Omron i4-650H User Manual Download Page 56

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2-1

Physical Specifications

This section provides physical specifications for the robot.

2-1-1

Robot Overall Dimensions

Use the diagrams below to understand the robot's overall physical dimensions and work envelope.

Additional Information

The overall height of the robot increases by 47 mm if bellows are present on the robot.

i4-650H Standard Dimensions

Overall dimensions for the i4-650H Standard are provided below.

±152°

±140°

±360°

240

776

956

240

650

375

418.5

210

880

i4-650H Long Quill Dimensions

Overall dimensions for the i4-650H Long Quill are provided below.

240

±152°

±140°

±360°

776

1080

375

650

956

240

418.5

410

2 Specifications

2-2

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 2: ...prove its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assume...

Page 3: ...also have knowledge of factory automa tion FA systems and robotic control methods Personnel in charge of introducing FA systems Personnel in charge of designing FA systems Personnel in charge of inst...

Page 4: ...mmediately 2 Open the package Ensure not to damage the contents 3 Ensure that all items are present Additional Information Refer to 5 1 2 Items Supplied with the Product for the items supplied Note Th...

Page 5: ...what not to do to ensure proper operation and performance Additional Information Additional information to read as required This information is provided to increase understanding or make operation eas...

Page 6: ...Manual Information 4 i4H Robots User s Manual I660...

Page 7: ...Sections in this Manual Sections in this Manual 5 i4H Robots User s Manual I660 Maintenance Operation Troubleshooting Installation Specifications Overview 1 2 3 4 5 6 1 2 3 4 6 5 1 A A Appendices...

Page 8: ...17 Precautions for Safe Use 18 Precautions for Correct Use 20 Regulations and Standards 22 Software Licenses and Copyrights 23 Related Manuals 24 Glossary 25 Revision History 26 Section 1 Overview 1...

Page 9: ...Dimensions 2 7 2 1 5 eCobra Mount Adapter Dimensions 2 7 2 1 6 Camera Mounting Bracket and Adapter Dimensions 2 8 2 1 7 Robot Weights 2 8 2 1 8 Wall Mount Bracket Dimensions 2 9 2 1 9 Cable Seal Dime...

Page 10: ...3 10 Supplying Power and Ground 3 43 3 10 1 Grounding the System 3 43 3 10 2 DC Connections 3 44 3 10 3 AC Connections 3 45 3 11 Verifying Installation 3 46 3 11 1 Mechanical Checks 3 46 3 11 2 Syste...

Page 11: ...6 8 6 1 11 Bellows Replacement Procedure 6 8 6 2 Non periodic Maintenance 6 12 6 2 1 Replacing the Tool Flange 6 12 6 2 2 Replacing the Amplifier Chassis 6 13 6 2 3 Replacing the Outer Link Cover 6 1...

Page 12: ...ded that in no event shall Omron be re sponsible for warranty repair indemnity or any other claims or expenses regarding the Products un less Omron s analysis confirms that the Products were properly...

Page 13: ...ron Companies shall not be responsible for the operation of the user accessible operating sys tem e g Windows Linux or any consequence thereof Disclaimers Performance Data Data presented in Omron Comp...

Page 14: ...y damage Symbols The circle and slash symbol indicates operations that you must not do The specific opera tion is shown in the circle and explained in text This example indicates prohibiting disassemb...

Page 15: ...pability of being easily unlocked from the inside of the safeguarded space with or without power avail able when the possibility of full body access exists i4H robots are not collaborative robots They...

Page 16: ...ctly observed If air pressure is present disconnect it from the robot when servicing end of arm tooling or other pneumatic components to prevent unsecured pneumatic air lines from acciden tally injuri...

Page 17: ...and Integration ISO 10218 2 Ensure that interconnecting cables or pneumatic lines are routed away from the robot workspace To reduce the risk of fire or electric shock install the robot in a controll...

Page 18: ...avior and can result in personnel injury and equip ment damage Never run a robot system with all jumpers installed This would leave the system with no E Stops Do not use the robot in hazardous environ...

Page 19: ...with the safety stand ards and regulations in the country of use The integrators of the robot should under stand the safety laws and regulations in their countries and prevent major hazards from occur...

Page 20: ...e button displays a warning label to indicate that the z axis of the robot may fall due to gravity if the brake is released The High Power indicator must be operational to satisfy safety requirements...

Page 21: ...e robot or integrated into the work cell where it is visible from all approaches or entry points If a supplementary audible means of robot operation is provided it shall exceed the ambient noise at th...

Page 22: ...o mount the robot Do not over tighten the tool flange setscrew This will cause off center alignment of the tool flange on the quill Always reduce joint motion limits with software configuration settin...

Page 23: ...ally moved when power is not present If any damage is detected before unpacking the robot request that the carrier s agent be present when you unpack the container If the robot mounting structure is n...

