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Cobra 350
User Manual
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Omron Cobra 350 CR/ESD, Cobra 350 User Manual

Cobra 350 Robot
User’s Guide
I591-E-05
Copyright Notice
The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Omron Adept Technologies, Inc. The documentation is periodically reviewed and revised.
Copyright 2006-2013, 2016-2019 by Omron Adept Technologies, Inc. All rights reserved.
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
Cobra 350 Robots 9 SmartController EX (Option) 10 MotionBlox-40R 11
1.2 How Can I Get Help?
Related Manuals 12
12
Chapter 2: Safety 13
2.1 Dangers, Warnings, and Cautions
Alert Levels 13 Alert Icons 13 Falling Hazards 13 Special Information 14
2.2 Safety Precautions
User's Responsibilities 14 General Hazards 15 Qualification of Personnel 15
2.3 What to Do in an Emergency or Abnormal Situation
Releasing the Brakes 16 Releasing an E-Stop 16
2.4 Robot Behavior
Hardstops 17 Limiting Devices 17 Singularities 17
2.5 Intended and Non-intended Use
Intended Use of the Robot 17 Non-Intended Use 18
2.6 Additional Safety Information
Manufacturer’s Declaration of Incorporation 18 Robot Safety Guide 18 T20 Manual Control Pendant (Option) 18 Disposal 19
13
14
16
17
17
18
9
Chapter 3: Robot Installation 21
3.1 Transport and Storage
3.2 Unpacking and Inspecting the Equipment
Before Unpacking 21
05624-000 Rev. K Cobra 350User's Guide 3
21
21
Table of Contents
Upon Unpacking 21
3.3 Repacking for Relocation
3.4 Environmental and Facility Requirements
3.5 Mounting the Robot
Mounting Surface 23 Robot Mounting Procedure 24
21
22
22
Chapter 4: MotionBlox-40R 27
4.1 Introduction
4.2 Connectors on eMB-40R Interface Panel
4.3 eMB-40R Operation
Status LED 29 Status Panel 30 Brake Release Button 37 Brake Release Connector 37
4.4 Connecting Digital I/O to the System
4.5 Using Digital I/O on eMB-40R XIO Connector
Optional I/O Products 41 XIO Input Signals 41 XIO Output Signals 44 XIO Breakout Cable 46
4.6 Mounting the eMB-40R
Dimensions and Mounting Holes 48 Mounting Clearances 49
27
28
29
38
39
48
Chapter 5: System Cable Installation 51
5.1 System Cables, without SmartController EX
List of Cables and Parts 52 Connection Installation Overview 54 Other Cables 55
5.2 System Cables, with Optional SmartController EX, SmartVision MX
Installing a SmartController EX Motion Controller 57 List of Cables and Parts 57 Cable Installation Overview 59
5.3 Optional Cables
XIOBreakout Cable 60 DB9 Splitter Cable 60 eAIB XBELTIOAdapterCable 60 SmartController EX Belt Encoder Y-Adapter Cable 60
5.4 Installing the SmartController EX
5.5 Installing the ACE Software
5.6 Connecting the PC to the SmartController EX
51
56
60
64
65
65
4 Cobra 350User's Guide 05624-000 Rev. K
Table of Contents
5.7 Cable Connections from eMB-40R to SmartController EX
5.8 Cable Connection from eMB-40R to Robot
5.9 Connecting 24 VDC Power to eMB-40R
Specifications for 24 VDC Power 67 Details for 24 VDC Mating Connector 68 Procedure for Creating 24 VDC Cable 68 Installing the 24 VDC Cable 69
5.10 Connecting 200-240 VAC Power
Specifications for AC Power 71 Details for AC Mating Connector 73 Procedure for Creating 200-240 VAC Cable 73 Installing AC Power Cable to eMB-40R 74
5.11 Grounding the Robot System
Ground Point on Robot Base 75 Ground Point on eMB-40R 75 Robot-Mounted Equipment Grounding 76
5.12 Installing User-Supplied Safety Equipment
Emergency Stop Circuits 82 Remote Manual Mode 84 User Manual/Auto Indication 84 User High Power On Indication 85 Remote High Power On/Off Control 85 High Power On/Off Lamp 85 Remote Front Panel or User-Supplied Control Panel Usage 85 Remote Pendant Usage 86
65
66
67
70
75
76
Chapter 6: System Operation 87
6.1 Status Panel Codes
6.2 Brake Release Button
6.3 Front Panel
6.4 Initial Power-up of the System
Verifying Installation 89 System Start-up Procedure 91 Running the ACE Software 91 Enabling High Power 91 Verifying E-Stop Functions 92 Verify Robot Motions 92
6.5 Learning to Program the Cobra 350 Robot
87
87
88
89
92
Chapter 7: Optional Equipment Installation 93
7.1 Installing End-Effectors
7.2 Removing and Reinstalling the Tool Flange
Removing the Flange 93
93
93
05624-000 Rev. K Cobra 350User's Guide 5
Table of Contents
Reinstalling the Flange 94
7.3 User Connections on Robot
User Air Lines 94 User Electrical Lines 96 Optional Solenoid Cable 96 Mounting Options for User Connections 97
7.4 Camera Mounting
Camera Channel 99 Camera Bracket 100
94
99
Chapter 8: Maintenance 103
8.1 Periodic Maintenance Schedule
8.2 Warning Labels
8.3 Checking Safety Systems
8.4 Checking Robot Mounting Bolts
8.5 Lubricate Joint 3 Ball Screw
Required Grease for the Robot 105 Lubrication Procedure 105
8.6 Replacing Encoder Battery
Battery Replacement Time Periods 106 Replacement Procedure 107
8.7 Inspecting Timing Belts
8.8 Replacing the eMB-40R Amplifier
Remove the eMB-40R Amplifier 110 Installing a New eMB-40R 111
8.9 Commissioning a System with an eMB-40R
Safety Commissioning Utilities 112 E-Stop Configuration Utility 114 E-Stop Verification Utility 114 Teach Restrict Configuration Utility 115 Teach Restrict Verification Utility 115
8.10 Changing the Lamp in the Front Panel High-Power Indicator
103
103
105
105
105
106
110
110
111
116
Chapter 9: Technical Specifications 119
9.1 Dimension Drawings
9.2 Robot Specifications
Physical 123 Performance 124 Stopping Distances and Times 124 Key to Graphs 125
6 Cobra 350User's Guide 05624-000 Rev. K
119
123
Table of Contents
Chapter 10: Cleanroom Robots 129
10.1 Cobra 350 CR/ESD Cleanroom Option
Introduction 129 Specifications 130
10.2 Connections
10.3 Requirements
10.4 ESD Control Features
10.5 Maintenance
Bellows Replacement 132 Lubrication 134
10.6 Dimension Drawings
129
130
131
131
132
135
05624-000 Rev. K Cobra 350User's Guide 7

