Omron I655-E-01 User Manual Download

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iX3

Robot with EtherCAT

User's

Manual

655-E-01

Summary of Contents for I655-E-01

Page 1: ...iX3 Robot with EtherCAT User s Manual I655 E 01...

Page 2: ...y Technologies Inc assumes no responsibility for any errors or omissions in the documentation Copyright OMRON Robotics and Safety Technologies Inc by OMRON Corporation All rights reserved Sysmac and S...

Page 3: ...Cables 20 Tall Frame Mounting Adapters 23 Cable Inlet Box 23 Ball Stud Locks 24 Chapter 2 Safety 25 2 1 Dangers Warnings and Cautions 25 Alert Levels 25 Alert Icons 25 Falling Hazards 25 Special Infor...

Page 4: ...nstalling the Platform 37 Align the Platform with the Robot Base 38 Attach the Outer Arms 39 3 5 Installing the Front Panel 41 Mounting the Front Panel 41 Connecting the Front Panel 41 3 6 Installing...

Page 5: ...ms 80 AC Power Supply Connector 81 Making the AC Power Supply Cable 82 AC Power Supply Cable Connection Procedure 83 4 5 Grounding the Robot System 84 Grounding the Robot Base 84 Chapter 5 System Oper...

Page 6: ...ment 109 6 10 Aligning the Platform with the Joint 4 Motor 110 6 11 Replacing the Encoder Battery Pack 110 Encoder Battery Pack Replacement Interval 110 Encoder Battery Pack Replacement Procedure 110...

Page 7: ...cations 142 Environmental Requirements 142 Design Considerations 143 7 10 Weights 144 7 11 Power Connector Specifications 144 Chapter 8 Status Codes 145 8 1 Robot Display Panel 145 8 2 Status Codes Ta...

Page 8: ......

Page 9: ...ller Operation Manual Cat No W621 Describes the operating procedures of the IPC Application Controller eV 3 User s Manual Cat No I651 Provides a description of the eV programming language and function...

Page 10: ...t when platform rotation is needed A tool flange is provided on the bottom of the platform for mounting end of arm tooling Servo and other control functions are provided with an integrated controller...

Page 11: ...all iX3 565 Robot with EtherCAT types If there are differences based on type or options this manual will provide details in the associated sections Robot Amplifier and Controller The amplifier and co...

Page 12: ...erating status Additional Information Refer to iCS ECAT Robot Interface Panel on page 12 for more information iCS ECAT Features The iCS ECAT unit has the following general features l Integrated EtherC...

Page 13: ...rCAT communications F Node ID Switches Used to set the robot s EtherCAT node ID Refer to Setting the EtherCAT Node ID on page 52 G LEDs Indicates the status of the EtherCAT connection Refer to EtherCA...

Page 14: ...nted on the side of the robot base Outer Arms and Ball Joints The inner arm motion is transmitted to the platform through the outer arms which are con nected between the inner arms and platform with p...

Page 15: ...sian motion The 4 axis version platform is capable of theta rotation of 360 The 3 axis version s platform is made from stainless steel The 4 axis version s platform is made from electroless nickel pla...

Page 16: ...ed by an inclusion obstacle This is done because unlike other robots joint limits are not meaningful in defining the work space The system defines a cylindrical shape tapered at the bottom as a contai...

Page 17: ...bed below l XIO Termination Block part number 90356 40100 Includes terminals for user wiring and I O status LEDs Connects to the XIO connector with 2m cable T20 Pendant The T20 pendant is an optional...

Page 18: ...n the data that you set up in the Sysmac Studio It is executed on the IPC Application Controller to control the process data and recipe data The Robot Vision Manager application processes images captu...

Page 19: ...ry supplied Front Panel E stop is in accordance with the requirements of IEC 60204 1 and ISO 13849 IMPORTANT If the Front Panel high power ON OFF lamp part number 27400 29006 fails you might incorrect...

Page 20: ...000 XBELT I O Adapter Cable 600 mm The optional XBELT IO Adapter cable splits the XBELTIO port on the robot interface panel into a belt encoder branch and an IO Blox branch and an RS 232 branch NOTE...

