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 [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 © 2007-2013 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 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

Page 4 of 142

Table of Contents

Chapter 1: Introduction		11
1.1	Product Description	11
Adept Cobra s800 Inverted™ Robots		11
Adept AIB™, eAIB™		12
Adept SmartController		13
1.2	Dangers, Warnings, Cautions, and Notes in Manual	14
1.3	Safety Precautions	15
1.4	What to Do in an Emergency Situation	15
1.5	Additional Safety Information	15
Manufacturer’s Declaration of Compliance (MDOC)		16
Adept Robot Safety Guide		16
1.6	Intended Use of the Robots	16
1.7	Installation Overview	16
1.8	Manufacturer’s Declaration	17
1.9	How Can I Get Help?	17
RelatedManuals		18
Adept Document Library		18

Chapter 2: Robot Installation		19
2.1	Transport and Storage	19
2.2	Unpacking and Inspecting the Adept Equipment	20
Before Unpacking		20
Upon Unpacking		20
2.3	Repacking for Relocation	20
2.4	Environmental and Facility Requirements	20
2.5	Mounting the Robot	21
Mounting Surface		21
Mounting Procedure		22
2.6	Connectors on Robot Interface Panel	24

Chapter 3: System Installation		27
3.1	System Cable Diagram	27
3.2	Cable and Parts List	28
3.3	Installing the SmartController	28
3.4	Connecting User-Supplied PC to Robot	29

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

Page 5 of 142

Table of Contents

PC Requirements		29
3.5	Installing Adept ACE Software	29
3.6	Cable Connections from Robot to SmartController	30
3.7	Connecting 24 VDC Power to Robot	31
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	33
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	37
Groundthe Robot Base		37
Grounding Robot-MountedEquipment		38
3.10	Installing User-Supplied Safety Equipment	38

Chapter 4: System Operation		39
4.1	Robot Status LED Description	39
4.2	Status Panel Fault Codes	40
4.3	Brakes	41
Programmable E-StopDelay		41
Brake Release Button		42
4.4	Front Panel	42
4.5	Connecting Digital I/O to the System	43
Using DigitalI/Oon Robot XIOConnector		45
OptionalI/OProducts		46
XIOInput Signals		46
XIOOutput Signals		48
XIOBreakout Cable		50
4.6	Starting the System for the First Time	52
Verifying Installation		52
Turning on Power andStarting Adept ACE		53
Enabling High Power		54
Verifying E-StopFunctions		54
Verify Robot Motions		54
4.7	Learning to Program the Robot	54

Chapter 5: Maintenance		55
5.1	Field-replaceable Parts	55
5.2	Periodic Maintenance Schedule	55

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

Page 6 of 142

Table of Contents

5.3	Checking Safety Systems	56
5.4	Checking Robot Mounting Bolts	56
5.5	Checking for Oil Around Harmonic Drives	57
5.6	Lubricating Joint 3 Ball Screw	57
Lubrication Procedure		57
5.7	Replacing the AIB or eAIB Chassis	60
Removing the AIBor eAIBChassis		60
Installing a New AIBor eAIBChassis		64
5.8	Commissioning a System with an eAIB	65
Safety Commissioning Utilities		65
E-StopConfiguration Utility		67
E-StopVerification Utility		68
Teach Restrict Configuration Utility		68
Teach Restrict Verification Utility		69
5.9	Replacing the Encoder Battery Pack	70
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	75
6.2	Removing and Installing the Tool Flange	75
Removing the Flange		75
Installing the Flange		76
6.3	User Connections on Robot	76
User Air Lines		76
User ElectricalLines		78
6.4	Internal User Connectors	78
SOLNDConnector		80
OP3/4 Connector		80
EOAPWR Connector		81
InternalUser Connector Output Specifications		82
ESTOPConnector		82
6.5	Mounting Locations for External Equipment	84
6.6	Installing Robot Solenoid Kit	85
Introduction		85
Tools Required		86
Procedure		86
6.7	Installing Camera Bracket Kit	90
Introduction		90
Tools Required		90
Procedure		90

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

Page 7 of 142

Table of Contents

6.8	DeviceNet Communication Link	91
RecommendedVendors for Mating Cables andConnectors		93
6.9	Installing Adjustable Hardstops	94
Joint 1 Adjustable Hardstops		94
Joint 2 Adjustable Hardstops		98

Chapter 7: Technical Specifications		105
7.1	Dimension Drawings	105
7.2	Cobra s800 Inverted Robot Internal E-STOP Connections	112
7.3	XSYS/XSYSTEM Connector	112
7.4	XSLV Connector	113
7.5	Robot Specifications	113

Chapter 8: Cleanroom Robots		117
8.1	Cobra s800 Inverted Cleanroom Option	117
Introduction		117
8.2	Connections	118
8.3	Requirements	118
8.4	Exclusions and Incompatibilities	119
8.5	Maintenance	119
Bellows Replacement		119
Lubrication		121

Chapter 9: IP-65 Option		123
9.1	IEC IP-65 Classification	123
9.2	Modifications to Meet IP-65 Classification	124
Outer link		124
AIB/eAIBCable Seal		124
Controller		124
HardStop, Rotation Range		124
9.3	AIB/eAIB Cable Seal Overview	124
9.4	Removing/Installing the Cable Entry Housing	124
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	128
Removing Outer Link Cover		128
Installing Outer Link Cover		130
9.6	Customer Requirements	131
Sealing the ToolFlange		131

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

Page 8 of 142

Table of Contents

Pressurizing the Robot

132

9.7	User Connectors	133
User ElectricalandDeviceNet		133
User Air Lines		134
Robot SolenoidOption		134
9.8	Maintenance	134
Replacing IP-65 Bellows		134
9.9	Installing the Roxtec Cable Seal Assembly	135
9.10	Removing the Roxtec Cable Seal Assembly	140

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

Page 9 of 142

Chapter 1: Introduction

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.