Revision History

Revision
code
Date Revised Content
01 June,
2016
02 January,
2017
03 July,
2017
04 April,
2018
Original release
l Presented SmartController EX as an option, not required. l Added or modified system cable drawings accordingly. l Converted to OAT.css. l Added dwg showing required cooling space for eMB-40R mount-
ing.
l Changed diamond mounting alignment pin hole to 4 mm from
6.
l Added part number for solenoid cable. l Updated graphics to OAT. l Added notes to stopping distance graph section.
l Removed ‘s’ from all “s350” instances. l Replaced two Adept logos photos with Omron | adept logos. l Added photos clarifying insertion of Arm Power/Signal cable
between robot and eMB-40/60R.
l Noted difference for Cleanroom Arm Power/Signal connector. l Added mm to dimension drawings for camera bracket. l Changed axis to joint, axes to joints.
l Updated safety chapter and alert levels throughout manual. l Updated recommended power supply part numbers. l Update T20 and XMCP jumper cable part numbers. l Error reporting and Line E-Stop clarification. l Update ACE software disk to ACEsoftware media.
05 March,
2019
l Updated safety chapter with current safety related inform-
ation.
l Revised encoder battery replacement procedure; added
replacement procedure for PC boards with 3 connectors.
l Added WEEE disposal information. l Updated copyright for 2019. l Updated all www.adept.com references to www.ia.omron.com. l Removed references to obsolete sDIO unit. l Added Status Fault Codes information. l Updated illustrations with call-outs and tables for translation
compatibility. Other minor illustration improvements applied.
l Replaced contact support@adept.com with "your local Omron
support" in Chapter 9: Technical Specifications.
l Added new figures to illustrate all encoder cable configurations
and pinouts in Chapter 5: System Cable Installation.
l Added a note about typical IOBlox configurations in Chapter 4:
MotionBlox-40R.
l Dual-Robot Configuration Guide renamed to Single and Mul-
tiple Robot Configuration Guide.
8 Cobra 350User's Guide 05624-000 Rev. K

