Adept Cobra s350 Robot User`s Guide

Transcription

Adept Cobra s350 Robot
User’s Guide
Adept Cobra s350 Robot
User’s Guide
P/N:05624-000, Rev. C
January 2012
5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598
The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced
in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This
manual is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical
evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future documentation. Please email your comments to: [email protected].
Copyright  2006, 2010, 2012 by Adept Technology, Inc. All rights reserved.
Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,
HexSight, Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered
trademarks of Adept Technology, Inc.
Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.
ACE, Adept Cobra 350, Adept Cobra 350 CR/ESD, Adept MotionBlox-40R, Adept sDIO, Adept
SmartController CX, IO Blox, MotionBlox, and V+ are trademarks of Adept Technology, Inc.
Any trademarks from other companies used in this publication
are the property of those respective companies.
Printed in the United States of America
Table of Contents
1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Adept Cobra s350™ Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Adept MotionBlox-40R Distributed Servo Controller. . . . . . . . . . . . . . . . . . . 12
Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.2 Warnings, Cautions, and Notes in Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.5 Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Manufacturer’s Declaration of Compliance (MDOC) . . . . . . . . . . . . . . . . 15
Adept Robot Safety Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.6 Intended Use of the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.7 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.8 Manufacturer’s Declaration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.9 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2
Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.1 Transport and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.2 Unpacking and Inspecting the Adept Equipment. . . . . . . . . . . . . . . . . . . . . . . 21
Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.3 Repacking for Relocation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.4 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.5 Mounting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Mounting Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Robot Mounting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3
System Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.2 Cable List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.3 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.4 Cable Connections from MB-40R to SmartController . . . . . . . . . . . . . . . . . . . . 28
3.5 Cable Connections from MB-40R to Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Adept Cobra s350 Robot User’s Guide, Rev. C
5
Table of Contents
3.6 Connecting 24 VDC Power to MB-40R Servo Controller. . . . . . . . . . . . . . . . . . . 29
Specifications for 24 VDC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Details for 24 VDC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Procedure for Creating 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Installing the 24 VDC Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.7 Connecting 200-240 VAC Power to MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Specifications for AC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Facility Overvoltage Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
AC Power Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Details for AC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Procedure for Creating 200-240 VAC Cable . . . . . . . . . . . . . . . . . . . . . . . . 34
Installing AC Power Cable to MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.8 Grounding the Adept Robot System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Ground Point on Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Ground Point on MotionBlox-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Robot-Mounted Equipment Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.9 Installing User-Supplied Safety Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4
MotionBlox-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.1 Introduction to the MotionBlox-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.2 Description of Connectors on MB-40R Interface Panel . . . . . . . . . . . . . . . . . . . 38
4.3 MB-40R Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Status LED on MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Status Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Brake Release Button on MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Brake Release Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.4 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.5 Using Digital I/O on MB-40R XIO Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Optional I/O Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
XIO Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
XIO Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Typical Input Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
XIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
XIO Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Typical Output Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.6 MB-40R Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6
Table of Contents
5
System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1 Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Programmable E-Stop Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Brake Release Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.2 Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.3 Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mechanical Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System Cable Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User-Supplied Safety Equipment Checks . . . . . . . . . . . . . . . . . . . . .
Turning on Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Starting Adept ACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Enabling High Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using Adept ACE to Enable High Power . . . . . . . . . . . . . . . . . . . . .
Verifying E-Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Verify Robot Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
54
54
54
55
55
55
56
56
56
56
5.4 Learning to Program the Adept Cobra s-Series Robot . . . . . . . . . . . . . . . . . . . 56
6
Optional Equipment Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.1 Installing End-Effectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.2 Removing and Reinstalling the Tool Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Removing the Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Reinstalling the Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
6.3 User Connections on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
User Air Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User Electrical Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optional Solenoid Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting Options for User Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Routing User Connections Through the Z-Axis Shaft . . . . . . . . . . . .
Attaching Stays to Support User Connections . . . . . . . . . . . . . . . .
59
60
60
61
61
62
6.4 Camera Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Camera Bracket Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
7
Table of Contents
7
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
7.1 Periodic Maintenance Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
7.2 Checking of Safety Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
7.3 Checking Robot Mounting Bolts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
7.4 Lubricate Joint 3 Ball Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Required Grease for the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Lubrication Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
7.5 Replacing Encoder Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Battery Replacement Time Periods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
7.6 Inspecting Timing Belts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
8
Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
8.1 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
8.2 Robot Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
9
Cleanroom Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
9.1 Cobra s350 CR/ESD Cleanroom Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
9.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
9.3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
9.4 ESD Control Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
9.5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Bellows Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Procedure for Lower Bellows Replacement . . . . . . . . . . . . . . . . . . . 79
Procedure for Upper Bellows Replacement . . . . . . . . . . . . . . . . . . . 80
Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
9.6 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
8
List of Figures
Figure 1-1. Adept Cobra s350 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 1-2. Robot Joint Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 1-3. MotionBlox-40R (MB-40R) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Figure 1-4. Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Figure 2-1. Transporting Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Figure 2-2. Mounting Hole Pattern for Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 2-3. Rotate J2 Axis to Safe Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 3-1. System Cable Diagram for Adept Cobra s350 Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Figure 3-2. User-Supplied 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Figure 3-3. Typical AC Power Installation with Single-Phase Supply . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 3-4. Single-Phase Load across L1 and L2 of a Three-Phase Supply . . . . . . . . . . . . . . . . . . . . . 33
Figure 3-5. AC Power Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Figure 3-6. Ground Point on Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 3-7. Earth Ground Location on MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 4-1. Adept MB-40R Front View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Figure 4-2. MB-40R Interface Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Figure 4-3. Controls and Indicators on MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Figure 4-4. Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Figure 4-5. Typical User Wiring for XIO Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Figure 4-6. Typical User Wiring for XIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Figure 4-7. Optional XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Figure 4-8. MB-40R Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Figure 5-1. Brake Release Button for Third and Fourth Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Figure 5-2. Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Figure 6-1. Tool Flange Removal Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Figure 6-2. User Air and Electrical Connectors on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Figure 6-3. Mechanical End Bolts and Stoppers on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Figure 6-4. Stay Attached to Robot’s Exterior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Figure 6-5. Dimensions for Fabricating User-Supplied Stay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Figure 6-6. Camera Mounting Details
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Figure 6-7. Camera Bracket Drawing, Page 1 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Figure 6-8. Camera Bracket Drawing, Page 2 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Figure 7-1. Lubrication of Joint 3 Quill . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Figure 7-2. Replacement Battery Pack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Figure 7-3. Removing Battery Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Figure 7-4. Attaching New Batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Figure 7-5. New Batteries in Holders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
9
List of Figures
Figure 8-1. Adept Cobra s350 Top and Side Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Figure 8-2. Adept Cobra s350 Robot Working Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Figure 8-3. Tool Flange Dimensions for Adept Cobra s350 Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Figure 9-1. Adept Cobra s350 CR/ESD Cleanroom Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Figure 9-2. Cleanroom Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Figure 9-3. Cleanroom Lower Bellows Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Figure 9-4. Cleanroom Upper Bellows Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Figure 9-5. Adept Cobra s350 CR/ESD Top and Side Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Figure 9-6. Adept Cobra s350 CR/ESD Robot Working Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
10
Introduction
1.1
1
Product Description
Adept Cobra s350™ Robots
The Adept Cobra s350 robot is a four-axis SCARA robot (Selective Compliance Assembly
Robot Arm). Joints 1, 2, and 4 are rotational; Joint 3 is translational. See Figure 1-2 on page
12 for a description of the robot joint locations.
The Adept Cobra s350 robots require an Adept MotionBlox-40R™ (MB-40R) and Adept
SmartController CX™ motion controller. The robots are programmed and controlled
using the SmartController, running on the Adept SmartServo distributed motion control
platform. Mechanical specifications for the Adept Cobra s350 robots are provided in
Chapter 8.
A cleanroom model is also available, the Adept Cobra s350 CR/ESD. See Chapter 9 for
information.
Figure 1-1. Adept Cobra s350 Robot
11
Chapter 1 - Introduction
2nd axis (J2)
(-)
(+)
1st axis (J1)
(-)
(+)
(+)
3rd axis (J3)
(-)
(-)
(+)
4th axis (J4)
Figure 1-2. Robot Joint Motions
Adept MotionBlox-40R Distributed Servo Controller
The MotionBlox-40R Distributed Servo Controller controls the behavior of the feedback
loop between the digital absolute encoders and the high-power motors of the Adept
Cobra s350 robot.
Adept MB-40R features:
• Four AC servo motor amplifiers
• Category-3 emergency stop circuitry
• 200 MHz RISC microprocessor for high-performance servo control
• 8 kHz servo rate delivers low positional errors and superior path following
• Sine wave commutation delivers low cogging torque and improved
path-following
• Digital feed-forward design maximizes efficiency, torque, and velocity
• Integral temperature sensors and status monitoring for maximum reliability
• Two-digit diagnostics display for easy troubleshooting
12
Adept Cobra s350 User’s Guide, Rev. C
Product Description
Figure 1-3. MotionBlox-40R (MB-40R)
Adept SmartController CX
The SmartController CX is the foundation of Adept’s family of high-performance
distributed motion controllers. The SmartController CX is designed for use with:
• Adept Cobra s-series robots
• Adept Quattro™ robots
• Adept Viper™ s-series robots
• Adept Python™ linear modules
• Adept MotionBlox-10™
• Adept sMI6™ (SmartMotion)
The SmartController CX supports an integrated conveyor-tracking option, as well as other
options. It offers scalability and support for IEEE 1394-based digital I/O and general
motion expansion modules. The IEEE 1394 interface is the backbone of Adept SmartServo,
Adept's distributed controls architecture supporting Adept products. The controller
includes Fast Ethernet and DeviceNet.
SmartServo
OK
HPE
LAN
SF
ES
HD
1.1
SW1
1 2 3 4
1.2
IEEE-1394
2.1
Device Net
2.2
RS-232/TERM
RS-422/485
RS-232-1
RS-232-2
Eth 10/100
BELT ENCODER
ON
OFF
1
2
3
XDIO
XUSR
XSYS
XFP
XMCP
XDC1 XDC2
24V
5A
-+
-+
SmartController CX
*S/N 3562-XXXXX*
CAMERA
R
Figure 1-4. Adept SmartController CX
13
1.2
Warnings, Cautions, and Notes in Manual
There are six levels of special alert notation used in Adept manuals. In descending order
of importance, they are:
DANGER: This indicates an imminently hazardous
electrical situation which, if not avoided, will result in
death or serious injury.
DANGER: This indicates an imminently hazardous
situation which, if not avoided, will result in death or
serious injury.
WARNING: This indicates a potentially hazardous
electrical situation which, if not avoided, could result in
injury or major damage to the equipment.
WARNING: This indicates a potentially hazardous
situation which, if not avoided, could result in injury or
major damage to the equipment.
CAUTION: This indicates a situation which, if not avoided,
could result in damage to the equipment.
NOTE: Notes provide supplementary information, emphasize a point or
procedure, or give a tip for easier operation.
1.3
Safety Precautions
DANGER: An Adept Cobra s350 robot can cause serious
injury or death, or damage to itself and other equipment, if
the following safety precautions are not observed:
• All personnel who install, operate, teach, program, or maintain the system must
read this guide, read the Adept Robot Safety Guide, and complete a training
course for their responsibilities in regard to the robot.
