Adept s800 User Manual

Adept Cobra s800

Inverted Robot

User's Guide

Adept Cobra s800

Inverted Robot

User's Guide

P/N: 06937-000, Rev H1

May, 2013

5960 Inglewood Drive • Pleasanton,CA 94588 • USA • Phone 925.245.3400 • Fax925.960.0452

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 AIB, Adept Cobra s800 Inverted, 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

Adept Cobra s800 Inverted Robot User's Guide, Rev H1

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Table of Contents

Chapter 1: Introduction 11

1.1 Product Description

Adept Cobra s800 Inverted™ Robots 11 Adept AIB™, eAIB™ 12 Adept SmartController 13

1.2 Dangers, Warnings, Cautions, and Notes in Manual

1.3 Safety Precautions

1.4 What to Do in an Emergency Situation

1.5 Additional Safety Information

Manufacturer’s Declaration of Compliance (MDOC) 16 Adept Robot Safety Guide 16

1.6 Intended Use of the Robots

1.7 Installation Overview

1.8 Manufacturer’s Declaration

1.9 How Can I Get Help?

Related Manuals 18 Adept Document Library 18

Chapter 2: Robot Installation 19

2.1 Transport and Storage

2.2 Unpacking and Inspecting the Adept Equipment

Before Unpacking 20 Upon Unpacking 20

2.3 Repacking for Relocation

2.4 Environmental and Facility Requirements

2.5 Mounting the Robot

Mounting Surface 21 Mounting Procedure 22

2.6 Connectors on Robot Interface Panel

Chapter 3: System Installation 27

3.1 System Cable Diagram

3.2 Cable and Parts List

3.3 Installing the SmartController

3.4 Connecting User-Supplied PC to Robot

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Table of Contents

PC Requirements 29

3.5 Installing Adept ACE Software

3.6 Cable Connections from Robot to SmartController

3.7 Connecting 24 VDC Power to Robot

Specifications for 24 VDC Power 31 Details for 24 VDC Mating Connector 31 Creating 24 VDC Cable 32 Installing 24 VDC Robot Cable 32

3.8 Connecting 200-240 VAC Power to Robot

Specifications for AC Power 34 Details for AC Mating Connector 36 Creating the 200-240 VAC Cable 36 Installing AC Power Cable to Robot 37

3.9 Grounding the Adept Robot System

Ground the Robot Base 37 Grounding Robot-Mounted Equipment 38

3.10 Installing User-Supplied Safety Equipment

Chapter 4: System Operation 39

4.1 Robot Status LED Description

4.2 Status Panel Fault Codes

4.3 Brakes

Programmable E-Stop Delay 41 Brake Release Button 42

4.4 Front Panel

4.5 Connecting Digital I/O to the System

Using Digital I/O on Robot XIO Connector 45 Optional I/O Products 46 XIO Input Signals 46 XIO Output Signals 48 XIO Breakout Cable 50

4.6 Starting the System for the First Time

Verifying Installation 52 Turning on Power and Starting Adept ACE 53 Enabling High Power 54 Verifying E-Stop Functions 54 Verify Robot Motions 54

4.7 Learning to Program the Robot

Chapter 5: Maintenance 55

5.1 Field-replaceable Parts

5.2 Periodic Maintenance Schedule

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Table of Contents

5.3 Checking Safety Systems

5.4 Checking Robot Mounting Bolts

5.5 Checking for Oil Around Harmonic Drives

5.6 Lubricating Joint 3 Ball Screw

Lubrication Procedure 57

5.7 Replacing the AIB or eAIB Chassis

Removing the AIB or eAIB Chassis 60 Installing a New AIB or eAIB Chassis 64

5.8 Commissioning a System with an eAIB

Safety Commissioning Utilities 65 E-Stop Configuration Utility 67 E-Stop Verification Utility 68 Teach Restrict Configuration Utility 68 Teach Restrict Verification Utility 69

5.9 Replacing the Encoder Battery Pack

Battery Replacement Time Periods 71 Battery Replacement Procedure 71 Installing an Encoder Battery in the Inner Link 73

Chapter 6: Optional Equipment Installation 75

6.1 Installing End-Effectors

6.2 Removing and Installing the Tool Flange

Removing the Flange 75 Installing the Flange 76

6.3 User Connections on Robot

User Air Lines 76 User Electrical Lines 78

6.4 Internal User Connectors

SOLND Connector 80 OP3/4 Connector 80 EOAPWR Connector 81 Internal User Connector Output Specifications 82 ESTOP Connector 82

