Adept s350 User Manual

Adept Cobra s350 Robot

User's Guide

Adept Cobra s350 Robot

User's Guide

P/N:05624-000, Rev. D

June, 2013

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

The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. The documentation is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to: techpubs@adept.com.

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,

Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks

of Adept Technology, Inc.

Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.

Adept ACE, Adept Cobra s350, Adept Cobra s350 CR/ESD, Adept MotionBlox, Adept MotionBlox-40R,

Adept sDIO, Adept SmartController, Adept SmartController CX, Adept SmartController EX, IO Blox,

eMB-40R, MB-40R, V+ and eV+ are trademarks of Adept Technology, Inc.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Created in the United States of America

Table of Contents

Chapter 1: Introduction 9

1.1 Product Description

Adept Cobra s350™ Robots 9 Adept SmartController 10 Adept MotionBlox-40R 11

1.2 Dangers, Warnings, Cautions, and Notes

1.3 Intended Use of the Robot

1.4 Safety Precautions

1.5 What to Do in an Emergency Situation

1.6 Additional Safety Information

Manufacturer’s Declaration of Conformity (MDOC) 14 Adept Robot Safety Guide 14

1.7 Installation Overview

1.8 Manufacturer’s Declaration

1.9 How Can I Get Help?

Related Manuals 16 Adept Document Library 16

Chapter 2: Robot Installation 17

2.1 Transport and Storage

2.2 Unpacking and Inspecting the Adept Equipment

Before Unpacking 17 Upon Unpacking 17

2.3 Repacking for Relocation

2.4 Environmental andFacility Requirements

2.5 Mounting the Robot

Mounting Surface 19 Robot Mounting Procedure 20

Chapter 3: System Cable Installation 23

3.1 System Cable Diagram

3.2 Cable List

3.3 Installing the SmartController

3.4 Installing the Adept ACE Software

3.5 Connecting the PC to the SmartController

Adept Cobra s350 User's Guide, Rev. D

Page 5 of 94

3.6 Cable Connections from MB-40R/eMB-40R to SmartController

3.7 Cable Connections from MB-40R/eMB-40R to Robot

Installing the Arm Power/Signal Cable 26

3.8 Connecting 24 VDC Power to MB-40R/eMB-40R Servo Controller

Specifications for 24 VDC Power 26 Details for 24 VDC Mating Connector 27 Procedure for Creating 24 VDC Cable 28 Installing the 24 VDC Cable 28

3.9 Connecting 200-240 VAC Power to MB-40R/eMB-40R

Specifications for AC Power 30 Details for AC Mating Connector 31 Procedure for Creating 200-240 VAC Cable 32 Installing AC Power Cable to MB-40R/eMB-40R 32

3.10 Grounding the Adept Robot System

Ground Point on Robot Base 33 Ground Point on MotionBlox-40R 33 Robot-Mounted Equipment Grounding 34

3.11 Installing User-Supplied Safety Equipment

Chapter 4: MotionBlox-40R 35

4.1 Introduction

4.2 Description of Connectors on MB-40R/eMB-40R Interface Panel

4.3 MB-40R/eMB-40R Operation

Status LED on MB-40R/eMB-40R 37 Status Panel 38 Brake Release Button on MB-40R/eMB-40R 39 Brake Release Connector 40

4.4 Connecting Digital I/O to the System

4.5 Using Digital I/O on MB-40R/eMB-40R XIO Connector

Optional I/O Products 44 XIO Input Signals 44 XIO Output Signals 46 XIO Breakout Cable 47

4.6 MB-40R/eMB-40R Dimensions

4.7 Mounting the MB-40R/eMB-40R

Panel-Mounting the MB-40R/eMB-40R 50

Chapter 5: System Operation 51

5.1 Status Panel Codes

5.2 Brakes

Brake Release Button 51

5.3 Front Panel

Adept Cobra s350 User's Guide, Rev. D

Page 6 of 94

5.4 Initial Power-up of the System

Verifying Installation 53 System Start-up Procedure 54 Running the Adept ACE Software 55 Enabling High Power 55 Verifying E-Stop Functions 56 Verify Robot Motions 56

