OMRON eCobra 600, eCobra 800 User Manual
eCobra 600 and 800 Robot
with EtherCAT
User's Manual
I653-E-02
Copyright Notice
The information contained herein is the property of OMRON Robotics and Safety Technologies, Inc., and
shall not be reproduced in whole or in part without prior written approval of OMRON Robotics and
Safety Technologies, Inc.. The information herein is subject to change without notice and should not be
construed as a commitment by OMRON Robotics and Safety Technologies, Inc. The documentation is
periodically reviewed and revised.
OMRON Robotics and Safety Technologies, Inc., assumes no responsibility for any errors or omissions in
the documentation.
Copyright OMRON Robotics and Safety Technologies, Inc. by OMRON Corporation. All rights
reserved.
Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and
other countries for OMRON factory automation products.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
ODVA, CIP, DeviceNet, and EtherNet/IP are trademarks of ODVA.
Other company names and product names in this document are the trademarks or registered trademarks
of their respective companies.
Created in the United States of America.
Table of Contents
Chapter 1: Introduction
Related Manuals
1.1 Intended Audience
1.2 Robot Overview
Robot Amplifier and Controller
IP65 and Cleanroom Versions
Robot Features
Robot Links and Joints
Robot Connections
iCS-ECAT Robot Interface Panel
1.3 Robot Options
Solenoid Valve Kit
End of Arm Break-away Sensor
IO Blox
Optional I/O Items
T20 Pendant
IPC Application Controller
Front Panel
Camera Bracket Kit
Adjustable Hardstops
Optional Cables
9
9
10
12
13
16
16
17
17
24
25
25
26
27
27
28
28
29
31
32
33
Chapter 2: Safety
2.1 Dangers, Warnings, and Cautions
Alert Levels
Alert Icons
Special Information
2.2 Safety Precautions
2.3 What To Do In An Emergency
Stopping the Robot
Fire Response
Entrapment and Brake Release Button
2.4 Robot Behavior
Hardstops
Limiting Devices
Singularities
2.5 Intended Use of the Robot
2.6 Additional Safety Information
Manufacturer’s Declarations
Robot Safety Guide
T20 Pendant (Option)
2.7 Disposal
2.8 How Can I Get Help?
37
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37
37
38
38
39
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39
39
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41
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 3
Chapter 3: Robot Installation
3.1 Robot Installation Overview
Basic Installation Steps
3.2 Mounting an eCobra Robot
Mounting Surface
Mounting Procedure
3.3 Install the Tool Flange
Tool Flange InstallationProcedure
3.4 Installing the Front Panel
Connecting the Front Panel
Front Panel Schematic
3.5 Installing User-Supplied Safety Equipment
Contacts on XUSR Connector
Contacts on XFP Connector
Remote Pendant Signals on the XMCPConnector
E-Stop Circuits on XUSR and XFP Connectors
Emergency Stop Circuits
Remote Manual Mode
User Manual/Auto Indication
Remote High Power ON / OFF Control
Using a User-Supplied Control Panel
Remote Pendant Usage
3.6 Setting the EtherCATNodeID
Setting the EtherCATNode ID UsingHardware Switches
43
43
43
43
44
44
46
47
47
47
48
49
49
51
51
53
54
56
56
56
57
58
58
59
Chapter 4: System Cable Installation
4.1 Basic System Cable Layout
List of Cables and Parts
Cable Installation Steps
XBELT IO Belt Encoder Y Adapter Cable
4.2 Connecting Digital I/O to the System
Digital I/O Signal Configuration
XIO Connector Signals
4.3 Connecting the 24 VDC Cable to the Robot
24 VDC Power Supply Connector
Making the 24 VDC Power Supply Cable
Connecting the 24 VDC Cable
4.4 Connecting 200-240 VAC Power Cable
AC Power Diagrams
AC Power Supply Connector
Making the 200-240 VAC Power Supply Cable
Connecting the AC Power Supply Cable
4.5 Grounding the Robot System
Grounding the Robot Base
Grounding Robot-Mounted Equipment
Chapter 5: Optional Equipment Installation
5.1 Installing End-Effectors
61
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62
64
65
67
68
76
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79
79
81
81
83
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84
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85
85
87
87
4 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
