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Chapter 6: Optional Equipment Installation

Figure 6-4. Internal User Connectors—OP3/4, EOAPWR, ESTOP

WARNING:When the Outer link cover is removed, you

see the label shown above. Do not remove the J3-ENC or

J4-ENC encoder cable connectors from their sockets. If

they are removed, the calibration data will be lost and

the robot must be run through a factory recalibration

process, which requires special software and tools.

Figure 6-5. SOLND Connector

Adept Cobra ePLC600/800 Robot, User’s Guide, Rev A

Page 72 of 108

1 2 ... 67 68 69 70 71 72 73 74 75 76 77 ... 107 108

Adept Cobra ePLC600 & 1
Copyright Notice 4
Table of Contents 5
Chapter 5: Maintenance 53 6
Chapter 8: IP-65 Option 91 7
Page 8 of 108 8
Chapter 1: Introduction 9
1.3 Safety Precautions 12
1.7 Installation Overview 13
1.9 How Can I Get Help? 14
Adept Document Library 15
Chapter 2: Robot Installation 17
2.3 Repacking for Relocation 18
2.5 Mounting the Robot 19
Robot Mounting Procedure 20
3.1 System Cable Diagram 23
3.2 Cable and Parts List 23
Installing 24 VDC Robot Cable 26
Specifications for AC Power 27
IEC1131-2, the following 28
AC Power Diagrams 28
200–240 VAC 29
Grounding the Robot Base 30
Installing Adept ACE Software 31
Setting the Robot IPAddress 32
Page 33 of 108 33
Chapter 4: System Operation 39
4.3 Brakes 41
4.4 Front Panel 41
Cobra ePLC600/ePLC800 Robot 43
XIO Connector 43
8 Output signals: 1 to 8 43
Optional I/O Products 44
XIO Input Signals 45
XIO Output Signals 46
Ω @ 85° C 47
XIO Breakout Cable 48
Pin 9Pin 1 49
Pin 18Pin 10 49
Pin 19 Pin 26 49
Verifying Installation 50
Start-up Procedure 50
Verifying E-Stop Functions 52
Verify Robot Motions 52
Chapter 5: Maintenance 53
5.3 Checking Safety Systems 54
5.6 Lubricating Joint 3 55
Section A-A 57
Upper Quill Grease Locations 57
Lower Quill Grease Locations 57
Removing the eAIB Chassis 58
Installing a New eAIB Chassis 60
Prerequisites 62
E-Stop Configuration Utility 63
E-Stop Verification Utility 64
Automatic Mode Procedure 65
Manual Mode Procedure 66
Battery Replacement Procedure 67
6.1 Installing End-Effectors 69
6.3 User Connections on Robot 70
6.4 Internal User Connectors 71
SOLND Connector 73
OP3/4 Connector 73
EOAPWR Connector 74
Typical ESTOP 76
Connector Circuit 76
Tools Required 77
Procedure 77
7.1 Dimension Drawings 83
Page 84 of 108 84
Page 85 of 108 85
Page 86 of 108 86
Page 87 of 108 87
7.2 Robot Specifications 88
Installation Procedure 92
Cover Removal Procedure 94
8.4 Customer Requirements 96
8.5 User Connectors 97
User Electrical 98
8.6 Maintenance 99
Chapter 8: IP-65 Option 101
Page 101 of 108 101
Chapter 9: Cleanroom Robots 103
9.1 Connections 104
9.2 Requirements 104
9.4 Cleanroom Maintenance 105
P/N: 13400-000, Rev A 108

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