6.5 Mounting Locations for External Equipment

6.6 Installing Robot Solenoid Kit

Introduction 85 Tools Required 86 Procedure 86

6.7 Installing Camera Bracket Kit

Introduction 90 Tools Required 90 Procedure 90

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Table of Contents

6.8 DeviceNet Communication Link

Recommended Vendors for Mating Cables and Connectors 93

6.9 Installing Adjustable Hardstops

Joint 1 Adjustable Hardstops 94 Joint 2 Adjustable Hardstops 98

Chapter 7: Technical Specifications 105

7.1 Dimension Drawings

7.2 Cobra s800 Inverted Robot Internal E-STOP Connections

7.3 XSYS/XSYSTEM Connector

7.4 XSLV Connector

7.5 Robot Specifications

105

112

113

Chapter 8: Cleanroom Robots 117

8.1 Cobra s800 Inverted Cleanroom Option

Introduction 117

8.2 Connections

8.3 Requirements

8.4 Exclusions and Incompatibilities

8.5 Maintenance

Bellows Replacement 119 Lubrication 121

117

118

119

Chapter 9: IP-65 Option 123

9.1 IEC IP-65 Classification

9.2 Modifications to Meet IP-65 Classification

Outer link 124 AIB/eAIB Cable Seal 124 Controller 124 Hard Stop, Rotation Range 124

9.3 AIB/eAIB Cable Seal Overview

9.4 Removing/Installing the Cable Entry Housing

Removing the Cable Entry Housing Cover 126 Installing the Cable Entry Housing Cover 128 Removing the Cable Entry Housing Body 128 Installing the Cable Entry Housing Body 128

9.5 Removing/Installing Outer Link Cover

Removing Outer Link Cover 128 Installing Outer Link Cover 130

9.6 Customer Requirements

Sealing the Tool Flange 131

123

124

128

131

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Table of Contents

Pressurizing the Robot 132

9.7 User Connectors

User Electrical and DeviceNet 133 User Air Lines 134 Robot Solenoid Option 134

9.8 Maintenance

Replacing IP-65 Bellows 134

9.9 Installing the Roxtec Cable Seal Assembly

9.10 Removing the Roxtec Cable Seal Assembly

133

134

135

140

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1.1 Product Description

Adept Cobra s800 Inverted™ Robots

Adept Cobra s800 Inverted 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. See Figure 1-2 for an illustration of the robot joint locations.

The Adept Cobra s800 Inverted 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 s800 Inverted robots are provided in Robot Specifications on page 113.

Chapter 1: Introduction

Figure 1-1. Adept Cobra s800 Inverted Robot

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Chapter 1: Introduction

Joint 1

Inner Link

Outer Link

Joint 2

Joint 4

Joint 3

Figure 1-2. Robot Joint Motions

Adept AIB™, eAIB™

The amplifiers for the Adept Cobra s800 Inverted robot are embedded in the base of the robot. This amplifier section is known as the amps-in-base (AIB or eAIB). There are two versions offered: the AIB and the eAIB. Both provide power amplifiers and full servo control.

The Adept AIB and eAIB feature:

On-board digital I/O

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

Low EMI for use with noise sensitive equipment

No external fan for quiet robot operation

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 the Cobra s800 Inverted robot.

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Chapter 1: Introduction

Adept AIB

Figure 1-3. Adept Amplifier, AIB Shown

Adept SmartController

The SmartController motion controller 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.

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Chapter 1: Introduction

Figure 1-4. Adept SmartController EX, CX

sDIO™ Module

The optional 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 in Manual

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.

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

1.3 Safety Precautions

Chapter 1: Introduction

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

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

DANGER:An Adept Cobra s800 Inverted 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 the Adept Robot

Safety Guide. 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.

1.4 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.

1.5 Additional Safety Information

Adept provides other sources for more safety information:

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Chapter 1: Introduction

Manufacturer’s Declaration of Compliance (MDOC)

This lists all standards with which each robot complies. For details, see Manufacturer’s Declaration on page 17.

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 18.

1.6 Intended Use of the Robots

The Adept Cobra s800 Inverted robot is intended for use in parts assembly and material handling for payloads less than 5.5 kg (12.1 lb). See Robot Specifications on page 113 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. Refer also to the system cable diagram in Figure 3-1.

For dual-robot installations, see the Adept 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 to a flat, secure mounting surface. Mounting the Robot on

page 21.

Install the SmartController, Front Panel, pendant (optional), and Adept ACE user interface.

Install the IEEE 1394 and XSYS cables between the robot and SmartController.

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

Installing the SmartController on page

28.

Cable Connections from Robot to SmartController on page 30.

Installing the SmartController on page

28.

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

Create a 200-240 VAC cable and connect it between the robot and the facility AC power source.

