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Chapter 2: Robot Installation
Mounting Procedure
l
Always use at least two people, and preferably three, to mount the robot.
l
The robot should be in the folded position when lifting. See the following figure.
183.2
278
500
778
Figure 2-3. Robot in Folded Position
WARNING: Do not attempt to extend the inner or outer links of the robot until the robot has been secured in position. Failure to comply could result in the robot falling and causing either personnel injury or equipment damage.
Standard
Metric
SAE
Table 2-2. Mounting Bolt Torque Specifications
Size Specification Torque
M12 x P1.75
ISO Property Class 8.8
7/16-14 UNC SAE J429 Grade 5 or
ASTM A449
85 N
· m
65 ft-lbf
1. Using the dimensions shown in Figure 2-2, drill and tap the mounting surface for four
M12 - 1.75 x 36 mm (or 7/16 - 14 UNC x 1.50 in.) machine bolts (bolts not provided).
See the previous table for bolt and torque specifications.
2. Remove the four screws on top of the wooden robot base protection box (see Figure 2-4).
l
Remove the robot base protection box.
l
Retain the four screws and box for possible later relocation of the equipment.
Adept Cobra s800 Inverted Robot User's Guide, Rev H1
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Chapter 2: Robot Installation
Figure 2-4. Robot on a Transportation Pallet
3. While the robot is still bolted to the transportation pallet, use a forklift or other mechanical lifting device to lift the robot and position it directly under the mounting surface. Make sure that one person watches the robot carefully as it is lifted and transported, to ensure it does slip or become unbalanced.
WARNING: The center of mass of the robot may cause the robot to fall over if the robot is not secured to the pallet.
4. Slowly lift the robot while aligning the base and the tapped mounting holes in the mounting surface.
5. Install, but do not tighten, the user-supplied mounting bolts and washers.
CAUTION: The base casting of the robot is aluminum and can easily be dented if bumped against a harder surface.
NOTE: Verify that the robot is mounted squarely (will not rock back and forth) before tightening the mounting bolts.
6. Remove the bolts securing the robot to the pallet.
l
Retain these bolts for possible later relocation of the equipment.
l
Move the pallet out of the way.
7. Tighten the user-supplied mounting bolts to the torque specified in Table 2-2.
Adept Cobra s800 Inverted Robot User's Guide, Rev H1
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Chapter 2: Robot Installation
NOTE: Check the tightness of the mounting bolts one week after installation, and
then recheck every 6 months. See Maintenance on page 55 for periodic
maintenance.
2.6 Connectors on Robot Interface Panel
Figure 2-5. Robot Interface Panel—AIB and eAIB
The following connections are the same for both the AIB and the eAIB:
24 VDC: for connecting user-supplied 24 VDC power to the robot. The mating connector is provided.
Ground Point: for connecting cable shield from user-supplied 24 VDC cable.
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Chapter 2: Robot Installation
200/240 VAC: for connecting 200-240 VAC, single-phase, input power to the robot. The mating connector is provided.
SmartServo x2 (IEEE 1394): for connecting the IEEE 1394 cable from the controller (SmartServo
Port 1.1) to the robot amplifier. The other SmartServo connector can be used to connect to a second robot or another 1394-based motion axis.
XIO: for user I/O signals for peripheral devices. This connector provides 8 outputs and 12
inputs. See Using Digital I/O on Robot XIO Connector on page 45 for connector pin allocations
for inputs and outputs. That section also contains details on how to access these I/O signals via V+/eV+. (DB26, high density, female)
The following connections are different on the AIB and the eAIB:
XSYSTEM (eAIB only): includes the functions of the XPANEL and XSLV on the AIB. This requires either an adapter cable to connect to the XSYS cable, or an eAIB XSYS cable, which
XPANEL (DB26, high density, male; AIB only): used only with Cobra i-series robots, for connecting the front panel and MCP circuit.
XSLV (DB-9, female; AIB only): for connecting the supplied XSYS cable from the controller
XSYS connector.
XBELTIO (eAIB only): adds two belt encoders, EXPIO at the back of the robot (which is not available on an AIB), and an RS-232 interface.
RS-232 (DB-9, male; AIB only): used only with Cobra i-series robots, for connecting a system terminal.
Ethernet x2 (eAIB only): these are not used with the SmartController CX, and are not currently used with the SmartController EX.
Adept Cobra s800 Inverted Robot User's Guide, Rev H1
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Chapter 3: System Installation
3.1 System Cable Diagram
Adept
SmartController
R
CAMERA
OK
SF
HPE
ES
LAN
HD
1 2 3
SW1
1 2 3 4
ON
OFF
XDIO
SmartServo
1.1
1.2
IEEE-1394
2.1
2.2
Device Net
XUSR
Eth 10/100
BELT ENCODER
XSYS XFP
RS-232/TERM
RS-232-1
XMCP
RS-422/485
*S/N 3562-XXXXX*
RS-232-2
XDC1 XDC2
24V 5A
-+ -+
Terminator
Installed
User-Supplied Ground Wire
XSYS/eAIB XSYS Cable
Controller (XSYS) to
AIB/eAIB (XSLV/XSYSTEM)
Controller (XFP) to
Front Panel (XFP)
IEEE 1394 Cable
Controller SmartServo (Port 1.1) to
AIB/eAIB SmartServo
STOP
24 VDC Power to
Controller (XDC1)
R
Front Panel
Controller (XMCP) to Pendant
User-Supplied
Ground Wire
Adept Cobra s800
Inverted Robot
Pendant
(optional)
24 VDC Power to Robot
(+24 VDC Input)
User-Supplied PC running
Adept ACE software
User-Supplied
24 VDC Power
Supply
Figure 3-1. System Cable Diagram—AIB Shown
User-Supplied
200-240 VAC, single-phase
NOTE: See Installing 24 VDC Robot Cable on page 32 for additional system
grounding information.
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Chapter 3: System Installation
3.2 Cable and Parts List
Table 3-1. Cable and Parts List
Part Description
IEEE 1394 Cable, 4.5 M
XSYS Cable, AIB only, 4.5 M
eAIB XSYS Cable, 4.5 M
eAIB XSLV Adapter Cable,
250 mm
Front Panel Cable, 3 M
T1/T2 Pendant Adapter Cable
Notes
Standard cable— supplied with system
Standard cable— supplied with AIB system
Standard cable— supplied with eAIB system
Standard adapter cable for AIB-eAIB upgrade
Supplied with Front
Panel
Supplied with Adept
T2™ pendant (option)
Available as option Power Cable Kit - contains
24 VDC and AC power cables
XIO Breakout Cable, 12 inputs/
8 outputs, 5 M
Y Cable, for XSYS cable connections to dual robots— requires two eAIB XSLV cables for an eAIB
Available as option—see
XIO Breakout Cable on page 50.
Available as option—see
Adept Dual-Robot
Configuration Procedure
.
3.3 Installing the SmartController
Refer to the
Adept SmartController User's Guide
for complete information on installing the Adept
SmartController. This list summarizes the main tasks.
1. Mount the SmartController and Front Panel.
WARNING: Ensure that the front panel is located outside of the workcell and outside of the work envelope.
2. Connect the Front Panel to the SmartController.
3. Connect the pendant, if purchased, to the SmartController.
Adept Cobra s800 Inverted Robot User's Guide, Rev H1
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