User`s guide

Index
190 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
protocol
DF1 15
RSLogix 5000 channel configuration 83
Q
qualification of personnel 33
quill
lubrication 150
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
register definitions
instruction command 87
location 95
pallet 96
relative location 179
release button, using the brake 77
relocation of the system, repacking for 38
remote
manual mode 69
manual mode control 69
sensing of user E-Stop switches 68
removing
AIB chassis, opening and 152
and installing the user flange 137
flange 137
SmartAmp AIB chassis 151
repacking for relocation 38
replacing
encoder battery 155
SmartAmp AIB chassis 151
required
grease for the robot 148
safeguards, precautions and 24
tools 141
requirements
environmental 39
facility 39
for additional equipment, safety 32
robot system operating 39
risk assessment 27
risks due to incorrect installation or
operation 35
robot
AC power consumption, typical 56
acceptable modifications 31
and machinery safety standards 27
arm configuration 172
arm, external tooling on top of
162
base, ground point on 61
base, installing AIB chassis in 154
cable, installing 24 VDC 54
connecting
200-240 VAC power to 56
24 VDC power to 52
dimensions 159
for oil around harmonic drive, check 148
grounding 61
intended use 30
interface panel 48
connectors 48
internal connections 165
joint motions 16
lubrication 148
procedure 149
mechanical specifications 170
modifications 31
motion parameters, understanding 171
mounting 40
bolt specifications 41
bolts, checking 148
hole pattern 40
procedure 40
moving (programming) 85
on a transportation pallet 37
overview 16
required grease 148
solenoid kit 141
installing 141
specifications 170
status LED 75
definition 75, 76
description 75
indicator location 75
status panel fault codes 76
system cable diagram 47
system operating environment
requirements 39
to PLC Server cable connections 51
tool flange dimensions 161
transport and storage 37