Page 21: ...XIO connector on the robot interface panel to add multiple I O devices to the system without using an IO Blox unit IMPORTANT This cable is not compatible with the XIO Ter mination Block Additional Inf...

Page 22: ...w Black 7 Input 4 1 Green 8 Input 5 1 Green Black 9 Input 6 1 Blue 10 GND Blue White 11 24 VDC Brown 12 Common 2 Brown White 13 Input 1 2 Orange 14 Input 2 2 Orange Black 15 Input 3 2 Gray 16 Input 4...

Page 23: ...crease the robot s IP rating to IP65 The part number of the cable inlet box is 08765 000 NOTE The cable inlet box is not USDA compliant Drainage of wash down from the cable seal assembly does not comp...

Page 24: ...alf sleeves that can be peeled away to match the diameter of the cable to be sealed l Roxtec grease used to assemble and seal the modules Ball Stud Locks Under extreme loading conditions using very ag...

Page 25: ...in minor injury moderate injury or property damage Alert Icons The icon that starts each alert can be used to indicate the type of hazard These will be used with the appropriate signal word Danger Wa...

Page 26: ...organization for an emergency or abnormal situation If a fire occurs use CO2 to extinguish the fire Entrapment and Brake Release Button In case of entrapment of a person by the robot or any other emer...

Page 27: ...he Robot Safety Guide and must comply with all local and national safety regulations for the location in which the robot is installed Figure 2 1 Read Manual and Impact Warning Labels l The robot must...

Page 28: ...s l Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers electrical and or mechanical l Instructed persons are adequately advised or supervised by skil...

Page 29: ...r com plete information on the robot specifications Refer to the Robot Safety Guide Cat No I590 for details on the intended use of our robots Guidelines for safe use l Exposure to Liquid and Particles...

Page 30: ...at No I590 The Robot Safety Guide Cat No I590 that is shipped with every robot system provides detailed information on safety for OMRON robots It also gives resources for information on relevant stand...

Page 31: ...move one robot at a time even if your network contains multiple robots Disposal Dispose of in accordance with applicable regulations Customers can contribute to resource conservation and protecting t...

Page 32: ......

Page 33: ...e 1 Mount the robot Mounting an iX3 Robot on page 34 2 Attach outer arms and drive shaft if applicable Attach the Outer Arms on page 39 Attaching the Theta Drive Shaft on page 36 3 Install the platfor...

Page 34: ...lead to longer motion settling times because the tool flange of a robot will continue moving by any amount that the suspended robot base is moving even after servo control considers robot motion to b...

Page 35: ...ioning l If welding mounting tabs to the frame this should be done as a last step in the con struction process to ensure parallelism to a flat horizontal plane l Consider using a flat surface as a dat...

Page 36: ...ls and tighten to a torque of 61 N m l M12 x 1 75 l Stainless steel or zinc plated steel l Engage with at least 24 mm of the robot base threads 3 3 Attaching the Theta Drive Shaft The information in t...

Page 37: ...ey with Short Leg 1 Slide the upper U joint over the joint 4 motor output shaft on the robot base Theta Drive Shaft U joint Set Screw Joint 4 Motor Output Shaft Figure 3 4 Upper U joint Attachment 2 A...

Page 38: ...nnection point Both the theta drive shaft attachment on the robot base and on the platform are offset by about 50 mm from the centers of the robot base and tool flange The platform should be attached...

Page 39: ...Spring Retainer Pressed Pin Ball Joint Socket Insert Ball Joint Stud Inner Arm Figure 3 6 Outer Arm Attachment Hardware Outer Arm Attachment Procedure Use the following procedure to attach the outer...

Page 40: ...TION PROPERTY DAMAGE RISK Do not overstretch the outer arm springs Separate the ball joint sockets only enough to fit them over the ball studs 2 Attach one pair of outer arms to each of the three pair...

Page 41: ...emergency Possible mounting locations include immediately next to the workcell gate on a nearby desk or other readily accessible location DANGER A remote High Power push button must be installed outsi...

