Adept Cobra s350 Robot - Omron Automation Americasproducts.omron.us/Asset/Omron-Adept-Cobra_s350_UG_EN...Adept Cobra s350 Robot User's Guide TableofContents Chapter1:Introduction 9

Adept Cobra s350 RobotUser's Guide

Table of Contents

Chapter 1: Introduction 91.1 Product Description 9Adept Cobra s350™ Robots 9Adept SmartController 10Adept MotionBlox-40R 11

1.2 Dangers, Warnings, Cautions, and Notes 121.3 Intended Use of the Robot 131.4 Safety Precautions 131.5 What to Do in an Emergency Situation 131.6 Additional Safety Information 13Manufacturer’s Declaration of Conformity (MDOC) 14Adept Robot Safety Guide 14

1.7 Installation Overview 141.8 Manufacturer’s Declaration 151.9 How Can I Get Help? 15Related Manuals 16Adept Document Library 16

Chapter 2: Robot Installation 172.1 Transport and Storage 172.2 Unpacking and Inspecting the Adept Equipment 17Before Unpacking 17Upon Unpacking 17

2.3 Repacking for Relocation 172.4 Environmental andFacility Requirements 182.5 Mounting the Robot 18Mounting Surface 19Robot Mounting Procedure 20

Chapter 3: System Cable Installation 233.1 System Cable Diagram 233.2 Cable List 243.3 Installing the SmartController 243.4 Installing the Adept ACE Software 253.5 Connecting the PC to the SmartController 25

Adept Cobra s350 User's Guide, Rev. DPage 5 of 94

3.6 Cable Connections from MB-40R/eMB-40R to SmartController 253.7 Cable Connections from MB-40R/eMB-40R to Robot 26Installing the Arm Power/Signal Cable 26

3.8 Connecting 24 VDC Power to MB-40R/eMB-40R Servo Controller 26Specifications for 24 VDC Power 26Details for 24 VDC Mating Connector 27Procedure for Creating 24 VDC Cable 28Installing the 24 VDC Cable 28

3.9 Connecting 200-240 VAC Power to MB-40R/eMB-40R 29Specifications for AC Power 30Details for AC Mating Connector 31Procedure for Creating 200-240 VAC Cable 32Installing AC Power Cable to MB-40R/eMB-40R 32

3.10 Grounding the Adept Robot System 33Ground Point on Robot Base 33Ground Point on MotionBlox-40R 33Robot-Mounted Equipment Grounding 34

3.11 Installing User-Supplied Safety Equipment 34

Chapter 4: MotionBlox-40R 354.1 Introduction 354.2 Description of Connectors on MB-40R/eMB-40R Interface Panel 364.3 MB-40R/eMB-40R Operation 37Status LED on MB-40R/eMB-40R 37Status Panel 38Brake Release Button on MB-40R/eMB-40R 39Brake Release Connector 40

4.4 Connecting Digital I/O to the System 404.5 Using Digital I/O on MB-40R/eMB-40R XIO Connector 42Optional I/O Products 44XIO Input Signals 44XIO Output Signals 46XIO Breakout Cable 47

4.6 MB-40R/eMB-40R Dimensions 494.7 Mounting the MB-40R/eMB-40R 50Panel-Mounting the MB-40R/eMB-40R 50

Chapter 5: System Operation 515.1 Status Panel Codes 515.2 Brakes 51Brake Release Button 51

5.3 Front Panel 52


5.4 Initial Power-up of the System 53Verifying Installation 53System Start-up Procedure 54Running the Adept ACE Software 55Enabling High Power 55Verifying E-Stop Functions 56Verify Robot Motions 56

5.5 Learning to Program the Adept Cobra s350 Robot 56

Chapter 6: Optional Equipment Installation 576.1 Installing End-Effectors 576.2 Removing and Reinstalling the Tool Flange 57Removing the Flange 57Reinstalling the Flange 58

6.3 User Connections on Robot 58User Air Lines 58User Electrical Lines 59Optional Solenoid Cable 60Mounting Options for User Connections 60

6.4 Camera Mounting 63Camera Bracket Drawings 64

Chapter 7: Maintenance 677.1 Periodic Maintenance Schedule 677.2 Checking of Safety Systems 677.3 Checking Robot Mounting Bolts 687.4 Lubricate Joint 3 Ball Screw 68Required Grease for the Robot 68Lubrication Procedure 68

7.5 Replacing Encoder Battery 69Battery Replacement Time Periods 69

7.6 Inspecting Timing Belts 727.7 Replacing the MB-40R/eMB-40R Amplifier 72Remove the MB-40R/eMB-40R Amplifier 72Installing a New MB-40R/eMB-40R 72

7.8 Commissioning a System with an eMB-40R 73Safety Commissioning Utilities 73E-Stop Configuration Utility 75E-Stop Verification Utility 75Teach Restrict Configuration Utility 76Teach Restrict Verification Utility 76

Chapter 8: Technical Specifications 79


8.1 Dimension Drawings 798.2 Robot Specifications 82

Chapter 9: Cleanroom Robots 859.1 Cobra s350 CR/ESD Cleanroom Option 85Introduction 85Specifications 85

9.2 Connections 869.3 Requirements 869.4 ESD Control Features 879.5 Maintenance 87Bellows Replacement 87Lubrication 89

9.6 Dimension Drawings 90



Chapter 1: Introduction

1.1 Product Description

Adept Cobra s350™ Robots

The Adept Cobra s350 robot is a high-performance, four-axis SCARA robot (SelectiveCompliance Assembly Robot Arm). Joints 1, 2, and 4 are rotational; Joint 3 is translational. SeeFigure 1-2 for a description of the robot joint locations.

The Adept Cobra s350 robots require an Adept MotionBlox-40R™ (either an MB-40R or aneMB-40R) and an Adept SmartController™ (either CX or EX) motion controller. The robots areprogrammed and controlled using the SmartController, running on the Adept SmartServodistributed motion control platform. Mechanical specifications for the Adept Cobra s350 robotsare provided in Technical Specifications on page 79.

A cleanroom model is also available, the Adept Cobra s350 CR/ESD. See Cleanroom Robots onpage 85 for information.

Figure 1-1. Adept Cobra s350 Robot


2nd axis (J2)

1st axis (J1)

3rd axis (J3)

4th axis (J4)

(-)

(+)

(+)

(+)

(+)

(-)

(-)

(-)

Figure 1-2. Robot Joint Motions

Adept SmartController

The SmartController is the foundation of Adept’s family of high-performance distributedmotion controllers. The SmartController is designed for use with:

l Adept Cobra™ s-Series robots

l Adept Quattro™ robots

l Adept Viper™ s-series robots

l Adept Python™ linear modules

l Adept MotionBlox-10™

l Adept sMI6™ (SmartMotion)

The SmartController supports a conveyor tracking option, as well as other options. There aretwo models available: the SmartController CX, which uses the V+ Operating System, and theSmartController EX, which uses the eV+ Operating System. Both models offer scalability andsupport for IEEE 1394-based digital I/O and general motion expansion modules. The IEEE1394 interface is the backbone of Adept SmartServo, Adept's distributed controls architecturesupporting Adept products. The SmartController also includes Fast Ethernet and DeviceNet.



Figure 1-3. Adept SmartController EX and CX Motion Controllers

Adept MotionBlox-40R

The MotionBlox-40R (MB-40R/eMB-40R) Distributed Servo Controller controls the behavior ofthe feedback loop between the digital absolute encoders and the high-power motors of theAdept Cobra s350 robot.

Adept MB-40R/eMB-40R feature:

l Four AC servo motor amplifiers

l Emergency stop circuitry

l High servo rate, to deliver low positional errors and superior path-following

l Sine wave commutation delivers low cogging torque and improved path-following

l Digital feed-forward design maximizes efficiency, torque, and velocity

l Integral temperature sensors and status monitoring for maximum reliability

l Two-digit diagnostics display for easy troubleshooting



Figure 1-4. MotionBlox-40R (MB-40R shown)

1.2 Dangers, Warnings, Cautions, and NotesThere are six levels of special alert notation used in Adept manuals. In descending order ofimportance, they are:

DANGER: This indicates an imminently hazardouselectrical situation which, if not avoided, will result indeath or serious injury.

DANGER: This indicates an imminently hazardoussituation which, if not avoided, will result in death orserious injury.

WARNING: This indicates a potentially hazardouselectrical situation which, if not avoided, could result ininjury or major damage to the equipment.

WARNING: This indicates a potentially hazardoussituation which, if not avoided, could result in injury ormajor damage to the equipment.



CAUTION: This indicates a situation which, if notavoided, could result in damage to the equipment.

NOTE: Notes provide supplementary information, emphasize a point or procedure,or give a tip for easier operation.

1.3 Intended Use of the RobotThe Cobra s350 robot is intended for use in parts assembly and material handling forpayloads up to 2.0 kg. See Technical Specifications on page 79 for complete specifications.Refer to the Adept Robot Safety Guide for details on the intended use of Adept robots.

