Cobra CPI 800 Podręcznik Użytkownika

Adept CobraPLC600/PLC800 RobotUser’s Guide(includes the Adept PLC server)

Table of Contents10 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CWhat is the World Coordinate System? . . . . . . . . . . . . . . . . . . . . .

100 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMainRoutine - Ladder Diagram Page 3MainRoutine - Ladder Diagram Page 3Adept_PLC_Server_Contro

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 101MainRoutine - Controller Tag Listing Page 4MainRoutine - Controller Tag Listing Page 4Adept_P

102 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMainRoutine - Tag Cross Reference Page 5Adept_PLC_Server_ControlLogix_Example:MainTask:MainProg

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 103Download Locations RoutineThis section shows the ladder logic and tag listings for a routine t

104 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CDownload_Locations - Ladder Diagram Page 1Download_Locations - Ladder Diagram Page 1Adept_PLC

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 105Download_Locations - Ladder Diagram Page 2Download_Locations - Ladder Diagram Page 2Adept_PL

106 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CDownload_Locations - Ladder Diagram Page 3Download_Locations - Ladder Diagram Page 3Adept_PLC

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 107Download_Locations - Controller Tag Listing Page 4Download_Locations - Controller Tag Listing

108 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CDownload_Locations - Tag Cross Reference Page 5Adept_PLC_Server_ControlLogix_Example:MainTask:M

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 109Jog Robot RoutineThis section shows the ladder logic and tag listings for a routine to jog (mo

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 11List of FiguresFigure 1-1. Adept PLC Server . . . . . . . . . . . . . . . . . . . . . . . .

110 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CJog_Robot - Ladder Diagram Page 1Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6/

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 111Jog_Robot - Tag Cross Reference Page 3Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgr

112 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMove Robot RoutineThis section shows the ladder logic and tag listings for a routine to move th

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 113Move_Robot - Ladder Diagram Page 2Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

114 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMove_Robot - Ladder Diagram Page 3Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 115Move_Robot - Ladder Diagram Page 4Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

116 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMove_Robot - Ladder Diagram Page 5Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 117Move_Robot - Ladder Diagram Page 6Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

118 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMove_Robot - Ladder Diagram Page 7Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 119Move_Robot - Ladder Diagram Page 8Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

List of Figures12 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 8-1. Lubrication of Joint 3 Quill . . . . . . . . . . . . . . . . . . .

120 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMove_Robot - Ladder Diagram Page 9Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram 6

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 121Move_Robot - Ladder Diagram Page 10Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

122 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMove_Robot - Ladder Diagram Page 11Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 123Move_Robot - Ladder Diagram Page 12Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

124 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMove_Robot - Ladder Diagram Page 13Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 125Move_Robot - Ladder Diagram Page 14Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

126 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMove_Robot - Ladder Diagram Page 15Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 127Move_Robot - Ladder Diagram Page 16Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

128 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMove_Robot - Controller Tag Listing Page 17Adept_PLC_Server_ControlLogix_Example:MainTask:Main

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 129Move_Robot - Tag Cross Reference Page 18Adept_PLC_Server_ControlLogix_Example:MainTask:MainPro

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 13List of TablesTable 1-1. Installation Overview. . . . . . . . . . . . . . . . . . . . . . . . .

130 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMove_Robot - Tag Cross Reference Page 19Adept_PLC_Server_ControlLogix_Example:MainTask:MainProg

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 131Reset Faults RoutineThis section shows the ladder logic and tag listings for a routine to rese

132 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CReset_Faults - Ladder Diagram Page 1Adept_PLC_Server_ControlLogix_Example:MainTask:MainProgram

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 1336.5 PLC Server Error MessagesThe following sections describe the error messages that are speci

134 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CPLC Server Error Messages (Numerical Listing)PLC Server Error Messages (Alphabetical Listing)*C

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 135*DF1 communication error: ENQ count exceeded* (-3005)After sending a message to the PLC, two

136 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C*Only one axis bit can be set while jogging* (-3008)More than one robot axis or coordinate dir

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 137Optional RobotEquipment Installation 77.1 Installing End-Effectors The user is responsible for

138 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 7-1. User Flange Removal DetailsInstalling the Flange1. Make sure the ball bearing is in

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 1397.3 User Connections on Robot User Air LinesThere are five user air line connectors on the rob

List of Figures14 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CTable 7-1. Air Pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . .

140 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CSpecifications:• Wire size: 0.1 mm2 (12 pair, Pin Numbers 1-24)• Maximum current per line: 1 Am

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 1417.5 Installing Robot Solenoid Kit IntroductionThis procedure describes how to mount the 24V so

142 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 7-4. Solenoid Mounting Bracket With Connector and Spare Air Line4. Cut and discard the t

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 143Figure 7-5. Solenoid Placement Using Mounting Hardware9. Install the appropriate lengths of 5/

144 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C12. Locate the spare air line contained in the tubing bundle inside the front end of the cover.