Page 24: ...SO 13849 1 Safety of Machines Safety Related Parts of Control Systems SRP CS Part 1 EN ISO 10218 1 Robots for Industrial Environments Safety Require ments Part 1 Robot EN 60204 1 Safety of Machinery E...

Page 25: ...s product incorporates certain third party software The license and copyright information associat ed with this software is available at http www fa omron co jp nj_info_e Software Licenses and Copyrig...

Page 26: ...ibes the IPC Application Controller T20 Pendant User s Manual Cat No I601 Describes the setup operation and user maintenance for the Teaching Pendant T20 Robot Safety Guide Cat No I590 Describes how t...

Page 27: ...rnal servo motors to allow robot motion Joint Mechanical robot component that connects its moving parts LED Light Ring Multi colored light ring on Joint 1 that provides a visual indication of the ro b...

Page 28: ...o the catalog number on the front and back covers of the manual I660 E 02 Cat No Revision code Revision code Date Revised content 02 April 2022 Updates and minor modifications 01 January 2022 Original...

Page 29: ...3 2 Controller Label 1 13 1 4 Robot Configurations 1 15 1 4 1 i4 650H 1 15 1 4 2 i4 750H 1 15 1 4 3 i4 850H 1 15 1 5 Model Numbers 1 16 1 5 1 Robot Model Numbers 1 16 1 5 2 Controller Model Numbers 1...

Page 30: ...igned to perform automated motion control typically used with material handling opera tions The i4H robot is capable of high speed high precision motion for payloads up to 15 kg Its durable design and...

Page 31: ...ve kit can be installed to provide robot controlled ports at the Secondary Interface Panel Built in I O provides 17 inputs and 12 outputs Adjustable hardstops are integrated into the robot body IP65 c...

Page 32: ...l Components Use the image below to identify the robot s mechanical components Outer Link Inner Link Base Quill Tool Flange Axes of Motion Use the following diagrams to understand the robot s 4 axes o...

Page 33: ...YSTEM Connector XBELTIO Connector XIO Connector Mode Switches Chassis Ground Pneumatic Ports 4 USER Connector A B SV OP IN 1 OUT 2 Ethernet Ports Reserved for Future Use Vacuum Ports Cleanroom Model S...

Page 34: ...on page 4 10 1 2 4 Front Panel The Front Panel is a device that provides remote control and status functions when mounted a safe distance outside of the robot workspace The Front Panel provides the f...

Page 35: ...It must be either mounted to the robot or inte grated into the work cell where it is visible from all approaches or entry points Precautions for Correct Use Either a Front Panel or equivalent circuits...

Page 36: ...se of the robot to the end of the arm Pass through electrical signals are typically used for end of arm tooling sensing and control All USER connector pin associations between the Primary Interface Pa...

Page 37: ...for Correct Use Robot motion is not possible until High Power is supplied and has been enabled Control Power must be present before High Power can be enabled Additional Information Refer to the follow...

Page 38: ...ge 1 21 XIO Cable on page 1 21 Pneumatic Ports The pneumatic ports provide pass through air lines from the Primary Interface Panel to the Secondary Interface Panel Pneumatic ports are typically used f...

Page 39: ...n models do not support TIO and integrated pneumatic valve control Con tact your local OMRON representative for more information 1 2 6 IP65 Rating The IP65 rating is for applications where wash down i...

Page 40: ...the robot Bellows are provided for the Joint 3 quill Refer to 1 6 9 Bellows on page 1 24 for more information Various gaskets seals and o rings are present Additional Information Robot models with el...

Page 41: ...he product type is displayed 3 Alerts and compliance General alerts and compliance information is displayed 4 Robot information The robot model weight maximum payload and maximum reach is displayed 5...

Page 42: ...nce General alerts and compliance information is displayed 4 Controller information The controller model and general electrical power supply information is displayed 5 MAC Address MAC address for the...

Page 43: ...erted i4 650H Long Qull Inverted 1 4 2 i4 750H The i4 750H has a reach of 750 mm and is offered in the following configurations i4 750H Standard i4 750H Long Quill i4 750H Standard Inverted i4 750H Lo...

Page 44: ...with standard lubrication 0 Cleanroom Electrostatic Dis charge Protection 1 IP65 with Food Grade lubrication 4 IP20 with Food Grade lubrication 5 5 Z axis Quill Stroke Length 210 mm IP20 with standar...

Page 45: ...2 T20 Pendant The T20 pendant is an optional handheld device that allows you to manually jog the robot teach loca tions and view V programs without a PC The part number for the pendant kit is 10046 01...

Page 46: ...nager application processes images captured by cameras based on the data that you set up in the ACE Software It is executed on the IPC Application Controller Additional Information Refer to the follow...

