 connectors Joint 1 103 Joint 2 103 electrical lines 104 E-Stop, remote sensing of 64 flange dimensions 129 removing and installing the 101 ground location on AIB 58 High Power ON indication 65 Manual/Auto indication 65 user-supplied 24 VDC cable 51 power cable 56 power supply specifications for 200 - 240 VAC 52 specifications for 24 VDC 49 safety equipment checks 74 V vendors for mating cables and connectors, re<strong>com</strong>mended 113 verifying E-Stop functions 75 installation 74 W warning label AIB chassis, electrical and thermal 22 encoder cables 23 location 22 robot 22 underside of inner link, thermal 22 Warnings, Cautions, and Notes in manual 21 word bit definitions input 92 status 91 work envelope <strong>Cobra</strong> <strong>PLC600</strong> 132 World Coordinate System 142 X XDIO connector 47 166 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B
Index digital output wiring 69 functions 66 input signals 66 output signals 67 XDIO digital I/O connector pin 70 XDIO digital I/O connector pin assignments 70 XFP connector 47 contacts 61 XIO connector 44 XMCP connector 47 XPANEL connector 44 XSLV connector 44 XSYS connector 47 XUSR connector 47 contacts 60 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 167
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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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Connecting Customer-Supplied Digita
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Connecting Customer-Supplied Digita
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System Operation 5 5.1 Robot Status
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Using the Brake Release Button NOTE
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Commissioning the System System Sta
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Programming the Robot RSLogix 500 F
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Programming the Robot 6.3 PLC Softw
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Programming the Robot Moving the Ro
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Programming the Robot To use the Ju
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Programming the Robot Output Signal
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Programming the Robot Motion Qualif
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Programming the Robot Bit 11, which
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Programming the Robot Bit RSLogix 5
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Programming the Robot To teach a lo
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Programming the Robot • For ST245
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Programming the Robot When defining
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7 Optional Robot Equipment Installa
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Removing and Installing the User Fl
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Installing Robot Solenoid Kit 7.6 I
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Installing Robot Solenoid Kit Air i
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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 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 170: P/N: 04866-000, Rev B 3011 Triad Dr
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