Adept s600 Cobra Uživatelský manuál

Adept Cobras600/s800 RobotUser's Guide

Chapter 1: IntroductionJoint 1Inner LinkOuter LinkJoint 2Joint 4Joint 3Figure 1-2. Robot Joint MotionsAIB™, eAIB™ (Amplifiers in Base)The amplifiers f

Adept Cobra s600/s800 Robot, User’s Guide, Rev L1Page 101 of 128Chapter 7: Technical Specifications7.1 Dimension Drawings93488838734217706003250234463

Chapter 7: Technical SpecificationsRequired clearance to open eAIB/AIBChassis31Required cable clearance 417183200918894398342188046378004250234Figure

Chapter 7: Technical Specifications2X M4x0.7-6H +.10-.03 102X M4x0.7-6H 610453.0457 to base of robot2X54 10All dimensions in mmFigure 7-3. Dimensio

Chapter 7: Technical SpecificationsUnits in mm4X M6 x 1- 6H ThruUser GroundSee Detail ADetail A6.80 mm(0.268 in.)1.5 mm(0.059 in.)4.14 mm(0.163 in.)1

Chapter 7: Technical Specifications251054X M4x0.7 - 6H 8601054X M4x0.7 - 6H 6Inner LinkExternal Mounting LocationsOuter LinkExternal Mounting

Chapter 7: Technical SpecificationsFigure 7-7. Adept Cobra s600 Robot Working EnvelopeMaximum Radial ReachFunctional Area800 mm (31.50 in.)Maximum Int

Chapter 7: Technical Specifications7.2 Cobra s600/s800 Robot Internal E-STOP ConnectionsCobra s600/s800Internal ConnectionsSmartControllerConnectionsF

Chapter 7: Technical SpecificationsXSYSPin #XSYSTEMPin #Description Comment Pin Location8 N/C9 16 ESTOP_SRC E-Stop System +24 VShell Shell SHIELD7.4 X

Chapter 7: Technical SpecificationsDescription s600 Robot s800 RobotAdept Cycle—Sustained (no J4 rotation)0 kg 0.42 sec at 20° C0.48 sec at 40° C0.48

Chapter 1: IntroductionFigure 1-3. Amplifier on Robot, AIB, s600 ShownAdept SmartController™The SmartController is the foundation of Adept’s family of

Chapter 7: Technical SpecificationsDescription s600 Robot s800 RobotDeviceNet pass-through One availableWeight (without options) 41 kg (90 lb) 43 kg (

Adept Cobra s600/s800 Robot, User’s Guide, Rev L1Page 111 of 128Chapter 8: IP-65 Option8.1 Cobra s800 IP-65 ClassificationThe factory installed IP-65

Chapter 8: IP-65 OptionCable Seal HousingFigure 8-2. Cable Seal PartsInstallation Procedure1.Disassemble the cable seal assembly into separate pieces

Chapter 8: IP-65 Optionc.Finally push down on the flange to secure it against the housing. See Figure 8-5for the lower flange in the installed positio

Chapter 8: IP-65 OptionCover Removal Procedure1.Turn off main power to the controller and power chassis.2.Turn off the air supply to the robot. Clean

Chapter 8: IP-65 OptionFigure 8-9. IP-65 Robot with Outer Link Cover RemovedCover Reinstallation Procedure1.Check the cover O-ring around the inner gr

Chapter 8: IP-65 Option8.4 Customer RequirementsThe IP-65 robot provides most of the hardware needed to achieve an IP-65 protection level, butcustomer

Chapter 8: IP-65 Option1.Remove the red shipping plug from the compressed air fitting on the top of the robot.See the following figure.Figure 8-11. Co

Chapter 8: IP-65 Optionyou must provide a seal (see note below) at the connection to prevent moisture from enteringthe robot.NOTE:The user electrical

Chapter 8: IP-65 OptionThe user air line connectors on the outer link are accessible with the cover removed. See Figure8-13 for locations of the inter

Chapter 1: IntroductionFigure 1-4. Adept SmartController EX, CXsDIO™ ModuleThe sDIO module provides 32 optical isolated digital inputs and 32 optical

