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

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Table of Contents Tools Required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 6.8 DeviceNet Communication Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Re<strong>com</strong>mended Vendors for Mating Cables and Connectors . . . . . . . . . . 80 6.9 Installing Adjustable Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Joint 1 Adjustable Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Modifying Joint Limit Softstop Locations for Joint 1 . . . . . . . . . . . . . 81 Joint 2 Adjustable Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Modifying Joint Limit Softstop Locations for Joint 2 . . . . . . . . . . . . . 87 7 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 7.1 Periodic Maintenance Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 7.2 Checking of Safety Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 7.3 Checking <strong>Robot</strong> Mounting Bolts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 7.4 Check <strong>Robot</strong> for Oil Around Harmonic Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 7.5 Lubricate Joint 3 Ball Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Required Grease for the <strong>Robot</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Lubrication Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 7.6 Replacing the SmartAmp AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Removing the SmartAmp AIB Chassis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Installing a New SmartAmp AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 7.7 Replacing Encoder Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Battery Replacement Time Periods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 Battery Replacement Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 8 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 8.1 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 8.2 <strong>Robot</strong> Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 9 Cleanroom <strong>Robot</strong>s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 9.1 <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> Cleanroom Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 9.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 9.3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 9.4 Exclusions and In<strong>com</strong>patibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 9.5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Bellows Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 8 <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 Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 10 IP 65 Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 10.1 <strong>Cobra</strong> <strong>s800</strong> IP 65 Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 10.2 Installing Cable Seal Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Cable Seal Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 10.3 <strong>Robot</strong> Outer Link Cover Removal and Replacement . . . . . . . . . . . . . . . . . . 118 Cover Removal Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Cover Replacement Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 10.4 Customer Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 Sealing the Tool Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 Pressurizing the <strong>Robot</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 10.5 User Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 User Electrical and DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 User Air Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 Unconnected Air Line Fittings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 <strong>Robot</strong> Solenoid Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 10.6 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 IP 65 Bellows Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 10.7 Dimension Drawing for Cable Seal Assembly . . . . . . . . . . . . . . . . . . . . . . . . 125 11 Dual <strong>Robot</strong> Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 11.1 System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 11.2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 11.3 Connecting Digital I/O to a Dual <strong>Robot</strong> System . . . . . . . . . . . . . . . . . . . . . . 129 11.4 Digital I/O Block Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 XIO Inputs/Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 XIO Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 XIO Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Internal <strong>Robot</strong> Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 IO Blox Inputs/Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 sDIO Inputs/Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 11.5 Using CONFIG_C to Configure I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 IO Configuration by Editing System File . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 IO Configuration by Importing Pre-Configured File . . . . . . . . . . . . . . . . . . 137 11.6 System Startup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 11.7 Operation With the Manual Control Pendant (MCP) . . . . . . . . . . . . . . . . . . . 138 11.8 Programming Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 V+ Language Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C 9
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Page 4 and 5: The information contained herein is
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Page 12 and 13: List of Figures Figure 6-17. Joint
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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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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 7 - Maintenance 7.2 Checkin
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Chapter 7 - Maintenance Joint 3 Bal
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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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