5.5 Learning to Program the Adept Cobra s350 Robot

Chapter 6: Optional Equipment Installation 57

6.1 Installing End-Effectors

6.2 Removing and Reinstalling the Tool Flange

Removing the Flange 57 Reinstalling the Flange 58

6.3 User Connections on Robot

User Air Lines 58 User Electrical Lines 59 Optional Solenoid Cable 60 Mounting Options for User Connections 60

6.4 Camera Mounting

Camera Bracket Drawings 64

Chapter 7: Maintenance 67

7.1 Periodic Maintenance Schedule

7.2 Checking of Safety Systems

7.3 Checking Robot Mounting Bolts

7.4 Lubricate Joint 3 Ball Screw

Required Grease for the Robot 68 Lubrication Procedure 68

7.5 Replacing Encoder Battery

Battery Replacement Time Periods 69

7.6 Inspecting Timing Belts

7.7 Replacing the MB-40R/eMB-40R Amplifier

Remove the MB-40R/eMB-40R Amplifier 72 Installing a New MB-40R/eMB-40R 72

7.8 Commissioning a System with an eMB-40R

Safety Commissioning Utilities 73 E-Stop Configuration Utility 75 E-Stop Verification Utility 75 Teach Restrict Configuration Utility 76 Teach Restrict Verification Utility 76

Chapter 8: Technical Specifications 79

Adept Cobra s350 User's Guide, Rev. D

Page 7 of 94

8.1 Dimension Drawings

8.2 Robot Specifications

Chapter 9: Cleanroom Robots 85

9.1 Cobra s350 CR/ESD Cleanroom Option

Introduction 85 Specifications 85

9.2 Connections

9.3 Requirements

9.4 ESD Control Features

9.5 Maintenance

Bellows Replacement 87 Lubrication 89

9.6 Dimension Drawings

Adept Cobra s350 User's Guide, Rev. D

Page 8 of 94

1.1 Product Description

Adept Cobra s350™ Robots

The Adept Cobra s350 robot is a high-performance, four-axis SCARA robot (Selective Compliance Assembly Robot Arm). Joints 1, 2, and 4 are rotational; Joint 3 is translational. See Figure 1-2 for a description of the robot joint locations.

The Adept Cobra s350 robots require an Adept MotionBlox-40R™ (either an MB-40R or an eMB-40R) and an Adept SmartController™ (either CX or EX) motion controller. The robots are programmed and controlled using the SmartController, running on the Adept SmartServo distributed motion control platform. Mechanical specifications for the Adept Cobra s350 robots are provided in Technical Specifications on page 79.

A cleanroom model is also available, the Adept Cobra s350 CR/ESD. See Cleanroom Robots on page 85 for information.

Chapter 1: Introduction

Figure 1-1. Adept Cobra s350 Robot

Adept Cobra s350 User's Guide, Rev. D

Page 9 of 94

Chapter 1: Introduction

2nd axis (J2)

1st axis (J1)

3rd axis (J3)

4th axis (J4)

(-)

(+)

(-)

Figure 1-2. Robot Joint Motions

Adept SmartController

The SmartController is the foundation of Adept’s family of high-performance distributed motion controllers. The SmartController is designed for use with:

Adept Cobra™ s-Series robots

Adept Quattro™ robots

Adept Viper™ s-series robots

Adept Python™ linear modules

Adept MotionBlox-10™

Adept sMI6™ (SmartMotion)

The SmartController supports a conveyor tracking option, as well as other options. There are two models available: the SmartController CX, which uses the V+ Operating System, and the SmartController EX, which uses the eV+ Operating System. Both models offer scalability and support for IEEE 1394-based digital I/O and general motion expansion modules. The IEEE 1394 interface is the backbone of Adept SmartServo, Adept's distributed controls architecture supporting Adept products. The SmartController also includes Fast Ethernet and DeviceNet.

Adept Cobra s350 User's Guide, Rev. D

Page 10 of 94

Chapter 1: Introduction

Figure 1-3. Adept SmartController EX and CX Motion Controllers

Adept MotionBlox-40R

The MotionBlox-40R (MB-40R/eMB-40R) Distributed Servo Controller controls the behavior of the feedback loop between the digital absolute encoders and the high-power motors of the Adept Cobra s350 robot.

