Adept Cobra PLC600/PLC800 Robot User’s Guide (includes the Adept PLC server)
Adept Cobra PLC600/PLC800 Robot User’s Guide (includes the Adept PLC server) P/N: 04866-000, Rev C This manual must be read by all personnel who install, operate, or maintain Adept systems, or who work within or near the workcell. 3011 Triad Drive • Livermore, CA 94551 • USA • Phone 925.245.3400 • Fax 925.960.0452 Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450 151 Lorong Chuan #04-07 • New Tech Park, Lobby G • Singapore 556741 • Phone +65.6281.
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 subject 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.
Table of Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Customer-Supplied PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DF1 Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Adept PLC Server . . . . . . . . . . . . . . . . . . .
Table of Contents 2.12 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 2.13 Safety Equipment for Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 2.14 Protection Against Unauthorized Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 2.15 Safety Aspects While Performing Maintenance . . . . . . . . . . . . . . . . . . . . . . . . 35 2.16 Risks Due to Incorrect Installation or Operation . . .
Table of Contents Specifications for AC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Facility Overvoltage Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . AC Power Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Details for AC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Procedure for Creating 200-240 VAC Cable . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents 6 Programming the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 6.1 PLC Server Software Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 6.2 Initializing a System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 6.3 PLC Software Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Command Registers . . . . . . . .
Table of Contents Recommended Vendors for Mating Cables and Connectors. . . . . . . . . 145 8 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 8.1 Periodic Maintenance Schedule. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 8.2 Checking of Safety Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 8.3 Checking Robot Mounting Bolts . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents What is the World Coordinate System? . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 Defining a Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 10.3 What is a Reference (Pallet) Frame? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 Defining a Reference Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 Why is Gripper Orientation Important? . . . . . . . . . . . . . . . . . . . . . .
List of Figures Figure 1-1. Adept PLC Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Figure 1-2. Adept Cobra PLC800 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Figure 1-3. Robot Joint Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Figure 2-1. Electrical and Thermal Warning Labels on AIB Chassis . . . . . . . . . . . . . . . . . 22 Figure 2-2.
List of Figures Figure 8-1. Lubrication of Joint 3 Quill . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Figure 8-2. Securing Screw on SmartAmp AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . 151 Figure 8-3. Opening and Removing AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 Figure 8-4. Connectors on AIB Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 Figure 8-5.
List of Tables Table 1-1. Installation Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18 Table 2-1. Standards Met by Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24 Table 2-2. Sources for International Standards and Directives . . . . . . . . . . . . . . . . . . . . .26 Table 2-3. Partial List of Robot and Machinery Safety Standards . . . . . . . . . . . . . . . . . . .27 Table 3-1.
List of Figures Table 7-1. Air Pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Table 8-1. Inspection and Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 Table 9-1. XSLV Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Table 9-2. Adept Cobra PLC600 Mechanical Specifications . . . . . . . . . . . . . . . . . . . . . 170 Table 10-1.
1 Introduction 1.1 Product Description The Adept Cobra PLC Robot system consists of a customer-supplied PLC, an Adept PLC Server, and an Adept Cobra PLC600 or PLC800 robot. This manual covers the installation, operation, and maintenance of the Adept Cobra PLC600/PLC800 robot system, and describes the PLC Server software. Customer-Supplied PLC The customer-supplied PLC is used to command and control the robot. (The PLC may also be used to control other devices and processes in the workcell.
NOTE: Programming of the PLC Server is not required. All application programming is done from the customer-supplied PLC. Adept Cobra PLC Robot The Adept Cobra PLC600 and PLC800 robots are four-axis SCARA robots (Selective Compliance Assembly Robot Arm). See Figure 1-2. Joints 1, 2, and 4 are rotational; Joint 3 is translational. See Figure 1-3 for a description of the robot joint locations.
Software The PLC Server software – used to provide seamless communication between the PLC and the robot – is supplied with the system. The Adept PLC Server requires operating system version 16.1D6 or later. The application software and robot location data reside on the customer-supplied PLC. See Chapter 6 for details.
1.2 Installation Overview The system installation process is summarized in the following table. Refer also to the system cable diagram in Figure 4-1 on page 47. Table 1-1. Installation Overview 1.3 Task to be Performed Reference Location 1. Mount the robot on a flat, secure mounting surface. See Section 3.5 on page 40. 2. Install the PLC Server, the Front Panel and any user-supplied equipment such as the PLC, PLC User Interface and PLC programming software. See Section 3.6 on page 42. 3.
In the Download Types search box, select Regulatory Certificates to find the document, which you can then download. 1.4 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 web site: http://www.adept.
Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Safety 2.1 2 Dangers, Warnings, Cautions, and Notes in Manual There are six levels of special alert notation used in this manual. In descending order of importance, they are: 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.
2.2 Warning Labels on the Robot Figure 2-1 and Figure 2-2 show the warning labels on the Adept Cobra PLC robots. Figure 2-1. Electrical and Thermal Warning Labels on AIB Chassis Figure 2-2.
Figure 2-3. Warning Label on Encoder Cables WARNING: When the Outer link cover is removed, you see the label shown above. Do not remove the J3-ENC or J4-ENC encoder cable connectors from their sockets. If they are removed, the calibration data will be lost and the robot must be run through a factory calibration process, which requires special software and tools.
2.3 Precautions and Required Safeguards This manual must be read by all personnel who install, operate, or maintain Adept systems, or who work within or near the workcell. WARNING: Adept Technology strictly prohibits installation, commissioning, or operation of an Adept robot without adequate safeguards according to applicable local and national standards. Installations in EU and EEA countries must comply with EN 775/ISO 10218, especially sections 5,6; EN 292-2; and EN 60204-1, especially section 13.
Impact and Trapping Points Adept robots are capable of moving at high speeds. If a person is struck by a robot (impacted) or trapped (pinched), death or serious injury could occur. Robot configuration, joint speed, joint orientation, and attached payload all contribute to the total amount of energy available to cause injury. DANGER: The robot system must be installed to avoid interference with buildings, structures, utilities, other machines and equipment that may create a trapping hazard or pinch points.
Additional Safety Information The standards and regulations listed in this handbook contain additional guidelines for robot system installation, safeguarding, maintenance, testing, startup, and operator training. Table 2-2 lists some sources for the various standards. Table 2-2. Sources for International Standards and Directives SEMI International Standards 3081 Zanker Road San Jose, CA 95134 USA American National Standards Institute (ANSI) 11 West 42nd Street, 13th Floor New York, NY 10036 USA Phone: 1.
Table 2-2. Sources for International Standards and Directives (Continued) DIN, Deutsches Institut für Normung e.V. German Institute for Standardization Burggrafenstrasse 6 10787 Berlin Germany Phone.: +49 30 2601-0 Fax: +49 30 2601-1231 http://www.din.de http://www2.beuth.de/ (publishing) 2.4 Risk Assessment Without special safeguards in its control system, the Adept robot could inflict serious injury on an operator working within its work envelope.
Exposure When Arm Power is on, all personnel must be kept out of the robot work envelope by interlocked perimeter barriers. The only permitted exception is for teaching the robot in Manual Mode by a skilled programmer (see “Qualification of Personnel” on page 33), who must wear safety equipment (see “Safety Equipment for Operators” on page 34) and carry the pendant (T1 or MCP). Therefore, exposure of personnel to hazards related to the robot is limited (seldom and/or short exposure time).
The Risk Assessment for teaching this product depends on the application. In many applications, the programmer will need to enter the robot workcell while Arm Power is enabled to teach the robot. Other applications can be designed so that the programmer does not have to enter the work envelope while Arm Power is on. Examples of alternative methods of programming include: 1. Programming from outside the safety barrier. 2. Programming with Arm Power off. 3. Copying a program from another (master) robot. 4.
2.5 Intended Use of the Robots 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 (see Section 2.8 on page 32). The Adept Cobra PLC 600 and PLC800 robots are intended for use in parts assembly and material handling for payloads less than 5.5 kg (12.1 lb).
If there is any doubt concerning the application, ask Adept to determine if it is an intended use or not. 2.6 Robot Modifications It is sometimes necessary to modify the robot in order to successfully integrate it into a workcell. Unfortunately, many seemingly simple modifications can either cause a robot failure or reduce the robot’s performance, reliability, or lifetime. The following information is provided as a guideline to modifications.
2.7 Transport Always use adequate equipment to transport and lift Adept products. See Chapter 3 for more information on transporting, lifting, and installing. WARNING: Do not remain under the robot while it is transported. 2.8 Safety Requirements for Additional Equipment Additional equipment used with the Adept Cobra PLC robot (grippers, conveyor belts, etc.) must not reduce the workcell safeguards. All emergency stop switches must always be accessible.
