User`s guide

16 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
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.
NOTE: The descriptions and instructions in this manual apply to both the
Cobra PLC600 and the Cobra PLC800, except for instances where there is
a difference, as in dimension and work envelope drawings. In those cases
the information is presented for both robots.
Figure 1-2. Adept Cobra PLC800 Robot
Figure 1-3. Robot Joint Motions
Joint 1
Inner
Link
Outer
Link
Joint 2
Joint 4
Joint 3