Cobra

CAD Library
Cobra 450 Datasheet

Cobra 500 Datasheet

Cobra 650 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
Reach: 450, 500 and 650 mm models
5 kg max payload

Specifications & ordering info

Ordering information

Single-robot system

Multi-robot system

Cobra 650

Type	Overview	Purpose	Bundled accessories	Order code
Cobra 650	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)	17201-16500
Cobra 650 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, 4.5 m/15 ft (11585-000) DB9 splitter (00411-000) 1394 latch cable, 4.5 m/15 ft (13632-045) eV+ license to connect to controller (14529-103)	17203-16500

Cobra 500

Type	Overview	Purpose	Bundled accessories	Order code
Cobra 500	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)	17201-15000
Cobra 500 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, 4.5 m/15 ft (11585-000) DB9 splitter (00411-000) 1394 latch cable, 4.5 m/15 ft (13632-045) eV+ license to connect to controller (14529-103)	17203-15000

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, 4.5 m/15 ft (11585-000) DB9 splitter (00411-000) 1394 latch cable, 4.5 m/15 ft (13632-045) eV+ license to connect to controller (14529-103)	17203-14500

Options

Refer to the section "Options for Hornet/Quattro/Viper/Cobra/eCobra robots" for details.

Specifications

Product name		Cobra
Size		650	500	450
Model		1720⬜-16500	1720⬜-15000	1720⬜-14500
Number of axes		4
Mounting		Table/Floor
Reach		650 mm	500 mm	450 mm
Maximum payload		5 kg
Repeatability	XY	±0.02 mm
	Z	±0.01 mm
	Θ	±0.005°
Joint range	Joint 1	±125°
	Joint 2	±145°
	Joint 3	200 mm
	Joint 4	±360°
Inertia moment (max)	Joint 4	450 kg-cm²
Joint speeds	Joint 1	450°/s
	Joint 2	720°/s
	Joint 3	1120 mm/s		1100 mm/s
	Joint 4	1940°/s
Cycle times (Payload 2.0 kg)	Burst	0.43 s 2 Adept cycle, in mm 25/305/25 (seconds, at 20ºC ambient).	0.51 s 2 Adept cycle, in mm 25/305/25 (seconds, at 20ºC ambient).	0.49 s 2 Adept cycle, in mm 25/305/25 (seconds, at 20ºC ambient).
Cycle times (Payload 2.0 kg)	Sustained	0.60 s 2 Adept cycle, in mm 25/305/25 (seconds, at 20ºC ambient).	0.60 s 2 Adept cycle, in mm 25/305/25 (seconds, at 20ºC ambient).	0.64 s 2 Adept cycle, in mm 25/305/25 (seconds, at 20ºC ambient).
Power requirements		24 VDC: 6 A
Power requirements		200 to 240 VAC: 10 A, single-phase
Protection		IP20
Clean Class		–
Environment requirements	Ambient temperature	5 to 40ºC
Environment requirements	Humidity range	35% to 90% (non-condensing)
Weight		31 kg	29 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 controller 2 Choose the controller to suit your application.		eMotionBlox-40M, SmartController EX, NX/NY/NJ Series