14
What to Do in an Emergency Situation
• All personnel who design the robot system must read this guide, read the Adept
Robot Safety Guide, and must comply with all local and national safety
regulations for the location in which the robot is installed.
• The robot system must not be used for purposes other than described in Section
1.6. Contact Adept if you are not sure of the suitability for your application.
• The user is responsible for providing safety barriers around the robot to prevent
anyone from accidentally coming into contact with the robot when it is in motion.
• Power to the robot and its power supply must be locked out and tagged out before
any maintenance is performed.
1.4
What to Do in an Emergency Situation
Press any E-Stop button (a red push-button on a yellow background/field) and then
follow the internal procedures of your company or organization for an emergency
situation. If a fire occurs, use CO2 to extinguish the fire.
1.5
Additional Safety Information
Adept provides other sources for more safety information:
Manufacturer’s Declaration of Compliance (MDOC)
This lists all standards with which each robot complies. See “Manufacturer’s Declaration”
on page 17.
Adept Robot Safety Guide
The Adept Robot Safety Guide provides detailed information on safety for Adept robots.
It also gives resources for more information on relevant standards.
It ships with each robot manual, and is also available from the Adept Document Library.
See “Adept Document Library” on page 19.
1.6
Intended Use of the Robot
The installation and use of Adept products must comply with all safety instructions and
warnings in this manual. Installation and use must also comply with all applicable local
and national requirements and safety standards.
The Adept Cobra s350 robots are intended for use in parts assembly and material
handling for payloads less than 5.5 kg (12.1 lb) and 450 Kg-cm2 rotary inertia.
15
The Adept Cobra s350 robots, MB-40R, and Adept SmartController are component
subassemblies of a complete industrial automation system. The controller must be
installed inside a suitable enclosure. The controller and MB-40R must not come into
contact with liquids. Additionally, a standard Adept Cobra s350 robot must not come into
contact with liquids.
The Adept equipment is not intended for use in any of the following situations:
• In hazardous (explosive) atmospheres
• In mobile, portable, marine, or aircraft systems
• In life-support systems
• In residential installations
• In situations where the Adept equipment will be subject to extremes of heat or
humidity. See Table 2-1 on page 22 for allowable temperature and humidity
ranges.
WARNING: The instructions for installation, operation,
and maintenance given in this user’s guide must be strictly
observed.
Non-intended use of an Adept Cobra s350 robot can:
• Cause injury to personnel
• Damage the robot or other equipment
• Reduce system reliability and performance
All persons that install, commission, operate, or maintain the robot must:
• Have the necessary qualifications
• Read and follow exactly the instructions in this manual
If there is any doubt concerning the application, ask Adept to determine if it is an
intended use or not.
1.7
Installation Overview
The system installation process is summarized in the following table. Refer also to the
system cable diagram in Figure 3-1 on page 27.
16
Manufacturer’s Declaration
Table 1-1. Installation Overview
1.8
Task to be Performed
Reference Location
1. Mount the robot on a flat, secure mounting surface.
See Section 2.5 on page 23.
2. Install the SmartController, Front Panel, optional
T2 pendant (if present), and Adept ACE software.
3. Install the IEEE 1394 and XSYS cables between
the MB-40R and SmartController.
4. Install the Arm Power/Signal cable between the
MB-40R and the robot.
5. Create a 24 VDC cable and connect it between the
MB-40R and the user-supplied 24 VDC power
supply.
6. Create a 24 VDC cable and connect it between the
SmartController and the user-supplied 24 VDC
power supply.
7. Create a 200-240 VAC cable and connect it
between the MB-40R and the facility AC power
source.
8. Install user-supplied safety barriers in the workcell.
9. Learn about connecting digital I/O through the XIO
connector on the MB-40R.
10.Read Chapter 5 to learn about system start-up and
testing operation.
See Chapter 5.
11.Read Chapter 6 if you need to install optional
equipment, including end-effectors, user air and
electrical lines, external equipment, etc.
Manufacturer’s Declaration
The Manufacturer’s Declaration of Incorporation and Conformity for Adept robot
systems can be found on the Adept website, in the Download Center of the Support
section.
http://www.adept.com/support/downloads/file-search
NOTE: The Download Center requires that you are logged in for access. If
you are not logged in, you will be redirected to the Adept website Login
page, and then automatically returned to the Download Center when you
have completed the login process.
1. From the Download Types drop-down list, select Manufacturer Declarations
17
2. From the Product drop-down list, select your Adept robot product category (such
as Adept Cobra Robots, Adept Viper robots, etc.).
3. Click Begin Search.
The list of available documents is shown in the Search Results area, which opens
at the bottom of the page. You may need to scroll down to see it.
4. Use the Description column to locate the document for your Adept robot, and
then click the corresponding Download ID number to access the Download
Details page.
5. On the Download Details page, click Download to open or save the file.
1.9
How Can I Get Help?
Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on
getting assistance with your Adept software and hardware. Additionally, you can access
information sources on Adept’s corporate website:
http://www.adept.com
• For Contact information:
http://www.adept.com/contact/americas
• For Product Support information:
http://www.adept.com/support/service-and-support/main
• For user discussions, support, and programming examples:
http://www.adept.com/forum/
Related Manuals
This manual covers the installation, operation, and maintenance of an Adept Cobra s350
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
Adept Robot Safety Guide
Contains safety information for Adept robots.
Adept SmartController User’s
Guide
Contains complete information on the installation and operation
of the Adept SmartController and the optional sDIO product.
Adept ACE User’s Guide
Instruction for the use of the Adept ACE software.
Adept IO Blox User’s Guide
Describes the IO Blox product.
V+ Operating System User’s
Guide
Describes the V+ operating system, including disk file
operations, monitor commands, and monitor command
programs.
V+ Language User’s Guide
Describes the V+ language and programming of an Adept
control system.
18
How Can I Get Help?
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You
can access the ADL from the Adept website. Select:
Support > Document Library
from the Adept home page. To go directly to the Adept Document Library, type the
following URL into your browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
To locate information on a specific topic, use the Document Library search engine on the
ADL main page. To view a list of available product documentation, select the Active
Documents option.
19
Robot Installation
2.1
2
Transport and Storage
This equipment must be shipped and stored in a temperature-controlled environment,
within the range –10° to +60° C (14° to 140° F). The recommended humidity range is 5 to
90 percent, non-condensing. It should be shipped and stored in the Adept-supplied
packaging, which is designed to prevent damage from normal shock and vibration. You
should protect the package from excessive shock and vibration.
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 position: this
could damage the robot.
2.2
Unpacking and Inspecting the Adept Equipment
Before Unpacking
Carefully inspect all shipping crates for evidence of damage during transit. If any damage
is indicated, request that the carrier’s agent be present at the time the container is
unpacked.
Upon Unpacking
Before signing the carrier’s delivery sheet, please compare the actual items received (not
just the packing slip) with your equipment purchase order and verify that all items are
present and that the shipment is correct and free of visible damage.
If the items received do not match the packing slip, or are damaged, do not sign the
receipt. Contact Adept as soon as possible.
If the items received do not match your order, please contact Adept immediately.
Inspect each item for external damage as it is removed from its container. If any damage is
evident, contact Adept (see Section 1.9 on page 18).
Retain all containers and packaging materials. These items may be necessary to settle
claims or, at a later date, to relocate equipment.
21
Chapter 2 - Robot Installation
2.3
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.
2.4
Environmental and Facility Requirements
The Adept robot system installation must meet the operating environment requirements
shown in the following table.
Table 2-1. Robot System Operating Environment Requirements
Ambient temperature
5° to 40° C (41° to 104° F)
Humidity
5 to 90%, noncondensing
Altitude
up to 2000 m (6500 ft.)
Pollution degree
2
Robot protection class
IP-20 (NEMA Type 1)
Note: See Section 8.1 for robot dimensions.
22
Mounting the Robot
2.5
Mounting the Robot
At least two people should transport and store the packaged equipment (see Figure 2-1).
The robot weighs 20 kg (45 lb) with no options installed.
Worker A
Worker B
Figure 2-1. Transporting Robot
CAUTION: Do not hold the robot by parts other than those
shown above.
Mounting Surface
The Adept Cobra s350 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. Adept recommends a 25 mm (1 in.) thick steel plate mounted to a rigid tube
frame. Excessive vibration or mounting flexure will degrade robot performance. Figure
2-2 shows the mounting hole pattern for the Adept Cobra s350 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.
See Figure 2-2. Using locating pins can improve the ability to remove and
reinstall the robot in the same position.
The Adept Cobra s350 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 MB-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 Adept always advises users to support the
weight of the cable with external supports and tie-downs. Any additional user cabling
should be installed with user-designed cabling supports that do not use these
motor/encoder connectors as attachment points for auxiliary cabling.
23
Chapter 2 - Robot Installation
120
4x Ø 12 Thru
120
R 1500
134 ± 0.005
7
R 1500
+0.012
2x Ø 6 H7 0
17
144
(291 for Cabling)
Units are mm
Figure 2-2. Mounting Hole Pattern for Robot
Robot Mounting Procedure
1. Using the dimensions shown in Figure 2-2, drill and tap the mounting surface for
four M10 x 30 mm (or 3/8-16 UNC) machine bolts (user-supplied). Also drill two
6H7 diameter holes for a diamond-shaped dowel pin and an internally-threaded
positioning pin. See Table 2-2 for bolt and torque specifications.
WARNING: Do not attempt to extend the inner or outer
links of the robot until the robot has been secured in
position. Failure to comply could result in the robot falling
and causing either personnel injury or equipment damage.
2. Install a diamond-shaped pin into one of the 6H7 diameter holes.
3. Install an internally-threaded positioning pin into the other 6H7 hole.
4. Turn the J2 axis until it comes into contact with the mechanical hardstop to keep
the robot in a safe position.
24
Mounting the Robot
Bolts
Bolts
Turn until it comes
into contact with
the mechanical end.
Pallet
Figure 2-3. Rotate J2 Axis to Safe Position
5. Remove the four bolts securing the robot base to the pallet. One person should
support the J1 axis 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.
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. Verify that the robot is
mounted squarely (will not 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 Table 2-2.
WARNING: 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 Chapter 7 for periodic
maintenance.
Table 2-2. 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 Grade 5
52 ft-lbf
25
3
System Cable Installation
3.1
System Cable Diagram
Adept MB-40R
Servo Controller
Note: Objects are
not drawn to scale.
