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Adept Cobra ePLC600 &ePLC800 RobotUser's Guide

Chapter 1: IntroductionJoint 1Inner LinkOuter LinkJoint 2Joint 4Joint 3Figure 1-2. Robot Joint MotionseAIB™ (Amplifiers in Base)The amplifiers for the

Chapter 8: IP-65 OptionFigure 8-14. Bellows ReplacementNOTE: Align the bellows clamps with thebellows seam, on both upper and lowerclamps.Bellows Seam

Chapter 8: IP-65 Option8.7 Dimension Drawing for Cable Seal AssemblyRequiredclearanceto open eAIBcontrollerwith the IP-65connectorCable sealing box on

Adept Cobra ePLC600/800 Robot User’s Guide, Rev APage 103 of 108Chapter 9: Cleanroom RobotsThe AdeptCobra ePLC robots are available in Class 10 Clean

Chapter 9: Cleanroom Robots9.1 ConnectionsFigure 9-2. Cleanroom Connections9.2 RequirementsTable 9-2. Cleanroom Robot RequirementsVacuumsource0.80 m3/

Chapter 9: Cleanroom Robots9.4 Cleanroom MaintenanceBellows ReplacementCheck the bellows periodically for cracks, wear, or damage. Replace bellows (Ad

P/N: 13400-000, Rev A5960 I nglewood Driv ePleasanton, C A 94588925·245·3400

Chapter 1: IntroductionFigure 1-3. Amplifier on Robot, ePLC600 Shown1.2 Dangers, Warnings, Cautions, and NotesThere are six levels of special alert no

Chapter 1: IntroductionNOTE:Notes provide supplementary information, emphasize a point or procedure,or give a tip for easier operation.1.3 Safety Pre

Chapter 1: Introduction1.6 Intended Use of the RobotsThe Adept Cobra ePLC600/800 robots are intended for use in parts assembly and materialhandling fo

Chapter 1: Introduction1.8 Manufacturer’s DeclarationThe Manufacturer’s Declaration of Incorporation and Conformity for Adept robot systems canbe foun

Chapter 1: IntroductionAdept Document LibraryThe Adept Document Library (ADL) contains documentation for Adept products. You canaccess the ADL from th

Adept Cobra ePLC600/800 Robot User’s Guide, Rev APage 17 of 108Chapter 2: Robot Installation2.1 Transport and StorageThis equipment must be shipped an

Chapter 2: Robot InstallationBefore signing the carrier’s delivery sheet, please compare the actual items received (not justthe packing slip) with you

Chapter 2: Robot Installation2.5 Mounting the RobotWARNING: Only qualified service personnel may installor service the robot system.Mounting SurfaceTh

Chapter 2: Robot InstallationRobot Mounting Procedure1.Using the dimensions shown in the previous figure, drill and tap the mounting surfacefor four M

Chapter 2: Robot Installation2.6 Description of Connectors on Robot Interface PanelFigure 2-3. eAIB Interface Panel24 VDC—for connecting user-supplied

Adept Cobra ePLC600/800 Robot User’s Guide, Rev APage 23 of 108Chapter 3: System Installation3.1 System Cable DiagramDCIN24 VGNDAC200 -240 VØ1XBELTIOX

Chapter 3: System InstallationPart Cable and Parts List Part # Part of: NotesE Front Panel Cable 10356-10500 90356-10358 standardF Front Panel Jumper

Chapter 3: System InstallationNOTE:Fuse information is located on the eAIB electronics.The power requirements for the user-supplied power supply will

Chapter 3: System InstallationRecommended crimping tool, Molex HandCrimpersMolex P/N 63811-0400Digi-Key P/N WM9907-NDNOTE:The 24 VDC cable is not sup

Chapter 3: System InstallationNOTE:In order to maintain compliance with standards, Adept recommends thatDC power be delivered over a shielded cable,

Chapter 3: System InstallationWARNING:Adept systems require an isolatingtransformer for connection to mains systems that areasymmetrical or use an is

Chapter 3: System InstallationEENL3LL1L2F5 10 AF4 10 AAdept Cobra ePLC600/800 Robots1Ø 200–240 VACUser-Supplied AC Power CableNote: F4 and F5 are user