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 145• A nonstandard DeviceNet cable consisting of two shielded twisted pairs that connect the abov

146 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 147Maintenance 88.1 Periodic Maintenance ScheduleTable 8-1 gives a summary of the preventive maint

148 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C8.2 Checking of Safety SystemsThese tests should be done every six months.1. Test the operation

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 149Lubrication Procedure1. Turn off main power to the PLC Server and robot.2. Remove the outer li

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 15Introduction 11.1 Product DescriptionThe Adept Cobra PLC Robot system consists of a customer-sup

150 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 8-1. Lubrication of Joint 3 QuillJoint 3 Ball ScrewLubrication PointsNOTE:Apply grease t

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 1518.6 Replacing the SmartAmp AIB Chassis This procedure provides details on how to replace the S

152 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 8-3. Opening and Removing AIB Chassis11. Disconnect the “white” amplifier cable from the

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 153Figure 8-5. Ground Screw on AIB Chassis16. Carefully remove the chassis from the robot, and pl

154 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 8-6. Installing AIB Chassis in Robot Base8. Carefully insert the chassis into the robot

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 1558.7 Replacing the Encoder Battery The data stored by the encoders is protected by a 3.6 V lith

156 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 8-7. Location of Encoder Battery9. The battery cable assembly has two sets of connectors

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 1573. Remove the Front Panel from its mounting location.4. Remove the two screws on the back of t

158 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 159Technical Specifications 99.1 Robot Dimension Drawings This section shows the dimensions of the

16 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CNOTE: Programming of the PLC Server is not required. All application programming is done from th

160 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CRequiredclearanceto openAIB Chassis31Requiredcableclearance417183200918894394342184046378004250

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 161Figure 9-3. Tool Flange Dimensions for Adept Cobra PLC Robots4X M6 x 1- 6H ThruUser GroundSee

162 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 9-4. External Tooling on Top of Robot Arm 251054X M4x0.7 - 6H 8601054X M4x0.7 - 6H 6Inne

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 163Figure 9-5. External Tooling on Underside of Outer LinkOuter Link - Bottom View76 - Cobra s/i6

164 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 9-6. Adept Cobra PLC 600 Robot Working Envelope Maximum Radial ReachFunctional Area600 m

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 1659.2 Cobra PLC600/PLC800 Internal ConnectionsFigure 9-7. Adept Cobra PLC600/PLC800 Internal Con

166 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C9.3 XSLV ConnectorTable 9-1. XSLV Connector PinoutPin # Description Comment Pin Location1 ESTOP

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 1679.4 PLC Server DimensionsThis section shows the dimensions of the PLC Server.Figure 9-8. PLC S

168 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C9.5 Adept Front Panel DimensionsFigure 9-9. Adept Front Panel DimensionsSTOPR152.488.9129.513.1

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 169Figure 9-10. Adept Front Panel Back View76.2139.76.46.44X M4 x 18MM

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 17SoftwareThe PLC Server software – used to provide seamless communication between the PLC and th

170 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C9.6 Mechanical Specifications Table 9-2. Adept Cobra PLC600 Mechanical SpecificationsReach 600

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 171Robot Concepts 1010.1 Understanding Robot Motion ParametersWhen programming a robot, there are

172 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CApproach and DepartWhen approach and depart heights are specified, the robot moves in three dis

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 173Figure 10-1. Left/Right Robot Arm Configuration Continuous-Path MotionWhen a single motion ins

174 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CBreaking Continuous-Path Operation The “basic” method of moving the robot (see page 85) causes

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 175Part Handling ConsiderationsFor part handling, settling time while trying to achieve a positio

176 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 10-2. World Coordinate SystemDefining a LocationLocations are defined using the World Co

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 177Table 10-1. Values Describing a Cartesian LocationCoordinateCartesian CoordinatesAbsolute Moti

178 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CJ2Defines translational (mm) or rotational (deg) position for Joint 2. For SCARA robots this is

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 17910.3 What is a Reference (Pallet) Frame?The coordinate system in Figure 10-5 has its origin at

18 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C1.2 Installation Overview The system installation process is summarized in the following table.

