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Table of Contents 3 Equipment Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 3.1 Unpacking and Inspecting the <strong>Adept</strong> Equipment . . . . . . . . . . . . . . . . . . . . . . . 33 Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 3.2 Transport and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 3.3 Repacking for Relocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 3.4 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 3.5 Mounting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Mounting Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Robot Mounting Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 3.6 PLC Server Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Unpacking the PLC Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Repacking for Relocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Space Around the Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Mounting the PLC Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Rack Mounting the PLC Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Panel Mounting the PLC Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Table Mounting the PLC Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 CompactFlash Memory Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Installing CompactFlash. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4 Wiring the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.2 <strong>Cobra</strong> PLC Robot Interface Panel Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . 44 4.3 PLC Server Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.4 Cable Connections from Robot to PLC Server . . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.5 Cable Connections from the PLC to PLC Server . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.6 Connecting 24 VDC Power to Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Specifications for 24 VDC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Details for 24 VDC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Procedure for Creating 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Installing 24 VDC Robot Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.7 Connecting 200-240 VAC Power to Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Specifications for AC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Facility Overvoltage Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 AC Power Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Details for AC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Procedure for Creating 200-240 VAC Cable . . . . . . . . . . . . . . . . . . . . . . . . 54 Installing AC Power Cable to Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.8 Connecting 24 VDC Power to the PLC Server . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 24 VDC Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 6 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B
Table of Contents 24 VDC Power Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Daisy-Chaining Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Installing 24 VDC Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.9 Grounding the <strong>Adept</strong> Robot System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Ground Point on Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Ground Point on AIB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 PLC Server Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Robot-Mounted Equipment Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 4.10 Connecting Customer-Supplied Safety and Power Control Equipment . . . . 59 Connecting Equipment to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Emergency Stop Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 User E-Stop Indication - Remote Sensing of E-Stop . . . . . . . . . . . . . 64 Line E-Stop Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Muted Safety Gate E-Stop Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . 64 Remote Manual Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 User Manual/Auto Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 User High Power On Indication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 High Power On/Off Lamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 4.11 Connecting Customer-Supplied Digital I/O Equipment . . . . . . . . . . . . . . . . . 66 XDIO Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 5 System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 5.1 Robot Status LED Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 5.2 Status Panel Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 5.3 Using the Brake Release Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Brake Release Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 5.4 Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Mechanical Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 System Cable Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 User-Supplied Safety Equipment Checks . . . . . . . . . . . . . . . . . . . . . 74 System Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Verifying E-Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 6 Programming the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 6.1 PLC Server Software Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 6.2 Initializing a System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 6.3 PLC Software Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Command Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 7
Page 1: Adept Cobr
Page 4 and 5: The information contained herein is
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 105 and 106:
Page 107 and 108:
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:
Page 121 and 122:
Page 123 and 124:
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
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