Omron Cobra 350 CR/ESD User manual

I591-E-05
Cobra 350 Robot
User’s Guide

Copyright Notice
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: [e-mail].
Copyright 2006-2013, 2016-2019 by Omron Adept Technologies, Inc. All rights reserved.
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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Table of Contents
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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Table of Contents
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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Table of Contents
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
6.
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 [e-mail] 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
(-)
(+)
(+)
(+)
(+)
(-)
(-)
(-)
1
2
4
3
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

Chapter 1: Introduction
1394 interface is the backbone of SmartServo, the distributed controls architecture supporting
our products. The SmartController EX also includes Fast Ethernet and DeviceNet.
Figure 1-3. SmartController EX Motion Controller
MotionBlox-40R
The MotionBlox-40R (eMB-40R) Distributed Servo Controller controls the amplifiers to power
the high-power motors of the Cobra 350 robot, and runs the eV+ operating system for motion
control of the robot.
The eMB-40R features:
lFour AC servo motor amplifiers
lEmergency stop circuitry
lHigh servo rate, to deliver low positional errors and superior path-following
lSine wave commutation delivers low cogging torque and improved path-following
lDigital feed-forward design maximizes efficiency, torque, and velocity
lIntegral temperature sensors and status monitoring for maximum reliability
lTwo-digit diagnostics display for easy troubleshooting
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12 Cobra 350User's Guide 05624-000 Rev. K
1.2 How Can I Get Help?
DC
IN
24V GND
AC
200 -
240V
Ø
1
XBELTIO
XIO
Servo
ENETENET
XSYSTEM
Figure 1-4. MotionBlox-40R
1.2 How Can I Get Help?
You can access information sources on our corporate web site:
http://www.ia.omron.com
Related Manuals
This manual covers the installation, operation, and maintenance of an Cobra 350 robot system.
There are additional manuals that cover programming the system, reconfiguring installed com-
ponents, and adding other optional components. See the following table.
Table 1-2. Related Manuals
Manual Title Description
Robot Safety Guide Contains safety information for our robots.
SmartController EX User's
Guide
Contains information on the installation and operation of the
SmartController EX.
T20 Pendant User's Guide Describes the T20 pendant.
ACE User's Guide Instruction for the use of the ACE software.
IOBlox User's Guide Describes the IO Blox product.
Single and Multiple Robot Con-
figuration Guide
Contains cable diagrams and configuration procedures for a
single and multi-robot system.

Chapter 2: Safety
2.1 Dangers, Warnings, and Cautions
Alert Levels
There are three levels of alert notation used in our manuals. In descending order of import-
ance, they are:
!
DANGER: Identifies an imminently hazardous situation which, if not
avoided, is likely to result in serious injury, and might result in fatality or
severe property damage.
!
WARNING: Identifies a potentially hazardous situation which, if not avoided,
will result in minor or moderate injury, and might result in serious injury, fatal-
ity, or significant property damage.
!
CAUTION: Identifies a potentially hazardous situation which, if not avoided,
might result in minor injury, moderate injury, or property damage.
Alert Icons
The icon that starts each alert can be used to indicate the type of hazard. These will be used
with the appropriate signal word - Danger, Warning, or Caution - to indicate the severity of the
hazard. The text following the signal word will specify what the risk is, and how to avoid it.
Icon Meaning Icon Meaning
!
This is a generic alert icon.
Any specifics on the risk will
be in the text following the sig-
nal word.
This identifies a hazardous electrical
situation.
Falling Hazards
!
WARNING: PERSONALINJURYORPROPERTYDAMAGERISK
If mounted incorrectly, the robot can fall over and cause serious injury to per-
sonnel or damage to itself or other equipment.
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2.2 Safety Precautions
Safety Barriers
To protect personnel from coming in contact with robot unintentionally or objects entering
robot’s operation zone, install user-supplied safety barriers in the workcell.
Special Information
There are several types of notation used to call out special information.
IMPORTANT: Information to ensure safe use of the product.
NOTE: Information for more effective use of the product.
Additional Information: Offers helpful tips, recommendations, and best prac-
tices.
Version Information: Information on differences in specifications for different
versions of hardware or software.
2.2 Safety Precautions
!
WARNING: PERSONALINJURYORPROPERTYDAMAGERISK
A Cobra 350 robot can cause serious injury or death, or damage to itself and
other equipment, if safety precautions are not observed.
WARNING: ELECTROCUTIONRISK
During maintenance, disconnect AC power from the robot, and install a lock-
out tag-out to prevent anyone from reconnecting power.
User's Responsibilities
Safe use of Cobra 350 robots is your responsibility. To ensure compliance with safety rules and
regulations:
lAll personnel who install, operate, teach, program, or maintain the system must read
this guide, read the Robot Safety Guide, and complete a training course for their respons-
ibilities in regard to the robot.
lAll personnel who design the robot system must read this guide, read the Robot Safety
Guide, and must comply with all local and national safety regulations for the location in
which the robot is installed.