1.1 Product Description

Cobra 350 Robots

The Cobra 350 robot is a high-performance, four-joint SCARA robot (Selective Compliance Assembly Robot Arm). Joints 1, 2, and 4 are rotational; Joint 3 is translational. See Robot Joint Motions on page 10 for a description of the robot joint locations.
NOTE: The robot motors are powered by an eMB-40R servo-controller/amplifier. The robot can be controlled by the eMB-40R, running eV+, or an optional SmartController EX motion controller, which also runs eV+.
Mechanical specifications for the Cobra 350 robots are provided in Technical Specifications on page 119.
A cleanroom model is also available, the Cobra 350 CR/ESD. See Cleanroom Robots on page 129 for information.

Chapter 1: Introduction

Figure 1-1. Cobra 350 Robot
05624-000 Rev. K Cobra 350User's Guide 9
1.1 Product Description
(-)
(+)
(+)
(+)
(+)
(-)
(-)
(-)
1
2
4
3
Figure 1-2. Robot Joint Motions
Table 1-1. Robot Joint Motion Description
Item Description Item Description
1 1st Joint (J1) 2 2nd Joint (J2)
3 3rd Joint (J3) 4 4th Joint (J4)

SmartController EX (Option)

The SmartController EX motion controller is the foundation of our family of high-performance distributed motion and vision controllers. The SmartController EX is designed for use with:
l
Cobra 350 robots
l
eCobra robots
l
Quattro robots
l
Viper robots
The SmartController EX supports a conveyor tracking option, as well as other options. The SmartController EX uses the eV+ Operating System (as does the eMB-40R). It offers scalability and support for IEEE 1394-based digital I/O and general motion expansion modules. The IEEE
10 Cobra 350User's Guide 05624-000 Rev. K
Chapter 1: Introduction
1394 interface is the backbone of SmartServo, the distributed controls architecture supporting our products. The SmartController EX also includes Fast Ethernet and DeviceNet.
Figure 1-3. SmartController EX Motion Controller

MotionBlox-40R

The MotionBlox-40R (eMB-40R) Distributed Servo Controller controls the amplifiers to power the high-power motors of the Cobra 350 robot, and runs the eV+ operating system for motion control of the robot.
The eMB-40R features:
l
Four AC servo motor amplifiers
l
Emergency stop circuitry
l
High servo rate, to deliver low positional errors and superior path-following
l
Sine wave commutation delivers low cogging torque and improved path-following
l
Digital feed-forward design maximizes efficiency, torque, and velocity
l
Integral temperature sensors and status monitoring for maximum reliability
l
Two-digit diagnostics display for easy troubleshooting
05624-000 Rev. K Cobra 350User's Guide 11
1.2 How Can I Get Help?
DC IN 24V
GND
AC
200 ­240V
Ø
1
XBELTIO
XIO
Servo
ENETENET
XSYSTEM

1.2 How Can I Get Help?

Figure 1-4. MotionBlox-40R
You can access information sources on our corporate web site:
http://www.ia.omron.com

