Adept Cobra s600/s800 Robot User's Guide - pulsar.com.tr

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Table of Contents V+ Monitor Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 11.9 Emergency Stop Circuit Shuts Off Both <strong>Robot</strong>s . . . . . . . . . . . . . . . . . . . . . . . . 139 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 10 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C
List of Figures Figure 1-1. <strong>Adept</strong> <strong>Cobra</strong> <strong>s800</strong> <strong>Robot</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Figure 1-2. <strong>Robot</strong> Joint Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Figure 1-3. <strong>Adept</strong> SmartAmp AIB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Figure 1-4. <strong>Adept</strong> SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Figure 2-1. Electrical and Thermal Warning Labels on AIB Chassis . . . . . . . . . . . . . . . . . 22 Figure 2-2. Thermal Warning Label on Underside of Inner Link . . . . . . . . . . . . . . . . . . . . 22 Figure 2-3. Warning Label on Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Figure 3-1. <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> on a Transportation Pallet . . . . . . . . . . . . . . . . . . . . 33 Figure 3-2. Mounting Hole Pattern for <strong>Robot</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Figure 3-3. <strong>Robot</strong> Interface Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Figure 4-1. System Cable Diagram for <strong>Adept</strong> <strong>Cobra</strong> s-series <strong>Robot</strong>s . . . . . . . . . . . . . . 39 Figure 4-2. User-Supplied 24VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Figure 4-3. Typical AC Power Installation with Single-Phase Supply . . . . . . . . . . . . . . . . 46 Figure 4-4. Single-Phase AC Power Installation from a Three-Phase AC Supply . . . . . . 46 Figure 4-5. AC Power Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Figure 4-6. Ground Point on <strong>Robot</strong> Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Figure 4-7. User Ground Location on AIB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Figure 5-1. <strong>Robot</strong> Status LED Indicator Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Figure 5-2. Diagnostic Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Figure 5-3. Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Figure 5-4. Typical User Wiring for XIO Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Figure 5-5. Typical User Wiring for XIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Figure 5-6. Optional XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Figure 6-1. User Flange Removal Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Figure 6-2. User Connectors on Joint 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Figure 6-3. User Connectors on Joint 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Figure 6-4. Internal User Connectors - OP3/4, EOAPWR, ESTOP . . . . . . . . . . . . . . . . . . . 68 Figure 6-5. SOLND Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Figure 6-6. OP3/4 and SOLND Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Figure 6-7. Internal E-Stop Connector Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 Figure 6-8. Solenoid Mounting Bracket With Connector and Spare Air Line . . . . . . . . 75 Figure 6-9. Solenoid Placement Using Mounting Hardware . . . . . . . . . . . . . . . . . . . . . . 76 Figure 6-10. Removing the Cable Strap Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Figure 6-11. Connecting Spare Air Line to User Connector . . . . . . . . . . . . . . . . . . . . . . . 77 Figure 6-12. Mounting a Camera on the <strong>Robot</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Figure 6-13. Micro-Style Connector Pinouts for DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . 80 Figure 6-14. Joint 1 Adjustable Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Figure 6-15. SPEC Program Main Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Figure 6-16. <strong>Robot</strong> Specs Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C 11
Page 1: Adept Cobr
Page 4 and 5: The information contained herein is
Page 6 and 7: Table of Contents 3 Robot</
Page 8 and 9: Table of Contents Tools Required .
Page 12 and 13: List of Figures Figure 6-17. Joint
Page 14 and 15: List of Figures 14 Adept</s
Page 16 and 17: Chapter 1 - Introduction Joint 2 Jo
Page 18 and 19: Chapter 1 - Introduction 1.2 Instal
Page 20 and 21: Chapter 1 - Introduction 20 <strong
Page 22 and 23: Chapter 2 - Safety 2.2 Warning Labe
Page 24 and 25: Chapter 2 - Safety 2.3 Precautions
Page 26 and 27: Chapter 2 - Safety 2.4 Intended Use
Page 28 and 29: Chapter 2 - Safety 2.6 Transport Al
Page 30 and 31: Chapter 2 - Safety All personnel mu
Page 32 and 33: Chapter 2 - Safety 32 Adept
Page 34 and 35: Chapter 3 - Robot
Page 40 and 41: Chapter 4 - System Installation 4.2
Page 42 and 43: Chapter 4 - System Installation 4.5
Page 44 and 45: Chapter 4 - System Installation Ins
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Page 48 and 49: Chapter 4 - System Installation Rem
Page 50 and 51: Chapter 4 - System Installation <st
Page 52 and 53: Chapter 5 - System Operation 5.2 Di
Page 54 and 55: GND +24V DC INPUT (24 VDC) AC INPUT
Page 56 and 57: Chapter 5 - System Operation 5.5 Us
Page 58 and 59: Chapter 5 - System Operation Typica
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Chapter 5 - System Operation Typica
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Chapter 5 - System Operation 5.6 Co
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Chapter 5 - System Operation NOTE:
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Chapter 6 - Optional Equipment Inst
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Chapter 7 - Maintenance 7.2 Checkin
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Chapter 7 - Maintenance Joint 3 Bal
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Chapter 7 - Maintenance Figure 7-3.
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Chapter 7 - Maintenance Groove in r
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Chapter 7 - Maintenance Encoder Bat
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Chapter 8 - Technical Specification
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Chapter 9 - Cleanroom Robot
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Chapter 9 - Cleanroom Robot
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Chapter 10 - IP 65 Option 10.2 Inst
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Chapter 10 - IP 65 Option 10.3 <str
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Chapter 10 - IP 65 Option 10.4 Cust
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Chapter 10 - IP 65 Option 10.5 User
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Chapter 10 - IP 65 Option 10.6 Main
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Chapter 10 - IP 65 Option 126 <stro
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Chapter 11 - Dual Robot</st
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Index E-stop circuit 139 installati
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Index softstops modifying for Joint
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Revision History • Added new mate
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