Page 47: ...bot The part number for the XIO Termination Block is 90356 40100 2 m cable included Additional Information Refer to the following areas for more information XIO Cable on page 1 21 1 6 5 Optional Cable...

Page 48: ...lox signals The part number for this cable is 13463 000 The length of this cable is 600 mm Additional Information Refer to A 5 2 XBELTIO Adapter Cable Pinouts on page A 9 for more information Belt Enc...

Page 49: ...rface Panel It is used to connect an XIO Termination Block to the system This cable cannot be used together with the XIO Breakout cable The part number for this cable is 03695 000 The length of this c...

Page 50: ...lectrical signals between the connectors on the Primary and Secondary Interface Panels The part number for this cable is 18823 100 The length of this cable is 1 8 m Additional Information Refer to the...

Page 51: ...he bracket and the camera Use four M3 X 10 socket head cap screws with 2 5 N m torque and Loctite 222 or equivalent thread locking compound when attaching the plate to the adapter bracket The part num...

Page 52: ...ellows assembly that can be used for a user supplied seal fitting if cabling or tubing needs to pass through the Joint 3 quill Thread dimensions of this hole are M20 x 13 5 mm The bottom of the Joint...

Page 53: ...pneumatic valve kit is 19165 000 This kit includes all necessary hardware to install the valves and reroute internal pneumatic air lines The pneumatic valve kit includes all necessary hardware to con...

Page 54: ...dered during the system cable installation procedure The Cable Seal Kit part number for a standard robot is 08765 000 The Cable Seal Kit part number for an inverted robot is 08765 200 Additional Infor...

Page 55: ...nsions 2 8 2 1 7 Robot Weights 2 8 2 1 8 Wall Mount Bracket Dimensions 2 9 2 1 9 Cable Seal Dimensions 2 9 2 2 Performance Specifications 2 10 2 2 1 General Performance Information 2 10 2 2 2 Stopping...

Page 56: ...ation The overall height of the robot increases by 47 mm if bellows are present on the robot i4 650H Standard Dimensions Overall dimensions for the i4 650H Standard are provided below 152 140 360 240...

Page 57: ...Quill are provided below 240 152 140 360 240 375 650 956 518 410 488 173 5 i4 750H Standard Dimensions Overall dimensions for the i4 750H Standard are provided below 152 140 360 240 776 240 750 375 10...

Page 58: ...140 360 240 518 240 375 750 1056 210 488 i4 750H Inverted Long Quill Dimensions Overall dimensions for the i4 750H Inverted Long Quill are provided below 152 140 360 240 518 240 375 750 410 488 173 5...

Page 59: ...156 1080 418 5 410 i4 850H Inverted Dimensions Overall dimensions for the i4 850H Inverted are provided below 152 140 360 240 518 240 475 850 1156 210 488 i4 850H Inverted Long Quill Dimensions Overal...

Page 60: ...nal Information All hole locations are 0 12 mm 4X 14 THRU 8 0 02 0 13 280 2 22 8 0 02 0 8 180 240 30 29 213 332 375 2 1 3 Tool Flange Dimensions The robot s tool flange dimensions are provided below G...

Page 61: ...13 0 THRU 2 1 4 Front Panel Dimensions The Front Panel dimensions are provided below 56 76 89 125 152 140 41 16 4 5 2 1 5 eCobra Mount Adapter Dimensions The eCobra mount adapter dimensions are provid...

Page 62: ...s are provided below 77 42 125 105 5 73 6 2 1 7 Robot Weights Weights for the different robot models are provided in the following table Additional Information Add 2 0 kg to the weights below for robo...

Page 63: ...240 215 4X R10 THRU 150 85 60 0 186 THRU 4X 10 2 THRU ALL M12 X 1 75 6H THRU ALL 2X 9 0 STOCK SIDE GUSSETS 4X R15 0 16 45 135 4X 8 0 0 000 0 015 THRU 325 348 368 433 582 7 12 0 STOCK 442 2 0 468 2 0 4...

Page 64: ...onds pushing and then 2 seconds not pushing 3 Cycle time is defined as a continuous path with straight line motion cycle in which the robot tool moves up 25 mm over 305 mm down 25 mm and then back alo...

Page 65: ...1 the stopping time and distance values depend on the speed load and extension of the robot stated for 33 66 and 100 of the maximum payload 15 kg Data provided is for the three joints of greatest dis...

Page 66: ...ime s Speed 10 30 50 70 90 110 130 150 170 0 20 40 60 80 100 120 Joint 2 Stopping Distance Stopping Distance degrees Speed 5 kg 10 kg 15 kg 0 0 1 0 2 0 3 0 20 40 60 80 100 120 5 kg 10 kg 15 kg Joint 3...

Page 67: ...280 320 360 0 20 40 60 80 100 120 Joint 3 Stopping Distance Stopping Distance mm Speed 5 kg 10 kg 15 kg 2 Specifications 2 13 i4H Robots User s Manual I660 2 2 Performance Specifications 2 2 2 2 Stopp...