Related Manuals

This manual covers the installation, operation, and maintenance of an Cobra 350 robot system. There are additional manuals that cover programming the system, reconfiguring installed com­ponents, and adding other optional components. See the following table.
Table 1-2. Related Manuals
Manual Title Description
Robot Safety Guide Contains safety information for our robots.
SmartController EX User's Guide
Contains information on the installation and operation of the SmartController EX.
T20 Pendant User's Guide Describes the T20 pendant.
ACE User's Guide Instruction for the use of the ACE software.
IOBlox User's Guide Describes the IO Blox product.
Single and Multiple Robot Con­figuration Guide
Contains cable diagrams and configuration procedures for a single and multi-robot system.
12 Cobra 350User's Guide 05624-000 Rev. K

2.1 Dangers, Warnings, and Cautions

!
!
!
!
!

Alert Levels

There are three levels of alert notation used in our manuals. In descending order of import­ance, they are:
DANGER: Identifies an imminently hazardous situation which, if not avoided, is likely to result in serious injury, and might result in fatality or severe property damage.
WARNING: Identifies a potentially hazardous situation which, if not avoided, will result in minor or moderate injury, and might result in serious injury, fatal­ity, or significant property damage.
CAUTION: Identifies a potentially hazardous situation which, if not avoided, might result in minor injury, moderate injury, or property damage.

Chapter 2: Safety

Alert Icons

The icon that starts each alert can be used to indicate the type of hazard. These will be used with the appropriate signal word - Danger, Warning, or Caution - to indicate the severity of the hazard. The text following the signal word will specify what the risk is, and how to avoid it.
Icon Meaning Icon Meaning
This is a generic alert icon. Any specifics on the risk will be in the text following the sig­nal word.

Falling Hazards

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK If mounted incorrectly, the robot can fall over and cause serious injury to per­sonnel or damage to itself or other equipment.
This identifies a hazardous electrical situation.
05624-000 Rev. K Cobra 350User's Guide 13
2.2 Safety Precautions
!
Safety Barriers
To protect personnel from coming in contact with robot unintentionally or objects entering robot’s operation zone, install user-supplied safety barriers in the workcell.

Special Information

There are several types of notation used to call out special information.
IMPORTANT: Information to ensure safe use of the product.
NOTE: Information for more effective use of the product.
Additional Information: Offers helpful tips, recommendations, and best prac-
tices.
Version Information: Information on differences in specifications for different versions of hardware or software.

2.2 Safety Precautions

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK A Cobra 350 robot can cause serious injury or death, or damage to itself and other equipment, if safety precautions are not observed.
WARNING: ELECTROCUTIONRISK During maintenance, disconnect AC power from the robot, and install a lock­out tag-out to prevent anyone from reconnecting power.

User's Responsibilities

Safe use of Cobra 350 robots is your responsibility. To ensure compliance with safety rules and regulations:
l
All personnel who install, operate, teach, program, or maintain the system must read this guide, read the Robot Safety Guide, and complete a training course for their respons­ibilities in regard to the robot.
l
All personnel who design the robot system must read this guide, read the Robot Safety Guide, and must comply with all local and national safety regulations for the location in
which the robot is installed.
14 Cobra 350User's Guide 05624-000 Rev. K
Chapter 2: Safety
Figure 2-1. Read Manual and Impact Warning Labels
l
The robot system must not be used for purposes other than described in Intended Use of the Robot on page 17. Contact your local Omron support if you are not sure of the suit­ability for your application.
l The environment must be suitable for safe operation of the robot.
l
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.
l
Power to the robot and its power supply must be locked out and tagged out before any maintenance is performed.
l The Cobra 350 must be well maintained, so that their control and safety functions con-
tinue to work properly.

General Hazards

IMPORTANT: The following situations could result in injury or damage to the equipment.
l
Do not place objects on the robot.
l
Do not exceed the maximum payload capacity.
l
Do not exceed the maximum recommended limits given in the technical specifications. See Technical Specifications on page 119
l
Do not drop the robot, put weights on it or otherwise operate it irresponsibly.
l
Do not use unauthorized parts.