Adept MB-40R/eMB-40R feature:

Four AC servo motor amplifiers

Emergency stop circuitry

High servo rate, to deliver low positional errors and superior path-following

Sine wave commutation delivers low cogging torque and improved path-following

Digital feed-forward design maximizes efficiency, torque, and velocity

Integral temperature sensors and status monitoring for maximum reliability

Two-digit diagnostics display for easy troubleshooting

Adept Cobra s350 User's Guide, Rev. D

Page 11 of 94

Chapter 1: Introduction

Figure 1-4. MotionBlox-40R (MB-40R shown)

1.2 Dangers, Warnings, Cautions, and Notes

There are six levels of special alert notation used in Adept manuals. In descending order of importance, they are:

DANGER:This indicates an imminently hazardous electrical situation which, if not avoided, will result in death or serious injury.

DANGER:This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

WARNING:This indicates a potentially hazardous electrical situation which, if not avoided, could result in injury or major damage to the equipment.

WARNING:This indicates a potentially hazardous situation which, if not avoided, could result in injury or major damage to the equipment.

Adept Cobra s350 User's Guide, Rev. D

Page 12 of 94

Chapter 1: Introduction

CAUTION:This indicates a situation which, if not avoided, could result in damage to the equipment.

NOTE:Notes provide supplementary information, emphasize a point or procedure, or give a tip for easier operation.

1.3 Intended Use of the Robot

The Cobra s350 robot is intended for use in parts assembly and material handling for payloads up to 2.0 kg. See Technical Specifications on page 79 for complete specifications. Refer to the Adept Robot Safety Guide for details on the intended use of Adept robots.

1.4 Safety Precautions

DANGER:An Adept Cobra s350 robot can cause serious injury or death, or damage to itself and other equipment, if the following safety precautions are not observed:

All personnel who install, operate, teach, program, or maintain the system must read this guide, read the Adept Robot Safety Guide, and complete a training course for their responsibilities in regard to the robot.

All personnel who design the robot system must read this guide, read the Adept Robot

Safety Guide, and must comply with all local and national safety regulations for the

location in which the robot is installed.

The robot system must not be used for purposes other than described in Section 1.3. Contact Adept if you are not sure of the suitability for your application.

The user is responsible for providing safety barriers around the robot to prevent anyone from accidentally coming into contact with the robot when it is in motion.

Power to the robot and its power supply must be locked out and tagged out before any maintenance is performed.

1.5 What to Do in an Emergency Situation

Press any E-Stop button (a red push-button on a yellow background/field) and then follow the internal procedures of your company or organization for an emergency situation. If a fire occurs, use CO2to extinguish the fire.

1.6 Additional Safety Information

Adept provides other sources for more safety information:

Adept Cobra s350 User's Guide, Rev. D

Page 13 of 94

Manufacturer’s Declaration of Conformity (MDOC)

This lists all standards with which each robot complies. See Manufacturer’s Declaration on page 15.

Adept Robot Safety Guide

The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also gives resources for more information on relevant standards.

It ships with each robot manual, and is also available from the Adept Document Library. See Adept Document Library on page 16.

1.7 Installation Overview

The system installation process is summarized in the following table. Refer also to the system cable diagram in Figure 3-1.

Task to be Performed Reference Location

Chapter 1: Introduction

Table 1-1. Installation Overview

Mount the robot on a flat, secure mounting surface. Mounting the Robot on page

18.

Install the SmartController, Front Panel, optional pendant (if present), and Adept ACE software.

Install the IEEE 1394 and XSYS cables between the MB-40R/eMB-40R and SmartController.

Install the Arm Power/Signal cable between the MB40R/eMB-40R and the robot.

Create a 24 VDC cable and connect it between the MB40R/eMB-40R and the user-supplied 24 VDC power supply.

Create a 24 VDC cable and connect it between the SmartController and the user-supplied 24 VDC power supply.

Create a 200-240 VAC cable and connect it between the MB-40R/eMB-40R and the facility AC power source.

Install user-supplied safety barriers in the workcell. Installing User-Supplied

Installing the SmartController on page 24.

Cable Connections from MB40R/eMB-40R to SmartController on page 25.

Cable Connections from MB40R/eMB-40R to Robot on page 26.

Connecting 24 VDC Power to MB-40R/eMB-40R Servo Controller on page 26.

Connecting 200-240 VAC Power to MB-40R/eMB-40R on page 29.

Safety Equipment on page 34.

Learn about connecting digital I/O through the XIO connector on the MB-40R/eMB-40R.

Read Chapter 5 to learn about system start-up and testing operation.

