Omron ECobra 600 Manual de usuario

I593-E-05

eCobra 600, 800 and 800 Inverted Robots

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 11

1.1 Product Description 11

eCobra Robot Models 12

eAIB (Amplifiers in Base) 13

1.2 eCobra Robot Features And Options 14

SmartController EX 15

ePLC Connect Software 15

IO Blox 15

SmartVision MX 15

T20 Pendant 15

Intelligent Force Sensing 15

ACE PackXpert Process Manager 15

1.3 How Can I Get Help? 16

Related Manuals 16

Chapter 2: Safety 17

2.1 Dangers, Warnings, and Cautions 17

Alert Levels 17

Alert Icons 17

Falling Hazards 17

Special Information 18

2.2 What to Do in an Emergency/Abnormal Situation 18

Releasing the Brakes 18

Releasing an E-Stop 18

Emergency Stop Circuit and Buttons 19

General Hazards 19

2.3 Safety Precautions 19

User's Responsibilities 19

Qualification of Personnel 20

2.4 Robot Behavior 21

Hardstops 21

Limiting Devices 21

Singularities 21

2.5 Intended and Non-intended Use 21

Intended Use 21

Non-Intended Use 22

Robot Modifications 22

2.6 Additional Safety Information 22

Manufacturer’s Declaration of Incorporation 22

14402-000 Rev. F eCobra User's Guide 3

Table of Contents

Robot Safety Guide 23

T20 Manual Control Pendant (Option) 23

Disposal 23

Chapter 3: Robot Installation 25

3.1 Installation Overview 25

3.2 Transport and Storage 25

3.3 Unpacking and Inspecting the Equipment 26

Before Unpacking 26

Upon Unpacking 26

3.4 Repacking for Relocation 26

3.5 Environmental and Facility Requirements 27

3.6 Mounting an Upright eCobra Robot 27

Mounting Surface 28

Mounting Procedure 29

3.7 Mounting an eCobra 800 Inverted Robot 30

Mounting Surface 30

Mounting Procedure 30

3.8 Mounting the Front Panel 32

3.9 Connectors on Robot Interface Panel (eAIB) 33

Chapter 4: System Installation 35

4.1 System Cables, without SmartController EX 35

List of Cables and Parts 36

Cable Installation Overview 38

4.2 System Cables, with SmartController EX 40

Installing a SmartController EX Motion Controller 41

List of Cables and Parts 41

Cable Installation Overview 43

4.3 OptionalCables 44

XIOBreakout Cable 44

DB9 Splitter Cable 44

eAIB XBELTIOAdapterCable 44

SmartController EX Belt Encoder Y-Adapter Cable 44

4.4 ACE Software 49

User-supplied PC 49

Installing ACESoftware 49

4.5 Connecting 24 VDC Power to Robot 50

Specifications for 24 VDC Power 50

24 VDC Mating Connector 51

Creating 24 VDC Cable 52

Connecting 24 VDC Cable 52

4 eCobra User's Guide 14402-000 Rev. F

Table of Contents

4.6 Connecting 200-240 VAC Power to Robot 54

Specifications for AC Power 54

AC Mating Connector 58

Creating the 200-240 VAC Cable 58

Connecting AC Power Cable 59

4.7 Grounding the Robot System 59

Grounding the Robot Base 59

Grounding Robot-Mounted Equipment 60

4.8 Configuring a PLC 60

4.9 Installing User-Supplied Safety Equipment 62

Emergency Stop Circuits 68

Remote Manual Mode 70

User Manual/Auto Indication 70

User High Power On Indication 70

Remote High Power On/Off Control 71

High Power On/Off Lamp 71

Remote Front Panel or User-Supplied Control Panel Usage 71

Remote Pendant Usage 72

Chapter 5: System Operation 73

5.1 Robot Status LED Description 73

5.2 Status Panel Fault Codes 73

Status Panel 74

5.3 Brakes 80

Brake Release Button 80

Remote Brake Release Feature 81

5.4 Front Panel 81

5.5 Connecting Digital I/O to the System 83

Optional I/O Products 83

Default Digital I/O Signal Configuration 84

eAIB XIO Connector Signals 86

XIO Input Signals 87

XIO Output Signals 90

XIO Breakout Cable 93

5.6 Starting the System for the First Time 94

Verifying Installation 95

Turning on Power 96

Starting ACE 96

Enabling High Power 97

Verifying E-Stop Functions 97

Verify Robot Motions 97

5.7 Learning to Program the eCobra Robot 97

14402-000 Rev. F eCobra User's Guide 5

Table of Contents

Chapter 6: Maintenance 99

6.1 Field-Replaceable Parts 99

6.2 Periodic Maintenance Schedule 99

6.3 Warning Labels 100

6.4 Checking Safety Systems 103

6.5 Checking Robot Mounting Bolts 103

6.6 Checking for Oil Leakage 103

6.7 Lubricating Joint 3 104

6.8 Replacing the eAIB Chassis 107

Removing the eAIB Chassis 107

Installing a New eAIB Chassis 109

6.9 Commissioning a System With An eAIB 110

Safety Commissioning Utilities 110

E-Stop Configuration Utility 112

E-Stop Verification Utility 113