2.10 Thermal Hazard WARNING: You can burn yourself. Do not touch the robot base or outer link shortly after the robot has been running at high ambient temperatures (40-50°C) (104-122°F) or at fast cycle times (over 60 cycles per minute). The robot skin/surface temperature can exceed 85°C (185°F). 2.11 Working Areas Adept robots have a Manual and an Automatic (AUTO) operating mode. While in Automatic mode, personnel are not allowed in the workcell.
All personnel must observe sound safety practices during the installation, operation, and testing of all electrically powered equipment. To avoid injury or damage to equipment, always remove power by disconnecting the AC power from the source before attempting any repair or upgrade activity. Use appropriate lockout procedures to reduce the risk of power being restored by another person while you are working on the system.
2.15 Safety Aspects While Performing Maintenance Only skilled persons with the necessary knowledge about the safety and operating equipment are allowed to maintain the robot and PLC Server. DANGER: During maintenance and repair, the power to the robot and PLC Server must be turned off. Unauthorized third parties must be prevented from turning on power through the use of lockout measures. 2.
Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Equipment Installation 3.1 3 Transport and Storage This equipment must be shipped and stored in a temperature-controlled environment, within the range –25°C to +55°C. 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.
3.2 Unpacking and Inspecting the Adept Equipment Before Unpacking Carefully inspect all shipping crates for evidence of damage during transit. Pay special attention to tilt and shock indication labels on the exteriors of the containers. If any damage is indicated, request that the carrier’s agent be present at the time the container is unpacked.
3.4 Environmental and Facility Requirements The Adept robot system installation must meet the operating environment requirements shown in Table 3-1. Table 3-1. Robot System Operating Environment Requirements Ambient temperature 5°C to 40°C (41°F to 104°F) Humidity 5 to 90%, noncondensing Altitude up to 2000 m (6500 ft.) Pollution degree 2 (IEC 1131-2/EN 61131-2) Robot protection class IP20 (NEMA Type 1) Note: See Section 9.1 on page 159 for robot dimensions.
3.5 Mounting the Robot Mounting Surface The Adept Cobra PLC robot is designed to be mounted on a smooth, flat, level tabletop. The mounting structure 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 3-2 shows the mounting hole pattern for the Adept Cobra PLC robots.
2. While the robot is still bolted to the transportation pallet, connect the hydraulic lift to the eyebolt at the top of the inner link (see Figure 3-1 on page 37). Take up any slack, but do not lift the robot at this time. WARNING: Do not attempt to lift the robot at any points other than the eyebolt provided. Do not attempt to extend the inner or outer links of the robot until the robot has been secured in position.
3.6 PLC Server Installation This equipment must be shipped and stored in a temperature-controlled environment. See Table 3-3. 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 shock and vibration. Table 3-3.
Mounting the PLC Server The following mounting options are available for the PLC Server: • Rack • Panel • Table In addition, the PLC Server can be stack mounted (one unit placed on top of another). See the sections below for information on mounting the PLC Server; page 93 for information on mounting the sDIO. NOTE: To maintain compliance with EN 60204 in European installations, the mounting of the PLC Server and all terminations at the PLC Server must be performed in accordance with this standard.
Panel Mounting the PLC Server To panel mount the PLC Server, install two brackets on each side at the rear of the unit, as shown in Figure 3-4. Use the screws from the accessories kit. 200.5 14.0 4X 40356-00000 273.9 27.4 R3.6 TYP. 8X M3 x 6MM 8.1 16.1 16.0 44.9 44.9 6.6 346.6 359.8 Figure 3-4.
Table Mounting the PLC Server To table mount the PLC Server, install two brackets on each side near the bottom of the unit, as shown in Figure 3-5. Use the screws from the accessories kit. 4X 40356-00001 R 3.6 12.1 29.5 24.1 120.9 24.9 378.6 391.8 4X M3 x 6MM BOTH SIDES 16.2 16.0 21.6 120.9 Figure 3-5. Table Mounting the PLC Server CompactFlash Memory Card The PLC Server is equipped with a CompactFlash™ (CF) memory card. The PLC Server system uses a CF in place of a traditional hard disk drive.
CAUTION: Never install or remove the CompactFlash when power is connected to the PLC Server. Installing CompactFlash To install a CompactFlash (CF) into a PLC Server: 1. Make sure that the PLC Server is disconnected from its power source. 2. Locate the CF compartment (see Figure 3-6). Eject Button CompactFlash Compartment Figure 3-6. CompactFlash Memory Card Compartment 3. Carefully remove the CF from its shipping container.
4 Wiring the System 4.1 System Cable Diagram Adept Cobra PLC600/800 Robot Installation Procedure: 1. Connect PLC Server SmartServo port 1.1 to robot SmartServo port 1. 2. Connect PLC Server XSYS to robot XSLV. 3. Verify terminator plug is installed in XUSR connector. 4. Connect null-modem serial cable from PLC serial port to PLC Server PLC Interface. 5. Connect Front Panel XFP to PLC Server XFP 6. Connect 24 VDC to PLC Server XDC1 and to robot +24V DC Input 7.
4.2 Cobra PLC Robot Interface Panel Connectors 200-240 VAC Input XSLV Ground Point SmartServo Port 1 SmartServo Port 2 24 VDC Input RS-232 +24 VDC Pin XIO XPANEL Figure 4-2. Robot Interface Panel 24 VDC - for connecting user-supplied 24 VDC power to the robot. The mating connector is provided. Ground Point - for connecting cable shield from user-supplied 24 VDC cable. 200/240VAC - for connecting 200-240 VAC, single-phase, input power to the robot. The mating connector is provided.
4.3 PLC Server Connectors and Indicators *S/N 3561-XXXXX* SmartServo OK SF HPE ES LAN HD SW1 NOT USED NOT USED 1.2 1.1 PLC Interface NOT USED 1 2 3 4 ON OFF 1 2 3 XDIO XFP XSYS XUSR XMCP POWER Adept PLC Server R 24VDC @5a -+ -+ Figure 4-3. Adept PLC Server All the connectors on the PLC Server use standard density spacing, D-subminiature connectors.
Table 4-2. LED Status Indicators LED Display 1 2 3 Error # Description R-O-O 1 System clock is dead or too fast. Clock interrupts are not being received. O-R-O 2 Hardware configuration error. O-O-R 4 Memory test failure. Free storage error. O-R-R 6 Software serial I/O configuration error. R-R-R 7 Initial display set by hardware before software has started. G-O-O 9 Transient display set when PCI is configured. O-O-G C Uninitialized trap. G-O-G D Bus error detected.
9. XDIO connector This connector includes 20 signal pairs; 8 digital outputs (100 mA max) and 12 digital inputs, including four fast inputs (the first four input signals on this connector are the only input signals that can be configured as fast inputs). The digital outputs are short-circuit protected. This connector also supplies 24 VDC power for customer equipment. See Section 4.11 on page 70 for more information. 10.
Table 4-3. PLC to PLC Server Cable Pin Description Signal Adept DB-9 Pin AB PLC DB-9 Pin TD (Transmit Data) 2 3 RD (Receive Data) 3 2 RTS (Request To Send) 8 7 CTS (Clear To Send) 7 8 SG (Signal Ground) 5 5 DSR (Data Set Ready) 4 6 CD (Carrier Detect) 4 1 DTR (Data Terminal Ready) 1 4 DTR (Data Terminal Ready) 6 4 The PLC's RS-232 communication port must be configured to use: • DF1 Full Duplex driver • no parity • no handshaking • CRC error checking.
Specifications for 24 VDC Power Table 4-4. Specifications for 24 VDC User-Supplied Power Supply User-Supplied Power Supply 24 VDC (+/- 10%), 150W (6A) (21.6 V< Vin < 26.4 V) Circuit Protectiona output must be less than 300W peak or 8 Amp in-line fuse Power Cabling 1.5 – 1.85mm² (16-14 AWG) Shield Termination (recommended for compliance with EN Standards) Braided shield connected to “-” terminal at both ends of cable. See Figure 4-4 on page 55.
Table 4-6. 24 VDC Mating Connector Specs Connector Details Ground Connector receptacle, 2 position, type: Molex Saber, 18A, 2-Pin Molex P/N 44441-2002 24 VDC Digi-Key P/N WM18463-ND Pin Details Molex connector crimp terminal, female, 14-18 AWG Molex P/N 43375-0001 Digi-Key P/N WM18493-ND Recommended crimping tool, Molex Hand Crimper Molex P/N 63811-0400 Digi-Key P/N WM9907-ND Procedure for Creating 24 VDC Cable 1. Locate the connector and pins from Table 4-6 on page 54. 2.
