Adept s600 User Manual

Adept Cobra

s600/s800 Robot

User's Guide

Adept Cobra

s600/s800 Robot

User's Guide

P/N: 03017-000, Rev L1

May, 2013

5960 Inglewood Drive •Pleasanton,CA 94588 •USA •Phone [phone] •Fax[phone] Otto-Hahn-Strasse 23 •44227 Dortmund •Germany•Phone [phone] •Fax[phone]

Block5000 Ang Mo Kio Avenue 5 •#05-12 Techplace II•Singapore 569870 •Phone [phone] •Fax[phone]

Copyright Notice

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: [e-mail].

Copyright © 2003-2013 by Adept Technology, Inc. All rights reserved.

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 AIB, Adept Cobra s600, Adept Cobra s800, Adept eAIB, Adept SmartController CX, Adept SmartController EX, Adept T2, Adept T20, eV+, and V+ 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	9
Adept Cobra s600/s800™ Robots		9
AIB™, eAIB™ (Amplifiers in Base)		10
Adept SmartController™		11
1.2	Dangers, Warnings, Cautions, and Notes	12
1.3	Safety Precautions	13
1.4	What to Do in an Emergency Situation	13
1.5	Additional Safety Information	13
Manufacturer’s Declaration of Conformity (MDOC)		13
Adept Robot Safety Guide		14
1.6	Intended Use of the Robots	14
1.7	Installation Overview	14
1.8	Manufacturer’s Declaration	15
1.9	How Can I Get Help?	15
RelatedManuals		15
Adept Document Library		16

Chapter 2: Robot Installation		17
2.1	Transport and Storage	17
2.2	Unpacking and Inspecting the Adept Equipment	18
Before Unpacking		18
Upon Unpacking		18
2.3	Repacking for Relocation	18
2.4	Environmental and Facility Requirements	18
2.5	Mounting the Robot	19
Mounting Surface		19
Robot Mounting Procedure		20
2.6	Description of Connectors on Robot Interface Panel	21

Chapter 3: System Installation		25
3.1	System Cable Diagram	25
3.2	Cable and Parts List	26
3.3	Installing the SmartController	26
3.4	Connecting User-Supplied PC to SmartController	27

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Table of Contents

PC Requirements		27
3.5	Installing Adept ACE Software	27
3.6	Cable Connections from Robot to SmartController	27
3.7	Connecting 24 VDC Power to Robot	28
Specifications for 24 VDC Power		28
Details for 24 VDC Mating Connector		29
Procedure for Creating 24 VDC Cable		30
Installing 24 VDC Robot Cable		30
3.8	Connecting 200-240 VAC Power to Robot	31
Specifications for AC Power		32
Details for AC Mating Connector		34
Creating the 200-240 VAC Cable		34
Installing AC Power Cable to Robot		35
3.9	Grounding the Adept Robot System	35
Grounding the Robot Base		35
Grounding Robot-MountedEquipment		36
3.10	Installing User-Supplied Safety Equipment	36

Chapter 4: System Operation		37
4.1	Robot Status LED Description	37
4.2	Status Panel Fault Codes	37
4.3	Brakes	39
Programmable E-StopDelay		39
Brake Release Button		39
4.4	Front Panel	40
4.5	Connecting Digital I/O to the System	41
Using DigitalI/Oon Robot XIOConnector		43
OptionalI/OProducts		44
XIOInput Signals		44
XIOOutput Signals		46
XIOBreakout Cable		48
4.6	Starting the System for the First Time	50
Verifying Installation		50
Turning on Power		51
Starting Adept ACE		52
Enabling High Power		52
Verifying E-StopFunctions		52
Verify Robot Motions		53
4.7	Learning to Program the Adept Cobra s-Series Robot	53

Chapter 5: Maintenance	55
5.1 Field-replaceable Parts	55

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Table of Contents

5.2	Periodic Maintenance Schedule	55
5.3	Checking Safety Systems	56
5.4	Checking Robot Mounting Bolts	56
5.5	Checking for Oil Leakage	56
5.6	Lubricating Joint 3	57
Lubrication Procedure		57
5.7	Replacing the AIB or eAIB Chassis	60
Removing the AIBor eAIBChassis		60
Installing a New AIBor eAIBChassis		62
5.8	Commissioning a System with an eAIB	64
Safety Commissioning Utilities		64
E-StopConfiguration Utility		66
E-StopVerification Utility		66
Teach Restrict Configuration Utility		67
Teach Restrict Verification Utility		67
5.9	Replacing the Encoder Battery Pack	68
Battery Replacement Time Periods		69
Battery Replacement Procedure		69