Chapter 8: IP-65 OptionFigure 8-14. Bellows ReplacementNOTE: Align the bellows clamps with thebellows seam, on both upper and lowerclamps.Bellows Seam

Chapter 8: IP-65 Option8.7 Dimension Drawing for Cable Seal AssemblyRequiredclearanceto open AIBcontrollerwith the IP-65connectorCable sealing box onI

Adept Cobra s600/s800 Robot, User’s Guide, Rev L1Page 123 of 128Chapter 9: Cleanroom RobotsThe Adept Cobra s600/s800 robots are available in Class 10

Chapter 9: Cleanroom Robots9.1 ConnectionsFigure 9-2. Cleanroom Connections9.2 RequirementsTable 9-2. Cleanroom Robot RequirementsVacuumsource0.80 m3/

Chapter 9: Cleanroom RobotsRecommendation For these reasons, Adept recommends mounting hand valves externally.9.4 Cleanroom MaintenanceBellows Replace

P/N: 03017-000, Rev L15960 Inglewood DrivePleasant on, CA 94588925·245·3400

Chapter 1: IntroductionCAUTION:This indicates a situation which, if notavoided, could result in damage to the equipment.NOTE:Notes provide supplemen

Chapter 1: IntroductionAdept Robot Safety GuideThe Adept Robot Safety Guide provides detailed information on safety for Adept robots. It alsogives res

Chapter 1: IntroductionTask to be Performed Reference Locationincluding end-effectors, user air and electrical lines,external equipment, solenoids, et

Chapter 1: IntroductionTable 1-2. Related ManualsManual Title DescriptionAdept Robot Safety Guide Contains safety information for Adept robots.Adept S

Adept Cobra s600/s800 Robot, User’s Guide, Rev L1Page 17 of 128Chapter 2: Robot Installation2.1 Transport and StorageThis equipment must be shipped an

Chapter 2: Robot Installation2.2 Unpacking and Inspecting the Adept EquipmentBefore UnpackingCarefully inspect all shipping crates for evidence of dam

Chapter 2: Robot InstallationAltitude up to 2000 m (6500 ft)Pollution degree 2Robot protection class IP 20 (NEMA Type 1)NOTE: For robot dimensions, se

Chapter 2: Robot Installation+0.015 62x R404550101601602008090+0.0150Ø 84X Ø 14 THRU 6234338Units in mmFigure 2-2. Mounting Hole Pattern for RobotRobo

Chapter 2: Robot InstallationNOTE:The base casting of the robot is aluminum and can easily be dented ifbumped against a harder surface.6.Verify that

Chapter 2: Robot InstallationFigure 2-3. Robot Interface Panels - AIB and eAIBThe following connections are the same for both the AIB and the eAIB:24

Chapter 2: Robot InstallationXBELTIO (eAIB only) — adds two belt encoders, EXPIO at the back of the robot (which is notavailable on an AIB), and an RS

Adept Cobra s600/s800 Robot, User’s Guide, Rev L1Page 25 of 128Chapter 3: System Installation3.1 System Cable DiagramGNDXSLV12SmartServoRS-232XPANELAC

Chapter 3: System Installation3.2 Cable and Parts ListTable 3-1. Cable and Parts ListPart Description NotesIEEE 1394 Cable, 4.5 M Standard cable—suppl

Chapter 3: System Installation3.4 Connecting User-Supplied PC to SmartControllerThe SmartController for Adept Cobra s600/s800 robots must be connected

Chapter 3: System InstallationlFor an eAIB system, locate the eAIB XSYS cable or eAIB XSLV Adapter cable, which canbe used with an existing XSYS cable

Chapter 3: System Installationsolenoids and digital I/O loads. If multiple robots are sharing a 24 V power supply, increasethe supply capacity by 3 A

Adept Cobras600/s800 RobotUser's GuideP/N: 03017-000, Rev L1May, 20135960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax

Chapter 3: System InstallationNOTE:The 24 VDC cable is not supplied with the system, but is available in theoptional Power Cable kit. See Table 3-1.P