Page 42: ...nsion Cable XFP Connector Figure 3 10 Front Panel Connections Front Panel Schematic Use the following diagram to understand all Front Panel electrical connections DANGER PERSONAL INJURY RISK If you su...

Page 43: ...onnel from unin tentionally coming in contact with the robot Depending on the design of the workcell you can use safety gates light curtains emergency stop devices and other safety equipment to create...

Page 44: ...top inter connection Does not affect E Stop indication pins 7 20 N C contacts Shorted if NOT Used 4 17 Line E Stop same as pins 3 16 N C contacts Shorted if NOT Used 5 18 Muted safety gate CH 1 causes...

Page 45: ...n off momentary push button User supplies momentary push button to enable High Power to system Non voltage Free Contacts 5 13 System Supplied 5 VDC and GND for High Power On Off Switch Lamp User suppl...

Page 46: ...ndant E Stop Push button CH 1 2 10 Pendant E Stop Push button CH 2 3 11 Pendant Enable CH 1 Hold to run 4 12 Pendant Enable CH 2 Hold to run 13 Serial GND Logic GND 7 Pendant TXD eV to Pendant TXD 8 P...

Page 47: ...R 19 ES1 ES2 SR1 SR2 AM2 AM1 XSYSTEM 14 XUSR 5 XSYSTEM 30 XUSR 6 XSYSTEM 33 XFP 13 XSYSTEM 3 XFP 5 XSYSTEM 31 XFP 6 XSYSTEM 34 XFP 14 XSYSTEM 5 XFP 4 XFP 3 XSYSTEM 19 XFP 12 XSYSTEM 4 XFP 11 XSYSTEM 1...

Page 48: ...onnections for Emergency Stop E Stop circuits on the XUSR and XFP connectors This means the controller system can duplicate E Stop functionality from a remote location using voltage free contacts Refe...

Page 49: ...lock up situation For any situation where two systems should be cross coupled for example the user E Stop indication of one controller is to be connected to the input of another controller the Line E...

Page 50: ...Manual Automatic mode selection from other control equipment might require a custom splitter cable or complete replacement of the Front Panel Refer to the Front Panel Schematic on page 42 In this sit...

Page 51: ...ale l Maximum cable length is 10 meters IMPORTANT Though the XMCP and XFP connectors can be interchanged without electrical damage neither the Front Panel nor the pendant will work properly unless the...

Page 52: ...ill work properly unless they are plugged into the correct connector Remote Pendant Usage You can build an extension cable to place the pendant in a remote location The extension cable must conform to...

Page 53: ...as shown in the figure below If the switches are set to a non zero value the switch positions will dictate the EtherCAT node ID and software adjustment of this value is not possible Figure 3 13 EtherC...

Page 54: ...the node ID The default position is OFF left B 16 Position Rotary Switch x16 Sets bits 7 to 4 of the EtherCAT node ID The default setting for this switch is 0 C 16 Position Rotary Switch x1 Sets bits...

Page 55: ...ooling Robots with 4 axis have a tool flange that rotates within the platform When mounting end of arm tooling to the tool flange ensure that the fasteners used engage the threads in the tool flange b...

Page 56: ...CS ECAT using four M4 x 50 screws four M4 lock washers and four M4 flat washers Note that the centered M6 threaded hole must be toward the center of the robot base refer to the figure below Ensure tha...

Page 57: ...where the modules will contact using the supplied grease 6 Install each cable through its corresponding module and insert the modules into the frame Ensure that the terminated cable ends have 250 to 3...

Page 58: ...S ECAT cable seal housing After the top cover is attached this installation procedure is complete l Slide the top cover over the seal housing lip as shown in the following figure l Ensure that the gas...

Page 59: ...y to ensure that it is fully seated A fully seated ball stuck lock is shown below Figure 3 24 Ball Stud Lock in Correct Position 3 Repeat steps 1 and 2 for all ball stud locks to complete this procedu...

Page 60: ......

