Document Outline

• DOCUMENT LIBRARY
• Adept Cobra i600/i800 Robot User’s Guide
  • Table of Contents
  • List of Figures
• Introduction
  • 1.1 Product Description
    • Adept Cobra i600/i800™ Robots
    • Adept Amps-in-Base (AIB™)
  • 1.2 Dangers, Warnings, Cautions, and Notes
  • 1.3 Safety Precautions
  • 1.4 What to Do in an Emergency Situation
  • 1.5 Additional Safety Information
    • Manufacturer’s Declaration of Compliance (MDOC)
    • Adept Robot Safety Guide
  • 1.6 Intended Use of the Robots
  • 1.7 Installation Overview
  • 1.8 Manufacturer’s Declaration
  • 1.9 How Can I Get Help?
    • Related Manuals
    • Adept Document Library
• Robot Installation
  • 2.1 Transport and Storage
  • 2.2 Unpacking and Inspecting the Adept Equipment
    • Before Unpacking
    • Upon Unpacking
  • 2.3 Repacking for Relocation
  • 2.4 Environmental and Facility Requirements
  • 2.5 Mounting the Robot
    • Mounting Surface
    • Robot Mounting Procedure
  • 2.6 Connectors on the Robot Interface Panel
• System Installation
  • 3.1 Cable and Parts List
  • 3.2 System Cable Diagram
  • 3.3 Cable Connections to the Robot
    • Installing AIB XPANEL Cable
    • Installing Peripherals and Options
  • 3.4 Connecting User-Supplied PC to Robot
    • PC Requirements
      • Hardware
      • Software
    • Installing Serial Cable
  • 3.5 Installing Adept ACE Software
  • 3.6 Connecting 24 VDC Power to Robot
    • Specifications for 24 VDC Power
    • Connecting 24 VDC
      • 24 VDC Mating Connector
      • Creating 24 VDC Cable
      • Installing 24 VDC Robot Cable
      • Creating AC Cable to 24 VDC Power Supply
  • 3.7 Connecting 200-240 VAC Power to Robot
    • Specifications for AC Power
      • Facility Overvoltage Protection
      • AC Power Diagrams
    • Details for AC Mating Connector
    • Procedure for Creating 200-240 VAC Cable
    • Installing AC Power Cable to Robot
  • 3.8 Grounding the Adept Robot System
    • Ground Point on Robot Base
    • Robot-Mounted Equipment Grounding
  • 3.9 Installing User-Supplied Safety Equipment
• System Operation
  • 4.1 Robot Status LED
  • 4.2 Status Panel Fault Codes
  • 4.3 Using the Brake Release Button
    • Brakes
    • Brake Release Button
  • 4.4 Front Panel
  • 4.5 Connecting Digital I/O to the System
  • 4.6 Using Digital I/O on Robot XIO Connector
    • XIO Connector
    • XIO Input Signals
      • XIO Input Specifications
      • Typical Input Wiring Example
    • XIO Output Signals
      • XIO Output Specifications
      • Typical Output Wiring Example
    • XIO Breakout Cable
  • 4.7 Connecting Customer-Supplied Safety and Power Control Equipment
    • Connecting Equipment to the System
    • Emergency Stop Circuits
      • Muted Safety Gate E-Stop Circuitry
    • Remote Manual Mode
    • Remote High Power On/Off Control
    • High Power On/Off Lamp
    • Remote Front Panel or User-Supplied Replacement
  • 4.8 Turning On the System
    • Verifying Installation
      • Mechanical Checks
      • System Installation Checks
      • User-Supplied Safety Equipment Checks
    • Turning on Power and Starting Adept ACE
    • Enabling High Power
      • Using Adept ACE to Enable High Power
    • Verifying E-Stop Functions
  • 4.9 Learning to Program the Adept Cobra i-Series Robot
• Maintenance
  • 5.1 Field-replaceable Parts
  • 5.2 Periodic Maintenance Schedule
  • 5.3 Checking Safety Systems
  • 5.4 Checking Robot Mounting Bolt Torque
  • 5.5 Checking Robot for Oil Around Harmonic Drive
  • 5.6 Lubricating Joint 3 Ball Screw/Spline
    • Required Grease for the Robot
    • Lubrication Procedure
  • 5.7 Replacing the AIB Chassis
    • Removing the AIB Chassis
    • Installing a New AIB Chassis
  • 5.8 Replacing Encoder Battery
    • Battery Replacement Time Periods
    • Battery Replacement Procedure
• Optional Equipment Installation
  • 6.1 Installing End-Effectors
  • 6.2 Removing and Installing the Tool Flange
    • Removing the Flange
    • Installing the Flange
  • 6.3 User Connections on the Robot
    • User Air Lines
    • User Electrical Lines
  • 6.4 Internal User Connectors
    • SOLND Connector
    • OP3/4 Connector
    • EOAPWR Connector
    • Internal User Connector Output Specifications
    • ESTOP Connector
      • Procedure to Enable Breakaway E-Stop Function
  • 6.5 Mounting Locations for External Equipment
  • 6.6 Installing the Robot Solenoid Kit
    • Introduction
    • Tools Required
    • Procedure
  • 6.7 Installing Adjustable Hardstops
    • Joint 1 Adjustable Hardstops
      • Installation Procedure
      • Modifying Joint Limit Softstop Locations for Joint 1
    • Joint 2 Adjustable Hardstops
      • Installation Procedure
      • Modifying Joint Limit Softstop Locations for Joint 2
• Technical Specifications
  • 7.1 Dimension Drawings
  • 7.2 Robot Specifications
• Cleanroom Robots
  • 8.1 Cobra i600/i800 Cleanroom Option
    • Introduction
    • Specifications
  • 8.2 Connections
  • 8.3 Requirements
  • 8.4 Exclusions and Incompatibilities
  • 8.5 Maintenance
    • Bellows Replacement
    • Lubrication
• Index