180 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CIf this pallet were brought into the workcell at a different location, merely updating the refe

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 181After the above locations have been entered, the system automatically computes the orientation

182 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 10-7. Pallet X Part LocationFinally, in Figure 10-8, the tool is at a point on the palle

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 183Numerics200 - 240 VACcable, procedure for creating 58connector 48power to robot, connecting 56u

Index184 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CCcablechecks, system 79connectionPLC to PLC Server 51robot to PLC Server 51diagram for sys

IndexAdept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 185Cobra PLC robot interface panel 48installing 24 VDC 60on AIB chassis 152on Joint 1, user 1

Index186 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CEelectrical linesuser 139in robot 139emergencysituation, what to do 35stop circuits 67emis

IndexAdept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 187user Manual/Auto 69indicatorsLED status 49PLC Server 49informationdocumentation 19getting

Index188 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev Crobot status LED indicator 75values describing a 177location & pallet register definit

IndexAdept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 189registers 96x part location 182y part location 182pallet frame 179pallet frame orientation

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 19In the Download Types search box, select Regulatory Certificates to find the document, which yo

Index190 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CprotocolDF1 15RSLogix 5000 channel configuration 83Qqualification of personnel 33quilllubr

IndexAdept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 191transportation pallet 37transporting 32unpacking and inspection 38user connections 139warn

Index192 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev Ctypical AC power installation with single-phase 57surface, mounting 40SW1 DIP switches 50s

IndexAdept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 193XSYS connector 51XUSR connector 51contacts 63YY part location, pallet 182

Index194 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C

3011 Triad DriveLivermore, CA 94551925•245•3400P/N: 04866-000, Rev C

20 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 21Safety 22.1 Dangers, Warnings, Cautions, and Notes in ManualThere are six levels of special aler

22 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C2.2 Warning Labels on the RobotFigure 2-1 and Figure 2-2 show the warning labels on the Adept Co

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 23Figure 2-3. Warning Label on Encoder CablesWARNING: When the Outer link cover is removed, you s

24 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C2.3 Precautions and Required Safeguards This manual must be read by all personnel who install, o

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 25Impact and Trapping Points Adept robots are capable of moving at high speeds. If a person is st

26 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CAdditional Safety Information The standards and regulations listed in this handbook contain addi

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 272.4 Risk Assessment Without special safeguards in its control system, the Adept robot could inf

28 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CExposureWhen Arm Power is on, all personnel must be kept out of the robot work envelope by inter

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 29The Risk Assessment for teaching this product depends on the application. In many applications,

Adept CobraPLC600/PLC800 RobotUser’s Guide(includes the Adept PLC server)P/N: 04866-000, Rev CThis manual must be read by all personnel who install, o

30 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C2.5 Intended Use of the Robots The installation and use of Adept products must comply with all s

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 31If there is any doubt concerning the application, ask Adept to determine if it is an intended u

32 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C2.7 TransportAlways use adequate equipment to transport and lift Adept products. See Chapter 3 f

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 332.10 Thermal Hazard2.11 Working Areas Adept robots have a Manual and an Automatic (AUTO) operat

34 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CAll personnel must observe sound safety practices during the installation, operation, and testin

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 352.15 Safety Aspects While Performing Maintenance Only skilled persons with the necessary knowle

36 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 37Equipment Installation 33.1 Transport and StorageThis equipment must be shipped and stored in a

38 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C3.2 Unpacking and Inspecting the Adept EquipmentBefore UnpackingCarefully inspect all shipping c

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 393.4 Environmental and Facility RequirementsThe Adept robot system installation must meet the op

The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written appr

40 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C3.5 Mounting the Robot Mounting SurfaceThe Adept Cobra PLC robot is designed to be mounted on a

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 412. While the robot is still bolted to the transportation pallet, connect the hydraulic lift to

42 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C3.6 PLC Server InstallationThis equipment must be shipped and stored in a temperature-controlled

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 43Mounting the PLC Server The following mounting options are available for the PLC Server:• Rack•

44 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CPanel Mounting the PLC ServerTo panel mount the PLC Server, install two brackets on each side at

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 45Table Mounting the PLC ServerTo table mount the PLC Server, install two brackets on each side n

46 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CInstalling CompactFlashTo install a CompactFlash (CF) into a PLC Server:1. Make sure that the PL

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 47Wiring the System 44.1 System Cable Diagram Figure 4-1. System Cable Diagram for Adept Cobra PLC

48 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C4.2 Cobra PLC Robot Interface Panel ConnectorsFigure 4-2. Robot Interface Panel24 VDC - for conn

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 494.3 PLC Server Connectors and IndicatorsFigure 4-3. Adept PLC ServerAll the connectors on the P

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 5Table of Contents1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CIf the PLC Server displays any of the above errors, cycle the power off, then on again. If the p

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 519. XDIO connectorThis connector includes 20 signal pairs; 8 digital outputs (100 mA max) and 12

52 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CThe PLC's RS-232 communication port must be configured to use:• DF1 Full Duplex driver•no p

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 53Specifications for 24 VDC Power NOTE: Fuse information is located on the AIB electronics.The po

54 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CProcedure for Creating 24 VDC Cable 1. Locate the connector and pins from Table 4-6 on page 54.