Adept Cobra ePLC600 &ePLC800 RobotUser's GuideP/N: 13400-000, Rev AMay, 20135960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245

Chapter 3: System Installation6.Insert the wires into the connector through the removable bushing.7.Connect each wire to the correct terminal screw, a

Chapter 3: System InstallationFigure 3-6. Ground Point on Robot BaseGrounding Robot-Mounted EquipmentThe following parts of Adept Cobra ePLC600/800 ro

Chapter 3: System Installation.NET, and installs it automatically if it is not already installed. The Adept ACE software needsto be v. 3.4 or later fo

Chapter 3: System InstallationFigure 3-7. Detect and Configure Button, CircledThe IP address detection and configuration window will open. See the fol

Chapter 3: System InstallationFigure 3-8. Detection and Configuration Window4.Power-cycle the ePLC Cobra. Wait for it to reboot.The ACE software will

Chapter 3: System InstallationFigure 3-9. IP Addresses Detected5.You can change the IP address and subnet mask in the Desired Address and DesiredSubne

Chapter 3: System InstallationFigure 3-10. Waiting for Controller to RebootSetting the Robot IP Address on the PLCUsing your PLC software, set the IP

Chapter 3: System InstallationThe PLC should now be able to communicate with the robot.3.7 Installing User-Supplied Safety EquipmentThe user is respon

Adept Cobra ePLC600/800 Robot User’s Guide, Rev APage 39 of 108Chapter 4: System Operation4.1 Robot Status LED DescriptionThe robot Status LED indicat

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

Chapter 4: System OperationThe displayed fault code will continue to be displayed even after the fault is corrected oradditional faults are recorded.

Chapter 4: System OperationFor more information on status codes, go to the Adept Document Library on the Adept website,and in the Procedures, FAQs, an

Chapter 4: System Operation1.XFP connectorConnects to the XFP connector on the XSYSTEM cable.2.System 5 V Power-On LEDIndicates whether or not power i

Chapter 4: System OperationCobra ePLC600/ePLC800 RobotXIO Connector12 Input signals: 1001 to 10128 Output signals: 1 to 8Figure 4-4. Connecting Digita

Chapter 4: System OperationPin No. DesignationSignalBankSignal Number7 Input 4.1 1 10048 Input 5.1 1 10059 Input 6.1 1 100610 GND11 24 VDC12 Common 2

Chapter 4: System OperationXIO Input SignalsThe 12 input channels are arranged in two banks of six. Each bank is electrically isolated fromthe other b

Chapter 4: System OperationTypical Input Wiring ExampleAdept-Supplied EquipmentUser-Supplied EquipmentSignal 1001Part Present Sensor 4Signal 1002Feede

Chapter 4: System OperationXIO Output SpecificationsTable 4-7. XIO Output Circuit SpecificationsParameter ValuePower supply voltage range See Specific

Chapter 4: System OperationTypical Output Wiring ExampleFigure 4-6. Typical User Wiring for XIO Output SignalsXIO Breakout CableThe XIO Breakout cable

Chapter 4: System OperationTable 4-8. XIO Breakout Cable Wire ChartPin No.SignalDesignation Wire Color1 GND White2 24 VDC White/Black3 Common 1 Red4 I

Table of ContentsChapter 1: Introduction 91.1 Product Description9Adept Cobra ePLC600/ePLC800™ Robots 9eAIB™ (Amplifiers in Base) 101.2 Dangers, Warni

Chapter 4: System Operation4.6 Starting the System for the First TimeFollow the steps in this section to safely bring up your robot system. The steps

Chapter 4: System Operation3.Turn on the 24 VDC power to the robot.lThe Status Panel displays OK.lThe Robot Status LED will be off.4.Verify the Auto/M

Chapter 4: System OperationOnce high power is enabled, the Robot Status Panel displays ON, and the Robot Status LEDwill be lit.Verifying E-Stop Functi

Adept Cobra ePLC600/800 Robot User’s Guide, Rev APage 53 of 108Chapter 5: Maintenance5.1 Field-replaceable PartsWARNING:Only qualified service person

