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

Replacing the SmartAmp AIB Chassis
7.6 Replacing the SmartAmp AIB Chassis
This procedure provides details on how to replace the SmartAmp AIB chassis on a <strong>Cobra</strong>
s-series robot.
CAUTION: Follow appropriate ESD procedures during the
removal/replacement phases.
Removing the SmartAmp AIB Chassis
1. Switch off the SmartController.
2. Switch off the 24VDC input supply to the chassis.
3. Switch off the 200/240VAC input supply to the chassis.
4. Disconnect the 24VDC supply cable from the chassis +24VDC input connector.
See Figure 3-3 on page 38 for locations of connectors.
5. Disconnect the 200/240VAC supply cable from the chassis AC Input connector.
6. Disconnect the XSLV cable from the chassis XSLV connector.
7. Disconnect the 1394 cable from the chassis SmartServo connector.
8. Disconnect any other cables, which may be connected to the chassis, such as XIO,
RS-232, or any others.
9. Using a 5 mm Allen key, carefully unscrew the chassis securing screw. See Figure
7-2. Note that the screw does not need to be <strong>com</strong>pletely removed in order to
remove the chassis, as this screw is captured on the chassis heat sink.
Securing Screw on
SmartAmp AIB
Figure 7-2. Securing Screw on SmartAmp AIB Chassis
10. While holding the chassis heat sink, carefully and slowly lower the chassis down
(see Figure 7-3 on page 96), so that enough access is available to remove the
internal cables. The chassis can be laid flat or placed to the right side of the robot
for better access.
<strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C 95