Adept technology Cobra 03352-000 Referenzhandbuch

Adept Cobra Robot

Solenoid Kit Installation Procedure

For s-series (standard and inverted),

i-series, and PLC-series robots

P/N: 03352-000, Rev B

June 2008

3011 Triad Drive • Livermore, CA 94551 • USA • Phone 925.245.3400 • Fax 925.960.0452

Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450

151 Lorong Chuan #04-07 • New Tech Park, Lobby G • Singapore 556741 • Phone +65.6281.5731 • Fax +65.6280.5714

The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced

in whole or in part without prior written approval of Adept Technology, Inc. The information herein is sub-

ject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This

manual is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical

evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future doc-

umentation. Please email your comments to: [email protected].

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,

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Printed in the United States of America

Adept Cobra s600/s800 Robot Solenoid Kit Installation Procedure, Rev B 3

Robot Solenoid Kit

Installation Procedure

Introduction

This procedure describes how to mount the 24 V solenoid option kit onto Adept Cobra

s-series (standard and inverted), i-series, and PLC-series robots. The solenoid kit is

available as Adept p/n 02853-000.

NOTE: The solenoid kit option is NOT available for the IP-65 version of

these robots.

The robot has been prewired to accommodate a bank of two 24 VDC solenoid valves.

Power for the internal mounting is accessible via a connector mounted inside the outer

link cover (see Figure 1 on page 4). The signals actuating the valves are directly

switchable from V+utilizing software signals 3001 and 3002. Refer to the SIGNAL

command in the V+ Language Reference Guide for additional information. The

Adept-supplied solenoids each draw a nominal 75 mA from 24 VDC.

The solenoid valve assembly consists of two independent valves (Valve #1 and Valve #2)

on a common manifold. The manifold supplies air at the user’s line pressure (28 psi

(0.19 MPa) minimum to 114 psi (0.786 MPa) maximum). Each valve has two output ports,

A and B. The output ports are arranged so that when Port A is pressurized, Port B is not

pressurized. Conversely, when Port B is pressurized, Port A is not. In the Adept Cobra

s-series robots, the air lines from Port A on each valve are plugged at the factory (at the

solenoid assembly).

The Solenoid Kit is available through Adept. Contact your Adept Sales Representative for

current price and availability.

Tools Required

• Assorted Allen drivers

•Cableties

• Diagonal wire cutters

• Solenoid Valve Upgrade Kit (Adept p/n 02853-000)

Table 1. Air Pressure

Air Pressure (Psi) Air Pressure (MPa)

28 - 114 0.19 - 0.786

Robot Solenoid Kit Installation Procedure

4 Adept Cobra s600/s800 Robot Solenoid Kit Installation Procedure, Rev B

Procedure

1. Turn off all power to the robot.

2. Remove three screws on each side of the outer link cover. Remove two screws on

top and remove the cover.

3. Connect the Internal Solenoid Valve Cable assembly to the Solenoid Manifold

assembly, by plugging the SOL 1 connector into Valve 1 and SOL 2 into Valve 2.

Figure 1. Solenoid Mounting Bracket with Connector and Spare Air Line

4. Cut and discard the cable ties holding the spare air line at the top of the mounting

bracket. Move the air line away to facilitate the mounting of the solenoid

manifold (see Figure 1).

5. Mount the solenoid manifold onto the bracket using the supplied M3 x 30 mm

screws and washers (see Figure 2).

6. Insert the spare air line into the air intake coupling of the solenoid manifold.

Make sure the air line is pushed in all the way and secured in place by the intake

coupling. Confirm by pulling the air line.

7. Plug the connector plug into the female connector jack (marked SOLND) on the

bracket.

8. Use cable ties to secure the air line to the bracket as needed.

Pem nuts for mounting

the solenoid manifold

Connector for the

solenoid valves

Spare air line

Robot Solenoid Kit Installation Procedure

Adept Cobra s600/s800 Robot Solenoid Kit Installation Procedure, Rev B 5

Figure 2. Solenoid Placement Using Mounting Hardware

9. Install the appropriate lengths of 5/32 inch plastic tubing (supplied) into the two

output ports on the manifold.

10. Route the tubing up along the tower bracket next to the quill and down through

the center of the quill.

Use cable ties, as needed, to secure the tubing.

11. For non-inverted robots, remove the four screws from the Joint 1 cover (see

Figure 3); for inverted robots, remove the four screws from the User Connector

Panel (see Figure 4). Remove the cover enough so you have access to the tubing.

Figure 3. Connecting Spare Air Line to User Connector

Air intake

coupling with

spare air line

Tubing connected

to output port

Mounting screws for

solenoid assembly

User Air fitting for

connecting spare

line. Remove

factory installed

tubing first.

Joint 1 cover

lifted to access

spare air line

Tubing bundle

containing spare

air line

Robot Solenoid Kit Installation Procedure

6 Adept Cobra s600/s800 Robot Solenoid Kit Installation Procedure, Rev B

Figure 4. Connecting Spare Air Line to User Connector (Cobra s-series Inverted robot)

12. Disconnect the tubing from the 6 mm User Air fitting shown in Figure 4. Fold the

tubing out of the way.

13. Insert the spare air line into the back of the empty 6 mm User Air fitting (Figure

4).

NOTE: This 6 mm User Air connector is not available for other uses after

this modification.

14. Replace the Joint 1 or User Connector Panel cover, taking care to ensure that all

tubing is inside the cover and nothing gets crimped or pinched while pushing the

cover into position. Replace four screws to secure the cover. Tighten the screws to

1.6 N·m (14 in-lb) of torque.

15. Replace the outer link cover and tighten the screws to 1.6 N·m (14 in-lb) of torque.

16. Connect the factory air supply to the 6 mm User Air connector.

17. Test the system.

Turn on system power and boot the system. Once the system boot has completed,

at the V+dot prompt, type in the following commands to activate the solenoids

one at a time.

.Signal 3001 ↵

.Signal 3002 ↵

NOTE: See the Adept Cobra PLC600/PLC800 Robot User’s Guide for the

proper commands for that robot.

WARNING: Disconnect robot air pressure until this test is

complete to prevent unsecured pneumatic lines from

accidentally injuring personnel.

User Air fitting for

connecting spare line.

Remove factory

installed tubing first.

User Connector Panel

cover lifted to access

spare air line

3011 Triad Drive

Livermore, CA 94551

925•245•3400

P/N:03352-000, Rev B

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