User`s guide

Index
192 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
typical AC power installation with single-
phase 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
T
table mounting
PLC Server 45
thermal hazard 33
thermal warning label 22
tool flange dimensions 161
tooling
on top of robot arm, external 162
on underside of outer link, external 163
tools required for solenoid kit installation 141
top of robot arm, external tooling on 162
torque specifications, mounting bolt 41
transport and storage, overview 37
transportation pallet, robot 37
transporting the robot 32
trapezoid vs. s-curve acceleration profile. 91
trapping points 25
U
unpacking
information 38
inspecting Adept equipment 38
PLC Server 42
user
air lines 139
air lines, in robot 139
connections on robot 139
connector
connecting spare air line to 143
connectors
Joint 1 139
Joint 2 139
electrical lines 139
E-Stop, remote sensing of 68
flange
dimensions 161
removing and installing the 137
High Power ON indication 69
Manual/Auto indication 69
user-supplied
24 VDC cable 55
power supply
specifications for 200 - 240 VAC 56
specifications for 24 VDC 53
safety equipment checks 79
V
vendors for mating cables and connectors,
recommended 145
verifying
E-Stop functions 79
installation 78
W
warning label
AIB chassis, electrical and thermal 22
encoder cables 23
location 22
robot 22
underside of inner link, thermal 22
Warnings, Cautions, and Notes in manual 21
word bit definitions
input 93
status 92
work envelope
Cobra PLC600 164
World Coordinate System 176
X
X part location, pallet 182
XDIO connector 51
digital output wiring 73
functions 70
input signals 70
output signals 71
XDIO digital I/O connector pin 74
XDIO digital I/O connector pin
assignments 74
XFP connector 51
contacts 64
XIO connector 48
XMCP connector 51
XPANEL connector 48
XSLV connector 48