5.2 Mounting Locations for External Equipment
5.3 Installing the Solenoid Valve Kit
Solenoid Valve Kit Installation Procedure
Testing Solenoid Valve Kit Installation
5.4 Installing the Camera Bracket Kit
Tools Required
Procedure
5.5 Installing Adjustable Hardstops
Joint 1 Adjustable Hardstop Installation
Joint 2 Adjustable Hardstop Installation
88
89
90
93
93
93
93
95
95
96
Chapter 6: System Operation
6.1 Verifying Installation
Mechanical Checks
System Cable Checks
User-Supplied Safety Equipment Checks
Switch Position Checks
6.2 Robot Status LED and Display Panel
General Robot States
6.3 EtherCAT Communications Description
SystemBehavior with EtherCATCommunication Errors
6.4 Brakes
Brake Release Button
Remote Brake Release Feature
6.5 Robot Control Modes
Manual Mode
Automatic Mode
Operation Mode
Service Mode
6.6 Manually Jogging the Robot
6.7 Enabling Robot High Power
High Power Safety Timeout
High Power and Faults
High Power Request Methods
6.8 Disabling Robot High Power
99
99
99
99
100
101
101
101
102
103
103
103
104
104
104
105
105
105
106
106
106
107
107
108
Chapter 7: Maintenance
7.1 Periodic Maintenance
Periodic Maintenance Schedule
Checking Safety Systems
Checking Robot Mounting Bolts and CoverPlates
Checking Safety and Warning Labels
Checking for Oil Leaks
Lubricating Joint 3
Replacing the Encoder Battery Pack
7.2 Non-Periodic Maintenance
Field-Replaceable Parts
Remove the Tool Flange
111
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 5
111
111
111
112
112
114
115
117
119
120
120
Replacing the iCS-ECAT Amplifier Chassis
Remove and Replace a MicroSD Card
Change Front Panel High-Power ON Lamp
121
125
126
Chapter 8: Technical Specifications
8.1 Robot Physical Dimension Drawings
8.2 General Robot Specifications
8.3 Performance Specifications
General Performance Information
Stopping Distances and Times
Hardstop and Softstop Limits
8.4 Electrical Specifications
Internal Connection Specifications
External Connection Specifications
8.5 Environment and Facility Specifications
8.6 Other Specifications
Solenoid Valve Kit Specifications
ConnectorSpecifications
Power Consumption Specifications
8.7 Tool Flange Dimensions
8.8 Front Panel Dimensions
8.9 EtherCAT Communications Specifications
Chapter 9: IP65 Option Considerations
9.1 IP65 Option Classification
9.2 User Requirements to Meet IP65 Rating
Sealing the Tool Flange
Pressurizing the Robot
9.3 Cable Seal Assembly
Cable Seal Identification
Dimension Drawing for Cable Seal Assembly
9.4 Remove and Reinstall Outer Link Cover
Outer Link Cover Removal Procedure
Outer Link Cover Reinstallation Procedure
9.5 IP65 RobotConnections
Joint 1 Connections
Pneumatic Pass-through Connections
Robot Solenoid Option Consideration for IP65 Robots
9.6 IP65 Option Maintenance
IP65 Bellows Replacement
131
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153
153
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162
163
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164
Chapter 10: Cleanroom Option Considerations
10.1 Cleanroom Option Classification
10.2 User Requirements to Meet Cleanroom Rating
10.3 Cleanroom Robot Connections
Robot Solenoid Option Consideration for Cleanroom Robots
10.4 Cleanroom Option Maintenance
Cleanroom Bellows Replacement
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169
169
6 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Chapter 11: Status Codes
11.1 Robot Display Panel
11.2 Status Codes Table
171
171
171
Appendix
A.1 Unpacking and Inspecting the Equipment
Before Unpacking
After Unpacking
Inspecting the Equipment
A.2 Repacking for Relocation
A.3 Transportation and Storage
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24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 7
Revision History
Revision
Code
A July, 2020 Original release
B August, 2020 Minor corrections and updates
ReleaseDate Details
8 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Chapter 1: Introduction
This manual contains information that is necessary to install and use eCobra 600 and 800
Robots with EtherCAT. Please read this manual and make sure you understand the functionality, installation, and performance of the robot before attempting to use it.