Qualification of Personnel

It is the end-user’s responsibility to ensure that all personnel who will work with or around robots have attended an appropriate Omron training course and have a working knowledge of the system. The user must provide the necessary additional training for all personnel who will be working with the system.
As noted in this and the Robot Safety Guide, certain procedures should be performed only by skilled or instructed persons. For a description of the level of qualification, we use the standard terms:
05624-000 Rev. K Cobra 350User's Guide 15
2.3 What to Do in an Emergency or Abnormal Situation
!
!
l
Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers, electrical and/or mechanical
l
Instructed persons are adequately advised or supervised by skilled persons to enable them to avoid the dangers, electrical and/or mechanical
All personnel must observe industry-prescribed safety practices during the installation, oper­ation, and testing of all electrically-powered equipment.
IMPORTANT: Before working with the robot, every entrusted person must con­firm that they:
l
Have the necessary qualifications
l
Have received the guides (both this user’s guide, and the Robot Safety Guide)
l
Have read the guides
l
Understand the guides
l
Will work in the manner specified by the guides

2.3 What to Do in an Emergency or Abnormal Situation

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

Releasing the Brakes

In case of an emergency or abnormal situation, the inner and outer robot arms can be manu­ally moved without high power. However, only qualified personnel who have read and under­stood this User's Guide and Robot Safety Guide should manually move the robot into a safe state. Joints 3 and 4 are held by brakes, which can only be released with the Brake Release but­ton. This requires 24 V power to the robot.
WARNING: PERSONALINJURYRISK Cobra 350 robots are not collaborative robots. They require a dedicated work area that will prevent personnel from coming into contact with them during operation.

Releasing an E-Stop

CAUTION: PERSONALINJURYORPROPERTYDAMAGERISK If the robot’s E-Stop is triggered, ensure that the cause of the E-Stop is resolved, and all surrounding areas are clear before releasing the E-Stop.
After the E-Stop button has been manually released, the robot will wait until the motors are manually enabled.
There are two ways to enable the motors:
16 Cobra 350User's Guide 05624-000 Rev. K
l
!
Enable power through ACE software installed on your PC
ll
Press the ROBOTPOWER button on the Pendant
Once the motors are enabled, the robot will wait two seconds and then resume commanded motion, if there is adequate space to maneuver.

2.4 Robot Behavior

Hardstops

If the Cobra 350 runs into one of its hardstops, the robot’s motion will stop completely, an envelope error will be generated, and power will be cut to the robot motors.
The robot cannot continue to move after hitting a hardstop until the error has been cleared.
The Cobra 350’s hardstops are capable of stopping the robot at any speed, load, and max­imum or minimum extension.

Limiting Devices

There are no dynamic or electro-mechanical limiting devices provided by Omron Adept Tech­nologies, Inc. The robot does not have safety-rated soft axis or space limiting.
Chapter 2: Safety
However, the user can install their own safety rated (category 0 or 1) dynamic limiting devices if needed, that comply with ISO10218-1, Clause 5.12.2.

Singularities

No singularities exist that cause a hazardous situation with a Cobra 350 robot.

2.5 Intended and Non-intended Use

Intended Use of the Robot

WARNING: PERSONALINJURYRISK Cobra 350 robots are not collaborative robots. They require a dedicated work area that will prevent personnel from coming into contact with them during operation.
The normal and intended use of Cobra 350 robot does not create hazards.
The Cobra 350 robots have been designed and constructed in accordance with the relevant requirements of IEC 60204-1.
The Cobra 350 robot is intended for use in parts assembly and material handling for payloads up to 5.0 kg. See Technical Specifications on page 119 for complete specifications. Refer to the Robot Safety Guide for details on the intended use of our robots.
Guidelines for safe use:
l
Clean, dry mounting surfaces — surfaces that are routinely kept free of debris and liquids.
05624-000 Rev. K Cobra 350User's Guide 17
2.6 Additional Safety Information
l
Temperature — 5 to 40°C (41 to 104°F), with a recommended humidity range of 5% to 90%, non-condensing.