Chapter 6: Optional Equipment Installation		71
6.1	Installing End-Effectors	71
6.2	Removing and Installing the Tool Flange	71
Removing the Flange		71
Installing the Flange		72
6.3	User Connections on Robot	72
User Air Lines		72
User ElectricalLines		73
6.4	Internal User Connectors	73
SOLNDConnector		75
OP3/4 Connector		75
EOAPWR Connector		76
InternalUser Connector Output Specifications		76
ESTOPConnector		77
6.5	Mounting Locations for External Equipment	79
6.6	Installing the Robot Solenoid Kit	79
Tools Required		81
Procedure		81
6.7	Installing the Camera Bracket Kit	85
Tools Required		85
Procedure		85
6.8	DeviceNet Communication Link	86
RecommendedVendors for Mating Cables andConnectors		88

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Table of Contents

6.9 Installing Adjustable Hardstops	88
Joint 1 Adjustable Hardstops	89
Joint 2 Adjustable Hardstops	93

Chapter 7: Technical Specifications		101
7.1	Dimension Drawings	101
7.2	Cobra s600/s800 Robot Internal E-STOP Connections	107
7.3	XSYS/XSYSTEM Connector	107
7.4	XSLV Connector	108
7.5	Robot Specifications	108

Chapter 8: IP-65 Option		111
8.1	Cobra s800 IP-65 Classification	111
8.2	Installing Cable Seal Assembly	111
Cable SealIdentification		111
Installation Procedure		112
8.3	Robot Outer Link Cover Removal and Reinstallation	113
Cover RemovalProcedure		114
Cover Reinstallation Procedure		115
8.4	Customer Requirements	116
Sealing the ToolFlange		116
Pressurizing the Robot		116
8.5	User Connectors	117
User ElectricalandDeviceNet		117
User Air Lines		118
Robot SolenoidOption		119
8.6	Maintenance	119
IP-65 Bellows Replacement		119
8.7	Dimension Drawing for Cable Seal Assembly	121

Chapter 9: Cleanroom Robots		123
Cleanroom Specifications		123
9.1	Connections	124
9.2	Requirements	124
9.3	Exclusions and Incompatibilities	124
9.4	Cleanroom Maintenance	125
Bellows Replacement		125
Lubrication		125

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Chapter 1: Introduction

1.1 Product Description

Adept Cobra s600/s800™ Robots

The Adept Cobra s600 and s800 robots are four-axis SCARA robots (Selective Compliance Assembly Robot Arm). See the following figure. Joints 1, 2, and 4 are rotational; Joint 3 is translational. For a description of the robot joint locations, see Robot Joint Motions on page 10.

The Adept Cobra s600 and s800 robots require an Adept SmartController™ 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 s600 and s800 robots are provided in Robot Specifications on page 108.

NOTE: The descriptions and instructions in this manual apply to both the Cobra s600 and the Cobra s800, except for instances where there is a difference, as in dimension and work envelope drawings. In those cases the information is presented for both robots.

Figure 1-1. Adept Cobra s800 Robot

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Chapter 1: Introduction

JOINT 2

JOINT 1

	JOINT 3
	OUTER
INNER	LINK
LINK	JOINT 4

Figure 1-2. Robot Joint Motions

AIB™, eAIB™ (Amplifiers in Base)

The amplifiers for the Adept Cobra s600 and s800 robots are embedded in the base of the robot. There are two versions offered: the AIB and the eAIB. Both provide power amplifiers and full servo control.

Adept AIB and eAIB feature:

•On-board digital I/O

•Low EMI for use with noise sensitive equipment

•No external fan for quiet robot operation

•8 kHz servo rate to deliver low positional errors and superior path following

•Sine wave commutation to lower cogging torque and improve path following

•Digital feed forward design to maximize efficiency, torque, and velocity

•Temperature sensors on all amplifiers and motors for maximum reliability and easy troubleshooting

Adept eAIB only:

•Hardware-based E-Stop and Teach Restrict controls

For improved safety relative to European standards implemented in 2012

The two amplifiers look very similar, and both fit either Cobra model.