Related Manuals
Use the following related manuals for reference.
Table 1-1. Related Manuals
Manual Description
Robot Safety Guide (Cat. No.
I590)
Sysmac Studio Robot Integrated System Building Function with Robot Integrated
CPU Unit Operation Manual
(Cat. No. W595)
Sysmac Studio Robot Integrated System Building Function with IPC Application
Controller Operation Manual
(Cat. No. W621)
eV+3 User'sManual (Cat.
No. I651)
eV+3 Keyword
ReferenceManual (Cat. No.
I652)
NJ-series Robot Integrated
CPU Unit User's Manual
(Cat. No. O037)
Contains safety information for OMRON industrial robots.
Describes the operating procedures of the Sysmac Studio.
Describes the operating procedures of the IPC
ApplicationController.
Provides a description of the eV+ programming language
and functionality.
Provides reference to eV+ Keyword use and functionality.
Provides information that is necessary to use the robot control function of the NJ-series CPU Unit.
IPC Application Controller
User’s Manual (Cat. No.
I632)
[[[Undefined variable
Primary.T20User'sGuide]]]
IO Blox User’s Guide (04638-
000)
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 9
Provides information that is necessary to use the robot control function of the IPC Application Controller.
Describes the use of the optional T20 manual control
pendant.
Describes the IO Blox product, its connections, and input/output signals.
1.1 Intended Audience
This manual is intended for the following personnel, who must also have knowledge of common programming practices and robotic control methods.
l Personnel in charge of introducing FA systems.
l Personnel in charge of designing FA systems.
l Personnel in charge of installing and maintaining FA systems.
l Personnel in charge of managing FA systems and facilities.
10 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
1.2 Robot Overview
NA-series
PT
Teaching pendant
T20
(with built-in EtherCAT
communications)
Slave
Terminal
Vision sensor
OMRON
robot
Robot Integrated CPU Unit
NJ501-R
I/O control
external devices
1S-series Servo Drives
G5-series Servo Drives
Server
Relational database
USB
Camera
FH-series Vision
Systems
Robots controllable by NJ Robotics function
EtherCAT
Application Controller
Sysmac Studio
EtherNet/IP
Front Panel
Safety
devices
Encoder,
digital I/O
The robots detailed in this manual are four-joint Selective Compliance Assembly Robot Arm
(SCARA) industrial robots. These next-generation robots are designed for a variety of automated applications where high speed and precision is required.
Built-in EtherCAT communications allow this robot to operate together with EtherCATslaves,
other Sysmac products, and the Sysmac Studio AutomationSoftware to achieve optimum functionality and ease of operation.
Figure 1-1. EtherCATSystem Topology
These robots are offered with two different arm reaches to provide different working envelopes.
The eCobra 600 Robot has a 600 mm radial reach and the eCobra 800 Robot has an 800 mm
radial reach, measured from Joint 1 to Joint 4. Refer to Robot Physical Dimension Drawings on
page 131
12 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Chapter 1: Introduction
eCobra 600 eCobra 800
Figure 1-2. eCobra 600 and 800 Models
There are two tiers of eCobra robots; the eCobra Pro and the eCobra Standard. The Pro and
Standard tiers are physically identical. The Pro models offer faster performance and more features and connectivity than the Standard models. Refer to Robot Features on page 16 for more
information.
NOTE: The descriptions and instructions in this manual apply to all eCobra
600 and 800 Robots with EtherCAT. If there are differences based on type or
options, this manual will provide details in the associated sections.
Robot Amplifier and Controller
The robot's amplifier and controller is integrated in the robot's base and referred to as the
Internal Control System, or iCS-ECAT.
The iCS-ECAT unit contains power amplifiers, safety circuitry, and I/O as well as full trajectory, kinematic, and servo robot control hardware.
This robot is intended to operate within an EtherCAT network. It receives commands and control signals from the NJ-series Robot Integrated CPU Unit over an EtherCAT network.