1.4 Safety Precautions

DANGER: An Adept Cobra s350 robot can cause seriousinjury or death, or damage to itself and other equipment,if the following safety precautions are not observed:

l All personnel who install, operate, teach, program, or maintain the system must readthis guide, read the Adept Robot Safety Guide, and complete a training course for theirresponsibilities in regard to the robot.

l All personnel who design the robot system must read this guide, read the Adept RobotSafety Guide, and must comply with all local and national safety regulations for thelocation in which the robot is installed.

l The robot system must not be used for purposes other than described in Section 1.3.Contact Adept if you are not sure of the suitability for your application.

l The user is responsible for providing safety barriers around the robot to prevent anyonefrom accidentally coming into contact with the robot when it is in motion.

l Power to the robot and its power supply must be locked out and tagged out before anymaintenance is performed.

1.5 What to Do in an Emergency SituationPress any E-Stop button (a red push-button on a yellow background/field) and then follow theinternal procedures of your company or organization for an emergency situation. If a fireoccurs, use CO

2to extinguish the fire.

1.6 Additional Safety InformationAdept provides other sources for more safety information:



Manufacturer’s Declaration of Conformity (MDOC)

This lists all standards with which each robot complies. See Manufacturer’s Declaration onpage 15.

Adept Robot Safety Guide

The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It alsogives resources for more information on relevant standards.

It ships with each robot manual, and is also available from the Adept Document Library. SeeAdept Document Library on page 16.

1.7 Installation OverviewThe system installation process is summarized in the following table. Refer also to the systemcable diagram in Figure 3-1.

Table 1-1. Installation Overview

Task to be Performed Reference Location

Mount the robot on a flat, secure mounting surface. Mounting the Robot on page18.

Install the SmartController, Front Panel, optionalpendant (if present), and Adept ACE software.

Installing the SmartControlleron page 24.

Install the IEEE 1394 and XSYS cables between theMB-40R/eMB-40R and SmartController.

Cable Connections from MB-40R/eMB-40R toSmartController on page 25.

Install the Arm Power/Signal cable between the MB-40R/eMB-40R and the robot.

Cable Connections from MB-40R/eMB-40R to Robot onpage 26.

Create a 24 VDC cable and connect it between the MB-40R/eMB-40R and the user-supplied 24 VDC powersupply.

Connecting 24 VDC Power toMB-40R/eMB-40R ServoController on page 26.

Create a 24 VDC cable and connect it between theSmartController and the user-supplied 24 VDC powersupply.

Connecting 24 VDC Power toMB-40R/eMB-40R ServoController on page 26.

Create a 200-240 VAC cable and connect it betweenthe MB-40R/eMB-40R and the facility AC powersource.

Connecting 200-240 VACPower to MB-40R/eMB-40R onpage 29.

Install user-supplied safety barriers in the workcell. Installing User-SuppliedSafety Equipment on page 34.

Learn about connecting digital I/O through the XIOconnector on the MB-40R/eMB-40R.

Connecting Digital I/O to theSystem on page 40.

Read Chapter 5 to learn about system start-up andtesting operation.

System Operation on page 51.



Task to be Performed Reference Location

Read Optional Equipment Installation on page 57 ifyou need to install optional equipment, such as end-effectors, user air and electrical lines, and externalequipment.

Optional EquipmentInstallation on page 57.

1.8 Manufacturer’s DeclarationThe Manufacturer’s Declaration of Incorporation and Conformity for Adept robot systems canbe found on the Adept website, in the Download Center of the Support section.

http://www.adept.com/support/downloads/file-search

NOTE: The Download Center requires that you are logged in for access. If you arenot logged in, you will be redirected to the Adept website Login page, and thenautomatically returned to the Download Center when you have completed the loginprocess.

1. From the Download Types drop-down list, select Manufacturer Declarations

2. From the Product drop-down list, select your Adept robot product category (such asAdept Cobra Robots, Adept Viper robots, etc.).

3. Click Begin Search.

The list of available documents is shown in the Search Results area, which opens at thebottom of the page. You may need to scroll down to see it.

4. Use the Description column to locate the document for your Adept robot, and then clickthe corresponding Download ID number to access the Download Details page.

5. On the Download Details page, click Download to open or save the file.

1.9 How Can I Get Help?Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on gettingassistance with your Adept software and hardware. Additionally, you can access informationsources on Adept’s corporate website:

http://www.adept.com

l For Contact information:http://www.adept.com/contact/americas

l For Product Support information: http://www.adept.com/support/service-and-support/main

l For user discussions, support, and programming examples:http://www.adept.com/forum/


http://www.adept.com/support/downloads/file-searchhttp://www.adept.com/http://www.adept.com/contact/americashttp://www.adept.com/support/service-and-support/mainhttp://www.adept.com/


Related Manuals

This manual covers the installation, operation, and maintenance of an Adept Cobra s350 robotsystem. There are additional manuals that cover programming the system, reconfiguringinstalled components, and adding other optional components. See the following table.

Table 1-2. Related Manuals

Manual Title Description

Adept Robot Safety Guide Contains safety information for Adept robots.

Adept SmartController EXUser's Guide

Contains information on the installation and operation of theAdept SmartController EX and the optional sDIO product.

Adept SmartController User'sGuide

Contains information on the installation and operation of theAdept SmartController and the optional sDIO product.

Adept T20 Pendant User'sGuide

Describes the Adept T20™ pendant.

Adept T2 Pendant User’sGuide

Describes the Adept T2™ pendant.

Adept ACE User's Guide Instruction for the use of the Adept ACE software.

Adept IO Blox User's Guide Describes the IO Blox product.

Adept Dual-RobotConfiguration Procedure

Contains cable diagrams and configuration procedures for adual-robot system.

Adept Document Library

The Adept Document Library (ADL) contains documentation for Adept products. You canaccess the ADL from:

l the Adept Software disk shipped with your system.

l the Adept website. Select Document Library from the Adept home page. To go directly tothe Adept Document Library, type the following URL into your browser:http://www.adept.com/Main/KE/DATA/adept_search.htm

To locate information on a specific topic, use the Document Library search engine on the ADLmain page. To view a list of available product documentation, use the menu links locatedabove the search field.


http://www.adept.com/Main/KE/DATA/adept_search.htm


Chapter 2: Robot Installation

2.1 Transport and StorageThis equipment must be shipped and stored in a temperature-controlled environment, withinthe range –10 to +60 C (14 to 140 F). The recommended humidity range is 5 to 90 percent, non-condensing. It should be shipped and stored in the Adept-supplied packaging, which isdesigned to prevent damage from normal shock and vibration. You should protect the packagefrom excessive shock and vibration.

The robots must always be stored and shipped in an upright position in a clean, dry area thatis free from condensation. Do not lay the crate on its side or any other position: this coulddamage the robot.

2.2 Unpacking and Inspecting the Adept Equipment

Before Unpacking

Carefully inspect all shipping crates for evidence of damage during transit. If any damage isindicated, request that the carrier’s agent be present at the time the container is unpacked.

Upon Unpacking

Before signing the carrier’s delivery sheet, please compare the actual items received (not justthe packing slip) with your equipment purchase order and verify that all items are present andthat the shipment is correct and free of visible damage.

If the items received do not match the packing slip, or are damaged, do not sign the receipt.Contact Adept as soon as possible.

If the items received do not match your order, please contact Adept immediately.

Inspect each item for external damage as it is removed from its container. If any damage isevident, contact Adept (see Section 1.9).

Retain all containers and packaging materials. These items may be necessary to settle claimsor, at a later date, to relocate equipment.

2.3 Repacking for RelocationIf the robot or other equipment needs to be relocated, reverse the steps in the installationprocedures that follow. Reuse all original packing containers and materials and follow allsafety notes used for installation. Improper packaging for shipment will void your warranty.Before unbolting the robot from the mounting surface, fold the outer arm against the Joint 2hardstops to help centralize the center of gravity. The robot must always be shipped in anupright orientation. Specify this to the carrier if the robot is to be shipped.


2.4 Environmental andFacility RequirementsThe Adept robot system installation must meet the operating environment requirementsshown in the following table.

Table 2-1. Robot System Operating Environment Requirements

Ambient temperature 5 to 40° C (41 to 104° F)

Humidity 5 to 90%, noncondensing

Altitude up to 2000 m (6500 ft.)

Pollution degree 2

Robot protection class IP-20 (NEMA Type 1)

NOTE: See Dimension Drawings on page 79 for robot dimensions.

2.5 Mounting the RobotAt least two people should transport and store the packaged equipment (see Figure 2-1).

The robot weighs 20 kg (45 lb) with no options installed.

Worker B

Worker A

Figure 2-1. Transporting Robot

CAUTION: Do not hold the robot by parts other thanthose shown above.



Mounting Surface

The Adept Cobra s350 robot is designed to be mounted on a smooth, flat, level surface. Themounting surface must be rigid enough to prevent vibration and flexing during robotoperation. Adept recommends a 25 mm (1 in.) thick steel plate mounted to a rigid tube frame.Excessive vibration or mounting flexure will degrade robot performance. Figure 2-2 shows themounting hole pattern for the Adept Cobra s350 robot.

NOTE: On the under-side of the base there are two holes that can be used aslocating points for user-installed dowel pins in the mounting surface. See Figure 2-2for the hole dimension and location. Using locating pins can improve the ability toremove and reinstall the robot in the same position.

The Adept Cobra s350 robot can be mounted on a moving platform with proper attention paidto adequately supporting the robot cabling. The motor/encoder cable connecting the robot to theMB-40R/eMB-40R is not designed to withstand repeated bending operations and has aminimum recommended bend radius of 200 mm. The connectors on this cable are notdesigned to support any dynamic forces and Adept always advises users to support theweight of the cable with external supports and tie-downs. Any additional user cabling shouldbe installed with user-designed cabling supports that do not use these motor/encoderconnectors as attachment points for auxiliary cabling.