IEEE 1394 Cable
from Controller SmartServo (Port 1.1)
to MB-40R SmartServo (Port 1)
EXPIO
Connector
XSYS Cable
from Controller (XSYS)
to MB-40R (XSLV)
External Brake
Connector
Adept
SmartController CX
SmartServo
HPE
LAN
SF
ES
HD
1
2
3
1.1
SW1
1 2 3 4
1.2
IEEE-1394
2.1
Device Net
RS-232/TERM
RS-422/485
RS-232-1
RS-232-2
Eth 10/100
2.2
BELT ENCODER
ON
OFF
XDIO
XSYS
XUSR
XFP
XMCP
XDC1 XDC2
24V
5A
-+
-+
SmartController CX
*S/N 3562-XXXXX*
CAMERA
R
OK
Terminator
Installed
User-Supplied Ground Wire
Ethernet to PC
Controller (XFP) to
Front Panel (XFP)
STOP
User-Supplied
200-240 VAC,
single phase
24 VDC Power from
User-Supplied
Power Supply to
Controller (XDC1)
User-Supplied
Ground Wire
R
Front Panel
User-Supplied
Power Supply
24 VDC Power from
User-Supplied
Power Supply to
MB-40R (+24 VDC Input)
Arm Power/
Signal Cable
T2 Pendant
(optional)
Desktop or Laptop PC
Running Adept ACE
(user-supplied)
Adept Cobra
s350 Robot
User-Supplied
Ground Wire
Figure 3-1. System Cable Diagram for Adept Cobra s350 Robots
27
Chapter 3 - System Cable Installation
3.2
Cable List
Table 3-1. Cables and Parts List
Cable Description
3.3
Notes
IEEE 1394 Cable, 4.5 M
Standard cable supplied with system
XSYS Cable, 4.5 M
Standard cable supplied with system
Front Panel Cable
Supplied with Front
Panel
Power Cable Kit - contains 24 VDC
and AC power cables
Available as option
XIO Breakout Cable, 12 inputs/
8 outputs, 5 meters
Available as option see page 48.
Installing the SmartController
Refer to the Adept SmartController User’s Guide for complete information on installing the
Adept SmartController. This list summarizes the main steps.
1. Mount the SmartController and Front Panel.
2. Connect the Front Panel to the SmartController.
3. Connect the optional pendant (if included) to the SmartController.
4. Connect user-supplied 24 VDC power to the controller.
5. Install a user-supplied ground wire between the SmartController and ground.
6. Install the Adept ACE PC software on the user-supplied PC. Refer to the Adept
ACE User Guide. This includes connecting the supplied Ethernet crossover cable
between the user-supplied PC and the Ethernet port on the SmartController.
3.4
Cable Connections from MB-40R to SmartController
1. Locate the IEEE 1394 cable (length 4.5 M) and the XSYS cable (length 4.5 M). They
are shipped in the cable/accessories box.
2. Install one end of the IEEE 1394 cable into the SmartServo port 1.1 connector on
the SmartController, and install the other end into the SmartServo port 1
connector on the MB-40R interface panel. See Figure 3-1 on page 27.
3. Install the XSYS cable between the MB-40R interface panel XSLV safety interlock
connector and XSYS connector on the SmartController, and tighten the latching
screws.
28
Cable Connections from MB-40R to Robot
3.5
Cable Connections from MB-40R to Robot
The cable between the robot and the MB-40R is called the Arm Power/Signal cable.
1. Connect one end of the Arm Power/Signal cable to the CN22 connector on the
back plate of the robot. Tighten the thumb-screw securely.
2. Connect the other end of the cable to the large, circular connector on the MB-40R.
Tighten the screws securely. See Figure 3-1 on page 27.
WARNING: Verify that all connectors are fully inserted
and screwed down. Failure to do this could cause
unexpected robot motion. Also, a connector could get
pulled out or dislodged unexpectedly.
3.6
Connecting 24 VDC Power to MB-40R Servo Controller
Specifications for 24 VDC Power
Table 3-2. Specifications for 24 VDC User-Supplied Power Supply
Customer-Supplied Power Supply
24 VDC (± 10%), 150 W (6 A)
(21.6 V< Vin < 26.4 V)
Circuit Protection1
Output must be less than 300 W peak
or
8 Amp in-line fuse
Power Cabling
1.5 – 1.85 mm² (16-14 AWG)
Shield Termination
Cable shield connected to frame ground
on power supply and ground point on
MB-40R. See Figure 3-2 on page 31.
1
User-supplied 24 VDC power supply must incorporate overload protection to limit
peak power to less than 300 W, or 8 A in-line fuse protection must be added to the 24
V power source.
The power requirements for the user-supplied power supply will vary depending on the
configuration of the robot and connected devices. Adept recommends a 24 V, 6 A power
supply to allow for startup current draw and load from connected user devices, such as
digital I/O loads.
CAUTION: Make sure you select a 24 VDC power supply
that meets the specifications in Table 3-2. Using an
underrated supply can cause system problems and
prevent your equipment from operating correctly. See the
following table for recommended power supplies.
29
Table 3-3. Recommended 24 VDC Power Supplies
Vendor Name
Model
Ratings
XP Power
JPM160PS24
24 VDC, 6.7 A, 160 W
Mean Well
SP-150-24
24 VDC, 6.3 A, 150 W
Astrodyne
ASM150-24
24 VDC, 6.66 A, 150 W
Details for 24 VDC Mating Connector
The 24 VDC mating connector and two pins are supplied with each system. They are
shipped in the cable/accessories box.
Table 3-4. 24 VDC Mating Connector Specs
Connector Details
Connector receptacle, 2-position, type:
Molex Saber, 18 A, 2-Pin
Ground
Molex P/N 44441-2002
Digi-Key P/N WM18463-ND
+24 V
Pin Details
Molex connector crimp terminal,
female, 14-18 AWG
Molex P/N 43375-0001
Recommended crimping tool, Molex Hand
Crimper
Molex P/N 63811-0400
NOTE: The 24 VDC cable is not supplied with the system, but is available
in the optional Power Cable kit. See Table 3-1 on page 28.
Procedure for Creating 24 VDC Cable
1. Locate the connector and pins from Table 3-4.
2. Use shielded two-conductor cable with 14-16 AWG wire to create the 24 VDC
cable. Select the wire length to safely reach from the user-supplied 24 VDC power
supply to the MB-40R base.
NOTE: You also must create a separate 24 VDC cable for the
SmartController. That cable uses a different style of connector. See the
Adept SmartController User’s Guide.
30
Connecting 24 VDC Power to MB-40R Servo Controller
3. Crimp the pins onto the wires using the crimping tool recommended in Table 3-4.
4. Insert the pins into the connector. Confirm that the +24 V and Ground wires are in
the correct terminals in the plug.
5. Install a user-supplied ring lug (for an M3 screw) on the shield at the MB-40R end
of the cable.
6. Prepare the opposite end of the cable for connection to the user-supplied 24 VDC
power supply, including a terminal to attach the cable shield to frame ground.
Installing the 24 VDC Cable
1. Connect one end of the shielded 24 VDC cable to your user-supplied 24 VDC
power supply. See Figure 3-2. The cable shield should be connected to frame
ground on the power supply. Do not turn on the 24 VDC power until instructed
to do so in Chapter 5.
2. Plug the mating connector end of the 24 VDC cable into the 24 VDC connector on
the interface panel on the back of the MB-40R. The cable shield should be
connected to the ground point on the interface panel.
MB-40R
Servo Controller
GND
User-Supplied
Power Supply
24 VDC
–
+
Attach shield from usersupplied cable to ground
screw on MB-40R Interface
Panel.
Adept SmartController
User-Supplied Shielded
Power Cable
Attach shield from user-supplied
cable to side of controller using
star washer and M3 x 6 screw.
+ 24V, 8A
–
Frame Ground
+ 24V, 5A
–
Attach shield from usersupplied cables to frame
ground on power supply.
-+
User-Supplied Shielded
Power Cable
Figure 3-2. User-Supplied 24 VDC Cable
31
NOTE: In order to maintain compliance with EN standards, Adept
recommends that DC power be delivered over shielded cables, with the
shield connected to frame ground at the power supply, and to the ground
points shown in the diagram above for the MB-40R and SmartController.
The length of the wire from the cable shield to the ground points should
be less than 50 mm.
3.7
Connecting 200-240 VAC Power to MB-40R
Specifications for AC Power
Table 3-5. Specifications for 200/240 VAC User-Supplied Power Supply
Auto-Ranging
Nominal
Voltage
Ranges
Minimum
Operating
Voltage1
Maximum
Operating
Voltage
Frequency/
Phasing
Recommended
External Circuit
Breaker,
User-Supplied
200 V to 240 V
180 V
264 V
50/60 Hz, 1-phase
10 Amps
1
Specifications are established at nominal line voltage. Low line voltage can affect robot
performance.
NOTE: The Adept robot system is intended to be installed as a piece of
equipment in a permanently-installed system.
DANGER: AC power installation must be performed by a
skilled and instructed person - see the Adept Robot Safety
Guide. During installation, unauthorized third parties
must be prevented from turning on power through the use
of fail-safe lockout measures.
Facility Overvoltage Protection
The user must protect the robot from excessive overvoltages and voltage spikes. If the
country of installation requires a CE-certified installation, or compliance with IEC 1131-2,
the following information may be helpful: IEC 1131-2 requires that the installation must
ensure that Category II overvoltages (i.e., line spikes not directly due to lightning strikes)
are not exceeded. Transient overvoltages at the point of connection to the power source
shall be controlled not to exceed overvoltage Category II, i.e., not higher than the impulse
voltage corresponding to the rated voltage for the basic insulation. The user-supplied
equipment or transient suppressor shall be capable of absorbing the energy in the
transient.
In the industrial environment, nonperiodic over-voltage peaks may appear on mains
power supply lines as a result of power interruptions to high-energy equipment (such as a
blown fuse on one branch in a 3-phase system). This will cause high-current pulses at
relatively low voltage levels. The user shall take the necessary steps to prevent damage to
the robot system (such as by interposing a transformer). See IEC 1131-4 for additional
information.
32
Connecting 200-240 VAC Power to MB-40R
AC Power Diagrams
Note: F1 is user-supplied, must be slow-blow.
L
1Ø
200–240 VAC
20 A
F1 10A
N
E
User-Supplied
AC Power Cable
L = Line
N = Neutral
E = Earth Ground
E
N
L
MB-40R
1Ø 200–240 VAC
Figure 3-3. Typical AC Power Installation with Single-Phase Supply
Note: F4 and F5 are user-supplied, must be slow-blow.
L1
200–240 VAC
F5 10 A
3Ø
200–240 VAC
L2
L3
F4 10 A
E
User-Supplied
AC Power Cable
E
L = Line 1
N = Line 2
E = Earth Ground
N
L
MB-40R
1Ø 200–240 VAC
Figure 3-4. Single-Phase Load across L1 and L2 of a Three-Phase Supply
Details for AC Mating Connector
The AC mating connector is supplied with each system. It is shipped in the
cable/accessories box. The supplied plug is internally labeled for the AC power
connections (L, E, N).
Table 3-6. AC Mating Connector Details
AC Connector details
AC in-line power plug,
straight, female, screw
terminal, 10 A, 250 VAC
Qualtek P/N 709-00/00
Digi-Key P/N Q217-ND
33
NOTE: The AC power cable is not supplied with the system, but is
available in the optional Power Cable kit. See Table 3-1 on page 28.
Procedure for Creating 200-240 VAC Cable
1. Locate the AC mating connector shown in Table 3-6.
2. Open the connector by unscrewing the screw on the shell and removing the cover.
3. Loosen the two screws on the cable clamp. See Figure 3-5 on page 34.
4. Use 18 AWG wire to create the AC power cable. Select the wire length to safely
reach from the user-supplied AC power source to the MB-40R base.
