adept technology Cobra s350 User manual

Adept Cobra s350 Robot
User’s Guide

Adept Cobra s350 Robot
User’s Guide
P/N:05624-000, Rev. A
August 2006
3011TriadDrive • Livermore,CA94551 • USA • Phone [phone] •Fax[phone]
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Adept Cobra s350 User’s Guide, Rev. A 5
Table of Contents
1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Adept Cobra s350 Robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Adept MotionBlox-40R Distributed Servo Controller. . . . . . . . . . . . . . . . . . . 12
Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.2 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.1 Warnings, Cautions, and Notes in Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Warning Labels on the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.3 Precautions and Required Safeguards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Safety Barriers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Impact and Trapping Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Additional Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.4 Risk Assessment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Exposure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Severity of Injury . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Avoidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
CAT-1 Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.5 Intended Use of the Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.6 Robot Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Acceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Unacceptable Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.7 Transport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.8 Safety Requirements for Additional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.9 Sound Emissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.10 Thermal Hazard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.11 Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.12 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.13 Safety Equipment for Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.14 Protection Against Unauthorized Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.15 Safety Aspects While Performing Maintenance . . . . . . . . . . . . . . . . . . . . . . . 27

Table of Contents
6 Adept Cobra s350 User’s Guide, Rev. A
2.16 Risks Due to Incorrect Installation or Operation . . . . . . . . . . . . . . . . . . . . . . . . 28
2.17 What to Do in an Emergency Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3Robot Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.1 Transport and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.2 Unpacking and Inspecting the Adept Equipment . . . . . . . . . . . . . . . . . . . . . . . 30
Before Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Upon Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.3 Repacking for Relocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.4 Environmental and Facility Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.5 Mounting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Mounting Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Robot Mounting Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4MotionBlox-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.1 Introduction to the MotionBlox-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2 Description of Connectors on MB-40R Interface Panel . . . . . . . . . . . . . . . . . . . 36
4.3 MB-40R Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Status LED on MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Status Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Brake Release Button on MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Brake Release Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.4 Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.5 Using Digital I/O on MB-40R XIO Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Optional I/O Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
XIO Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
XIO Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Typical Input Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
XIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
XIO Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Typical Output Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.6 MB-40R Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5System Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1 System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.2 Cables and Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.3 Installing the SmartController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.4 Cable Connections from MB-40R to SmartController . . . . . . . . . . . . . . . . . . . . . 53
5.5 Cable Connections from MB-40R to Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Table of Contents
Adept Cobra s350 User’s Guide, Rev. A 7
Installing the Arm Power/Signal Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.6 Connecting 24 VDC Power to MB-40R Servo Controller . . . . . . . . . . . . . . . . . . 54
Specifications for 24 VDC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Details for 24 VDC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Procedure for Creating 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Installing the 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.7 Connecting 200-240 VAC Power to MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Specifications for AC Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Facility Overvoltage Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
AC Power Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Details for AC Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Procedure for Creating 200-240 VAC Cable . . . . . . . . . . . . . . . . . . . . . . . . 59
Installing AC Power Cable to MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
5.8 Grounding the Adept Robot System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Ground Point on Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Ground Point on MotionBlox-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Robot-Mounted Equipment Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.9 Installing User-Supplied Safety Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
6System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
6.1 Using the Brake Release Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Brake Release Button on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
6.2 System Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.3 Learning to Program the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
7Optional Equipment Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
7.1 Installing End-Effectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
7.2 Removing and ReInstalling the User Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Removing the Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
ReInstalling the Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
7.3 User Connections on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
User Air Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
User Electrical Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Optional Solenoid Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Mounting Options for User Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Routing User Connections Through the Z-Axis Shaft . . . . . . . . . . . . 71
Attaching Stays to Support User Connections . . . . . . . . . . . . . . . . 72
7.4 Camera Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Camera Bracket Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Table of Contents
8 Adept Cobra s350 User’s Guide, Rev. A
8Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
8.1 Periodic Maintenance Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
8.2 Checking of Safety Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
8.3 Checking Robot Mounting Bolts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
8.4 Lubricate Joint 3 Ball Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Required Grease for the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Lubrication Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
8.5 Replacing Encoder Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
8.6 Inspecting Timing Belts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
9Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
9.1 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
9.2 Robot Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
10 Cleanroom Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
10.1 Cobra s350 CR/ESD Cleanroom Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
10.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
10.3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
10.4 ESD Control Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
10.5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Bellows Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Procedure for Lower Bellows Replacement . . . . . . . . . . . . . . . . . . . 94
Procedure for Upper Bellows Replacement . . . . . . . . . . . . . . . . . . . 95
Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
10.6 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Adept Cobra s350 User’s Guide, Rev. A 9
List of Figures
Figure 1-1. Adept Cobra s350 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 1-2. Robot Joint Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 1-3. MotionBlox-40R (MB-40R) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Figure 1-4. Adept SmartController CX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Figure 2-1. Safety Warning Label on Adept Cobra s350 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 3-1. Transporting Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Figure 3-2. Mounting Hole Pattern for Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Figure 3-3. Rotate J2 Axis to Safe Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 4-1. Adept MB-40R Front View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 4-2. MB-40R Interface Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Figure 4-3. Controls and Indicators on MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Figure 4-4. Connecting Digital I/O to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Figure 4-5. Typical User Wiring for XIO Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Figure 4-6. Typical User Wiring for XIO Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Figure 4-7. Optional XIO Breakout Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Figure 4-8. MB-40R Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Figure 5-1. System Cable Diagram for Adept Cobra s350 Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Figure 5-2. User-Supplied 24 VDC Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Figure 5-3. Typical AC Power Installation with Single-Phase Supply . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Figure 5-4. Single-Phase AC Power Installation from a Three-Phase AC Supply . . . . . . . . . . . . . . . . 58
Figure 5-5. AC Power Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Figure 5-6. Ground Point on Robot Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Figure 5-7. User Ground Location on MB-40R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Figure 6-1. Brake Release Button for Third and Fourth Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Figure 6-2. Typical Start-up Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Figure 7-1. User Flange Removal Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Figure 7-2. User Air and Electrical Connectors on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Figure 7-3. Mechanical End Bolts and Stoppers on Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Figure 7-4. Stay Attached to Robot’s Exterior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Figure 7-5. Dimensions for Fabricating User-Supplied Stay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Figure 7-6. Camera Mounting Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Figure 7-7. Camera Bracket Drawing, Page 1 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Figure 7-8. Camera Bracket Drawing, Page 2 of 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Figure 8-1. Lubrication of Joint 3 Quill . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Figure 8-2. Removing Battery Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Figure 8-3. Removing First Old Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Figure 8-4. Installing First New Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Figure 8-5. Removing Second Old Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Figure 8-6. Installing Second New Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Figure 9-1. Adept Cobra s350 Top and Side Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Figure 9-2. Adept Cobra s350 Robot Working Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Figure 9-3. Tool Flange Dimensions for Adept Cobra s350 Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

