Cobra

CAD Library
SYSMAC-XR009 Adept Robot Control Library Datasheet

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Features

Mid-size SCARA robot for material handling, assembly, precision machining and adhesive application

Ethernet capability to control the robot through the familiar programming language (IEC 61131-3) of NX/NY/NJ machine controller
Good repeatability for precision assembly
High payload for using tools for screw-driving and adhesive application
Minimum footprint with separate controller
Robot with integral power and signal cables
450 mm reach
5 kg max payload

Specifications & ordering info

Ordering information

Single-robot system

Multi-robot system

Cobra 450

Type	Overview	Purpose	Bundled accessories	Order code
Cobra 450	Robot + integral power and signal cables + eMotionBlox-40M amplifier with fully integrated controls	Typical for use in single robot system	XSYS cable with jumpers, 1.8 m/6 ft (13323-000)	17201-14500
Cobra 450 Add-On	Robot + integral power and signal cables + eMotionBlox-40M amplifier + required connection cables	Typically added to systems with an existing SmartController EX to create multi-robot systems	XSYS cable with jumpers, 1.8 m/6 ft (13323-000) XSYS cable, 5 m/15 ft (11585-000) DB9 splitter (00411-000) 1394 latch cable, 5 m/15 ft (13632-045) eV+ license to connect to controller (14529-103)	17203-14500

Specifications

Product name		Cobra
Size		450
Model		1720 ⬜ -14500
Number of axes		4
Mounting		Table/Floor
Reach		450 mm
Maximum payload		5 kg
Repeatability	XY	±0.020 mm
	Z	±0.010 mm
	Θ	±0.020°
Joint range	Joint 1	±125°
	Joint 2	±145°
	Joint 3	200 mm
	Joint 4	±360°
Joint speeds	Joint 1	450°/s
	Joint 2	720°/s
	Joint 3	1100 mm/s
	Joint 4	1940°/s
Cycle times (Payload 2.0 kg)	Burst	0.60 s1
Cycle times (Payload 2.0 kg)	Sustained	0.65 s1
Power requirements		24 VDC: 6 A 200 to 240 VAC: 10 A, single-phase
Protection		IP20
Clean Class		−
Environment requirements	Ambient temperature	5 to 40°C
Environment requirements	Humidity range	35% to 90% (non-condensing)
Weight		30 kg
Basic configuration	Controller	eMB-40M
	On-board I/O (Input/Output)	12/8
	Conveyor tracking input	2
	RS-232C serial communications port	1
	Programming environment	ACE, PackXpert, ePLC
	ACE Sight	Yes
	ePLC Connect	Yes
	ePLC I/O	Yes
Connectable controller2		eMotionBlox-40M, SmartController EX, NX/NY/NJ Series

Dimensions

1. Adept cycle, in mm 25/305/25 (seconds, at 20°C ambient)

2. Choose the controller to suit your application.

1. Adept cycle, in mm 25/305/25 (seconds, at 20°C ambient)

2. Choose the controller to suit your application.

Accessories

Ordering information

Apperance	Type	Name/Specifications	Order code
	Robot Controller	SmartController EX	19300-000
	Pendant	T20 Pendant with 10 m Cable	10046-010
		T20 Pendant-Jumper Plug	10048-000
		T20 Pendant Wall Bracket	10079-000
	Sensor Controller	SmartVision MX	14189-901
	Camera	GigE PoE, 640 x 480 dots, 120 fps, Monochrome, CCD (1/4-inch equivalent), camera cables included (10 m)	24114-100
		GigE PoE, 640 x 480 dots, 120 fps, Color, CCD (1/4-inch equivalent), camera cables included (10 m)	24114-101
		GigE PoE, 1296 x 996 dots, 30 fps, Monochrome, CCD (1/3-inch equivalent), camera cables included (10 m)	24114-200
		GigE PoE, 1296 x 996 dots, 30 fps, Color, CCD (1/3-inch equivalent), camera cables included (10 m)	24114-201
		GigE PoE, 1600 x 1200 dots, 60 fps, Monochrome, CMOS (1/1.8-inch equivalent), camera cables included (10 m)	24114-250
		GigE PoE, 2048 x 2048 dots, 25 fps, Monochrome, CMOS (1-inch equivalent), camera cables included (10 m)	24114-300
Belt Encoder (Conveyor-Tracking)		Encoder Kit IP65	09742-001
		Y-Adapter Cable, 3 m	09443-000
		Encoder Extension Cable, 5 m	09446-050
		SCEX-BELT,Y-Adapter Cable	09550-000
		XBELTIO Cable	13463-000
Additional I/O Options		IO Blox 8 inputs/8 outputs (IO Blox - connects to robot)	90356-30200
		IO Blox 8 inputs/8 outputs (expansion - connects to previous IO Blox)	90356-30100
		IO Blox Extension Cable, 0.3 m (connects IO Blox to IO Blox)	04679-003
		IO Blox Extension Cable, 3.0 m (connects IO Blox to IO Blox)	04679-030
		IO Blox Extension Cable, 3.0 m (connects IO Blox to robot)	04677-030
		Termination Block, 12 inputs/8 outputs	90356-40100
	Front panel	Front Panel	90356-10358
	Front panel	Front Panel Cable	10356-10500
Power Supply/ Cable		AC Power Cable	04118-000
		24 VDC Power Cable	04120-000
		24 VDC, 6.5 A, 150 W (Front Mounting), Power Supply	S8JX-G15024C 1
		24 VDC, 6.5 A, 150 W (DIN-Rail Mounting), Power Supply	S8JX-G15024CD1
		1394 Cable, 4.5 m	13632-045
		eAIB XSYSTEM Cable Assembly	13323-000
		DB9 Splitter	00411-000
		eAIB XSYS Cable	11585-000
		Ethernet Cable	XS6W-6LSZH8SS ⬜⬜⬜ CM-Y 2
		Industrial Switching Hubs	W4S1-05C 3
	ACE License	Automation Control Environment (ACE)	Please download it from following URL: http://www.adept.com/Robots-Tool
		ACE PackXpert	09187-000
		ACE Sight Vision Software	01056-030
		Additional Camera Option	09287-000
		Color Camera Option	09287-040
		ACE PackXpert with ACE Sight Vision This license contains an ACE PackXpert license and an ACE Sight license	09187-010
	Related Products	Machine Automation Controller NX/NJ Series	NX/NJ 4
		Automation Software Sysmac Studio	SYSMAC-SE2 ⬜⬜⬜ 4
		Collection of software functional components Sysmac Library Adept Robot Control Library	SYSMAC-XR009 5

