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eCobra 800 Inverted Robots
User Manual
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Omron eCobra 600, eCobra 800 Inverted Robots, eCobra 800 User Manual

eCobra 600, 800 and 800 Inverted Robots
User’s Guide
I593-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 2017 - 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 11
1.1 Product Description
eCobra Robot Models 12 eAIB (Amplifiers in Base) 13
1.2 eCobra Robot Features And Options
SmartController EX 15 ePLC Connect Software 15 IO Blox 15 SmartVision MX 15 T20 Pendant 15 Intelligent Force Sensing 15 ACE PackXpert Process Manager 15
1.3 How Can I Get Help?
Related Manuals 16
11
14
16
Chapter 2: Safety 17
2.1 Dangers, Warnings, and Cautions
Alert Levels 17 Alert Icons 17 Falling Hazards 17 Special Information 18
2.2 What to Do in an Emergency/Abnormal Situation
Releasing the Brakes 18 Releasing an E-Stop 18 Emergency Stop Circuit and Buttons 19 General Hazards 19
2.3 Safety Precautions
User's Responsibilities 19 Qualification of Personnel 20
2.4 Robot Behavior
Hardstops 21 Limiting Devices 21 Singularities 21
2.5 Intended and Non-intended Use
Intended Use 21 Non-Intended Use 22 Robot Modifications 22
2.6 Additional Safety Information
Manufacturer’s Declaration of Incorporation 22
17
18
19
21
21
22
14402-000 Rev. F eCobra User's Guide 3
Table of Contents
Robot Safety Guide 23 T20 Manual Control Pendant (Option) 23 Disposal 23
Chapter 3: Robot Installation 25
3.1 Installation Overview
3.2 Transport and Storage
3.3 Unpacking and Inspecting the Equipment
Before Unpacking 26 Upon Unpacking 26
3.4 Repacking for Relocation
3.5 Environmental and Facility Requirements
3.6 Mounting an Upright eCobra Robot
Mounting Surface 28 Mounting Procedure 29
3.7 Mounting an eCobra 800 Inverted Robot
Mounting Surface 30 Mounting Procedure 30
3.8 Mounting the Front Panel
3.9 Connectors on Robot Interface Panel (eAIB)
25
25
26
26
27
27
30
32
33
Chapter 4: System Installation 35
4.1 System Cables, without SmartController EX
List of Cables and Parts 36 Cable Installation Overview 38
4.2 System Cables, with SmartController EX
Installing a SmartController EX Motion Controller 41 List of Cables and Parts 41 Cable Installation Overview 43
4.3 OptionalCables
XIOBreakout Cable 44 DB9 Splitter Cable 44 eAIB XBELTIOAdapterCable 44 SmartController EX Belt Encoder Y-Adapter Cable 44
4.4 ACE Software
User-supplied PC 49 Installing ACESoftware 49
4.5 Connecting 24 VDC Power to Robot
Specifications for 24 VDC Power 50 24 VDC Mating Connector 51 Creating 24 VDC Cable 52 Connecting 24 VDC Cable 52
35
40
44
49
50
4 eCobra User's Guide 14402-000 Rev. F
Table of Contents
4.6 Connecting 200-240 VAC Power to Robot
Specifications for AC Power 54 AC Mating Connector 58 Creating the 200-240 VAC Cable 58 Connecting AC Power Cable 59
4.7 Grounding the Robot System
Grounding the Robot Base 59 Grounding Robot-Mounted Equipment 60
4.8 Configuring a PLC
4.9 Installing User-Supplied Safety Equipment
Emergency Stop Circuits 68 Remote Manual Mode 70 User Manual/Auto Indication 70 User High Power On Indication 70 Remote High Power On/Off Control 71 High Power On/Off Lamp 71 Remote Front Panel or User-Supplied Control Panel Usage 71 Remote Pendant Usage 72
54
59
60
62
Chapter 5: System Operation 73
5.1 Robot Status LED Description
5.2 Status Panel Fault Codes
Status Panel 74
5.3 Brakes
Brake Release Button 80 Remote Brake Release Feature 81
5.4 Front Panel
5.5 Connecting Digital I/O to the System
Optional I/O Products 83 Default Digital I/O Signal Configuration 84 eAIB XIO Connector Signals 86 XIO Input Signals 87 XIO Output Signals 90 XIO Breakout Cable 93
5.6 Starting the System for the First Time
Verifying Installation 95 Turning on Power 96 Starting ACE 96 Enabling High Power 97 Verifying E-Stop Functions 97 Verify Robot Motions 97
5.7 Learning to Program the eCobra Robot
73
73
80
81
83
94
97
14402-000 Rev. F eCobra User's Guide 5
Table of Contents
Chapter 6: Maintenance 99
6.1 Field-Replaceable Parts
6.2 Periodic Maintenance Schedule
6.3 Warning Labels
6.4 Checking Safety Systems
6.5 Checking Robot Mounting Bolts
6.6 Checking for Oil Leakage
6.7 Lubricating Joint 3
6.8 Replacing the eAIB Chassis
Removing the eAIB Chassis 107 Installing a New eAIB Chassis 109
6.9 Commissioning a System With An eAIB