Adept Cobra s350 User's Guide, Rev. D

Page 14 of 94

Connecting Digital I/O to the System on page 40.

System Operation on page 51.

Chapter 1: Introduction

Task to be Performed Reference Location

Read Optional Equipment Installation on page 57 if you need to install optional equipment, such as endeffectors, user air and electrical lines, and external equipment.

1.8 Manufacturer’s Declaration

The Manufacturer’s Declaration of Incorporation and Conformity for Adept robot systems can be found on the Adept website, in the Download Center of the Support section.

http://www.adept.com/support/downloads/file-search

NOTE:The Download Center requires that you are logged in for access. If you are not logged in, you will be redirected to the Adept website Login page, and then automatically returned to the Download Center when you have completed the login process.

From the Download Types drop-down list, select Manufacturer Declarations

From the Product drop-down list, select your Adept robot product category (such as Adept Cobra Robots, Adept Viper robots, etc.).

Click Begin Search.

The list of available documents is shown in the Search Results area, which opens at the bottom of the page. You may need to scroll down to see it.

Optional Equipment Installation on page 57.

Use the Description column to locate the document for your Adept robot, and then click the corresponding Download ID number to access the Download Details page.

On the Download Details page, click Download to open or save the file.

1.9 How Can I Get Help?

Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting assistance with your Adept software and hardware. Additionally, you can access information sources on Adept’s corporate website:

http://www.adept.com

For Contact information:

http://www.adept.com/contact/americas

For Product Support information: http://www.adept.com/support/service-and-

support/main

For user discussions, support, and programming examples:

http://www.adept.com/forum/

Adept Cobra s350 User's Guide, Rev. D

Page 15 of 94

Chapter 1: Introduction

Related Manuals

This manual covers the installation, operation, and maintenance of an Adept Cobra s350 robot system. There are additional manuals that cover programming the system, reconfiguring installed components, and adding other optional components. See the following table.

Table 1-2. Related Manuals

Manual Title Description

Adept Robot Safety Guide Contains safety information for Adept robots.

Adept SmartController EX User's Guide

Adept SmartController User's Guide

Adept T20 Pendant User's

Contains information on the installation and operation of the Adept SmartController EXand the optional sDIO product.

Contains information on the installation and operation of the Adept SmartController and the optional sDIO product.

Describes the Adept T20™ pendant.

Guide

Adept T2 Pendant User’s

Describes the Adept T2™ pendant.

Guide

Adept ACE User's Guide Instruction for the use of the Adept ACE software.

Adept IOBlox User's Guide Describes the IO Blox product.

Adept Dual-Robot Configuration Procedure

Contains cable diagrams and configuration procedures for a dual-robot system.

Adept Document Library

The Adept Document Library (ADL) contains documentation for Adept products. You can access the ADL from:

the Adept Software disk shipped with your system.

the Adept website. Select Document Library from the Adept home page. To go directly to the Adept Document Library, type the following URL into your browser:

http://www.adept.com/Main/KE/DATA/adept_search.htm

To locate information on a specific topic, use the Document Library search engine on the ADL main page. To view a list of available product documentation, use the menu links located above the search field.

Adept Cobra s350 User's Guide, Rev. D

Page 16 of 94

Chapter 2: Robot Installation

2.1 Transport and Storage

This equipment must be shipped and stored in a temperature-controlled environment, within the range –10 to +60 C (14 to 140 F). The recommended humidity range is 5 to 90 percent, noncondensing. It should be shipped and stored in the Adept-supplied packaging, which is designed to prevent damage from normal shock and vibration. You should protect the package from excessive shock and vibration.

The robots must always be stored and shipped in an upright position in a clean, dry area that is free from condensation. Do not lay the crate on its side or any other position: this could damage the robot.

2.2 Unpacking and Inspecting the Adept Equipment

Before Unpacking

Carefully inspect all shipping crates for evidence of damage during transit. If any damage is indicated, request that the carrier’s agent be present at the time the container is unpacked.

Upon Unpacking

Before signing the carrier’s delivery sheet, please compare the actual items received (not just the packing slip) with your equipment purchase order and verify that all items are present and that the shipment is correct and free of visible damage.

If the items received do not match the packing slip, or are damaged, do not sign the receipt. Contact Adept as soon as possible.

If the items received do not match your order, please contact Adept immediately.