Chapter 5: MaintenanceNOTE:The frequency of these procedures will depend on the particular system, itsoperating environment, and amount of usage. Use

Chapter 5: Maintenance5.5 Checking Robot for Oil around Harmonic DriveThe Adept Cobra ePLC600 and ePLC800 robots use oil in the harmonic drive compone

Chapter 5: MaintenanceFor the Cleanroom version, refer to for instructions on removing the bellows. Theouter link cover is standard.3.Switch on 24 VDC

Chapter 5: MaintenanceJoint 3 Ball ScrewLubrication PointsNOTE:Apply grease to thethree vertical groovesand the spiral grooveAA Section A-ATop View L

Chapter 5: Maintenance5.7 Replacing the eAIB ChassisCAUTION:Follow appropriate ESD procedures duringthe removal/replacement phases.Removing the eAIB

Chapter 5: MaintenanceFigure 5-3. Opening and Removing Chassis9. Disconnect the “white” amplifier cable from the amplifier connector located on thecha

Table of Contents3.4 Connecting 200-240 VAC Power to Robot27Specifications for AC Power 27Details for AC Mating Connector 29Creating the 200-240 VAC C

Chapter 5: MaintenanceFigure 5-5. Ground Screw Hole on eAIB Chassis12.Carefully remove the chassis from the robot, and place it aside. Tag it with the

Chapter 5: MaintenanceFigure 5-6. Installing eAIB Chassis in Robot Base6.Carefully insert the chassis into the robot base in the groove at the bottom

Chapter 5: MaintenancelIf the system will not power up, and the robot status display shows SE, you need tocommission the system.lIf the system will no

Chapter 5: MaintenanceFigure 5-7. Adept Front PanellNo E-Stops can be activated.lFor Configuration (E-Stop and Teach Restrict), the eAIB Commissioning

Chapter 5: MaintenanceProcedureFrom within the Adept ACE software:1.Open the robot object editor.2.Select Configure > Safety Settings > Configur

Chapter 5: Maintenance1.Open the robot object editor.2.Select Configure > Safety Settings > Configure Teach Restrict, then click Next.3.From the

Chapter 5: MaintenanceThe robot will move each joint, in succession. It will generate an over-speedcondition for each, and verify that the hardware de

Chapter 5: MaintenanceNOTE:Dispose of the battery according to all local and national environmentalregulations regarding electronic components.Batter

Chapter 5: MaintenanceNOTE: Dispose of the battery pack in accordance with all local and nationalenvironmental regulations regarding electronic compon

Adept Cobra ePLC600/800 Robot User’s Guide, Rev APage 69 of 108Chapter 6: Optional Equipment Installation6.1 Installing End-EffectorsThe user is respo

Table of Contents5.7 Replacing the eAIB Chassis58Removing the eAIB Chassis 58Installing a New eAIB Chassis 605.8 Commissioning a System with an eAIB61

Chapter 6: Optional Equipment InstallationTool flange assemblySetscrewM4 Socket-head cap screwsQuill shaftFigure 6-1. Tool Flange Removal DetailsInsta

Chapter 6: Optional Equipment InstallationFigure 6-2. User Connectors on Joint 1 Figure 6-3. User Connectors on Joint 2User Electrical LinesNOTE:Devi

Chapter 6: Optional Equipment InstallationFigure 6-4. Internal User Connectors—OP3/4, EOAPWR, ESTOPWARNING:When the Outer link cover is removed, yous

Chapter 6: Optional Equipment InstallationSOLND ConnectorThis 4-pin connector provides the output signals for the optional Robot Solenoid Kit. See the

Chapter 6: Optional Equipment InstallationPin 1Pin 2Pin 3Pin 4For optional second set of solenoids, or other user supplied devices.Pin 1Pin 2Pin 3Pin

Chapter 6: Optional Equipment InstallationTable 6-4. Internal User Connector Output Circuit SpecificationsParameter ValuePower supply voltage range24

Chapter 6: Optional Equipment InstallationTable 6-5. ESTOP ConnectorPin # Description Pin Location1ESTOP_INPUTESTOP Connectoras viewed on robot2 24 VM