Safety Commissioning Utilities 110 E-Stop Configuration Utility 112 E-Stop Verification Utility 113 Teach Restrict Configuration Utility 113 Teach Restrict Verification Utility 114
6.10 Replacing a MicroSD Card
Removing a MicroSD Card from an eAIB 115 Installing a MicroSD Card into an eAIB 117
6.11 Replacing the Encoder Battery Pack
Battery Replacement Time Periods 118 Battery Replacement Procedure 118
6.12 Changing the Lamp In the Front Panel High-Power Indicator
99
99
100
103
103
103
104
107
110
115
117
119
Chapter 7: Optional Equipment Installation 123
7.1 Installing End-Effectors
7.2 Removing and Installing the Tool Flange
Removing the Flange 123 Installing the Flange 124
7.3 User Connections on the Robot
User Air Lines 125 User Electrical Lines 126
7.4 Internal User Connectors
SOLND Connector 127 OP3/4 Connector 128 EOAPWR Connector 129 Internal User Connector Output Specifications 129 ESTOP Connector 130
7.5 Mounting Locations for External Equipment
7.6 Installing the Robot Solenoid Kit
6 eCobra User's Guide 14402-000 Rev. F
123
123
125
126
132
132
Table of Contents
Tools Required 133 Signal Setup 133
134 Installation 134 Testing 139
7.7 Installing the Camera Bracket Kit
Tools Required 140 Procedure 141
7.8 Installing Adjustable Hardstops
Joint 1 Adjustable Hardstops 142 Joint 2 Adjustable Hardstops 146
140
142
Chapter 8: Technical Specifications 153
8.1 Dimension Drawings
8.2 Robot Specifications
Physical 166 Performance 167 Stopping Distances and Times 167 Key to Graphs 168 Hardstops and Softstops 174
153
166
Chapter 9: IP65 Option 175
9.1 eCobra 800 Robots IP65 Classification
9.2 Installing Cable Seal Assembly
Cable Seal Identification 176 Installation Procedure 176
9.3 Robot Outer Link Cover Removal and Reinstallation
Cover Removal Procedure 178 Cover Reinstallation Procedure 180
9.4 Customer Requirements
Sealing the Tool Flange 181 Pressurizing the Robot 182
9.5 User Connectors
User Electrical and DeviceNet 183 User Air Lines 184 Robot Solenoid Option 184
9.6 Maintenance
IP65 Bellows Replacement 185
9.7 Dimension Drawing for Cable Seal Assembly
175
176
178
181
183
185
186
Chapter 10: Cleanroom Robots 189
Cleanroom Specifications 189
14402-000 Rev. F eCobra User's Guide 7
Table of Contents
10.1 Connections
10.2 Requirements
10.3 Exclusions and Incompatibilities
10.4 Cleanroom Maintenance
Bellows Replacement 191 Lubrication 192
190
190
191
191
8 eCobra User's Guide 14402-000 Rev. F
Revision History
Revision
code
Date Revised Content
01 June,
2016
02 February,
2017
03 August,
2017
04 April,
2018
05 March,
2019
Original release.
l Fixed default signal #s when no SmartController EX is present l Updated Safety chapter, misc. regulatory. l Clarified text about eAIB's RS-232 port when using a SmartCon-
troller EX.
l Clarified the use of "axis" and "joint". l Removed duplicate row in Chapter 8 table. l Minor clarifications to IP65 Option chapter to differentiate
between upright and inverted robots.
l Updated safety chapter and alert levels throughout manual. l Updated recommended power supply part numbers, T20 part
numbers, and XMCPjumper cable part numbers.
l Error reporting and Line E-Stop clarification. l Update ACE software disk to ACEsoftware media. l Corrected "SmartVisionEX" to "SmartVision MX" in system
cable drawing.
l Added WEEE Icon and Disposal section to Safety chapter. l Removed www.adept.com. l Added English condition to www.ia.omron.com. l Revised encoder battery replacement interval. l Updated Safety chapter. l Updated status code table in Chapter 5: Operation. l Updated illustrations with call-outs and tables for translation
compatibility. Other minor illustration improvements applied.
l Removed references to obsolete sDIOunit. l Corrections applied to Chapter 4: System Installation. l Added new figures to illustrate all encoder cable configurations
and pinouts in Chapter 4: System Installation.
l Removed Class 1 cleanroom note in Chapter 10: Cleanroom
Robots.
l Adjusted vacuum flow rates and air supply specifications for reg-
ular and inverted robots in Chapter 10: Cleanroom Robots.
l Adjusted text in Emergency Stop Circuits section in Chapter 4:
System Installation.
l Added a note about typical IO Blox configurations in Chapter 5:
System Operation.
l Dual-Robot Configuration Guide renamed to Single and Multiple
Robot Configuration Guide.
14402-000 Rev. F eCobra User's Guide 9