Page 61: ...e using an isolated impedant neutral Many parts of Europe use an impedant neutral WARNING ELECTROCUTION RISK Only a skilled and instructed person must install AC power Clause 5 2 4 of the ISO 10218 1...

Page 62: ...22792 000 Rev A 4 1 Basic System Cable Layout Additional Information Ethernet EtherCAT network connections may differ for your application Contact your local OMRON representative for more inform ation...

Page 63: ...Part Standard Option User Supplied A iCS ECAT Robot Interface Panel X B Inbound EtherCAT cable X C Outbound EtherCAT cable X D NJ series Robot Integrated CPU NJ501 RXXX X E Ethernet IP cable X F Netwo...

Page 64: ...Required if not using a Front Panel 4 Includes Front Panel Extension Cable part number 10356 10500 5 Required if not using user supplied E Stop circuitry 6 Required if not using a pendant Cable Instal...

Page 65: ...ly connector on the robot interface panel Q 6 Connect user supplied ground to the robot Refer to See Grounding the Robot System on page 84 for more information NOTE The ground may be part of the 24 VD...

Page 66: ...LT IO Adapter Cable Connector 13463 000 X X HDB26 Female C Belt Branch Con nector DB15 Male D EXPIO Branch Connector DB9 Male E RS 232 Branch Connector DB9 Male F Belt Y Splitter Cable Connector 09443...

Page 67: ...XBELT I O Adapter Cable Pinout Encoder 1 and 2 Connections RS 232 Figure 4 4 XBELT I O Adapter Cable Pinout RS 232 Connections FORCE EXPIO Figure 4 5 XBELT I O Adapter Cable Pinout EXPIO Connections 2...

Page 68: ...Refer to XIO Connector Sig nals on page 75 IO Blox connect to FORCE EXPIO branch of the XBELTIO cable 8 inputs 8 outputs per device up to 4 IO Blox devices Refer to the IO Blox User s Guide 04638 000...

Page 69: ...nnected to XBELTIO connector on the robot interface panel B FORCE EXPIO Connector on XBELTIO cable C IO Blox to Robot cable 3 m part number 04677 030 D IO Blox units 4 units maximum part number XIO Te...

Page 70: ...ired 1 1 You can construct your own extended length cables using similar cable stock Give careful attention to voltage drops on the I O outputs when using extended length cables and high current loads...

Page 71: ...to 1112 XBELTIO IOBlox OFF OFF Inputs on IOBlox 1 1133 to 1140 ON OFF Inputs on IOBlox 2 1141 to 1148 OFF ON Inputs on IOBlox 3 1149 to 1156 ON ON Inputs on IOBlox 4 1157 to 1164 3 XIO XIO N A Inputs...

Page 72: ...Blox 3 1449 to 1456 ON ON Inputs on IOBlox 4 1457 to 1464 6 XIO XIO N A Inputs on the iCS ECAT 1501 to 1512 XBELTIO IOBlox OFF OFF Inputs on IOBlox 1 1533 to 1540 ON OFF Inputs on IOBlox 2 1541 to 154...

Page 73: ...XIO XIO N A Outputs on the iCS ECAT 1 to 8 XBELTIO IOBlox OFF OFF Outputs on IOBlox 1 33 to 40 ON OFF Outputs on IOBlox 2 41 to 48 OFF ON Outputs on IOBlox 3 49 to 56 ON ON Outputs on IOBlox 4 57 to 6...

Page 74: ...on IOBlox 3 349 to 356 ON ON Outputs on IOBlox 4 357 to 364 5 XIO XIO N A Outputs on the iCS ECAT 401 to 408 XBELTIO IOBlox OFF OFF Outputs on IOBlox 1 433 to 440 ON OFF Outputs on IOBlox 2 441 to 44...

Page 75: ...49 to 756 ON ON Outputs on IOBlox 4 757 to 764 XIO Connector Signals The XIO connector on the robot interface panel offers access to digital I O 12 inputs and 8 out puts Refer to the following table f...

Page 76: ...ated from the other bank and is optically isolated from the robot s ground The six inputs within each bank share a common source and or sink line The inputs are accessed through direct connection to t...

