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Adept Cobrai600/i800 RobotUser’s Guide

10 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 6-2. User Connectors on Joint 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Technical Specifications100 Adept Cobra i600/i800 Robot User’s Guide, Rev GJoint RangeJoint 1 ±105° ±105°Joint 2 ±150° ±157.5°Joint 3 210 mm (8.3 in.)

Adept Cobra i600/i800 Robot User’s Guide, Rev G 101Cleanroom Robots88.1 Cobra i600/i800 Cleanroom Option IntroductionThe Adept Cobra i600/i800 Cleanro

Cleanroom Robots102 Adept Cobra i600/i800 Robot User’s Guide, Rev GSpecifications8.2 ConnectionsFigure 8-2. Cleanroom Connections 8.3 Requirements Tab

Exclusions and IncompatibilitiesAdept Cobra i600/i800 Robot User’s Guide, Rev G 1038.4 Exclusions and Incompatibilities8.5 MaintenanceBellows Replace

Cleanroom Robots104 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 8-3. Cleanroom Bellows ReplacementLubrication The upper and lower quill requ

Adept Cobra i600/i800 Robot User’s Guide, Rev G 105Numerics200/240 VAC connector 2224 VDC powercircuit protection 29connecting to robot 29connector 22

Index106 Adept Cobra i600/i800 Robot User’s Guide, Rev GEelectrical lines, in robot 73emergency situation, what to do 14emergency stop circuit 53diagr

IndexAdept Cobra i600/i800 Robot User’s Guide, Rev G 107OOP3/4 connectorlocation 74mating connector 75output specifications 77pinout 75typical user ci

Adept Cobra i600/i800 Robot User’s Guide, Rev G 11Introduction 11.1 Product DescriptionAdept Cobra i600/i800™ RobotsThe Adept Cobra i600 and i800 robo

5960 Inglewood DrivePleasanton, CA 94588925·245·3400P/N: 03589-000, Rev G

Introduction12 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 1-2. Robot Joint MotionsAdept Amps-in-Base (AIB™)The amplifiers for the Adept Cob

Dangers, Warnings, Cautions, and NotesAdept Cobra i600/i800 Robot User’s Guide, Rev G 131.2 Dangers, Warnings, Cautions, and NotesThere are six level

Introduction14 Adept Cobra i600/i800 Robot User’s Guide, Rev G• The robot system must not be used for purposes other than described in Section 1.6. Co

Installation OverviewAdept Cobra i600/i800 Robot User’s Guide, Rev G 151.7 Installation OverviewThe system installation process is summarized in the

Introduction16 Adept Cobra i600/i800 Robot User’s Guide, Rev G1.9 How Can I Get Help?Refer to the How to Get Help Resource Guide (Adept P/N 00961-0070

Adept Cobra i600/i800 Robot User’s Guide, Rev G 17Robot Installation 22.1 Transport and StorageThis equipment must be shipped and stored in a temperat

Robot Installation18 Adept Cobra i600/i800 Robot User’s Guide, Rev G2.2 Unpacking and Inspecting the Adept EquipmentBefore UnpackingCarefully inspect

Mounting the RobotAdept Cobra i600/i800 Robot User’s Guide, Rev G 192.4 Environmental and Facility RequirementsThe Adept robot system installation mu

Robot Installation20 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 2-2. Mounting Hole Pattern for RobotRobot Mounting Procedure1. Using the di

Mounting the RobotAdept Cobra i600/i800 Robot User’s Guide, Rev G 21NOTE: The base casting of the robot is aluminum and can easily be dented if bumpe

Robot Installation22 Adept Cobra i600/i800 Robot User’s Guide, Rev G2.6 Connectors on the Robot Interface PanelFigure 2-3. Robot Interface Panel24 VDC

Adept Cobra i600/i800 Robot User’s Guide, Rev G 23System Installation 33.1 Cable and Parts ListPart Cable and Parts List Part # Part of: NotesA AIB X

System Installation24 Adept Cobra i600/i800 Robot User’s Guide, Rev G3.2 System Cable DiagramFigure 3-1. iCobra System Cable DiagramInstallation Proce

Cable Connections to the RobotAdept Cobra i600/i800 Robot User’s Guide, Rev G 253.3 Cable Connections to the RobotInstalling AIB XPANEL Cable1. Locat

