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Adept Cobra

i600/i800 Robot

User’s Guide

P/N: 03589-000, Rev G

December, 2011

5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452

Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450

Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598

1 2 3 4 5 6 7 8 ... 109 110

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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