Руководство по эксплуатации Omron Automated Industrial Robots - Cobra (EN)

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Copyright  2018 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

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Table of Contents Chapter 1: Introduction 11 1.1 Product Description 11 Cobra 450, 500, and 650 Robots 11 eMotionBlox-40M 12 SmartController EX (Option) 13 1.2 How Can I Get Help? 14 Related Manuals 14 Chapter 2: Safety 15 2.1 Dangers, Warnings, and Cautions 15 Alert Levels 15 Alert Icons 15 Special Information 16 2.2 Safety Precautions 16 2.3 What to Do in an Emergency or Abnormal Situation 17 2.4 Customer Responsibilities 17 2.5 Robot Behavior 17 Hardstops 17 Limiting Devices 18 Singularities 18 2.6 Intended Use of the Robot 18 2.7 Additional Safety Information 18 Manufacturer’s Declaration of Incorporation 18 Robot Safety Guide 19 T20 Manual Control Pendant (Option) 19 Chapter 3:

Robot Installation 21 3.1 Transport and Storage 21 3.2 Inspecting the Equipment 21 Before Unpacking 21 Upon Unpacking 21 3.3 Repacking for Relocation 21 3.4 Environmental and Facility Requirements 22 3.5 Mounting the Robot 22 Mounting Surface 22 Mounting Holes 23 Mounting Procedure 24 19148-000 Rev. E Cobra 450, 500, and 650 User's Guide 3

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3.6 Decommissioning the Robot 26 Chapter 4: eMotionBlox-40M 27 4.1 Introduction 27 4.2 Connectors on eMB-40M Interface Panel 28 4.3 eMB-40M Operation 29 Status LED 29 Status Panel 29 Brake Release Connector 30 4.4 Connecting Digital I/O to the System 31 4.5 Using Digital I/O on eMB-40M XIO Connector 33 Optional I/O Products 35 XIO Input Signals 35 XIO Output Signals 37 XIO Breakout Cable 39 4.6 Mounting the eMB-40M 42 Dimensions and Mounting Holes 42 Mounting Clearances 43 Chapter 5:

Cable Installation, Standard 45 5.1 System Cables (without SmartController EX option) 45 List of Cables and Parts 46 Cable Installation Overview 47 Optional Cables 48 5.2 Installing the ACE Software 48 5.3 Cable Connections to Robot 49 Chapter 6: Conveyor Option Installation 51 6.1 System Cables, with Two Conveyor Encoders 51 6.2 System Cables, with Six Conveyor Encoders (SmartController EX) 54 6.3 Pinouts and Part Numbers 56 Pinouts for eAIB/eMB Force/Expio, Belt, RS-232 Three-headed Cable 56 Optional Cables 57 Chapter 7:

Cable Installation, SmartController 59 7.1 System Cables, with SmartController 59 List of Cables and Parts 60 Cable Installation Overview 61 Optional Cables 62 7.2 Installing the SmartController EX 63 7.3 Installing the ACE Software 63 4 Cobra 450, 500, and 650 User's Guide 19148-000 Rev. E

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7.4 Connecting the PC to the SmartController 64 7.5 Cable Connections to Robot 64 7.6 Cable Connections from eMB-40M to SmartController 65 Chapter 8:

AC/DC Power and Grounds 67 8.1 Cable List 67 8.2 Connecting 24 VDC Power to eMB-40M 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 8.3 Connecting 200-240 VAC Power 70 Specifications for AC Power 70 Details for AC Mating Connector 72 Procedure for Creating 200 to 240 VAC Cable 73 Installing AC Power Cable to eMB-40M 74 8.4 Grounding the Robot System 74 Ground Point on eMB-40M 75 User Ground Holes on Robot Interface Panel 76 Robot-Mounted Equipment Grounding 76 Chapter 9:

User Connections 77 9.1 User Connections on Robot 77 User Air Lines 77 User Electrical Lines 77 Tool Flange 79 Mounting Options for User Connections 80 9.2 Installing User-Supplied Safety Equipment 80 Emergency Stop Circuits 86 Remote Manual Mode 88 User Manual/Auto Indication 88 User High Power On Indication 88 Remote High Power On/Off Control 89 High Power On/Off Lamp 89 Remote Front Panel or User-Supplied Control Panel Usage 89 Remote Pendant Usage 90 Chapter 10: System Operation 91 10.1 Status Panel Codes 91 10.2 Front Panel Option 91 10.3 Initial Power-up of the System 93 Verifying Installation 93 System Start-up Procedure 94 19148-000 Rev. E Cobra 450, 500, and 650 User's Guide 5

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