Chapter 3: System Installation–+24V, 8AFrame Ground24V, 5A–+User-SuppliedPower Supply24 VDCAdept Cobras600/s800 RobotUser-Supplied Shielded Power Cabl

Chapter 3: System InstallationSpecifications for AC PowerTable 3-5. Specifications for 200/240 VAC User-Supplied Power SupplyAuto-RangingNominalVoltag

Chapter 3: System InstallationFacility overvoltages ProtectionThe user must protect the robot from excessive overvoltages and voltage spikes. If the c

Chapter 3: System InstallationEENL3LL1L2F5 10AF4 10AAdept Cobra s600/s800 andi600/i800Robots1Ø 200–240VACUser-Supplied AC Power CableNote: F4 and F5 a

Chapter 3: System Installationfrom the user-supplied AC power source to the robot base.5.Strip approximately 18 to 24 mm insulation from each of the t

Chapter 3: System InstallationFigure 3-6. Ground Point on Robot BaseGrounding Robot-Mounted EquipmentThe following parts of an Adept Cobra s600/s800 r

Adept Cobra s600/s800 Robot, User’s Guide, Rev L1Page 37 of 128Chapter 4: System Operation4.1 Robot Status LED DescriptionThe robot Status LED indicat

Chapter 4: System OperationThe displayed fault code will continue to be displayed even after the fault is corrected oradditional faults are recorded.

Chapter 4: System Operation4.3 BrakesThe robot has a braking system that decelerates the robot in an emergency condition, such aswhen the emergency st

Copyright NoticeThe information contained herein is the property of Adept Technology, Inc., and shall not be reproducedin whole or in part without pri

Chapter 4: System OperationIf this button is pressed while high power is on, high power will automatically shut down.WARNING:Due to the effect of gra

Chapter 4: System Operationpower is a two-step process. An “Enable Power” request must be sent from the user-supplied PC, an executing program, or the

Chapter 4: System OperationSFIEEE-1394X2SC-DIOLINK*S/N 3563-XXXXX*X124V 0.5AROKX4 - + - +1.1 1.2XDC1 XDC2X31 2 3RS-422/485XUSRX

Chapter 4: System OperationLocationType Signal RangeIO Blox 3 Inputs 1129–1136Outputs 0121–0128IO Blox 4 Inputs 1137–1144Outputs 0129–0136aFor Dual Ro

Chapter 4: System OperationPin No. DesignationSignalBankV+/eV+ SignalNumber17 Input 5.2 2 110718 Input 6.2 2 110819 Output 1 009720 Output 2 009821 Ou

Chapter 4: System OperationXIO Input SpecificationsTable 4-6. XIO Input SpecificationsOperational voltage range 0 to 30 VDC“Off” state voltage range 0

Chapter 4: System OperationTypical Input Wiring ExampleAdept-Supplied EquipmentUser-Supplied EquipmentSignal 1097Part Present Sensor 4Signal 1098Feede

Chapter 4: System Operationdriver draws power from the primary 24 VDC input to the robot through a self-resettingpolyfuse.The outputs are accessed thr

Chapter 4: System OperationTypical Output Wiring ExampleMAdept-Supplied EquipmentUser-Supplied EquipmentOutputs 1-8Typical User LoadsXIO Connector – 2

Chapter 4: System OperationTable 4-8. XIO Breakout Cable Wire ChartPin No.SignalDesignation Wire Color1 GND White2 24 VDC White/Black3 Common 1 Red4 I

Table of ContentsChapter 1: Introduction 91.1 Product Description9Adept Cobra s600/s800™ Robots 9AIB™, eAIB™ (Amplifiers in Base) 10Adept SmartControl

Chapter 4: System Operation4.6 Starting the System for the First TimeFollow the steps in this section to safely bring up your robot system. The steps

Chapter 4: System OperationlXSYS cable between the XSYS connector on the SmartController and the robot interfacepanel XSLV connector (AIB) or eAIB XSL

Chapter 4: System OperationStarting Adept ACEThe robot should be on, and the status panel should display OK before proceeding.1.Turn on the user-suppl