Adept Cobra PLC Robot GND User-Supplied Power Supply 24 VDC – + Attach shield from usersupplied cable to ground screw on Cobra s600/s800 Interface Panel. Adept PLC Server User-Supplied Shielded Power Cable Attach shield from user-supplied cable to side of controller using star washer and M3 x 6 screw. + 24V, 8A – Frame Ground + 24V, 5A – Attach shield from usersupplied cables to frame ground on power supply. -+ User-Supplied Shielded Power Cable Figure 4-4.
4.7 Connecting 200-240 VAC Power to Robot WARNING: Appropriately sized Branch Circuit Protection and Lockout / Tagout Capability must be provided in accordance with the National Electrical Code and any local codes. Ensure compliance with all local and national safety and electrical codes for the installation and operation of the robot system Specifications for AC Power Table 4-7.
DANGER: AC power installation must be performed by a skilled and instructed person - see Section 2.12 on page 33. During installation, fail-safe lockout measures must be used to prevent unauthorized third parties from turning on power. Facility Overvoltage Protection The user must protect the robot from excessive overvoltages and voltage spikes.
Note: F4 and F5 are user-supplied, must be slow blow. L1 200–240VAC F5 10A 3Ø 200–240VAC L2 L3 F4 10A E User-Supplied AC Power Cable E L = Line 1 N = Line 2 E = Earth Ground N L Adept CobraPLC 600/800 Robots 1Ø 200–240VAC Figure 4-6. Single-Phase AC Power Installation from a Three-Phase AC Supply Details for AC Mating Connector The AC mating connector is supplied with each system. It is typically shipped in the cable/accessories box.
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. Removable Bushing Cable Clamp Earth Line Neutral Figure 4-7. AC Power Mating Connector Installing AC Power Cable to Robot 1. Connect the unterminated end of the AC power cable to your facility AC power source. See Figure 4-6 on page 58. Do not turn on AC power at this time. 2.
Table 4-10. Specifications for 24 VDC User-Supplied Power Supply Circuit Protection Not more than 8A (below the amperage rating of the cable used). Power Cabling 1.5 - 1.85 mm2 (16-14 AWG), maximum length 10 meters Shield Termination Braided shield connected to “-” terminal at the appropriate XDC connector. NOTE: The power requirements for the user-supplied power supply will vary depending on the configuration of the PLC Server and connected devices.
5. Insert the stripped end of the wire into the right-hand lower opening, then remove the screwdriver from the top opening. The clamp will close on the wire. Pull on the wire to confirm it is securely attached in the connector. 6. Visually inspect the connection to make sure that the clamp has closed on the wire, not the insulation. 7. Repeat this process for the wire from the negative side of the power supply to the left-hand side of the connector.
Figure 4-9. Ground Point on Robot Base PLC Server Grounding The PLC Server is equipped with a grounding point. See Figure 4-10. Adept recommends connecting a ground wire from the ground point on the PLC Server to earth ground and that all other interconnected Adept components share the same electrical ground potential. The ground wire must meet all local regulations. Additional grounding information for other Adept products are provided in the documentation for those products.
Robot-Mounted Equipment Grounding The following parts of an Adept Cobra PLC600/PLC800 robot are not grounded to protective earth: the Joint 3 quill and the tool flange. 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.
Table 4-11. Contacts Provided by the XUSR Connector (Continued) Pin Pairs Description Shorted if NOT Used Comments 4,17 Line E-Stop (Same as pins 3 and 16. See above comment.) N/C contacts 5,18 Muted safety gate CH 1 (causes E-stop in AUTOMATIC mode only). N/C contacts 6,19 Muted Safety Gate CH 2 (same as pins 5 and 18). N/C contacts Yes Yes Yes Voltage-Free Contacts provided by Adept E-Stop indication CH 1.
Table 4-12. Contacts Provided by the XFP Connector (Continued) Pin Pairs Description Comments 4,12 Remote MANUAL/AUTOMATIC switch CH 2. MANUAL = Open AUTOMATIC = Closed 6,14 Remote High Power on/off momentary PB Used to enable High Power Nonvoltage-Free Contacts 5,13 Adept Supplied 5 VDC and GND for High Power On/Off Switch Lamp 7,15 PLC Server system 5V power on LED, 5V, 20mA 8 Use with Remote High Power On/Off switch above.
Figure 4-11 shows an E-Stop diagram for the CAT-3 version of the Adept PLC Server. E-Stop, High Power On/Off, and MANUAL/AUTO Controls for CAT-3 Version of the PLC Server F Internal Connections 5V 24 V E-Stop Enable XFP-7 Front Panel System Power LED Channel 1 ESTOPSRC Ilimit = 1.4 A Front Panel Grn M User Supplied Connections Channel 2 XFP-1 XFP-2 XFP-9 XFP-10 XFP-15 MCP XUSER-2 User E-Stop and Gate Interlock (Jumper closed when not used, MUST open both channels independently if used.
Adept Front Panel Schematic ESTOPSRC XFP 24VS MANUALSRC1 MANUALSRC2 HPLT5V 5VD SYSPWRLT NC 16 15PDSUBM 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ESTOPFP1 ESTOPFP2 MANUALRLY1 MANUALRLY2 HIPWRLT HIPWRREQ 17 D "System Power LED" "MANUAL/AUTO" "HIGH POWER ON/OFF" "EMERGENCY STOP" 5VD HPLT5V ESTOPSRC 24VS MANUALSRC2 SYSPWRLT MANUALSRC1 2PIN_MINI D SWL1 D SW2 SW1 HIPWRLT MANUALRLY2 MANUALRLY1 HIPWRREQ ESTOPFP2 ESTOPFP1 Figure 4-12.
User E-Stop Indication - Remote Sensing of E-Stop Two pairs of pins on the XUSR connector (pins 7, 20 and 8, 21) provide voltage-free contacts, one for each channel, to indicate whether the E-Stop chain, as described above, on that channel is closed. Both switches are closed on each of the redundant circuits in normal condition (no E-Stop). The user may use these contacts to generate an E-Stop for other equipment in the workcell.
Remote Manual Mode The Front Panel provides for a Manual Mode circuit (see Figure 4-11 on page 66, Table 4-11 on page 63, and Table 4-12 on page 64, and your robot manual for further details about the customer Remote Manual Mode circuitry). The Adept Front Panel, or customer-supplied panel, must be incorporated into the robot workcell to provide a “Single Point of Control” (the operator) when the PLC Server is placed in Manual mode.
4.11 Connecting Customer-Supplied Digital I/O Equipment The PLC Server provides capability for Inputs and Outputs (I/O) using a hard-wired interface to the XDIO connector. The XDIO connector on the PLC Server provides 12 hard-wired inputs and 8 hard-wired outputs for Digital I/O connections. The signals are numbered 1001 through 1012 for the inputs and 1 through 8 for the outputs. All the signals have independent source and ground connections.
NOTE: The input current specifications are provided for reference; voltage sources are typically used to drive the inputs. In the following figure, example 1 shows inputs (1001 to 1004) with a negative common, example 2 shows inputs (1005 to 1008) with a positive common, and example 3 shows inputs (1009 to 1012) with an independent power supply (no common). NOTE: These are examples. Either method can be used on any channel.
Table 4-14. DIO Output Specifications (XDIO connector) Operating voltage range 0 to 24 VDC Operational current range, per channel I out ≤ 100 mA, short-circuit Protected Vdrop across output in “on” condition V drop ≤ 2.7 V at 100 mA V drop ≤ 2.0 V at 10 mA Output off leakage current I out ≤ 600 µA Turn on response time (hardware) 3 µsec maximum Software scan rate/response time 16 ms scan cycle/ 32 ms max.
NOTE: These are examples. Either method can be used, in any combination, on any channel. Also, an external customer-provided power supply could have been provided instead of the power provided on the XDIO connector.
Table 4-15.
System Operation 5.1 5 Robot Status LED Description The robot Status LED Indicator is located on the top of the robot. The color and blinking pattern indicates the status of the robot. The current robot models support the UL standard. The LED on these robots has an amber LED. See Figure 5-1 for the status information displayed by this LED. Legacy models have a bi-color, red and green LED. See Table 5-2 for the status information displayed by this LED. Robot Status LED Indicator Figure 5-1.
