Adept s350 Cobra Bedienungsanleitung

Adept Cobra s350 RobotUser's Guide

Chapter 1: Introduction2nd axis (J2)1st axis (J1)3rd axis (J3)4th axis (J4)(-)(+)(+)(+)(+)(-)(-)(-)Figure 1-2. Robot Joint MotionsAdept SmartControlle

Chapter 1: IntroductionFigure 1-3. Adept SmartController EX and CX Motion ControllersAdept MotionBlox-40RThe MotionBlox-40R (MB-40R/eMB-40R) Distribut

Chapter 1: IntroductionFigure 1-4. MotionBlox-40R (MB-40R shown)1.2 Dangers, Warnings, Cautions, and NotesThere are six levels of special alert notati

Chapter 1: IntroductionCAUTION:This indicates a situation which, if notavoided, could result in damage to the equipment.NOTE:Notes provide supplemen

Chapter 1: IntroductionManufacturer’s Declaration of Conformity (MDOC)This lists all standards with which each robot complies. See Manufacturer’s Decl

Chapter 1: IntroductionTask to be Performed Reference LocationRead Optional Equipment Installation on page 57 ifyou need to install optional equipment

Chapter 1: IntroductionRelated ManualsThis manual covers the installation, operation, and maintenance of an Adept Cobra s350 robotsystem. There are ad

Adept Cobra s350 User's Guide, Rev. DPage 17 of 94Chapter 2: Robot Installation2.1 Transport and StorageThis equipment must be shipped and stored

Chapter 2: Robot Installation2.4 Environmental andFacility RequirementsThe Adept robot system installation must meet the operating environment require

Chapter 2: Robot InstallationMounting SurfaceThe Adept Cobra s350 robot is designed to be mounted on a smooth, flat, level surface. Themounting surfac

Chapter 2: Robot InstallationRobot Mounting Procedure1. Using the dimensions shown in Figure 2-2, drill and tap the mounting surface for fourM10 x 30

Chapter 2: Robot Installation8. Install the user-supplied mounting bolts and washers. Tighten bolts to the torquespecified in Table 2-2.WARNING:The c

Adept Cobra s350 User's Guide, Rev. DPage 23 of 94Chapter 3: System Cable Installation3.1 System Cable DiagramEthernet to PCIEEE 1394 Cablefrom C

Chapter 3: System Cable Installation3.2 Cable ListTable 3-1. Cables and Parts ListCable Description NotesIEEE 1394 Cable, 4.5 M Standard cable—supplie

Chapter 3: System Cable Installation3.4 Installing the Adept ACE SoftwareThe Adept ACE software is installed from the Adept ACE software disk.1.Insert

Chapter 3: System Cable InstallationeMB-40R: Install the eAIBXSYS cable between the XSYS connector on theSmartController and the eMB-40R XSYSTEM conn

Chapter 3: System Cable InstallationThe power requirements for the user-supplied power supply will vary depending on theconfiguration of the robot and

Chapter 3: System Cable InstallationNOTE:The 24 VDC cable is not supplied with the system, but is available in theoptional Power Cable kit. See Table

Chapter 3: System Cable Installation–+24V, 8AFrame Ground24V, 5A–+User-SuppliedPower Supply24 VDCMB-40R/eMB-40R Servo ControllerUser-Supplied Shielded

Adept Cobra s350 RobotUser's GuideP/N:05624-000, Rev. DJune, 20135960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925

Chapter 3: System Cable InstallationSpecifications for AC PowerTable 3-5. Specifications for 200/240 VAC User-Supplied Power SupplyAuto-RangingNominal

Chapter 3: System Cable InstallationAC Power DiagramsEENNLLF1 10ANote: F1 is user-supplied, must be slow-blow.1Ø 200–240 VAC20 AMB-40R/eMB-40R1Ø 200-2

Chapter 3: System Cable InstallationNOTE:The AC power cable is not supplied with the system, but is available in theoptional Power Cable kit. See Tab

