Cobra s350 UG

Adept Cobra s350 RobotUser’s Guide

Adept Cobra s350 RobotUser’s Guide

P/N:05624-000, Rev. CJanuary 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 sub-ject 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 doc-umentation. 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Adept MotionBlox-40R Distributed Servo Controller. . . . . . . . . . . . . . . . . . . 12Adept 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) . . . . . . . . . . . . . . . . 15Adept 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2 Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

2.1 Transport and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

2.2 Unpacking and Inspecting the Adept Equipment. . . . . . . . . . . . . . . . . . . . . . . 21

Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

2.3 Repacking for Relocation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2.4 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2.5 Mounting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Mounting Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Robot 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Details for 24 VDC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30Procedure for Creating 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30Installing the 24 VDC Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.7 Connecting 200-240 VAC Power to MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Specifications for AC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Facility Overvoltage Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32AC Power Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Details for AC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33Procedure for Creating 200-240 VAC Cable . . . . . . . . . . . . . . . . . . . . . . . . 34Installing AC Power Cable to MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.8 Grounding the Adept Robot System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Ground Point on Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Ground Point on MotionBlox-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Robot-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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39Status Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Brake Release Button on MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Brake 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45XIO Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

XIO Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Typical Input Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

XIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47XIO Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47Typical Output Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

4.6 MB-40R Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

6 Adept Cobra s350 Robot User’s Guide, Rev. C

Table of Contents

5 System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

5.1 Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Programmable E-Stop Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Brake Release Button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

5.2 Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

5.3 Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Mechanical Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54System Cable Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54User-Supplied Safety Equipment Checks . . . . . . . . . . . . . . . . . . . . . 55

Turning on Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Starting Adept ACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Enabling High Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Using Adept ACE to Enable High Power . . . . . . . . . . . . . . . . . . . . . 56Verifying E-Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Verify Robot Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57Reinstalling the Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

6.3 User Connections on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

User Air Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59User Electrical Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Optional Solenoid Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Mounting Options for User Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Routing User Connections Through the Z-Axis Shaft . . . . . . . . . . . . 61Attaching Stays to Support User Connections . . . . . . . . . . . . . . . . 62

6.4 Camera Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Camera Bracket Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64


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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68Lubrication 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

9.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

9.3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

9.4 ESD Control Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

9.5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Bellows Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79Procedure for Lower Bellows Replacement . . . . . . . . . . . . . . . . . . . 79Procedure for Upper Bellows Replacement . . . . . . . . . . . . . . . . . . . 80

Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

9.6 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85


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


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


Introduction 11.1 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


Chapter 1 - Introduction

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

2nd axis (J2)

1st axis (J1)

3rd axis (J3)

4th axis (J4)(-)

(+)

(+)

(+)

(+)

(-)

(-)

(-)

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.

Figure 1-4. Adept SmartController CX

R

ON

SmartServo IEEE-1394

1 2 3 4SF ES HDSW1 1.1 1.2 2.1 2.2OK

1 2 3

XDIO

LANHPE

OFF

XSYS

CAMERA

Eth 10/100

XUSR

Device Net

XFP

RS-232/TERM

RS-232-1

XMCP

BELT ENCODER

Sm

artC

ontr

olle

rC

X

-+ -+

RS-422/485

XDC1 XDC2

24V 5A

*S/N 3562-XXXXX*

RS-232-2

Adept Cobra s350 User’s Guide, Rev. C 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:

NOTE: Notes provide supplementary information, emphasize a point or procedure, or give a tip for easier operation.

1.3 Safety Precautions

• 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.

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.

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:


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.



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.

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.

WARNING: The instructions for installation, operation, and maintenance given in this user’s guide must be strictly observed.


Manufacturer’s Declaration

1.8 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

Table 1-1. Installation Overview

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.

See Section 3.3 on page 28.

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. See Section 3.9 on page 36.

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.



http://www.adept.com/support/downloads/file-search


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.



http://www.adept.com/contact/americas

http://www.adept.com/support/service-and-support/main


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.


http://www.adept.com/Main/KE/DATA/adept_search.htm

Robot Installation 22.1 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.


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.


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.

Figure 2-1. Transporting Robot

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.

CAUTION: Do not hold the robot by parts other than those shown above.

Worker B

Worker A


Chapter 2 - Robot Installation

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.

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.

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.

120

120

7

17

R 1500

R 1500

144(291 for Cabling)

4x Ø 12 Thru

2x Ø 6 H7 +0.012 0

134 ± 0.005

Units are mm


Mounting the Robot

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.

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.

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.