1.1 Product Description

eCobra robots are four-joint SCARA industrial robots (Selective Compliance Assembly Robot Arm). Joints 1, 2, and 4 are rotational, Joint 3 is translational. See Figure 1-2.
NOTE: The descriptions and instructions in this manual apply to the eCobra 600, eCobra 800, and eCobra 800 Inverted robots. When there are differences, such as in dimensions and work envelopes, the different models will be covered separately.

Chapter 1: Introduction

Figure 1-1. eCobra 800 Robot
By adding a SmartController EX or a PLC, the eCobra series robots replace the previous sCobra and Cobra ePLC series robots, so this manual replaces previous eCobra, sCobra, and Cobra ePLC User Guides.
14402-000 Rev. F eCobra User's Guide 11
1.1 Product Description
1
2
6
5
4
3
Figure 1-2. Robot Joint Motions - eCobra 600 Robot Shown
Table 1-1. Robot Joint Descriptions
Item Description
1 Joint 1
2 Joint 2
3 Joint 3
4 Joint 4
5 Inner Link
6 Outer Link

eCobra Robot Models

There are three tiers of eCobra robots, with 600 and 800 mm upright models and an 800 mm Inverted robot in each tier. In increasing order of performance and features, they are:
l
eCobra Lite
l
eCobra Standard
l
eCobra Pro
12 eCobra User's Guide 14402-000 Rev. F
Chapter 1: Introduction
1
eCobra robots of any given size and orientation are identical physically for each of the three tiers. The Pro models offer the fastest performance and the most features and connectivity. The Lite models offer the least. All nine models are covered in this manual.
All eCobra robots will typically be connected to a user-supplied PC running the ACE software.
eCobra robots can optionally be used with a SmartController EX motion controller, if more fea­tures and connectivity are needed. A SmartVision MX industrial PC can be added for more vis­ion support. The eCobra Standard and eCobra Pro robots can be used with a user-supplied PLC and the ePLCConnect software option.

eAIB (Amplifiers in Base)

eCobra robots use an eAIB amplifier. The robots are programmed and controlled using the eAIB. The eAIB, embedded in the robot's base, contains the amplifiers and full servo control for the eCobra robots. The eAIB also provides the platform for running the eV+ OS and language.
eAIBFeatures
l
On-board digital I/O
l
Low EMI for use with noise sensitive equipment
l
No external fan, for quiet robot operation
l 8 kHz servo rate to deliver low positional errors and superior path following
l
Sine wave commutation to lower cogging torque and improve path following
l
Digital feed-forward design to maximize efficiency, torque, and velocity
l
Temperature sensors on all amplifiers and motors for maximum reliability and easy troubleshooting
l
Hardware-based E-Stop and Teach Restrict controls
For improved safety relative to European standards implemented in 2012
The eAIB fits all eCobra robots.
Figure 1-3. (1) eAIB Amplifier on eCobra Robot
14402-000 Rev. F eCobra User's Guide 13
1.2 eCobra Robot Features And Options