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 13
Figure 1-3. eCobra Robot with iCS-ECAT Highlighted
Internal Control System
The iCS-ECAT has a dedicated microprocessor to communicate, coordinate, and execute servo
commands. The iCS-ECAT unit receives eV+ commands from the NJ-series Robot Integrated
CPU Unit and processes these commands to execute robots motions and other functions.
The iCS-ECAT contains the robot interface panel which provides connections for power supply, peripheral devices such as the front panel, pendant, and user-supplied safety equipment,
and EtherCATnetwork cables. The robot interface panel also has switches for setting an explicit EtherCATNode address and operating mode as well as LED's to indicate operating status.
Additional Information: Refer to iCS-ECAT Robot Interface Panel on page 24 for
more information.
14 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Chapter 1: Introduction
Figure 1-4. iCS-ECAT
iCS-ECAT Features
The iCS-ECAT unit has the following general features.
l Integrated EtherCAT communications for distributed robot control.
l
Integrated digital I/O.
l
Dual 1 GHz Cortex A9 ARM Processors, 1 GB SDRAM.
l 8 GB MicroSD card.
l
Low EMI for use with noise sensitive equipment.
l
No external fan.
l
8 kHz servo rate to deliver low positional errors and high-performance path following.
l
Digital feed-forward control to maximize efficiency, torque, and positioning.
l
Internal temperature sensors for hardware protection and troubleshooting.
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 15
IP65 and Cleanroom Versions
eCobra robots are also available with options for IP65 or Class 10 Cleanroom ratings. These
options provide additional protection from dust and fluid, and are supplied with a bellows
device on the z-axis quill.
The following images show the IP65 version and the Cleanroom version.
Figure 1-5. IP65 Version (left), Cleanroom Version (right)
Robot Features
The following table lists the varying features and functionality that are available with different
system configurations.
Feature eCobra Standard eCobra Pro
Vision Support Yes Yes
Robot position latching No Yes
Local I/O (max. input / output) 44/40 76/72
XIO (max. input / output) 12/8 12/8
IOBlox (max. input / output) 32/32, max. 4 units per robot 64/64, max. units 8 per
Conveyor tracking No Yes (2 max.)
T20 Pendant option Yes Yes
IP65 option Yes (only for eCobra 800) Yes
Cleanroom option Yes Yes
Pass-through, J1 to J2 5 air lines
24 user electrical contacts
1 DeviceNet pass-through
robot
1
2
1
Requires XBELTIO Cablefor 2nd group of 4 units.
2
Requires XBELTIO Cable.
16 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Robot Links and Joints
The robot links and joints are described below.
Joints 1, 2, and 4 are rotational. Joint 3 is translational.
Chapter 1: Introduction
Figure 1-6. Robot Joint Motions - eCobra 600 Robot Shown
Key Meaning Key Meaning
A Joint 1 (Shoulder) D Joint 4 (Wrist)
B Joint 2 (Elbow) E Outer link
C Joint 3 (Z) F Inner link
Robot Connections
This section describes the various external and internal ports and connectors that are available
on the standard eCobra robot..
NOTE: Some connections may differ on robots with the IP65 or Cleanroom
options. Refer to IP65 Option Considerations on page 153 and Cleanroom Option
Considerations on page 167 for more information.
The external connections include:
l iCS-ECAT robot interface panel connections
l Pneumatic pass-through ports
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 17
l Electrical pass-through connections
l IO Blox connector
The internal connections include:
l Solenoid connector for the optional SolenoidValve Kit
l Connector for a second set of optional robot hand valve solenoids(OP3/4)
l End-of-arm power connector (EOAPWR)
l End of Arm Break-away Sensor Connector
Pneumatic Pass-through Ports
The pneumatic pass-through ports on the back of Joint 1 are typically used for end-effector control. Internal air lines are routed internally through the robot to another set of matching connectors on the top of the outer link as shown below.
Additional Information: Refer to Technical Specifications on page 131 for more
information.
Figure 1-7. Pneumatic Pass-through ports on the back of Joint 1 (left) and Joint 2 (right)
Table 1-2. Pneumatic Pass-Through Port Descriptions
Item Description
A / C 4 mm ports
B / D 6 mm ports
Electrical Pass-through Connections
The electrical pass-through connectors on the back of Joint 1 are typically used for end-effector
sensing and control. Internal harnesses are routed through the robot to another set of mating
connectors on the top of the outer link as shown below.