Chapter 2: Safety
Figure 2-1. Read Manual and Impact Warning Labels
lThe robot system must not be used for purposes other than described in Intended Use of
the Robot on page 17. Contact your local Omron support if you are not sure of the suit-
ability for your application.
lThe environment must be suitable for safe operation of the robot.
lThe user is responsible for providing safety barriers around the robot to prevent anyone
from accidentally coming into contact with the robot when it is in motion.
lPower to the robot and its power supply must be locked out and tagged out before any
maintenance is performed.
lThe Cobra 350 must be well maintained, so that their control and safety functions con-
tinue to work properly.
General Hazards
IMPORTANT: The following situations could result in injury or damage to the
equipment.
lDo not place objects on the robot.
lDo not exceed the maximum payload capacity.
lDo not exceed the maximum recommended limits given in the technical specifications.
See Technical Specifications on page 119
lDo not drop the robot, put weights on it or otherwise operate it irresponsibly.
lDo not use unauthorized parts.
Qualification of Personnel
It is the end-user’s responsibility to ensure that all personnel who will work with or around
robots have attended an appropriate Omron training course and have a working knowledge of
the system. The user must provide the necessary additional training for all personnel who will
be working with the system.
As noted in this and the Robot Safety Guide, certain procedures should be performed only by
skilled or instructed persons. For a description of the level of qualification, we use the standard
terms:
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2.3 What to Do in an Emergency or Abnormal Situation
lSkilled persons have technical knowledge or sufficient experience to enable them to
avoid the dangers, electrical and/or mechanical
lInstructed persons are adequately advised or supervised by skilled persons to enable
them to avoid the dangers, electrical and/or mechanical
All personnel must observe industry-prescribed safety practices during the installation, oper-
ation, and testing of all electrically-powered equipment.
IMPORTANT: Before working with the robot, every entrusted person must con-
firm that they:
lHave the necessary qualifications
lHave received the guides (both this user’s guide, and the Robot Safety Guide)
lHave read the guides
lUnderstand the guides
lWill work in the manner specified by the guides
2.3 What to Do in an Emergency or Abnormal Situation
Press any E-Stop button (a red push-button on a yellow background) and then follow the
internal procedures of your company or organization for an emergency or abnormal situation.
If a fire occurs, use CO2to extinguish the fire.
Releasing the Brakes
In case of an emergency or abnormal situation, the inner and outer robot arms can be manu-
ally moved without high power. However, only qualified personnel who have read and under-
stood this User's Guide and Robot Safety Guide should manually move the robot into a safe
state. Joints 3 and 4 are held by brakes, which can only be released with the Brake Release but-
ton. This requires 24 V power to the robot.
!
WARNING: PERSONALINJURYRISK
Cobra 350 robots are not collaborative robots. They require a dedicated work
area that will prevent personnel from coming into contact with them during
operation.
Releasing an E-Stop
!
CAUTION: PERSONALINJURYORPROPERTYDAMAGERISK
If the robot’s E-Stop is triggered, ensure that the cause of the E-Stop is resolved,
and all surrounding areas are clear before releasing the E-Stop.
After the E-Stop button has been manually released, the robot will wait until the motors are
manually enabled.
There are two ways to enable the motors:

Chapter 2: Safety
lEnable power through ACE software installed on your PC
ll Press the ROBOTPOWER button on the Pendant
Once the motors are enabled, the robot will wait two seconds and then resume commanded
motion, if there is adequate space to maneuver.
2.4 Robot Behavior
Hardstops
If the Cobra 350 runs into one of its hardstops, the robot’s motion will stop completely, an
envelope error will be generated, and power will be cut to the robot motors.
The robot cannot continue to move after hitting a hardstop until the error has been cleared.
The Cobra 350’s hardstops are capable of stopping the robot at any speed, load, and max-
imum or minimum extension.
Limiting Devices
There are no dynamic or electro-mechanical limiting devices provided by Omron Adept Tech-
nologies, Inc. The robot does not have safety-rated soft axis or space limiting.
However, the user can install their own safety rated (category 0 or 1) dynamic limiting devices
if needed, that comply with ISO10218-1, Clause 5.12.2.
Singularities
No singularities exist that cause a hazardous situation with a Cobra 350 robot.
2.5 Intended and Non-intended Use
Intended Use of the Robot
!
WARNING: PERSONALINJURYRISK
Cobra 350 robots are not collaborative robots. They require a dedicated work
area that will prevent personnel from coming into contact with them during
operation.
The normal and intended use of Cobra 350 robot does not create hazards.
The Cobra 350 robots have been designed and constructed in accordance with the relevant
requirements of IEC 60204-1.
The Cobra 350 robot is intended for use in parts assembly and material handling for payloads
up to 5.0 kg. See Technical Specifications on page 119 for complete specifications. Refer to the
Robot Safety Guide for details on the intended use of our robots.
Guidelines for safe use:
lClean, dry mounting surfaces — surfaces that are routinely kept free of debris and
liquids.
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18 Cobra 350User's Guide 05624-000 Rev. K
2.6 Additional Safety Information
lTemperature — 5 to 40°C (41 to 104°F), with a recommended humidity range of 5% to
90%, non-condensing.
Non-Intended Use
The Cobra 350 is not intended for use in any of the following situations:
lUse in the presence of ionizing or non-ionizing radiation
lUse in potentially explosive atmospheres
lUse in medical or life saving applications
lUse in a residential setting. They are for industrial use only.
lUse before performing a risk assessment
lWhere the equipment will be subject to extremes of heat or humidity
Non-intended use of robots can:
lCause injury to personnel
lDamage itself or other equipment
lReduce system reliability and performance
If there is any doubt concerning the application, ask your your local Omron support to determ-
ine if it is an intended use or not.
2.6 Additional Safety Information
We provide other sources for more safety information:
Manufacturer’s Declaration of Incorporation
This lists all standards with which the robot complies. The Manufacturer’s Declarations for
the Cobra 350 robot and other products are in the Manufacturer’s Declarations Guide.
Robot Safety Guide
The Robot Safety Guide provides detailed information on safety for our robots. It also gives
resources for more information on relevant standards. It ships with each robot.
T20 Manual Control Pendant (Option)
The protective stop category for the pendant enable switch is category 1, which complies with
the requirements of ISO 10218-1. The pendant is designed in accordance with the requirements
of IEC 60204-1 and ISO 13849. The E-Stop button is ISO 13850 compliant.
NOTE: Omron Adept Technologies, Inc. does not offer a cableless (wireless)
pendant.
The manual control pendant can only move one robot at a time, even if multiple robots are
connected to a SmartController EX, and the pendant is connected to the SmartController EX.

Chapter 2: Safety
Disposal
Dispose of in accordance with applicable regulations.
Customers can contribute to resource conservation and protecting the environment by the
proper disposal of WEEE (Waste Electronics and Electrical Equipment). All electrical and elec-
tronic products should be disposed of separately from the municipal waste system via des-
ignation collection facilities. For information about disposal of your old equipment, contact
your local Omron support.
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