Chapter 4: System OperationVerify Robot MotionsUse the pendant (if purchased) to verify that the robot moves correctly. Refer to your Adeptpendant use

Adept Cobra s600/s800 Robot, User’s Guide, Rev L1Page 55 of 128Chapter 5: Maintenance5.1 Field-replaceable PartsWARNING:Only qualified service person

Chapter 5: MaintenanceNOTE:The frequency of these procedures will depend on the particular system, itsoperating environment, and amount of usage. Use

Chapter 5: Maintenancelinside the base of the robot, by opening the AIB/eAIB chassis and inspecting internally.WARNING:Remove all power to the robot

Chapter 5: MaintenanceApply grease to the three vertical grooves and the spiral groove.6.Press the brake button and move Joint 3 to the bottom of its

Chapter 5: MaintenanceJoint 3 Ball ScrewLubrication PointsNOTE:Apply grease to thethree vertical groovesand the spiral grooveAA Section A-ATop View L

Table of ContentsPC Requirements 273.5 Installing Adept ACE Software273.6 Cable Connections from Robot to SmartController273.7 Connecting 24 VDC Power

Chapter 5: Maintenance5.7 Replacing the AIB or eAIB ChassisCAUTION:Follow appropriate ESD procedures duringthe removal/replacement phases.Removing th

Chapter 5: MaintenanceFigure 5-3. Opening and Removing Chassis11. Disconnect the “white” amplifier cable from the amplifier connector located on thech

Chapter 5: MaintenanceFigure 5-5. Ground Screw on AIB ChassisFigure 5-6. Ground Screw Hole on eAIBChassis14.Carefully remove the chassis from the rob

Chapter 5: Maintenance5.Carefully connect the “white” amplifier cable to the amplifier connector located on thechassis bracket.Figure 5-7. Installing

Chapter 5: Maintenance5.8 Commissioning a System with an eAIBCommissioning a system involves synchronizing the robot with the eAIB.NOTE:This section

Chapter 5: MaintenancePrerequisiteslThe robot must be set up and functional.lThe robot must use eAIB amplifiers.The AIB amplifiers do not support thes

Chapter 5: MaintenanceE-Stop Configuration UtilityThis utility sets the E-Stop hardware delay to factory specifications.NOTE:Ensure that the commissi

Chapter 5: MaintenanceTeach Restrict Configuration UtilityThis utility sets the hardware Teach Restrict maximum speed parameter to factoryspecificatio

Chapter 5: Maintenance3.Teach a Start Position.This can be any position that does not conflict with obstacles or the limits of jointmovements.lIf the

Chapter 5: MaintenanceCAUTION:Replace the battery pack only with a 3.6 V,6.8 Ah lithium battery pack, Adept P/N 09977-000.NOTE:The previous battery,

Table of Contents5.2 Periodic Maintenance Schedule555.3 Checking Safety Systems565.4 Checking Robot Mounting Bolts565.5 Checking for Oil Leakage565.6

Chapter 5: MaintenanceFigure 5-10. Location of Encoder Battery Pack9.The battery cable assembly has two sets of connectors. Locate the secondary (unus

Adept Cobra s600/s800 Robot, User’s Guide, Rev L1Page 71 of 128Chapter 6: Optional Equipment Installation6.1 Installing End-EffectorsThe user is respo

Chapter 6: Optional Equipment InstallationTool flange assemblySetscrewM4 Socket-head cap screwsQuill shaftFigure 6-1. Tool Flange Removal DetailsInsta

Chapter 6: Optional Equipment InstallationFigure 6-2. User Connectors on Joint 1 Figure 6-3. User Connectors on Joint 2For information on the IO Blox

Chapter 6: Optional Equipment InstallationFigure 6-4. Internal User Connectors—OP3/4, EOAPWR, ESTOPWARNING:When the Outer link cover is removed, yous

Chapter 6: Optional Equipment InstallationSOLND ConnectorThis 4-pin connector provides the output signals for the optional Robot Solenoid Kit. See the

Chapter 6: Optional Equipment InstallationPin 1Pin 2Pin 3Pin 4For optional second set of solenoids, or other user supplied devices.Pin 1Pin 2Pin 3Pin