120

120

7

17

R 1500

R 1500

144

(291 for Cabling)

4x Ø 12 Thru

2x Ø 6 H7+0.012

0

134 ± 0.005

Units are mm

Figure 2-2. Mounting Hole Pattern for Robot



Robot Mounting Procedure

1. Using the dimensions shown in Figure 2-2, drill and tap the mounting surface for fourM10 x 30 mm (or 3/8-16 UNC) machine bolts (user-supplied). Also drill two 6H7diameter holes for a diamond-shaped dowel pin and an internally-threaded positioningpin. See Table 2-2 for bolt and torque specifications.

WARNING: Do not attempt to extend the inner or outerlinks of the robot until the robot has been secured inposition. Failure to comply could result in the robotfalling and causing either personnel injury or equipmentdamage.

2. Install a diamond-shaped pin into one of the 6H7 diameter holes.

3. Install an internally-threaded positioning pin into the other 6H7 hole.

4. Turn the J2 axis until it comes into contact with the mechanical hardstop to keep therobot in a safe position.

Bolts

Pallet

Bolts

Turn until it comes

into contact with

the mechanical end.

Figure 2-3. Rotate J2 Axis to Safe Position

5. Remove the four bolts securing the robot base to the pallet. One person should supportthe J1 axis arm while another person removes the bolts. Retain these bolts for possiblelater relocation of the equipment.

6. Lift the robot and position it directly over the mounting surface.

7. Slowly lower the robot while aligning the base and the tapped mounting holes in themounting surface.

NOTE: The base casting of the robot is aluminum and can easily be dented ifbumped against a harder surface. Verify that the robot is mounted squarely (willnot rock back and forth) before tightening the mounting bolts.



8. Install the user-supplied mounting bolts and washers. Tighten bolts to the torquespecified in Table 2-2.

WARNING: The center of mass of the robot may causethe robot to fall over if the robot is not secured with themounting bolts.

NOTE: Check the tightness of the mounting bolts one week after initial installation,and then recheck every 6 months. See Periodic Maintenance Schedule on page 67for periodic maintenance.

Table 2-2. Mounting Bolt Torque Specifications

Standard Size Specification Torque

Metric M10 x 30 mm ISO Property Class 8.8 70 N·m

SAE 3/8-16 UNC SAE J429 Grade 5 orASTM A449

52 ft-lbf



Chapter 3: System Cable Installation

3.1 System Cable Diagram

Eth

ern

et

to P

C

IEEE 1394 Cable

from Controller SmartServo (Port 1.1)

to MB-40R/MB-eMB40R SmartServo

Adept MB-40R/

eMB-40R

Servo Controller

(MB-40R shown)

Adept

SmartController CX

Adept Cobra

s350 Robot

User-Supplied

Power Supply

Controller (XFP) to

Front Panel (XFP)

Front Panel

Pendant

(optional)

XSYS Cable from Controller to

MB-40R/eMB-40R (XSLV/XSYSTEM)

24 VDC Power from

User-Supplied

Power Supply to

Controller (XDC1)

User-supplied desktop or

Laptop PC Running Adept ACE

Terminator Installed

User-Supplied Ground Wire

User-Supplied

Ground Wire

External Brake

Connector

Arm Power/

Signal Cable24 VDC Power from

User-Supplied Power

Supply to MB-40R/

eMB-40R (+24 VDC Input)

User-Supplied

200-240 VAC,

single phase

EXPIO

Connector

Note: Objects are

not drawn to scale.

User-Supplied

Ground WireSTOP

R

R

ON

SmartServo IEEE-1394

1 2 3 4SF ES HDSW1 1.1 1.2 2.1 2.2OK

1 2 3

XDIO

LANHPE

OFF

XSYS

CAMERA

Eth 10/100

XUSR

Device Net

XFP

RS-232/TERM

RS-232-1

XMCP

BELT ENCODER

Sm

art

Co

ntr

olle

r C

X

-+ -+

RS-422/485

XDC1 XDC2

24V 5A

*S/N 3562-XXXXX*

RS-232-2

Figure 3-1. System Cable Diagram for Adept Cobra s350 Robots


3.2 Cable List

Table 3-1. Cables and Parts List

Cable Description Notes

IEEE 1394 Cable, 4.5 M Standard cable—suppliedwith system

XSYS Cable, 4.5 M(for MB-40R)

Standard cable - supplied withMB-40R

eAIB XSYS Cable, 4.5 M(for eMB-40R)

Standard cable - supplied witheMB-40R

eAIB XSLV Adapter Cable, 250 mm(for eMB-40R with old XSYS cable)

Standard for MB-40R to eMB-40R upgrade.

Front Panel Cable Supplied with Front Panel

T1/T2 Pendant Adapter Cable(for SmartController CX)

Supplied with optional T2pendant

T20 Pendant Adapter Cable(for SmartController EX)

Supplied with optional T20pendant

Power Cable Kit - contains 24 VDC and ACpower cables

Available as option

XIO Breakout Cable, 12 inputs/8 outputs, 5 meters

Available as option—see XIOBreakout Cable on page 47.

Y Cable, for XSYS cable connections to dualrobot (for SmartController)

Available as option

3.3 Installing the SmartControllerRefer to the Adept SmartController User's Guide or Adept SmartController EX User's Guide forcomplete information on installing the Adept SmartController. This list summarizes the mainsteps.

1. Mount the SmartController.

2. Install the Front Panel. The Front Panel must be outside of the work area, but near thework area.

3. Connect the Front Panel to the SmartController.

4. Connect the optional pendant (if included) to the SmartController.

5. Connect user-supplied 24 VDC power to the controller. Instructions for creating thecable, and power specifications, are covered in the Adept SmartController User's Guide orAdept SmartController EX User's Guide.

6. Install a user-supplied ground wire between the SmartController and ground.

7. Install the Adept ACE PC software on the user-supplied PC (see the following section).



3.4 Installing the Adept ACE SoftwareThe Adept ACE software is installed from the Adept ACE software disk.

1. Insert the disk into the disk drive of your PC.

If Autoplay is enabled, the Adept software disk menu is displayed. If Autoplay isdisabled, you will need to manually start the disk.

2. Especially if you are upgrading your Adept ACE software installation: from the AdeptACE software disk menu, click Read Important Information.

3. From the Adept ACE software disk menu, select:

Install the Adept ACE Software

The Adept ACE Setup wizard opens.

4. Follow the online instructions as you step through the installation process.

5. When the installation is complete, click Finish.

6. After closing the Adept ACE Setup wizard, click Exit on the disk menu to close themenu.

NOTE: You will have to restart the PC after installing Adept ACE software.

3.5 Connecting the PC to the SmartControllerThe Adept SmartController motion controller must be connected to a user-supplied PC or theAdept SmartVision EX vision processor for setup, control, and programming.

l Connect an Ethernet crossover cable between the PC and the SmartController motioncontroller

or

l Use two standard Ethernet cables with a network hub or switch in place of the Ethernetcrossover cable.

NOTE: Do not use an Ethernet crossover cable with a network hub or switch.

For more details, refer to the Adept ACE User’s Guide.

3.6 Cable Connections from MB-40R/eMB-40R to SmartController1. Locate the IEEE 1394 cable (length 4.5 M) and the XSYS or eAIB XSYS cable (length4.5 M). They are shipped in the cable/accessories box.

2. Install one end of the IEEE 1394 cable into the SmartServo connector on theSmartController (port 1.1 for CX, either for EX), and install the other end into aSmartServo connector on the MB-40R/eMB-40R interface panel, as shown in Figure 3-1.

3. MB-40R: Install the XSYS cable between the XSYS connector on the SmartController andthe MB-40R XSLV safety interlock connector, and tighten the latching screws.



eMB-40R: Install the eAIB XSYS cable between the XSYS connector on theSmartController and the eMB-40R XSYSTEM connector, and tighten the latching screws.

If you are upgrading from an MB-40R to an eMB-40R, you can use an eAIB XSLVadapter cable between your existing XSYS cable and the XSYSTEM connector on thenew eMB-40R.

NOTE: The IEEE 1394 and XSYS/eAIB XSYS cables should be routed away from ACpower and robot interconnect cables.

3.7 Cable Connections from MB-40R/eMB-40R to Robot

Installing the Arm Power/Signal Cable

The cable between the robot and the MB-40R/eMB-40R is called the Arm Power/Signal cable,as shown in Figure 3-1.

1. Connect one end of the Arm Power/Signal cable to the CN22 connector on the back plateof the robot. Tighten the thumb-screw securely.

2. Connect the other end of the cable to the large, circular connector on the MB-40R/eMB-40R. Tighten the screws securely.

WARNING: Verify that all connectors are fully insertedand screwed down. Failure to do this could causeunexpected robot motion. Also, a connector could getpulled out or dislodged unexpectedly.

3.8 Connecting 24 VDC Power to MB-40R/eMB-40R Servo Controller

Specifications for 24 VDC Power

Table 3-2. Specifications for 24 VDC User-Supplied Power Supply

Customer-Supplied Power Supply 24 VDC (± 10%), 150 W (6 A)(21.6 V


The power requirements for the user-supplied power supply will vary depending on theconfiguration of the robot and connected devices. Adept recommends a 24 V, 6 A powersupply to allow for startup current draw and load from connected user devices, such as digitalI/O loads.