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

Bolts

Pallet

Bolts

Turn until it comes into contact with the mechanical end.


System Cable Installation 33.1 System Cable Diagram

Figure 3-1. System Cable Diagram for Adept Cobra s350 Robots

Eth

erne

t to

PC

IEEE 1394 Cablefrom Controller SmartServo (Port 1.1)to MB-40R SmartServo (Port 1)

Adept MB-40RServo Controller

AdeptSmartController CX

Adept Cobras350 Robot

User-SuppliedPower Supply

Controller (XFP) to Front Panel (XFP)

Front Panel

T2 Pendant (optional)

XSYS Cablefrom Controller (XSYS)to MB-40R (XSLV)

24 VDC Power fromUser-SuppliedPower Supply to Controller (XDC1)

Desktop or Laptop PCRunning Adept ACE(user-supplied)

Terminator Installed

User-Supplied Ground Wire

User-SuppliedGround Wire

External Brake Connector

Arm Power/Signal Cable

24 VDC Power fromUser-SuppliedPower Supply to MB-40R (+24 VDC Input)

User-Supplied200-240 VAC, single phase

EXPIOConnector

Note: Objects arenot drawn to scale.

User-SuppliedGround WireSTOP

R

R

ON


1 2 3 4SF ES HDSW1 1.1 1.2 2.1 2.2OK

1 2 3

XDIO

LANHPE

OFF

XSYS

CAMERA

Eth 10/100

XUSR

Device Net

XFP

RS-232/TERM

RS-232-1

XMCP

BELT ENCODER

Sm

artC

ontr

olle

r C

X

-+ -+

RS-422/485

XDC1 XDC2

24V 5A

*S/N 3562-XXXXX*

RS-232-2


Chapter 3 - System Cable Installation

3.2 Cable List

3.3 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.

Table 3-1. Cables and Parts List

Cable Description 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.


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.

3.6 Connecting 24 VDC Power to MB-40R Servo Controller

Specifications for 24 VDC Power

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.

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.

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

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.

Output must be less than 300 W peakor

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.

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.



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.

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.

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

Table 3-4. 24 VDC Mating Connector Specs

Connector Details Connector receptacle, 2-position, type: Molex Saber, 18 A, 2-Pin

Molex P/N 44441-2002

Digi-Key P/N WM18463-ND

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


Ground

+24 V


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.

Figure 3-2. User-Supplied 24 VDC Cable

–+ 24V, 8A

Frame Ground

24V, 5A–+

User-SuppliedPower Supply24 VDC

MB-40R Servo Controller

User-Supplied Shielded Power Cable

- +

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.

Attach shield from user-supplied cables to frame ground on power supply.

Attach shield from user-supplied cable to ground screw on MB-40R Interface Panel.

–GND

+



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

NOTE: The Adept robot system is intended to be installed as a piece of equipment in a permanently-installed system.

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.

Table 3-5. Specifications for 200/240 VAC User-Supplied Power Supply

Auto-Ranging Nominal Voltage Ranges

MinimumOperatingVoltage1

1 Specifications are established at nominal line voltage. Low line voltage can affect robot performance.

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

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.


Connecting 200-240 VAC Power to MB-40R

AC Power Diagrams

Figure 3-3. Typical AC Power Installation with Single-Phase Supply

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

E

E

N

N

L

L

F1 10A

MB-40R1Ø 200–240 VAC

User-SuppliedAC Power Cable

Note: F1 is user-supplied, must be slow-blow.

1Ø200–240 VAC20 A

L = LineN = NeutralE = Earth Ground

E

E

N

L3

L

L1

L2F5 10 A

F4 10 A

MB-40R1Ø 200–240 VAC

User-SuppliedAC Power Cable

Note: F4 and F5 are user-supplied, must be slow-blow.

3Ø200–240 VAC

L = Line 1N = Line 2E = Earth Ground

200–240 VAC



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.

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.

Neutral

Earth

Line

Removable Bushing

Cable Clamp


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.

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.

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.

Ground Point

Ground Point



See also Figure 8-3 on page 75 for the grounding point on the tool flange.

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.

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.


MotionBlox-40R 44.1 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

Figure 4-1. Adept MB-40R Front View

Interface Panel Robot Connector(for Arm Power/Signal Cable to Robot)


Chapter 4 - MotionBlox-40R

4.2 Description of Connectors on MB-40R Interface Panel

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)

24 VDC Input

200-240 VAC Input

XSLV

XIO XPANEL

RS-232

SmartServo Port 1

+24 V Pin

Ground Pin

SmartServo Port 2

Ground Point for Cable Shield


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.

