Omron eCobra 600 User manual

I593-E-05
eCobra 600, 800 and 800 Inverted Robots
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 2017 - 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 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
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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
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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
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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
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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
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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.
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