Figure 1-1. Adept Cobra s800 Inverted Robot

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

Page 11 of 142

Chapter 1: Introduction

JOINT 1

JOINT 2

JOINT 3

OUTER

LINK

INNER

LINK

JOINT 4

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.

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

Page 12 of 142

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.

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

Page 13 of 142

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.

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

Page 14 of 142

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.

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 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.

1.4What 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:

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

Page 15 of 142

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),	Installing the
and Adept ACE user interface.	SmartController on page
	28.
Install the IEEE 1394 and XSYS cables between the robot and	Cable Connections from
SmartController.	Robot to SmartController
	on page 30.
Create a 24 VDC cable and connect it between the	Installing the
SmartController and the user-supplied 24 VDC power supply.	SmartController on page
	28.
Create a 24 VDC cable and connect it between the robot and	Connecting 24 VDC
the user-supplied 24 VDC power supply.	Power to Robot on page
	31.
Create a 200-240 VAC cable and connect it between the robot	Connecting 200-240 VAC
and the facility AC power source.	Power to Robot on page
	33.

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

Page 16 of 142

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	Connecting Digital I/O to
digital I/O through the XIO connector on the robot.	the System on page 43.
Read System Operation on page 39 to learn about starting the	Starting the System for the
system, including system start-up and testing.	First Time on page 52.
Read Optional Equipment Installation on page 75 if you need	Installing End-Effectors on
to install optional equipment, including end-effectors, user air	page 75.
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.

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

2.From the Product drop-down list, select your Adept robot product.

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

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

Page 17 of 142

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	Contains information on the installation and operation of the
Guide	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 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.

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

Page 18 of 142

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 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.

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.

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

Page 19 of 142

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)

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

Page 20 of 142

Chapter 2: Robot Installation

Robot protection class (ISO)

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.

4X Ø 14 THRU

2X R 4	+ 0.015			6
	0.000

160

80

10

45

189 160

50

Ø 8 + 0.015 6 0.000

90	107
	205

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.

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

Page 21 of 142

Chapter 2: Robot Installation

Mounting Procedure

•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.

183.2

278

500

778

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	85 N·m
SAE	7/16-14 UNC	SAE J429 Grade 5 or	65 ft-lbf
		ASTM A449

1.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.

2.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.

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

Page 22 of 142

Chapter 2: Robot Installation

Figure 2-4. Robot on a Transportation Pallet

3.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.

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

5.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.

6. 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.

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

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

Page 23 of 142

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.

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

Page 24 of 142

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.

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

Page 25 of 142

Chapter 3: System Installation

3.1 System Cable Diagram

	IEEE 1394 Cable	User-Supplied
		Ground Wire
	Controller SmartServo (Port 1.1) to
	AIB/eAIB SmartServo	Adept Cobra s800
		Inverted Robot

			Adept
			SmartController
								*S/N 3562-XXXXX*
					CAMERA	RS-232/TERM	RS-422/485
									CX	XSYS/eAIB XSYS Cable
		SmartServo	IEEE-1394						SmartController
OK HPE LAN SW1 1.1 1.2			Device Net	Eth 10/100
			2.1 2.2		BELT ENCODER	RS-232-1	RS-232-2			Controller (XSYS) to
SF ES HD 1 2 3 4
		ON
		OFF
1	2	3
		XDIO	XUSR	XSYS	XFP	XMCP	XDC1 XDC2			AIB/eAIB (XSLV/XSYSTEM)
							24V	5A
							-+	-+
		Terminator
		Installed
User-Supplied Ground Wire
		Controller (XFP) to
to PC		Front Panel (XFP)
								24 VDC Power to
Ethernet			STOP					Controller (XDC1)
		Front Panel

Controller (XMCP) to Pendant

Pendant

24 VDC Power

(optional)

to Robot

User-Supplied

(+24 VDC Input)

200-240 VAC,

User-Supplied

single-phase

User-Supplied PC running

24 VDC Power

Supply

Adept ACE software

Figure 3-1. System Cable Diagram—AIB Shown

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

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

Page 27 of 142

Chapter 3: System Installation

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,	Standard adapter cable
250 mm	for AIB-eAIB upgrade
Front Panel Cable, 3 M	Supplied with Front
	Panel
T1/T2 Pendant Adapter Cable	Supplied with Adept
	T2™ pendant (option)
Power Cable Kit - contains	Available as option
24 VDC and AC power cables
XIO Breakout Cable, 12 inputs/	Available as option—see
8 outputs, 5 M	XIO Breakout Cable on
	page 50.
Y Cable, for XSYS cable	Available as option—see
connections to dual robots—	Adept Dual-Robot
requires two eAIB XSLV cables	Configuration Procedure.
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.

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 pendant, if purchased, to the SmartController.

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

Page 28 of 142

Chapter 3: System Installation

4.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.

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

3.4Connecting 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)

3.5Installing 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.

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

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

Page 29 of 142

Chapter 3: System Installation

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

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

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

5.When the install is complete, click Finish.

6.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:

•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.

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

Page 30 of 142