1.2 eCobra Robot Features And Options

The eAIB controller provides varying levels of vision support and connectivity. Some applic­ations might call for more, in which case you could add a SmartController EX and/or a SmartVision MX industrial PC.
Feature eCobra Lite
eCobra
Standard
eCobra Pro
SmartController
EX Option
Vision - Yes Yes -
on-the-fly - - Yes -
I/O - max
2
12/8 44/40 76/72 524/520
XIO 12/8 12/8 12/8 eAIB +12/8
IEEE1394 2 2 2 eAIB + 3
IOBlox option - 8/8 x max 4 8/8 x max 8 -
RS-422/485 - - - 1
RS-232 - 1
1
1
1
3
DeviceNet - - - Option
Conveyors
- - 2
1
4
tracked
PLC support - Yes Yes -
ePLCI/O - - Yes -
PackXpert - Yes Yes Yes
Force Sensing - Yes
1
Yes
1
-
T20 Pendant
Yes Yes Yes n/a
option
IP65 option Yes Yes Yes n/a
Cleanroom
Yes Yes Yes n/a
option
Max Robots 1 1 1 4
Dual Robots - - - Yes
Max Joints 4 4 4 16
Pass-through, J1 to J2
1
Requires eAIB XBELT IO Adapter cable.
2
More I/Ocan be attained using DeviceNet and combinations of RS- ports, if needed.
5 air
24 user electric
1 DeviceNet
5 air
24 user electric
1 DeviceNet
5 air
24 user electric
1 DeviceNet
-
14 eCobra User's Guide 14402-000 Rev. F
Chapter 1: Introduction

SmartController EX

The SmartController EX motion controller can coordinate up to 4 robots, increasing the number of robot joints to 16 from the eCobra’s 4. It increases the I/O available, raises the number of serial ports by 3, and provides for tracking up to 4 additional conveyors.
NOTE: Since the eAIB has only one RS-232 port, adding a SmartController EX to the RS-232 port renders the port unusable. If using eV+, "SERIAL:0" will access the eAIB's RS-232 port.
TheSmartController EX supports the DeviceNet option, and allows for the use of third-party vision systems. One RS-485 port is available.
The SmartController EX is covered in the SmartController EX User's Guide.

ePLC Connect Software

The ePLC Connect software allows programming and operation of an eCobra robot directly from a PLC, using the software as an interface between the PLC and the robot. Refer to ePLC Connect 3.0 Software User's Guide.

IO Blox

Up to 8 IO Blox units can be added to increase the available I/O ports by 8 inputs and 8 out­puts per unit. The IOBlox does not require a SmartController EX. Refer to the IO Blox User’s Guide.

SmartVision MX

The SmartVision MX is an industrial PC that provides vision-oriented connectivity, as well as extra I/O. It can drive up to 4 Gigabit and 4 USB 3.0 cameras. The Gigabit ports are PoE, so no extra power is needed to the cameras. Refer to the SmartVision MX User's Guide.

T20 Pendant

The T20 pendant provides manual control of an eCobra robot. This is generally used when teaching pick and place locations. Refer to the T20 Pendant User's Guide.
NOTE: Omron Adept Technologies, Inc. does not offer a cableless (wireless) pendant.

Intelligent Force Sensing

The Intelligent Force Sensing system is a hardware and software package that allows eCobra robots to react to sensed forces and moments at the tool flange, reducing force overshoot and stopping time when forces or moments exceed preset thresholds. Refer to the Intelligent Force Sensing System User's Guide.

ACE PackXpert Process Manager

PackXpert provides a point-and-click interface for configuring and programming the workcell. The PackXpert Process Manager is the recommended method for programming most applic­ations. Refer to the ACE User’s Guide.
14402-000 Rev. F eCobra User's Guide 15
1.3 How Can I Get Help?