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Chapter 1: Introduction

Figure 1-3. Amplifier on Robot, AIB, s600 Shown

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. See the following figure.

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Chapter 1: Introduction

Figure 1-4. Adept SmartController EX, CX

sDIO™ Module

The sDIO module provides 32 optical isolated digital inputs and 32 optical isolated outputs and also includes an IEEE 1394 interface.

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.

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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 Safety Precautions

DANGER: An Adept Cobra s600/s800 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 Intended Use of the Robots on page 14. 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.

1.4What 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 CO2 to extinguish the fire.

1.5 Additional Safety Information

Adept provides other sources for more safety information:

Manufacturer’s Declaration of Conformity (MDOC)

This lists all standards with which each robot complies. For details, see Manufacturer’s Declaration on page 15.

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Chapter 1: Introduction

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. For details, see Adept Document Library on page 16.

1.6 Intended Use of the Robots

The Adept Cobra s600 and s800 robots are intended for use in parts assembly and material handling for payloads less than 5.5 kg (12.1 lb). See Robot Specifications on page 108 for complete information on the robot specifications. Refer to the Adept Robot Safety Guide for details on the intended use of Adept robots.

1.7 Installation Overview

The system installation process is summarized in the following table. Also, refer to Robot Installation on page 17 and System Installation on page 25.

NOTE: For dual-robot installations, see theAdept Dual-Robot Configuration Procedure, which is available in the Adept Document Library.

Table 1-1. Installation Overview

Task to be Performed	Reference Location
Mount the robot on a flat, secure mounting surface.	See Mounting the Robot on page 19.
Install the SmartController, Front Panel, pendant,	See Installing the SmartController on
and Adept ACE™ software.	page 26.
Install the IEEE 1394 and XSYS cables between the	See Cable Connections from Robot to
robot and SmartController.	SmartController on page 27.
Create a 24 VDC cable and connect it between the	See Installing the SmartController on
SmartController and the user-supplied 24 VDC	page 26.
power supply.
Create a 24 VDC cable and connect it between the	See Connecting 24 VDC Power to
robot and the user-supplied 24 VDC power supply.	Robot on page 28.
Create a 200-240 VAC cable and connect it between	See Connecting 200-240 VAC Power to
the robot and the facility AC power source.	Robot on page 31.
Install user-supplied safety barriers in the workcell.	See Installing User-Supplied Safety
	Equipment on page 36.
Learn about connecting digital I/O through the XIO	See Using Digital I/O on Robot XIO
connector on the robot.	Connector on page 43.
Learn about starting the system for the first time.	See Starting the System for the First
	Time on page 50.
Learn about installing optional equipment,	See Installing End-Effectors on page 71.

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Chapter 1: Introduction

Task to be Performed

Reference Location

including end-effectors, user air and electrical lines, external equipment, solenoids, etc.

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.

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

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

3.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.

4.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.

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

1.9How 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/

Related Manuals

This manual covers the installation, operation, and maintenance of an Adept Cobra s600/s800 robot system. For additional manuals covering programming the system, reconfiguring installed components, and adding optional components, see the following table.

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Chapter 1: Introduction

	Table 1-2. Related Manuals
Manual Title	Description
Adept Robot Safety Guide	Contains safety information for Adept robots.
Adept SmartController User's	Contains information on the installation and operation of
Guide	the Adept SmartController and the optional sDIO product.
Adept T2 Pendant User's	Describes the use of the optional Adept manual control
Guide	pendant.
Adept ACE User’s Guide	Instruction for the use of the Adept ACE software.
Adept Dual-Robot	Contains cable diagrams and configuration procedures for a
Configuration Procedure	dual-robot system.
Adept IO Blox User’s Guide	Describes the IO Blox product.

Adept Document Library

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

Support > 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.

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Chapter 2: Robot Installation

2.1 Transport and Storage

This equipment must be shipped and stored in a temperature-controlled environment, within the range –25 C to +55 C. 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.

Use a forklift, pallet jack, or similar device to transport the packaged equipment (see the following figure).