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

Status LED Indicator

Status Panel Display

Brake Release Button

Brake ConnectorEXPIO Connector



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.

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.

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 #)


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.

4.4 Connecting Digital I/O to the System

You can connect digital I/O to the system in several different ways. See Table 4-4 and Figure 4-4.

Table 4-3. Brake Release Connector Pinouts

Pin # Description Pin Location

1 Not connected

DB-9 Female Brake Connector

as viewed on MB-40R

2 Not connected

3 Release3_N

4 Not connected

5 Not connected

6 Not connected

7 GND

8 Not connected

9 24V

Mating Connector: D-Subminiature 9-Pin Male

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

Pin 1

Pin 5

Pin 6

Pin 9



Figure 4-4. Connecting Digital I/O to the System

SF

IEEE-1394

X2

SC

-DIOLINK

*S/N 3563-XXXXX*

X1

24V 0.5A

R

OK

X4

- + - +

1.1 1.2XDC1 XDC2

X3

R

ON


1 2 3 4SF ES HDSW1 1.1 1.2 2.1 2.2OK

1 2 3

XDIO

LANHPE

OFF

XSYS

CAMERA

Eth 10/100

XUSR

Device Net

XFP

RS-232/TERM

RS-232-1

XMCP

BELT ENCODER

Sm

artC

ontr

olle

r C

X

-+ -+

RS-422/485

XDC1 XDC2

24V 5A

*S/N 3562-XXXXX*

RS-232-2

Optional sDIO #1

SmartController

MB-40R

Optional IO Blox Device

XIO Connector12 Input signals: 1097 to 11088 Output signals: 0097 to 0104

XDIO Connector12 Input signals: 1001 to 10128 Output signals: 0001 to 0008

IO Blox #18 Input signals: 1113 to 11208 Output signals: 0105 to 0112

sDIO #132 Input signals: 1033 to 106432 Output signals: 0033 to 0064


Connecting Digital I/O to the System

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

sDIO Module 1 Inputs 1033 - 1064

Outputs 0033 - 0064

sDIO Module 2 Inputs 1065 - 1096

Outputs 0065 - 0096

MB-40R 1 XIO connector Inputs 1097 - 1108

Outputs 0097 - 0104

IO Blox 1 Inputs 1113 - 1120

Outputs 0105 - 0112


Outputs 0113 - 0120


Outputs 0121 - 0128


Outputs 0129 - 0136



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

Pin No. Designation

Signal Bank

V+ Signal Number Pin Locations

1 GND

XIO 26-pin female connector on MB-40R Interface Panel

2 24 VDC

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 1

Pin 9

Pin 10

Pin 18Pin 26

Pin 19


Using Digital I/O on MB-40R XIO Connector

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

NOTE: The input current specifications are provided for reference. Voltage sources are typically used to drive the inputs.

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)

Software scan rate/response time

5 µsec maximum

16 ms scan cycle/ 32 ms max response time

Turn off response time (hardware)

Software scan rate/response time

5 µsec maximum

16 ms scan cycle/ 32 ms max response time



Typical Input Wiring Example

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.

Adept-Supplied Equipment User-Supplied Equipment

Signal 1097Part Present Sensor 4

Signal 1098Feeder Empty Sensor 5

Signal 1099Part Jammed Sensor 6

Signal 1100Sealant Ready Sensor 7

Signal 1101 8

Signal 1102

+24V

GND

9

Bank 1 Common

Bank 2 Common

3

2

1

Signal 1103 13

Signal 1104 14

Signal 1105 15

Signal 1106 16

Signal 1107 17

Signal 1108 18

12

GND 10

+24V 11

WiringTerminalBlock

Typical UserInput Signals

Note: all Input signals can be used for either sinking or sourcing configurations.

Bank 1 configured for

Sinking (N

PN

) InputsB

ank 2 configured for S

ourcing (PN

P) Inputs

Inpu

t Ban

k 2

Inpu

t Ban

k 1

XIO

Con

nect

or –

26-

Pin

Fem

ale

D-S

ub

(equivalent circuit)



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 @85C

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

Peak short circuit current Iovpk 4 A



Typical Output Wiring Example

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

M

Adept-Supplied Equipment User-Supplied Equipment

Out

puts

1-8

Typical User Loads

XIO

Con

nect

or –

26-

Pin

Fem

ale

D-S

ub

+24 VDC

19Signal 009720Signal 009821Signal 009922Signal 010023Signal 010124Signal 010225Signal 010326Signal 0104

GND

GND

Load

1CustomerAC Power Supply10

M

Load

Load

L N

(equivalentcircuit)

WiringTerminalBlock



Table 4-9. XIO Breakout Cable Wire Chart

Pin No.Signal Designation Wire Color Pin Locations

1 GND White

26-pin male connector on XIO Breakout Cable

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 Shield

Pin 9

Pin 1

Pin 18

Pin 10Pin 19

Pin 26



32

197 .8

4.6 MB-40R Dimensions

See the following figure for dimensions of MB-40R chassis and mounting holes.