System Installation26 Adept Cobra i600/i800 Robot User’s Guide, Rev GPC RequirementsTo run and use Adept ACE software, the following hardware and soft

Installing Adept ACE SoftwareAdept Cobra i600/i800 Robot User’s Guide, Rev G 272. From the Adept Software CD-ROM menu, click Install the Adept ACE So

System Installation28 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 3-5. Install Screen4. When the install is complete, click Finish.Figure 3-

Connecting 24 VDC Power to RobotAdept Cobra i600/i800 Robot User’s Guide, Rev G 293.6 Connecting 24 VDC Power to RobotSpecifications for 24 VDC Power

Adept Cobrai600/i800 RobotUser’s GuideP/N: 03589-000, Rev GDecember, 20115960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax

System Installation30 Adept Cobra i600/i800 Robot User’s Guide, Rev GConnecting 24 VDCThis section covers the cable that connects the 24 VDC power sup

Connecting 24 VDC Power to RobotAdept Cobra i600/i800 Robot User’s Guide, Rev G 31Figure 3-7. User-Supplied 24 VDC CableNOTE: Adept recommends that D

System Installation32 Adept Cobra i600/i800 Robot User’s Guide, Rev GNOTE: The Adept robot system is intended to be installed as a piece of equipment

Connecting 24 VDC Power to RobotAdept Cobra i600/i800 Robot User’s Guide, Rev G 33AC Power Diagrams Figure 3-8. Typical AC Power Installation with Si

System Installation34 Adept Cobra i600/i800 Robot User’s Guide, Rev GProcedure for Creating 200-240 VAC Cable 1. Locate the AC mating connector shown

Installing User-Supplied Safety EquipmentAdept Cobra i600/i800 Robot User’s Guide, Rev G 35Ground Point on Robot Base The user can install a protecti

Adept Cobra i600/i800 Robot User’s Guide, Rev G 37System Operation 44.1 Robot Status LEDThe robot Status LED Indicator is located on the top of the ro

System Operation38 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 4-2 Status PanelFor more information on status codes, go to the Adept Documen

Using the Brake Release ButtonAdept Cobra i600/i800 Robot User’s Guide, Rev G 394.3 Using the Brake Release ButtonBrakes The robot has a braking syst

The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written appr

System Operation40 Adept Cobra i600/i800 Robot User’s Guide, Rev G4.4 Front PanelFigure 4-3 Front Panel1. XFP connectorConnects to the XFP connector o

Front PanelAdept Cobra i600/i800 Robot User’s Guide, Rev G 41NOTE: The Front Panel must be installed to be able to Enable Power to the robot. To oper

System Operation42 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 4-4 Connecting Digital I/O to the SystemTable 4-4. Default Digital I/O Signal

Front PanelAdept Cobra i600/i800 Robot User’s Guide, Rev G 434.6 Using Digital I/O on Robot XIO ConnectorThe XIO connector on the robot interface pan

System Operation44 Adept Cobra i600/i800 Robot User’s Guide, Rev GXIO Input SignalsThe 12 input channels are arranged in two banks of six. Each bank i

Front PanelAdept Cobra i600/i800 Robot User’s Guide, Rev G 45Typical Input Wiring ExampleFigure 4-5 Typical User Wiring for XIO Input SignalsNOTE: Th

System Operation46 Adept Cobra i600/i800 Robot User’s Guide, Rev GXIO Output SignalsThe eight digital outputs share a common, high side (sourcing) Dri

Front PanelAdept Cobra i600/i800 Robot User’s Guide, Rev G 47Typical Output Wiring ExampleFigure 4-6 Typical User Wiring for XIO Output SignalsXIO Br

System Operation48 Adept Cobra i600/i800 Robot User’s Guide, Rev GTable 4-8. XIO Breakout Cable Wire Chart Pin No.Signal Designation Wire Color1 GND W

Front PanelAdept Cobra i600/i800 Robot User’s Guide, Rev G 494.7 Connecting Customer-Supplied Safety and Power Control EquipmentConnecting Equipment

Adept Cobra i600/i800 Robot User’s Guide, Rev G 5Table of Contents1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System Operation50 Adept Cobra i600/i800 Robot User’s Guide, Rev GTable 4-10. Contacts Provided by the XFP ConnectorPin PairsDescriptionRequirements f

