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Mounting External Equipment to the Robot ................................................................................3-7
Tool Ethernet Connector Wiring ..................................................................................................3-7
USER Connector Wiring .............................................................................................................3-8
Bellows Installation Procedure ....................................................................................................3-8
Pneumatic Valve Kit Installation Procedure...............................................................................3-15
3-5 Adjustable Hardstop Details ...............................................................................................3-20
Joint 1 Adjustable Hardstops ....................................................................................................3-20
3-6 System Cable Installation ...................................................................................................3-22
System Cable Overview............................................................................................................3-22
System Cable Installation Procedure ........................................................................................3-24
3-7 Connecting Digital I/O .........................................................................................................3-26
XIO Connector Signals and Wiring ...........................................................................................3-26
TIO Connector Signals and Wiring............................................................................................3-30
IO Blox Connections .................................................................................................................3-32
3-8 Connecting Pneumatic Equipment ....................................................................................3-33
Pass-through Ports ...................................................................................................................3-33
Pneumatic Valve Kit ..................................................................................................................3-33
3-9 Installing Safety Equipment................................................................................................3-35
Installing the Front Panel ..........................................................................................................3-35
Safety Circuits ...........................................................................................................................3-36
3-10 Supplying Power and Ground ............................................................................................3-43
Grounding the System ..............................................................................................................3-43
DC Connections ........................................................................................................................3-44
AC Connections ........................................................................................................................3-45
3-11 Verifying Installation............................................................................................................3-46
Mechanical Checks ...................................................................................................................3-46
System Cable Checks...............................................................................................................3-46
Safety Equipment Checks.........................................................................................................3-46
Switch Position Checks.............................................................................................................3-48
4-1 Connecting to the Robot .......................................................................................................4-2
Initial Connection Procedure .......................................................................................................4-2
4-2 Payload and Acceleration Considerations ..........................................................................4-3
4-3 Robot Control Modes ............................................................................................................4-4
Manual Mode ..............................................................................................................................4-4
Automatic Mode ..........................................................................................................................4-4
4-4 Enabling and Disabling the Robot .......................................................................................4-6
Robot High Power Operations ....................................................................................................4-6
4-5 LED Light Ring .......................................................................................................................4-8
4-6 LCD Display............................................................................................................................4-9
LCD Display Status Messages....................................................................................................4-9
4-7 Brake Operation ...................................................................................................................4-10
Built-in Brake Release Button ...................................................................................................4-10
Remote Brake Release .............................................................................................................4-11
4-8 Manually Jogging the Robot...............................................................................................4-12
4-9 Robot Positioning ................................................................................................................4-13
Joint Zero Position ....................................................................................................................4-13
Ready Position ..........................................................................................................................4-13
Right-Left Arm Configurations...................................................................................................4-14
CONTENTS
8
i4H Robots User's Manual (I660)
Summary of Contents for i4-650H
Page 1: ...i4H Robots User s Manual i4 650H i4 750H i4 850H I660 E 02...
Page 6: ...Manual Information 4 i4H Robots User s Manual I660...
Page 74: ...2 Specifications 2 20 i4H Robots User s Manual I660...
Page 142: ...5 Troubleshooting 5 6 i4H Robots User s Manual I660...
Page 176: ...Appendix A 16 i4H Robots User s Manual I660...
Page 177: ...I Index I 1 i4H Robots User s Manual I660 I...
Page 180: ...Index I 4 i4H Robots User s Manual I660...
Page 181: ......