Chapter 6: Optional Equipment InstallationNOTE:The cover on the outer link must be removed for maintenance (lubrication),so keep this in mind when mo

Chapter 6: Optional Equipment InstallationFigure 6-8. Solenoid Mounting Bracket With Connector and Spare Air Line4.Cut and discard the cable ties hold

Chapter 6: Optional Equipment InstallationFigure 6-9. Solenoid Placement Using Mounting Hardware9.Install the appropriate lengths of 5/32 inch plastic

Table of ContentsCover Removal Procedure 94Cover Reinstallation Procedure 958.4 Customer Requirements96Sealing the Tool Flange 96Pressurizing the Robo

Chapter 6: Optional Equipment InstallationFigure 6-10. Removing the Cable Strap Plate12.Remove the four screws for the Joint 1 cover and lift the cove

Chapter 6: Optional Equipment InstallationNOTE:This 6 mm User Air connector and the 6 mm User Air connector at the topof Figure 6-2 are not available

Adept Cobra ePLC600/800 Robot User’s Guide, Rev APage 83 of 108Chapter 7: Technical Specifications7.1 Dimension Drawings934888387342177060032502344637

Chapter 7: Technical SpecificationsRequired clearance to open eAIB Chassis31Required cable clearance 417183200918894398342188046378004250234Figure 7-2

Chapter 7: Technical SpecificationsUnits in mm4X M6 x 1- 6H ThruUser GroundSee Detail ADetail A6.80 mm(0.268 in.)1.5 mm(0.059 in.)4.14 mm(0.163 in.)1

Chapter 7: Technical Specifications251054X M4x0.7 - 6H 8601054X M4x0.7 - 6H 6Inner LinkExternal Mounting LocationsOuter LinkExternal Mounting

Chapter 7: Technical SpecificationsFigure 7-6. Adept Cobra ePLC600 Robot Working EnvelopeMaximum Radial ReachFunctional Area800 mm (31.50 in.)Maximum

Chapter 7: Technical Specifications7.2 Robot SpecificationsDescription ePLC600 Robot ePLC800 RobotReach 600 mm (23.6 in) 800 mm (31.5 in)Payload—rated

Chapter 7: Technical SpecificationsDescription ePLC600 Robot ePLC800 RobotJoint 1 386°/sec 386°/secJoint 2 720°/sec 720°/secJoint 3 1,100 mm/sec (43 i

Adept Cobra ePLC600/800 Robot User’s Guide, Rev APage 9 of 108Chapter 1: Introduction1.1 Product DescriptionAdept Cobra ePLC600/ePLC800™ RobotsThe Ade

Adept Cobra ePLC600/800 Robot User’s Guide, Rev APage 91 of 108Chapter 8: IP-65 Option8.1 Adept Cobra ePLC800 Robot IP-65 ClassificationThe factory in

Chapter 8: IP-65 OptionCable Seal HousingFigure 8-2. Cable Seal PartsInstallation Procedure1.Disassemble the cable seal assembly into separate pieces

Chapter 8: IP-65 Optionc.Finally push down on the flange to secure it against the housing. See Figure 8-5for the lower flange in the installed positio

Chapter 8: IP-65 Option8.Install the splash guard using two M6 x 20 screws, two M6 lock washers, and two M6flat washers. See Figure 8-7.8.3 Robot Oute

Chapter 8: IP-65 Option7.When all 8 screws are loose (but not removed), lift the cover up and slide it back alongthe cable track and out of the way. P

Chapter 8: IP-65 Option8.Remember to turn on the compressed air supply to the system before restarting therobot.8.4 Customer RequirementsThe IP-65 rob

Chapter 8: IP-65 OptionPressurizing the RobotThe user must supply compressed air to keep a positive airflow pressure in the robot cavity.1.Remove the

Chapter 8: IP-65 OptionUser ElectricalOn the back of the Joint 1 cover, the user electrical connector is filled with a removable plug atthe factory. S

Chapter 8: IP-65 OptionUser Air LinesOn the back of the Joint 1 cover, the user air line connectors are fitted with removable plugs atthe factory. See