Page 77: ...6 A power supply is recommended to allow for startup current draw from connected user devices such as solenoids and digital I O loads Additional Information Refer to External Connection Specification...

Page 78: ...ing procedure to connect the 24 VDC cable from the power supply to the robot interface panel Additional Information Refer to External Connection Specifications on page 132 for more information IMPORTA...

Page 79: ...on the robot interface panel A 4 Connect the cable shield G to the ground point on the robot interface panel A 4 4 Connecting AC Power Cable Use the following procedure to connect the 200 to 240 VAC...

Page 80: ...ng the system must use fail safe lockout measures to prevent unauthorized third parties from turning on power Refer to the Robot Safety Guide Cat No I590 for more information NOTE Install the robot sy...

Page 81: ...supplied AC power cable C 200 to 240 VAC D Fuses F4 and F5 NOTE These fuses must be slow blow E L Line 1 F N Line 2 G L3 Line 3 not used H E Earth Ground AC Power Supply Connector The cable and access...

Page 82: ...h to reach from the AC power source to the robot 1 Locate the AC power supply connector 2 Unscrew the shell screw open the connector and remove the cover 3 Loosen the two screws on the cable clamp 4 S...

Page 83: ...Information Refer to External Connection Specifications on page 132 for more information IMPORTANT Do not apply AC power until all installation steps are complete and verified and all safety measures...

Page 84: ...peak or 60 VDC If there will be hazardous voltages present at the tool flange or end effector you must l Connect the mounting frame to protective earth ground l Ground the robot base to the mounting f...

Page 85: ...robot base l Use any of the three M12 mounting screws for the ground connection Each of the mounting points has the following ground label Figure 4 16 Ground Connection Label l Ground screws must be s...

Page 86: ......

Page 87: ...nd of arm tooling is properly installed and grounded if necessary l All other peripheral equipment is properly installed and in a state where it is safe to turn ON power to the robot l Ensure that all...

Page 88: ...t Operation Manual Cat No W595 for more information Additional Information If the robot will not enter the high power state and dis plays or Safety System not Commissioned on the Robot Status LED pane...

Page 89: ...therCAT node ID switches are set to the proper values l Ensure that the operating mode switches are set to the proper positions 5 2 Robot Status LED and Display Panel The status LED and display panel...

Page 90: ...Status Code s E1 2 3 Robot boot in progress Refer to Status Codes on page 145 for more information ON Flashing 5 Hz Status Code s System fault is present Refer to Status Codes on page 145 for more in...

Page 91: ...abled If an EtherCAT communication error is present for a specific robot node s only that robot is affected by stopping with controlled deceleration and high power being disabled 5 4 Brakes An electro...

Page 92: ...lled tooling is clear of all obstructions NOTE 24 VDC robot system power must be ON to release the brake To prevent possible damage to the equipment remove any payload from the end effector make sure...

Page 93: ...he robot in Manual mode use the Front Panel keyswitch and rotate it to the left pos ition In this mode the robot will respond to the control signals coming from the pendant NOTE Controlling the robot...

Page 94: ...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...

Page 95: ...not applied The safety timeout function is enabled by default and has a duration set for 10 seconds The safety timeout function configuration settings are accessed with Sysmac Studio Refer to the sof...

Page 96: ...or the Sysmac Stu dio Robot Integrated System Building Function with Robot Integrated CPU Unit Operation Manual Cat No W595 for more information Request High Power with the Pendant The handheld pendan...

Page 97: ...ble or prevent the robot high power state l Robot faults refer to High Power and Faults on page 95 for more information l E stop open circuit detection l User programming with the POWER system switch...

Page 98: ......

Page 99: ...following l Lockout tagout power to the robot and related equipment l Make sure that the robot cannot be energized during maintenance as mandated by Clause 5 2 4 of ISO 10218 1 NOTE Maintenance and c...

Page 100: ...g Fan Operation on page 106 Diagnose non operational fans Not field replaceable Replace gear drives Dynamic and Static seals 3 Months Inspect dynamic seals on inner arms and static seals for sanitizin...