Teach Restrict Configuration Utility 113

Teach Restrict Verification Utility 114

6.10 Replacing a MicroSD Card 115

Removing a MicroSD Card from an eAIB 115

Installing a MicroSD Card into an eAIB 117

6.11 Replacing the Encoder Battery Pack 117

Battery Replacement Time Periods 118

Battery Replacement Procedure 118

6.12 Changing the Lamp In the Front Panel High-Power Indicator 119

Chapter 7: Optional Equipment Installation 123

7.1 Installing End-Effectors 123

7.2 Removing and Installing the Tool Flange 123

Removing the Flange 123

Installing the Flange 124

7.3 User Connections on the Robot 125

User Air Lines 125

User Electrical Lines 126

7.4 Internal User Connectors 126

SOLND Connector 127

OP3/4 Connector 128

EOAPWR Connector 129

Internal User Connector Output Specifications 129

ESTOP Connector 130

7.5 Mounting Locations for External Equipment 132

7.6 Installing the Robot Solenoid Kit 132

6 eCobra User's Guide 14402-000 Rev. F

Table of Contents

Tools Required 133

Signal Setup 133

134

Installation 134

Testing 139

7.7 Installing the Camera Bracket Kit 140

Tools Required 140

Procedure 141

7.8 Installing Adjustable Hardstops 142

Joint 1 Adjustable Hardstops 142

Joint 2 Adjustable Hardstops 146

Chapter 8: Technical Specifications 153

8.1 Dimension Drawings 153

8.2 Robot Specifications 166

Physical 166

Performance 167

Stopping Distances and Times 167

Key to Graphs 168

Hardstops and Softstops 174

Chapter 9: IP65 Option 175

9.1 eCobra 800 Robots IP65 Classification 175

9.2 Installing Cable Seal Assembly 176

Cable Seal Identification 176

Installation Procedure 176

9.3 Robot Outer Link Cover Removal and Reinstallation 178

Cover Removal Procedure 178

Cover Reinstallation Procedure 180

9.4 Customer Requirements 181

Sealing the Tool Flange 181

Pressurizing the Robot 182

9.5 User Connectors 183

User Electrical and DeviceNet 183

User Air Lines 184

Robot Solenoid Option 184

9.6 Maintenance 185

IP65 Bellows Replacement 185

9.7 Dimension Drawing for Cable Seal Assembly 186

Chapter 10: Cleanroom Robots 189

Cleanroom Specifications 189

14402-000 Rev. F eCobra User's Guide 7

Table of Contents

10.1 Connections 190

10.2 Requirements 190

10.3 Exclusions and Incompatibilities 191

10.4 Cleanroom Maintenance 191

Bellows Replacement 191

Lubrication 192

8 eCobra User's Guide 14402-000 Rev. F

Revision History

Revision

code Date Revised Content

01 June,

2016

Original release.

02 February,

2017

lFixed default signal #s when no SmartController EX is present

lUpdated Safety chapter, misc. regulatory.

lClarified text about eAIB's RS-232 port when using a SmartCon-

troller EX.

03 August,

2017

lClarified the use of "axis" and "joint".

lRemoved duplicate row in Chapter 8 table.

lMinor clarifications to IP65 Option chapter to differentiate

between upright and inverted robots.

04 April,

2018

lUpdated safety chapter and alert levels throughout manual.

lUpdated recommended power supply part numbers, T20 part

numbers, and XMCPjumper cable part numbers.

lError reporting and Line E-Stop clarification.

lUpdate ACE software disk to ACEsoftware media.

lCorrected "SmartVisionEX" to "SmartVision MX" in system

cable drawing.

05 March,

2019

lAdded WEEE Icon and Disposal section to Safety chapter.

lRemoved www.adept.com.

lAdded English condition to www.ia.omron.com.

lRevised encoder battery replacement interval.

lUpdated Safety chapter.

lUpdated status code table in Chapter 5: Operation.

lUpdated illustrations with call-outs and tables for translation

compatibility. Other minor illustration improvements applied.

lRemoved references to obsolete sDIOunit.

lCorrections applied to Chapter 4: System Installation.

lAdded new figures to illustrate all encoder cable configurations

and pinouts in Chapter 4: System Installation.

lRemoved Class 1 cleanroom note in Chapter 10: Cleanroom

Robots.

lAdjusted vacuum flow rates and air supply specifications for reg-

ular and inverted robots in Chapter 10: Cleanroom Robots.

lAdjusted text in Emergency Stop Circuits section in Chapter 4:

System Installation.

lAdded a note about typical IO Blox configurations in Chapter 5:

System Operation.

lDual-Robot Configuration Guide renamed to Single and Multiple

Robot Configuration Guide.

14402-000 Rev. F eCobra User's Guide 9

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