List of Figures
10 Adept Cobra s350 User’s Guide, Rev. A
Figure 10-1. Adept Cobra s350 CR/ESD Cleanroom Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Figure 10-2. Cleanroom Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Figure 10-3. Cleanroom Lower Bellows Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Figure 10-4. Cleanroom Upper Bellows Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Figure 10-5. Adept Cobra s350 CR/ESD Top and Side Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Figure 10-6. Adept Cobra s350 CR/ESD Robot Working Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Adept Cobra s350 User’s Guide, Rev. A 11
Introduction 1
1.1 Product Description
Adept Cobra s350 Robots
The Adept Cobra s350 robot is a four-axis SCARA robot (Selective Compliance Assembly
Robot Arm). See Figure 1-1. Joints 1, 2, and 4 are rotational; Joint 3 is translational. See
Figure 1-2 on page 12 for a description of the robot joint locations.
The Adept Cobra s350 robots require an Adept MotionBlox-40R and Adept
SmartController. The robots are programmed and controlled using the SmartController,
running on the Adept SmartServo distributed motion control platform. Mechanical
specifications for the Adept Cobra s350 robots are provided in Chapter 9.
A cleanroom model is also available, the Adept Cobra s350 CR/ESD. See Chapter 10 for
information.
Figure 1-1. Adept Cobra s350 Robot

Chapter 1 - Introduction
12 Adept Cobra s350 User’s Guide, Rev. A
Figure 1-2. Robot Joint Motions
Adept MotionBlox-40R Distributed Servo Controller
The MotionBlox-40R Distributed Servo Controller controls the behavior of the feedback
loop between the digital absolute encoders and the high power motors of the Adept
Cobra s350 robot.
Adept MB-40R features:
• Four AC servo motor amplifiers
• Category-3 emergency stop circuitry
• 200 MHz RISC microprocessor for high-performance servo control
• 8 kHz servo rate delivers low positional errors and superior path following
• Sine wave commutation delivers low cogging torque and improved path
following
• Digital feed-forward design maximizes efficiency, torque, and velocity
• Integral temperature sensors and status monitoring for maximum reliability
• Dual-digit diagnostics display for easy troubleshooting
2nd axis (J2)
1st axis (J1)
3rd axis (J3)
4th axis (J4)
(-)
(+)
(+)
(+)
(+)
(-)
(-)
(-)