Page 68: ...ification provided Facility Overvoltages Protection You must protect the robot from excessive overvoltages and voltage spikes If your country requires a CE certified installation or compliance with IE...

Page 69: ...C ambient tempera ture ON state resistance at 0 5 A 0 14 maximum at 85 C Output leakage current 5 A maximum Short circuit current limit 0 7 to 2 5 A Output voltage at inductive load turn OFF V 52 Vdem...

Page 70: ...t current limit 0 7 to 2 5 A Output voltage at inductive load turn OFF V 52 Vdemag V 41 where Iout 0 5 A and load 1 mH 2 3 4 Belt Encoder Specifications Specifications for the XBELTIO connections are...

Page 71: ...uring storage and transportation 75 or less non condensing Altitude 2000 m max Pollution degree 2 Rating IP20 model NEMA Type 1 Food Grade model Food Grade Lubrication NSF H1 ISO 21469 certified IP65...

Page 72: ...on on page 3 1 for more information about connector wiring and pin diagrams Connector Specification Pneumatic ports 6 mm push connect type fittings Maximum air pressure of 0 55 MPa Internally mounted...

Page 73: ...100 0307 Insert 09 15 117 3101 Pins Harting 09 15 100 6201 1 mm size and 09 15 100 6211 1 5 mm size 2 5 3 Mounting Screws and Torques The following screw type washers and torque is required for mount...

Page 74: ...2 Specifications 2 20 i4H Robots User s Manual I660...

Page 75: ...3 5 1 Joint 1 Adjustable Hardstops 3 20 3 6 System Cable Installation 3 22 3 6 1 System Cable Overview 3 22 3 6 2 System Cable Installation Procedure 3 24 3 7 Connecting Digital I O 3 26 3 7 1 XIO Co...

Page 76: ...3 11 3 Safety Equipment Checks 3 46 3 11 4 Switch Position Checks 3 48 3 Installation 3 2 i4H Robots User s Manual I660...

Page 77: ...3 6 for more information 3 Install any optional equipment Refer to 3 4 Installing Optional Equipment on page 3 7 for more information 4 Connect any necessary pneumatic air lines using the ports Refer...

Page 78: ...is recommended to use an 18 mm minimum thick steel plate with a maximum surface roughness of 25 m that is properly secured to the floor or wall as a robot mounting surface Mounting surface flatness mu...

Page 79: ...e robot check the mounting screw torque after 72 hours of initial operation and then recheck every 3 months thereafter 1 Using the dimensions provided in 2 1 2 Mounting Flange Dimensions on page 2 6 p...

Page 80: ...itional Information Refer to 2 1 3 Tool Flange Dimensions on page 2 6 for more information If the end of arm tooling requires pneumatic or electrical connections use the connectors on the Sec ondary I...

Page 81: ...ot payload Consideration to the payload attached to the Tool Flange should be made when mounting external equipment to the robot Apply a torque of 2 5 N m to the user supplied fasteners when mounting...

Page 82: ...installation kits applicable to your robot Standard quill length 210 mm 19464 003F Long quill length 410 mm 19464 004F If replacing bellows use one of the following bellows replacement kits applicabl...

Page 83: ...ellows Lower Bellows Quill Sealing Plug Large Clamp Upper Bearing Adapter Small Clamp Bellows Bellows Tool Flange Bearing Adapter Lock Ring Large O ring Small O ring Large Clamp 1 Begin the upper bell...

Page 84: ...l clamp fasteners insert and tighten using a 2 5 mm hex key while ensuring that the bellows are completely seated and positioned between the small clamp and the robot housing Tighten to a torque of 0...

Page 85: ...ing adapter This may require stretching the bellows slightly so it can be positioned over the upper bearing adapter lip 8 Place the two halves of the large clamp on the upper bearing adapter The bello...

Page 86: ...the quill is not required insert the small o ring and quill sealing plug into the upper bearing adapter to complete the installation of the upper bellows 11 Begin the lower bellows installation by sli...

Page 87: ...completely seated and positioned between the small clamp and the robot housing Tighten to a torque of 0 6 N m 14Place the large o ring 2 on the tool flange 1 slide the tool flange bearing adapter 3 ov...

Page 88: ...over the outer circumference of the tool flange bearing adapter This may require stretching the bellows slightly so it can be positioned over the tool flange bearing adapter lip 17Place the large cla...

Page 89: ...considerations for associated component removal before beginning this procedure Illustrations in this procedure have been simplified for clarity and may differ from the appearance of the robot The fol...

Page 90: ...Panel 4 Place the pneumatic valve assembly at the mounting location shown below and then insert two M4 x 30 screws with lock washers as shown in the following figure Apply Loctite 545 thread lock bef...