5. Strip 18 to 24 mm of insulation from each of the three wires.
6. Insert the wires into the connector through the removable bushing.
7. Connect each wire to the correct terminal screw, and tighten the screw firmly.
8. Tighten the screws on the cable clamp.
9. Replace the cover and tighten the screw to seal the connector.
10. Prepare the opposite end of the cable for connection to the facility AC power
source.
Removable
Bushing
Earth
Cable
Clamp
Line
Neutral
Figure 3-5. AC Power Mating Connector
Installing AC Power Cable to MB-40R
1. Connect the unterminated end of the AC power cable to your facility AC power
source. See Figure 3-3 on page 33 and Figure 3-4 on page 33. Do not turn on AC
power at this time.
2. Plug the AC connector into the AC power connector on the interface panel on the
MB-40R.
3. Secure the AC connector with the locking latch.
34
Grounding the Adept Robot System
3.8
Grounding the Adept Robot System
Proper grounding is essential for safe and reliable robot operation. Follow these
recommendations to properly ground your robot system.
Ground Point on Robot Base
The user can install a ground wire at the robot base to ground the robot. See Figure 3-6.
The user is responsible for supplying the ground wire to connect to earth ground.
Ground Point
Figure 3-6. Ground Point on Robot Base
Ground Point on MotionBlox-40R
The user can install a ground wire at the MB-40R chassis. Use the hole below the MB-40R
interface panel - see the following figure. The user should provide a ground wire and use
the provided M3 screw and external tooth lockwasher to connect to earth ground. Make
sure to tighten the screw on the ground wire to create a proper ground connection.
Optionally, two tapped holes are provided to attach user-supplied strain relief.
Ground Point
Figure 3-7. Earth Ground Location on MB-40R
Robot-Mounted Equipment Grounding
The Adept Cobra s350 Joint 3 quill and tool flange are not reliably grounded to the robot
base. If hazardous voltages are present at any user-supplied robot-mounted equipment or
tooling, you must install a ground connection from that equipment/tooling to the ground
point on the robot base. Hazardous voltages can be considered anything in excess of 30
VAC (42.4 VAC peak) or 60 VDC.
35
See also Figure 8-3 on page 75 for the grounding point on the tool flange.
DANGER: Failing to ground robot-mounted equipment or
tooling that uses hazardous voltages could lead to injury
or death of a person touching the end-effector when an
electrical fault condition exists.
3.9
Installing User-Supplied Safety Equipment
The user is responsible for installing safety barriers to protect personnel from coming in
contact with the robot unintentionally. Depending on the design of the workcell, safety
gates, light curtains, and emergency stop devices can be used to create a safe
environment. Read the Adept Robot Safety Guide for a discussion of safety issues.
Refer to the Adept SmartController User’s Guide for information on connecting safety
equipment into the system through the XUSR connector on the SmartController. There is
a detailed section on Emergency Stop circuits and diagrams on recommended E-Stop
configurations.
36
MotionBlox-40R
4.1
4
Introduction to the MotionBlox-40R
The Adept MotionBlox-40R (MB-40R) is a distributed servo controller and amplifier. It has
a dedicated digital signal processor to communicate, coordinate, and execute servo
commands.
The MB-40R consists of:
• a distributed servo amplifier
• a RISC processor for servo loop control
• a node on the IEEE 1394 network
• a power controller that uses single-phase AC power, 200-240 Volts
• a status panel with a 2-digit alpha-numeric display to indicate operating status
and fault codes
Robot Connector
(for Arm Power/Signal
Cable to Robot)
Interface Panel
Figure 4-1. Adept MB-40R Front View
37
Chapter 4 - MotionBlox-40R
4.2
Description of Connectors on MB-40R Interface Panel
Ground Point
for Cable Shield
200-240 VAC
Input
XSLV
SmartServo Port 1
Ground
Pin
SmartServo Port 2
24 VDC
Input
RS-232
+24 V Pin
XIO
XPANEL
Figure 4-2. MB-40R Interface Panel
24 VDC - for connecting user-supplied 24 VDC power. The mating connector is provided.
Ground Point - for connecting cable shield from user-supplied 24 VDC cable.
200/240 VAC - for connecting 200-240 VAC, single-phase, input power. The mating
connector is provided.
XSLV - for connecting the supplied XSYS cable from the controller XSYS connector. (DB-9,
female)
SmartServo 1 & 2 - for connecting the IEEE 1394 cable from the controller (SmartServo
1.1) to the upper connector (SmartServo 1).
RS-232 - Reserved for future use (DB-9, male)
XPANEL - Reserved for future use (DB-26, high density, male)
XIO - for user I/O signals for peripheral devices. This connector provides 8 outputs and
12 inputs. See Section 4.5 on page 44 for connector pin allocations for inputs and outputs.
That section also contains details on how to access these I/O signals via V+. (DB-26, high
density, female)
38
MB-40R Operation
4.3
MB-40R Operation
Status LED on MB-40R
The Status LED indicator is located on the top of the MB-40R. See Figure 4-3. This is a
bi-color, red and green LED. The color and blinking pattern indicates the status of the
robot. See Table 4-1.
Brake Release
Button
Status Panel
Display
Status LED Indicator
EXPIO
Connector
Brake Connector
Figure 4-3. Controls and Indicators on MB-40R
Table 4-1. 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
39
Status Panel
The status panel, shown in Figure 4-3 on page 39, displays alpha-numeric codes that
indicate the operating status of the MB-40R. The following table gives definitions of the
fault codes. These codes provide details for quickly isolating problems during
troubleshooting.
Table 4-2. Status Panel Codes
LED
Status Code
LED
Status Code
OK
No Fault
h#
High Temp Amp (Joint #)
ON
High Power ON Status
H#
High Temp Encoder (Joint #)
MA
Manual Mode
hV
High Voltage Bus Fault
24
24V Supply Fault
I#
Initialization Stage (Step #)
A#
Amp Fault (Joint #)
M#
Motor Stalled (Joint #)
B#
IO Blox Fault (Address #)
NV
Non-Volatile Memory
AC
AC Power Fault
P#
Power System Fault (Code #)
D#
Duty Cycle Exceeded (Joint #)
PR
Processor Overloaded
E#
Encoder Fault (Joint #)
RC
RSC Fault
ES
E-Stop
SW
Watchdog Timeout
F#
External Sensor Stop
S#
Safety System Fault (Code #)
FM
Firmware Mismatch
T#
Safety System Fault
(Code 10 + #)
FW
1394 Fault
V#
Hard Envelope Error (Joint #)
NOTE: Due to the nature of the Cobra s350 bus line encoder wiring, a
single encoder wiring error may result in multiple channels of displayed
encoder errors. Reference the lowest encoder number displayed.
For more information on status codes, go to the Adept Document Library on the Adept
website, and in the Procedures, FAQs, and Troubleshooting section, look for the Adept
Status Code Summary document.
Brake Release Button on MB-40R
The Brake Release button is located at the top right of the MB-40R. See Figure 4-3 on page
39. Under some circumstances you may want to manually position Joints 3 and 4 without
turning on high power. You can use the Brake Release button for this purpose.
When 24 V power is enabled, pressing this button releases the brake, which allows
movement of Joints 3 and 4. An additional Brake Release button is provided on the robot.
See “Brake Release Button” on page 52.
NOTE: If this button is pressed while high power is on, high power will
automatically shut down.
40
Connecting Digital I/O to the System
Brake Release Connector
The 9-pin Brake Release connector provides low-active input signals to manually release
the brakes on Joint 3 and Joint 4. This can be used as an alternative to the Brake Release
button.
The digital inputs on this connector meet the same input level requirements as the XIO
inputs. See Table 4-7 on page 45 for details.
Table 4-3. Brake Release Connector Pinouts
Pin #
Description
1
Not connected
2
Not connected
3
Release3_N
4
Not connected
5
Not connected
6
Not connected
7
GND
8
Not connected
9
24V
Pin Location
Pin 6
Pin 1
Pin 9
Pin 5
DB-9 Female
Brake Connector
as viewed on MB-40R
Mating Connector:
D-Subminiature 9-Pin Male
4.4
You can connect digital I/O to the system in several different ways. See Table 4-4 and
Figure 4-4.
Table 4-4. Digital I/O Connection Options
Product
I/O Capacity
For more details
XIO Connector on
MB-40R
12 inputs
8 outputs
see Section 4.5 on page 44
XDIO Connector on
SmartController
12 inputs
8 outputs
see Adept SmartController
User’s Guide
Optional IO Blox Devices,
connect to EXPIO
connector on the MB-40R
8 inputs, 8 outputs per device; up
to four IO Blox devices per
system
see Adept IO Blox User’s
Guide
Optional sDIO Module,
connects to controller
32 inputs, 32 outputs per module;
up to four sDIO devices per
system
see Adept SmartController
User’s Guide
41
IO Blox #1
8 Input signals: 1113 to 1120
8 Output signals: 0105 to 0112
MB-40R
Optional
IO Blox Device
sDIO #1
IEEE-1394
1.1
1.2
R
*S/N 3563-XXXXX*
X1
X4
X3
X2
SC-DIO
Optional
sDIO #1
XDC1 XDC2
LINK
24V
0.5A
-+
OK SF
-+
SmartController
SmartServo
HPE
LAN
SF
ES
HD
1
2
3
1.1
SW1
1 2 3 4
1.2
IEEE-1394
2.1
Device Net
2.2
RS-232/TERM
RS-422/485
RS-232-1
RS-232-2
Eth 10/100
BELT ENCODER
ON
OFF
XDIO
XUSR
XSYS
XFP
XMCP
XDIO Connector
XIO Connector
Figure 4-4. Connecting Digital I/O to the System
42
XDC1 XDC2
24V
5A
-+
-+
SmartController CX
*S/N 3562-XXXXX*
CAMERA
R
OK
Table 4-5. Default Digital I/O Signal Configuration, Single Robot System
Location
Type
Signal Range
SmartController XDIO connector
Inputs
1001 - 1012
Outputs
0001 - 0008
Inputs
1033 - 1064
Outputs
0033 - 0064
Inputs
1065 - 1096
Outputs
0065 - 0096
Inputs
1097 - 1108
Outputs
0097 - 0104
Inputs
1113 - 1120
Outputs
0105 - 0112
Inputs
1121 - 1128
Outputs
0113 - 0120
Inputs
1129 - 1136
Outputs
0121 - 0128
Inputs
1137 - 1144
Outputs
0129 - 0136
sDIO Module 1
sDIO Module 2
MB-40R 1 XIO connector
IO Blox 1
IO Blox 2
IO Blox 3
IO Blox 4
43
4.5
Using Digital I/O on MB-40R XIO Connector
The XIO connector on the MB-40R interface panel offers access to digital I/O, 12 inputs
and 8 outputs. These signals can be used by V+ to perform various functions in the
workcell. See Table 4-6 for the XIO signal designations.
• 12 Inputs, signals 1097 to 1108
• 8 Outputs, signals 0097 to 0104
Table 4-6. XIO Signal Designations
44
Pin
No.