Table 5-2. Legacy Robot Status LED Definition 5.2 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 Diagnostics Display Solid Green or Red Initialization or Robot Fault Status Panel Fault Codes The Status panel, shown in Figure 5-2, displays alpha-numeric codes that indicate the operating status of the robot, including detailed status codes.
Table 5-3.
WARNING: Due to the effect of gravity, pressing the Brake Release button may cause the arm to fall. 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. 5.4 Commissioning the System Turning on the robot system for the first time is known as “commissioning the system.
System Cable Checks Verify the following connections (see Section 4.4 on page 51 for details): • Front Panel to the PLC Server. • PLC to PLC Server. • User-supplied 24 VDC power to the PLC Server. • User-supplied 24 VDC power to the Cobra PLC robot. • User-supplied ground wire between the PLC Server and ground. • User-supplied ground wire between the Cobra PLC robot and ground. • User-supplied ground wire between the PLC and ground. • IEEE 1394 cable into the SmartServo port 1.
Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Programming the Robot 6.1 6 PLC Server Software Overview The Adept PLC Server communicates with the user-supplied PLC to retrieve the predefined data registers for executing robot motions. The programmer will use the familiar PLC software environment to sequence the robot by loading the PLC registers. Programs can be created using Ladder Diagram, Structured Text, Sequential Function Chart, or Function Block Diagram format.
RSLogix 500 Figure 6-1.
RSLogix 5000 Figure 6-2. RSLogix 5000 Channel configuration (Protocol) Figure 6-3.
6.3 PLC Software Overview NOTE: Throughout this section, you will see references to RSLogix 500 registers. To find the corresponding RSLogix 5000 tag name, simply go to the table containing the referenced RSLogix 500 register and locate the corresponding RSLogix 5000 tag name in the adjacent column. There Adept PLC Server uses five PLC registers: Command, Error, Position, Location & Pallet Definition, and Status. These are described in detail in the following sections.
RSLogix 500 RSLogix 5000 Function N30:1 Adept_Output Output Signals command register (see Table 6-4 on page 88) N30:2 Adept_Jog_Mode Jog Mode command register (see Table 6-5 on page 88) N30:3 Adept_Motion_Qualifier Motion Qualifier command register (see Table 6-6 on page 89) N30:4 Adept_Speed Motion/Jog speed N30:5 Adept_Acceleration Motion acceleration N30:6 Adept_Location_Number Location number N30:7 Adept_Approach_Height Approach height N30:8 Adept_Pallet_Number Pallet number N
3. Load N30:6 with the number of the location to be moved to (see page 95 for details). 4. Set the motion qualifier bits in N30:3 (see page 89 for details). 5. Enable N30:0/8 (Move robot bit) to start the motion (see page 87 for details). 6. Wait for N31:0/5 (Command Executing) to go high, indicating the motion has started. 7. Wait for N31:0/6, which is enabled when the robot is in position. 8. Disable N30:0/8 (Move robot bit). 9.
Instruction Command Register The table below describes the Instruction command register definitions. Table 6-3. Instruction command register definitions Bit RSLogix 500 RSLogix 5000 Description 0 N30:0/0 Adept_Command_Bits.0 Enable high power 1 N30:0/1 Adept_Command_Bits.1 Update current position 2 N30:0/2 Adept_Command_Bits.2 RESERVED 3 N30:0/3 Adept_Command_Bits.3 RESERVED 4 N30:0/4 Adept_Command_Bits.4 RESERVED 5 N30:0/5 Adept_Command_Bits.
Output Signals Command Register The table below describes the Output Signals command register Table 6-4. Output Signals Command Register Bit RSLogix 500 RSLogix 5000 Function 0 N30:1/0 Adept_Output.0 XDIO Output 1 1 N30:1/1 Adept_Output.1 XDIO Output 2 2 N30:1/2 Adept_Output.2 XDIO Output 3 3 N30:1/3 Adept_Output.3 XDIO Output 4 4 N30:1/4 Adept_Output.4 XDIO Output 5 5 N30:1/5 Adept_Output.5 XDIO Output 6 6 N30:1/6 Adept_Output.6 XDIO Output 7 7 N30:1/7 Adept_Output.
Bit RSLogix 500 RSLogix 5000 Function Description 2 N30:2/2 Adept_Jog_Mode.2 Enable Joint mode Bit on: Jog axis in Joint mode 3 N30:2/3 Adept_Jog_Mode.3 Enable Free mode Bit on: Put axis in Free mode 4 N30:2/4 Adept_Jog_Mode.4 5 N30:2/5 Adept_Jog_Mode.5 Joint 1/X-axis Bit on: Select joint 1 or X-axis for jogging 6 N30:2/6 Adept_Jog_Mode.6 Joint 2/Y-axis Bit on: Select joint 2 or Y-axis for jogging 7 N30:2/7 Adept_Jog_Mode.
Bit RSLogix 500 RSLogix 5000 Bit Off Cartesian coordinates Bit On 1 N30:3/1 Adept_Motion_Qualifier.1 Joint coordinates 2 N30:3/2 Adept_Motion_Qualifier.2 RESERVED 3 N30:3/3 Adept_Motion_Qualifier.3 RESERVED 4 N30:3/4 Adept_Motion_Qualifier.4 RESERVED 5 N30:3/5 Adept_Motion_Qualifier.5 RESERVED 6 N30:3/6 Adept_Motion_Qualifier.6 RESERVED 7 N30:3/7 Adept_Motion_Qualifier.7 Trapezoidal acceleration S-curve acceleration 8 N30:3/8 Adept_Motion_Qualifier.
Bit 7 selects the acceleration profile that will be used to start and end the motion. The trapezoidal profile (bit 7 off) consists of a constant acceleration to the steady-state transit speed, followed by a constant deceleration to the motion endpoint. The S-curve profile (bit 7 on) consists of a soft transition between: stopped to acceleration ramp; acceleration ramp to steady-state transit speed; steady-state transit speed to deceleration ramp; and deceleration to motion end point (see Figure 6-4).
When a motion is commanded, the speed and acceleration parameters must be greater than 0 (except that a negative speed is okay for a jog-mode motion). Otherwise, an error will be returned. There are no default values. If moving to taught location and a value that is less than or equal to 0 is entered, an error will occur. Additionally, if you specify a very low motion speed, it may take a long time for the robot to get to the requested position.
Bit RSLogix 500 RSLogix 5000 State Description 2 N31:0/2 Adept_Status_Bits.2 Robot is calibrated? 3 N31:0/3 Adept_Status_Bits.3 System is initialized 4 N31:0/4 Adept_Status_Bits.4 E-stop is pressed 5 N31:0/5 Adept_Status_Bits.5 Command is executing 6 N31:0/6 Adept_Status_Bits.6 Robot is in position 7 N31:0/7 Adept_Status_Bits.7 RESERVED 8 N31:0/8 Adept_Status_Bits.8 RESERVED 9 N31:0/9 Adept_Status_Bits.9 RESERVED 10 N31:0/10 Adept_Status_Bits.
Bit RSLogix 500 RSLogix 5000 Description 9 N31:1/9 Adept_ Input.9 XDIO Input 1010 10 N31:1/10 Adept_ Input.10 XDIO Input 1011 11 N31:1/11 Adept_ Input.11 XDIO Input 1012 12 N31:1/12 Adept_ Input.12 RESERVED 13 N31:1/13 Adept_ Input.13 RESERVED 14 N31:1/14 Adept_ Input.14 RESERVED 15 N31:1/15 Adept_ Input.15 RESERVED Current Motion Counter The current motion counter (N31:2 or Adept_Current_Motion_Counter) is incremented each time a motion begins.
RSLogix 500 F34:11 RSLogix 5000 Adept_Here.11 Function Current Joint-6 position When teaching locations, it is up to the programmer or system developer to create a method for storing that data, for example, in a data table. (The data structure for storing the taught locations in the PLC is up to you.) Then, when moving the robot to one of those locations, the data must be moved from the data table into the Adept Location registers (F32:0-5 or Adept_Location.
3. Turn on the “define location” command bit (N30:0/9 or Adept_Command_Bits.9) 4. Wait for the “command executing” bit to be set (N31:0/5 or Adept_Status_Bits.5). 5. Turn off the “define location” command bit. Pallet Registers This section describes the Pallet registers and the steps used for defining a pallet. Table 6-12. Pallet Register Definitions RSLogix 500 RSLogix 5000 Function F33:0 Adept_Pallet.0 Pallet row spacing (mm) F33:1 Adept_Pallet.1 Pallet column spacing (mm) F33:2 Adept_Pallet.
