User`s guide

Index
186 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
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 requirements for additional 32
to the system, connecting 63
unpacking and inspecting the Adept 38
error messages
(alphabetical listing), PLC Server 134
(numerical listing), PLC Server 134
PLC Server 133
error register 95
E-Stop
circuitry
muted safety gate 68
functions, verifying 79
indication - remote sensing of E-Stop,
user 68
input, line 68
switches, remote sensing of user 68
user E-Stop indication - remote
sensing 68
Ethernet connector 50
external equipment, mounting 140
external tooling
on top of robot arm 162
on underside of outer link 163
F
facility overvoltage protection 57
facility requirements, environmental 39
fault codes, on diagnostic panel 76
flange
dimensions, tool 161
installing 138
removing 137
frame
defining a reference 180
orientation, pallet 180
origin, pallet 181
reference 179
frames, the coordinate system and
reference 175
front panel
dimensions 168
rear view 169
schematic, optional 67
functions, verifying E-Stop 79
G
getting additional help 19
grease for the robot, required 148
gripper orientation 181
ground
chassis 62
point on robot base 62
screw on AIB chassis 153
ground point, on robot interface panel 48
grounding
PLC Server 62
robot-mounted equipment 63
system 61
H
harmonic drive, check robot for oil
around 148
hazard, thermal 33
help, getting additional 19
High Power
indicator 156
changing the lamp 156
I
I/O
connector pin assignments, XDIO
digital 74
equipment, connecting customer-supplied
digital 70
impact and trapping points 25
incorrect installation or operation, risks 35
indication
remote sensing of E-Stop 68
user High Power ON 69