Chapter 3: System Cable Installation3.10 Grounding the Adept Robot SystemProper grounding is essential for safe and reliable robot operation. Follow t

Chapter 3: System Cable InstallationRobot-Mounted Equipment GroundingThe Adept Cobra s350 Joint 3 quill and tool flange are not reliably grounded to t

Adept Cobra s350 User's Guide, Rev. DPage 35 of 94Chapter 4: MotionBlox-40R4.1 IntroductionThe Adept MotionBlox-40R (MB-40R/eMB-40R) is a distrib

Chapter 4: MotionBlox-40R4.2 Description of Connectors on MB-40R/eMB-40R Interface PanelFigure 4-2. eMB-40R Interface PanelFigure 4-3. MB-40R Interfac

Chapter 4: MotionBlox-40RTable 4-1. Connectors on the MB-40R/eMB-40R Interface Panels24 VDC For connecting user-supplied 24 VDC power. The mating conn

Chapter 4: MotionBlox-40RFigure 4-4. Controls and Indicators on MB-40RTable 4-2. Status LED DefinitionLED Status DescriptionOff 24 VDC not presentGree

Chapter 4: MotionBlox-40RTable 4-3. Status Panel CodesLED Status Code LED Status CodeOK No Fault H# High Temp Encoder (Joint #)ON High Power ON Status

Copyright NoticeThe information contained herein is the property of Adept Technology, Inc., and shall not be reproducedin whole or in part without pri

Chapter 4: MotionBlox-40RBrake Release ConnectorThe 9-pin Brake Release connector provides low-active input signals to manually release thebrakes on J

Chapter 4: MotionBlox-40RFigure 4-5. Connecting Digital I/O to the System(MB-40R and SmartController CX shown)Table 4-6. Default Digital I/O Signal Co

Chapter 4: MotionBlox-40RLocation Type Signal RangeIO Blox 1 Inputs 1113 - 1120Outputs 0105 - 0112IO Blox 2 Inputs 1121 - 1128Outputs 0113 - 0120IO Bl

Chapter 4: MotionBlox-40RTable 4-7. XIO Signal DesignationsPinNo. DesignationSignalBankV+/eV+SignalNumberPin Locations1 GNDPin 1Pin 9Pin 10Pin 18Pin 2

Chapter 4: MotionBlox-40ROptional I/O ProductsThese optional products are also available for use with digital I/O:lXIO Breakout Cable, 5 meters long,

Chapter 4: MotionBlox-40RNOTE: The input current specifications are provided for reference. Voltage sourcesare typically used to drive the inputs.Typi

Chapter 4: MotionBlox-40RXIO Output SignalsThe eight digital outputs share a common, high-side (sourcing) driver IC. The driver isdesigned to supply a

Chapter 4: MotionBlox-40RTypical Output Wiring ExampleMAdept-Supplied Equipment User-Supplied EquipmentOutputs 1-8Typical User LoadsXIO Connector – 26

Chapter 4: MotionBlox-40RTable 4-10. XIO Breakout Cable Wire ChartPin No.SignalDesignation Wire Color Pin Locations1 GND WhitePin 9Pin 1Pin 18Pin 10Pi

Chapter 4: MotionBlox-40R4.6 MB-40R/eMB-40R DimensionsSee the following figure for dimensions of MB-40R/eMB-40R chassis and mounting holes.0425.520.62

Table of ContentsChapter 1: Introduction 91.1 Product Description9Adept Cobra s350™ Robots 9Adept SmartController 10Adept MotionBlox-40R 111.2 Dangers

Chapter 4: MotionBlox-40R4.7 Mounting the MB-40R/eMB-40RThe MB-40R/eMB-40R can be panel-mounted.NOTE: The mounting of the MB-40R/eMB-40R and all termi

