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Chapter 6: System Operation
NOTE:
If the robot is placed in Service mode, it will not communicate with an
NJ-series Robot Integrated CPU Unit.
IMPORTANT:
The operating mode switch state is checked only during robot
startup after power is applied.
If the following conditions are present on your system, contact your local OMRON rep-
resentative for support.
l
The license mode of the robot needs to be changed.
l
EtherCAT communications cannot be achieved.
l
The robot has an unrecoverable hardware fault or error.
l
The robot needs factory recalibration.
6.6 Manually Jogging the Robot
Manually jogging the robot typically occurs during setup or other system configuration pro-
cedures. You can manually jog the robot with a connected pendant or with software.
Refer to the
T20 Pendant User's Manual (Cat. No. I601)
for complete instructions on using the
pendant to jog the robot.
If the optional pendant is not present in the system, you can move the robot using the Sysmac
Studio. Refer to the
Sysmac Studio Robot Integrated System Building Function with Robot Integrated
CPU Unit Operation Manual (Cat. No. W595)
for more information.
6.7 Enabling Robot High Power
When the robot high power is enabled, all robot servo motors are energized and the robot
enters a state where it is prepared for motion. The 200-240 VAC power source is used to facil-
itate this state.
DANGER: ELECTROCUTION HAZARD
When personnel are working with a robot where high power is enabled, make
sure they are properly skilled and instructed. Refer to the
Robot Safety Guide
(Cat. No. I590)
for more information.
IMPORTANT:
High power can only be enabled when safety circuits are sat-
isfied.
Enabling the robot high power for the first time after system power-up executes a calibrate func-
tion that uses the joint calibration offsets to update the current position of the robot. This does
not perform a full robot hardware calibration.
NOTE:
The calibration offsets are determined during a full robot hardware
calibation. Refer to the
eV+3 Keyword Reference Manual (Cat. No. I652)
and the
eV+3 User's Manual (Cat. No. I651)
for information on the CALIBRATE keyword.
(This does not cover full hardware calibration, though.)
High Power Safety Timeout
If the safety timeout function is enabled in the robot configuration, the high power lamp on the
Front Panel will flash for a specified amount of time after a high power request is made. If the
high power button is not pressed within the specified amount of time, a safety timeout occurs
and high power is not applied.
21861-000 Rev A
Viper 650 and 850 Robot with EtherCAT
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