Figure 4-8. MB-40R Mounting Dimensions

0425.

5

20.6

204.

2

404.

9

51.6

331.

7

9.8

0

228.6

67.3

222.3

106.7

182.9

170.2

6X, S

HC

S,M

4 X

6

A

B

047.6

377.

8

0

7.6

45.7

129.54

C

0

.7

.8

0 7.6

45.7

C

0

32.7

197

0

7.6

45.7

C

0

47.6

377.

8

0

7.6

45.7SP

CD

AS

SH

OW

N, 2

0XM

4 X

7 m

m D

P B

LIN

D

C

0

32.7

197.8

0

47.6

377.

8

B

Not

e: 1

12 m

m c

lear

ance

req

uire

d in

fron

t of u

nit t

o re

mov

e A

IB fr

om

box

encl

osur

e.


System Operation 55.1 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.


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.


Front Panel

5.2 Front Panel

Figure 5-2. Front Panel

1. XFP connectorConnects to the XFP connector on the SmartController CX.

2. System 5 V Power-On LEDIndicates 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 LampControls 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 SwitchThe 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.

2

3

4AutoMode

ManualMode

5

1



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.

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.

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.


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. .

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 Controllerto 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”.

DANGER: Make sure personnel are skilled and instructed - refer to the Adept Robot Safety Guide.



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


Optional EquipmentInstallation 6

6.1 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.


Chapter 6 - Optional Equipment Installation

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.

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).

CAUTION: The setscrew must align with the flat section of the shaft or damage to the quill will result.

Tool flange assembly

Setscrew

M4 Socket-Head Cap screws

Quill shaft


User Connections on Robot

6.3 User Connections on Robot

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.

Figure 6-2. User Air and Electrical Connectors on Robot

1 2 3 4

16 17 18 19

5 6 7 8 9

10 11 12 13 14 15

Brake releaseswtch

Air piping joints(M5)

CN21 pin layout

(A)

View in direction of arrow (B)

CN20 pin layout

AIR 1,2 Ø4, BSPT 1/8AIR 3,4 Ø6, BSPT 1/4 0.59 MPa

View in direction of arrow (A)

(B)Air pipingjoint

Maximumallowable pressureAir No.

AIR1 and AIR2

AIR3 and AIR4



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.

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 6-1. Mating Connectors for CN20 and CN21

Connector No. Model and part name Appearance

for CN20 SRCN6A25-24S (round type connector) Japan Aviation Electronics Industry Ltd.

for CN21 JMLP2119M (L type plug connector) DDK Electronics, Inc.

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

1 Inputs 1001 to 1005 are preconfigured as low-active (sinking) inputs.

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

2 Outputs 0007 and 0008 are preconfigured as high-side (sourcing) outputs.

17 Output 0005

8 Output 00082 18 Output 0006

9 24 V Output3

3 Limited to a combined total of 1 A of current.

19 Not connected

10 Ground


User Connections on Robot

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.

NOTE: Do not use the following for user connections:

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: 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.

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.

1st-Axis Mechanical End Bolt

2nd-Axis Mechanical End Bolts

3rd-Axis Mechanical Stoppers



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.

Figure 6-4. Stay Attached to Robot’s Exterior

Figure 6-5. Dimensions for Fabricating User-Supplied Stay

Stay Attached to Underside of Outer Arm Using M3 Bolts

Stay Attached to Robot

User Air and Electrical Lines Routed Through Z-Axis Shaft

User Air and Electrical Lines

.39

1.181

2xØ .22 .98

2x

3.00

.35

Ø .20

4.00

.08

.08

1.18

R

1.97


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.

