adept technology Cobra Dual Manual

Dual Adept Cobra Robot
Configuration Procedure
Rev A, April, 2007

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Adept Technology, Inc.
Dual Adept Cobra Robot Configuation Procedure, Rev A 3
1.0 Overview
This procedure provides details on how to configure a dual Cobra s600/s800/s800 Inverted
robot system.
NOTE: This procedure is only required if your system was not configured
for dual robots at the factory.
The main steps in the configuration process are:
1. Use the CONFIG_C utility to load the Cobra s600/s800 device modules for each robot.
Save the data and reboot the system. See Section 3.0 on page 5 for details.
2. Use the DC_SETUP utility to configure each robot as a unique node on the SmartServo
network. See Section 4.0 on page 9 for details.
3. Use the DC_SETUP utility to assign the correct digital “logical” IO blocks to each robot.
Save the data and reboot the system. See Section 5.0 on page 11 for details.

Adept Technology, Inc.
4 Dual Adept Cobra Robot Configuation Procedure, Rev A
2.0 Robot System Installation
This diagram below is provided for reference. See the user’s guide shipped with your
robot for complete details.
Figure 1. Dual sCobra 600/800 System Cable Diagram
GND XSLV
1
2
SmartServo
RS-232
XPANEL
AC INPUT
(200-240 VAC 1Φ)
+24V
DC INPUT
(24 VDC)
XIO
GND XSLV
1
2
SmartServo
RS-232
XPANEL
AC INPUT
(200-240 VAC 1Φ)
+24V
DC INPUT
(24 VDC)
XIO
Ethernet to PC
IEEE 1394 cable
IEEE 1394 cable
Adept
SmartController Adept Cobra
s600/s800 Robot #1
Adept Cobra
s600/s800 Robot #2
User-Supplied
24VDC Power
Supply
User-Supplied
200-240 VAC,
single phase
User-Supplied
200-240 VAC,
single phase
Controller (XFP) to
Front Panel (XFP)
Front Panel
XSYS Cable to
Robot #1
XSYS Cable to
Robot #2
XSYS Y-Cable
24VDC to
Controller
24VDC to
Robot #1
24VDC to
Robot #2
Desktop or Laptop PC
running AdeptWindows
Terminator
Installed
User-Supplied Ground Wire
STOP
R
1 2 3
RS-422/485
XUSR XSYS
SF
XMCP
1.1
SmartController CS
LANHPE
OFF
24V 5A
ON
RS-232/TERM
XFP
HDES
XDIO
Eth 10/100
*S/N3561-XXXXX*
SW1 Device Net
IEEE-1394
XDC1 XDC2
- + - +
1 2 3 4
OK
R
1.2
Controller (XMCP) to T1
T1 Pendant
(optional)

Adept Technology, Inc.
Dual Adept Cobra Robot Configuation Procedure, Rev A 5
3.0 Loading Device Modules with CONFIG_C
This procedure provides details on how to use the CONFIG_C utility to load the Cobra
s600/s800 device modules for each robot.
1. Install the robots and controller as per the Dual Robot System Cable Diagram shown in
Figure 1 on page 4.
2. Power-up both robots, and then the controller.
The following will be displayed on boot-up.
Figure 2. Typical Startup Screen
3. Load the CONFIG_C utility by typing the following command at the V+ dot prompt:
load \util\config_c
4. Execute the CONFIG_C utility by typing the following command at the V+ dot prompt:
exe 1 a.config_c

Adept Technology, Inc.
6 Dual Adept Cobra Robot Configuation Procedure, Rev A
The following will be displayed.
Figure 3. CONFIG_C Main Menu
5. Select option 3 “Robots and Device Modules.” The following will be displayed.
Figure 4. Robots and Device Modules Menu
6. Select option 5 “Select device modules for robots.” The following will be displayed.