Non-Intended Use

The Cobra 350 is not intended for use in any of the following situations:
l
Use in the presence of ionizing or non-ionizing radiation
l
Use in potentially explosive atmospheres
l
Use in medical or life saving applications
l
Use in a residential setting. They are for industrial use only.
l
Use before performing a risk assessment
l
Where the equipment will be subject to extremes of heat or humidity
Non-intended use of robots can:
l
Cause injury to personnel
l
Damage itself or other equipment
l
Reduce system reliability and performance
If there is any doubt concerning the application, ask your your local Omron support to determ­ine if it is an intended use or not.

2.6 Additional Safety Information

We provide other sources for more safety information:

Manufacturer’s Declaration of Incorporation

This lists all standards with which the robot complies. The Manufacturer’s Declarations for the Cobra 350 robot and other products are in the Manufacturer’s Declarations Guide.

Robot Safety Guide

The Robot Safety Guide provides detailed information on safety for our robots. It also gives resources for more information on relevant standards. It ships with each robot.

T20 Manual Control Pendant (Option)

The protective stop category for the pendant enable switch is category 1, which complies with the requirements of ISO 10218-1. The pendant is designed in accordance with the requirements of IEC 60204-1 and ISO 13849. The E-Stop button is ISO 13850 compliant.
NOTE: Omron Adept Technologies, Inc. does not offer a cableless (wireless) pendant.
The manual control pendant can only move one robot at a time, even if multiple robots are connected to a SmartController EX, and the pendant is connected to the SmartController EX.
18 Cobra 350User's Guide 05624-000 Rev. K
Chapter 2: Safety

Disposal

Dispose of in accordance with applicable regulations.
Customers can contribute to resource conservation and protecting the environment by the proper disposal of WEEE (Waste Electronics and Electrical Equipment). All electrical and elec­tronic products should be disposed of separately from the municipal waste system via des­ignation collection facilities. For information about disposal of your old equipment, contact your local Omron support.
05624-000 Rev. K Cobra 350User's Guide 19

Chapter 3: Robot Installation

3.1 Transport and Storage

This equipment must be shipped and stored in a temperature-controlled environment, within the range –25 to +60°C (-13 to 140°F). The recommended humidity range is 5% to 90%, non-con­densing. It should be shipped and stored in the supplied packaging, which is designed to pre­vent damage from normal shock and vibration. You should protect the package from excessive shock and vibration.
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.

3.2 Unpacking and Inspecting the 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 your local Omron support as soon as possible.
If the items received do not match your order, please contact your local Omron support imme­diately.
Inspect each item for external damage as it is removed from its container. If any damage is evident, contact your local Omron support (see How Can I Get Help? on page 12).
Retain all containers and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate equipment.

3.3 Repacking for Relocation

If the robot or other equipment needs to be relocated, reverse the steps in the installation pro­cedures that follow. Reuse all original packing containers and materials and follow all safety notes used for installation. Improper packaging for shipment will void your warranty. Before unbolting the robot from the mounting surface, fold the outer arm against the Joint 2 hardstops to help centralize the center of gravity. The robot must always be shipped in an upright ori­entation. Specify this to the carrier if the robot is to be shipped.
05624-000 Rev. K Cobra 350User's Guide 21
3.4 Environmental and Facility Requirements
1
2

3.4 Environmental and Facility Requirements

The robot system installation must meet the operating environment requirements shown in the following table.
Table 3-1. Robot System Operating Environment Requirements
Ambient temperature 5 to 40°C (41 to 104°F)
Humidity 5% to 90%, noncondensing
Altitude up to 1000 m
Pollution degree 2
Robot protection class IP20 (NEMA Type 1)
NOTE: See Dimension Drawings on page 119 for robot dimensions.

3.5 Mounting the Robot

At least two people should transport and store the packaged equipment. See the following fig­ure.
The robot weighs 20 kg (45 lb) with no options installed.
Figure 3-1. Transporting Robot
22 Cobra 350User's Guide 05624-000 Rev. K
Chapter 3: Robot Installation
!
Table 3-2. Transporting Robot Description
Item Description
1 Person 1
2 Person 2
CAUTION: PERSONALINJURYORPROPERTYDAMAGERISK Do not hold the robot by parts other than those shown above.