Figure 6-6. Camera Mounting Details

4x M3 x 0.5

82

30

(66)

Camera Channel

Camera Mounting Block

Camera Bracket



Camera Bracket Drawings

Figure 6-7. Camera Bracket Drawing, Page 1 of 2

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Camera Mounting

Figure 6-8. Camera Bracket Drawing, Page 2 of 2

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Maintenance 77.1 Periodic Maintenance Schedule

The following table gives a summary of the preventive maintenance procedures and guidelines on frequency.

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.

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.


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

Lubrication Procedure

1. Turn off main power to the controller and robot.

Figure 7-1. Lubrication of Joint 3 Quill

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.

Apply grease to Joint 3 Quill Shaft.


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.

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

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.


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.

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.

Figure 7-4. Attaching New Batteries

Battery Cover

New backupbatteries

Old backupbatteries


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.

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.

New connectors


Technical Specifications 88.1 Dimension Drawings

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.

Work Area

75

75

60

60

0

4x, Ø 12 60

0

60709

245

45

0

291

141

125

142

350

4110

Cabling Space


Chapter 8 - Technical Specifications

Figure 8-2. Adept Cobra s350 Robot Working Envelope

Max. Radial Reach Functional AreaR 350 mm

Max. Intrusion Contact RadiusR 412 mm

Cartesian Limits175 mm

Minimum Radial ReachR 142 mm

145° 145°

155°155°


Dimension Drawings

Figure 8-3. Tool Flange Dimensions for Adept Cobra s350 Robots

4X M6 x 1- 6H ThruUser Ground

See Detail A

Detail A

6.80 mm(0.268 in.)

1.5 mm(0.059 in.)

4.14 mm(0.163 in.)

14.0 mm(0.47 in.)

20.0 mm(0.79 in.)3.0 mm

(0.12 in.)

43 mm(1.69 in.)

30˚

25˚

45˚∅ 41.15 mm

∅ 63.0 mm (2.48 in.)

Dowel Pin Hole

CBA∅.10 mm (.004 in.)

∅ 50.0 mm (1.9685 in.)BC

∅ 6.0 mm

-C-

-A-

-B-

+.03 mm–.00 mm

(∅ 1.620 in.) (+.001 in.)(–.000 in.)

M M MR 3.56mm (R 0.140in) 5.08mm (0.20in)M3 X 0.5-6H Thru

(0.2362 in.)

+.01 mm– 0 mm

(+.0005 in.)(– 0 in.)


Chapter 8 - Technical Specifications

8.2 Robot Specifications

Table 8-1. Adept Cobra s350 and s350CR/ESD Robot Specifications1

1 Specifications subject to change without notice.

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

Table 8-2. Softstop and Hardstop Specifications

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 99.1 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


Chapter 9 - Cleanroom Robots

Specifications

9.2 Connections

Figure 9-2. Cleanroom Connections

Table 9-1. Adept Cobra s350 CR/ESD Cleanroom Robot Specifications

Robot Performance Specification Same as standard robot.

Ambient Temperature Specification 5° - 35° C (41° - 95° F)

CN20

AIR1 and AIR2 Ø4, BSPT 1/8

AIR3 and AIR4 Ø6, BSPT 1/4

Vacuum Fitting 15 mm OD

CN22


Requirements

9.3 Requirements

9.4 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.

Table 9-2. Cleanroom Robot Requirements

Vacuum source 0.10 m3/min (3 ft3/min) minimum volumetric flow rate

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 The inside diameter of the quill must be plugged by the user’s end-effector in order to maintain cleanliness at the tool flange.



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.

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.

Upper Clamp Ring

Bellows

Lower Clamp Ring

Tool Flange


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.)

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.

Upper Clamp Ring

Lower Clamp Ring

Top Assembly

Bellows



9.6 Dimension Drawings

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.

Work Area

75

75

60

60

0

4x, Ø 12

60

0

60 810

245

45

0

291

141

125

142

350

4110

Cabling Space


Dimension Drawings

Figure 9-6. Adept Cobra s350 CR/ESD Robot Working Envelope

Max. Radial Reach Functional AreaR 350 mm

Max. Intrusion Contact RadiusR 412 mm

Cartesian Limits175 mm

Minimum Radial ReachR 142 mm

145° 145°

155°155°


Index

Numerics200/240 VAC connector 3824 VDC connector 3824 VDC power 30

circuit protection 29connecting to MB-40R 29making cable 30mating connector 30specifications 29user-supplied cable, shielding 31

24 VDC power suppliescautions 29recommended 30

AAC power

connecting to MB-40R 32diagrams 33making cable 34mating connector 33specifications 32turning on 55