Adept Technology, Inc.
Dual Adept Cobra Robot Configuation Procedure, Rev A 7
Figure 5. Selecting Device Modules Menu
7. At the “Do you want robot 1 (Y/N)? prompt,” enter Y. The following will be displayed.
Figure 6. Device Module Selection
8. Enter 6 at the “Enter selection number” prompt. The following will be displayed.
Figure 7. Module Confirmation
9. Enter Y at the “Are you sure you want to select this module (Y/N)?” prompt. The following
will be displayed.
Figure 8. Robot Number Confirmation
10.Enter Y at the “Do you want robot number 2 (Y/N)?” prompt. The following will be
displayed.

Adept Technology, Inc.
8 Dual Adept Cobra Robot Configuation Procedure, Rev A
Figure 9. Device Module Selection
11.Enter 6 at the “Enter selection number” prompt. The following will be displayed.
Figure 10. Module Confirmation
12.Enter Y at the “Are you sure you want to select this module (Y/N)?” prompt.
13.Enter N at the “Do you want robot number 3 (Y/N)?” prompt. The above information will
now be saved to the system.
14.Press Enter to continue.
15.Select option 0 “Return to main menu.”
16.Select option 0 “Exit to system monitor.”
17.Disconnect the controller from AdeptWindows, and power cycle both robots and the
SmartController.
18.After boot up, a screen similar to the screen shown in Figure 2 on page 5 will be
displayed. Go to Section 4.0 to continue the setup process.

Adept Technology, Inc.
Dual Adept Cobra Robot Configuation Procedure, Rev A 9
4.0 Configuring SmartServo Nodes with DC_SETUP
Use the DC_SETUP utility to configure each robot as a unique node on the SmartServo
network.
1. Load the DC_SETUP utility by typing the following command at the V+ monitor prompt:
load \util\dc_setup
2. Execute the DC_SETUP utility by typing the following command at the V+ monitor
prompt:
exe 1 a.dc_setup
The main DC_SETUP menu appears, as shown in the figure below.
Figure 11. DC_SETUP Main Menu
3. In DC_SETUP, select option 2 “Configure Adept robot/axis gadgets.” Follow the
instructions on the screen. After several screens, you will see a screen similar to the
figure below.
NOTE: If the Adept Cobra s600/s800/s800 Inverted robots were shipped
from the factory configured as single robot systems, both robots will be
configured as Robot 1. As this stage, you must hit the SPACE bar to cycle
through each robot to remove the Robot 1 configuration before you
continue. If you do not visit each servo node, there will be no servo nodes
presented to you later in the procedure when you will configure Robot 2.

Adept Technology, Inc.
10 Dual Adept Cobra Robot Configuation Procedure, Rev A
Figure 12. Configure Robot Confirmation
4. For robot #1, identify the flashing LED on the top of robot #1. Press Enter to configure the
robot.
NOTE: As of V+ 17.0 Edit A, the selected servo node LED could be
flashing green/red or amber, based on the product type.
5. Return to main menu, and then select option 6 “Change robot number.” Then select
option 2, and repeat the above process for robot #2.

Adept Technology, Inc.
Dual Adept Cobra Robot Configuation Procedure, Rev A 11
5.0 Configuring Digital I/O Blocks with DC_SETUP
After you have configured the robots as nodes in the SmartServo network, you are ready to
assign the correct logical I/O blocks to each robot. Use the DC_SETUP utility to assign the
correct digital logical IO blocks to each robot.
1. In the main DC_SETUP menu, select option 1 “Configure DIO input/output blocks.” Read
the instructions on the screen.
Figure 13. Logical Blocks Description
2. After you have read the information, press Enter to proceed.
3. The next screen appears. This is where you will configure the DIO for each robot. Enter
the block numbers as follows:
• Map block 1 and block 3 to robot #1 (see Figure 14)
• Map block 2 and block 4 to robot #2
Figure 14. DIO Configuration
4. When the DIO blocks for both robots have been configured, return to the main menu and
select option 4 “Save all specifications to system disk.”
5. Follow the instructions on screen to save the new configuration data.
6. Return to the main menu and select option 1 “Exit to system monitor.”

Adept Technology, Inc.
12 Dual Adept Cobra Robot Configuation Procedure, Rev A
7. Cycle the power off and on to the controller and each robot. The dual robot system is now
ready for use.
The following will be displayed after the system has completed the boot-up cycle.
Figure 15. Robot 1 and Robot 2 Configured