Chapter 1: Introduction 1.1 Product Description Cobra 450, 500, and 650 Robots The Cobra 450, 500, and 650 are high-performance, four-joint SCARA robots (Selective Com- pliance Assembly Robot Arm). Joints 1, 2, and 4 are rotational; Joint 3 is translational. See Fig- ure 1-2. for a drawing of the robot joint locations and motions. NOTE: The robot motors are powered by an eMB-40M servo-con- troller/amplifier. The robot can be controlled by the eMB-40M, running eV+, or an optional SmartController EX motion controller, which also runs eV+. Mechanical specifications for the Cobra 450, 500, and 650 robots are provided in Technical Spe- cifications on page 123. Figure 1-1.
Cobra 450 Robot 19148-000 Rev. E Cobra 450, 500, and 650 User's Guide 11