Front PanelAdept Cobra i600/i800 Robot User’s Guide, Rev G 51Table 4-11. Remote T2 Pendant Connections on the XMCP ConnectorPin XMCP (15-Pin D-Sub)Pi

System Operation52 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 4-8 Cobra i600/i800 E-Stop Circuit ConnectionsFront PanelESTOPPushbuttonXFP-2

Front PanelAdept Cobra i600/i800 Robot User’s Guide, Rev G 53Figure 4-9 Front Panel SchematicEmergency Stop CircuitsThe Cobra i600/i800 robot provide

System Operation54 Adept Cobra i600/i800 Robot User’s Guide, Rev GPersonnel" in the Adept Robot Safety Guide), wearing safety equipment and carry

Turning On the SystemAdept Cobra i600/i800 Robot User’s Guide, Rev G 55Pins 6, 14 and 5, 13 of the XFP connector provide this remote capability. Pins

System Operation56 Adept Cobra i600/i800 Robot User’s Guide, Rev GMechanical Checks• Verify that the robot is mounted level and that all fasteners are

Turning On the SystemAdept Cobra i600/i800 Robot User’s Guide, Rev G 57See the following figure.Figure 4-10 Adept ACE Startup Menu8. Click Open.You w

System Operation58 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 4-12 High Power and Launch Robot Jog Control Icons2. Press and release the bl

Turning On the SystemAdept Cobra i600/i800 Robot User’s Guide, Rev G 59The Robot Jog Control opens. See the following figure.Figure 4-13 Robot Jog Co

6 Adept Cobra i600/i800 Robot User’s Guide, Rev G3.4 Connecting User-Supplied PC to Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System Operation60 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 4-14 Jog Pendant Menu4. The robot is now ready to use. Go to the next section

Adept Cobra i600/i800 Robot User’s Guide, Rev G 61Maintenance 55.1 Field-replaceable PartsThe following two parts are the only field-replaceable parts

Maintenance62 Adept Cobra i600/i800 Robot User’s Guide, Rev G5.3 Checking Safety SystemsIt is recommended that tests be done every six months.1. Test

Lubricating Joint 3 Ball Screw/SplineAdept Cobra i600/i800 Robot User’s Guide, Rev G 63Contact Adept if you find any signs of oil in these areas.5.6

Maintenance64 Adept Cobra i600/i800 Robot User’s Guide, Rev G9. Remove 24 VDC power from the robot.10. Reinstall the outer link cover.Figure 5-1. Lubr

Lubricating Joint 3 Ball Screw/SplineAdept Cobra i600/i800 Robot User’s Guide, Rev G 655.7 Replacing the AIB Chassis This procedure provides details

Maintenance66 Adept Cobra i600/i800 Robot User’s Guide, Rev G8. While holding the chassis heat sink, carefully and slowly lower the chassis down (see

Lubricating Joint 3 Ball Screw/SplineAdept Cobra i600/i800 Robot User’s Guide, Rev G 6714. Using a 5 mm Allen key, disconnect and remove the ground w

Maintenance68 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 5-6. Installing AIB Chassis in Robot Base9. Carefully insert the chassis into the

Lubricating Joint 3 Ball Screw/SplineAdept Cobra i600/i800 Robot User’s Guide, Rev G 695.8 Replacing Encoder BatteryThe data stored by the encoders i

Adept Cobra i600/i800 Robot User’s Guide, Rev G 74.8 Turning On the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Maintenance70 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 5-7. Location of Encoder Battery Pack8. The battery cable assembly has two sets of

Adept Cobra i600/i800 Robot User’s Guide, Rev G 71Optional EquipmentInstallation 66.1 Installing End-Effectors The user is responsible for providing a

Optional Equipment Installation72 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 6-1. Tool Flange Removal DetailsInstalling the Flange1. Make s

User Connections on the RobotAdept Cobra i600/i800 Robot User’s Guide, Rev G 73Figure 6-2. User Connectors on Joint 1NOTE: See page 41 for informatio

Optional Equipment Installation74 Adept Cobra i600/i800 Robot User’s Guide, Rev G6.4 Internal User ConnectorsThe internal user connectors, OP3/4, EOAP