1.3 How Can I Get Help?

Refer to the corporate website:
http://www.ia.omron.com

Related Manuals

This manual covers the installation, operation, and maintenance of an eCobra robot system. For additional manuals covering programming the system, reconfiguring installed com­ponents, and adding optional components, see the following table.
Manual Title Description
Robot Safety Guide Contains safety information for robots.
ACE User’s Guide Instruction for the use of the ACE software.
Table 1-2. Related Manuals
SmartController EX User's Guide
SmartVision MX User's Guide Instructions for use of the optional SmartVision MX indus-
T20 Pendant User's Guide Describes the use of the optional T20 manual control
IO Blox User’s Guide Describes the IO Blox product.
Single and Multiple Robot Con­figuration Guide
Instructions for use of the optional SmartController EX motion controller.
trial PC.
pendant.
Contains cable diagrams and configuration procedures for a single and multi-robot system.
16 eCobra User's Guide 14402-000 Rev. F

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.
14402-000 Rev. F eCobra User's Guide 17
2.2 What to Do in an Emergency/Abnormal Situation
!
!
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 What to Do in an Emergency/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 situation. If a fire occurs, use a type D extinguisher: foam, dry chemical, or CO2.

Releasing the Brakes

In case of entrapment of a person by the robot, or any other emergency of abnormal situation, the robot can be manually moved to a safe state without high voltage electric power. However only qualified personnel who have read and understood this manual and the Robot Safety Guide should manually move the robot. See Brake Release Button on page 80.
WARNING: PERSONALINJURYRISK eCobras 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:
l
Enable power through ACE software installed on your PC.
ll
Press the ROBOTPOWER button on the Pendant.
18 eCobra User's Guide 14402-000 Rev. F
Chapter 2: Safety
!
Once the motors are enabled, the robot will wait two seconds and then resume commanded motion, if there is adequate space to maneuver.

Emergency Stop Circuit and Buttons

The E-Stop provided complies with ISO 10218-1 (Clause 5.5.2), with stop category 1 (per IEC
60204). The E-stop button complies with ISO 13850. The E-Stop meets the requirements of PL-d per ISO 13849.
If you design your own front panel, it must meet the requirements of ISO13849, and be at least PL-d. The E-Stop button must comply with IEC 60204-1 and ISO13850, Clause 5.5.2.
If you choose to use your own E-Stop buttons, they must meet the requirements of IEC 60204-1 and ISO 13850, Clause 5.5.2.

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 moment of Inertia, speed, and rotation lim­its. See Technical Specifications on page 153.
l
Do not drop the robot, put weights on it or otherwise operate it irresponsibly.
l
Do not use unauthorized parts.

2.3 Safety Precautions

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK An eCobra robot can cause serious injury or death, or damage to itself and other equipment, if the safety precautions in this manual 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 the eCobra robot is your responsibility. To ensure compliance with safety rules and regulations:
l
All personnel who install, operate, teach, program, or maintain an eCobra robot system must read this guide, read the Robot Safety Guide, and complete a training course for their responsibilities in regard to the robot.
14402-000 Rev. F eCobra User's Guide 19
2.3 Safety Precautions
l
All personnel who design an eCobra 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.
Figure 2-1. Read Manual and Impact Warning Labels
l
The eCobra robot system must not be used for purposes other than described in Inten­ded Use on page 21. Contact Omron Adept Technologies, Inc. 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 eCobra Robots must be well maintained, so that their control and safety functions continue to work properly.

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:
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)
20 eCobra User's Guide 14402-000 Rev. F
l
!
Have read the guides
l
Understand the guides
l
Will work in the manner specified by the guides

2.4 Robot Behavior

Hardstops

If the eCobra Robot 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 eCobra’s hardstops are capable of completely 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 an eCobra robot.

2.5 Intended and Non-intended Use

Intended Use

The normal and intended use of these robots does not create hazards. The eCobra robots have been designed and constructed in accordance with the relevant requirements of IEC60204-1.
The eCobra robots are intended for use in parts assembly and material handling for payloads less than 5.5 kg (12.1 lb). See Robot Specifications on page 166 for complete information on the robot specifications. Refer to the Robot Safety Guide for details on the intended use of eCobra robots.
WARNING: PERSONALINJURYRISK eCobra robots are not collaborative robots. They require a dedicated work area that will prevent personnel from coming into contact with them during oper­ation.
Guidelines for safe use:
l
Clean, dry mounting surfaces — surfaces that are routinely kept free of debris and liquids.
14402-000 Rev. F eCobra User's Guide 21
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 eCobra robots are 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
IMPORTANT: The instructions for operation, installation, and main­tenance given in this guide and Robot Safety Guide must be strictly observed.
Non-intended use of eCobra 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.

Robot Modifications

If the user or integrator makes any changes to the robot, it is their responsibility to ensure that there are no sharp edges, corners, or protrusions.
Note that any change to the robot can lead to loss in safety or functionality. The user or integ­rator must ensure that all safety features are operational after modifications.