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Connecting 24 VDC Power to Robot on page

31.

Connecting 200-240 VAC Power to Robot on page

33.

Chapter 1: Introduction

Task to be Performed Reference Location

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

Safety Equipment on page

38.

Read System Operation on page 39 to learn about connecting digital I/O through the XIO connector on the robot.

Read System Operation on page 39 to learn about starting the system, including system start-up and testing.

Read Optional Equipment Installation on page 75 if you need to install optional equipment, 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 (MDOC) 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.

Connecting Digital I/O to the System on page 43.

Starting the System for the First Time on page 52.

Installing End-Effectors on page 75.

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.

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

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Chapter 1: Introduction

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 s800 Inverted robot system. There are additional manuals that cover programming the system, reconfiguring installed components, and adding other optional components. See the following table. These manuals are available on the Adept Document Library CD-ROM shipped with each system.

Table 1-2. Related Manuals

Manual Title Description

Adept Robot Safety Guide Contains safety information for Adept robots.

Adept SmartController User's Guide

Adept T2 Pendant User's Guide

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

Describes the use of the optional Adept manual control pendant.

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

Adept Dual-Robot Configuration Procedure

Contains cable diagrams and configuration procedures for a 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 Software CD 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.

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2.1 Transport and Storage

This equipment must be shipped and stored in a temperature-controlled environment, within the range -25 to +55 C. The recommended humidity range is 5 to 90 percent, non-condensing. 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 and store the packaged equipment (see the following figure).

The robot 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 robot weighs 51 kg (112 lb) with no options installed.

Chapter 2: Robot Installation

Figure 2-1. Robot on a Transportation Pallet

WARNING:Use a forklift or pallet jack to lift the robot on its transportation pallet. Do not lift the robot from other locations.

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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. 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 17).

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 appear in 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, as shown in Figure 2-1.

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

Altitude up to 2000 m (6500 ft)

Pollution degree 2 (IEC 1131-2/EN 61131-2)

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Robot protection class (ISO)

107

160

205

160

189

4X Ø 14 Thru

Ø 8

2X R 4

+ 0.015

0.000

+ 0.015

0.000

Standard version IP-20

IP-65 version IP-65

Cleanroom rating, cleanroom model only ISO 4, Fed Reg Class 10

NOTE: See Dimension Drawings on page 105 for robot dimensions.

2.5 Mounting the Robot

Mounting Surface

The Adept Cobra s800 Inverted robot is designed to be mounted in an inverted position. When designing the mounting structure, you must account for load and stiffness. The mounting structure must be rigid enough to prevent vibration and flexing during robot operation. Excessive vibration or mounting flexure will degrade robot performance. Adept recommends the mounting structure be stiff enough so that the first vibration mode is greater than 70 Hz.

The following figure shows the mounting hole pattern.

Chapter 2: Robot Installation

Figure 2-2. Robot Mounting Dimensions

NOTE:On the robot mounting surface, there is a hole and a slot that can be used as locating points for user-installed dowel pins in the mounting surface. Using locating pins can improve the ability to remove and reinstall the robot in the same position.

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Mounting Procedure

183.2

278

500

778

Always use at least two people, and preferably three, to mount the robot.

The robot should be in the folded position when lifting. See the following figure.

Chapter 2: Robot Installation

Figure 2-3. Robot in Folded Position

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.

Table 2-2. Mounting Bolt Torque Specifications

Standard Size Specification Torque

Metric M12 x P1.75 ISO Property Class 8.8

SAE 7/16-14 UNC SAE J429 Grade 5 or

85 N·m

65 ft-lbf

ASTM A449

Using the dimensions shown in Figure 2-2, 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 not provided). See the previous table for bolt and torque specifications.

Remove the four screws on top of the wooden robot base protection box (see Figure 2-4).

Remove the robot base protection box.

Retain the four screws and box for possible later relocation of the equipment.

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Chapter 2: Robot Installation

Figure 2-4. Robot on a Transportation Pallet

While the robot is still bolted to the transportation pallet, use a forklift or other mechanical lifting device to lift the robot and position it directly under the mounting surface. Make sure that one person watches the robot carefully as it is lifted and transported, to ensure it does slip or become unbalanced.

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

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

Install, but do not tighten, the user-supplied mounting bolts and washers.

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

NOTE:Verify that the robot is mounted squarely (will not rock back and forth) before tightening the mounting bolts.

Remove the bolts securing the robot to the pallet.

Retain these bolts for possible later relocation of the equipment.

Move the pallet out of the way.

Tighten the user-supplied mounting bolts to the torque specified in Table 2-2.