Additional Information: Refer to Technical Specifications on page 131 for more
information.
18 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Chapter 1: Introduction
Figure 1-8. User Electrical Connectors on Joint 1 (left) and Joint 2 (right)
Item Description
A DeviceNet pass-through
B General purpose electrical pass-through.
IO Blox Connector
The IOBlox connector on Joint 1 provides an interface to addIOBlox expansion I/O modules
to a robot.
NOTE: Refer to Connecting Digital I/O to the System on page 67 and the IO Blox
User’s Guide (04638-000) for more information.
Figure 1-9. IOBlox Connector
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 19
Solenoid Connector
The robot has been pre-wired to accommodate a bank of two 24 VDC solenoid valves. Power
for the internally mounted solenoid valves is accessible with a connector mounted inside the
outer link cover. This 4-pin connector provides the output signals for internally mounted solenoid valves. The solenoid connector location and pin details are provided below.
Additional Information: An optional Solenoid Valve Kit (part number 02853-
000) is available for use with the internal solenoid connector. Refer to Robot
Options on page 25 and Technical Specifications on page 131 for more information.
Figure 1-10. Solenoid Connector Location
Table 1-3. Solenoid Connector Pinout
Pin # Description Pin Location
1 Output 3001 (+24 VDC)
2 0 VDC
3 Output 3002 (+24 VDC)
4 0 VDC
OP3/4 Connector
This 4-pin connector provides the output signals for a second set of optional robot hand valve
solenoids or other user-supplied devices. The OP3/4 connector location and pin details are
provided below.
20 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Chapter 1: Introduction
!
WARNING: Do not remove the J3-ENC or J4-ENC encoder cable connectors
that are located near the OP3/4 connector. If they are removed, the calibration
data will be lost and the robot must be factory recalibrated which requires special software and tools.
Additional Information: Technical Specifications on page 131 for more information.
Figure 1-11. OP3/4 Connector Location
Table 1-4. OP3/4 Connector Pinout
Pin # Description Pin Location
1 Output 3003 (+24 VDC)
2 0 VDC
3 Output 3004 (+24 VDC)
4 0 VDC
End of Arm Break-away Sensor Connector
The end of arm break-away sensor shutdown function provides a high power shutdown from
the outer link area. For example, if you want a break-away gripper to shut down robot high
power, this allows you disable high power through a user relay circuit inside the robot.
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 21
!
WARNING: Do not remove the J3-ENC or J4-ENC encoder cable connectors
that are located near the end of arm break-away sensor connector. If they are
removed, the calibration data will be lost and the robot must be factory recalibrated which requires special software and tools.
This is typically used with a break-away sensor at the end of arm tooling to immediately turn
OFF high power when the circuit becomes open. The end of arm break-away sensor connector
location and pin details are provided below.
Additional Information: Refer to End of Arm Break-away Sensor on page 26and
Technical Specifications on page 131 for more information.
IMPORTANT: When connecting a cable to the End of Arm Break-away Sensor
Connector, be careful to not dislodge or remove the encoder connectors nearby.
Figure 1-12. End of Arm Break-away Sensor Connector Location
Table 1-5. End-effector Break-away Connector Pin Details
Pin # Description Pin Location
1 Input
2 +24 VDC Supply
22 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Chapter 1: Introduction
!
EOAPWR Connector
The end of arm power (EOAPWR) connector is a 4-pin connector that provides 24 VDC power
and ground for end-of-arm tooling. The location of the EOAPWR connector and pin details are
provided below.
WARNING: Do not remove the J3-ENC or J4-ENC encoder cable connectors
that are located near the EOAPWR connector. If they are removed, the calibration data will be lost and the robot must be factory recalibrated which
requires special software and tools.
Figure 1-13. EOAPWR Connector Location
See the following table for the pinouts and the following section for the output specifications.