CAUTION: Make sure you select a 24 VDC powersupply that meets the specifications in Table 3-2. Usingan underrated supply can cause system problems andprevent your equipment from operating correctly. See thefollowing table for recommended power supplies.

Table 3-3. Recommended 24 VDC Power Supplies

Vendor Name Model Ratings

XP Power JPM160PS24 24 VDC, 6.7 A, 160 W

Mean Well SP-150-24 24 VDC, 6.3 A, 150 W

Astrodyne ASM150-24 24 VDC, 6.66 A, 150 W

Details for 24 VDC Mating Connector

The 24 VDC mating connector and two pins are supplied with each system. They are shippedin the cable/accessories box.

Table 3-4. 24 VDC Mating Connector Specs

Connector Details Connector receptacle, 2-position, type:Molex Saber, 18 A, 2-Pin

Molex P/N 44441-2002

Digi-Key P/N WM18463-ND

Pin Details Molex connector crimp terminal,female, 14-18 AWG

Molex P/N 43375-0001


Recommended crimping tool, Molex HandCrimper

Molex P/N 63811-0400




NOTE: The 24 VDC cable is not supplied with the system, but is available in theoptional Power Cable kit. See Table 3-1.

Procedure for Creating 24 VDC Cable

1. Locate the connector and pins from Table 3-4.

2. Use shielded two-conductor cable with 14-16 AWG wire to create the 24 VDC cable.Select the wire length to safely reach from the user-supplied 24 VDC power supply tothe MB-40R/eMB-40R base.

You also must create a separate 24 VDC cable for the SmartController. That cableuses a different style of connector. See the Adept SmartController EX User's Guide orAdept SmartController User's Guide.

3. Crimp the pins onto the wires using the crimping tool recommended in Table 3-4.

4. Insert the pins into the connector. Confirm that the +24 V and Ground wires are in thecorrect terminals in the plug.

5. Install a user-supplied ring lug (for an M3 screw) on the shield at the MB-40R/eMB-40Rend of the cable.

6. Prepare the opposite end of the cable for connection to the user-supplied 24 VDC powersupply, including a terminal to attach the cable shield to frame ground.

Installing the 24 VDC Cable

Do not turn on the 24 VDC power until instructed to do so in the next chapter.

1. Connect one end of the shielded 24 VDC cable to your user-supplied 24 VDC powersupply. See Figure 3-2. The cable shield should be connected to frame ground on thepower supply. Do not turn on the 24 VDC power until instructed to do so in SystemOperation on page 51.

2. Plug the mating connector end of the 24 VDC cable into the 24 VDC connector on theinterface panel on the back of the MB-40R/eMB-40R. The cable shield should beconnected to the ground point on the interface panel.



–+

24V, 8A

Frame Ground

24V, 5A–+

User-Supplied

Power Supply

24 VDC

MB-40R/eMB-40R

Servo Controller

User-Supplied Shielded

Power Cable

- +

Adept SmartController

User-Supplied Shielded

Power Cable

Attach shield from user-supplied

cable to side of controller using

star washer and M3 x 6 screw.

Attach shield from user-

supplied cables to frame

ground on power supply.

Attach shield from user-

supplied cable to ground

screw on MB-40R Interface

Panel.

–GND

+

Figure 3-2. User-Supplied 24 VDC Cable

NOTE: Adept recommends that DC power be delivered over shielded cables, withthe shield connected to frame ground at the power supply, and to the ground pointsshown in the diagram above for the MB-40R/eMB-40R and SmartController. Thelength of the wire from the cable shield to the ground points should be less than 50mm.

3.9 Connecting 200-240 VAC Power to MB-40R/eMB-40R

WARNING: Ensure compliance with all local andnational safety and electrical codes for the installationand operation of the robot system.

WARNING: Appropriately-sized Branch CircuitProtection and Lockout / Tagout Capability must beprovided in accordance with the National Electrical Codeand any local codes.



Specifications for AC Power

Table 3-5. Specifications for 200/240 VAC User-Supplied Power Supply

Auto-RangingNominalVoltageRanges

MinimumOperatingVoltage1

MaximumOperatingVoltage

Frequency/Phasing

RecommendedExternal CircuitBreaker, User-Supplied

200 V to 240 V 180 V 264 V 50/60 Hz, 1-phase 10 Amps1Specifications are established at nominal line voltage. Low line voltage can affect robotperformance.

NOTE: The Adept robot system is intended to be installed as a piece of equipmentin a permanently-installed system.

DANGER: AC power installation must be performed bya skilled and instructed person—see the Adept RobotSafety Guide. During installation, unauthorized thirdparties must be prevented from turning on powerthrough the use of fail-safe lockout measures.

Facility Overvoltage Protection

The user must protect the robot from excessive overvoltages and voltage spikes. If the countryof installation requires a CE-certified installation, or compliance with IEC 1131-2, the followinginformation may be helpful: IEC 1131-2 requires that the installation must ensure thatCategory II overvoltages (i.e., line spikes not directly due to lightning strikes) are not exceeded.Transient overvoltages at the point of connection to the power source shall be controlled not toexceed overvoltage Category II, i.e., not higher than the impulse voltage corresponding to therated voltage for the basic insulation. The user-supplied equipment or transient suppressorshall be capable of absorbing the energy in the transient.

In the industrial environment, nonperiodic over-voltage peaks may appear on mains powersupply lines as a result of power interruptions to high-energy equipment (such as a blown fuseon one branch in a 3-phase system). This will cause high-current pulses at relatively lowvoltage levels. The user shall take the necessary steps to prevent damage to the robot system(such as by interposing a transformer). See IEC 1131-4 for additional information.



AC Power Diagrams

E

E

N

N

L

L

F1 10A

Note: F1 is user-supplied, must be slow-blow.

1Ø

200–240 VAC

20 A

MB-40R/eMB-40R

1Ø 200-240 VAC

User-Supplied

AC Power Cable

L =Line

N = Neutral

E = Earth Ground

Figure 3-3. Typical AC Power Installation with Single-Phase Supply

E

E

N

L3

L

L1

L2F5 10 A

F4 10 A

User-Supplied AC Power Cable

Note: F4 and F5 are user-supplied, must be slow-blow.

3Ø

200–240 VAC

L = Line 1N = Line 2E = Earth Ground

200–240 VAC

MB-40R/eMB-40R

1Ø 200-240 VAC

Figure 3-4. Single-Phase Load across L1 and L2 of a Three-Phase Supply

Details for AC Mating Connector

The AC mating connector is supplied with each system. It is shipped in the cable/accessoriesbox. The supplied plug is internally labeled for the AC power connections (L, E, N).

Table 3-6. AC Mating Connector Details

AC Connector details AC in-line power plug,straight, female, screwterminal, 10 A, 250 VAC

Qualtek P/N 709-00/00

Digi-Key P/N Q217-ND



NOTE: The AC power cable is not supplied with the system, but is available in theoptional Power Cable kit. See Table 3-1.

Procedure for Creating 200-240 VAC Cable

1. Locate the AC mating connector shown in Table 3-6.

2. Open the connector by unscrewing the screw on the shell and removing the cover.

3. Loosen the two screws on the cable clamp. See Figure 3-5 for details.

4. Use 18 AWG wire to create the AC power cable. Select the wire length to safely reachfrom the user-supplied AC power source to the MB-40R/eMB-40R base.

5. Strip 18 to 24 mm of insulation from each of the three wires.

6. Insert the wires into the connector through the removable bushing.

7. Connect each wire to the correct terminal screw, and tighten the screw firmly.

8. Tighten the screws on the cable clamp.

9. Replace the cover and tighten the screw to seal the connector.

10. Prepare the opposite end of the cable for connection to the facility AC power source.

Figure 3-5. AC Power Mating Connector

Installing AC Power Cable to MB-40R/eMB-40R

1. Connect the unterminated end of the AC power cable to your facility AC power source.See Figure 3-3 and Figure 3-4 for details. Do not turn on AC power at this time.

2. Plug the AC connector into the AC power connector on the interface panel on the MB-40R/eMB-40R.

3. Secure the AC connector with the locking latch.



3.10 Grounding the Adept Robot SystemProper grounding is essential for safe and reliable robot operation. Follow theserecommendations to properly ground your robot system.

Ground Point on Robot Base

The user can install a ground wire at the robot base to ground the robot. The ground point isshown in Figure 3-6. The user is responsible for supplying the ground wire to connect to earthground.

Ground Point

Figure 3-6. Ground Point on Robot Base

Ground Point on MotionBlox-40R

The user can install a ground wire at the MB-40R/eMB-40R chassis. Use the hole below theMB-40R/eMB-40R interface panel - see the following figure. The user should provide a groundwire and use the provided M3 screw and external tooth lock washer to connect to earthground. Make sure to tighten the screw on the ground wire to create a proper groundconnection. Two tapped holes are provided to attach optional user-supplied strain relief.

Figure 3-7. Earth Ground Location, MB-40R shown



Robot-Mounted Equipment Grounding

The Adept Cobra s350 Joint 3 quill and tool flange are not reliably grounded to the robot base.If hazardous voltages are present at any user-supplied robot-mounted equipment or tooling,you must install a ground connection from that equipment/tooling to the ground point on therobot base. Hazardous voltages can be considered anything in excess of 30 VAC (42.4 VACpeak) or 60 VDC.