Page 101: ...ase of excessive wear or acci dental breakage Outer Arms Inspect for damage from accidental impacts 6 3 Cleaning The robot is designed to be compatible with moderate cleaning agents commonly used in t...

Page 102: ...t Panel or connected to the XSYSTEM cable l E stop button and enabling switch on the pendant if present l Any other user supplied safety devices that have been installed in the robot system High Power...

Page 103: ...nd the indicator is checked the procedure is complete 6 5 Checking Labels All labels on the robot should be checked on a weekly basis for being present and legible If any of the labels are missing or...

Page 104: ...uddenly due to gravity when the brake release button is pressed Warning Arms may fall due to gravity Figure 6 3 Brake Release Gravity Label This label is located next to the brake release button and b...

Page 105: ...nsure the motors are cool before performing this check 2 Remove all power to the robot before starting this check 3 Remove the iCS ECAT Refer to Replacing the iCS ECAT Unit on page 113 for more inform...

Page 106: ...data will be lost requiring factory recalibration 3 Turn Control Power ON to the robot This will start the fans and they will continue to run for about 1 minute Verify that joint 1 and joint 2 fans a...

Page 107: ...outer section without screws bushings are not serviceable and the theta drive shaft must be replaced Contact your local OMRON representative for more information Theta Drive Shaft Bushing Replacement...

Page 108: ...the lower end cap from the drive shaft cylinder It will slide over the center shaft A new end cap is included in the bushing replacement kit 5 Remove the center shaft from the drive shaft cylinder Re...

Page 109: ...the center shaft Figure 6 8 End Cap Placed Over Center Shaft 11 Slide the end cap into the end of the drive shaft cylinder so that the three holes in the cylinder align with the holes in the end cap 1...

Page 110: ...ed by the encoders is protected by a 3 6 V lithium backup battery pack located in the base of the robot The part number of the replacement battery pack is 09977 000 IMPORTANT Only replace items on the...

Page 111: ...200 to 240 VAC supply cable from the robot AC input connector 4 Switch OFF and disconnect any other power supplies connected to the robot 5 Remove the four M4 hex head bolts that secure the Status Di...

Page 112: ...tie to relieve strain on the Status Display connector 11 Re install the Status Display panel with the four M4 bolts previously removed o Apply Loctite 222 or an equivalent thread lock compound to the...

Page 113: ...e insert and then pull it out Extraction Hole 3 To install the new insert press it into place by hand ensuring that it is centered and fully seated 4 After the insert is in place install the outer arm...

Page 114: ...to remove the chassis as this screw is captured on the chassis heat sink Chassis Securing Screw Figure 6 10 Chassis securing Screw 7 Carefully and slowly lift up the chassis so that enough access is...

Page 115: ...2 E Amplifier Connector C ENC1 F ePMAI Board 9 Carefully disconnect the INT1 INT2 ENC1 and ENC2 cables from their connectors on the ePMAI board Use the connector securing latches to free the connector...

Page 116: ...ench to tighten the chassis securing screw 19 Restore all switch positions from the previously removed iCS ECAT unit 20 After connecting all previously disconnected cables to their original locations...

Page 117: ...a MicroSD Card in an iCS ECAT Use the following procedure to replace a MicroSD card Additional Information Refer to Replacing the iCS ECAT Unit on page 113 for more information 1 Insert the MicroSD C...

Page 118: ......

Page 119: ...Robot Physical Dimension Drawings This section provides physical dimensions for the robot and its operating envelope 3 x 120 3x 42 84 M12 x 1 75 24 5 0 1 3x 24 0 03 0 00 0 2 36 885 69 B C 740 00 A A...

Page 120: ...rk Envelop Side View Table 7 2 Work Envelope Descriptions Item Description Item Description A Joint 4 Platform B Fixed Platform 7 2 Arm Travel Volumes Arm travel volumes represent the space required f...

Page 121: ...D B A C Figure 7 3 Arm Travel Volume Table 7 3 Arm Travel Volume Descriptions Item Description A Center of Robot B Cutout needed in plate at robot mount surface height C Robot Mount Surface D Arm tra...