Main Routine This section shows the ladder logic and tag files for a main routine of a pick-and-place program. The subroutines called by the main routine are shown in later sections.
MainRoutine - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 12 ControlLogix_Example.ACD 0 1 Adept PLC Server has just booted, reset variables so locations and pallet data will be downloaded. Off=No meaning On=Adept system has initialized Adept_Status_Bits.3 robot_locations_downloaded CLR U Clear Dest robot_locations_count 0 If the e-stop circuit is open, turn off robot high power command.
MainRoutine - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 12 ControlLogix_Example.ACD Page 2 6/4/2004 9:34:48 AM Reset faults if command received from PanelView Off=No effect On=Reset faults Adept_Command_Bits.5 pv_reset_faults 5 Off=No fault On=Adept in faulted state Adept_Status_Bits.1
MainRoutine - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 12 ControlLogix_Example.ACD Page 3 6/4/2004 9:34:48 AM Jog robot ok_to_run_robot 10 Off=No effect On=Move robot Adept_Command_Bits.8 / NEQ Not Equal Source A pv_jog_speed 0 Source B 0 JSR Jump To Subroutine Routine Name Jog_Robot Off=No effect On=Jog robot Adept_Command_Bits.7 Update position registers whenever the move robot command is off.
MainRoutine - Controller Tag Listing Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Page 4 6/4/2004 9:34:48 AM ControlLogix_Example.ACD Tag Name Adept_Command_Bits Adept_Command_Bits.0 Adept_Command_Bits.1 Adept_Command_Bits.5 Adept_Command_Bits.6 Adept_Command_Bits.7 Adept_Command_Bits.8 Adept_Command_Bits.9 Adept_Command_Bits.10 Adept_Status_Bits Adept_Status_Bits.0 Adept_Status_Bits.1 Adept_Status_Bits.2 Adept_Status_Bits.3 Adept_Status_Bits.4 Adept_Status_Bits.5 Adept_Status_Bits.
MainRoutine - Tag Cross Reference Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Page 5 6/4/2004 9:34:48 AM ControlLogix_Example.ACD Reference Scope Program Adept_Command_Bi Adept_PLC_Serv MainProgram ts.0 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.1 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.10 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.
MainRoutine - Tag Cross Reference Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Page 6 6/4/2004 9:34:48 AM ControlLogix_Example.ACD Reference Scope Program Adept_Status_Bits.
Download_Locations - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 13 ControlLogix_Example.ACD 0 1 Off=No effect On=Download Adept_Location data to PLC Server Adept_Command_Bits.9 / Page 1 6/3/2004 5:48:06 PM Download location data to controller Off=Command is not executing On=Command is executing Adept_Status_Bits.5
Download_Locations - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 13 ControlLogix_Example.ACD Page 2 6/3/2004 5:48:06 PM Z-coordinate/Joint 3 angle MOV 5 Move Source locations[robot_locations_count].Z 0.0 Dest Adept_Location[2] 0.0 Yaw-angle/Joint 4 angle MOV 6 Move Source locations[robot_locations_count].Yaw 0.0 Dest Adept_Location[3] 0.0 Pitch-angle/Joint 5 angle MOV 7 Move Source locations[robot_locations_count].Pitch 0.
Download_Locations - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 13 ControlLogix_Example.ACD Page 3 6/3/2004 5:48:07 PM Wait for response that the command has executed, then turn off the command Off=No effect On=Download Adept_Location data to PLC Server Adept_Command_Bits.9 Off=No effect On=Download Adept_Location data to PLC Server Adept_Command_Bits.9 U Off=Command is not executing On=Command is executing Adept_Status_Bits.
Download_Locations - Controller Tag Listing Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram ControlLogix_Example.ACD Tag Name Adept_Command_Bits Adept_Command_Bits.0 Adept_Command_Bits.1 Adept_Command_Bits.5 Adept_Command_Bits.6 Adept_Command_Bits.7 Adept_Command_Bits.8 Adept_Command_Bits.9 Adept_Command_Bits.10 Adept_Location Adept_Location_Number Adept_Status_Bits Adept_Status_Bits.0 Adept_Status_Bits.1 Adept_Status_Bits.2 Adept_Status_Bits.3 Adept_Status_Bits.4 Adept_Status_Bits.
Download_Locations - Tag Cross Reference Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram ControlLogix_Example.ACD Reference Scope Program Adept_Command_Bi Adept_PLC_Serv MainProgram ts.0 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.1 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.10 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.5 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.
Download_Locations - Tag Cross Reference Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram ControlLogix_Example.ACD Reference Scope Program Page 6 6/3/2004 5:48:07 PM MainRoutine AS[0].0 Referenced At [*=Destructive, ?=Not Verified] *1(MOV) *10(MOV) *19(MOV) *28(MOV) *37(MOV) *46(MOV) *55(MOV) 1(XIO) 2(XIO) 3(XIC) 7(XIC) MainRoutine AS[0].1 1(XIC) 2(XIO) 3(XIO) 4(XIO) 6(XIC) 7(XIO) MainRoutine AS[0].2 3(XIO) 7(XIC) MainRoutine AS[0].3 0(XIC) MainRoutine AS[0].
Jog_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 2 ControlLogix_Example.ACD Page 1 6/3/2004 5:49:46 PM Jog mode qualifier bits CPT 0 Compute Dest Adept_Jog_Mode 136 Expression pv_jog_mode+(pv_jog_axis*32) Motion speed MOV Move Source pv_jog_speed 0 Dest Adept_Speed 120 1 (End) Jog_Robot - Controller Tag Listing Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram ControlLogix_Example.
Jog_Robot - Tag Cross Reference Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram ControlLogix_Example.
Move Robot Routine This section shows the ladder logic and tag listings for a routine to move the robot. Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD Page 1 6/3/2004 5:51:02 PM Start of robot sequence-Depart from current location to a safe Z height. 0 Off=No effect On=Move robot Adept_Command_Bits.8 / Off=Command is not executing On=Command is executing Adept_Status_Bits.5
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD Page 2 6/3/2004 5:51:02 PM Set pallet to 0 which means no pallet frame used.
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD 6 Page 3 6/3/2004 5:51:02 PM Remember the current motion count. This is used to tell when this new motion starts so that motions can be executed continuously MOV MOV Move Move Source Adept_Current_Motion_Counter Source 100 Dest robot_step_next 27 0 Dest robot_motion_count 26 Issue move command Off=No effect On=Move robot Adept_Command_Bits.8
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD Page 4 6/3/2004 5:51:03 PM Approach location by 100mm in the Z-direction. Off=Relative app. height Approach height On=Global app. (dependent on height Adept_Motion Qualifier.8) Adept_Motion_Qualifiers.8
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD Off=Null at end of motion On=No null at end of motion Adept_Motion_Qualifiers.10 L 14 Page 5 6/3/2004 5:51:03 PM Off=Fine nulling On=Coarse nulling (Adept_Motion_Qu alifier.10 must be off) Adept_Motion_Qualifiers.11 L Off=Multiple rotation On=Single rotation Adept_Motion_Qualifiers.12
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD Page 6 6/3/2004 5:51:04 PM Set speed and acceleration to move to Location number 1.
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD 22 23 Page 7 6/3/2004 5:51:04 PM Off=Absolute motion On=Relative motion Adept_Motion_Qualifiers.0 U On=Precision Point Adept_Motion_Qualifiers.1 U 0ff=Joint-interpolate d move On=Straight-line move Adept_Motion_Qualifiers.9 U Off=Null at end of motion On=No null at end of motion Adept_Motion_Qualifiers.10
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD Page 8 6/3/2004 5:51:05 PM Step 300-Depart pick location Wait until previous motion is complete before departing. 27 EQU Equal Source A robot_step_next 0 Source B 300 NEQ Not Equal Source A robot_motion_count 26 Source B Adept_Current_Motion_Counter 27 Off=Robot in motion On=Robot finished motion Adept_Status_Bits.6
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD Page 10 6/3/2004 5:51:06 PM Issue move command Off=No effect On=Move robot Adept_Command_Bits.8
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD Page 12 6/3/2004 5:51:07 PM Off=No effect On=Move robot Adept_Command_Bits.8
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD Page 14 6/3/2004 5:51:08 PM Off=No effect On=Move robot Adept_Command_Bits.8 L 52 53 MCR Step 600-Depart place location Wait until prior motion is complete before executing the depart.
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD Page 15 6/3/2004 5:51:09 PM Off=Relative app. height On=Global app. height Adept_Motion_Qualifiers.8 U 56 Approach height (dependent on Adept_Motion Qualifier.
