Omron i4-350L, User Manual

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3-6-1 System Cable Overview............................................................................................................3-23
3-6-2 System Cable Installation Procedure ........................................................................................3-25
3-7 Connecting Digital I/O .........................................................................................................3-26
3-7-1 XIO Connector Signals and Wiring ...........................................................................................3-26
3-7-2 TIO Connector Signals and Wiring............................................................................................3-30
3-7-3 IO Blox Connections .................................................................................................................3-32
3-8 Installing Safety Equipment................................................................................................3-34
3-8-1 Installing the Front Panel ..........................................................................................................3-34
3-8-2 Safety Circuits ...........................................................................................................................3-35
3-9 Setting the EtherCAT Node ID ............................................................................................3-42
3-9-1 EtherCAT Node ID Setting Example .........................................................................................3-42
3-10 Supplying Power and Ground ............................................................................................3-44
3-10-1 Grounding the System ..............................................................................................................3-44
3-10-2 24 VDC Connections.................................................................................................................3-45
3-10-3 48 VDC Connections.................................................................................................................3-45
3-11 Verifying Installation............................................................................................................3-47
3-11-1 Mechanical Checks ...................................................................................................................3-47
3-11-2 System Cable Checks...............................................................................................................3-47
3-11-3 Safety Equipment Checks.........................................................................................................3-47
3-11-4 Switch Position Checks.............................................................................................................3-49
Section 4 Operation
4-1 Configuration Procedure Overview......................................................................................4-2
4-2 Payload and Acceleration Considerations ..........................................................................4-4
4-3 Robot Control Modes ............................................................................................................4-5
4-3-1 Manual Mode ..............................................................................................................................4-5
4-3-2 Automatic Mode ..........................................................................................................................4-5
4-3-3 Operation Mode ..........................................................................................................................4-6
4-3-4 Host Mode...................................................................................................................................4-7
4-4 Enabling and Disabling the Robot .......................................................................................4-8
4-4-1 Robot High Power Operations ....................................................................................................4-8
4-5 LED Indicator........................................................................................................................4-10
4-6 Brake Operation ................................................................................................................... 4-11
4-6-1 Built-in Brake Release Button ...................................................................................................4-11
4-6-2 Remote Brake Release .............................................................................................................4-12
4-7 Manually Jogging the Robot...............................................................................................4-13
4-8 Robot Positioning ................................................................................................................4-14
4-8-1 Joint Zero Position ....................................................................................................................4-14
4-8-2 Ready Position ..........................................................................................................................4-14
4-8-3 Right-Left Arm Configurations...................................................................................................4-15
4-8-4 Collision Avoidance ...................................................................................................................4-15
Section 5 Troubleshooting
5-1 Fault Detection .......................................................................................................................5-2
5-2 Emergency Stop Troubleshooting .......................................................................................5-3
5-3 Error Messages ......................................................................................................................5-4
Section 6 Maintenance
6-1 Periodic Maintenance ............................................................................................................6-2
CONTENTS
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i4L Robots with EtherCAT User's Manual (I659)