Page 122: ...s 3x 143 6x R13 3x R25 3x 13 50 740 B C 36 3x 120 3x 120 3x 72 3x 564 A B C D Figure 7 4 Flat Plate Dimensions Table 7 4 Flat Plate Dimension Descriptions Item Description A Flat Plate B Through Mount...

Page 123: ...es physical dimensions for the tool flange NOTE This details the tool flange for both 3 and 4 axis robots B C 50 00 6 020 6 010 8 00 4x M6x1 0 11 00 38 00 THRU 0 10 45 4x 90 A A 63 00 62 80 65 00 12 0...

Page 124: ...Encoder type Absolute Robot Brakes 24 VDC Weight no options 52 kg 49 kg Weight in crate 120 kg 117 kg Digital I O Channels 12 inputs 8 outputs 7 5 Performance Specifications This section provides the...

Page 125: ...oad 0 42 s 0 1 kg payload 0 33 s 1 0 kg payload 0 34 s 2 0 kg payload 0 37 s 3 0 kg payload 0 38 s Cycle Time for a move 25 mm up 700 mm over and 25 mm down and then back along the same path1 0 1 kg p...

Page 126: ...kg payload 98 2 0 kg payload 88 3 0 kg payload 78 4 0 kg payload 53 5 0 kg payload 43 6 0 kg payload 33 7 0 kg payload 25 8 0 kg payload 22 Acceleration m s2 recommended 0 1 kg payload 54 1 0 kg paylo...

Page 127: ...setting This can be set as high as 750 Payload Center of Gravity Specifications Use the information in the table below for maximum allowable center of gravity for the pay load The distance is measure...

Page 128: ...d and distances traveled between the initiation of a stop sig nal and the cessation of all robot motion Stopping distances and times will not degrade as a result of either aging or normal use Stop pin...

Page 129: ...0 400 0 20 40 60 80 100 120 Stopping Distance mm Speed Payload 33 5 9 m s max Payload 66 5 8 m s max Payload 100 5 7 m s max Figure 7 9 Stopping Distance Y Axis Move 4 Axis Robot Type 0 00 0 05 0 10 0...

Page 130: ...11 Stopping Distance Z Axis Move 4 Axis Robot Type 0 00 0 05 0 10 0 15 0 20 40 60 80 100 120 Stopping Time s Speed Payload 33 3 5 m s max Payload 66 3 5 m s max Payload 100 3 5 m s max Figure 7 12 St...

Page 131: ...0 400 0 20 40 60 80 100 120 Stopping Distance mm Speed Payload 33 5 7 m s max Payload 66 5 2 m s max Payload 100 5 0 m s max Figure 7 15 Stopping Distance Y Axis Move 3 Axis Robot Type 0 00 0 05 0 10...

Page 132: ...3 3 4 m s max Payload 66 3 3 m s max Payload 100 3 3 m s max Figure 7 18 Stopping Time Z Axis Move 3 Axis Robot Type 7 6 Electrical Specifications The following section provides electrical specificati...

Page 133: ...eral purpose electrical pass through con nections Wire size 0 1 mm2 Maximum current 1 amp XIO input circuits Operational voltage range 0 to 30 VDC OFF state voltage range 0 to 3 VDC ON state voltage r...

Page 134: ...equipment from oper ating correctly NOTE2 Specifications established at nominal line voltage Low line voltage can affect robot performance NOTE3 If multiple robots are sharing a 24 VDC power supply in...

Page 135: ...ble 7 8 Mounting Frame Specifications The robot is designed to be mounted above the work area suspended from a user supplied frame The frame must be adequately stiff to hold the robot rigidly in place...

Page 136: ...djacent surfaces l Finish Powder coat per RAL 9003 Pure White l Remove all burrs and sharp edges l Dimensions apply after process l Interpret drawings per ANSI Y14 5 l Dimensions are in mm l o 1 place...

Page 137: ...unting Foot 25 4 Thick See detail 5 8 Tube Rectangular Steel 80 x 40 x 4 0 638 95 See detail 6 1 Tube Rectangular Steel 80 x 40 x 4 0 1140 7 2 Tube Rectangular Steel 80 x 40 x 4 0 749 18 See detail 8...