Table 1-6. EOAPWR Connector Pinout
Pin # Description Pin Location
1 24 VDC
2 Ground
3 24 VDC
4 Ground
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 23
EOAPWR Connector
as viewed on robot
Pin # Description Pin Location
Mating Connector:
Housing: AMP/Tyco #172167-1, 4-pin Mini-Universal Mate-N-Lok
Pins: AMP/Tyco #770985-1, Pin Contact, Mini-Univ. Mate-N-Lok
iCS-ECAT Robot Interface Panel
The iCS-ECAT includes the robot interface panel. It has connections for power (240 VAC, 24
VDC), communications, and other peripheral devices such as a pendant, IOBlox, or a Front
Panel..
Use the information below to understand all connection points for the iCS-ECAT robot
interfacepanel.
Figure 1-14. iCS-ECAT Robot Interface Panel
Item Meaning
A ACPower Supply Connector
Used for connecting 200-240 VAC, single-phase input power to the robot.
A connector is provided with the robot.
Refer to Connecting 200-240 VAC Power Cable on page 81
B DCPower Supply Connector
Used for connecting the user-supplied 24 VDC power to the robot.
A connector is provided with the robot.
Refer to Connecting the 24 VDC Cable to the Robot on page 78 for more
information.
C Ground Terminal
D XSYSTEM Connector
24 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Item Meaning
!
Refer to System Cable Installation on page 61
E EtherCAT Ports
Used for inbound and outbound EtherCAT communications.
Chapter 1: Introduction
F
G
H
Node ID Switches
Used to set the robot's EtherCATnodeID.
Refer to Setting the EtherCATNodeID on page 58
LEDs
Indicates the status of the EtherCAT connection.
Refer to EtherCAT Communications Description on page 102 for more information.
4-Position Mode Switches
Used to adjust the operating mode of the robot.
Refer to Robot Control Modes on page 104 for more information.
Additional Information: Switch 1 should remain in the NX / left
position. Functionality associated with switch 1 in the 3P / right
position is reserved for future use.
XBELTIO Connector
I
Used to connect up to two external belt encoders (eCobra Pro only) and IO Blox
external I/O. This requires the XBELTIO Adapter cable.
Refer to Basic System Cable Layout on page 61 for more information.
XBELTIO
J XIO Connector
Used for user I/O signals for peripheral devices.
Refer to Basic System Cable Layout on page 61 for more information.
1.3 Robot Options
This section describes the various options available for your eCobra robot.
WARNING: Ensure all optional equipment is installed properly and securely
fastened to the robot before operation. Failure to do so may result in personal
injury or equipment damage.
Solenoid Valve Kit
The Solenoid Valve Assembly (part number 02853-000) consists of two independent valvesmounted to a common manifold. Each valve has two output ports: A and B. The output ports
are arranged so that when Port A is pressurized, Port B is not pressurized. Conversely, when
Port B is pressurized, Port A is not pressurized.
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 25
The signals actuating the valves are directly switchable from the iCS-ECAT using software signals 3001 and 3002.
NOTE: Refer to the eV+3 Keyword ReferenceManual (Cat. No. I652), eV+3
User'sManual (Cat. No. I651), and Sysmac Studio Robot Integrated System Building
Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595) for
more information about robot signal control.
The supplied solenoids each require a nominal 75 mA at 24 VDC.
The air lines from Port A on each valve have factory-installed plugs at the solenoid assembly
so you can use the assembly as 3-way valves. If you need 4-way valves, remove the plugs.
The following image shows an installed SolenoidValveKit.
Additional Information: Refer to Solenoid Valve Kit Installation Procedure on
page 90 for more information.
Figure 1-15. Solenoid ValveKit Installed
End of Arm Break-away Sensor
The internal 2-pin end-of-arm break-away sensor connector provides a pair of contacts that
can be used for a user-supplied, break-away sensor at the end of the robot arm. The function is
disabled by default and you must enable it using the Sysmac Studio.
The break-away sensor requires a normally-closed circuit wired to Pins 1 and 2 of the connector. When the circuit is opened, the system will stop with a status code F1 (refer to Status
Codes Table on page 171 for more information).
Additional Information: Refer to End of Arm Break-away Sensor Connector on
page 21 for more information about the connector location.
