User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 79
System Cable Checks
Verify the following connections (see Section 4.4 on page 51 for details):
• Front Panel to the PLC Server.
•PLC to PLC Server.
• User-supplied 24 VDC power to the PLC Server.
• User-supplied 24 VDC power to the Cobra PLC robot.
• User-supplied ground wire between the PLC Server and ground.
• User-supplied ground wire between the Cobra PLC robot and ground.
• User-supplied ground wire between the PLC and ground.
• IEEE 1394 cable into the SmartServo port 1.1 connector on the PLC Server, and the
other end into the SmartServo port 1 connector on the robot interface panel.
• XSYS cable between the robot interface panel XSLV safety interlock connector and
XSYS connector on the PLC Server.
• User-supplied 200/240 VAC power to the robot 200/240VAC connector.
• (Optional) User-supplied PLC Interface to PLC.
• (Optional) User-supplied desktop or notebook PC to PLC.
User-Supplied Safety Equipment Checks
Verify that all user-supplied safety equipment and E-Stop circuits are installed correctly.
System Start-up Procedure
Once the system installation has been verified, you are ready to start up the system.
1. Switch on the 200/240VAC power.
2. Switch on the 24 VDC power to the robot.
3. Switch on the 24 VDC power to the PLC Server. The PLC server software will start
automatically when the PLC Server is done booting.
4. Switch on the user-supplied PLC and any optional user-supplied equipment.
5. Wait for the system to complete the boot cycle.
6. The system is ready for operation.
Verifying E-Stop Functions
Verify that all E-Stop devices are functional (Front Panel, and user-supplied). Test each
mushroom button, safety gate, light curtain, etc., by enabling High Power and then
opening the safety device. The High Power push button/light on the Front Panel should
go out.