2.6 Additional Safety Information

Contact your local Omron support for other sources of safety information:

Manufacturer’s Declaration of Incorporation

This lists all standards with which the robot complies. The Manufacturer’s Declarations for the eCobra robot and other products are in the Manufacturer's Declarations.
22 eCobra User's Guide 14402-000 Rev. F
Chapter 2: Safety

Robot Safety Guide

The Robot Safety Guide, which ships with every robot system, provides detailed information on safety for Omron Adept Technologies, Inc. robots. It also gives resources for information on relevant standards.

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.

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.
14402-000 Rev. F eCobra User's Guide 23

3.1 Installation Overview

The system installation process is summarized in the following table.
NOTE: For multi-robot installations, see the Single and Multiple Robot Con- figuration Guide.
Task to be Performed Reference Location
Mount the robot to a flat, secure mounting surface. See Mounting an Upright eCobra

Chapter 3: Robot Installation

Table 3-1. Installation Overview
Robot on page 27 or Mounting an eCo­bra 800 Inverted Robot on page 30.
Install the Front Panel, pendant, and ACE software. The pendant is an option.
Create a 24 VDC cable and connect it between the robot and the user-supplied 24 VDC power supply.
Create a 200-240 VAC cable and connect it between the robot and the facility AC power source.
Install user-supplied safety barriers in the workcell. See Installing User-Supplied Safety
Learn about connecting digital I/O through the XIO connector on the eAIB.
Learn about starting the system for the first time. See Starting the System for the First
Learn about installing optional equipment, includ­ing end-effectors, user air and electrical lines, external equipment, solenoids, etc.

3.2 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%, non­condensing. It should be shipped and stored in the supplied crate, which is designed to pre­vent damage from normal shock and vibration. You should protect the crate from excessive shock and vibration.
See System Installation on page 35.
See Connecting 24 VDC Power to Robot on page 50.
See Connecting 200-240 VAC Power to Robot on page 54.
Equipment on page 62.
See eAIB XIO Connector Signals on page 86.
Time on page 94.
See Optional Equipment Installation on page 123.
Use a forklift or pallet jack to transport the packaged equipment. See Figure 3-1.
14402-000 Rev. F eCobra User's Guide 25
3.3 Unpacking and Inspecting the Equipment
!
The robots must always be stored and shipped in an upright position in a clean, dry area that is free from condensation. Do not lay the crate on its side or any other non-upright position; this could damage the robot.
The eCobra 600 robot weighs 41 kg (90 lb), the eCobra 800 robot weighs 43 kg (95 lb), and the eCobra 800 Inverted weighs 51 kg (112 lb), all with no options installed.

3.3 Unpacking and Inspecting the Equipment

Before Unpacking

Carefully inspect all shipping crates for evidence of damage during transit. Pay special atten­tion to any tilt and shock indication labels on the exteriors of the containers. If any damage is indicated, request that the carrier’s agent be present at the time the container is unpacked.

Upon Unpacking

Before signing the carrier’s delivery sheet, please compare the actual items received (not just the packing slip) with your equipment purchase order and verify that all items are present and that the shipment is correct and free of visible damage.
l
If the items received do not match the packing slip, or are damaged, do not sign the receipt. Contact Omron Adept Technologies, Inc. as soon as possible.
l
If the items received do not match your order, please contact Omron Adept Tech­nologies, Inc. immediately.
Inspect each item for external damage as it is removed from its container. If any damage is evident, contact Omron Adept Technologies, Inc.. See How Can I Get Help? on page 16.
Retain all containers and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate equipment.

3.4 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. Specify this to the carrier if the robot is to be shipped.
CAUTION: PROPERTYDAMAGERISK 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.
26 eCobra User's Guide 14402-000 Rev. F

3.5 Environmental and Facility Requirements

1
2
The robot system installation must meet the operating environment requirements shown in the following table.
Table 3-2. Robot System Operating Environment Requirements
Ambient temperature 5 to 40° C (41 to 104° F)
Shipping/storage temperature –25 to 55° C (-13 to 131° F)
Humidity 5% to 90%, non-condensing
Altitude up to 2000 m (6500 ft)
Pollution degree 2
Robot protection class IP20 (NEMA Type 1)
IP65 Versions IP65
Cleanroom rating, cleanroom models only ISO 4, Fed Reg Class 10
Chapter 3: Robot Installation
NOTE: For robot dimensions, see Dimension Drawings on page 153.