Mounting Surface

The Cobra 350 robot is designed to be mounted on a smooth, flat, level surface. The mounting surface must be rigid enough to prevent vibration and flexing during robot operation. We recommend a 25 mm (1 inch) 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 Cobra 350 robot.
NOTE: On the under-side of the base there are two holes that can be used as loc­ating points for user-installed dowel pins in the mounting surface. These are shown in the following figure. Using locating pins can improve the ability to remove and reinstall the robot in the same position.
The Cobra 350 robot can be mounted on a moving platform with proper attention paid to adequately supporting the robot cabling. The motor/encoder cable connecting the robot to the eMB-40R is not designed to withstand repeated bending operations and has a minimum recommended bend radius of 200 mm. The connectors on this cable are not designed to sup­port any dynamic forces and we always advise users to support the weight of the cable with external supports and tie-downs. Any additional user cabling should be installed with user­designed cabling supports that do not use these motor/encoder connectors as attachment points for auxiliary cabling.
05624-000 Rev. K Cobra 350User's Guide 23
3.5 Mounting the Robot
120
120
7
17
R 1500
R 1500
144
4x Ø 12
2x Ø 6 H7
+0.012 0
134 ± 0.005
1
2
Figure 3-2. Robot Base Mounting Hole Pattern (Units in mm)
Table 3-3. Robot Base Mounting Hold Pattern Description
Item Description
1 Through Holes
2 Allow 291 mm for cabling

Robot Mounting Procedure

1.
See the preceding figure for the dimensions of the mounting holes in the robot base.
l
Drill four bolt holes, M10 x 30 mm (or 3/8-16 UNC) for machine bolts (user-sup­plied).
These either need to be tapped for the bolts, or you can drill thru-holes, and use nuts on the other side of the mounting surface.
l
Drill a dowel pin hole Ø4 mm, H7 for the diamond-shaped pin, 10 mm deep or more.
NOTE: The diamond-shaped pin has a Ø6 mm diamond-shaped section, but the shank is only Ø4 mm. The hole in the base of the Cobra 350 is Ø6, but you need to drill a Ø4 hole in your mounting surface for the shank of that pin.
24 Cobra 350User's Guide 05624-000 Rev. K
Chapter 3: Robot Installation
!
1
2
3
1
l
Drill a dowel pin hole Ø6 mm, H7 for the internally threaded positioning pin, 10to 15 mm deep.
WARNING:
PERSONALINJURYORPROPERTYDAMAGERISK 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.
2.
Install the diamond-shaped pin into one of the 6H7 diameter holes in the robot base.
3.
Install an internally-threaded positioning pin into the other 6H7 hole in the robot base.
4.
Turn joint 2 until the arm comes into contact with the mechanical hardstop to keep the robot in a safe position.
Figure 3-3. Rotate J2 to Safe Position
Table 3-4. J2 Rotation Details
Item Description
1 Bolts
2 Pallet
3 Turn until it comes into contact with the mechanical end.
5.
Remove the four bolts securing the robot base to the pallet. One person should support the J1 arm while another person removes the bolts. Retain these bolts for possible later relocation of the equipment.
6.
Lift the robot and position it directly over the mounting surface.
05624-000 Rev. K Cobra 350User's Guide 25
3.5 Mounting the Robot
!
7.
Slowly lower the robot while aligning the base and the tapped mounting holes in the mounting surface.
NOTE: The base casting of the robot is aluminum and can easily be dented if bumped against a harder surface.
8.
Install the user-supplied mounting bolts and washers. Tighten bolts to the torque spe­cified in the following table.
Verify that the robot is mounted squarely (will not rock back and forth) before tightening the mounting bolts.
WARNING: PERSONALINJURYORPROPERTYDAMAGERISK The center of mass of the robot may cause the robot to fall over if the robot is not secured with the mounting bolts.
NOTE: Check the tightness of the mounting bolts one week after initial install­ation, and then recheck every 6 months. See Periodic Maintenance Schedule on page 103 for periodic maintenance.
Table 3-5. Mounting Bolt Torque Specifications
Standard Size Specification Torque
Metric M10 x 30 mm ISO Property Class 8.8 70 N·m
SAE 3/8-16 UNC SAE J429 Grade 5 or
ASTM A449
52 ft-lbf
26 Cobra 350User's Guide 05624-000 Rev. K