26 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Chapter 1: Introduction
Pin 1 (input)
Pin 2 (+24 VDC)
Normally Closed
Switch
IMPORTANT: When connecting a cable to the end of arm break-away sensor
connector, be careful to not dislodge or remove the encoder connectors nearby.
The following figure shows a typical end-of-arm break-away sensor circuit.
Figure 1-16. End-of-arm break-away sensor Circuit
IO Blox
IO Blox units extend the robot's capabilities by providing expandable I/O capacity..
You can add up to 4 IO Blox units to the eCobra Standard model and up to 4 additional IO
Blox units (for a total of 8 units) to the eCobra Pro.
Additional Information: Refer to IO Blox Connections on page 68 and the IO
Blox User’s Guide (04638-000) for more information.
Figure 1-17. IO Blox
Optional I/O Items
The following optional items are available for use with digital I/O.
l
XIO Breakout Cable (part number 04465-000)
Refer to Optional Cables on page 33 for more information.
NOTE: This cable is not compatible with the XIO Termination Block
described below.
l
XIO Termination Block (part number 90356-40100)
Includes terminals for user wiring and I/O status LEDs. Connects to the XIO connector
with 2m cable.
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 27
T20 Pendant
The T20 pendant is an optional hand held device that allows you to move the robot, teach locations, and debug programs without a PC. The pendant can also be used to move the robot
before calibration has occurred.
Additional Information: Refer to the T20 Pendant User's Manual (Cat. No. I601)
for more information about operating a robot with the T20 pendant.
IMPORTANT: The T20 pendant can only communicate with the robot it is directly connected to.
Figure 1-18. T20 Pendant
IPC Application Controller
The IPCApplicationController can be added to your system to execute PackManager and
Robot VisionManager applications.
Refer to the following manuals for more information.
l AutomationControl Environment (ACE)Version 4 User'sManual (Cat. No. I633)
l NJ-series Robot Integrated CPU Unit User's Manual (Cat. No. O037)
l IPC Application Controller User’s Manual (Cat. No. I632)
28 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Chapter 1: Introduction
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Figure 1-19. IPC Application Controller
Front Panel
The Front Panel is an optional device that provides the following functions.
l Setting the robot mode to manual or automatic. Refer to Robot Control Modes on page
104 for more information.
l Indicating the robot high power and system power state.
l Robot high power indicator burnout detection (see note below).
l Enabling robot high power. Refer to Enabling Robot High Power on page 106 for more
information.
l Emergency stop / disable robot high power.
Additional Information: Design of the factory-supplied Front Panel E-Stop is in
accordance with the requirements of IEC 60204-1 and ISO 13849.
IMPORTANT: If the Front Panel high power ON / OFF lamp (part number
27400-29006) fails, you might incorrectly assume that High Power is OFF and
the robot is safe. To prevent this, a failed lamp causes an error (-924) *Front
panel HIGHPOWERlamp failure* and locks out the High Power enabling until
you replace the lamp. Refer to the eV+3 User'sManual (Cat. No. I651) for more
information about error handling. Refer to Change Front Panel High-Power ON
Lamp on page 126 for more information about lamp replacement.
WARNING: PERSONALINJURYRISK
If you supply your own Front Panel, its design must comply with the requirements of IEC 60204-1 and ISO 13849. The E-Stop's push button must comply
with ISO 13850 (Clause 5.5.2).
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 29
Figure 1-20. Front Panel
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Item Description
A XFP connector
Connects to the XFP connector on the XSYSTEM Adapter Cable.
(on the side of the Front Panel)
System 5 VDC Power-On LED
B
Indicates whether the robot is receiving power.
Manual mode
C
The system limits robot speed and torque so an operator can safely work near the
robotl. Manual mode initiates hardware and software limits to robot speed at no
more than 250 mm/sec.
There is no high speed motion available in Manual mode.
WARNING: PERSONALINJURYRISK
If an operator is going to be in the work cell with the switch in
Manual mode, the operator must carry an enabling device such as the
T20 pendant.
WARNING: PERSONALINJURYRISK
Whenever possible, perform manual mode operations with all personnel outside the workspace.
Automatic mode
D
Software programs control the robot allowing operation at full speed.
30 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
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