Designation
1
GND
2
24 VDC
Signal
Bank
V+ Signal
Number
3
Common 1
1
4
Input 1.1
1
1097
5
Input 2.1
1
1098
6
Input 3.1
1
1099
7
Input 4.1
1
1100
8
Input 5.1
1
1101
9
Input 6.1
1
1102
10
GND
11
24 VDC
12
Common 2
2
13
Input 1.2
2
1103
14
Input 2.2
2
1104
15
Input 3.2
2
1105
16
Input 4.2
2
1106
17
Input 5.2
2
1107
18
Input 6.2
2
1108
19
Output 1
0097
20
Output 2
0098
21
Output 3
0099
22
Output 4
0100
23
Output 5
0101
24
Output 6
0102
25
Output 7
0103
26
Output 8
0104
Pin Locations
Pin 1
Pin 10
Pin 19
Pin 9
Pin 18
Pin 26
XIO 26-pin female
connector on
MB-40R Interface
Panel
Optional I/O Products
These optional products are also available for use with digital I/O:
• XIO Breakout Cable, 5 meters long, with flying leads on user’s end. See page 48
for information. This cable is not compatible with the XIO Termination Block
mentioned below.
• XIO Termination Block, with terminals for user wiring, plus input and output
status LEDs. Connects to the XIO connector with 6-foot cable. See the Adept XIO
Termination Block Installation Guide for details.
XIO Input Signals
The 12 input channels are arranged in two banks of six. Each bank is electrically isolated
from the other bank and is optically isolated from the MB-40R’s ground. The six inputs
within each bank share a common source/sink line.
The inputs are accessed through direct connection to the XIO connector (see Table 4-6 on
page 44), or through the optional XIO Termination Block. See the documentation supplied
with the Termination Block for details.
The XIO inputs cannot be used for REACTI programming, high-speed interrupts, or
vision triggers. See the V+ Language User’s Guide for information on digital I/O
programming.
XIO Input Specifications
Table 4-7. XIO Input Specifications
Operational voltage range
0 to 30 VDC
“Off” state voltage range
0 to 3 VDC
“On” state voltage range
10 to 30 VDC
Typical threshold voltage
Vin = 8 VDC
Operational current range
0 to 7.5 mA
“Off” state current range
0 to 0.5 mA
“On” state current range
2.5 to 6 mA
Typical threshold current
2.0 mA
Impedance (Vin/Iin)
3.9 K  minimum
Current at Vin = +24 VDC
Iin  6 mA
Turn on response time (hardware)
5 µsec maximum
Software scan rate/response time
16 ms scan cycle/
32 ms max response time
Turn off response time (hardware)
5 µsec maximum
Software scan rate/response time
16 ms scan cycle/
32 ms max response time
NOTE: The input current specifications are provided for reference.
Voltage sources are typically used to drive the inputs.
45
Typical Input Wiring Example
Adept-Supplied Equipment
User-Supplied Equipment
Wiring
Terminal
Block
(equivalent circuit)
Signal 1097
Signal 1098
Input Bank 1
Signal 1101
Signal 1102
4
Part Present Sensor
5
Feeder Empty Sensor
6
Part Jammed Sensor
7
Sealant Ready Sensor
8
9
Bank 1 3
Common
2
+24V
GND 1
Signal 1103
Signal 1104
Input Bank 2
Signal 1105
Signal 1106
Signal 1107
Signal 1108
13
14
15
16
17
18
Bank 2 12
Common
10
GND
+24V
11
Figure 4-5. Typical User Wiring for XIO Input Signals
NOTE: The off-state current range exceeds the leakage current of XIO
outputs. This guarantees that the inputs will not be turned on by the
leakage current from the outputs. This is useful in situations where the
outputs are looped-back to the inputs for monitoring purposes.
46
Bank 2 configured for
Sourcing (PNP) Inputs
XIO Connector – 26-Pin Female D-Sub
Signal 1100
Note: all Input signals
can be used for either
sinking or sourcing
configurations.
Bank 1 configured for
Sinking (NPN) Inputs
Signal 1099
Typical User
Input Signals
XIO Output Signals
The eight digital outputs share a common, high-side (sourcing) driver IC. The driver is
designed to supply any kind of load with one side connected to ground. It is designed for
a range of user-provided voltages from 10 to 24 VDC, and each channel is capable of up to
0.7 A of current. This driver has overtemperature protection, current limiting, and
shorted-load protection. In the event of an output short or other overcurrent situation, the
affected output of the driver IC turns off and back on automatically to reduce the
temperature of the IC. The driver draws power from the primary 24 VDC input to the
robot through a self-resetting polyfuse.
The outputs are accessed through direct connection to the XIO connector (see Table 4-6 on
page 44), or through the optional XIO Termination Block. See the documentation supplied
with the Termination Block for details.
XIO Output Specifications
Table 4-8. XIO Output Circuit Specifications
Parameter
Value
Power supply voltage range
See Table 3-2 on page 29.
Operational current range, per
channel
Iout  700 mA
Total Current Limitation, all channels
on.
Itotal  1.0 A @ 50° C ambient
Itotal  1.5 A @ 25° C ambient
On-state resistance (Iout = 0.5 A)
Ron  0.32  @85C
Output leakage current
Iout  25 µA
Turn-on response time
125 µsec max., 80 µsec typical
(hardware only)
Turn-off response time
60 µsec. max., 28 µsec typical
(hardware only)
Output voltage at inductive load
turnoff (Iout = 0.5 A, Load = 1 mH)
(+V - 65)  Vdemag  (+V - 45)
DC short circuit current limit
0.7 A  ILIM  2.5 A
Iovpk  4 A
Peak short circuit current
47
Typical Output Wiring Example
Signal 0097
(equivalent
circuit)
User-Supplied Equipment
Wiring
Terminal
Block
+24 VDC
Outputs 1-8
XIO Connector – 26-Pin Female D-Sub
Adept-Supplied Equipment
Signal 0098
Signal 0099
Signal 0100
Signal 0101
Signal 0102
Signal 0103
Signal 0104
GND
GND
Typical User Loads
19
20
21
22
23
Load
Load
24
Load
25
26
1
M
L
10
N
Customer
AC Power
Supply
M
Figure 4-6. Typical User Wiring for XIO Output Signals
XIO Breakout Cable
The XIO Breakout cable is available as an option - see Figure 4-7. This cable connects to the
XIO connector on the MB-40R, and provides flying leads on the user’s end, for connecting
input and output signals in the workcell. The cable length is 5 M (16.4 ft).
See Table 4-9 on page 49 for the wire chart on the cable.
NOTE: This cable is not compatible with the XIO Termination Block.
Figure 4-7. Optional XIO Breakout Cable
48
Table 4-9. XIO Breakout Cable Wire Chart
Pin No.
Signal
Designation
Wire Color
1
GND
White
2
24 VDC
White/Black
3
Common 1
Red
4
Input 1.1
Red/Black
5
Input 2.1
Yellow
6
Input 3.1
Yellow/Black
7
Input 4.1
Green
8
Input 5.1
Green/Black
9
Input 6.1
Blue
10
GND
Blue/White
11
24 VDC
Brown
12
Common 2
Brown/White
13
Input 1.2
Orange
14
Input 2.2
Orange/Black
15
Input 3.2
Gray
16
Input 4.2
Gray/Black
17
Input 5.2
Violet
18
Input 6.2
Violet/White
19
Output 1
Pink
20
Output 2
Pink/Black
21
Output 3
Light Blue
22
Output 4
Light Blue/Black
23
Output 5
Light Green
24
Output 6
Light Green/Black
25
Output 7
White/Red
26
Output 8
White/Blue
Shell
Pin Locations
Pin 19
Pin 10
Pin 1
Pin 26
Pin 18
Pin 9
26-pin male
connector on XIO
Breakout Cable
Shield
49
4.6
MB-40R Dimensions
See the following figure for dimensions of MB-40R chassis and mounting holes.
197.8
0
47.6
47.6
0
377.8
377.8
C
0
B
32.7
0
7.6
45.7
51.6
20.6
9.8
0
204.2
C
A
B
331.7
425.5
404.9
45.7
7.6
0
129.54
0
0
0
32.7
32.7
6X, SHCS,M4 X 6
67.3
106.7
170.2
182.9
197.8
197.8
45.7
7.6
50
0
47.6
377.8
C
0
Figure 4-8. MB-40R Mounting Dimensions
0
7.6
45.7
228.6
Note: 112 mm clearance required
in front of unit to remove AIB from
box enclosure.
M4 X 7 mm DP BLIND
SPCD AS SHOWN, 20X
C
222.3
System Operation
5.1
5
Brakes
The robot has a braking system that decelerates the robot in an emergency condition, such
as when the emergency stop circuit is open or a robot joint passes its softstop.
The E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safety
requirements. It supports a customer-programmable E-Stop delay that maintains motor
power for a programmed time after the E-Stop is activated. This customizable feature
allows the motors to decelerate under servo control to a stop. This can aid in eliminating
coasting or overshooting on low friction mechanisms. It can also aid in the reduction of
wear on highly-geared, high-inertia mechanisms, while maintaining safety compliance
per all standards.
The braking system will not prevent you from moving the robot manually once the robot
has stopped (and High Power has been removed).
In addition, Joints 3 and 4 have electromechanical brakes. The brakes are released when
high power is enabled. When High Power is turned off, the brakes engage and hold the
positions of Joints 3 and 4. There is a Brake Release button for Joints 3 and 4 on the
MB-40R and a Brake Release button on the robot itself. See “Brake Release Button on
MB-40R” on page 40 for information on the Brake Release button on the MB-40R.
The Programmable E-Stop delay can be set up in Adept ACE, in the robot editor. The
default setting is appropriate for most applications. See the following section.
Programmable E-Stop Delay
To set the programmable E-Stop delay from the ACE software, go to the object editor for
the robot, and enable Expert Access:
Object > Expert Access
NOTE: This requires a password to enable.
Once enabled, you will be able to see and modify the following three parameters (among
others):
• Auto Mode E-Stop Shutdown Timeout
• Hold-to-Run E-Stop Shutdown Timeout
• Manual Mode E-Stop Shutdown Timeout
Each of these is the time, in seconds, after that mode E-Stop is asserted, in which V+ is
allowed to decelerate the robot, engage the brakes, and shut down power before the servo
nodes automatically shut down power. The value can be set from 0 (immediate power-off)
to 0.512 seconds. If the deceleration is too slow, or the brake-on delay too long, the servo
will automatically cut power.
51
Chapter 5 - System Operation
Brake Release Button
Under some circumstances you may want to manually position Joint 3 or Joint 4. For such
instances, a Brake Release button is provided. When system power is on, pressing this
button releases the brake, which allows movement of Joint 3 and Joint 4.
NOTE: 24 Volt robot power must be ON to release the brakes.
If this button is pressed while high power is on, high power will automatically shut down.
Figure 5-1. Brake Release Button for Third and Fourth Axes
CAUTION: When the Brake Release button is pressed,
Joint 3 may drop to the bottom of its travel. To prevent
possible damage to the equipment, make sure that Joint 3
is supported while releasing the brake and verify that the
end-effector or other installed tooling is clear of all
obstructions.