4.1 Introduction

DC IN
24V
GND
AC
200 ­240V
Ø
1
XBELTIO
XIO
Servo
ENETENET
XSYSTEM
1
2
The MotionBlox-40R (eMB-40R) is a distributed servo controller and amplifier. It has a ded­icated digital signal processor to communicate, coordinate, and execute servo commands.
The eMB-40R consists of:
l
a distributed servo amplifier
l
a RISC processor for servo loop control
l
a node on the IEEE 1394 network
l
a power controller that uses single-phase AC power, 200-240 Volts
l
a status panel with a 2-digit alpha-numeric display to indicate operating status and fault codes

Chapter 4: MotionBlox-40R

Figure 4-1. eMB-40R Front View
Table 4-1. eMB-40R Front View Description
Item Description
1 eMB-40R InterfacePanel
2 Robot Connector (for Arm Power / Signal Cable from Robot)
05624-000 Rev. K Cobra 350User's Guide 27
4.2 Connectors on eMB-40R Interface Panel
1
2
9
8
7
6
5
4
3

4.2 Connectors on eMB-40R Interface Panel

Figure 4-2. eMB-40R Interface Panel
Table 4-2. Connectors on the eMB-40R Interface Panel
Item Name Description
1 XSYSTEM Connects to the controller XSYS connector. Requires an eAIB
XSLV Adapter cable to connect to the XSYS cable, or an eAIB XSYS cable (HDB44-to-DB9, male). Replaces the XPANEL and XSLV on the legacy MB-40R.
2 Ground Point Used for cable shield from user-supplied 24 VDC cable.
3 +24VPin +24V connection point.
4 24 VDCInput Used for user-supplied 24 VDC power. The mating connector is
provided.
5 200 - 240
6 XIO Used for user I/O signals for peripheral devices (DB-26, high dens-
7 XBELTIO Adds two belt encoders, EXPIO at the back of the robot, and an
VACInput
Used for 200-240 VAC, single-phase, input power. The mating connector is provided.
ity, female). Provides 8 outputs and 12 inputs. See Connecting Digital I/O to the System on page 38 for more information.
RS-232 interface, which is reserved for future use.
8 SmartServo
Ports
9 Ethernet Ports Reserved for future use.
Used for the IEEE 1394 cable from the controller.
28 Cobra 350User's Guide 05624-000 Rev. K

4.3 eMB-40R Operation

1 2
5
4
3

Status LED

The Status LED indicator is located near the top of the eMB-40R. See the following figure. This is a bi-color, red and green LED. The color and blinking pattern indicates the status of the robot. See the following table.
Chapter 4: MotionBlox-40R
Figure 4-3. Controls and Indicators on eMB-40R
Table 4-3. eMB-40R Control and Indicator Description
Item Description
1 Brake Release Button
2 Status Panel Display
3 Status LEDIndicator
4 Brake Connector
5 EXPIOConnector
05624-000 Rev. K Cobra 350User's Guide 29
4.3 eMB-40R Operation
Table 4-4. Status LED Definition
LED Status Description
Off 24 VDC not present
Green, Slow Blink High Power Disabled
Green, Fast Blink High Power Enabled
Green/Red Blink Selected Configuration Node
Red, Fast Blink Fault, see Status Panel Display
Solid Green or Red Initialization or Robot Fault

Status Panel

The status panel, shown in Controls and Indicators on eMB-40R on page 29, displays alpha­numeric codes that indicate the operating status of the eMB-40R. The following table gives definitions of the fault codes. These codes provide details for quickly isolating problems during troubleshooting.
In the Status Panel Codes table, the '#' in the LED column represents a single digit. The digits will be displayed as one of the following:
0 1 2 3 4 5 6 7 8 9
30 Cobra 350User's Guide 05624-000 Rev. K
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