Page 91: ...fittings under the Secondary Interface Panel Insert a 3 mm hex bit into the fitting to unscrew it 10Replace the plugs on the top of the Primary Interface Panel ports 5 and 6 with two of the 6 mm fitt...

Page 92: ...upplied pneumatic lines Connect the valve fittings to the corresponding ports on the Secondary Interface Panel as shown in the following figure Port 1 Port 2 Port 3 Port 4 Port 5 Port 6 13Connect the...

Page 93: ...id location that prevents it from interfering with moving parts such as a fan or belt Trim any excess cable tie material using cutters 15Replace the outer link cover to complete this procedure 3 Insta...

Page 94: ...l tip from enter ing specified volumes of the work envelope Refer to the Automated Control Environment ACE Version 4 User s Manual Cat No I633 for more information Refer to 2 1 1 Robot Overall Dimensi...

Page 95: ...ositions in parenthesis represent the hardstop limit value Position 4 0 28 or 28 Position 3 45 17 Position 2 90 62 Position 1 135 107 Position 3 45 17 Position 2 90 62 Position 1 135 107 Position 1 Po...

Page 96: ...bil ity in accordance with the National Electrical Code and any local codes Ensure that interconnecting cables or pneumatic lines are routed away from the ro bot workspace 3 6 1 System Cable Overview...

Page 97: ...ctor Optional Connections The following figure shows optional connections to the robot Additional Information Refer to 3 7 Connecting Digital I O on page 3 26 for more information about connecting I O...

Page 98: ...ore infor mation before beginning this procedure 1 Connect the XSYSTEM cable to the Primary Interface Panel XSYSTEM connector and route the XFP XUSR and XMCP connectors to their appropriate locations...

Page 99: ...and the USER connectors Refer to Optional Connections on page 3 23 for more information 6 Connect the robot to the Ethernet network 3 Installation 3 25 i4H Robots User s Manual I660 3 6 System Cable...

Page 100: ...information Refer to o2 3 2 XIO I O Specifications on page 2 14 for electrical specifications Refer to 2 5 2 Connector and Port Specifications on page 2 18 for connector specifications Refer to A 4 I...

Page 101: ...Internal Circuits Input 1 1 Input 1 2 Input 1 3 Input 1 4 Input 1 5 Input 1 6 Common 1 Common 2 Input 2 1 Input 2 2 Input 2 3 Input 2 4 Input 2 5 Input 2 6 XIO Output Signals The eight outputs share a...

Page 102: ...tching inductive loads such as relays to prevent damage to the output circuits Additional Information If there is an output short or other over current condition the affected output of the driver inte...

Page 103: ...nk Black 21 Output 3 Light blue 22 Output 4 Light blue Black 23 Output 5 Light green 24 Output 6 Light green Black 25 Output 7 White Red 26 Output 8 White Blue Shell Shield XIO Termination Block An XI...

Page 104: ...ided below Additional Information Refer to 2 3 3 TIO Specifications on page 2 15 for more information Refer to 2 5 2 Connector and Port Specifications on page 2 18 for more information Refer to A 5 5...

Page 105: ...e driver is designed to supply a load with one side connected to ground Each channel is capable of switching up to 0 7 A of cur rent This driver has over temperature protection shorted load protection...

Page 106: ...ctor using the XBELTIO adapter cable Up to 4 IO Blox units can be connected as shown below Additional Information Refer to the following areas for more information A 4 I O Signal Numbering on page A 6...

Page 107: ...en the optional pneumatic valve kit is instal led 3 8 2 Pneumatic Valve Kit An optional pneumatic valve kit may be installed to provide robot controlled ports on the Secondary Interface Panel When the...

Page 108: ...y Interface Panel Valve 1 Signal ON exhaust Signal OFF pressure 2 Valve 1 Signal ON pressure Signal OFF exhaust 3 Valve 2 Signal ON exhaust Signal OFF pressure 4 Valve 2 Signal ON pressure Signal OFF...

Page 109: ...on of equipment always confirm that the safety equipment of the robot works properly If a malfunction of the safety equipment is detected follow the procedure for abnormal conditions CAUTION The desig...

Page 110: ...y circuit for Category 3 PL d per ISO 13849 operation The XUSR connector provides access to the following safety circuits Dual channel emergency stop inputs Dual channel emergency stop status outputs...

Page 111: ...C High Power Input External Internal High Power Emergency Stop Status Outputs Automatic Mode Status Outputs Automatic Manual Mode Selection High Power Indicator Button XUSR Connections Use the informa...

Page 112: ...t 9 22 Automatic mode status channel 1 Internal contacts are closed when the robot is in automat ic mode 10 23 Automatic mode status channel 2 11 12 13 24 25 Reserved for future use XUSR Jumper Plug T...

