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Table of Contents Instruction Command Register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Output Signals Command Register . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Jog Mode Command Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Motion Qualifier Command Register. . . . . . . . . . . . . . . . . . . . . . . . . 88 Status Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 Status Word Bit Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 Input Word Bit Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Current Motion Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Current Position Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Error Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Location & Pallet Register Definitions . . . . . . . . . . . . . . . . . . . . . . . . 96 Pallet Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 7 Optional Robot Equipment Installation . . . . . . . . . . . . . . . . . . . . . . . . 101 7.1 Installing End-Effectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 7.2 Removing and Installing the User Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Removing the Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Installing the Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 7.3 User Connections on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 User Air Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 User Electrical Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 7.4 Internal User Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 SOLND Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 OP3/4 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 EOAPWR Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Internal User Connector Output Specifications . . . . . . . . . . . . . . . . . . . . . 108 7.5 Mounting Locations for External Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 7.6 Installing Robot Solenoid Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Tools Required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 7.7 DeviceNet Pass-Through Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Re<strong>com</strong>mended Vendors for Mating Cables and Connectors . . . . . . . . . 113 8 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 8.1 Periodic Maintenance Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 8.2 Checking of Safety Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 8.3 Checking Robot Mounting Bolts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 8.4 Check Robot for Oil Around Harmonic Drive . . . . . . . . . . . . . . . . . . . . . . . . . . 116 8.5 Lubricate Joint 3 Ball Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Required Grease for the Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Lubrication Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 8 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B
Table of Contents 8.6 Replacing the SmartAmp AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Removing the SmartAmp AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Installing a New SmartAmp AIB Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 8.7 Replacing Encoder Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 Battery Replacement Time Periods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 Battery Replacement Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 8.8 Changing the Lamp in the High Power Indicator. . . . . . . . . . . . . . . . . . . . . . . 124 9 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 9.1 Robot Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 9.2 PLC Server Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 9.3 <strong>Adept</strong> Front Panel Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 9.4 Mechanical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 10 Robot Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 10.1 Understanding Robot Motion Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Speed, Acceleration, and Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Approach and Depart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 Arm Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 Continuous-Path Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 Breaking Continuous-Path Operation . . . . . . . . . . . . . . . . . . . . . . 140 Joint-Interpolated Motion vs. Straight-Line Motion . . . . . . . . . . . . . . . . . . 140 Performance Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Robot Mounting Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Cell Layout Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Part Handling Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Programming Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 10.2 The Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 What is the World Coordinate System?. . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 Defining a Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 10.3 Defining a Pallet Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 Why is Gripper Orientation Important? . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 11 Diagnostic and Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 11.1 PLC Server Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 PLC Server Messages (Numerical Listing) . . . . . . . . . . . . . . . . . . . . . . . . . . 149 PLC Server Messages (Alphabetical Listing) . . . . . . . . . . . . . . . . . . . . . . . . 151 DF1 Protocol — Remote STS Error Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . 154 DF1 Protocol — EXT STS Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 9
Page 1: Adept Cobr
Page 4 and 5: The information contained herein is
Page 6 and 7: Table of Contents 3 Equipment Insta
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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