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Wiring the System Connecting Equipment to the System The connection of the customer-supplied safety and power control equipment to the system is done through the XUSR and XFP connectors on the PLC Server. The XUSR connector (25-pin) and XFP (15-pin) connector are both female D-sub connectors located on the front panel of the PLC Server. Refer to Table 4-9 for the XUSR pin-out explanations. Refer to Table 4-10 on page 61 for the XFP pin-out explanations. See Figure 4-13 on page 62 for the XUSR wiring diagram. Table 4-9. Contacts Provided by the XUSR Connector Pin Pairs Description Comments Shorted if NOT Used Voltage-Free Contacts Provided by Customer 1, 14 User E-Stop CH 1 (mushroom PB, safety gates, etc.). N/C contacts Yes 2,15 User E-Stop CH 2 (same as pins 1 and 14). N/C contacts Yes 3,16 Line E-Stop (used for other robot or assembly line E-Stop interconnection. Does not affect E-Stop indication (pins 7, 20.)) N/C contacts Yes 4,17 Line E-Stop (Same as pins 3 and 16. See above <strong>com</strong>ment.) N/C contacts Yes 5,18 Muted safety gate CH 1 (causes E-stop in AUTOMATIC mode only). N/C contacts Yes 6,19 Muted Safety Gate CH 2 (same as pins 5 and 18). N/C contacts Yes Voltage-Free Contacts provided by <strong>Adept</strong> 7,20 8,21 9,22 10,23 11,12, 13,24,25 E-Stop indication CH 1. E-stop indication CH 2 (same as pins 7 and 20. MANUAL/AUTO indication CH 1 MANUAL/AUTO indication CH 2 No connection Contacts are closed when Front Panel, MCP, and customer E-Stops are not tripped Contacts are closed when Front Panel, MCP, and customer E-stops are not tripped Contacts are closed in AUTOMATIC mode Contacts are closed in AUTOMATIC mode 60 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B
Connecting Customer-Supplied Safety and Power Control Equipment Table 4-9. Contacts Provided by the XUSR Connector (Continued) Pin Pairs Description Comments Shorted if NOT Used Pin 13 XUSR Pin 1 Pin 25 Pin 14 Table 4-10. Contacts Provided by the XFP Connector Pin Pairs Description Voltage-Free Contacts Provided by Customer Comments 1,9 Front Panel E-Stop CH 1 N/C contacts 2,10 Front Panel E-Stop CH 2 N/C contacts 3,11 4,12 Remote MANUAL/AUTOMATIC switch CH 1. MANUAL = Open AUTOMATIC = Closed Remote MANUAL/AUTOMATIC switch CH 2. MANUAL = Open AUTOMATIC = Closed 6,14 Remote High Power on/off momentary PB Used to enable High Power Nonvoltage-Free Contacts 5,13 <strong>Adept</strong> Supplied 5 VDC and GND for High Power On/Off Switch Lamp Use with Remote High Power On/Off switch above. 7,15 PLC Server system 5V power on LED, 5V, 20mA 8 No connection Pin 8 XFP Pin 1 Pin 15 Pin 9 See Figure 4-14 on page 63 for a schematic diagram of the optional <strong>Adept</strong> Front Panel. <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 61
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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
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: 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 109 and 110: 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
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Maintenance 8 8.1 Periodic Maintena
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Check Robot for Oil Around Harmonic
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Page 123 and 124:
Page 125:
Changing the Lamp in the High Power
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Technical Specifications 183 417 20
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Technical Specifications 25 4X M4x0
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Technical Specifications Maximum In
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R Technical Specifications 9.3 <str
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Technical Specifications 9.4 Mechan
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Robot Concepts Approach and Depart
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Robot Concepts Breaking Continuous-
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Robot Concepts 10.2 The Coordinate
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Robot Concepts Table 10-2. Values D
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Robot Concepts Figure 10-5. Definin
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Robot Concepts Figure 10-8. Pallet
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Diagnostic and Error Messages LED P
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Diagnostic and Error Messages *DF1
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Diagnostic and Error Messages DF1 P
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Diagnostic and Error Messages Hex C
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Index connection PLC to PLC Server
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Index E electrical lines user 104 i
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Index thermal warning label 22 loca
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Index to robot, connecting 200-240
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Index status LED 46 description 71
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P/N: 04866-000, Rev B 3011 Triad Dr
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