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.

The s600 robot weighs 41 kg (90 lb) and the s800 weighs 43 kg (95 lb) with no options installed.

Eyebolt for lifting robot after robot has been unbolted from the transportation pallet.

Place forklift or pallet-jack here.

Figure 2-1. Cobra s600 Robot on a Transportation Pallet

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Chapter 2: Robot Installation

2.2 Unpacking and Inspecting the Adept Equipment

Before Unpacking

Carefully inspect all shipping crates for evidence of damage during transit. Pay special attention to any tilt and shock indication labels on the exteriors of the containers. 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 How Can I Get Help? on page 15.

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 this chapter. Reuse all original packing containers and materials and follow all safety notes used for installation. Improper packaging for shipment will void your warranty. Specify this to the carrier if the robot is to be shipped.

CAUTION: 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.

2.4 Environmental and Facility 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%, non-condensing

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Chapter 2: Robot Installation

Altitude	up to 2000 m (6500 ft)
Pollution degree	2
Robot protection class	IP 20 (NEMA Type 1)

NOTE: For robot dimensions, see Dimension Drawings on page 101.

2.5 Mounting the Robot

WARNING: Only qualified service personnel may install or service the robot system.

Mounting Surface

The Adept Cobra s600 and s800 robots are designed to be mounted on a smooth, flat, level tabletop. The mounting structure 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. The following figure shows the mounting hole pattern for the Adept Cobra s600 and s800 robots.

NOTE: On the under side of the base there is a hole and a slot that can be used as locating points for user-installed dowel pins in the mounting surface; see the following figure. Using locating pins could improve the ability to remove and reinstall the robot in the same position.

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Chapter 2: Robot Installation

4X Ø 14 THRU

160

+0.015
2X R4 0	6	80

10

45

160 200

50

Ø 8	+0.015	6
	0	90	234
				UNITS IN MM
			338

Figure 2-2. Mounting Hole Pattern for Robot

Robot Mounting Procedure

1.Using the dimensions shown in the previous figure, drill and tap the mounting surface for four M12 - 1.75 x 36 mm (or 7/16 - 14 UNC x 1.50 in.) machine bolts (bolts are usersupplied).

2.While the robot is still bolted to the transportation pallet, connect the hydraulic lift to the eyebolt at the top of the inner link (see Figure 2-1). Take up any slack, but do not lift the robot at this time.

WARNING: Do not attempt to lift the robot at any points other than the eyebolt provided. 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.

3.Remove the four bolts securing the robot base to the pallet. Retain these bolts for possible later relocation of the equipment.

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

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

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Chapter 2: Robot Installation

NOTE: The base casting of the robot is aluminum and can easily be dented if bumped against a harder surface.

6.Verify that the robot is mounted squarely (can not rock back and forth) before tightening the mounting bolts.

7.Install the user-supplied mounting bolts and washers. Tighten bolts to the torque specified in the following table.

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 Maintenance on page 55 for periodic maintenance.

Table 2-2. Mounting Bolt Torque Specifications

Standard	Size	Specification	Torque
Metric	M12 x P1.75	ISO Property Class 8.8	85 N·m
SAE	7/16-14 UNC	SAE J429 Grade 5 or	65 ft-lb
		ASTM A449

2.6 Description of Connectors on Robot Interface Panel

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Chapter 2: Robot Installation

Figure 2-3. Robot Interface Panels - AIB and eAIB

The following connections are the same for both the AIB and the eAIB:

24 VDC—for connecting user-supplied 24 VDC power to the robot. The mating connector is provided.

Ground Point—for connecting cable shield from user-supplied 24 VDC cable.

200/240 VAC—for connecting 200-240 VAC, single-phase, input power to the robot. The mating connector is provided.

SmartServo x2 (IEEE 1394) — for connecting the IEEE 1394 cable from the controller (SmartServo 1.1) to the robot. The other robot connector can be used to connect to a second robot or another 1394-based motion axis.

XIO (DB26, high density, female) — for user I/O signals for peripheral devices. This connector provides 8 outputs and 12 inputs. For connector pin allocations for inputs and outputs, see Using Digital I/O on Robot XIO Connector on page 43. That section also contains signal nubmer to access these I/O signals via V+/eV+.