Inspect each item for external damage as it is removed from its container. If any damage is evident, contact Adept (see Section 1.9).

Retain all containers and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate equipment.

2.3 Repacking for Relocation

If the robot or other equipment needs to be relocated, reverse the steps in the installation procedures that follow. Reuse all original packing containers and materials and follow all safety notes used for installation. Improper packaging for shipment will void your warranty. Before unbolting the robot from the mounting surface, fold the outer arm against the Joint 2 hardstops to help centralize the center of gravity. The robot must always be shipped in an upright orientation. Specify this to the carrier if the robot is to be shipped.

Adept Cobra s350 User's Guide, Rev. D

Page 17 of 94

Chapter 2: Robot Installation

Worker B

Worker A

2.4 Environmental andFacility Requirements

The Adept robot system installation must meet the operating environment requirements shown in the following table.

Table 2-1. Robot System Operating Environment Requirements

Ambient temperature 5 to 40° C (41 to 104° F)

Humidity 5 to 90%, noncondensing

Altitude up to 2000 m (6500 ft.)

Pollution degree 2

Robot protection class IP-20 (NEMA Type 1)

NOTE: See Dimension Drawings on page 79 for robot dimensions.

2.5 Mounting the Robot

At least two people should transport and store the packaged equipment (see Figure 2-1).

The robot weighs 20 kg (45 lb) with no options installed.

Figure 2-1. Transporting Robot

CAUTION:Do not hold the robot by parts other than those shown above.

Adept Cobra s350 User's Guide, Rev. D

Page 18 of 94

Chapter 2: Robot Installation

120

R 1500

144

(291 for Cabling)

4x Ø 12 Thru

2x Ø 6 H7

+0.012 0

134 ± 0.005

Units are mm

Mounting Surface

The Adept Cobra s350 robot is designed to be mounted on a smooth, flat, level surface. The mounting surface must be rigid enough to prevent vibration and flexing during robot operation. Adept recommends a 25 mm (1 in.) thick steel plate mounted to a rigid tube frame. Excessive vibration or mounting flexure will degrade robot performance. Figure 2-2 shows the mounting hole pattern for the Adept Cobra s350 robot.

NOTE:On the under-side of the base there are two holes that can be used as locating points for user-installed dowel pins in the mounting surface. See Figure 2-2 for the hole dimension and location. Using locating pins can improve the ability to remove and reinstall the robot in the same position.

The Adept Cobra s350 robot can be mounted on a moving platform with proper attention paid to adequately supporting the robot cabling. The motor/encoder cable connecting the robot to the MB-40R/eMB-40R is not designed to withstand repeated bending operations and has a minimum recommended bend radius of 200 mm. The connectors on this cable are not designed to support any dynamic forces and Adept always advises users to support the weight of the cable with external supports and tie-downs. Any additional user cabling should be installed with user-designed cabling supports that do not use these motor/encoder connectors as attachment points for auxiliary cabling.

Figure 2-2. Mounting Hole Pattern for Robot

Adept Cobra s350 User's Guide, Rev. D

Page 19 of 94

Chapter 2: Robot Installation

Bolts

Pallet

Bolts

Tu r n until it comes into contact with the mechanical end.

Robot Mounting Procedure

1. Using the dimensions shown in Figure 2-2, drill and tap the mounting surface for four M10 x 30 mm (or 3/8-16 UNC) machine bolts (user-supplied). Also drill two 6H7 diameter holes for a diamond-shaped dowel pin and an internally-threaded positioning pin. See Table 2-2 for bolt and torque specifications.

WARNING:Do not attempt to extend the inner or outer links of the robot until the robot has been secured in position. Failure to comply could result in the robot falling and causing either personnel injury or equipment damage.

Install a diamond-shaped pin into one of the 6H7 diameter holes.

Install an internally-threaded positioning pin into the other 6H7 hole.

Turn the J2 axis until it comes into contact with the mechanical hardstop to keep the robot in a safe position.

Figure 2-3. Rotate J2 Axis to Safe Position

Remove the four bolts securing the robot base to the pallet. One person should support the J1 axis arm while another person removes the bolts. Retain these bolts for possible later relocation of the equipment.

Lift the robot and position it directly over the mounting surface.

Slowly lower the robot while aligning the base and the tapped mounting holes in the mounting surface.