Adept Cobra s350 User's Guide, Rev. DPage 51 of 94Chapter 5: System Operation5.1 Status Panel CodesThe status panel display on the MB-40R/eMB-40R

Chapter 5: System OperationFigure 5-1. Brake Release Button for Third and Fourth AxesCAUTION:When the Brake Release button is pressed,Joint 3 may dro

Chapter 5: System Operation3.Manual/Automatic Mode SwitchSwitches between Manual and Automatic mode. In Automatic mode, executingprograms control the

Chapter 5: System OperationMechanical CheckslVerify that the robot is mounted level and that all fasteners are properly tightenedlVerify that any end-

Chapter 5: System Operation4.Verify the Auto/Manual switch on the Front Panel is set to Auto Mode.5.Follow the instructions, beginning with Starting t

Chapter 5: System OperationVerifying E-Stop FunctionsVerify that all E-Stop devices are functional (pendant, Front Panel, and user-supplied). Testeach

Adept Cobra s350 User's Guide, Rev. DPage 57 of 94Chapter 6: Optional Equipment Installation6.1 Installing End-EffectorsThe user is responsible f

Chapter 6: Optional Equipment InstallationTo o l flange assemblySetscrewM4 Socket-Head Cap screwsQuill shaftFigure 6-1. Tool Flange Removal DetailsRei

Chapter 6: Optional Equipment Installation1 2 3 416 17 18 195 6 7 8 910 11 12 13 14 15Brake releaseswtchAir piping joints(M5)CN21 p

3.6 Cable Connections from MB-40R/eMB-40R to SmartController253.7 Cable Connections from MB-40R/eMB-40R to Robot26Installing the Arm Power/Signal Cabl

Chapter 6: Optional Equipment InstallationOptional Solenoid CableAn optional 4-meter solenoid cable is available that connects between the XDIO connec

Chapter 6: Optional Equipment Installation1st-Axis Mechanical End Bolt2nd-Axis Mechanical End Bolts3rd-Axis Mechanical StoppersFigure 6-3. Mechanical

Chapter 6: Optional Equipment InstallationStay Attached to Underside of Outer Arm Using M3 BoltsStay Attached to RobotUser Air and Electrical Lines Ro

Chapter 6: Optional Equipment Installation6.4 Camera MountingA camera can be mounted on the Cobra s350 by installing a user-supplied camera bracket. T

Chapter 6: Optional Equipment InstallationCamera Bracket Drawings(5.01).010 A A4.01(6.97)(.56).88.010 B B3XUNLESS OTHERWISE SPECIFIED:- DIMENSIO

Chapter 6: Optional Equipment InstallationFigure 6-7. Camera Bracket Drawing, Page 1 of 21.82.162X.261.18110°.252X1.22.91.89DETAIL A2 PLACES1 AS SHOW

Adept Cobra s350 User's Guide, Rev. DPage 67 of 94Chapter 7: Maintenance7.1 Periodic Maintenance ScheduleThe following table gives a summary of t

Chapter 7: Maintenance7.3 Checking Robot Mounting BoltsCheck the tightness of the base mounting bolts after one week, and then every 6 months.Tighten

Chapter 7: Maintenance3.Apply grease to the entire shaft. See Table 7-2 for details.4.Move the Joint 3 shaft up and down to distribute the grease. Wip

5.4 Initial Power-up of the System53Verifying Installation 53System Start-up Procedure 54Running the Adept ACE Software 55Enabling High Power 55Verify

Chapter 7: Maintenance2.Switch off the SmartController.3.Switch off the 24 VDC input supply to the MB-40R/eMB-40R.4.Switch off the 200/240 VAC input s

Chapter 7: MaintenanceNew backupbatteriesOld backupbatteriesFigure 7-4. Attaching New Batteries9.Disconnect the two old batteries from the battery boa

Chapter 7: Maintenance7.6 Inspecting Timing BeltsThis inspection should be done every 12 months.1.Turn off power to the SmartController and MB-40R/eMB