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 55Figure 4-4. User-Supplied 24 VDC CableNOTE: In order to maintain compliance with EN standards,

56 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C4.7 Connecting 200-240 VAC Power to Robot Specifications for AC Power NOTE: The Adept robot syst

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 57Facility Overvoltage ProtectionThe user must protect the robot from excessive overvoltages and

58 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 4-6. Single-Phase AC Power Installation from a Three-Phase AC SupplyDetails for AC Mating

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 598. Tighten the screws on the cable clamp.9. Replace the cover and tighten the screw to seal the

Table of Contents6 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C2.12 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . .

60 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CNOTE: The power requirements for the user-supplied power supply will vary depending on the confi

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 615. Insert the stripped end of the wire into the right-hand lower opening, then remove the screw

62 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 4-9. Ground Point on Robot BasePLC Server GroundingThe PLC Server is equipped with a grou

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 63Robot-Mounted Equipment Grounding The following parts of an Adept Cobra PLC600/PLC800 robot are

64 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C4,17Line E-Stop (Same as pins 3 and 16. See above comment.)N/C contacts Yes5,18Muted safety gate

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 654,12Remote MANUAL/AUTOMATIC switch CH 2. MANUAL = Open AUTOMATIC = Closed6,14 Remote High Pow

66 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 4-11 shows an E-Stop diagram for the CAT-3 version of the Adept PLC Server.Figure 4-11. C

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 67Figure 4-12. Optional Front Panel SchematicEmergency Stop CircuitsThe PLC Server provides conne

68 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CUser E-Stop Indication - Remote Sensing of E-StopTwo pairs of pins on the XUSR connector (pins 7

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 69Remote Manual ModeThe Front Panel provides for a Manual Mode circuit (see Figure 4-11 on page 6

Table of ContentsAdept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 7Specifications for AC Power . . . . . . . . . . . . . . . . . . . . . . . . .

70 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C4.11 Connecting Customer-Supplied Digital I/O EquipmentThe PLC Server provides capability for In

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 71NOTE: The input current specifications are provided for reference; voltage sources are typicall

72 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CFigure 4-14 shows two examples of different connections to the digital outputs on the XDIO conne

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 73NOTE: These are examples. Either method can be used, in any combination, on any channel. Also,

74 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CTable 4-15. XDIO Digital I/O Connector Pin AssignmentsPin Signal Pin Signal Pin Signal Pin Signa

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 75System Operation 55.1 Robot Status LED Description The robot Status LED Indicator is located on

76 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C5.2 Status Panel Fault Codes The Status panel, shown in Figure 5-2, displays alpha-numeric codes

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 77For more information on status codes, go to the Adept Document Library on the Adept website, an

78 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C5.4 Commissioning the System Turning on the robot system for the first time is known as “commiss

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 79System Cable ChecksVerify the following connections (see Section 4.4 on page 51 for details):•

Table of Contents8 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C6 Programming the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . .

80 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 81Programming the Robot 66.1 PLC Server Software OverviewThe Adept PLC Server communicates with th

82 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CRSLogix 500Figure 6-1. RSLogix 500 Channel configuration

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 83RSLogix 5000Figure 6-2. RSLogix 5000 Channel configuration (Protocol)Figure 6-3. RSLogix 5000 C

84 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C6.3 PLC Software OverviewNOTE: Throughout this section, you will see references to RSLogix 500 r

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 85Moving the RobotThis section describes the “basic” steps for moving the robot. The method descr

86 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C3. Load N30:6 with the number of the location to be moved to (see page 95 for details).4. Set th

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 87Instruction Command RegisterThe table below describes the Instruction command register definiti

88 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev COutput Signals Command RegisterThe table below describes the Output Signals command registerTabl

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 89Only one of the jog-mode bits (bits 0-3) can be on at a time. When World, Tool, or Joint mode i

Table of ContentsAdept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 9Recommended Vendors for Mating Cables and Connectors. . . . . . . . . 1458 Main

90 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CThe motion qualifier bits are used to define the characteristics of the next motion whenever a m

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 91Bit 7 selects the acceleration profile that will be used to start and end the motion. The trape

92 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CWhen a motion is commanded, the speed and acceleration parameters must be greater than 0 (except

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 93Input Word Bit DefinitionsThe following table describes the Input Word bit definitions.Table 6-

94 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CCurrent Motion CounterThe current motion counter (N31:2 or Adept_Current_Motion_Counter) is incr

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 95When teaching locations, it is up to the programmer or system developer to create a method for

96 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C3. Turn on the “define location” command bit (N30:0/9 or Adept_Command_Bits.9)4. Wait for the “c

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 97Main RoutineThis section shows the ladder logic and tag files for a main routine of a pick-and-

98 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev CMainRoutine - Ladder Diagram Page 1MainRoutine - Ladder Diagram Page 1Adept_PLC_Server_Control

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 99MainRoutine - Ladder Diagram Page 2MainRoutine - Ladder Diagram Page 2Adept_PLC_Server_Contro