The following connections are different on the AIB and the eAIB:

XSYSTEM (eAIB only) — includes the functions of the XPANEL and XSLV on the AIB. This requires either the eAIB XSLV Adapter cable, to connect to the XSYS cable, or an eAIB XSYS cable, which replaces the XSYS cable. See Cable Connections from Robot to SmartController on page 27.

XPANEL (DB26, high density, male; AIB only) — used only with Cobra i-series robots, for connecting the front panel and MCP circuit.

XSLV (DB-9, female; AIB only) — for connecting the supplied XSYS cable from the controller XSYS connector.

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Chapter 2: Robot Installation

XBELTIO (eAIB only) — adds two belt encoders, EXPIO at the back of the robot (which is not available on an AIB), and an RS-232 interface.

RS-232 (DB-9, male; AIB only) — used only with Cobra i-series robots, for connecting a system terminal.

Ethernet x2 (eAIB only) — these are not used with the SmartController CX, and are not currently used with the SmartController EX.

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Chapter 3: System Installation

3.1 System Cable Diagram

Adept

SmartController

									CAMERA
				SmartServo		IEEE-1394
OK	HPE	LAN					Device Net	Eth 10/100
			SW1	1.1	1.2	2.1	2.2		BELT ENCODER
SF	ES	HD	1 2 3 4
			ON
			OFF
1	2	3
			XDIO				XUSR	XSYS	XFP

Terminator

Installed

User-Supplied Ground Wire

	Controller (XFP) to
to PC	Front Panel (XFP)
Ethernet	STOP
	Front Panel
	Controller (XMCP)
	to Pendant

User-Supplied PC running

Adept ACE software

IEEE 1394 Cable

Controller SmartServo (Port 1.1) to

AIB/eAIB SmartServo Adept Cobra s600/s800 Robot

				*S/N 3562-XXXXX*
RS-232/TERM		RS-422/485

			CX	XSYS/eAIB XSYS Cable
RS-232-1	RS-232-2		SmartController
XMCP	XDC1 XDC2			Controller (XSYS) to
	24V	5A		AIB/eAIB (XSLV/XSYSTEM)
	-+	-+

24 VDC Power to Controller (XDC1)

		1
GND	XSLV	2

SmartServo

+24V DC INPUT (24 VDC)

AC INPUT
(200-240 VAC 1Φ) XIO	XPANEL RS-232

		User-Supplied
Pendant		Ground Wire on
(optional)		Robot Base
	24 VDC Power
	to Robot
	(+24 VDC Input)		User-Supplied
User-Supplied			200-240 VAC,
			single phase
24 VDC Power
Supply

Figure 3-1. System Cable Diagram for Adept Cobra s600/s800 Robots - AIB Shown

NOTE: For additional system grounding information, see Installing 24 VDC Robot Cable on page 30.

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3.2 Cable and Parts List

Table 3-1. Cable and Parts List

Part Description	Notes
IEEE 1394 Cable, 4.5 M	Standard cable—supplied
	with system
XSYS Cable, AIB only, 4.5 M	Standard cable—supplied
	with AIB system
eAIB XSYS Cable, 4.5 M	Standard cable--supplied
	with eAIB system
eAIB XSLV Adapter Cable, 250 mm	Standard for AIB-eAIB
	upgrade
Front Panel Cable	Supplied with Front Panel
T1/T2 Pendant Adapter Cable, 2 M	Supplied with Adept T2™
	pendant option
Power Cable Kit, contains 24 VDC	Available as option
and AC power cables
XIO Breakout Cable, 12 inputs/	Available as option—see
8 outputs, 5 M	XIO Breakout Cable on
	page 48.
Y Cable, for XSYS cable connections	Available as option -- see
to dual robots - attaches at the	the Dual Robot Configuration
controller only for an eAIB system	Guide.

3.3 Installing the SmartController

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

1. Mount the SmartController and Front Panel.

WARNING: Ensure that the front panel is located outside of the workcell and outside of the work envelope.

2.Connect the Front Panel to the SmartController.

3.Connect the optional pendant to the SmartController.

4.Connect user-supplied 24 VDC power to the SmartController.

Instructions for creating the 24 VDC cable, and power specification, are covered in the

Adept SmartController User's Guide.