Also, see Figure 8-3 for the grounding point on the tool flange.

DANGER: Failing to ground robot-mounted equipmentor tooling that uses hazardous voltages could lead toinjury or death of a person touching the end-effectorwhen an electrical fault condition exists.

3.11 Installing User-Supplied Safety EquipmentThe user is responsible for installing safety barriers to protect personnel from coming incontact with the robot unintentionally. Depending on the design of the workcell, safety gates,light curtains, and emergency stop devices can be used to create a safe environment. Read theAdept Robot Safety Guide for a discussion of safety issues.

Refer to the Adept SmartController User's Guide or Adept SmartController EX User's Guide forinformation on connecting safety equipment into the system through the XUSR connector onthe SmartController. There is a detailed section on Emergency Stop circuits and diagrams onrecommended E-Stop configurations.



Chapter 4: MotionBlox-40R

4.1 IntroductionThe Adept MotionBlox-40R (MB-40R/eMB-40R) is a distributed servo controller and amplifier.It has a dedicated digital signal processor to communicate, coordinate, and execute servocommands.

The MB-40R/eMB-40R consists of:

l a distributed servo amplifier

l a RISC processor for servo loop control

l a node on the IEEE 1394 network

l a power controller that uses single-phase AC power, 200-240 Volts

l a status panel with a 2-digit alpha-numeric display to indicate operating status andfault codes

DC

IN

24VGND

AC

200 -

240V

Ø1 XB

ELT

IO

XIO Servo

ENETENETXSYSTEM

Robot

Interface

Panel

Robot

Connector

(for Arm

Power/Signal

Cable from

Robot)

Figure 4-1. MB-40R, eMB-40R Front View


4.2 Description of Connectors on MB-40R/eMB-40R Interface Panel

Figure 4-2. eMB-40R Interface Panel

Figure 4-3. MB-40R Interface Panel

See the following table for descriptions of the connectors shown in the previous figures.



Table 4-1. Connectors on the MB-40R/eMB-40R Interface Panels

24 VDC For connecting user-supplied 24 VDC power. The mating connector isprovided.

GroundPoint

For connecting cable shield from user-supplied 24 VDC cable.

200/240VAC

For connecting 200-240 VAC, single-phase, input power. The matingconnector is provided.

SmartServo For connecting the IEEE 1394 cable from the controller.(SmartServo 1.1) to a SmartServo/Servo on the MB-40R/eMB-40R.

XIO For user I/O signals for peripheral devices. This connector provides 8 outputsand 12 inputs. See Connecting Digital I/O to the System on page 40 forconnector pin allocations for inputs and outputs. That section also containsdetails on how to access these I/O signals. (DB-26, high density, female)

XSYSTEM eMB-40R only, includes the functions of the XPANEL and XSLV on the MB-60R. Connects to the controller XSYS connector.This requires either an eAIB XSLV Adapter cable to connect to the XSYS cable,or an eAIB XSYS cable (HDB44-to-DB9, male), which replaces the XSYS cable.

ENET eMB-40R only. Reserved for future use.

XBELTIO eMB-40R only. Adds two belt encoders, EXPIO at the back of the robot (notavailable on an MB-40R), and an RS-232 interface, which is reserved forfuture use.

XSLV MB-40R only, for connecting the supplied XSYS cable from the controllerXSYS connector. (DB-9, female).

XPANEL MB-40R only. Not used (DB-26, high density, male).

RS-232 MB-40R only. Reserved for future use (DB-9, male).

4.3 MB-40R/eMB-40R Operation

Status LED on MB-40R/eMB-40R

The Status LED indicator is located on the top of the MB-40R/eMB-40R. See the followingfigure. This is a bi-color, red and green LED. The color and blinking pattern indicates thestatus of the robot. See the following table.



Figure 4-4. Controls and Indicators on MB-40R

Table 4-2. Status LED Definition

LED Status Description

Off 24 VDC not present

Green, Slow Blink High Power Disabled

Green, Fast Blink High Power Enabled

Green/Red Blink Selected Configuration Node

Red, Fast Blink Fault, see Status Panel Display

Solid Green or Red Initialization or Robot Fault

Status Panel

The status panel, shown in Figure 4-4, displays alpha-numeric codes that indicate theoperating status of the MB-40R/eMB-40R. The following table gives definitions of the faultcodes. These codes provide details for quickly isolating problems during troubleshooting.



Table 4-3. Status Panel Codes

LED Status Code LED Status Code

OK No Fault H# High Temp Encoder (Joint #)

ON High Power ON Status hV High Voltage Bus Fault

MA Manual Mode I# Initialization Stage (Step #)

24 24 V Supply Fault M# Motor Stalled (Joint #)

A# Amp Fault (Joint #) NV Non-Volatile Memory

B# IO Blox Fault (Address #) P# Power System Fault (Code #)

BA Backup Battery Low Voltage PR Processor Overloaded

AC AC Power Fault RC RSC Fault

D# Duty Cycle Exceeded (Joint #) S# Safety System Fault (Code #)

E# Encoder Fault (Joint #) SE E-Stop Delay Fault

ES E-Stop SW Watchdog Timeout

F# External Sensor Stop T# Safety System Fault(Code 10 + #)

FM Firmware Mismatch TR Teach Restrict Fault

FW 1394 Fault V# Hard Envelope Error (Joint #)

h# High Temp Amp (Joint #)

NOTE: Due to the nature of the Cobra s350 bus line encoder wiring, a singleencoder wiring error may result in multiple channels of displayed encoder errors.Reference the lowest encoder number displayed.

For more information on status codes, go to the Adept Document Library on the Adept website,and in the Procedures, FAQs, and Troubleshooting section, look for the Adept Status CodeSummary document.

Brake Release Button on MB-40R/eMB-40R

The Brake Release button is located at the top right of the MB-40R/eMB-40R, as shown inFigure 4-4. Under some circumstances you may want to manually position Joints 3 and 4without turning on high power. You can use the Brake Release button for this purpose.

When 24 V power is enabled, pressing this button releases the brake, which allows movementof Joints 3 and 4. An additional Brake Release button is provided on the robot. For details, seeBrake Release Button on page 51.

NOTE: If this button is pressed while high power is on, high power willautomatically shut down.



Brake Release Connector

The 9-pin Brake Release connector provides low-active input signals to manually release thebrakes on Joint 3 and Joint 4. This can be used as an alternative to the Brake Release button.

The digital inputs on this connector meet the same input level requirements as the XIO inputs.See Table 4-8 for details.

Table 4-4. Brake Release Connector Pinouts

Pin # Description Pin Location

1 Not connected

Pin 1

Pin 5

Pin 6

Pin 9

DB-9 FemaleBrake Connector

2 Not connected

3 Release3_N

4 Not connected

5 Not connected

6 Not connected

7 GND

8 Not connected

9 24V

Mating Connector: D-Subminiature 9-Pin Male

4.4 Connecting Digital I/O to the SystemYou can connect digital I/O to the system in several different ways. See the following table andfigure.

Table 4-5. Digital I/O Connection Options

Product I/O Capacity For more details

XIO Connector on MB-40R/eMB-40R

12 inputs8 outputs

Using Digital I/O on MB-40R/eMB-40R XIO Connectoron page 42

XDIO Connector onSmartController

12 inputs8 outputs

Adept SmartController EXUser’s Guide or AdeptSmartController User’s Guide

Optional sDIO Module,connects to controller

32 inputs, 32 outputs permodule; up to four sDIO devicesper system

Optional IO Blox Devices,connect to EXPIOconnector on the MB-40R/eMB-40R

8 inputs, 8 outputs per device; upto four IO Blox devices persystem

Adept IO Blox User’s Guide



Figure 4-5. Connecting Digital I/O to the System(MB-40R and SmartController CX shown)

Table 4-6. Default Digital I/O Signal Configuration, Single Robot System

Location Type Signal Range

SmartController XDIO connector Inputs 1001 - 1012

Outputs 0001 - 0008

sDIO Module 1 Inputs 1033 - 1064

Outputs 0033 - 0064

sDIO Module 2 Inputs 1065 - 1096

Outputs 0065 - 0096

MB-40R/eMB-40R 1 XIO connector Inputs 1097 - 1108

Outputs 0097 - 0104



Location Type Signal Range

IO Blox 1 Inputs 1113 - 1120

Outputs 0105 - 0112


Outputs 0113 - 0120


Outputs 0121 - 0128


Outputs 0129 - 0136

4.5 Using Digital I/O on MB-40R/eMB-40R XIO ConnectorThe XIO connector on the MB-40R/eMB-40R interface panel offers access to digital I/O, 12inputs and 8 outputs. These signals can be used by V+/eV+ to perform various functions in theworkcell. See the following table for the XIO signal designations.

l 12 Inputs, signals 1097 to 1108

l 8 Outputs, signals 0097 to 0104



Table 4-7. XIO Signal Designations

PinNo. Designation

SignalBank

V+/eV+SignalNumber Pin Locations

1 GND

Pin 1

Pin 9

Pin 10

Pin 18Pin 26

Pin 19

XIO 26-pin femaleconnector on

MB-40R/eMB-40RInterface Panel

2 24 VDC

3 Common 1 1

4 Input 1.1 1 1097

5 Input 2.1 1 1098

6 Input 3.1 1 1099

7 Input 4.1 1 1100

8 Input 5.1 1 1101

9 Input 6.1 1 1102

10 GND

11 24 VDC

12 Common 2 2

13 Input 1.2 2 1103

14 Input 2.2 2 1104

15 Input 3.2 2 1105

16 Input 4.2 2 1106

17 Input 5.2 2 1107

18 Input 6.2 2 1108

19 Output 1 0097

20 Output 2 0098

21 Output 3 0099

22 Output 4 0100

23 Output 5 0101

24 Output 6 0102

25 Output 7 0103

26 Output 8 0104



Optional I/O Products

These optional products are also available for use with digital I/O:

l XIO Breakout Cable, 5 meters long, with flying leads on user’s end (see XIO BreakoutCable on page 47). It is not compatible with the XIO Termination Block mentionedbelow.

l XIO Termination Block, with terminals for user wiring, plus input and output statusLEDs. Connects to the XIO connector with 6-foot cable. See the Adept XIO TerminationBlock Installation Guide for details.