3.6 Mounting an Upright eCobra Robot

This section applies to the eCobra 600 and eCobra 800 robots, but not the eCobra 800 Inverted robot.
Figure 3-1. eCobra 800 Robot on a Transportation Pallet
14402-000 Rev. F eCobra User's Guide 27
3.6 Mounting an Upright eCobra Robot
!
+0.015
6
2x R4
0
45
50
10
160
160
200
80
90
+0.015
0
Ø 8
4X
Ø 14 THRU
6
234
338
Table 3-3. Lifting Points for Robot while on a Transportation Pallet
Item Description
1 Eyebolt for lifting robot after robot has been unbolted from the transportation pallet.
2 Place for forklift or pallet-jack here.
WARNING: PERSONALINJURYORPROPERTYDAMAGERISK Only qualified service personnel may install or service the robot system.

Mounting Surface

The upright eCobra robots are designed to be mounted on a smooth, flat, level surface. The mounting structure must be rigid enough to prevent vibration and flexing during robot oper­ation. We recommend a 25 mm (1 in.) thick steel plate mounted to a rigid tube frame. Excess­ive vibration or mounting flexure will degrade robot performance. The following figure shows the mounting hole pattern for the eCobra robots.
NOTE: On the under side of the base there is a hole and a slot that can be used as locating points for user-installed dowel pins in the mounting surface; see the following figure. Using locating pins will improve the ability to remove and rein­stall the robot in the same position.
Figure 3-2. Mounting Hole Pattern for Upright eCobra Robots (Units in mm)
28 eCobra User's Guide 14402-000 Rev. F

Mounting Procedure

!
!
1.
Using the dimensions shown in the previous figure, drill and tap the mounting surface for four M12 - 1.75 x 36 mm (or 7/16 - 14 UNC x 1.50 in.) machine bolts (mounting hard­ware is user-supplied).
2.
If you are using dowel pins for locating the robot, insert those in the mounting surface.
3.
While the robot is still bolted to the transportation pallet, connect a hydraulic lift to the eyebolt at the top of the inner link. See Figure 3-1.
4.
Remove the four bolts securing the robot base to the pallet.
Retain these bolts for possible later relocation of the equipment.
Chapter 3: Robot Installation
WARNING: PERSONALINJURYORPROPERTYDAMAGERISK Do not attempt to lift the robot at any points other than the eyebolt provided. Do not attempt to extend the inner or outer links of the robot until the robot has been secured in position. Failure to comply could res­ult in the robot falling and causing either personnel injury or equipment damage.
5.
Lift the robot and position it directly over the mounting surface.
6.
Slowly lower the robot while aligning the base and the tapped 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.
7.
Verify that the robot is mounted squarely (cannot rock back and forth) before tightening the mounting bolts.
8.
Install the user-supplied mounting bolts and washers. Tighten bolts to the torque spe­cified in the following table.
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 Maintenance on page 99 for periodic maintenance.
Table 3-4. Mounting Bolt Torque Specifications
Standard Size Specification Torque
Metric M12 x 1.75 ISO Property Class 8.8 85 N·m
SAE 7/16-14 UNC SAE J429 Grade 5 or
ASTM A449
14402-000 Rev. F eCobra User's Guide 29
65 ft-lb
3.7 Mounting an eCobra 800 Inverted Robot
45
50
10
80
107
90
160
205
160
189
4X Ø 14 Thru
Ø 8
2X R 4
+ 0.015
0.000
+ 0.015
0.000
6
6

3.7 Mounting an eCobra 800 Inverted Robot

Mounting Surface

The eCobra 800 Inverted robot is designed to be mounted in an inverted position. When design­ing the mounting structure, you must account for both 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. The mounting structure should be stiff enough so that the first vibration mode is greater than 70 Hz.
The following figure shows the mounting hole pattern.
Figure 3-3. Robot Mounting Dimensions for eCobra Inverted Robot (Units in mm)
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.

Mounting Procedure

l
Always use at least two people, and preferably three, to mount the robot.
l
The robot should be in the folded position when lifting. See the following figure.
30 eCobra User's Guide 14402-000 Rev. F
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