52
Front Panel
5.2
Front Panel
2
1
Manual
Mode
Auto
Mode
4
5
3
Figure 5-2. Front Panel
1. XFP connector
Connects to the XFP connector on the SmartController CX.
2. System 5 V Power-On LED
Indicates whether or not power is connected to the robot.
3. Manual/Automatic Mode Switch
Switches between Manual and Automatic mode. In Automatic mode, executing programs
control the robot, and the robot can run at full speed. In Manual mode, the system limits robot
speed and torque so that an operator can safely work in the cell. Manual mode initiates
software restrictions on robot speed, commanding no more than 250 mm/sec.
4. High Power On/Off Switch and Lamp
Controls high power, which is the flow of current to the robot motors. Enabling high power is
a two-step process. An “Enable Power” request must be sent from the user-supplied PC, an
executing program, or the T2 pendant. Once this request has been made and the High Power
On/Off lamp/button is blinking, the operator must press and release this button, and high
power will be enabled.
NOTE: The use of the blinking High Power button can be configured (or
eliminated) in software. Your system may not require this step.
NOTE: If enabled, the Front Panel button must be pressed while blinking
(default time-out is 10 seconds). If the button stops blinking, you must
enable power again.
5. Emergency Stop Switch
The E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safety requirements.
Pressing this button turns off high power to the robot motors.
53
NOTE: The Front Panel must be installed to be able to Enable Power to the
robot. To operate without a Front Panel, the user must supply the
equivalent circuits.
5.3
Commissioning the System
Turning on the robot system for the first time is known as “commissioning the system.”
Follow the steps in this section to safely bring up your robot system. The steps include:
• Verifying installation, to confirm all tasks have been performed correctly
• Starting up the system by turning on power for the first time
• Verifying all E-Stops in the system function correctly
• Move each axis of the robot (generally with the pendant) to confirm it moves in the
proper directions
Verifying Installation
Verifying that the system is correctly installed and that all safety equipment is working
correctly is an important process. Before using the robot, make the following checks to
ensure that the robot and controller have been properly installed.
DANGER: After installing the robot, you must test it before
you use it for the first time. Failure to do this could cause
death, or serious injury or equipment damage.
Mechanical Checks
• Verify that the robot is mounted level and that all fasteners are properly installed
and tightened
• Verify that any end-of-arm tooling is properly installed
• Verify that all other peripheral equipment is properly installed and in a state
where it is safe to turn on power to the robot system
System Cable Checks
Verify the following connections:
• Front Panel to the SmartController
• Pendant to the SmartController, via the pendant adapter cable
• User-supplied 24 VDC power to the controller
• User-supplied ground wire between the SmartController and ground
• One end of the IEEE 1394 cable into the SmartServo port 1.1 connector on the
SmartController, and the other end into the SmartServo port 1 connector on the
MB-40R interface panel.
54
Commissioning the System
• XSYS cable between the MB-40R interface panel XSLV safety interlock connector
and XSYS connector on the SmartController, and the latching screws tightened
• User-supplied 24 VDC power to the MB-40R 24 VDC connector
• User-supplied 200/240 VAC power to the MB-40R 200/240 VAC connector
User-Supplied Safety Equipment Checks
Verify that all user-supplied safety equipment and E-Stop circuits are installed correctly.
Turning on Power
After the system installation has been verified, you are ready to turn on AC and DC
power to the system and start up Adept ACE.
1. Switch on AC power to the MB-40R. .
DANGER: Make sure personnel are skilled and instructed refer to the Adept Robot Safety Guide.
2. Switch on the 24 VDC power to the MB-40R.
3. Switch on the 24 VDC power to the controller.
The Status Panel displays OK. The Status LED will be off.
4. Verify the Auto/Manual switch on the Front Panel is set to Auto Mode.
Starting Adept ACE
The robot should be on, and the status panel should display OK before proceeding.
1. Turn on the user-supplied PC and start Adept ACE.
• Double-click the Adept ACE icon on your Windows desktop,
or
• From the Windows Start menu bar, select:
Start > Programs > Adept Technology > Adept ACE > Adept ACE.
2. On the Adept ACE Getting Started screen:
• Select New SmartController Workspace.
• Select Create New Workspace for Selected Controller
to make the connection to the controller.
• Select the IP address of the controller you wish to connect to, or manually
type in the IP address.
3. Click OK.
You will see the message “Working, please wait”.
55
Enabling High Power
After you have started Adept ACE and connected to the controller, enable high power to
the robot motors.
Using Adept ACE to Enable High Power
1. From the Adept ACE main menu, click the Enable High Power icon
.
2. Press and release the blinking High Power button on the Front Panel within 10
seconds.
The Front Panel is shown in Figure 5-2 on page 53. (If the button stops blinking,
you must Enable Power again.)
NOTE: The use of the blinking High Power button can be configured (or
eliminated) in software. Your system may not require this step.
This step turns on high power to the robot motors and calibrates the robot.
• The MB-40R Status LED displays a fast green blink.
• The code on the MB-40R displays ON (see “Controls and Indicators on
MB-40R” on page 39).
Verifying E-Stop Functions
Verify that all E-Stop devices are functional (pendant, Front Panel, and user-supplied).
Test each mushroom button, safety gate, light curtain, etc., by enabling high power and
then opening the safety device. The High Power push button/light on the Front Panel
should go out for each.
Verify Robot Motions
Use the pendant (if purchased) to verify that the robot moves correctly. Refer to the Adept
T2 Pendant User’s Guide for complete instructions on using the pendant.
If the optional pendant is not installed in the system, you can move the robot using the
Robot Jog Control in the Adept ACE software
. For details, see the Adept ACE User’s
Guide.
5.4
Learning to Program the Adept Cobra s-Series Robot
To learn how to use and program the robot, see the Adept ACE User’s Guide, which
provides information on robot configuration, control and programming through the
Adept ACE software “point and click” user interface.
For V+ programming information, refer to the following optional manuals:
• V+ Language User’s Guide
• V+ Language Reference Guide
• V+ Operating System Reference Guide
56
Optional Equipment
Installation
6.1
6
Installing End-Effectors
The user is responsible for providing and installing any end-effector or other end-of-arm
tooling. End-effectors can be attached to the tool flange using four M6 screws. See Figure
8-3 on page 75 for a detailed dimension drawing of the tool flange.
A 6 mm diameter x 12 mm dowel pin (user-supplied) fits in the through-hole in the tool
flange and can be used as a keying or anti-rotation device in a user-designed end-effector.
If hazardous voltages are present at the end-effector, you must install a ground
connection from the base of the robot or the outer link to the end-effector. See “Grounding
the Adept Robot System” on page 35.
NOTE: A threaded hole is provided on the tool flange. The user may
attach a ground wire through the quill, connecting the outer link and the
tool flange.
6.2
Removing and Reinstalling the Tool Flange
The tool flange can be removed and reinstalled. If the flange is removed, it must be
reinstalled in exactly the same position to avoid losing the calibration for the system.
There is a setscrew on the flange that holds the rotational position of the flange on the
quill shaft. The setscrew contacts a flat section of the quill shaft. Follow the procedures
below to remove and replace the flange assembly.
Removing the Flange
1. Turn off high power and system power to the robot.
2. Remove any attached end-effectors or other tooling from the flange.
3. Use a 2.5 mm Allen driver to loosen the setscrew (see Figure 6-1 on page 58).
4. Loosen the two M4 socket-head cap screws.
5. Slide the flange down slowly until it is off the shaft.
57
Chapter 6 - Optional Equipment Installation
Quill shaft
M4 Socket-Head
Cap screws
Tool flange
assembly
Setscrew
Figure 6-1. Tool Flange Removal Details
Reinstalling the Flange
1. Slide the flange up on the quill shaft as far as it will go, and rotate it until the
setscrew is lined up with the flat section on the quill shaft.
CAUTION: The setscrew must align with the flat section of
the shaft or damage to the quill will result.
2. Support the flange while using a 2.5 mm Allen driver to tighten the setscrew to
finger tightness. Do not over-tighten the setscrew because this will cause the
flange to be off-center from the quill shaft.
3. Tighten one of the M4 screws part of the way, then tighten the other one the same
amount. Alternate between the two screws so there is even pressure on both
when they are tight. The torque specification for each screw is 8 N·m (70 in-lb).
58
User Connections on Robot
6.3
User Air Lines
There are four user air line connectors on the robot user panel on the back of the robot (see
Figure 6-2). The four air lines run through the robot up to another set of four matching
connectors on the top of the outer link. The maximum pressure for the air source is 0.59
MPa (86 psi). The Adept Cobra s350 is not equipped with solenoid valves.
View in direction of arrow (A)
Brake release
swtch
Air piping joints
(M5)
CN21 pin layout
View in direction of arrow (B)
CN20 pin layout
1 2 3 4
5 6 7 8
9
10 11 12 13 14 15
16 17 18 19
(A)
AIR1 and AIR2
AIR3 and AIR4
(B)
Air No.
AIR 1,2
AIR 3,4
Air piping
joint
Ø4, BSPT 1/8
Ø6, BSPT 1/4
Maximum
allowable pressure
0.59 MPa
Figure 6-2. User Air and Electrical Connectors on Robot
59
User Electrical Lines
There are 19 user electrical lines that run from CN20 at the back of the robot, up to CN21
on the top of Joint 2. See Figure 6-2 on page 59. Maximum current per line is 1 Amp. Use
the supplied mating connector sets shown in Table 6-1 for CN20 and CN21.
Table 6-1. Mating Connectors for CN20 and CN21
Connector No.
Model and part name
for CN20
SRCN6A25-24S (round type
connector) Japan Aviation
Electronics Industry Ltd.
for CN21
JMLP2119M (L type plug
connector) DDK Electronics,
Inc.
Appearance
Optional Solenoid Cable
An optional 4 meter solenoid cable is available that connects between the XDIO connector
on the SmartController and the CN20 connector on the robot. Note: this solenoid cable
does not work with the Cobra s350CR/ESD robots.
The solenoid cable brings a portion of the XDIO signals out to the CN21 connector at the
top of the robot. See Table 6-2 for the details of which signals are available at CN21. See
the Adept SmartController User’s Guide for the electrical specifications for the signals from
the XDIO connector.
Table 6-2. CN21 Signal List When Using Solenoid Cable
CN21 Pin #
Signal from XDIO on
SmartController
CN21 Pin #
Signal from XDIO on
SmartController
1
Input 10011
11
Not connected
2
Input 10021
112
Ground
3
Input 10031
13
Output 0001
4
Input 10041
14
Output 0002
5
Input 10051
15
Output 0003
6
Not connected
16
Output 0004
7
Output 00072
17
Output 0005
8
Output 00082
18
Output 0006
9
24 V Output3
19
Not connected
10
Ground
1
Inputs 1001 to 1005 are preconfigured as low-active (sinking) inputs.
Outputs 0007 and 0008 are preconfigured as high-side (sourcing) outputs.
3 Limited to a combined total of 1 A of current.
2
60
Mounting Options for User Connections
User air and electrical lines can be routed either through the hollow space in the Z-axis
shaft or by attaching them to the robot’s exterior by mounting stays on the robot.