Note: Contact your Omron representative for lenses, lights, and licenses.

1. Refer to the Switch Mode Power Supply Catalog (Cat.No.T041) for details.

2. Refer to the Industrial Ethernet Cables Catalog (Cat.No.G019) for details.

3. Refer to the Industrial Switching Hubs Catalog (Cat.No.V227) for details.

4. Refer to the Sysmac Catalog (Cat.No.P072) for details.

5. Refer to the Sysmac Library Catalog (Cat.No.P106) for details.

1. Refer to the Switch Mode Power Supply Catalog (Cat.No.T041) for details.

2. Refer to the Industrial Ethernet Cables Catalog (Cat.No.G019) for details.

3. Refer to the Industrial Switching Hubs Catalog (Cat.No.V227) for details.

4. Refer to the Sysmac Catalog (Cat.No.P072) for details.

5. Refer to the Sysmac Library Catalog (Cat.No.P106) for details.

SCARA Robot Series

Cobra 450

Max. payload: 5 kg
Reach: 450 mm
IP20

Control Units

Robot Control

SmartController EX

An ultra-compact, high-performance, distributed robot motion controller capable of controlling an entire production line including up to 15 robots and third-party peripherals. The controller's distributed architecture, embedded software, integrated belt tracking and high-speed communications allows users to integrate their automation systems with the user-friendly interface of the ACE PC-based software.

Designed for use with Adept Cobra s-series SCARA robots, Viper six-axis robots, Quattro parallel robots and Python Linear Modules, the controller features Gigabit Ethernet, a high-speed processor and new software, called Adept eV+. Integration with the Adept SmartVision delivers seamless control of your vision systems, belts and robots. The Adept SmartController EX is smart control delivered.

Communications Interfaces / Software

RS- 232 serial port (115kbps), RS- 422/485 serial por, Gigabit Ethernet, DeviceNet, SmartServo interface (3x), eV+ real-time multi-tasking operating system and programming language, Adept ACE™, TCP/IP Interface

Adept Robot Support

Adept Cobra™ s-series robots, Adept Viper™ robots, Adept Quattro™ robots

T20 Pendant

The Adept T20 manual control pendant provides an ergonomic and durable package which users can manually teach the robot system. All gripping and holding positions enable comfortable and fatigue-free operation. The Adept T20 pendant is compatible with any robot that is controlled by the Adept SmartController EX motion controller.

Product Details- Supports

Enable/disable power
Jog the robot in different modes (joint, world, tool, frame)
E-Stop button and 3-position enable switch
Colorful and high resolution User Interface
Teach locations
Display robot position, digital I/O, and system status
Display IP address of controller

Product Includes

T20 Pendant with 10m cable attached, 3m adapter cable with bulkhead connector and Documentation

Vision & Inspection Guidance

Vision and Inspection Gudance: SmartVision MX

Omron's Adept SmartVision™ MX is a high-performance vision processor optimized for machine vision applications. The SmartVison MX is the easiest and most dependable way to add powerful vision guidance to your robotic applications. Ideal for use in factory settings, the system features a rugged, fanless construction, a solid-state hard drive, and a wide operating temperature range, ensuring high reliability.

Gigabit Ethernet ports with Power over Ethernet (GigE PoE) and USB 3.0 ports accommodate a wide variety of machine vision cameras. The SmartVision MX comes factory loaded with Adept’s powerful ACE software platform; optional extensions include AdeptSight™ for vision-guided and inspection applications, and ACE PackXpert™ for deployment of complete packaging applications.