XIO Input Signals

The 12 input channels are arranged in two banks of six. Each bank is electrically isolated fromthe other bank and is optically isolated from the MB-40R/eMB-40R ground. The six inputswithin each bank share a common source/sink line.

The inputs are accessed through direct connection to the XIO connector (see the followingtable), or through the optional XIO Termination Block. See the documentation supplied withthe Termination Block for details.

The XIO inputs cannot be used for REACTI programming, high-speed interrupts, or visiontriggers. Refer to the V+/eV+ user guides in the Adept Document Library (ADL) on the Adeptwebsite. For more details on the ADL, see Adept Document Library on page 16.

XIO Input Specifications

Table 4-8. XIO Input Specifications

Parameter Value

Operational voltage range 0 to 30 VDC

OFF state voltage range 0 to 3 VDC

ON state voltage range 10 to 30 VDC

Typical threshold voltage Vin= 8 VDC

Operational current range 0 to 7.5 mA

OFF state current range 0 to 0.5 mA

ON state current range 2.5 to 6 mA

Typical threshold current 2.0 mA

Impedance (Vin/Iin) 3.9 K Ω minimum

Current at Vin= +24 VDC I

in≤ 6 mA

Turn on response time (hardware)Software scan rate/response time

5 µsec maximum16 ms scan cycle/32 ms max response time

Turn off response time (hardware)Software scan rate/response time

5 µsec maximum16 ms scan cycle/32 ms max response time



NOTE: The input current specifications are provided for reference. Voltage sourcesare typically used to drive the inputs.

Typical Input Wiring Example

Adept-Supplied Equipment User-Supplied Equipment

Signal 1097Part Present Sensor 4

Signal 1098Feeder Empty Sensor 5

Signal 1099Part Jammed Sensor 6

Signal 1100Sealant Ready Sensor 7

Signal 11018

Signal 1102

+24V

GND

9

Bank 1 Common

Bank 2 Common

3

2

1

Signal 110313

Signal 110414

Signal 110515

Signal 110616

Signal 110717

Signal 110818

12

GND10

+24V11

Wiring

Terminal

Block

Typical User

Input Signals

Note: all Input signals

can be used for either

sinking or sourcing

configurations.

Bank 1

config

ure

d fo

r

Sin

kin

g (N

PN

) Inputs

Bank 2

config

ure

d fo

r

Sourc

ing (P

NP

) Inputs

Input B

ank 2

Input B

ank 1

XIO

Connecto

r – 2

6-P

in F

em

ale

D-S

ub

(equivalent circuit)

Figure 4-6. Typical User Wiring for XIO Input Signals

NOTE: The off-state current range exceeds the leakage current of XIO outputs. Thisguarantees that the inputs will not be turned on by the leakage current from theoutputs. This is useful in situations where the outputs are looped-back to the inputsfor monitoring purposes.



XIO Output Signals

The eight digital outputs share a common, high-side (sourcing) driver IC. The driver isdesigned to supply any kind of load with one side connected to ground. It is designed for arange of user-provided voltages from 10 to 24 VDC, and each channel is capable of up to 0.7 Aof current. This driver has overtemperature protection, current limiting, and shorted-loadprotection. In the event of an output short or other overcurrent situation, the affected output ofthe driver IC turns off and back on automatically to reduce the temperature of the IC. Thedriver draws power from the primary 24 VDC input to the robot through a self-resettingpolyfuse.

The outputs are accessed through direct connection to the XIO connector (see Table 4-7), orthrough the optional XIO Termination Block. See the documentation supplied with theTermination Block for details.

XIO Output Specifications

Table 4-9. XIO Output Circuit Specifications

Parameter Value

Power supply voltage range See Table 3-2.

Operational current range, perchannel

Iout

≤ 700 mA

Total Current Limitation, allchannels on.

Itotal

≤ 1.0 A @ 50° C ambientItotal

≤ 1.5 A @ 25° C ambient

On-state resistance (Iout

= 0.5 A) Ron≤ 0.32 Ω @ 85° C

Output leakage current Iout

≤ 25 µA

Turn-on response time 125 µsec max., 80 µsec typical(hardware only)

Turn-off response time 60 µsec. max., 28 µsec typical(hardware only)

Output voltage at inductive loadturnoff (I

out= 0.5 A, Load = 1 mH)

(+V - 65) ≤ Vdemag

≤ (+V - 45)

DC short circuit current limit 0.7 A ≤ ILIM

≤ 2.5 A

Peak short circuit current Iovpk

≤ 4 A



Typical Output Wiring Example

M

Adept-Supplied Equipment User-Supplied Equipment

Outp

uts

1-8

Typical User Loads

XIO

Connecto

r – 2

6-P

in F

em

ale

D-S

ub

+24 VDC

19Signal 0097

20Signal 0098

21Signal 0099

22Signal 0100

23Signal 0101

24Signal 0102

25Signal 0103

26Signal 0104

GND

GND

Load

1

Customer

AC Power

Supply10

M

Load

Load

L N

(equivalent

circuit)

Wiring

Terminal

Block

Figure 4-7. Typical User Wiring for XIO Output Signals

XIO Breakout Cable

The XIO Breakout cable is available as an option—see the following figure. This cable connectsto the XIO connector on the MB-40R/eMB-40R, and provides flying leads on the user’s end, forconnecting input and output signals in the workcell. The cable length is 5 M (16.4 ft).

See the following table for the cable wire chart.

NOTE: This cable is not compatible with the XIO Termination Block.

Figure 4-8. Optional XIO Breakout Cable



Table 4-10. XIO Breakout Cable Wire Chart

Pin No.Signal

Designation Wire Color Pin Locations

1 GND White

Pin 9

Pin 1

Pin 18

Pin 10Pin 19

Pin 26

26-pin maleconnector on XIOBreakout Cable

2 24 VDC White/Black

3 Common 1 Red

4 Input 1.1 Red/Black

5 Input 2.1 Yellow

6 Input 3.1 Yellow/Black

7 Input 4.1 Green

8 Input 5.1 Green/Black

9 Input 6.1 Blue

10 GND Blue/White

11 24 VDC Brown

12 Common 2 Brown/White

13 Input 1.2 Orange

14 Input 2.2 Orange/Black

15 Input 3.2 Gray

16 Input 4.2 Gray/Black

17 Input 5.2 Violet

18 Input 6.2 Violet/White

19 Output 1 Pink

20 Output 2 Pink/Black

21 Output 3 Light Blue

22 Output 4 Light Blue/Black

23 Output 5 Light Green

24 Output 6 Light Green/Black

25 Output 7 White/Red

26 Output 8 White/Blue

Shell Shield



4.6 MB-40R/eMB-40R DimensionsSee the following figure for dimensions of MB-40R/eMB-40R chassis and mounting holes.

042

5.5

20

.6

20

4.2

40

4.9

51

.6

33

1.7

9.8

0

228.6

67.3

222.3

106.7

182.9

170.2

6X

, S

HC

S,M

4 X

6

A

B

047

.6

37

7.8

0

7.6

45.7

129.54

C

0

32.7

197.8

0 7.6

45

.7C

0

32.7

197.80

7.6

45

.7C

0

47

.6

37

7.8

0

7.6

45.7SP

CD

AS

SH

OW

N,

20

XM

4 X

7 m

m D

P B

LIN

D

C

0

32.7

197.8

0

47

.6

37

7.8

B

No

te: 1

12

mm

cle

ara

nce

re

qu

ire

d

in f

ron

t o

f u

nit t

o r

em

ove

AIB

fro

m

box e

nclo

su

re.

Units in mm

Figure 4-9. MB-40R/eMB-40R Mounting Dimensions



4.7 Mounting the MB-40R/eMB-40RThe MB-40R/eMB-40R can be panel-mounted.

NOTE: The mounting of the MB-40R/eMB-40R and all terminations at the MB-40R/eMB-40R must be performed in accordance with all local and nationalstandards.

Panel-Mounting the MB-40R/eMB-40R

To panel-mount the MB-40R/eMB-40R, install two brackets on each side at the rear of the unit(see the following figure for the bracket dimensions). Use the screws from the accessories kit.

Figure 4-10. Panel-Mounting the MB-40R/eMB-40R



Chapter 5: System Operation

5.1 Status Panel CodesThe status panel display on the MB-40R/eMB-40R displays alpha-numeric codes that indicatethe operating status of the robot, including detailed fault codes. The chapter on MotionBlox-40R gives definitions of the fault codes. These codes provide details for quickly isolatingproblems during troubleshooting. For more details, see MotionBlox-40R on page 35.