Page 113: ...h but ton that enables High Power when all safety circuits are satisfied 7 15 System supplied 5 VDC output pin 7 and com mon pin 15 for Control Power indicator If indicator is user supplied the recomm...

Page 114: ...s provided for safety equipment troubleshooting XFP PLUG 10053 000 WARNING Never run a robot system with all jumpers installed This would leave the system with no E Stops Additional Information The XF...

Page 115: ...h channel 2 6 24 VDC pendant supply 7 Serial communications TXD Pendant serial communications transmit signal 8 Serial communications RXD Pendant serial communications receive signal 13 Serial communi...

Page 116: ...ng is installed but the Teach Pendant is not connected This plugs into the Teach Pendant adapter cable when the pendant is not in use Additional Information The jumper plug is supplied with the Teach...

Page 117: ...the information below to make all power supply connections to the robot Additional Information Refer to 2 3 1 Power Supply Specifications on page 2 14 for information about power supply requirements a...

Page 118: ...ary Interface Panel Use the illustration below to understand the polarity of the mating connector Additional Information A connector and pins are included with the robot The part number for this assem...

Page 119: ...taining clip by squeezing it and then placing it into the post holes Posts may need to be adjusted to ensure a tight High Power connector fit Additional Information A connector pins and retaining clip...

Page 120: ...to ensure emergency stops are prop erly installed and other safety systems are functioning correctly When checking safety equipment the following prerequisites are necessary The ACE Software must be i...

Page 121: ...on 5 If XUSR emergency stop status outputs are being monitored by other equipment confirm that the signal state transition is detected properly 6 Activate each and every emergency stop device connecte...

Page 122: ...al Cat No I633 for more information High Power Indicator Check Procedure Use the following procedure to verify that the High Power indicator is working correctly 1 Apply Control Power to the robot and...

Page 123: ...ode 4 4 4 4 Enabling and Disabling the Robot 4 6 4 4 1 Robot High Power Operations 4 6 4 5 LED Light Ring 4 8 4 6 LCD Display 4 9 4 6 1 LCD Display Status Messages 4 9 4 7 Brake Operation 4 10 4 7 1 B...

Page 124: ...ler on the Ethernet network click the Detect and Configure Robotic Controller Button This will open the Controller IP Address Detection and Configuration Dialog Box In this area a detected controller...

Page 125: ...yload and speed constraints described in this document can damage the z axis quill of the robot 0 10 20 30 40 50 60 70 80 90 100 110 120 130 0 100 200 300 400 500 600 700 800 900 1000 1100 0 100 200 3...

Page 126: ...autions for Safe Use After the robot is placed in Manual mode using the Front Panel key switch the key should be removed for safety purposes During manual operation ensure all persons are a safe dista...

Page 127: ...t Panel key switch and rotate it to the right position as indicated below Changing the robot control mode will automatically disable High Power WARNING In Automatic mode the robot can move unexpectedl...

Page 128: ...4 1 Robot High Power Operations Robot High Power operations are described below High Power Safety Timeout If the safety timeout function is enabled in the robot configuration the High Power indicator...

Page 129: ...n be controlled with the ACE software Refer to the Automated Control Environment ACE Version 4 User s Manual Cat No I633 more information User Program High Power can be controlled with a user program...

Page 130: ...P connector LED Indication Robot State OFF Control Power is not present Solid White The robot is initializing Solid Blue The robot is booting Slow Flashing Blue 0 25 Hz The robot is in an idle state w...

Page 131: ...t 1 Hz and an error code will be shown on the LCD display Refer to 5 3 Error Messages on page 5 4 for more information about error codes Message Description OMRON logo The robot is booting after Contr...

Page 132: ...erify that the end of arm tooling or other installed equipment is clear of all ob structions In case of entrapment of a person by the robot or any other emergency or abnormal situation you can manuall...

Page 133: ...This setting does not affect the normal functionality of the brake release button Additional Information Refer to the Automated Control Environment ACE Version 4 User s Manual Cat No I633 for more in...

Page 134: ...be adjusted Robot motion can be incremented by specified amounts when extra precision is needed Jogging can be executed in world tool or joint modes The robot can be manually jogged with software or a...

Page 135: ...mm through hole on the tool flange is at the position shown below 6 THRU 4 9 2 Ready Position Use the READY keyword to place the robot in the ready position Refer to the V Keyword Reference Manual Cat...

Page 136: ...keywords to set an arm configuration Consider specifying the arm configura tion before moving the robot to transformation locations Moves to precision points are not affected by arm configurations be...

Page 137: ...5 Troubleshooting This section provides robot troubleshooting information 5 1 Fault Detection 5 2 5 2 Emergency Stop Troubleshooting 5 3 5 3 Error Messages 5 4 5 1 i4H Robots User s Manual I660 5...

Page 138: ...Create a V program to change the state of an output signal when a fault is present Refer to the V User s Manual Cat No I671 for more information Use the LED light ring and LCD display to visually see...

