Omron i4-350L, User Manual

Page: 9 / 174

1-5 Model Numbers ....................................................................................................................1-15
1-5-1 Robot Model Numbers ..............................................................................................................1-15
1-5-2 Controller Model Numbers ........................................................................................................1-15
1-6 Optional Hardware ...............................................................................................................1-16
1-6-1 IO Blox ......................................................................................................................................1-16
1-6-2 T20 Pendant..............................................................................................................................1-16
1-6-3 IPC Application Controller .........................................................................................................1-17
1-6-4 XIO Termination Block...............................................................................................................1-17
1-6-5 Optional Cables.........................................................................................................................1-18
1-6-6 Camera Mounting Bracket Kit ...................................................................................................1-20
1-6-7 Bellows Kit.................................................................................................................................1-21
1-6-8 Pneumatic Valve Kit ..................................................................................................................1-22
1-6-9 Power Supply Kits .....................................................................................................................1-23
Section 2 Specifications
2-1 Physical Specifications .........................................................................................................2-2
2-1-1 Robot Overall Dimensions ..........................................................................................................2-2
2-1-2 Mounting Flange Dimensions......................................................................................................2-4
2-1-3 Tool Flange Dimensions..............................................................................................................2-5
2-1-4 Front Panel Dimensions..............................................................................................................2-5
2-1-5 Camera Mounting Bracket Dimensions.......................................................................................2-6
2-1-6 Robot Work Envelope Dimensions..............................................................................................2-6
2-1-7 Robot Weights.............................................................................................................................2-8
2-2 Performance Specifications..................................................................................................2-9
2-2-1 General Performance Information...............................................................................................2-9
2-2-2 Stopping Distances and Times....................................................................................................2-9
2-3 Electrical Specifications......................................................................................................2-13
2-3-1 Power Supply Specifications.....................................................................................................2-13
2-3-2 XIO and TIO Connector I/O Specifications ...............................................................................2-13
2-3-3 Belt Encoder Specifications ......................................................................................................2-14
2-4 Environmental Specifications.............................................................................................2-15
2-5 Other Specifications ............................................................................................................2-16
2-5-1 EtherCAT Communication Specifications..................................................................................2-16
2-5-2 Connector and Port Specifications............................................................................................2-16
2-5-3 Mounting Hardware and Torques ..............................................................................................2-17
Section 3 Installation
3-1 Robot Installation Procedure................................................................................................3-3
3-2 Mounting the Robot ...............................................................................................................3-5
3-2-1 Robot Mounting Surface .............................................................................................................3-5
3-2-2 Mounting Procedure....................................................................................................................3-5
3-3 Installing End-of-Arm Tooling...............................................................................................3-7
3-4 Installing Optional Equipment ..............................................................................................3-8
3-4-1 Mounting External Equipment to the Robot ................................................................................3-8
3-4-2 USER Connector Wiring .............................................................................................................3-8
3-4-3 Bellows Kit Installation Procedure...............................................................................................3-9
3-4-4 Pneumatic Valve Kit Installation Procedure...............................................................................3-15
3-4-5 Control Power Kit Connections .................................................................................................3-19
3-4-6 High Power Kit Connections .....................................................................................................3-19
3-5 Adjustable Hardstops..........................................................................................................3-20
3-5-1 Joint 1 Adjustable Hardstops ....................................................................................................3-21
3-5-2 Joint 2 Adjustable Hardstops ....................................................................................................3-21
3-5-3 Joint 3 Adjustable Hardstop ......................................................................................................3-21
3-6 System Cable Installation ...................................................................................................3-23
CONTENTS
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i4L Robots with EtherCAT User's Manual (I659)