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Viper 650 and 850

Robot with EtherCAT

User's

Manual

I65

-E-0

Содержание Viper 650

Страница 1: ...Viper 650 and 850 Robot with EtherCAT User s Manual I654 E 01...

Страница 2: ...no responsibility for any errors or omissions in the documentation Copyright 2020 by OMRON Corporation All rights reserved Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporatio...

Страница 3: ...27 Alert Levels 27 Alert Icons 27 Special Information 28 2 2 Safety Precautions 28 2 3 What To Do In An Emergency 29 Stopping the Robot 29 Fire Response 29 Entrapment and Brake Release Box 29 2 4 Robo...

Страница 4: ...herCAT Node ID Using Hardware Switches 51 3 8 Installing Joint Labels 52 Chapter 4 System Cable Installation 55 4 1 Basic System Cable Layout 55 List of Cables and Parts 56 Cable Installation Steps 58...

Страница 5: ...Operation Mode 92 Service Mode 92 6 6 Manually Jogging the Robot 93 6 7 Enabling Robot High Power 93 High Power Safety Timeout 93 High Power and Faults 94 High Power Request Methods 94 6 8 Disabling...

Страница 6: ...onsiderations 131 10 1 Differences from Standard Robot Model 131 10 2 Cleanroom Robot Connections 131 Cleanroom CN22 Cable 132 Air Lines and Signal Wiring 133 10 3 Cleanroom Cover at J6 Flange 135 10...

Страница 7: ...he operating procedures of the IPC Application Controller eV 3 User s Manual Cat No I651 Provides a description of the eV pro gramming language and functionality eV 3 Keyword Reference Manual Cat No I...

Страница 8: ...udio Automation Software to achieve optimum func tionality and ease of operation NA series PT Teaching pendant T20 with built in EtherCAT communications Slave Terminal Vision sensor OMRON robot Robot...

Страница 9: ...Control System eCS ECAT This section is about the eCS ECAT which is a distributed servo controller and amplifier used with Viper robots The eCS ECAT has a dedicated microprocessor to communicate coor...

Страница 10: ...s 1 GB SDRAM l 8 GB MicroSD card l Low EMI for use with noise sensitive equipment l 8 kHz servo rate to deliver low positional errors and high performance path following l Digital feed forward control...

Страница 11: ...ipheral devices Provides 8 outputs and 12 inputs Refer to Connecting Digital I O to the System on page 62 for connector pin allocations for inputs and outputs That section also contains details on how...

Страница 12: ...tion from dust and fluid The following images show the IP54 65 version and the Cleanroom version Figure 1 5 IP54 65 Version left Cleanroom Version right Robot Features The following table lists the va...

Страница 13: ...internal ports and connectors that are available on the standard Viper robot NOTE Some connections may differ on robots with the IP54 65 or Cleanroom options Refer to IP54 65 Option Considerations on...

Страница 14: ...nnector panel are typically used for end effector control Internal air lines are routed through the robot to another set of match ing connectors on the top of the outer link link 2 as shown below Addi...

Страница 15: ...Chapter 1 Introduction A B Figure 1 8 Pneumatic Pass through Ports from B Base to A Outer Link 21861 000 Rev A Viper 650 and 850 Robot with EtherCAT 15...

Страница 16: ...B Robot Base to A Outer Link eCS ECAT Interface Panel The eCS ECAT includes the interface panel It has connections for power 200 240 VAC 24 VDC communications and other peripheral devices such as a p...

Страница 17: ...o Connecting the 24 VDC Cable to the eCS ECAT on page 73 for more information C Ground Terminal D XSYSTEM Connection Refer to System Cable Installation on page 55 E EtherCAT Ports Used for inbound and...

Страница 18: ...n Used for user I O signals for peripheral devices Refer to Basic System Cable Layout on page 55 for more information 1 3 Robot Options This section describes the various options available for a Viper...

Страница 19: ...hout a PC The pendant can also be used to move the robot before calibration has occurred Additional Information Refer to the T20 Pendant User s Manual Cat No I601 for more information about operating...

Страница 20: ...t provides the following functions l Setting the robot mode to manual or automatic Refer to Robot Control Modes on page 91 for more information l Indicating the robot high power and system power state...

Страница 21: ...XFP connector Connects to the XFP connector on the XSYSTEM Adapter Cable l Control Power LED Indicator Indicates whether the robot is receiving power l Manual Mode The system limits robot speed and t...

