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System Installation
24 Adept Cobra i600/i800 Robot User’s Guide, Rev G
3.2 System Cable Diagram
Figure 3-1. iCobra System Cable Diagram
Installation Procedure
Step Step Description Part(s)
1 Connect AIB XPANEL cable to XPANEL on Interface Panel. A
2 Verify XUSR jumper plug is installed on XUSR connector. B
3 Connect Front Panel cable to Front Panel and XFP connector. C, D
4 If no T2, install XMCP jumper or T1/T2 bypass plug. Skip to 5. E, F
4a If you have T2, connect T1/T2 adapter cable to XMCP connector. G, H
5 Connect user-supplied ground. See Section 3.8 on page 34 for locations. -
6 Connect 200-240 VAC to AC Input on Interface Panel, secure with clamp. J
7 Connect 24 VDC to DC Input on Interface Panel. (May need AC cable.) K, L
8 Connect null modem serial cable to Interface Panel and serial port on PC. M
Adept Cobra
i600/i800 Robot
24 VDC, 6 A
Power Supply
200-240 VAC
10 A
single-phase
AC Power
Cable
DC Power
Cable
Front Panel
Cable
Front Panel
User-Supplied PC
running Adept ACE
T1/T2 Adapter
Cable
XMCP Jumper Plug
XMCP
XFP
XUSR
XUSR
Jumper
Plug
AIB
XPANEL
Cable
Robot Interface
Panel
XUSR for:
- User E-Stop/Safety Gate
- Muted Safety Gate
- Jumper plug required
when not used
RS-232 Null Modem Cable
for Robot to PC Connection
T1/T2 Bypass Plug
User-Supplied
Ground Wire
GND
XSLV
1
2
SmartServo
RS-232
XPANEL
AC INPUT
(200-240 VAC 1&)
+24V
DC INPUT
(24VDC)
XIO
GND
XSLV
1
2
SmartServo
RS-232
XPANEL
AC INPUT
(200-240 VAC 1&)
+24V
DC INPUT
(24 VDC)
XIO
T2 Pendant (optional)
Either T1/T2 Bypass Plug or XMCP Jumper Plug
must be installed if T2 is not used
2
3
4a
A
B
E
F
G
4a
4
4
1
5
6
7
8
8
J
K
M
D
H
C
L
3
85 - 264 VAC
Universal
Input
- Adept Cobra 1
- Table of Contents 5
- List of Figures 9
- Introduction 1 11
- Adept Amps-in-Base (AIB™) 12
- 1.3 Safety Precautions 13
- Adept Robot Safety Guide 14
- 1.7 Installation Overview 15
- 1.9 How Can I Get Help? 16
- Robot Installation 2 17
- 2.3 Repacking for Relocation 18
- 2.5 Mounting the Robot 19
- Robot Mounting Procedure 20
- System Installation 3 23
- 3.2 System Cable Diagram 24
- Installing AIB XPANEL Cable 25
- PC Requirements 26
- Installing Serial Cable 26
- Connecting 24 VDC 30
- Specifications for AC Power 31
- IEC 1131-2 32
- IEC 1131-4 for additional 32
- 200–240 VAC 33
- Ground Point on Robot Base 35
- System Operation 4 37
- Status Panel for 38
- Displaying Fault 38
- Z Brake-Release 38
- Brake Release Button 39
- 4.4 Front Panel 40
- Adept XIO Termination Block 42
- XIO Connector 43
- XIO Input Signals 44
- Adept-Supplied Equipment 45
- User-Supplied Equipment 45
- XIO Output Signals 46
- 1.0 A @ 50°C ambient 46
- 1.5 A @ 25°C ambient 46
- Pin 9Pin 1 48
- Pin 18Pin 10 48
- Pin 19 Pin 26 48
- Pin 1Pin 13 49
- Pin 14Pin 25 49
- Cobra i600/i800 52
- Internal Circuits 52
- Front Panel and T2 Circuits 52
- User-Supplied Circuits 52
- Adept Front Panel Schematic 53
- Remote Manual Mode 54
- 4.8 Turning On the System 55
- Enabling High Power 57
- Verifying E-Stop Functions 60
- Maintenance 5 61
- 5.3 Checking Safety Systems 62
- Required Grease for the Robot 63
- Lubrication Procedure 63
- Section A-A 64
- Upper Quill Grease Locations 64
- Lower Quill Grease Locations 64
- Removing the AIB Chassis 65
- Installing a New AIB Chassis 67
- Groove in robot base 68
- 5.8 Replacing Encoder Battery 69
- Encoder Battery Pack 70
- Optional Equipment 71
- Installation 6 71
- Installing the Flange 72
- User Air Lines 72
- User Electrical Lines 73
- 6.4 Internal User Connectors 74
- SOLND Connector 75
- OP3/4 Connector 75
- EOAPWR Connector 76
- ESTOP Connector 77
- Introduction 79
- Tools Required 80
- Procedure 80
- Pem nuts to mount the 81
- Connector for the 81
- Spare air line 81
- Joint 1 Adjustable Hardstops 84
- Hardstop Value 85
- Recommended Joint 85
- Limit Softstop 85
- Joint 2 Adjustable Hardstops 86
- Joint 2 Adjustable 87
- Hardstop Plates Installed 87
- Joint 2 Fixed Hardstop 87
- Block installed on 87
- ± 21° Lower limit: – 20° 89
- ± 81° Lower limit: – 80° 89
- ± 51° Lower limit: – 50° 89
- Technical Specifications 7 91
- Units in mm 92
- Detail A 94
- Dimension Drawings 95
- Technical Specifications 96
- Cartesian Limits 97
- 300 mm (11.8 in.) 97
- 7.2 Robot Specifications 99
- Cleanroom Robots 101
- 8.2 Connections 102
- 8.3 Requirements 102
- 8.5 Maintenance 103
- Lubrication 104
- Numerics 105
- Pleasanton, CA 94588 110
- 925·245·3400 110
- 5960 Inglewood Drive 110
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