Adept technology Adept XUSR Guide de l'utilisateur Page 107
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Index
Adept Cobra i600/i800 Robot User’s Guide, Rev G 107
O
OP3/4 connector
location 74
mating connector 75
output specifications 77
pinout 75
typical user circuit 76
operating environment requirements 19
overvoltage protection
facility 32
P
parts list 23
performance specifications, robot 99
Power On LED, Front Panel 40
programming, robot 60
protection
facility overvoltage 32
R
related manuals 16
remote Manual Mode control 54
repacking for relocation 18
requirements
environmental 19
facility 19
RS-232 connector 22
S
shipping and storage 17
SmartServo connector 22
softstops
modifying for Joint 1 84
modifying for Joint 2 88
solenoid kit
installation 79
SOLND connector
location 74
mating connector 75
output specifications 77
pinout 75
typical user circuit 76
specifications
24 VDC power 29
robot 99
startup
using Adept ACE 57
status LED 37
status panel fault codes 37
storage, robot 17
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9
- 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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