User Connections on the RobotAdept Cobra i600/i800 Robot User’s Guide, Rev G 75SOLND Connector This 4-pin connector provides the output signals for t

Optional Equipment Installation76 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 6-6. OP3/4 and SOLND CircuitsEOAPWR Connector This 4-pin conne

User Connections on the RobotAdept Cobra i600/i800 Robot User’s Guide, Rev G 77Internal User Connector Output Specifications The output specification

Optional Equipment Installation78 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 6-7. Internal E-Stop Connector CircuitNOTE: This circuit will

Mounting Locations for External EquipmentAdept Cobra i600/i800 Robot User’s Guide, Rev G 793. Click the Advanced tab.4. Check the Break-away E-STOP b

8 Adept Cobra i600/i800 Robot User’s Guide, Rev G6.5 Mounting Locations for External Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Optional Equipment Installation80 Adept Cobra i600/i800 Robot User’s Guide, Rev GThe solenoid valve assembly consists of two independent valves (Valve

Installing the Robot Solenoid KitAdept Cobra i600/i800 Robot User’s Guide, Rev G 81Figure 6-9. Solenoid Mounting Bracket with Connector and Spare Air

Optional Equipment Installation82 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 6-10. Solenoid Placement Using Mounting Hardware9. Install the

Installing the Robot Solenoid KitAdept Cobra i600/i800 Robot User’s Guide, Rev G 83Figure 6-12. Connecting Spare Air Line to User Connector13. Discon

Optional Equipment Installation84 Adept Cobra i600/i800 Robot User’s Guide, Rev G6.7 Installing Adjustable HardstopsAdept offers an adjustable hardsto

Installing Adjustable HardstopsAdept Cobra i600/i800 Robot User’s Guide, Rev G 853. Click Joint 1. The following screen opens to allow editing the li

Optional Equipment Installation86 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 6-15. Configuration Manager - Apply ChangesJoint 2 Adjustable

Installing Adjustable HardstopsAdept Cobra i600/i800 Robot User’s Guide, Rev G 87Figure 6-17. Joint 2 Adjustable Hardstop Locations2. Use a 4 mm Alle

Optional Equipment Installation88 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 6-19. Screw Locations for Joint 2 Adjustable HardstopsModifyin

Installing Adjustable HardstopsAdept Cobra i600/i800 Robot User’s Guide, Rev G 893. Click Joint 2. The following screen opens to allow editing the li

Adept Cobra i600/i800 Robot User’s Guide, Rev G 9List of FiguresFigure 1-1. Adept Cobra i800 Robot . . . . . . . . . . . . . . . . . . . . . . . .

Adept Cobra i600/i800 Robot User’s Guide, Rev G 91Technical Specifications 77.1 Dimension Drawings Figure 7-1. Adept Cobra i600/s600 Top and Side Dime

Technical Specifications92 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 7-2. Adept Cobra i800/s800 Top and Side DimensionsRequiredclearance t

Dimension DrawingsAdept Cobra i600/i800 Robot User’s Guide, Rev G 93Figure 7-3. Dimensions of the Camera Bracket Mounting PatternCobra s/i600 4X M4x0

Technical Specifications94 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 7-4. Tool Flange Dimensions4X M6 x 1- 6H ThruUser GroundSee Detail A

Dimension DrawingsAdept Cobra i600/i800 Robot User’s Guide, Rev G 95Figure 7-5. External Tooling on Top of Robot Arm251054X M4x0.7 - 6H 8601054X M4x0

Technical Specifications96 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 7-6. External Tooling on Underside of Outer LinkOuter Link - Bottom V

Dimension DrawingsAdept Cobra i600/i800 Robot User’s Guide, Rev G 97Figure 7-7. Adept Cobra i600/s600 Robot Working EnvelopeMaximum Radial ReachFunct

Technical Specifications98 Adept Cobra i600/i800 Robot User’s Guide, Rev GFigure 7-8. Adept Cobra i800/s800 Robot Working EnvelopeMaximum Radial Reach

Dimension DrawingsAdept Cobra i600/i800 Robot User’s Guide, Rev G 997.2 Robot SpecificationsTable 7-1. Adept Cobra i600/i800 Robot Specificationsa De