Omron Cobra 350 CR/ESD Manual de usuario

I591-E-05

Cobra 350 Robot

User’s Guide

The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be

reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The

information herein is subject to change without notice and should not be construed as a commitment by

Omron Adept Technologies, Inc. The documentation is periodically reviewed and revised.

Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the doc-

umentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us

in preparation of future documentation. Please submit your comments to: techpubs@adept.com.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Created in the United States of America

Table of Contents

Chapter 1: Introduction 9

1.1 Product Description 9

Cobra 350 Robots 9

SmartController EX (Option) 10

MotionBlox-40R 11

1.2 How Can I Get Help? 12

Related Manuals 12

Chapter 2: Safety 13

2.1 Dangers, Warnings, and Cautions 13

Alert Levels 13

Alert Icons 13

Falling Hazards 13

Special Information 14

2.2 Safety Precautions 14

User's Responsibilities 14

General Hazards 15

Qualification of Personnel 15

2.3 What to Do in an Emergency or Abnormal Situation 16

Releasing the Brakes 16

Releasing an E-Stop 16

2.4 Robot Behavior 17

Hardstops 17

Limiting Devices 17

Singularities 17

2.5 Intended and Non-intended Use 17

Intended Use of the Robot 17

Non-Intended Use 18

2.6 Additional Safety Information 18

Manufacturer’s Declaration of Incorporation 18

Robot Safety Guide 18

T20 Manual Control Pendant (Option) 18

Disposal 19

Chapter 3: Robot Installation 21

3.1 Transport and Storage 21

3.2 Unpacking and Inspecting the Equipment 21

Before Unpacking 21

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Upon Unpacking 21

3.3 Repacking for Relocation 21

3.4 Environmental and Facility Requirements 22

3.5 Mounting the Robot 22

Mounting Surface 23

Robot Mounting Procedure 24

Chapter 4: MotionBlox-40R 27

4.1 Introduction 27

4.2 Connectors on eMB-40R Interface Panel 28

4.3 eMB-40R Operation 29

Status LED 29

Status Panel 30

Brake Release Button 37

Brake Release Connector 37

4.4 Connecting Digital I/O to the System 38

4.5 Using Digital I/O on eMB-40R XIO Connector 39

Optional I/O Products 41

XIO Input Signals 41

XIO Output Signals 44

XIO Breakout Cable 46

4.6 Mounting the eMB-40R 48

Dimensions and Mounting Holes 48

Mounting Clearances 49

Chapter 5: System Cable Installation 51

5.1 System Cables, without SmartController EX 51

List of Cables and Parts 52

Connection Installation Overview 54

Other Cables 55

5.2 System Cables, with Optional SmartController EX, SmartVision MX 56

Installing a SmartController EX Motion Controller 57

List of Cables and Parts 57

Cable Installation Overview 59

5.3 Optional Cables 60

XIOBreakout Cable 60

DB9 Splitter Cable 60

eAIB XBELTIOAdapterCable 60

SmartController EX Belt Encoder Y-Adapter Cable 60

5.4 Installing the SmartController EX 64

5.5 Installing the ACE Software 65

5.6 Connecting the PC to the SmartController EX 65

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5.7 Cable Connections from eMB-40R to SmartController EX 65