Product Description
Adept Cobra s350 User’s Guide, Rev. A 13
Figure 1-3. MotionBlox-40R (MB-40R)
Adept SmartController CX
The SmartController CX is the foundation of Adept’s family of high-performance
distributed motion and vision controllers. The SmartController CX is designed for use
with:
• Adept Cobra s-series robots
• Adept Viper s-series robots
• Adept Python linear modules
• Adept MotionBlox-10
•AdeptsMI6(SmartMotion)
The SmartController CX supports an integrated vision option and a conveyor tracking
option, as well as other options. It offers scalability and support for IEEE 1394-based
digital I/O and general motion expansion modules. The IEEE 1394 interface is the
backbone of Adept SmartServo, Adept's distributed controls architecture supporting
Adept products. The controller also includes Fast Ethernet and DeviceNet.
Figure 1-4. Adept SmartController CX
R
ON
SmartServo IEEE-1394
1234
SF ES HD
SW1 1.1 1.2 2.1 2.2
OK
123
XDIO
LANHPE
OFF
XSYS
CAMERA
Eth 10/100
XUSR
Device Net
XFP
RS-232/TERM
RS-232-1
XMCP
BELT ENCODER
SmartController CX
-+ -+
RS-422/485
XDC1 XDC2
24V 5A
*S/N 3562-XXXXX*
RS-232-2

Chapter 1 - Introduction
14 Adept Cobra s350 User’s Guide, Rev. A
1.2 Installation Overview
The system installation process is summarized in the following table. Refer also to the
system cable diagram in Figure 5-1 on page 51.
Table 1-1. Installation Overview
Task to be Performed Reference Location
1. Mount the robot on a flat, secure mounting surface. See Section 3.5 on page 31.
2. Install the SmartController, Front Panel, optional T1
pendant (if present), and AdeptWindows software.
See Section 5.3 on page 52.
3. Install the IEEE 1394 and XSYS cables between
the MB-40R and SmartController.
See Section 5.4 on page 53.
4. Install the Arm Power/Signal cable between the
MB-40R and the robot.
See Section 5.5 on page 53.
5. Create a 24 VDC cable and connect it between the
MB-40R and the user-supplied 24 VDC power
supply.
See Section 5.6 on page 54.
6. Create a 200-240 VAC cable and connect it
between the MB-40R and the facility AC power
source.
See Section 5.7 on page 57.
7. Install user-supplied safety barriers in the workcell. See Section 5.9 on page 61.
8. Learn about connecting digital I/O through the XIO
connector on the MB-40R.
See Section 4.4 on page 40.
9. Read Chapter 6 to learn about system start-up and
testing operation.
See Chapter 6.
10.Read Chapter 7 if you need to install optional
equipment, including end-effectors, user air and
electrical lines, external equipment, etc.
See Section 7.1 on page 67.

How Can I Get Help?
Adept Cobra s350 User’s Guide, Rev. A 15
1.3 How Can I Get Help?
Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on
getting assistance with your Adept software and hardware. Additionally, you can access
information sources on Adept’s corporate web site:
http://www.adept.com
Related Manuals
This manual covers the installation, operation, and maintenance of an Adept Cobra s350
robot system. There are additional manuals that cover programming the system,
reconfiguring installed components, and adding other optional components; see Table
1-2. These manuals are available on the Adept Document Library CD-ROM shipped with
each system.
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You
can access the ADL from:
• the Adept Software CD shipped with your system
• the separate ADL CD shipped with your system.
• the Adept Web site. Select Document Library from the Adept home page. To go
directly to the 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
ADL main page. To view a list of available product documentation, select the Document
Titles option.
Table 1-2. Related Manuals
Manual Title Description
Adept SmartController
User’s Guide
Contains complete information on the installation and operation
of the Adept SmartController and the optional sDIO product.
Instructions for Adept
Utility Programs
Describes the utility programs used for advanced system
configurations, system upgrades, file copying, and other system
configuration procedures.
V+ Operating System
User’s Guide
Describes the V+operating system, including disk file
operations, monitor commands, and monitor command
programs.
V+ Language User’s Guide Describes the V+language and programming of an Adept
control system.