NOTE:The base casting of the robot is aluminum and can easily be dented if bumped against a harder surface. Verify that the robot is mounted squarely (will not rock back and forth) before tightening the mounting bolts.

Adept Cobra s350 User's Guide, Rev. D

Page 20 of 94

Chapter 2: Robot Installation

8. Install the user-supplied mounting bolts and washers. Tighten bolts to the torque specified in Table 2-2.

WARNING:The center of mass of the robot may cause the robot to fall over if the robot is not secured with the mounting bolts.

NOTE:Check the tightness of the mounting bolts one week after initial installation, and then recheck every 6 months. See Periodic Maintenance Schedule on page 67 for periodic maintenance.

Table 2-2. Mounting Bolt Torque Specifications

Standard Size Specification Torque

Metric M10 x 30 mm ISO Property Class 8.8 70 N·m

SAE 3/8-16 UNC SAE J429 Grade 5 or

ASTM A449

52 ft-lbf

Adept Cobra s350 User's Guide, Rev. D

Page 21 of 94

Ethernet to PC

IEEE 1394 Cable from Controller SmartServo (Port 1.1) to MB-40R/MB-eMB40R SmartServo

Adept MB-40R/ eMB-40R Servo Controller (MB-40R shown)

Adept SmartController CX

Adept Cobra s350 Robot

User-Supplied Power Supply

Controller (XFP) to Front Panel (XFP)

Front Panel

Pendant

(optional)

XSYS Cable from Controller to MB-40R/eMB-40R (XSLV/XSYSTEM)

24 VDC Power from User-Supplied Power Supply to Controller (XDC1)

User-supplied desktop or Laptop PC Running Adept ACE

Terminator Installed

User-Supplied Ground Wire

External Brake Connector

Arm Power/ Signal Cable

24 VDC Power from User-Supplied Power Supply to MB-40R/ eMB-40R (+24 VDC Input)

User-Supplied 200-240 VAC, single phase

EXPIO Connector

Note: Objects are not drawn to scale.

User-Supplied Ground Wire

STOP

SmartServo IEEE-1394

1 2 3 4

SF ES HD

SW1

1.1 1.2 2.1 2.2

1 2 3

XDIO

LANHPE

OFF

XSYS

CAMERA

Eth 10/100

XUSR

Device Net

XFP

RS-232/TERM

RS-232-1

XMCP

BELT ENCODER

SmartController CX

-+ -+

RS-422/485

XDC1 XDC2

24V 5A

*S/N 3562-XXXXX*

RS-232-2

Chapter 3: System Cable Installation

3.1 System Cable Diagram

Figure 3-1. System Cable Diagram for Adept Cobra s350 Robots

Adept Cobra s350 User's Guide, Rev. D

Page 23 of 94

3.2 Cable List

Cable Description Notes

IEEE 1394 Cable, 4.5 M Standard cable—supplied

Chapter 3: System Cable Installation

Table 3-1. Cables and Parts List

with system

XSYS Cable, 4.5 M (for MB-40R)

eAIB XSYS Cable, 4.5 M (for eMB-40R)

eAIB XSLV Adapter Cable, 250 mm (for eMB-40R with old XSYS cable)

Front Panel Cable Supplied with Front Panel

T1/T2 Pendant Adapter Cable

(for SmartController CX)

T20 Pendant Adapter Cable

(for SmartController EX)

Power Cable Kit - contains 24 VDC and AC power cables

XIO Breakout Cable, 12 inputs/ 8 outputs, 5 meters

Y Cable, for XSYS cable connections to dual robot (for SmartController)

3.3 Installing the SmartController

Standard cable - supplied with MB-40R

Standard cable - supplied with eMB-40R

Standard for MB-40R to eMB40R upgrade.

Supplied with optional T2 pendant

Supplied with optional T20 pendant

Available as option

Available as option—see XIO Breakout Cable on page 47.

Available as option

Refer to the Adept SmartController User's Guide or Adept SmartController EXUser's Guide for complete information on installing the Adept SmartController. This list summarizes the main steps.

Mount the SmartController.

Install the Front Panel. The Front Panel must be outside of the work area, but near the work area.

Connect the Front Panel to the SmartController.

Connect the optional pendant (if included) to the SmartController.

Connect user-supplied 24 VDC power to the controller. Instructions for creating the cable, and power specifications, are covered in the Adept SmartController User's Guide or

Adept SmartController EXUser's Guide.