For more information on status codes, go to the Adept Document Library on the Adept website, and in the Procedures, FAQs, and Troubleshooting section, look for the Adept Status CodeSummary document.

5.2 BrakesThe robot has a braking system that decelerates the robot in an emergency condition, such aswhen the emergency stop circuit is open or a robot joint passes its softstop.

The braking system will not prevent you from moving the robot manually once the robot hasstopped (and High Power has been removed).

In addition, Joints 3 and 4 have electromechanical brakes. The brakes are released when highpower is enabled. When High Power is turned off, the brakes engage and hold the positions ofJoints 3 and 4. There is a Brake Release button for Joints 3 and 4 on the MB-40R/eMB-40R anda Brake Release button on the robot itself. See Brake Release Button on MB-40R/eMB-40R onpage 39 for information on the Brake Release button on the MB-40R/eMB-40R.

Brake Release Button

Under some circumstances you may want to manually position Joint 3 or Joint 4. For suchinstances, a Brake Release button is provided. When system power is on, pressing this buttonreleases the brake, which allows movement of Joint 3 and Joint 4.

NOTE: 24 Volt robot power must be ON to release the brakes.

If this button is pressed while high power is on, high power will automatically shut down.


Figure 5-1. Brake Release Button for Third and Fourth Axes

CAUTION: When the Brake Release button is pressed,Joint 3 may drop to the bottom of its travel. To preventpossible damage to the equipment, make sure that Joint 3is supported while releasing the brake and verify that theend-effector or other installed tooling is clear of allobstructions.

5.3 Front Panel

2

3

4Auto Mode

Manual Mode

5

1

Figure 5-2. Front Panel

1. XFP connectorConnects to the XFP connector on the SmartController.

2. System 5 V Power-On LEDIndicates whether or not power is connected to the robot.



3. Manual/Automatic Mode SwitchSwitches between Manual and Automatic mode. In Automatic mode, executingprograms control the robot, and the robot can run at full speed. In Manual mode, thesystem limits robot speed and torque so that an operator can safely work in the cell.Manual mode initiates software restrictions on robot speed, commanding no more than250 mm/sec.

4. High Power On/Off Switch and LampControls high power, which is the flow of current to the robot motors. Enabling highpower is a two-step process. An “Enable Power” request must be sent from the user-supplied PC, an executing program, or the optional pendant. Once this request has beenmade and the High Power On/Off lamp/button is blinking, the operator must press andrelease this button, and high power will be enabled.

NOTE: The use of the blinking High Power button can be configured (oreliminated) in software. Your system may not require this step.

NOTE: If enabled, the Front Panel button must be pressed while blinking(default time-out is 10 seconds). If the button stops blinking, you must enablepower again.

5. Emergency Stop SwitchThe E-Stop is a dual-channel, passive E-Stop that supports Category 3 CE safetyrequirements. Pressing this button turns off high power to the robot motors.

NOTE: The Front Panel must be installed to be able to Enable Power to the robot. Tooperate without a Front Panel, the user must supply the equivalent circuits.

5.4 Initial Power-up of the SystemThe first time you power-up the system, you must follow the steps in this section to safelybring up your robot system. The tasks include:

l Verifying installation, to confirm all tasks have been performed correctly

l Starting up the system by turning on power for the first time

l Verifying all E-Stops in the system function correctly

l Moving each axis of the robot (with the pendant or ACE software Jog Control) toconfirm each moves in the proper directions

Verifying Installation

Verifying that the system is correctly installed and that all safety equipment is workingcorrectly is an important process. Before using the robot, make the following checks to ensurethat the robot and controller have been properly installed.

DANGER: After installing the robot, you must test itbefore you use it for the first time. Failure to do this couldcause death, or serious injury or equipment damage.



Mechanical Checks

l Verify that the robot is mounted level and that all fasteners are properly tightened

l Verify that any end-of-arm tooling is properly installed

l Verify that all other peripheral equipment is properly installed, such that it is safe toturn on power to the robot system

System Cable Checks

Verify the following connections:

l Front Panel to the SmartController

l Optional pendant to the SmartController

l User-supplied 24 VDC power to the controller

l User-supplied ground wire between the SmartController and ground

l IEEE 1394 cable between the SmartServo connector on the SmartController (1.1 for theCX, any for the EX) and the SmartServo connector on the MB-40R/eMB-40R.

l MB-40R: XSYS cable between the XSYS connector on the SmartController and the MB-40R XSLV safety interlock connector, and latching screws are tight.

eMB-40R: eAIB XSYS cable between the XSYS connector on the SmartController and theeMB-40R XSYSTEM safety interlock connector, and latching screws are tight.

or

XSYS cable into an eAIB XSLV Adapter, into the eMB-40R XSYSTEM connector.

l User-supplied 24 VDC power to the MB-40R/eMB-40R 24 VDC connector

l User-supplied 200/240 VAC power to the MB-40R/eMB-40R 200/240 VAC connector

User-Supplied Safety Equipment Checks

Verify that all user-supplied safety equipment and E-Stop circuits are installed correctly.

System Start-up Procedure

After the system installation has been verified, you are ready to start up the system.

1. Switch on AC power to the MB-40R/eMB-40R.

DANGER: Make sure personnel are skilled andinstructed - refer to the Adept Robot Safety Guide.

2. Switch on the 24 VDC power to the MB-40R/eMB-40R.

3. Switch on the 24 VDC power to the controller.

The Status Panel displays OK. The Status LED will be off.



4. Verify the Auto/Manual switch on the Front Panel is set to Auto Mode.

5. Follow the instructions, beginning with Starting the Adept ACE Software, in thefollowing section.

Running the Adept ACE Software

Starting the Adept ACE Software

The robot should be on, and the status panel should display OK before proceeding.

1. Turn on the user-supplied PC and start Adept ACE.

l Double-click the Adept ACE icon on your Windows desktop,

or

l From the Windows Start menu bar, select:

Start > Programs > Adept Technology > Adept ACE > Adept ACE.

2. On the Adept ACE Getting Started screen, do one of the following:

l Select New SmartController Workspace.

l Select Create New Workspace for Selected Controllerto make the connection to the controller.

l Select the IP address of the controller you wish to connect to, or manually type inthe IP address.

3. Click OK. You will see the message “Working, please wait”.

Enabling High Power

After you have started Adept ACE and connected to the controller, enable high power to therobot motors.

Using Adept ACE to Enable High Power

1. From the Adept ACE main menu, click the Enable High Power icon .

2. Press and release the blinking High Power button on the Front Panel within 10 seconds.

The Front Panel is shown in Figure 5-2. (If the button stops blinking, you must EnablePower again.)

NOTE: The need to press the blinking High Power button can be configured (oreliminated) in software. Your system may not require this step.

This step turns on high power to the robot motors and calibrates the robot.

l The MB-40R/eMB-40R Status LED displays a fast green blink.

l The code on the MB-40R/eMB-40R displays ON (see Controls andIndicators on MB-40R on page 38).



Verifying E-Stop Functions

Verify that all E-Stop devices are functional (pendant, Front Panel, and user-supplied). Testeach mushroom button, safety gate, light curtain, etc., by enabling high power and thenopening the safety device. The High Power push button/light on the Front Panel should go outfor each.

Verify Robot Motions

Use the pendant (if purchased) to verify that the robot moves correctly. Refer to the Adept T2Pendant User’s Guide or the Adept T20 Pendant User’s Guide for complete instructions on usingthe pendant.

If the optional pendant is not installed in the system, you can move the robot using the RobotJog Control in the Adept ACE software. For details, see the Adept ACE User's Guide.

5.5 Learning to Program the Adept Cobra s350 RobotTo learn how to use and program the robot, see the Adept ACE User’s Guide, which providesinformation on robot configuration, control and programming through the Adept ACEsoftware “point and click” user interface.

For V+/eV+ programming information, refer to the V+/eV+ user and reference guides in theAdept Document Library (ADL) on the Adept website. For more details on the ADL, see AdeptDocument Library on page 16.



Chapter 6: Optional Equipment Installation

6.1 Installing End-EffectorsThe user is responsible for providing and installing any end-effector or other end-of-armtooling. End-effectors can be attached to the tool flange using four M6 screws. See Figure 8-3for a detailed dimension drawing of the tool flange.

A 6 mm diameter x 12 mm dowel pin (user-supplied) fits in the through-hole in the tool flangeand can be used as a keying or anti-rotation device in a user-designed end-effector.

If hazardous voltages are present at the end-effector, you must install a ground connectionfrom the base of the robot or the outer link to the end-effector. See Grounding the Adept RobotSystem on page 33.

NOTE: A threaded hole is provided on the tool flange. The user may attach aground wire through the quill, connecting the outer link and the tool flange.

6.2 Removing and Reinstalling the Tool FlangeThe tool flange can be removed and reinstalled. If the flange is removed, it must be reinstalledin exactly the same position to avoid losing the calibration for the system.

There is a setscrew on the flange that holds the rotational position of the flange on the quillshaft. The setscrew contacts a flat section of the quill shaft. Follow the procedures below toremove and replace the flange assembly.

