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Table of Contents 1 In<strong>tr</strong>oduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Customer-Supplied PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 DF1 Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 <s<strong>tr</strong>ong>Adept</s<strong>tr</strong>ong> PLC Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 <s<strong>tr</strong>ong>Adept</s<strong>tr</strong>ong> <s<strong>tr</strong>ong>Cobra</s<strong>tr</strong>ong> PLC Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 1.2 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 1.3 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 <s<strong>tr</strong>ong>Adept</s<strong>tr</strong>ong> Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.1 Warnings, Cautions, and Notes in Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.2 Warning Labels on the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 2.3 Precautions and Required Safeguards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Safety Barriers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Impact and Trapping Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 2.4 Intended Use of the Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 2.5 Robot Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Acceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Unacceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 2.6 Transport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 2.7 Safety Requirements for Additional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . 28 2.8 Sound Emissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 2.9 Thermal Hazard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 2.10 Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 2.11 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 2.12 Safety Equipment for Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 2.13 Protection Against Unauthorized Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . 30 2.14 Safety Aspects While Performing Maintenance . . . . . . . . . . . . . . . . . . . . . . . 30 2.15 Risks Due to Incorrect Installation or Operation. . . . . . . . . . . . . . . . . . . . . . . . 31 2.16 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 <s<strong>tr</strong>ong>Adept</s<strong>tr</strong>ong> <s<strong>tr</strong>ong>Cobra</s<strong>tr</strong>ong> <s<strong>tr</strong>ong>PLC600</s<strong>tr</strong>ong>/PLC800 Robot User’s <s<strong>tr</strong>ong>Guide</s<strong>tr</strong>ong>, Rev B 5
- Page 1: Adept Cobr
- 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:
Connecting Customer-Supplied Safety
- Page 63 and 64:
Connecting Customer-Supplied Safety
- Page 65 and 66:
Connecting Customer-Supplied Safety
- 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 105 and 106:
Removing and Installing the User Fl
- Page 107 and 108:
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 119 and 120:
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
- Page 170:
P/N: 04866-000, Rev B 3011 Triad Dr