User`s guide

Index
188 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
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
mechanical
checks 78
specifications 170
memory card
CompactFlash 45
compartment 46
messages
(alphabetical listing), PLC Server
error 134
(numerical listing), PLC Server error 134
PLC Server error 133
micro-style connector pinouts for
DeviceNet 145
Mode command register, Jog 88
mode control, remote manual 69
mode, remote manual 69
modifications
acceptable 31
robot 31
unacceptable 31
motion
counter, current 94
parameters, understanding robot 171
qualifier command register 89
straight-line motion vs. joint-
interpolated 174
motion qualifier command register 89
motions, robot joint 16
mounting
bolt torque specifications 41
bolts, checking robot 148
bracket with connector and spare air line,
solenoid 142
considerations, for robot 174
hardware, solenoid placement using 143
hole pattern for robot 40
locations for external equipment 140
PLC Server 43
in panel 44
in rack 43
on table 45
procedure, robot 40
surface 40
moving
robot (programatically)
using continuous path 86
robot (programmatically) 85
muted safety gate E-Stop circuitry 68
N
Notes, Cautions, and Warnings in manual 21
O
oil around harmonic drive, check robot
for 148
operating environment requirements, robot
system 39
operation
breaking continuous-path 174
protection against unauthorized 34
risks due to incorrect installation 35
operators, safety equipment for 34
optional front panel schematic 67
orientation, pallet frame 180
origin, pallet frame 181
outer link, external tooling on underside
of 163
output signals 71
command register 88
on XDIO 71
output signals command register 88
overvoltage protection, facility 57
P
pallet
Cobra PLC600/800 robot on a
transportation 37
frame origin 181
register definitions 96