Dimensions

Accessories

Ordering information

Apperance	Type	Name/Specifications	Order code
	Robot Controller	SmartController EX	19200-000
	Robot Controller	SmartController EX + Front Panel	19300-000
	Pendant	T20 Pendant with 10 m Cable	10046-010
		T20 Pendant-Jumper Plug	10048-000
		T20 Pendant Wall Bracket	10079-000
		T20 Adapter Cable, 3 m	10051-003
	Sensor Controller	SmartVision MX	14189-901
	Camera	GigE PoE, 1602 x 1202 pixels, 60 fps, Monochrome, CMOS (1/1.8-inch equivalent), camera cables included (10 m)	24114-250
		GigE PoE, 1602 x 1202 pixels, 60 fps, Color, CMOS (1/1.8-inch equivalent), camera cables included (10 m)	24114-251
		GigE PoE, 2048 x 2048 pixels, 25 fps, Monochrome, CMOS (1-inch equivalent), camera cables included (10 m)	24114-300
		GigE PoE, 2048 x 2048 pixels, 25 fps, Color, CMOS (1-inch equivalent), camera cables included (10 m)	24114-301
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, 0.5 m	09550-000
		XBELTIO Cable, 0.6 m	13463-000
Additional I/O Options		IO Blox (connect to robot), 8 inputs/8 outputs, cables included (0.3 m)	90356-30200
		IO Block (connect to previous IO Blox), 8 inputs/8 outputs, cables included (0.3 m)	90356-30100
		IO Blox-to-robot Cable, 3 m	04679-030
		IO Blox-to-IO Blox Cable, 3 m	04677-030
		IO Blox-to-IO Blox Cable, 0.3 m	04679-003
		Termination Block, 12 inputs/8 outputs, cables included (1.8 m)	90356-40100
	Front Panel	Front Panel with 3 m cable	90356-10358
	Front Panel	Front Panel Cable, 3 m	10356-10500
Power Supply/Cable		AC Power Cable, 5 m	04118-000
		24 VDC Power Cable, 5 m	04120-000
		24 VDC, 6.5 A, 150 W (Front Mounting), Power Supply	S8FS-G15024C 2 Refer to the Switch Mode Power Supply Datasheet (Cat.No.T207) for details.
		24 VDC, 6.5 A, 150 W (DIN-Rail Mounting), Power Supply	S8FS-G15024CD 2 Refer to the Switch Mode Power Supply Datasheet (Cat.No.T207) for details.
		1394 Cable, 4.5 m	13632-045
		eAIB XSYSTEM Cable Assembly, 1.8 m	13323-000
		DB9 Splitter, 0.3 m	00411-000
		eAIB XSYS Cable, 4.5 m	11585-000
		Ethernet Cable	XS6W-6LSZH8SS⬜⬜⬜CM-Y 2 Refer to the Industrial Ethernet Cables Catalog (Cat.No.G019) for details.
		Industrial Switching Hubs	W4S1-05C 2 Refer to the Industrial Switching Hubs Catalog (Cat.No.V227) for details.
Solenoid Valve Kit		eCobra robots (600, 800, 800 Inverted)	02853-000
Cable Seal Kit		Hornet 565 IP65/67, Quattro 650HS IP65/67, Quattro 800HS IP65/67	08765-000
		Quattro 650HS Standard, Quattro 800HS Standard	09564-000
		eCobra 800 IP65/67	04813-000
		eCobra 800 Inverted IP65	09073-000
	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
		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/NY/NJ Series	NX/NY/NJ 2 Refer to the Sysmac Catalog (Cat.No.P072) for details.
		Automation Software Sysmac Studio	SYSMAC-SE2⬜⬜⬜ 2 Refer to the Sysmac Catalog (Cat.No.P072) for details.
		Collection of software functional componentsSysmac LibraryAdept Robot Control Library	SYSMAC-XR009 2 Refer to the Sysmac Library Catalog (Cat.No.P106) for details.

Note:

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

Sysmac Library

The Sysmac Library is a collection of software functional components that can be used in programs
for the NX/NY/NJ Machine Automation Controllers.Please download it from following URL and install to Sysmac Studio Automation Software.http://www.ia.omron.com/sysmac_library/The Adept Robot Control Library allows you to control Delta, Articulated and SCARA robots manufactured
by Omron Adept Technologies Inc. from the NX/NY/NJ Machine Automation Controller by using the same
instructions and programming methods.

SCARA Robot Series

Cobra 650

Max. payload: 5 kg
Reach: 650 mm
IP20

Cobra 500

Max. payload: 5 kg
Reach: 500 mm
IP20

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 4 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 Cobra SCARA robots, Viper six-axis robots, Quattro and Hornet parallel robots, the controller features Gigabit Ethernet, a high-speed processor and new software, called Adept eV+. Integration with the SmartVision delivers seamless control of your vision systems, belts and robots. The 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, ACE™, TCP/IP Interface

Robot Support

Cobra robots, Viper robots, Quattro and Hornet robots

T20 Pendant

The 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 T20 pendant is compatible with any robot that is controlled by the 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

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 the 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 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

V+

The 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 a fully-integrated application development environment, 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)

ACE is the powerful, all-in-one software solution. It features an integrated, point-and-click development environment for the entire product portfolio of robots and controls. 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.

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 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 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