CAUTION: Do not remove the mechanical end bolts on the
1st and 2nd axes or the mechanical stoppers on the 3rd
axis (see Figure 6-3). Also, do not use these bolts and
stoppers to secure a stay to support user air or electrical
lines. If you remove these components, the initial
calibration position and softstops may become invalid, the
robot arm may fail to run as programmed, and the robot
arm may interfere with peripheral devices.
NOTE: Do not use the following for user connections:
1st-Axis
Mechanical End Bolt
2nd-Axis
Mechanical End Bolts
3rd-Axis
Mechanical Stoppers
Figure 6-3. Mechanical End Bolts and Stoppers on Robot
Routing User Connections Through the Z-Axis Shaft
You can route air and electrical lines from the CN21 connector or the air line joints on the
top of the outer arm (Joint 2) through a hollow space (Ø14 mm) in the Z-axis shaft.
CAUTION: If routing lines in this manner, make sure that,
when the robot is in motion, including when the Z-axis is
moving, the air and electrical lines do not become taut or
interfere with other parts of the robot.
61
Attaching Stays to Support User Connections
You can attach a user-supplied stay on the exterior of the robot to support air and
electrical lines - see Figure 6-4. See Figure 6-5 for the dimensions to fabricate the stay. To
install the stay, attach four M3 bolts to the four threaded holes on the bottom of the outer
arm to mount the stay. The mounting holes are the same as those used for the camera
bracket, see Figure 6-6 on page 63.
User Air and Electrical
Lines Routed Through
Z-Axis Shaft
Stay Attached to Robot
User Air and
Electrical Lines
Stay Attached to
Underside of Outer
Arm Using M3 Bolts
Figure 6-4. Stay Attached to Robot’s Exterior
1.181
.39
2x
Ø .22
.98
1.97
.35
2x
Ø .20
4.00
3.00
R .08
.08
1.18
Figure 6-5. Dimensions for Fabricating User-Supplied Stay
62
Camera Mounting
6.4
Camera Mounting
A camera can be mounted on the Cobra s350 by installing a user-supplied camera bracket.
The bracket is installed on the underside of the robot - see Figure 6-6 for the location and
dimensions of the mounting holes. See Figure 6-7 on page 64 and Figure 6-8 on page 65 for
drawings of the brackets. The user must fabricate this bracket, it is not available from
Adept.
An optional camera channel (40861-00830) and camera mounting block (40861-00660) are
available from Adept. These can be attached to the user-supplied camera bracket, see
Figure 6-6.
Camera
Bracket
Camera
Channel
Camera
Mounting
Block
30
82
4x M3 x 0.5
(66)
Figure 6-6. Camera Mounting Details
63
4.01
64
(.56)
.010 A
A
(6.97)
(5.01)
Figure 6-7. Camera Bracket Drawing, Page 1 of 2
(.063)
.010 B
.010 B
.88
C
L
B
Page 1 of 2
TOLERANCES
2 PLACE DECIMALS: +/- .03
3 PLACE DECIMALS: +/- .015
ANGULAR DIMS: +/- 1 degree
UNLESS OTHERWISE SPECIFIED:
- DIMENSIONS APPLY AFTER PROCESS.
- INTERPRET DRAWING PER ANSI Y14.5.
- DIMENSIONS ARE IN INCHES.
3X
Camera Bracket Drawings
4X
M4X0.7-6H
THRU
.43
2X
.16
10°
ITEM 2
2.362
.54
3.45
.38
1.181 1.82
.26
MOUNT, CAMERA
AL ALLOY 6061 T651, .38 THK
.900
1.75
2 PLACES
1 AS SHOWN
1 MIRROR/OPPOSITE
DETAIL A
.91
2X
R.25
.89
1.22
5
A
15
2X
R .12
MAX.
5
15
C
L
B
ITEM 1
1.00
2X
R MIN.
2X
4.53
.81
2.00
2X
6.59
BRACKET, CAMERA
AL ALLOY 5052 H32, .063 THK
R 2.00
INSIDE
3.23
R2.0
2X
R FULL
3.08
3.64
.50
.56
R.50
1.27
Page 2 of 2
.13
1.00
2.25
5
2X
1.06
Camera Mounting
Figure 6-8. Camera Bracket Drawing, Page 2 of 2
65
Maintenance
7.1
7
Periodic Maintenance Schedule
The following table gives a summary of the preventive maintenance procedures and
guidelines on frequency.
Table 7-1. Inspection and Maintenance
Item
Period
Reference
Check E-Stop, enable and key switches, and barrier
interlocks
3 months
See Section 7.2
Check robot mounting bolts
3 months
See Section 7.3
Lubricate Joint 3 (Z-axis) ball screw
6 months
See Section 7.4
Replace Encoder battery
2 - 4 years
See Section 7.5
Inspect timing belts on 3rd and 4th axes
12 months
See Section 7.6
WARNING: The procedures and replacement of parts
mentioned in this section should be performed only by
skilled or instructed persons, as defined in the Adept Robot
Safety Guide. The access covers on the robot are not
interlocked – turn off and disconnect power if covers have
to be removed.
7.2
Checking of Safety Systems
These tests should be done every six months.
1. Test operation of:
• E-Stop button on Front Panel
• E-Stop button on pendant
• Enabling switch on pendant
• Auto/Manual switch on Front Panel
NOTE: Operating any of the above switches should disable High Power.
2. Test operation of any external (user supplied) E-Stop buttons.
3. Test operation of barrier interlocks, etc.
67
Chapter 7 - Maintenance
7.3
Checking Robot Mounting Bolts
Check the tightness of the base mounting bolts every 6 months. Tighten to 70 N·m
(52 ft-lbf). Also check the tightness of all cover plate screws.
7.4
Lubricate Joint 3 Ball Screw
Required Grease for the Robot
Table 7-2.
Lubrication
Point
Lubrication
Type
Lubrication
Amount
Remarks
Joint 3 quill
shaft
Epinoc AP1
2 to 3 cc
Apply grease to entire shaft.
CAUTION: Using improper lubrication products on the
Adept Cobra s350 robot may cause damage to the robot.
Lubrication Procedure
1. Turn off main power to the controller and robot.
Apply grease to
Joint 3 Quill Shaft.
Figure 7-1. Lubrication of Joint 3 Quill
68
Replacing Encoder Battery
2. Raise the Joint 3 quill shaft to the upper position.
3. Apply grease to the entire shaft. See Table 7-2 on page 68 for details.
4. Move the Joint 3 shaft up and down to distribute the grease. Wipe off any excess
grease.
7.5
Replacing Encoder Battery
The data stored by the encoders is protected by 3.6 V lithium backup batteries located in
the base of the robot.
CAUTION: Replace the batteries only with 3.6 V, 2.7 Ah
lithium batteries, Adept part number: 06126-000. Battery
information is located in the base of the robot.
NOTE: Dispose of the battery according to all local and national
environmental regulations regarding electronic components.
Battery Replacement Time Periods
If the robot is kept in storage and not in production, or the robot is turned off (no 24 VDC
supply) most of the time, then the battery should be replaced every 2 years.
If the robot is turned on with 24 VDC supplied to the robot more than half the time, then
you can increase the replacement interval to a maximum of 4 years.
NOTE: In the following steps, the top and bottom batteries are referred to
assuming a table-mount for the robot, and the orientation is as shown in
the figures.
1. Obtain a replacement battery pack, part number 06126-000.
Figure 7-2. Replacement Battery Pack
69
Chapter 7 - Maintenance
2. Switch off the SmartController.
3. Switch off the 24 VDC input supply to the MB-40R.
4. Switch off the 200/240 VAC input supply to the MB-40R.
5. Disconnect the 24 VDC supply cable from the MB-40R +24 VDC input connector.
See Figure 4-2 on page 38 for locations of connectors.
6. Disconnect the 200/240 VAC supply cable from the MB-40R AC input connector.
7. Remove the battery cover from the robot, by removing 4 hex socket-head bolts
(M3 x 8). See Figure 7-3.
NOTE: On the cleanroom robot, the cover has a packing for sealing. Take
care not to lose or pinch it.
Battery
Cover
Figure 7-3. Removing Battery Cover
8. Attach the two new backup batteries to unused connectors on the battery board.
See Figure 7-4.
NOTE: Always leave at least two batteries connected at all times. Failure
to do so may lose the encoder positional data, requiring factory
recalibration.
New backup
batteries
Old backup
batteries
Figure 7-4. Attaching New Batteries
70
Inspecting Timing Belts
9. Disconnect the two old batteries from the battery board and then remove them
from the holders.
10. Put the new batteries into the battery holders. See the following figure.
New connectors
Figure 7-5. New Batteries in Holders
11. Reinstall the battery cover on the robot.
Tightening toque: Hex socket-head bolt (M3 x 8): 1.6 ± 0.3 N·m (1.2 ± 0.2 ft-lbf)
NOTE: On the cleanroom robot, reinstall the packing under the cover.
Take care not to pinch it.
7.6
Inspecting Timing Belts
This inspection should be done every 12 months.
1. Turn off power to the SmartController and MB-40R.
2. Visually inspect the timing belts for Joint 3 and Joint 4 for excessive wear or
missing teeth.
3. If you discover any problems, contact Adept Customer Service.
71
8
Technical Specifications
8.1
Dimension Drawings
75
60
0
60
60
4x, Ø 12
0
60
75
709
245
Work Area
Cabling
Space
45
411
350
142
125
0
141
291
0
Figure 8-1. Adept Cobra s350 Top and Side Dimensions
NOTE: The supplied Adept flange sits 10.0 mm below the bottom of the
quill shown in Figure 8-1.
73
Chapter 8 - Technical Specifications
Max. Radial Reach
Functional Area
R 350 mm
Max. Intrusion
Contact Radius
R 412 mm
155°
155°
Minimum
Radial
Reach
R 142 mm
145°
145°
Cartesian
Limits
175 mm
Figure 8-2. Adept Cobra s350 Robot Working Envelope
74
Dimension Drawings
14.0 mm
(0.47 in.)
See Detail A
20.0 mm
(0.79 in.)
3.0 mm
(0.12 in.)
43 mm
(1.69 in.)
∅ 41.15 mm +.03 mm
–.00 mm
45˚
-A-
(∅ 1.620 in.) (+.001 in.)
(–.000 in.)
Dowel Pin Hole
∅ 6.0 mm +.01 mm
– 0 mm
∅ 63.0 mm (2.48 in.)
(0.2362 in.) (+.0005 in.)
(– 0 in.)
-CBC
30˚
∅ 50.0 mm (1.9685 in.)
4X M6 x 1- 6H Thru
User Ground
R 3.56mm (R 0.140in)
5.08mm (0.20in)
M3 X 0.5-6H Thru
∅.10 mm (.004 in.) M A M B C M
4.14 mm
(0.163 in.)
1.5 mm
(0.059 in.)
6.80 mm
(0.268 in.)
-B-
Detail A
25˚
Figure 8-3. Tool Flange Dimensions for Adept Cobra s350 Robots
75
Chapter 8 - Technical Specifications
8.2
Robot Specifications
Table 8-1. Adept Cobra s350 and s350CR/ESD Robot Specifications1
Description
Specification
Reach
350 mm
Payload - rated/maximum
2.0 kg/5.5 kg
Moment of Inertia
Joint 4 - 450 kg-cm² (150 lb-in²) - max
Downward Push Force Burst (no load)
98 N - maximum
Repeatability
x, y
±0.015 mm
z
±0.01 mm
Theta
±0.005°
Joint Range
Joint 1
±155°
Joint 2
±145°
Joint 3
200 mm (7.8 in.)