Removing the Flange

1. Turn off high power and system power to the robot.

2. Remove any attached end-effectors or other tooling from the flange.

3. Use a 2.5 mm hex driver to loosen the setscrew (see Figure 6-1).

4. Loosen the two M4 socket-head cap screws.

5. Slide the flange down slowly until it is off the shaft.


Tool flange

assemblySetscrew

M4 Socket-Head

Cap screws

Quill shaft

Figure 6-1. Tool Flange Removal Details

Reinstalling the Flange

1. Slide the flange up on the quill shaft as far as it will go, and rotate it until the setscrewis lined up with the flat section on the quill shaft.

CAUTION: The setscrew must align with the flat sectionof the shaft or damage to the quill will result.

2. Support the flange while using a 2.5 mm hex driver to tighten the setscrew to fingertightness. Do not over-tighten the setscrew because this will cause the flange to be off-center from the quill shaft.

3. Tighten one of the M4 screws part of the way, then tighten the other one the sameamount. Alternate between the two screws so there is even pressure on both when theyare tight. The torque specification for each screw is 8 N·m (70 in-lb).

6.3 User Connections on Robot

User Air Lines

There are four user air line connectors on the robot user panel on the back of the robot (seeFigure 6-2). The four air lines run through the robot up to another set of four matchingconnectors on the top of the outer link. The maximum pressure for the air source is 0.59 MPa(86 psi). The Adept Cobra s350 is not equipped with solenoid valves.



1 2 3 4

16 17 18 19

5 6 7 8 9

10 11 12 13 14 15

Brake release

swtch

Air piping joints

(M5)

CN21 pin layout

(A)

View in direction of arrow (B)

CN20 pin layout

AIR 1,2 Ø4, BSPT 1/8

AIR 3,4 Ø6, BSPT 1/4 0.59 MPa

View in direction of arrow (A)

(B)

Air piping

jointMaximum

allowable pressureAir No.

AIR1 and AIR2

AIR3 and AIR4

Figure 6-2. User Air and Electrical Connectors on Robot

User Electrical Lines

There are 19 user electrical lines that run from CN20 at the back of the robot, up to CN21 onthe top of Joint 2, as shown in the previous figure. Maximum current per line is 1 Amp. Usethe supplied mating connector sets, shown in the following table, for CN20 and CN21.

Table 6-1. Mating Connectors for CN20 and CN21

Connector No. Model and part name Appearance

for CN20 SRCN6A25-24S (round typeconnector) Japan AviationElectronics Industry Ltd.

for CN21 JMLP2119M (L type plugconnector) DDK Electronics,Inc.



Optional Solenoid Cable

An optional 4-meter solenoid cable is available that connects between the XDIO connector onthe SmartController and the CN20 connector on the robot. Note: this solenoid cable does notwork with the Cobra s350CR/ESD robots.

The solenoid cable brings a portion of the XDIO signals out to the CN21 connector at the top ofthe robot. See the following table for the details on the signals available at CN21. See the AdeptSmartController EX User’s Guide or Adept SmartController User’s Guide for the electricalspecifications for the signals from the XDIO connector.

Table 6-2. CN21 Signal List When Using Solenoid Cable

CN21 Pin #Signal from XDIO onSmartController CN21 Pin #

Signal from XDIO onSmartController

1 Input 10011 11 Not connected

2 Input 10021 12 Ground

3 Input 10031 13 Output 0001

4 Input 10041 14 Output 0002

5 Input 10051 15 Output 0003

6 Not connected 16 Output 0004

7 Output 00072 17 Output 0005

8 Output 00082 18 Output 0006

9 24 V Output3 19 Not connected

10 Ground1Inputs 1001 to 1005 are preconfigured as low-active (sinking) inputs.2Outputs 0007 and 0008 are preconfigured as high-side (sourcing) outputs.3Limited to a combined total of 1 A of current.

Mounting Options for User Connections

User air and electrical lines can be routed either through the hollow space in the Z-axis shaftor by attaching them to the robot’s exterior by mounting stays on the robot.

CAUTION: Do not remove the mechanical end bolts onthe 1st and 2nd axes or the mechanical stoppers on the3rd axis (see the following figure). Also, do not use thesebolts and stoppers to secure a stay to support user air orelectrical lines. If you remove these components, theinitial calibration position and softstops may becomeinvalid, the robot arm may fail to run as programmed,and the robot arm may interfere with peripheral devices.

NOTE: Do not use the following for user connections:



1st-Axis

Mechanical End Bolt

2nd-Axis

Mechanical End Bolts

3rd-Axis

Mechanical Stoppers

Figure 6-3. Mechanical End Bolts and Stoppers on Robot

Routing User Connections Through the Z-Axis Shaft

You can route air and electrical lines from the CN21 connector or the air line joints on the topof the outer arm (Joint 2) through a hollow space (Ø14 mm) in the Z-axis shaft.

CAUTION: If routing lines in this manner, make surethat, when the robot is in motion, including when the Z-axis is moving, the air and electrical lines do not becometaut or interfere with other parts of the robot.

Attaching Stays to Support User Connections

You can attach a user-supplied stay on the exterior of the robot to support air and electricallines—see Figure 6-4. See Figure 6-5 for the dimensions to fabricate the stay. To install the stay,attach four M3 bolts to the four threaded holes on the bottom of the outer arm to mount thestay. The mounting holes are the same as those used for the camera bracket, see Figure 6-6.



Stay Attached to

Underside of Outer

Arm Using M3 Bolts

Stay Attached to Robot

User Air and Electrical

Lines Routed Through

Z-Axis Shaft

User Air and

Electrical Lines

Figure 6-4. Stay Attached to Robot’s Exterior

.39

1.181

2x

Ø .22 .98

2x

3.00

.35

Ø .20

4.00

.08

.08

1.18

R

1.97

Figure 6-5. Dimensions for Fabricating User-Supplied Stay



6.4 Camera MountingA camera can be mounted on the Cobra s350 by installing a user-supplied camera bracket. Thebracket is installed on the underside of the robot—see the following figure for the location anddimensions of the mounting holes. See Figure 6-7 and Figure 6-8 for drawings of the brackets.The user must fabricate this bracket, it is not available from Adept.

An optional camera channel (40861-00830) and camera mounting block (40861-00660) areavailable from Adept. These can be attached to the user-supplied camera bracket. See thefollowing figure.

4x M3 x 0.5

82

30

(66)

Camera

Channel

Camera

Mounting

Block

Camera

Bracket

Figure 6-6. Camera Mounting Details



Camera Bracket Drawings

(5.0

1)

.01

0

A

A

4.0

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(6.9

7)

(.5

6)

.88

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Figure 6-7. Camera Bracket Drawing, Page 1 of 2

1.8

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2X

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1.2

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1.0

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1.2

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Figure 6-8. Camera Bracket Drawing, Page 2 of 2



Chapter 7: Maintenance

7.1 Periodic Maintenance ScheduleThe following table gives a summary of the preventive maintenance procedures andguidelines on frequency.

Table 7-1. Inspection and Maintenance

Item Period Reference

Check E-Stop, enable and key switches, and barrierinterlocks

3 months Section 7.2

Check robot mounting bolts 3 months Section 7.3

Lubricate Joint 3 (Z-axis) ball screw 6 months Section 7.4

Replace Encoder battery 2 - 4 years Section 7.5

Inspect timing belts on 3rd and 4th axes 12 months Section 7.6

WARNING: The procedures and replacement of partsmentioned in this section should be performed only byskilled or instructed persons, as defined in the AdeptRobot Safety Guide. The access covers on the robot arenot interlocked – turn off and lock out/tag out power ifcovers have to be removed.

7.2 Checking of Safety SystemsThese tests should be done every six months.

1. Test operation of:

l E-Stop button on Front Panel

l E-Stop button on pendant

l Enabling switch on pendant

l Auto/Manual switch on Front Panel

NOTE: Operating any of the above switches should disable High Power.

2. Test operation of any external (user supplied) E-Stop buttons.

3. Test operation of barrier interlocks, etc.


7.3 Checking Robot Mounting BoltsCheck the tightness of the base mounting bolts after one week, and then every 6 months.Tighten to 70 N-m (52 ft-lbf). Also check the tightness of all cover plate screws.

7.4 Lubricate Joint 3 Ball Screw

Required Grease for the Robot

Table 7-2. Robot Lubrication

LubricationPoint

LubricationType

LubricationAmount Remarks

Joint 3 quillshaft

Epinoc AP1 2 to 3 cc Apply grease to entire shaft.

CAUTION: Using improper lubrication products on theAdept Cobra s350 robot may cause damage to the robot.

Lubrication Procedure

1. Turn off main power to the controller and robot.

Lock out and tag out power.

Apply grease to

Joint 3 Quill Shaft.

Figure 7-1. Lubrication of Joint 3 Quill

2. Raise the Joint 3 quill shaft to the upper position.



3. Apply grease to the entire shaft. See Table 7-2 for details.

4. Move the Joint 3 shaft up and down to distribute the grease. Wipe off any excess grease.

7.5 Replacing Encoder BatteryThe data stored by the encoders is protected by 3.6 V lithium backup batteries located in thebase of the robot.

Documents

Adept Cobra s350 Robot - Omron Automation Americasproducts.omron.us/Asset/Omron-Adept-Cobra_s350_UG_EN...Adept Cobra s350 Robot User's Guide TableofContents Chapter1:Introduction 9