5.8 Cable Connection from eMB-40R to Robot 66

5.9 Connecting 24 VDC Power to eMB-40R 67

Specifications for 24 VDC Power 67

Details for 24 VDC Mating Connector 68

Procedure for Creating 24 VDC Cable 68

Installing the 24 VDC Cable 69

5.10 Connecting 200-240 VAC Power 70

Specifications for AC Power 71

Details for AC Mating Connector 73

Procedure for Creating 200-240 VAC Cable 73

Installing AC Power Cable to eMB-40R 74

5.11 Grounding the Robot System 75

Ground Point on Robot Base 75

Ground Point on eMB-40R 75

Robot-Mounted Equipment Grounding 76

5.12 Installing User-Supplied Safety Equipment 76

Emergency Stop Circuits 82

Remote Manual Mode 84

User Manual/Auto Indication 84

User High Power On Indication 85

Remote High Power On/Off Control 85

High Power On/Off Lamp 85

Remote Front Panel or User-Supplied Control Panel Usage 85

Remote Pendant Usage 86

Chapter 6: System Operation 87

6.1 Status Panel Codes 87

6.2 Brake Release Button 87

6.3 Front Panel 88

6.4 Initial Power-up of the System 89

Verifying Installation 89

System Start-up Procedure 91

Running the ACE Software 91

Enabling High Power 91

Verifying E-Stop Functions 92

Verify Robot Motions 92

6.5 Learning to Program the Cobra 350 Robot 92

Chapter 7: Optional Equipment Installation 93

7.1 Installing End-Effectors 93

7.2 Removing and Reinstalling the Tool Flange 93

Removing the Flange 93

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Reinstalling the Flange 94

7.3 User Connections on Robot 94

User Air Lines 94

User Electrical Lines 96

Optional Solenoid Cable 96

Mounting Options for User Connections 97

7.4 Camera Mounting 99

Camera Channel 99

Camera Bracket 100

Chapter 8: Maintenance 103

8.1 Periodic Maintenance Schedule 103

8.2 Warning Labels 103

8.3 Checking Safety Systems 105

8.4 Checking Robot Mounting Bolts 105

8.5 Lubricate Joint 3 Ball Screw 105

Required Grease for the Robot 105

Lubrication Procedure 105

8.6 Replacing Encoder Battery 106

Battery Replacement Time Periods 106

Replacement Procedure 107

8.7 Inspecting Timing Belts 110

8.8 Replacing the eMB-40R Amplifier 110

Remove the eMB-40R Amplifier 110

Installing a New eMB-40R 111

8.9 Commissioning a System with an eMB-40R 111

Safety Commissioning Utilities 112

E-Stop Configuration Utility 114

E-Stop Verification Utility 114

Teach Restrict Configuration Utility 115

Teach Restrict Verification Utility 115

8.10 Changing the Lamp in the Front Panel High-Power Indicator 116

Chapter 9: Technical Specifications 119

9.1 Dimension Drawings 119

9.2 Robot Specifications 123

Physical 123

Performance 124

Stopping Distances and Times 124

Key to Graphs 125

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Chapter 10: Cleanroom Robots 129

10.1 Cobra 350 CR/ESD Cleanroom Option 129

Introduction 129

Specifications 130

10.2 Connections 130

10.3 Requirements 131

10.4 ESD Control Features 131

10.5 Maintenance 132

Bellows Replacement 132

Lubrication 134

10.6 Dimension Drawings 135

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8 Cobra 350User's Guide 05624-000 Rev. K

Revision History

Revision

code Date Revised Content

01 June,

2016

Original release

02 January,

2017

lPresented SmartController EX as an option, not required.

lAdded or modified system cable drawings accordingly.

lConverted to OAT.css.

lAdded dwg showing required cooling space for eMB-40R mount-

ing.

lChanged diamond mounting alignment pin hole to 4 mm from

lAdded part number for solenoid cable.

lUpdated graphics to OAT.

lAdded notes to stopping distance graph section.

03 July,

2017

lRemoved ‘s’ from all “s350” instances.

lReplaced two Adept logos photos with Omron | adept logos.

lAdded photos clarifying insertion of Arm Power/Signal cable

between robot and eMB-40/60R.

lNoted difference for Cleanroom Arm Power/Signal connector.

lAdded mm to dimension drawings for camera bracket.

lChanged axis to joint, axes to joints.

04 April,

2018

lUpdated safety chapter and alert levels throughout manual.

lUpdated recommended power supply part numbers.

lUpdate T20 and XMCP jumper cable part numbers.

lError reporting and Line E-Stop clarification.

lUpdate ACE software disk to ACEsoftware media.

05 March,

2019

lUpdated safety chapter with current safety related inform-

ation.

lRevised encoder battery replacement procedure; added

replacement procedure for PC boards with 3 connectors.

lAdded WEEE disposal information.

lUpdated copyright for 2019.

lUpdated all www.adept.com references to www.ia.omron.com.

lRemoved references to obsolete sDIO unit.

lAdded Status Fault Codes information.

lUpdated illustrations with call-outs and tables for translation

compatibility. Other minor illustration improvements applied.

lReplaced contact support@adept.com with "your local Omron

support" in Chapter 9: Technical Specifications.

lAdded new figures to illustrate all encoder cable configurations

and pinouts in Chapter 5: System Cable Installation.

lAdded a note about typical IOBlox configurations in Chapter 4:

MotionBlox-40R.

lDual-Robot Configuration Guide renamed to Single and Mul-

tiple Robot Configuration Guide.

Chapter 1: Introduction

1.1 Product Description

Cobra 350 Robots

The Cobra 350 robot is a high-performance, four-joint SCARA robot (Selective Compliance

Assembly Robot Arm). Joints 1, 2, and 4 are rotational; Joint 3 is translational. See Robot Joint

Motions on page 10 for a description of the robot joint locations.

NOTE: The robot motors are powered by an eMB-40R servo-controller/amplifier.

The robot can be controlled by the eMB-40R, running eV+, or an optional

SmartController EX motion controller, which also runs eV+.

Mechanical specifications for the Cobra 350 robots are provided in Technical Specifications on

page 119.

A cleanroom model is also available, the Cobra 350 CR/ESD. See Cleanroom Robots on page

129 for information.

Figure 1-1. Cobra 350 Robot

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10 Cobra 350User's Guide 05624-000 Rev. K

1.1 Product Description

(-)

(+)

(-)

Figure 1-2. Robot Joint Motions

Table 1-1. Robot Joint Motion Description

Item Description Item Description

1 1st Joint (J1) 2 2nd Joint (J2)

3 3rd Joint (J3) 4 4th Joint (J4)

SmartController EX (Option)

The SmartController EX motion controller is the foundation of our family of high-performance

distributed motion and vision controllers. The SmartController EX is designed for use with:

lCobra 350 robots

leCobra robots

lQuattro robots

lViper robots

The SmartController EX supports a conveyor tracking option, as well as other options. The

SmartController EX uses the eV+ Operating System (as does the eMB-40R). It offers scalability

and support for IEEE 1394-based digital I/O and general motion expansion modules. The IEEE

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