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

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Table of Contents 3 <strong>Robot</strong> Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 3.1 Transport and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 3.2 Unpacking and Inspecting the <strong>Adept</strong> Equipment . . . . . . . . . . . . . . . . . . . . . . . 34 Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 3.3 Repacking for Relocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 3.4 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 3.5 Mounting the <strong>Robot</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Mounting Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 <strong>Robot</strong> Mounting Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 3.6 Description of Connectors on <strong>Robot</strong> Interface Panel . . . . . . . . . . . . . . . . . . . . 38 4 System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 4.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 4.2 Cable and Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.3 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.4 Cable Connections from <strong>Robot</strong> to SmartController . . . . . . . . . . . . . . . . . . . . . . 41 4.5 Connecting 24 VDC Power to <strong>Robot</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Specifications for 24 VDC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Details for 24 VDC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Procedure for Creating 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Installing 24VDC <strong>Robot</strong> Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 4.6 Connecting 200-240 VAC Power to <strong>Robot</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Specifications for AC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Facility Overvoltage Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 AC Power Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Details for AC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Procedure for Creating 200-240 VAC Cable . . . . . . . . . . . . . . . . . . . . . . . . . 47 Installing AC Power Cable to <strong>Robot</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.7 Grounding the <strong>Adept</strong> <strong>Robot</strong> System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Ground Point on <strong>Robot</strong> Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Ground Point on AIB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 <strong>Robot</strong>-Mounted Equipment Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 4.8 Installing User-Supplied Safety Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 5 System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 5.1 <strong>Robot</strong> Status LED Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 5.2 Diagnostic Panel Fault Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 5.3 Using the Brake Release Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 6 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C
Table of Contents Brake Release Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5.4 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 5.5 Using Digital I/O on <strong>Robot</strong> XIO Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Optional I/O Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 XIO Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 XIO Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Typical Input Wiring Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 XIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 XIO Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Typical Output Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 5.6 Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Mechanical Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 System Cable Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 User-Supplied Safety Equipment Checks . . . . . . . . . . . . . . . . . . . . . 63 System Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Verifying E-Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Verify <strong>Robot</strong> Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 5.7 Learning to Program the <strong>Adept</strong> <strong>Cobra</strong> S-Series <strong>Robot</strong> . . . . . . . . . . . . . . . . . . . 64 6 Optional Equipment Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 6.1 Installing End-Effectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 6.2 Removing and Installing the User Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Removing the Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Installing the Flange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 6.3 User Connections on <strong>Robot</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 User Air Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 User Electrical Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 6.4 Internal User Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 SOLND Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 OP3/4 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 EOAPWR Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Internal User Connector Output Specifications . . . . . . . . . . . . . . . . . . . . . 71 ESTOP Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 Procedure to Enable Breakaway E-Stop Function . . . . . . . . . . . . . 72 6.5 Mounting Locations for External Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 6.6 Installing <strong>Robot</strong> Solenoid Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Tools Required. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 6.7 <strong>Robot</strong> Camera Bracket Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C 7
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Page 4 and 5: The information contained herein is
Page 8 and 9: Table of Contents Tools Required .
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Page 16 and 17: Chapter 1 - Introduction Joint 2 Jo
Page 18 and 19: Chapter 1 - Introduction 1.2 Instal
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Page 22 and 23: Chapter 2 - Safety 2.2 Warning Labe
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Page 52 and 53: Chapter 5 - System Operation 5.2 Di
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Chapter 5 - System Operation 5.5 Us
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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 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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