Page 138: ...ounting Frame Specifications 1300 817 2 2235 4 658 9 350 5 350 5 658 9 25 4 A A B B 1300 817 2 350 5 658 9 350 5 658 9 3x 135 7 C C D D A Figure 7 21 Mounting Frame Side View 1 A Sections Shown in the...

Page 139: ...0 12 13 14 9 13 12 14 9 12 6 9 5 12 6 9 5 9 5 9 5 3x 15 A B C G D G E E F Figure 7 22 Mounting Frame Top View Callout Description Callout Description A View A A E All Mounting Brackets B View B B F Th...

Page 140: ...8 9 80 65 25 73 7 73 7 4x 5 x 45 749 2 60 30 60 180 180 25 4 103 8 25 4 103 8 A B C D E F G 3x 25 4 Figure 7 23 Mounting Frame Details Items 4 5 7 10 Callout Description Callout Description A Detail o...

Page 141: ...3 15 3 59 1 84 5 25 4 62 5 30 43 4 12 7 15 4 R 21 4 25 4 25 4 110 3 135 7 40 2 20 4 12 7 138 3 43 4 84 5 112 2 110 3 45 THRU 15 THRU A B C C Figure 7 24 Mounting Frame Detail Items 12 and 13 Callout...

Page 142: ...t how the environment can affect the robot operations as well as how the robot can affect the cleanliness of its operating envir onment Environmental Requirements The robot installation must meet the...

Page 143: ...ned to meet IP65 ratings CAUTION PROPERTY DAMAGE RISK Like most seals it is possible to prematurely destroy these seals by delib erate direct excessive spraying of water based agents into the sealing...

Page 144: ...ector Specifications Power connector specifications are provided in the table below Table 7 10 Other Specifications Item Specification DC supply connector Housing Connector receptacle 2 position type...

Page 145: ...rating status of the robot These codes provide details for quickly isolating problems during troubleshooting and determining the operating state of the robot Status Display Panel Figure 8 1 Robot Disp...

Page 146: ...e N A STATUS message High Power OFF None ON None N A STATUS message High Power ON None MA None N A STATUS message Robot is in Manual Mode None 24 RSC power fail ure 670 The 24 VDC input voltage is out...

Page 147: ...E Encoder Fault 1025 The servo system has detected an electrical or physical condition that resulted in an encoder fault Write down the fail ure message or code and look it up in the eV Help ES E STO...

Page 148: ...AC con nections and re enable high power If the error persists contact your local OMRON support I None N A Servo initialization stages These steps nor mally sequence I0 I1 on the display during normal...

Page 149: ...ly removed during the high power enable sequence If it occurs unexpectedly con tact your local OMRON support PR None N A A servo task has overrun its allotted execution window If the problem per sists...

Page 150: ...ode 6 1109 CAT 3 hardware safety system detected an encoder OVERSPEED and turned power off This circuit is active in manual mode only on select robots which have the CAT 3 teach mode option Intentiona...

Page 151: ...ommission and verify the Teach Restrict V Hard envelope error Mtr 1027 The indicated motor was not tracking the com manded position with sufficient accuracy as set by Sysmac Studio Turn on high power...

Page 152: ......

Page 153: ...remove it from its container If any damage is evident contact your local OMRON representative Retain all containers and packaging materials These items may be necessary if there is any apparent damag...

Page 154: ...come off as a single piece so this requires two people lifting from opposite sides of the crate You will be left with the robot base with the iCS ECAT and inner arms attached to the pallet The robot b...

Page 155: ...ack to transport the packaged equipment in an upright position Always keep the ISO double arrows on the sides of the crate oriented up CAUTION EQUIPMENT DAMAGE HAZARD Do not lay the crate on its side...

Page 156: ...AFETY TECHNOLOGIES INC 4225 Hacienda Drive Pleasanton CA 94588 U S A Tel 1 925 245 3400 Fax 1 925 960 0590 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 3...

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