Chapter 7: Maintenance6.Connect any other cables, which were connected to the MB-40R/eMB-40R, such as XIO,RS-232, or any others.7.Connect the 24 VDC s

Chapter 7: MaintenanceThis verifies that the hardware E-Stop is functioning correctly.lTeach Restrict ConfigurationThis sets the hardware Teach Restri

Chapter 7: MaintenanceFigure 7-7. eAIB Commissioning JumperlAn Adept pendant is required for the Teach Restrict verification.E-Stop Configuration Util

Chapter 7: Maintenance1.Open the robot object editor.2.Select Configure > Safety Settings > Verify ESTOP Hardware Delay, then click Next.3.Enabl

Chapter 7: MaintenanceAutomatic Mode ProcedureWARNING:The robot will move during this wizard.Ensure that personnel stay clear of the robot work area.

Chapter 7: MaintenanceThe results of the verification will be displayed.5.Click Finish.6.Reboot the SmartController.On some systems, the SmartControll

Adept Cobra s350 User's Guide, Rev. DPage 79 of 94Chapter 8: Technical Specifications8.1 Dimension DrawingsWork Area7575606004x, Ø 12 60060709245

8.1 Dimension Drawings798.2 Robot Specifications82Chapter 9: Cleanroom Robots 859.1 Cobra s350 CR/ESD Cleanroom Option85Introduction 85Specifications

Chapter 8: Technical SpecificationsMax. Radial Reach Functional AreaR 350 mm Max. Intrusion Contact RadiusR 412 mm Cartesian Limits175 mm Minimum Rad

Chapter 8: Technical Specifications4X M6 x 1- 6H ThruUser GroundSee Detail ADetail A6.80 mm(0.268 in.)1.5 mm(0.059 in.)4.14 mm(0.163 in.)12.0 mm(0.47

Chapter 8: Technical Specifications8.2 Robot SpecificationsTable 8-1. Adept Cobra s350 and s350CR/ESD Robot Specifications1Description SpecificationRe

Chapter 8: Technical SpecificationsTable 8-2. Softstop and Hardstop SpecificationsJoint Softstop Hardstop – Approx.Joint 1 ± 155 ± 158Joint 2 ± 145 ±

Adept Cobra s350 User's Guide, Rev. DPage 85 of 94Chapter 9: Cleanroom Robots9.1 Cobra s350 CR/ESD Cleanroom OptionIntroductionThe Adept Cobra s3

Chapter 9: Cleanroom Robots9.2 ConnectionsFigure 9-2. Cleanroom Connections9.3 RequirementsTable 9-2. Cleanroom Robot RequirementsVacuum source0.10 m3

Chapter 9: Cleanroom Robots9.4 ESD Control FeaturesThe Adept s350 CR/ESD robot is compatible with common magnetic semiconductor ESDcontrol measures. T

Chapter 9: Cleanroom RobotsFigure 9-3. Cleanroom Lower Bellows ReplacementProcedure for Upper Bellows Replacement1.Remove the clamp rings from the top

Chapter 9: Cleanroom RobotsFigure 9-4. Cleanroom Upper Bellows ReplacementLubricationThe upper and lower ends of the Joint 3 quill shaft require lubri

Adept Cobra s350 User's Guide, Rev. DPage 9 of 94Chapter 1: Introduction1.1 Product DescriptionAdept Cobra s350™ RobotsThe Adept Cobra s350 robot

Chapter 9: Cleanroom Robots9.6 Dimension DrawingsWork Area7575606004x, Ø 12 600608102454502911411251423504110Cabling SpaceFigure 9-5. Adept Cobra s350

Chapter 9: Cleanroom RobotsMax. Radial Reach Functional AreaR 350 mm Max. Intrusion Contact RadiusR 412 mm Cartesian Limits175 mm Minimum Radial Reac

P/N:05624-000, Rev. D5960 Inglewood DrivePleasant on, CA 94588925·245·3400