Adept technology Adept XUSR User's Guide Page 8
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8 Adept Cobra i600/i800 Robot User’s Guide, Rev G
6.5 Mounting Locations for External Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
6.6 Installing the Robot Solenoid Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Tools Required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
6.7 Installing Adjustable Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Joint 1 Adjustable Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Joint 2 Adjustable Hardstops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
7 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
7.1 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
7.2 Robot Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
8 Cleanroom Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
8.1 Cobra i600/i800 Cleanroom Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
8.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
8.3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
8.4 Exclusions and Incompatibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
8.5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Bellows Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
- Adept Cobra 1
- Table of Contents 5
- List of Figures 9
- Introduction 1 11
- Adept Amps-in-Base (AIB™) 12
- 1.3 Safety Precautions 13
- Adept Robot Safety Guide 14
- 1.7 Installation Overview 15
- 1.9 How Can I Get Help? 16
- Robot Installation 2 17
- 2.3 Repacking for Relocation 18
- 2.5 Mounting the Robot 19
- Robot Mounting Procedure 20
- System Installation 3 23
- 3.2 System Cable Diagram 24
- Installing AIB XPANEL Cable 25
- PC Requirements 26
- Installing Serial Cable 26
- Connecting 24 VDC 30
- Specifications for AC Power 31
- IEC 1131-2 32
- IEC 1131-4 for additional 32
- 200–240 VAC 33
- Ground Point on Robot Base 35
- System Operation 4 37
- Status Panel for 38
- Displaying Fault 38
- Z Brake-Release 38
- Brake Release Button 39
- 4.4 Front Panel 40
- Adept XIO Termination Block 42
- XIO Connector 43
- XIO Input Signals 44
- Adept-Supplied Equipment 45
- User-Supplied Equipment 45
- XIO Output Signals 46
- 1.0 A @ 50°C ambient 46
- 1.5 A @ 25°C ambient 46
- Pin 9Pin 1 48
- Pin 18Pin 10 48
- Pin 19 Pin 26 48
- Pin 1Pin 13 49
- Pin 14Pin 25 49
- Cobra i600/i800 52
- Internal Circuits 52
- Front Panel and T2 Circuits 52
- User-Supplied Circuits 52
- Adept Front Panel Schematic 53
- Remote Manual Mode 54
- 4.8 Turning On the System 55
- Enabling High Power 57
- Verifying E-Stop Functions 60
- Maintenance 5 61
- 5.3 Checking Safety Systems 62
- Required Grease for the Robot 63
- Lubrication Procedure 63
- Section A-A 64
- Upper Quill Grease Locations 64
- Lower Quill Grease Locations 64
- Removing the AIB Chassis 65
- Installing a New AIB Chassis 67
- Groove in robot base 68
- 5.8 Replacing Encoder Battery 69
- Encoder Battery Pack 70
- Optional Equipment 71
- Installation 6 71
- Installing the Flange 72
- User Air Lines 72
- User Electrical Lines 73
- 6.4 Internal User Connectors 74
- SOLND Connector 75
- OP3/4 Connector 75
- EOAPWR Connector 76
- ESTOP Connector 77
- Introduction 79
- Tools Required 80
- Procedure 80
- Pem nuts to mount the 81
- Connector for the 81
- Spare air line 81
- Joint 1 Adjustable Hardstops 84
- Hardstop Value 85
- Recommended Joint 85
- Limit Softstop 85
- Joint 2 Adjustable Hardstops 86
- Joint 2 Adjustable 87
- Hardstop Plates Installed 87
- Joint 2 Fixed Hardstop 87
- Block installed on 87
- ± 21° Lower limit: – 20° 89
- ± 81° Lower limit: – 80° 89
- ± 51° Lower limit: – 50° 89
- Technical Specifications 7 91
- Units in mm 92
- Detail A 94
- Dimension Drawings 95
- Technical Specifications 96
- Cartesian Limits 97
- 300 mm (11.8 in.) 97
- 7.2 Robot Specifications 99
- Cleanroom Robots 101
- 8.2 Connections 102
- 8.3 Requirements 102
- 8.5 Maintenance 103
- Lubrication 104
- Numerics 105
- Pleasanton, CA 94588 110
- 925·245·3400 110
- 5960 Inglewood Drive 110
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