Product Features

Intel Core i7 processor, 8GB DDR3 RAM, and Windows Embedded Standard 7 - 64 bit
Ruggedized, industrial computer design with no moving parts
4 GigE PoE and 4 USB 3.0 ports for machine vision cameras
Factory loaded with Adept ACE™ software, with optional extension for vision guidance
Supports PackXpert complete packaging line automation software

Benefits

Powerful computer is capable of processing high resolution and high frame rate images
Improves reliable and minimizes maintenance requirements in industrial settings
Supports up to eight cameras simultaneously (max depends on application requirements)
AdeptSight vision extension provides powerful and easy-to-use object location and inspection tools
Simplifies deployment of packaging automation solutions with wizard-based configurations and minimal programming requirements

Vision Guidance: ACE Sight

An easy-to-use, standalone vision guidance and inspection package that runs on a PC, and comes complete with all the necessary hardware and accessories. This software includes a powerful framework that can be used to develop customized vision guidance and inspection applications. Its simple graphical user interface allows you to quickly develop robust and accurate vision applications. ACE Sight simplifies deployment in difficult conditions with its robust vision, algorithms are tolerant to poor lighting, noise, and occlusions."

Product Features

Fast, Accurate Parts Location
Automatic model-teaching and fully editable models
Advanced Inspection Capabilities
Results filtering tool simplifies setup of Pass-Fail inspection applications
Vision Guidance and Calibration
Application Development
Calibration
Conveyor Tracking
Complete Vision Guided Robot System

Package Includes

ACE Sight software, FireWire camera, 640 x 480 or 1392 x 1040, with 16 mm lens, Camera mounting kit, FireWire cable (10m)

Software

Controller Software

Adept V+

The Adept V+ real-time and multi-tasking operating system manages all system level operations, such as IO, program execution, task management, memory management and disk file operations. As a programming language, V+ has a rich history and has evolved into the most powerful, safe and predictable, robot programming language available today. V+ is the only language to provide an integrated solution to all of the programming needs in a robotic workcell, including safety, robot motion, vision operations, force sensing and I/O.

Product Features

Motion Applications
Force Guided Motion Applications
Factory Information Systems
V+ Utility Software
Vision Applications
Conveyor Belt Tracking Applications
Workcell Control
Peripheral Control

Includes

Software on CD-ROM, licenses, online documentation

PC Software

ACE PackXpert™

ACE PackXpert is the powerful, all-in-one packaging software solution from Adept Technology. It is the intelligent software choice designed to manage packaging systems from integration to deployment. Built upon Adept's fully-integrated application development environment, Adept ACE™, ACE PackXpert is the solution that meets the unique needs of packaging manufacturers.

Product Features

Re-usable workspaces
3D visualization
Intuitive programming environment
Plug-in compatibility
Customization
""Drag-and-drop"" feature
System diagnostics

Benefits

Optimized for packaging applications
Easy to use
Completely flexible
Enables higher product mix and changeover
Reduces integration costs
Accelerates time to market
Provides increased flexibility and accuracy

Adept ACE™ (Automation Control Environment)

Adept ACE is the powerful, all-in-one software solution from Adept. It features an integrated, point-and-click development environment for Adept’s entire product portfolio of robots and controls. Adept ACE provides an effective way to deploy applications that meet a planned specification, without lengthy, overly-complicated programming. The product is crafted on a software framework that makes it easy to entirely configure, program, and manage single and multi-robot systems (including mixed systems), conveyors, feeders, vision, and device IO assignments, without seeing anything other than a user-friendly, PC-based interface.

Adept ACE has the tools and functionality needed to rapidly integrate an entire robot line from concept to a fully-operational system. The software includes configuration tools and basic programming features. Optional licenses allow you to enable enhanced functionality to customize Adept ACE for your specific programming needs, such as AdeptSight™ for vision-guided and inspection applications, and ACE PackXpert™ for deployment of complete packaging applications.

Product Features

Intuitive, graphical user interface
Complete and cohesive set of tools
Ultimate programming flexibility
""Drag-and-drop"" features
Plug-in compatible
User access-level control
Multiple window docking within the workspace
3-dimensional visualization of the production machine
Integrated graphical diagnostics

Benefits

Ensures system reliability and high production uptime
Increases productivity
Enables higher product mix and changeover
Reduces integration costs
Rapid design, deployment and time to market
Provides increased flexibility and accuracy

ePLC Connect

The Adept ePLC Connect Server software provides seamless connectivity with the customer supplied Ethernet/IP PLC. The supplied ePLC Connect hardware is preconfigured and ready for operation. All application programs and locations are defined and reside within the user's PLC. The ePLC Connect software interprets this data and commands the robot to move. It's as simple as that. Customers new to robotics can now easily install, program, operate and support high-performance robots.

Product Features

Provides full IEC61131-3 compliant interface
Common Panel View interface
Compatible with any Adept robot
Full access to motion control parameters
Automate pallet function supported
Cartesian or joint angle coordinates
Program directly using PLC's native language: Initialization, Programming, Jog Control, Tool I/O Control, Status Function

Target Applications