Move_Robot - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 64 ControlLogix_Example.ACD 59 Off=Null at end of motion On=No null at end of motion Adept_Motion_Qualifiers.10 L Page 16 6/3/2004 5:51:09 PM Off=Fine nulling On=Coarse nulling (Adept_Motion_Qu alifier.10 must be off) Adept_Motion_Qualifiers.11 L Off=Multiple rotation On=Single rotation Adept_Motion_Qualifiers.12
Move_Robot - Controller Tag Listing Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram ControlLogix_Example.ACD Tag Name Adept_Acceleration Adept_Approach_Height Adept_Command_Bits Adept_Command_Bits.0 Adept_Command_Bits.1 Adept_Command_Bits.5 Adept_Command_Bits.6 Adept_Command_Bits.7 Adept_Command_Bits.8 Adept_Command_Bits.9 Adept_Command_Bits.10 Adept_Current_Motion_Counter Adept_Location_Number Adept_Motion_Qualifiers Adept_Motion_Qualifiers.0 Adept_Motion_Qualifiers.1 Adept_Motion_Qualifiers.
Move_Robot - Tag Cross Reference Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram ControlLogix_Example.ACD Reference Scope Program Adept_Acceleration Adept_PLC_Serv MainProgram er_ControlLogix _Example Adept_Approach_He Adept_PLC_Serv MainProgram ight er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.0 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.1 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.
Move_Robot - Tag Cross Reference Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram ControlLogix_Example.ACD Reference Scope Program Adept_Motion_Quali Adept_PLC_Serv MainProgram fiers.10 er_ControlLogix _Example Adept_Motion_Quali Adept_PLC_Serv MainProgram fiers.11 er_ControlLogix _Example Adept_Motion_Quali Adept_PLC_Serv MainProgram fiers.12 er_ControlLogix _Example Adept_Motion_Quali Adept_PLC_Serv MainProgram fiers.
Move_Robot - Tag Cross Reference Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram ControlLogix_Example.ACD Reference Scope Program Adept_Status_Bits.5 Adept_PLC_Serv MainProgram er_ControlLogix _Example Adept_Status_Bits.
Reset_Faults - Ladder Diagram Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram Total number of rungs: 4 ControlLogix_Example.ACD 0 Off=No effect On=Calibrate robot Adept_Command_Bits.6 U Off=No effect On=Jog robot Adept_Command_Bits.7 U Page 1 6/3/2004 5:45:48 PM Off=No effect On=Move robot Adept_Command_Bits.8 U Off=No effect On=Download Adept_Location data to PLC Server Adept_Command_Bits.9
Reset_Faults - Tag Cross Reference Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram ControlLogix_Example.ACD Reference Scope Program Adept_Command_Bi Adept_PLC_Serv MainProgram ts.0 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.1 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.10 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.5 er_ControlLogix _Example Adept_Command_Bi Adept_PLC_Serv MainProgram ts.
PLC Server Error Messages (Numerical Listing) Error Description -3001 *System initialized and ready to run* -3002 *E-stop due to lost serial communication* -3003 *DF1 communication error: Illegal data string length* -3004 *DF1 communication error: NAK count exceeded* -3005 *DF1 communication error: ENQ count exceeded* -3006 *DF1 extended status error* Code n hex -3007 *Illegal command: More than one command bit enabled* -3008 *Only one axis bit can be set while jogging* -3009 *Cannot mix
*DF1 communication error: ENQ count exceeded* (-3005) After sending a message to the PLC, two ENQ requests have been sent without a response. *DF1 communication error: NAK count exceeded* (-3004) After sending a message to the PLC, two NAK responses have been received. *DF1 extended status error* Code n hex (-3006) After sending a message to the PLC, the response contained the extended status (EXT STS) error code shown in the message. Refer to your PLC manual for an explanation of the error codes.
*Only one axis bit can be set while jogging* (-3008) More than one robot axis or coordinate direction is selected in N30:2 or Adept_Jog_Mode, which is permitted only in FREE mode. *System initialized and ready to run* (-3001) The PLC Server has completed its initialization and is ready for operation. *Undefined location* Location n (-3015) An attempt has been made to use a location that has not been defined.
Optional Robot Equipment Installation 7.1 7 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 user flange using four M6 screws. See Figure 9-3 on page 161 for a detailed dimension drawing of the user flange. A 6 mm diameter x 12 mm dowel pin (not supplied) fits in the through hole in the user flange and can be used as a keying or antirotation device in a user-designed end-effector.
Quill shaft Socket-head screws User flange assembly Setscrew Figure 7-1. User Flange Removal Details Installing the Flange 1. Make sure the ball bearing is in the setscrew hole inside the flange. Hold it in place with your finger as you get ready to install the flange. 2. Slide the flange up on the quill shaft as far as it will go, and rotate until the setscrew is lined up with the original vertical groove. 3. Support the flange while using a 2.5 mm Allen driver to tighten the setscrew to finger tight.
7.3 User Connections on Robot User Air Lines There are five user air line connectors on the robot user panel on the back of Joint 1 (see Figure 7-2). The five air lines run through the robot up to another set of five matching connectors on the top of the outer link (see Figure 7-3). • The two larger connectors are 6 mm diameter. • The three smaller connectors are 4 mm diameter. NOT USED 4mm Air Lines User Electrical 6mm Air Lines Figure 7-2.
Specifications: • Wire size: 0.1 mm2 (12 pair, Pin Numbers 1-24) • Maximum current per line: 1 Amp 7.4 Mounting Locations for External Equipment Three locations are provided for mounting user external equipment on the robot arm. The first location is on the J1 Harness Support (top side of the inner link), a second is on the top side of the outer link, and a third is on the bottom side of the outer link. Each location has a set of four tapped holes. See Figure 9-4 on page 162 for the dimensions.
7.5 Installing Robot Solenoid Kit Introduction This procedure describes how to mount the 24V solenoid option kit on an Adept Cobra PLC robot. The solenoid kit is available as Adept P/N 02853-000. The robot has been prewired to accommodate a bank of two 24 VDC solenoid valves. Power for the internal mounting is accessible via a connector mounted inside the outer link cover (see Figure 7-4 on page 142). The signals actuating the valves are directly switchable from the PLC.
Spare air line Connector for the solenoid valves Pem nuts to mount the solenoid manifold Figure 7-4. Solenoid Mounting Bracket With Connector and Spare Air Line 4. Cut and discard the tie-wraps holding the spare air line at the top of the mounting bracket. Move the air line away to facilitate the mounting of the solenoid manifold (see Figure 7-4). 5. Mount the solenoid manifold onto the bracket using the supplied M3 x 25 mm screws and washers (see Figure 7-5 on page 143). 6.
Air intake coupling with spare air line installed Tubing connected to output port Mounting screws for solenoid assembly Figure 7-5. Solenoid Placement Using Mounting Hardware 9. Install the appropriate lengths of 5/32 inch plastic tubing (supplied) into the two output ports on the manifold. Route the tubing up along the tower bracket next to the quill and down through the center of the quill. Use tie-wraps as needed to secure the tubing. 10.
12. Locate the spare air line contained in the tubing bundle inside the front end of the cover. Remove the spare air line from the bundle. 13. Insert the spare air line into the back of the empty 6mm User Air fitting. NOTE: This 6mm User Air connector and the 6mm User Air connector at the top of Figure 7-2 on page 139 are not functional for other uses after this modification. 14.
• A nonstandard DeviceNet cable consisting of two shielded twisted pairs that connect the above connectors. Adept considers this cabling to be a drop line with a maximum total length of 6 meters and therefore uses the following wire sizes: Adept DeviceNet “thin cable” Power pairs 24 AWG (0.25 mm2) 22 AWG (0.34 mm2) Signal pairs 28 AWG (0.08 mm2) 24 AWG (0.25 mm2) Wire This means that total current on the power pairs must be limited to 2A instead of the standard 3A in a DeviceNet trunk line.
Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Maintenance 8.1 8 Periodic Maintenance Schedule Table 8-1 gives a summary of the preventive maintenance procedures, and guidelines on how often they should be performed. Table 8-1. Inspection and Maintenance Item Period Reference Check E-Stop, enable and key switches, and barrier interlocks 6 months See Section 8.2. Check robot mounting bolts 6 months See Section 8.3. Check for signs of oil around of harmonic drive area. 3 months See Section 8.