Page 139: ...to bypass and isolate safety devices Refer to 3 6 1 System Cable Overview on page 3 22 for jumper installation locations XFP jumper plug part number 10052 000 XUSR jumper plug part number 04736 000 X...

Page 140: ...associated joint number Use the ACE Software to get the failure mes sage for more information ES Emergency stop detected by the robot Check safety devices connected to the robot for an emergency stop...

Page 141: ...e represents the code number Contact your local OMRON representative for support T Safety system fault where represents the code 10 Contact your local OMRON representative for support TR The safety sy...

Page 142: ...5 Troubleshooting 5 6 i4H Robots User s Manual I660...

Page 143: ...d Warning Labels 6 4 6 1 5 Checking for Oil Leaks 6 4 6 1 6 Lubricating Joint 3 6 4 6 1 7 Replacing Encoder Batteries 6 6 6 1 8 Harmonic Drive Oil Change 6 7 6 1 9 Cleaning the Robot 6 8 6 1 10 Bellow...

Page 144: ...idelines and modify the schedule as needed Item Period Reference Check all installed safety equip ment 6 months 3 11 3 Safety Equipment Checks on page 3 46 Check fastener torques 3 months 6 1 3 Checki...

Page 145: ...eeds to be periodically checked for correct functionality The following considerations should be made before beginning the High Power indicator check proce dure Control power and High Power supplies n...

Page 146: ...e and straps to lift the robot by inner arm and controller handle Never lift the robot by the quill Install in a controlled environment relatively free of contaminants Additional Information The label...

Page 147: ...obstructions Precautions for Correct Use Avoid rotating the quill Joint 4 when the brake is released This could result in an out of range condition and may prevent program execution Additional Informa...

Page 148: ...replacement procedure have the following items available Cross head screwdriver point size 1 Cutter tool Cable tie plastic strap Loctite thread lock type 243 or equivalent Replacement battery pack pa...

Page 149: ...ck to one of the available J3 or J4 connectors Do not disconnect the existing battery pack until the new battery pack is plugged in 4 Cut the plastic strap securing the old batteries to the bracket 5...

Page 150: ...4 4 Bellows Installation Procedure on page 3 8 for more information The following items are required for this procedure One of the following bellows replacement kits applicable to your robot Standard...

Page 151: ...adapter clamp using a 3 mm hex bit and then remove it from the quill 4 Remove the small clamp from the robot housing using a 2 5 mm hex bit Take note of the orientation of the small clamp before remo...

Page 152: ...the tool flange bearing adapter by pulling it up and off of the lip 8 Remove the tool flange from the quill Refer to 6 2 1 Replacing the Tool Flange on page 6 12 for more information The tool flange i...

Page 153: ...f of the quill 11 Refer to 3 4 4 Bellows Installation Procedure on page 3 8 to install the replacement bellows and complete this procedure 6 Maintenance 6 11 i4H Robots User s Manual I660 6 1 Periodic...

Page 154: ...5 mm hex bit 3 mm hex bit Torque wrench Loctite thread lock type 243 or equivalent Loctite thread lock type 222MS or equivalent DANGER Failure to ground robot mounted equipment or tooling that uses h...

Page 155: ...or Correct Use Do not over tighten the tool flange setscrew This will cause off center alignment of the tool flange on the quill 7 Apply thread lock Loctite 222MS or equivalent to the socket head scre...

Page 156: ...onal Information If you are installing a new into robot you will need to run Teach Restrict and E STOP Safety commissioning prior to operating the robot Refer to 3 11 3 Safety Equipment Checks on page...

Page 157: ...ot base can damage the internal harness Take note of the internal harness and cable routing Similar routing must be used when reas sembling the components 4 Disconnect the following items from the amp...

Page 158: ...After all internal connections have been removed slide the amplifier chassis out of the robot base completely 6 Remove the Micro SD card from the amplifier chassis Press the Micro SD card in and then...

Page 159: ...hassis is in the original position apply Loctite thread lock type 222 or equiv alent to the six M5 X 16 screws and insert them Apply a torque of 2 5 N m to tighten them 12Make all necessary external c...

Page 160: ...er to the Secondary Interface Panel Apply Loctite thread lock type 222 or equivalent and torque screws to 0 8 N m 7 Slide the quill clamp collar into position apply Loctite 243 or equivalent to the so...

Page 161: ...4 I O Signal Numbering A 6 A 4 1 Input Signal Numbering A 6 A 4 2 Output Signal Numbering A 6 A 5 Cable Pinouts A 7 A 5 1 XSYSTEM Cable Pinouts A 7 A 5 2 XBELTIO Adapter Cable Pinouts A 9 A 5 3 Belt...