Adept ACEstarting 55

Adept Document Library 19air lines

user, in robot 59AIR1/2/3/4 air lines, description 59

Bbellows

replacing on Cleanroom robot 79Brake Release button

on MB-40R 40on robot 52

brake release connector, on MB-40R 41brakes

releasing J3 for manual movement 40, 52Breakout Cable, XIO 48

Ccable diagram for system 27cables list 28camera mounting

description 63dimensions for mounting holes 63user-supplied bracket dimensions 64

circuit protection24 VDC power 29

Cleanroom robotconnections 78description 77ESD control features 79lubrication 81replacing bellows 79requirements 79specifications 78vacuum specifications 79

CN20/CN21 connector, signal wiring 60commissioning the system 54connectors

200/240 VAC 3824 VDC 38brake release on MB-40R 41EXPIO 39on MB-40R 38SmartServo 38XIO 38XSLV 38

Customer Service assistance 18

DDC power, see 24 VDC powerDigital I/O

connecting to system 42input specifications 45on MB-40R XIO connector 44optional products 45output specifications 47signal designations 44, 49

dimensions 73Cobra s350 robot 73Cobra s350CR/ESD robot 82MB-40R 50tool flange 75

Document Library 19dowel pin, for keying on end-effectors 57


Index

Eelectrical lines, user, in robot 60emergency situation, what to do 15Emergency Stop switch, Front Panel 53enable power

using Adept ACE 56encoder battery, replacing 69end-effectors

dowel pin 57grounding 57installation 57

environmental requirements 22ESD control features, in Cleanroom robot 79EXPIO connector

for IO Blox 41location on MB-40R 39

external equipmentinstalling user-supplied stay 62mounting locations on robot 61

external mounting holes 62–63

FFront Panel cable 28

Gground point, on MB-40R interface panel 38grounding

at MB-40R 35at robot base 35robot-mounted equipment 35user-supplied 24 VDC cable 31

Hhardstop specifications 76High Power On/Off Switch, Front Panel 53How Can I Get Help? 18

II/O products, optional 45IEEE 1394 cable 28, 38installation 21

24 VDC power to MB-40R 29AC power to MB-40R 34end-effectors 57overview 16robot 23SmartController 28user-supplied safety equipment 36verifying 54

intended use of the robots 15interface panel on MB-40R 38

IO Bloxconnecting to MB-40R 41signal designations 43

JJoint 3 Brake Release button 40, 52joint motions 12

Llubrication

Joint 3 68type of grease for robot 68

Mmaintenance

checking safety systems 67lubricating Joint 3 68replacing bellows on Cleanroom robot 79replacing encoder battery 69schedule 67

Manual/Automatic Mode switch, Front Panel 53

MB-40R 37brake release button 40brake release connector 41dimensions 50interface panel 38mounting 50operation 39status LED 39status panel codes 40

mounting bolt specifications 25mounting hole pattern 24mounting locations, external equipment 61mounting procedure 24

Ooperating environment requirements 22optional I/O products 45overvoltage protection 32

Pperformance specifications, robot 76power

24 VDC 30power cable kit, optional 28Power On LED, Front Panel 53programming 56protection

overvoltage 32


Index

Rrelated manuals 18repacking for relocation 22requirements

environmental 22facility 22robot system operating environment 22

Sshipping and storage 21SmartController

description 13installation 28

SmartServo connector 38softstops

specifications 76solenoid cable, optional 60specifications 76

24 VDC power 29AC power 32robot 76

startupusing Adept ACE 56

status LED, description 39status panel codes, on MB-40R 40stay, user-supplied 62storage information 21system

5 V Power On LED, Front Panel 53cable diagram 27connecting digital I/O 42operating environment requirements,

robot 22

Ttool flange

installation 57tool flange dimensions 75transport and storage 21

Uunpacking

and inspecting Adept equipment 21information 21

userair lines, in robot 59connections 59electrical lines, in robot 60

Adept Cobra s350 Rob

Vvacuum source, for Cleanroom robot 79VDC

power 30

Wwork envelope 74

Cobra s350 robot 74Cobra s350CR/ESD robot 83

XXFP connector

Front Panel 53XIO Breakout Cable 28

description 48wire chart 49

XIO connectordescription and location 38digital input circuit specifications 45digital output circuit specifications 47signal designations 44

XIO Termination Block, description 45XSLV connector 38XSYS cable 28

ZZ Brake Release button 40, 52

ot User’s Guide, Rev. C 87

5960 Inglewood DrivePleasanton, CA 94588925·245·3400

P/N:05624-000, Rev. C