8.2 Checking of Safety Systems These tests should be done every six months. 1. Test the operation of: • E-Stop button on Front Panel • E-Stop button on MCP • Enabling switch on MCP • Auto/Manual switch on Front Panel NOTE: Operating any of the above switches should disable High Power. 2. Test the operation of any external (user supplied) E-Stop buttons. 3. Test the operation of barrier interlocks, etc. 8.3 Checking Robot Mounting Bolts Check the tightness of the base mounting bolts every 6 months.
CAUTION: Using improper lubrication products on the Adept Cobra PLC 600 or PLC800 robot may cause damage to the robot. Lubrication Procedure 1. Turn off main power to the PLC Server and robot. 2. Remove the outer link cover by removing six screws located on the sides and top of the cover. Carefully remove the cover. 3. Move Joint 3 to the top of its travel. Remove any existing grease with a soft cloth. 4.
Joint 3 Ball Screw Lubrication Points A A A Joint 3 Ball Screw Lubrication Points Lower Quill Grease Locations Upper Quill Grease Locations Quill Shaft Vertical Groove Lube Point A Vertical Groove Lube Point B Top View Looking Down NOTE: Apply grease to the three vertical grooves Vertical Groove Lube Point C and the spiral groove Section A-A Figure 8-1.
8.6 Replacing the SmartAmp AIB Chassis This procedure provides details on how to replace the SmartAmp AIB chassis on a Cobra PLC robot. CAUTION: Follow appropriate ESD procedures during the removal/replacement phases. Removing the SmartAmp AIB Chassis 1. Switch off the PLC Server. 2. Switch off the 24 VDC input supply to the chassis. 3. Switch off the 200/240VAC input supply to the chassis. 4. Disconnect the 24 VDC supply cable from the chassis +24 VDC input connector.
Figure 8-3. Opening and Removing AIB Chassis 11. Disconnect the “white” amplifier cable from the amplifier connector located on the chassis bracket. See Figure 8-4. Amplifier Connector PMAI Board J1 J11 J27 Figure 8-4. Connectors on AIB Chassis 12. Carefully disconnect the J1 cable from the J1 connector on the PMAI board, by disengaging the securing latches. 13. Carefully disconnect the J11 cable from the J11 connector on the PMAI board, by disengaging the securing latches. 14.
Figure 8-5. Ground Screw on AIB Chassis 16. Carefully remove the chassis from the robot, and place it aside. Tag it with the appropriate fault diagnosis faults/errors and robot serial number information. Installing a New SmartAmp AIB Chassis 1. Carefully remove the new chassis from its packaging, check it for any signs of damage, and remove any foreign packing materials or debris from inside the chassis. 2. Carefully place the chassis next to the robot. 3.
Groove in robot base for AIB chassis placement. Figure 8-6. Installing AIB Chassis in Robot Base 8. Carefully insert the chassis into the robot base in the groove at the bottom of the base - see Figure 8-6. Tilt the chassis up and into place against the robot, making sure that none of the cables get trapped or pinched and that the chassis O-ring is not damaged during installation. 9. Once the chassis is in place, use a 5 mm Allen key to tighten the chassis securing screw.
8.7 Replacing the Encoder Battery The data stored by the encoders is protected by a 3.6 V lithium backup battery located in the base of the robot. CAUTION: Replace battery only with 3.6 V, 8.5 Ah lithium battery, Adept part number: 02704-000. Battery information is located in the base of the robot. 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 18 months.
Encoder Battery Figure 8-7. Location of Encoder Battery 9. The battery cable assembly has two sets of connectors. Locate the secondary battery cable in the wire bundle in the base area. CAUTION: Do not short the connectors together. 10. Place the new battery next to the original one, but do not disconnect the original one. 11. Connect the new battery to the connectors on the secondary battery cable. Make sure to verify the positive and negative connections are correct. 12.
3. Remove the Front Panel from its mounting location. 4. Remove the two screws on the back of the Front Panel. 5. Carefully pull the front cover away from the body of the Front Panel. You will encounter some resistance as there are three plug-type connectors that you need to disconnect as you pull the front cover away from the body. NOTE: Separate the cover from the body slowly to avoid damaging the two wires that go between the LED and the PC board inside the body.
Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Technical Specifications 9.1 9 Robot Dimension Drawings This section shows the dimensions of the Adept Cobra PLC600 and PLC800 robots. 417 183 200 Required clearance to open AIB Chassis 934 888 46 37 387 342 177 31 Required cable clearance 600 325 0 234 0 Figure 9-1.
417 183 200 Required clearance to open AIB Chassis 918 894 46 37 394 342 31 Required cable clearance 184 Figure 9-2.
12.0 mm (0.47 in.) See Detail A 20.0 mm (0.79 in.) 3.0 mm (0.12 in.) 43 mm (1.69 in.) ∅ 41.15 mm +.03 mm –.00 mm 45˚ -A- (∅ 1.620 in.) (+.001 in.) (–.000 in.) Dowel Pin Hole ∅ 6.0 mm +.01 mm – 0 mm ∅ 63.0 mm (2.48 in.) (0.2362 in.) (+.0005 in.) (– 0 in.) -CBC 30˚ ∅ 50.0 mm (1.9685 in.) 4X M6 x 1- 6H Thru User Ground M3 X 0.5-6H ∅.10 mm (.004 in.) M A M B C M 4.14 mm (0.163 in.) 1.5 mm (0.059 in.) 6.80 mm (0.268 in.) -B- Detail A 25˚ Figure 9-3.
25 4X M4x0.7 - 6H 105 6 Inner Link External Mounting Locations 60 4X M4x0.7 - 6H Outer Link External Mounting Locations Figure 9-4.
76 - Cobra s/i600 135 - Cobra s/i800 34 90 4X M4x0.7-6H Outer Link - Bottom View 8 Figure 9-5.
Maximum Radial Reach Functional Area 600 mm (23.62 in.) Maximum Intrusion Contact Radius 645 mm (25.39 in.) 105˚ 105˚ 150˚ 150˚ Cartesian Limits 300 mm (11.8 in.) Figure 9-6. Adept Cobra PLC 600 Robot Working Envelope 164 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C Minimum Radial Reach 162.6 mm (6.40 in.
9.2 Cobra PLC600/PLC800 Internal Connections Cobra PLC Robot Internal Connections Man Man Auto Auto Force-Guided Relay Cyclic Check Control Circuit PLC Server Connections 1 2 1 2 XSLV-2 XSLV-3 XSLV-6 XSLV-7 ESTOPSRC XSLV-9 ESTOPGND XSLV-1 HPWRREQ XSLV-5 To XSYS on PLC Server Single-Phase AC Input 200-240VAC High Power to Amplifiers Force-Guided Force-Guided Figure 9-7.
9.3 XSLV Connector Table 9-1.
9.4 PLC Server Dimensions This section shows the dimensions of the PLC Server. 328.9 4.4 *S/N 3561-XXXXX* SmartServo OK SF HPE ES LAN HD SW1 1.1 NOT USED NOT USED 1.2 PLC Interface NOT USED 1 2 3 4 ON OFF 86.0 1 2 3 XDIO XUSR XFP XSYS XMCP POWER Adept PLC Server R 24VDC @5a -+ 186.5 -+ 12.1 189.1 Figure 9-8.
9.5 Adept Front Panel Dimensions 152.4 38.7 STOP 55.9 88.9 R 16.5 30 13.1 129.5 Figure 9-9.
4X M4 x 18MM 76.2 6.4 6.4 139.7 Figure 9-10.
9.6 Mechanical Specifications Table 9-2. Adept Cobra PLC600 Mechanical Specifications Reach 600 mm (23.6") Footprint 272mm (10.7 in) x 200 mm (7.9 in) Payload 2.0 kg (4.4 lb) - rated 5.5 kg (12.1 lb) - maximum Moment of Inertia Joint 4 - 450 kg-cm² (150 lb-in²) - max Downward Push Force (no load) 35 kg (77 lb) - maximum Repeatability XY: ±0.017 mm (±0.0007 in) Z: ±0.003 mm (±0.00012") Theta: ±0.019° Joint Range Joint 1: ±105° Joint 2: ±150° Joint 3: 210 mm (8.
Robot Concepts 10 10.1 Understanding Robot Motion Parameters When programming a robot, there are several factors that play an important part in performance. In order to achieve optimum performance from your robot, it is helpful to have an understanding of how these factors work. Speed, Acceleration, and Deceleration Robot speed is usually specified as a percentage of normal speed, not as an absolute velocity.
Approach and Depart When approach and depart heights are specified, the robot moves in three distinct motions. In the first motion (approach), the robot moves to a location directly above the specified location. The height above the location is specified in N30:7 or Adept_Approach_Height (see page 85). For the second motion, N30:7 or Adept_Approach_Height is set to zero, and the robot moves to the actual location and the gripper is activated.