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Chapter 2: Robot Installation

NOTE:Check the tightness of the mounting bolts one week after installation, and then recheck every 6 months. See Maintenance on page 55 for periodic maintenance.

2.6 Connectors on Robot Interface Panel

Figure 2-5. Robot Interface Panel—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.

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Chapter 2: Robot Installation

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 Port 1.1) to the robot amplifier. The other SmartServo connector can be used to connect to a second robot or another 1394-based motion axis.

XIO:for user I/O signals for peripheral devices. This connector provides 8 outputs and 12 inputs. See Using Digital I/O on Robot XIO Connector on page 45 for connector pin allocations for inputs and outputs. That section also contains details on how to access these I/O signals via V+/eV+. (DB26, high density, female)

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 an adapter cable to connect to the XSYS cable, or an eAIB XSYS cable, which replaces the XSYS cable. For details, see Cable Connections from Robot to SmartController on page 30.

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.

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

Ethernet to PC

IEEE 1394 Cable Controller SmartServo (Port 1.1) to AIB/eAIB SmartServo

Adept SmartController

Adept Cobra s800 Inverted Robot

User-Supplied 24 VDC Power Supply

User-Supplied 200-240 VAC, single-phase

Controller (XFP) to Front Panel (XFP)

Front Panel

XSYS/eAIB XSYS Cable Controller (XSYS) to AIB/eAIB (XSLV/XSYSTEM)

24 VDC Power to Controller (XDC1)

24 VDC Power to Robot (+24 VDC Input)

User-Supplied PC running Adept ACE software

Terminator Installed

User-Supplied Ground Wire

Pendant (optional)

Controller (XMCP) to Pendant

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

User-Supplied Ground Wire

3.1 System Cable Diagram

Figure 3-1. System Cable Diagram—AIBShown

NOTE:See Installing 24 VDC Robot Cable on page 32 for additional system grounding information.

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3.2 Cable and Parts List

Part Description Notes

IEEE 1394 Cable, 4.5 M Standard cable—

XSYS Cable, AIB only, 4.5 M Standard cable—

eAIB XSYS Cable, 4.5 M Standard cable—

Chapter 3: System Installation

Table 3-1. Cable and Parts List

supplied with system

supplied with AIB system

supplied with eAIB system

eAIB XSLV Adapter Cable, 250 mm

Front Panel Cable, 3 M Supplied with Front

T1/T2 Pendant Adapter Cable Supplied with Adept

Power Cable Kit - contains

24VDC and AC power cables

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

Y Cable, for XSYS cable connections to dual robots— requires two eAIB XSLV cables for an eAIB

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 tasks.

Standard adapter cable for AIB-eAIB upgrade

Panel

T2™ pendant (option)

Available as option

Available as option—see XIO Breakout Cable on page 50.

Available as option—see

Adept Dual-Robot Configuration Procedure.

Mount the SmartController and Front Panel.

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

Connect the Front Panel to the SmartController.

Connect the pendant, if purchased, to the SmartController.

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Connect user-supplied 24 VDC power to the controller.

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

Adept SmartController User's Guide.

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

3.4 Connecting User-Supplied PC to Robot

The Adept Cobra s800 Inverted robot 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 robot via an Ethernet cable.

PC Requirements

To run and use Adept ACE software, the following hardware and software are required.

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

Hardware

Processor: Core2Duo 2.0 GHz or better

Disk Space: 500 MB recommended minimum

RAM: 2 GB or more

Monitor: SVGA, minimum resolution 800 x 600

Ethernet: IEEE 1394 or Gigabit-Ethernet support

Software

Operating System: Microsoft Vista (32-bit), Microsoft Windows® XP with Service Pack 2, Microsoft Windows® Server™ 2003 with Service Pack 1, or Microsoft Windows® 2000 with Service Pack 4

Microsoft .NET Framework 2.0 or later (included in the installation of the Adept ACE installer)

Microsoft Internet Explorer version 5.01 or later (necessary for viewing Online help)

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.

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.

Especially if you are upgrading your Adept ACE software installation: from the Adept

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Chapter 3: System Installation

ACE software CD-ROM menu, click Read Important Information.

From the Adept Software CD-ROM menu, click Install the Adept ACE Software.

The Adept ACE Setup wizard opens. Follow the instructions as you step through the installation process.

When the install is complete, click Finish.

After closing the Adept ACE Setup wizard, click Exit on the CD-ROM menu and proceed to the Start-up Procedure.

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

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

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, as shown in Figure 3-1.

AIBonly:

l 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 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 XSYSTEM into the old XSLV. Connect the XSYSTEM end to the eAIB, and the XSLV end to the old XSYS cable.

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