Joint 4
±360°
Joint Speed (maximum)
Joint 1/Joint 2
720°/sec
Joint 3
2000 mm/sec
Joint 4
2400°/sec
Encoder type
Absolute
Robot Brakes
Joints 1, 2: Dynamic
Joint 3, 4: Electric
Airline pass-through
(quantity)
6 mm diameter (2)
4 mm diameter (2)
Electrical pass-through
19 conductors
Weight (without options)
20 kg
1
Specifications subject to change without notice.
Table 8-2. Softstop and Hardstop Specifications
76
Joint
Softstop
Hardstop – Approx.
Joint 1
± 155°
± 158°
Joint 2
± 145°
± 147°
Joint 3
0 to 200 mm
-5 to 205 mm
Joint 4
± 360°
not applicable
Cleanroom Robots
9.1
9
Cobra s350 CR/ESD Cleanroom Option
Introduction
The Adept Cobra s350 CR/ESD Cleanroom Option is a modification to the standard robot
that certifies the robot to meet the Class 4 Airborne Particulate Cleanliness Limits as
defined by ISO Standard 14644 (Class 10 for Federal Standard 209E), as well as special
requirements for control of Electrostatic Discharges to the robot surface.
NOTE: Federal Class 1 Limits (ISO 3) can be achieved by running the
robot at lower speeds and increasing the vacuum flow from the robot
base.
This option is a factory-installed configuration. Changes to the robot include the addition
of bellows assemblies mounted at the Joint 3 quill, increased sealing at the joints, fully
sealed access covers, and a vacuum system to evacuate the arm.
Figure 9-1. Adept Cobra s350 CR/ESD Cleanroom Robot
77
Chapter 9 - Cleanroom Robots
Specifications
Table 9-1. Adept Cobra s350 CR/ESD Cleanroom Robot Specifications
9.2
Robot Performance Specification
Same as standard robot.
Ambient Temperature Specification
5° - 35° C (41° - 95° F)
Connections
Vacuum Fitting
15 mm OD
CN20
AIR1 and AIR2
Ø4, BSPT 1/8
CN22
AIR3 and AIR4
Ø6, BSPT 1/4
Figure 9-2. Cleanroom Connections
78
Requirements
9.3
Requirements
Table 9-2. Cleanroom Robot Requirements
0.10 m3/min (3 ft3/min) minimum volumetric flow
rate
Vacuum source
350 mm of water (13.5 inches of water) differential
pressure measured between the robot and the
vacuum source
15 mm OD tube fitting at the back of the robot
Quill inside diameter
9.4
The inside diameter of the quill must be plugged
by the user’s end-effector in order to maintain
cleanliness at the tool flange.
ESD Control Features
The Adept s350 CR/ESD robot is compatible with common magnetic semiconductor ESD
control measures. The surface of the robot is painted so that it is resistively coupled to the
robot ground. The bellows are also made of a resistive material that will conduct electrical
charges to the robot ground. This treatment precludes the buildup of any electrical charge
(such as tribocharging) on the robot surfaces. In addition, it is formulated to provide a
significant resistance to ground so that charged surfaces brought in close proximity to the
robot will slowly leak into the robot ground - rather than arc quickly to ground and create
a magnetic field event.
Contact Adept for your specific application details.
9.5
Maintenance
Bellows Replacement
Check the bellows periodically for cracks, wear, or damage. Replace the upper and lower
bellows if necessary, using the procedures below. Adept part numbers: 05555-000 (upper)
and 05556-000 (lower).
Procedure for Lower Bellows Replacement
1. Remove the lower clamp ring from the bearing ring by loosening the screw on the
clamp. See Figure 9-3.
2. Remove the tool flange. Refer to Section 6.2 on page 57 for the tool flange removal
procedure.
3. Remove the upper clamp ring by loosening the screw on the clamp.
4. Slide the old bellows down off of the quill.
79
5. Install a new bellows, and reverse the steps listed above. Take care to correctly
seat the tool flange firmly up against its hardstop and rotate the flange so that the
setscrew lies in the middle of the machined flat of the quill.
Upper Clamp Ring
Bellows
Lower Clamp Ring
Tool Flange
Figure 9-3. Cleanroom Lower Bellows Replacement
Procedure for Upper Bellows Replacement
1. Remove the clamp rings from the top and bottom of the upper bellows.
2. Slide the bellows down and remove the assembly at the top of the quill with a M3
Allen wrench. Note the position of the top assembly is such that the split nut lies
just at the top of the quill.
3. Replace bellows.
80
Maintenance
4. Replace the top assembly to the flange with the vertical position set so that the
split of the nut lies level with the top of the quill. (failure to do so may result in
decreased vertical stroke.)
Top Assembly
Upper Clamp Ring
Bellows
Lower Clamp Ring
Figure 9-4. Cleanroom Upper Bellows Replacement
Lubrication
The upper and lower ends of the Joint 3 quill shaft require lubrication in the same manner
as the standard Cobra s350 robot. See Section 7.4 on page 68.
81
9.6
Dimension Drawings
75
60
0
60
810
60
60
4x, Ø 12
0
75
245
Work Area
Cabling
Space
45
411
350
142
125
0
141
291
0
Figure 9-5. Adept Cobra s350 CR/ESD Top and Side Dimensions
NOTE: The total height of the Cobra s350 CR/ESD robot is different than
the standard robot. See Figure 8-1 on page 73 for a comparison.
82
Dimension Drawings
Max. Radial Reach
Functional Area
R 350 mm
Max. Intrusion
Contact Radius
R 412 mm
155°
155°
Minimum
Radial
Reach
R 142 mm
145°
145°
Cartesian
Limits
175 mm
Figure 9-6. Adept Cobra s350 CR/ESD Robot Working Envelope
83
Index
Numerics
C
200/240 VAC connector 38
24 VDC connector 38
24 VDC power 30
circuit protection 29
connecting to MB-40R 29
making cable 30
mating connector 30
specifications 29
user-supplied cable, shielding 31
24 VDC power supplies
cautions 29
recommended 30
cable diagram for system 27
cables list 28
camera mounting
description 63
dimensions for mounting holes 63
user-supplied bracket dimensions 64
circuit protection
24 VDC power 29
Cleanroom robot
connections 78
description 77
ESD control features 79
lubrication 81
replacing bellows 79
requirements 79
specifications 78
vacuum specifications 79
CN20/CN21 connector, signal wiring 60
commissioning the system 54
connectors
200/240 VAC 38
24 VDC 38
brake release on MB-40R 41
EXPIO 39
on MB-40R 38
SmartServo 38
XIO 38
XSLV 38
Customer Service assistance 18
A
AC power
diagrams 33
making cable 34
mating connector 33
specifications 32
turning on 55
Adept ACE
starting 55
Adept Document Library 19
air lines
user, in robot 59
AIR1/2/3/4 air lines, description
59
B
bellows
replacing on Cleanroom robot 79
Brake Release button
on MB-40R 40
on robot 52
brake release connector, on MB-40R 41
brakes
releasing J3 for manual movement 40, 52
Breakout Cable, XIO 48
D
DC power, see 24 VDC power
Digital I/O
connecting to system 42
input specifications 45
on MB-40R XIO connector 44
optional products 45
output specifications 47
signal designations 44, 49
dimensions 73
Cobra s350 robot 73
Cobra s350CR/ESD robot 82
MB-40R 50
tool flange 75
Document Library 19
dowel pin, for keying on end-effectors
57
85
Index
IO Blox
signal designations 43
E
electrical lines, user, in robot 60
emergency situation, what to do 15
Emergency Stop switch, Front Panel 53
enable power
using Adept ACE 56
encoder battery, replacing 69
end-effectors
dowel pin 57
grounding 57
installation 57
environmental requirements 22
ESD control features, in Cleanroom robot
EXPIO connector
for IO Blox 41
location on MB-40R 39
external equipment
installing user-supplied stay 62
mounting locations on robot 61
external mounting holes 62–63
J
Joint 3 Brake Release button
joint motions 12
L
lubrication
Joint 3 68
type of grease for robot
79
F
Front Panel cable
28
G
ground point, on MB-40R interface panel 38
grounding
at MB-40R 35
at robot base 35
robot-mounted equipment 35
user-supplied 24 VDC cable 31
H
hardstop specifications 76
High Power On/Off Switch, Front Panel
How Can I Get Help? 18
I
I/O products, optional 45
IEEE 1394 cable 28, 38
installation 21
24 VDC power to MB-40R 29
AC power to MB-40R 34
end-effectors 57
overview 16
robot 23
SmartController 28
user-supplied safety equipment
verifying 54
intended use of the robots 15
interface panel on MB-40R 38
86
40, 52
53
68
M
maintenance
checking safety systems 67
lubricating Joint 3 68
replacing bellows on Cleanroom robot 79
replacing encoder battery 69
schedule 67
Manual/Automatic Mode switch, Front
Panel 53
MB-40R 37
brake release button 40
brake release connector 41
dimensions 50
interface panel 38
mounting 50
operation 39
status LED 39
status panel codes 40
mounting bolt specifications 25
mounting hole pattern 24
mounting locations, external equipment 61
mounting procedure 24
O
operating environment requirements
optional I/O products 45
overvoltage protection 32
P
36
performance specifications, robot
power
24 VDC 30
power cable kit, optional 28
Power On LED, Front Panel 53
programming 56
protection
overvoltage 32
76
22
Index
R
V
related manuals 18
repacking for relocation 22
requirements
environmental 22
facility 22
robot system operating environment
vacuum source, for Cleanroom robot
VDC
power 30
S
shipping and storage 21
SmartController
description 13
installation 28
SmartServo connector 38
softstops
specifications 76
solenoid cable, optional 60
specifications 76
24 VDC power 29
AC power 32
robot 76
startup
using Adept ACE 56
status LED, description 39
status panel codes, on MB-40R 40
stay, user-supplied 62
storage information 21
system
5 V Power On LED, Front Panel 53
cable diagram 27
connecting digital I/O 42
operating environment requirements,
robot 22
79
W
22
work envelope 74
Cobra s350 robot 74
Cobra s350CR/ESD robot
83
X
XFP connector
Front Panel 53
XIO Breakout Cable 28
description 48
wire chart 49
XIO connector
description and location 38
digital input circuit specifications 45
digital output circuit specifications 47
signal designations 44
XIO Termination Block, description 45
XSLV connector 38
XSYS cable 28
Z
Z Brake Release button
40, 52
T
tool flange
installation 57
tool flange dimensions 75
transport and storage 21
U
unpacking
and inspecting Adept equipment
information 21
user
air lines, in robot 59
connections 59
electrical lines, in robot 60
21
87
P/N:05624-000, Rev. C
5960 Inglewood Drive
Pleasanton, CA 94588
925·245·3400

Adept Cobra s350 Robot User`s Guide

Transcription

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