RIGHTY LEFTY ELBOW BACK OF ROBOT Figure 10-1. Left/Right Robot Arm Configuration Continuous-Path Motion When a single motion instruction is processed, the robot begins moving toward the location by accelerating smoothly to the commanded speed. Sometime later, when the robot is close to the destination location, the robot decelerates smoothly to a stop at the location. This motion is referred to as a single motion segment, because it is produced by a single motion instruction.
Breaking Continuous-Path Operation The “basic” method of moving the robot (see page 85) causes program execution to be suspended until the current robot motion reaches its destination location and comes to a stop. This is called breaking continuous path. This method is useful when the robot must be stopped while some operation is performed (for example, closing the gripper or applying a dot of adhesive). Joint-Interpolated Motion vs.
Part Handling Considerations For part handling, settling time while trying to achieve a position can be minimized by centering the payload mass in the gripper. A mass that is offset from the tool rotation point will result in excess inertia that will take longer to settle. In addition, minimizing gripper mass and tooling weight will improve settling time. This could include using aluminum versus steel, and removing material that is not needed on tooling.
Figure 10-2. World Coordinate System Defining a Location Locations are defined using the World Coordinate System (see above) or by specifying the positions of the individual robot joints. When defining a location, each of the values described in Table 10-1 must be entered into the Location Registers (F32:0-5 or Adept_Location.0-5).
Table 10-1. Values Describing a Cartesian Location Cartesian Coordinates Coordinate Absolute Motion (see Figure 10-2) Relative Motion (see Figure 10-3) X Defines a distance (in mm) from the World origin (base of the robot) along the X axis. Defines offset distance along the X axis. The offset is added to the X component of the current position of the robot (if it is stopped) or the destination of the current motion.
Table 10-2. Values Describing a Joint Location Joint Coordinates Joint J2 J3 J4 J5 J6 178 Absolute Motion (see Figure 10-4) Relative Motion (see Figure 10-4) Defines translational (mm) or rotational (deg) position for Joint 2. For SCARA robots this is a rotational joint angle. Defines a change in translational (mm) or rotational (deg) joint position for Joint 2.
Figure 10-3. Relative Location Figure 10-4. Joint Angles 10.3 What is a Reference (Pallet) Frame? The coordinate system in Figure 10-5 has its origin at the starting location of a pallet. NOTE: N30:9, N30:10, and N30:11 values start at 0. Therefore a 3 row, 3 column, 1 layer pallet would be entered as N30:9 = 2, N30:10 = 2, N30:11 = 0. The distance between pallet locations is 40 millimeters.
If this pallet were brought into the workcell at a different location, merely updating the reference frame to reflect its new location would allow you to use any locations created relative to that frame without further modifications. Reference frames can be moved and rotated in three dimensions. In this example the reference frame is rotated exactly 90 degrees. You should note that you could move a reference frame to a point where the locations relative to that frame would be out of range for the robot.
After the above locations have been entered, the system automatically computes the orientation of the frame; in this example, the frame is a pallet frame. At this point, each part on the pallet can be referenced from the pallet origin. Note that reference frames apply to more than just pallets. However, a pallet provides a good visual starting point for understanding this concept.
Figure 10-7. Pallet X Part Location Finally, in Figure 10-8, the tool is at a point on the pallet Y axis; however, the gripper to part orientation is still the same as in Figure 10-6 and Figure 10-7. Figure 10-8.
Index Numerics 200 - 240 VAC cable, procedure for creating 58 connector 48 power to robot, connecting 56 user-supplied power supply, specifications 56 24 VDC cable, procedure for creating 54 connector 48 specifications 54 connectors, installing 60 mating connector, details 53 power cabling 60 connecting to robot 52 making cable 54 mating connector 53 specifications 53 to the PLC Server, connecting robot cable, installing 54 24VDC power supplies cautions 53 recommended 53 59 A AC power cable to robot, inst
Index C cable checks, system 79 connection PLC to PLC Server 51 robot to PLC Server 51 diagram for system 47 installing 24 VDC robot 54 pin description, PLC to PLC Server 52 procedure for creating 200-240 VAC 58 procedure for creating 24 VDC 54 to robot, installing AC power 59 cables and connectors, recommended vendors 145 warning label on encoder 23 card CompactFlash memory 45 compartment, CompactFlash memory 46 CAT-3 E-Stop circuit on XUSR and XFP connectors 66 PLC Server E-Stop diagram 66 Cautions, Note
Index Cobra PLC robot interface panel 48 installing 24 VDC 60 on AIB chassis 152 on Joint 1, user 139 on Joint 2, user 139 on robot, description 48 recommended vendors for mating cables and 145 considerations cell layout 174 mounting 174 part handling 175 performance 174 programming 175 contact alignment, lamp body 157 contacts XFP connector 64 XUSR connector 63 continuous path 173 breaking 174 moving the robot using 86 control equipment, connecting customer-supplied safety and power 63 control, remote man
Index E electrical lines user 139 in robot 139 emergency situation, what to do 35 stop circuits 67 emissions sound 32 encoder battery location of 156 replacing 155 encoder cables, warning label on 23 end-effector dowel pin 137 grounding 137 installing 137 environmental and facility requirements 39 specifications 42 equipment connecting customer-supplied 70 connecting customer-supplied safety and power control 63 for operators, safety 34 grounding, robot-mounted 63 or operators, safety 34 safety requirement
Index user Manual/Auto 69 indicators LED status 49 PLC Server 49 information documentation 19 getting help 19 shipping 37 storage 37 initializing a system 81 inner link, thermal warning label 22 input line E-Stop 68 signals 70 on XDIO 70 word bit definitions 93 inspecting the Adept equipment while unpacking 38 inspection and maintenance 147 installation 24 VDC power to robot 52 AC power to robot 59 end-effectors 137 from a three-phase AC supply, singlephase AC power 58 or operation, risks due to incorrect
Index robot status LED indicator 75 values describing a 177 location & pallet register definitions 95 lubrication Joint 3 148 ball screw 148 quill 150 procedure 149 quill 150 recommended grease for robot 148 M maintenance inspection and 147 lubricating Joint 3 148 safety aspects while performing 35 schedule, periodic 147 manual mode control, remote 69 Manual/Auto indication, user 69 mating cables and connectors, recommended vendors 145 connector details for 24 VDC 53 details for AC 58 mating details 53 me
Index registers 96 x part location 182 y part location 182 pallet frame 179 pallet frame orientation 180 panel connectors, Cobra PLC robot interface 48 mounting PLC Server 44 mounting the PLC Server 44 on robot, interface 48 robot interface 48 schematic, optional front 67 status 76 parameters, understanding robot motion 171 part handling considerations 175 location, pallet x 182 location, pallet y 182 path continuous 173 moving the robot using continuous 86 performance considerations 174 specifications, ro
Index protocol DF1 15 RSLogix 5000 channel configuration 83 Q qualification of personnel quill lubrication 150 33 R rack mounting PLC Server 43 recommended vendors for mating cables and connectors 145 reference frame, defining a 180 reference frames, the coordinate system and 175 register Adept motion qualifier command 89 Adept output signals command 88 command 84 error 95 instruction command 87 Jog Mode command 88 motion qualifier command 89 output signals command 88 pallet 96 PLC command 84 status 92
Index transportation pallet 37 transporting 32 unpacking and inspection 38 user connections 139 warning labels 22 work envelope 164 working area 33 robot-mounted equipment grounding 63 routine samples download locations 103 jog robot 109 main 97 move robot 112 reset faults 131 RS-232 connector 48 RS-422/RS-485 connector 50 RSLogix 500 channel configuration 82 RSLogix 5000 channel configuration protocol 83 serial port 83 S safeguards, precautions and required 24 safety additional information 26 and power c
Index typical AC power installation with singlephase 57 surface, mounting 40 SW1 DIP switches 50 switches, remote sensing of user E-Stop 68 switches, SW1 DIP 50 system and reference frames, the coordinate 175 cable checks 79 cable diagram 47 commissioning 78 connecting equipment to the 63 grounding the 61 initializing a 81 operating environment requirements, robot 39 start-up procedure 79 world coordinate 176 systems, checking of safety 148 electrical lines 139 E-Stop, remote sensing of 68 flange dimensio
Index XSYS connector 51 XUSR connector 51 contacts 63 Y Y part location, pallet 182 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 193
Index 194 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
P/N: 04866-000, Rev C 3011 Triad Drive Livermore, CA 94551 925•245•3400