Page 162: ...a total of eight Roxtec modules used in the Compression Unit The Cable Seal Kit includes the following components Cable Seal Housing Cable Seal Housing Gasket Cable Entry Cover Cable Entry Cover Gask...

Page 163: ...responding Roxtec module and then insert each module into the Compression Unit Ensure that the Roxtec modules are properly seated on the Compression Unit lip Take care to ensure that all cables measur...

Page 164: ...t needs to be transported Reuse all original packing containers and materials and follow all safety guidelines detailed in the installation section of this manual Reverse the installation instructions...

Page 165: ...e shipped and stored in the supplied packaging which is designed to prevent damage from normal shock and vibration Do not expose the shipping container to excessive shock and vibration Do not lay the...

Page 166: ...s XIO 1001 to 1012 TIO 1017 to 1021 IO Blox 1 OFF OFF 1065 to 1072 IO Blox 2 ON OFF 1073 to 1080 IO Blox 3 OFF ON 1081 to 1088 IO Blox 4 ON ON 1089 to 1096 A 4 2 Output Signal Numbering Use the table...

Page 167: ...d below A 5 1 XSYSTEM Cable Pinouts Use the following diagrams for XSYSTEM cable pinout information XUSR 13322 000 XFP 13322 000 XMCP 13322 000 XSYSTEM 13322 000 Appendix A 7 i4H Robots User s Manual...

Page 168: ...PIN 3 PIN 4 PIN 9 PIN 37 PIN 6 PIN 23 PIN 13 PIN 8 PIN 11 PIN 38 PIN 12 PIN 7 PIN 7 PIN 6 PIN 8 PIN 20 PIN 1 PIN 2 SHELL SHELL PIN 10 PIN 9 PIN 31 PIN 1 PIN 6 PIN 32 PIN 2 PIN 3 PIN 5 PIN 18 PIN 7 PIN...

Page 169: ...C2_Z PIN 1 5V PIN 10 GND PIN 8 PIN 1 PIN 15 PIN 9 SHIELD SHIELD XBELTIO BELT ENCODER PIN 5 PIN 4 PIN 6 PIN 1 PIN 3 PIN 2 PIN 7 CLK PIN 8 CLK PIN 9 EXPIO 5V PIN 15 GND PIN 16 DATA PIN 17 DATA PIN 1 PIN...

Page 170: ...8 PIN 2 PIN 3 PIN 4 PIN 5 PIN 6 PIN 7 PIN 1 PIN 8 PIN 2 PIN 3 PIN 4 PIN 5 PIN 6 PIN 7 SHIELD SHIELD SHIELD PIN 8 PIN 1 PIN 15 PIN 9 Encoder 1 Encoder 2 BELT ENC A 5 4 USER Cable Pinouts Use the follo...

Page 171: ...al 1 Black 24 VDC 2 White 3 Red Output 1 4 Green Output 2 5 Yellow Output 3 6 Brown Output 4 7 Blue Input 1 8 Orange Input 2 9 Gray Input 3 10 Purple Input 4 11 Light Blue Input 5 12 Pink 0 VDC 13 Whi...

Page 172: ...units up to 3 m X Encoder Exten sion Cable 09446 050 Replaces or ex tends encoder cable up to 5 m X Belt Encoder Y adapter Cable 09443 000 The length of this cable is 3 m X USER Connec tor Cable Pri m...

Page 173: ...verted ro bot type 29910 000F X XIO Termination Block and Cable 90356 40100 X T20 Pendant Kit 10046 010 Kit includes the pendant with a 10 m cable 3 m adapter cable and a jumper plug X T20 Pendant 100...

Page 174: ...X Harmonic Drive Oil Change Kit 12370 000F Kit includes fun nel separator bottle vacuum pump reducer tubing and in structions X Encoder Kit 09742 001 Includes encod er mounting bracket and 5 m cable X...

Page 175: ...Seal Kit Standard Robot 08765 000 All components for replacing the Cable Seal for a standard robot are included X 4 X Cable Seal Kit Inverted Robot 08765 200 All components for replacing the Cable Sea...

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 178: ...XUSR 3 22 Control Power LED Indicator 1 6 Controller Label 1 13 Cycle Time 2 10 D Dimensions Camera Mounting Bracket 2 8 eCobra Mount Adapter 2 7 Front Panel 2 7 Mounting Flange 2 6 Robot 2 2 Tool Fla...

Page 179: ...5 Protection Class 2 17 Pollution Degree 2 17 Power Supply 2 14 Primary Interface Panel 1 5 Q Quill 1 4 R Ready Position 4 13 Repeatability 2 10 Right Arm 4 14 Robot Label 1 13 S Safety Circuits 3 36...

Page 180: ...Index I 4 i4H Robots User s Manual I660...

Page 181: ......

Page 182: ...egional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Kyoto JAPAN OMRON ASIA PACIFIC PTE LTD No 438A Ale...

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