Chapter 1 - Introduction
16 Adept Cobra s350 User’s Guide, Rev. A

Adept Cobra s350 User’s Guide, Rev. A 17
Safety 2
2.1 Warnings, Cautions, and Notes in Manual
There are four levels of special alert notation used in this manual. In descending order of
importance, they are:
NOTE: This provides supplementary information, emphasizes a point or
procedure, or gives a tip for easier operation.
DANGER: This indicates an imminently hazardous
situation which, if not avoided, will result in death or
serious injury.
WARNING: This indicates a potentially hazardous
situation which, if not avoided, could result in serious
injury or major damage to the equipment.
CAUTION: This indicates a situation which, if not avoided,
could result in minor injury or damage to the equipment.

Chapter 2 - Safety
18 Adept Cobra s350 User’s Guide, Rev. A
2.2 Warning Labels on the Robot
Figure 2-1 shows the warning label on the Adept Cobra s350 robots.
Figure 2-1. Safety Warning Label on Adept Cobra s350
2.3 Precautions and Required Safeguards
This manual must be read by all personnel who install, operate, or maintain Adept
systems, or who work within or near the workcell.
Safety Barriers
Safety barriers must be an integral part of a robot workcell design. Adept systems are
computer-controlled and may activate remote devices under program control at times or
along paths not anticipated by personnel. It is critical that safeguards be in place to
prevent personnel from entering the workcell whenever equipment power is present.
The robot system integrator, or end user, must ensure that adequate safeguards, safety
barriers, light curtains, safety gates, safety floor mats, etc., will be installed. The robot
workcell must be designed according to the applicable local and national standards (see
Section 2.8 on page 25).
The safe distance to the robot depends on the height of the safety fence. The height and
the distance of the safety fence from the robot must ensure that personnel cannot reach the
danger zone of the robot.
WARNING: Adept Technology strictly prohibits
installation, commissioning, or operation of an Adept
robot without adequate safeguards according to
applicable local and national standards. Installations in EU
and EEA countries must comply with EN 775/ISO 10218,
especially sections 5, 6; EN 292-2; and EN 60204-1,
especially section 13.

Precautions and Required Safeguards
Adept Cobra s350 User’s Guide, Rev. A 19
The Adept control system has features that aid the user in constructing system safeguards,
including customer emergency stop circuitry and digital input and output lines. The
emergency power-off circuitry is capable of switching external power systems, and can be
interfaced to the appropriate user-supplied safeguards.
Impact and Trapping Points
Adept robots are capable of moving at high speeds. If a person is struck by a robot
(impacted) or trapped (pinched), death or serious injury could occur. Robot configuration,
joint speed, joint orientation, and attached payload all contribute to the total amount of
energy available to cause injury.

Chapter 2 - Safety
20 Adept Cobra s350 User’s Guide, Rev. A
Additional Safety Information
The standards and regulations listed in this manual contain additional guidelines for
robot system installation, safeguarding, maintenance, testing, startup, and operator
training. Table 2-1 lists some sources for the various standards.
Table 2-1. Sources for International Standards and Directives
SEMI International Standards
3081 Zanker Road
San Jose, CA 95134
USA
Phone: [phone]
Fax: [phone]
http://www.semi.org/web/wstandards.nsf
American National Standards Institute (ANSI)
11 West 42nd Street, 13th Floor
New York, NY 10036
USA
Phone [phone]
Fax [phone]
http://www.ansi.org
BSI Group (British Standards)
389 Chiswick High Road
London W4 4AL
United Kingdom
Phone [phone]
Fax [phone]
http://www.bsi-global.com
Document Center, Inc.
1504 Industrial Way, Unit 9
Belmont, CA 94002
USA
Phone [phone]
Fax [phone]
http://www.document-center.com
DIN, Deutsches Institut für Normung e.V.
German Institute for Standardization
Burggrafenstrasse 6
10787 Berlin
Germany
Phone.: [phone]
Fax: [phone]
http://www.din.de
http://www2.beuth.de/ (publishing)
Global Engineering Documents
15 Inverness Way East
Englewood, CO 80112
USA
Phone [phone]
Fax [phone]
http://global.ihs.com
IEC, International Electrotechnical Commission
Rue de Varembe 3
PO Box 131
CH-1211 Geneva 20
Switzerland
Phone [phone]
Fax [phone]
http://www.iec.ch
Robotic Industries Association (RIA)
900 Victors Way
PO Box 3724
Ann Arbor, MI 48106
USA
Phone [phone]
Fax [phone]
http://www.robotics.org