Install a user-supplied ground wire between the SmartController and ground.

Install the Adept ACE PC software on the user-supplied PC (see the following section).

Adept Cobra s350 User's Guide, Rev. D

Page 24 of 94

Chapter 3: System Cable Installation

3.4 Installing the Adept ACE Software

The Adept ACE software is installed from the Adept ACE software disk.

Insert the disk into the disk drive of your PC.

If Autoplay is enabled, the Adept software disk menu is displayed. If Autoplay is disabled, you will need to manually start the disk.

Especially if you are upgrading your Adept ACE software installation: from the Adept ACE software disk menu, click Read Important Information.

From the Adept ACE software disk menu, select:

Install the Adept ACE Software

The Adept ACE Setup wizard opens.

Follow the online instructions as you step through the installation process.

When the installation is complete, click Finish.

After closing the Adept ACE Setup wizard, click Exit on the disk menu to close the menu.

NOTE:You will have to restart the PC after installing Adept ACE software.

3.5 Connecting the PC to the SmartController

The Adept SmartController motion controller must be connected to a user-supplied PC or the Adept SmartVision EX vision processor for setup, control, and programming.

Connect an Ethernet crossover cable between the PC and the SmartController motion controller

Use two standard Ethernet cables with a network hub or switch in place of the Ethernet crossover cable.

NOTE:Do not use an Ethernet crossover cable with a network hub or switch.

For more details, refer to the Adept ACE User’s Guide.

3.6 Cable Connections from MB-40R/eMB-40R to SmartController

Locate the IEEE 1394 cable (length 4.5 M) and the XSYS or eAIB XSYS cable (length

4.5M). They are shipped in the cable/accessories box.

Install one end of the IEEE 1394 cable into the SmartServo connector on the SmartController (port 1.1 for CX, either for EX), and install the other end into a SmartServo connector on the MB-40R/eMB-40R interface panel, as shown in Figure 3-1.

MB-40R: Install the XSYS cable between the XSYS connector on the SmartController and the MB-40R XSLV safety interlock connector, and tighten the latching screws.

Adept Cobra s350 User's Guide, Rev. D

Page 25 of 94

Chapter 3: System Cable Installation

eMB-40R: Install the eAIBXSYS cable between the XSYS connector on the SmartController and the eMB-40R XSYSTEM connector, and tighten the latching screws.

If you are upgrading from an MB-40R to an eMB-40R, you can use an eAIB XSLV adapter cable between your existing XSYS cable and the XSYSTEM connector on the new eMB-40R.

NOTE:The IEEE 1394 and XSYS/eAIB XSYS cables should be routed away from AC power and robot interconnect cables.

3.7 Cable Connections from MB-40R/eMB-40R to Robot

Installing the Arm Power/Signal Cable

The cable between the robot and the MB-40R/eMB-40R is called the Arm Power/Signal cable, as shown in Figure 3-1.

Connect one end of the Arm Power/Signal cable to the CN22 connector on the back plate of the robot. Tighten the thumb-screw securely.

Connect the other end of the cable to the large, circular connector on the MB-40R/eMB40R. Tighten the screws securely.

WARNING:Verify that all connectors are fully inserted and screwed down. Failure to do this could cause unexpected robot motion. Also, a connector could get pulled out or dislodged unexpectedly.

3.8 Connecting 24 VDC Power to MB-40R/eMB-40R Servo Controller

Specifications for 24 VDC Power

Table 3-2. Specifications for 24 VDC User-Supplied Power Supply

Customer-Supplied Power Supply 24 VDC (± 10%), 150 W (6 A)

(21.6 V<Vin<26.4 V)

Circuit Protection

Power Cabling 1.5 – 1.85 mm² (16-14 AWG)

Shield Termination Cable shield connected to frame ground

User-supplied 24 VDC power supply must incorporate overload protection to limit peak power to less than 300 W, or 8 A in-line fuse protection must be added to the 24 V power source.

Output must be less than 300 W peak

or

8 Amp in-line fuse

on power supply and ground point on MB-40R/eMB-40R, as shown in Figure 3-2.

Adept Cobra s350 User's Guide, Rev. D

Page 26 of 94

Chapter 3: System Cable Installation

The power requirements for the user-supplied power supply will vary depending on the configuration of the robot and connected devices. Adept recommends a 24 V, 6 A power supply to allow for startup current draw and load from connected user devices, such as digital I/O loads.