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

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3.4 Connecting User-Supplied PC to SmartController

The SmartController for Adept Cobra s600/s800 robots must be connected to a user-supplied PC for setup, control, and programming. The user loads the Adept ACE software onto the PC and connects it to the SmartController via an Ethernet cable.

PC Requirements

The Adept ACE CD-ROM will display a ReadMe file when inserted in your PC. This contains hardware and software requirements for running Adept ACE software.

NOTE: The specifications are also listed in the ACE PackXpert Datasheet, available on the Adept corporate website.

3.5 Installing Adept ACE Software

You install Adept ACE from the Adept Software CD-ROM. Adept ACE needs Microsoft .NET Framework. The Adept ACE Setup Wizard scans your PC for .NET, and installs it automatically if it is not already installed.

1.Insert the CD-ROM into the CD-ROM drive of your PC.

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

NOTE: The online document that describes the installation process opens in the background when you select one of software installation steps below.

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

3.From the Adept ACE software CD-ROM menu, select:

Install the Adept ACE Software

The Adept ACE Setup wizard opens.

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

5.When the installation is complete, click Finish.

6.After closing the Adept ACE Setup wizard, click Exit on the CD-ROM menu to close the menu.

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

3.6 Cable Connections from Robot to SmartController

The following cables are shipped in the cable/accessories box.

•Locate the IEEE 1394 cable (length 4.5 M).

•For an AIB system, locate the XSYS cable.

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•For an eAIB system, locate the eAIB XSYS cable or eAIB XSLV Adapter cable, which can be used with an existing XSYS cable.

Install one end of the IEEE 1394 cable into the SmartServo port 1.1 connector on the SmartController, and the other end into a SmartServo connector on the AIB or eAIB interface panel. See Figure 3-1.

AIB only:

•Install the XSYS cable between the robot interface panel XSLV safety interlock connector and XSYS connector on the SmartController, and tighten the latching screws.

eAIB only:

•For a new SmartController system with an eAIB, the system will be supplied with a 15 ft (4.5 m) cable with connectors for XSYS (DB9) on one end and XSYSTEM (DB44) on the other. Connect the XSYSTEM end to the eAIB, and the XSYS end to the SmartController.

•For a field upgrade from an old AIB, if you already have the old XSYS (DB9-DB9) cable routed and all you want to do is adapt your new eAIB to plug into the old cable, use the eAIB XSLV Adapter cable. This is a 1 ft (250 mm) long adapter that essentially turns the XSYSTEM into the old XSLV connector. Connect the XSYSTEM end to the eAIB, and the XSLV end to the old XSYS cable.

3.7Connecting 24 VDC Power to Robot

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 Protectiona	Output must be less than 300 W peak
	or
	8 Amp in-line fuse
Power Cabling	1.5 – 1.85 mm² (16-14 AWG)
Shield Termination	Braided shield connected to frame ground
	terminal at both ends of cable. See Figure
	3-2.

aUser-supplied 24 V 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. (In case of multiple robots on a common 24 V supply, each robot must be fused individually.)

NOTE: Fuse information is located on the AIB/eAIB electronics.

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

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solenoids and digital I/O loads. If multiple robots are sharing a 24 V power supply, increase the supply capacity by 3 A for each additional robot.

CAUTION: Make sure you select a 24 VDC power supply that meets the specifications in the previous table. Using an under-rated 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
Astrodyne	SP-150-24	24 VDC, 6.3 A, 150 W
Mean Well	SP-150-24	24 VDC, 6.3 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	Molex P/N 63811-0400
	Crimpers
		Digi-Key P/N WM9907-ND

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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

1.Locate the connector and pins shown in Table 3-4.

2.Use 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 robot base.

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

3.Crimp the pins onto the wires using the crimping tool.

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

5.Prepare the opposite end of the cable for connection to the user-supplied 24 VDC power supply.

Installing 24 VDC Robot Cable

1.Connect one end of the shielded 24 VDC cable to your user-supplied 24 VDC power supply. 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 Turning on Power on page 51. See the following figure.

2.Plug the mating connector end of the 24 VDC cable into the 24 VDC connector on the interface panel on the back of the robot. The cable shield should be connected to the ground point on the interface panel.

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