Chapter 6: Optional Equipment InstallationTable 6-4. Internal User Connector Output Circuit SpecificationsParameter ValuePower supply voltage range24

Chapter 6: Optional Equipment Installation(see below), and connect a normally-closed circuit to Pins 1 and 2. When the circuit is opened,the system wi

Chapter 6: Optional Equipment Installation1.Double-click the robot in the structure pane.This will open up the object editor for the robot.2.Select Br

Table of Contents6.9 Installing Adjustable Hardstops88Joint 1 Adjustable Hardstops 89Joint 2 Adjustable Hardstops 93Chapter 7: Technical Specification

Chapter 6: Optional Equipment InstallationFigure 6-10). The signals actuating the valves are directly switchable from the Adept ACEsoftware using soft

Chapter 6: Optional Equipment InstallationThe Solenoid Kit for the Adept Cobra s600 and s800 robots is available through Adept. Contactyour Adept Sale

Chapter 6: Optional Equipment Installationand washers. See Figure 6-11.6. Insert the spare air line into the air intake coupling of the solenoid manif

Chapter 6: Optional Equipment InstallationFigure 6-12. Removing the Cable Strap Plate12. Remove the four screws for the Joint 1 cover and lift the cov

Chapter 6: Optional Equipment InstallationNOTE:This 6 mm User Air connector and the 6 mm User Air connector at the topof Figure 6-2 are not available

Chapter 6: Optional Equipment InstallationWARNING:Disconnect robot air pressure until this testhas been done to prevent unsecured pneumatic linesfrom

Chapter 6: Optional Equipment InstallationCamera PlateCamera Brackets (optional)Camera ChannelCamera MountFigure 6-14. Mounting a Camera on the Robot

Chapter 6: Optional Equipment InstallationUse Adept ACE, controller configuration, for software setup. This assigns the controller signalsto the physi

Chapter 6: Optional Equipment InstallationlSignal - the input or output signal number (e.g. 1013 or 013) where mappingstarts.lBit_length - the number

Chapter 6: Optional Equipment InstallationJoint 1 Adjustable HardstopsThe Joint 1 Adjustable Hardstops consist of two black rubber stop cylinders, and

Adept Cobra s600/s800 Robot, User’s Guide, Rev L1Page 9 of 128Chapter 1: Introduction1.1 Product DescriptionAdept Cobra s600/s800™ RobotsThe Adept Cob

Chapter 6: Optional Equipment InstallationFigure 6-17. Robot Editor, with Joints Collapsed3.Click the ‘+’ in front of Joints, to display all of the jo

Chapter 6: Optional Equipment InstallationFigure 6-18. Robot Editor, with Joints Expanded4.Click the ‘+’ in front of [1], to open the values for joint

Chapter 6: Optional Equipment InstallationFigure 6-19. Robot Editor, with Joint 1 Expanded5.Highlight the current values for joint 1, and replace them

Chapter 6: Optional Equipment InstallationJoint 2 Adjustable HardstopsThe Joint 2 Adjustable Hardstop kit (Figure 6-20) consists of two curved plates

Chapter 6: Optional Equipment Installation12 thru holes for M5 x 10 screws, for installing Joint 2 hardstops, located 30 degrees apart Joint 2 Left

Chapter 6: Optional Equipment InstallationFigure 6-23. Fixed Hardstop Block for Joint 24.Use a 3 mm hex wrench to install two supplied M4 x 10 screws

Chapter 6: Optional Equipment InstallationFigure 6-24. Robot Editor, with Joints Closed3.Click the ‘+’ in front of Joints, to display all of the joint

Chapter 6: Optional Equipment InstallationFigure 6-25. Robot Editor, with Joints Expanded4.Click the ‘+’ in front of [2], to open the values for joint

Chapter 6: Optional Equipment InstallationFigure 6-26. Robot Editor, with Joint 2 Expanded5.Highlight the current values for joint 2, and replace them

Chapter 6: Optional Equipment Installation6.Once you have modified the upper and lower joint limit softstops, you must reboot thesystem by cycling 24