CAUTION:Make sure you select a 24 VDC power supply that meets the specifications in Table 3-2. Using an underrated supply can cause system problems and prevent your equipment from operating correctly. See the following table for recommended power supplies.

Table 3-3. Recommended 24 VDC Power Supplies

Vendor Name Model Ratings

XP Power JPM160PS24 24 VDC, 6.7 A, 160 W

Mean Well SP-150-24 24 VDC, 6.3 A, 150 W

Astrodyne ASM150-24 24 VDC, 6.66 A, 150 W

Details for 24 VDC Mating Connector

The 24 VDC mating connector and two pins are supplied with each system. They are shipped in the cable/accessories box.

Table 3-4. 24 VDC Mating Connector Specs

Connector Details Connector receptacle, 2-position, type:

Molex Saber, 18 A, 2-Pin

Molex P/N 44441-2002

Digi-Key P/N WM18463-ND

Pin Details Molex connector crimp terminal,

female, 14-18 AWG

Molex P/N 43375-0001

Digi-Key P/N WM18493-ND

Recommended crimping tool, Molex Hand Crimper

Molex P/N 63811-0400

Digi-Key P/N WM9907-ND

Adept Cobra s350 User's Guide, Rev. D

Page 27 of 94

Chapter 3: System Cable Installation

NOTE:The 24 VDC cable is not supplied with the system, but is available in the optional Power Cable kit. See Table 3-1.

Procedure for Creating 24 VDC Cable

Locate the connector and pins from Table 3-4.

Use shielded two-conductor cable with 14-16 AWG wire to create the 24 VDC cable. Select the wire length to safely reach from the user-supplied 24 VDC power supply to the MB-40R/eMB-40R base.

You also must create a separate 24 VDC cable for the SmartController. That cable uses a different style of connector. See the Adept SmartController EX User's Guide or

Adept SmartController User's Guide.

Crimp the pins onto the wires using the crimping tool recommended in Table 3-4.

Insert the pins into the connector. Confirm that the +24 V and Ground wires are in the correct terminals in the plug.

Install a user-supplied ring lug (for an M3 screw) on the shield at the MB-40R/eMB-40R end of the cable.

Prepare the opposite end of the cable for connection to the user-supplied 24VDC power supply, including a terminal to attach the cable shield to frame ground.

Installing the 24 VDC Cable

Do not turn on the 24 VDC power until instructed to do so in the next chapter.

Connect one end of the shielded 24 VDC cable to your user-supplied 24 VDC power supply. See Figure 3-2. The cable shield should be connected to frame ground on the power supply. Do not turn on the 24 VDC power until instructed to do so in System Operation on page 51.

Plug the mating connector end of the 24 VDC cable into the 24 VDC connector on the interface panel on the back of the MB-40R/eMB-40R. The cable shield should be connected to the ground point on the interface panel.

Adept Cobra s350 User's Guide, Rev. D

Page 28 of 94

Chapter 3: System Cable Installation

–

24V, 8A

Frame Ground

24V, 5A

–

User-Supplied Power Supply 24 VDC

MB-40R/eMB-40R Servo Controller

User-Supplied Shielded Power Cable

Adept SmartController

User-Supplied Shielded Power Cable

Attach shield from user-supplied cable to side of controller using star washer and M3 x 6 screw.

Attach shield from usersupplied cables to frame ground on power supply.

Attach shield from usersupplied cable to ground screw on MB-40R Interface Panel.

–

GND

3.9 Connecting 200-240 VAC Power to MB-40R/eMB-40R

Figure 3-2. User-Supplied 24 VDC Cable

NOTE:Adept recommends that DC power be delivered over shielded cables, with the shield connected to frame ground at the power supply, and to the ground points shown in the diagram above for the MB-40R/eMB-40R and SmartController. The length of the wire from the cable shield to the ground points should be less than 50 mm.

WARNING:Ensure compliance with all local and national safety and electrical codes for the installation and operation of the robot system.

WARNING:Appropriately-sized Branch Circuit Protection and Lockout / Tagout Capability must be provided in accordance with the National Electrical Code and any local codes.

Adept Cobra s350 User's Guide, Rev. D

Page 29 of 94

+ 65 hidden pages