Страница 22: ...st press the Front Panel button while it is blink ing default time out is 10 seconds If the button stops blinking you must enable power again l High Power Indicator This lamp is on when high power is...

Страница 23: ...on page 59 04677 000 EXPIO to IOBlox Cable 3 m This optional cable is used to connect IO Blox devices to either eCS ECAT EXPIO connector This applies to the DB9 connection on the chassis EXPIO near t...

Страница 24: ...O Ter mination Block on page 63 XIO Breakout Cable Pinout The XIO Breakout cable pinouts are provided below Table 1 3 XIO Breakout Cable Wire Chart Pin No Signal Designation Wire Color 1 GND White 2 2...

Страница 25: ...Output 2 Pink 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 Pin 9 Pin 1 Pin...

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Страница 27: ...entially hazardous situation which if not avoided will result in minor or moderate injury and might result in serious injury fatal ity or significant property damage CAUTION Identifies a potentially h...

Страница 28: ...DAMAGE These robots can cause serious injury or fatality or damage to itself and other equipment if the following safety precautions are not observed l If you install operate teach program or maintain...

Страница 29: ...f the robot at that joint and therefore all of the robot from that joint outward There is no brake on Joint 1 DANGER PERSONAL INJURY RISK This robot is not a collaborative robot It requires a dedicate...

Страница 30: ...was per the relevant requirements of IEC 60204 1 These robots are for use in parts assembly and material handling for payloads up to 5 kg See Technical Specifications on page 107 for complete specific...

Страница 31: ...nt s design is in accordance with the requirements of IEC 60204 1 and ISO 13849 The E Stop button complies with ISO 13850 NOTE OMRON does not offer a wireless pendant The manual control pendant can on...

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Страница 33: ...lling the Front Panel on page 37 3 Install user supplied safety equip ment Installing User Supplied Safety Equipment on page 41 4 Set the EtherCAT Node Address Setting the EtherCAT Node ID on page 50...

Страница 34: ...position IMPORTANT Excessive vibration or mounting flexure degrades robot per formance 2X 6 200 160 R20 66 0 05 142 3 4X 12 THRU For M10 184 0 05 160 200 0 012 0 Diamond shaped pin Figure 3 1 Mounting...

Страница 35: ...d shaped pin into one 6 H7 hole in the robot base so that it is ori ented as shown in the preceding figure 4 Drive the internally threaded alignment pin into the other 6 H7 hole in the robot base NOTE...

Страница 36: ...TE The robot s base is aluminum and can dent easily if bumped against a harder surface 5 To eliminate the risk of toppling screw in one bolt finger tight 6 Verify that the robot s base is squarely mou...

Страница 37: ...ntenance 3 3 Mounting the eCS ECAT Dimensions and mounting holes for the eCS ECAT are presented in Figure 8 6 Clearances needed for cooling are presented in Robot Physical Dimension Drawings on page 1...

Страница 38: ...information DANGER A remote High Power push button must be installed outside of the robot s workspace Connecting the Front Panel You connect the Front Panel to the Front Panel cable XMCP XFP XUSR XSY...

Страница 39: ...PFP1 5 VD D 2 PIN_MINI SYSPWRLT Front Panel Schematic Figure 3 4 Front Panel Schematic IMPORTANT Disabling the High Power button violates IEC 60204 1 We strongly recommend that you not alter the use o...

Страница 40: ...A 1B 1 ON OFF 1B 1A 1 OFF ON 2A 2B 2 ON OFF 2B 2A 2 OFF ON 3A 3B 3 ON OFF 3B 3A 3 OFF ON AIR2 CN20 Pin Assignments PNP NPN CN20 pin No Used for 12 Common 13 Solenoid 1A solenoid valve 1 14 Solenoid 1B...

Страница 41: ...pment is strictly prohibited This equipment must be com pliant with all applicable and local standards Failure to install suitable safety equipment could result in injury or death Additional Informati...

Страница 42: ...de only N C contacts Shorted if NOT Used 6 19 Muted Safety Gate CH 2 same as pins 5 18 N C contacts Shorted if NOT Used Voltage Free Contacts provided 7 20 E Stop indication CH 1 Contacts are closed w...

Страница 43: ...ff 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 supplies...

Страница 44: ...nt 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 Pendant RXD eV to Pendant RXD 14 No conne...

Страница 45: ...9 XUSR 18 XSYSTEM 44 XUSR 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 XS...

Страница 46: ...the XUSR and XFP connectors This means the controller system can duplicate E Stop functionality from a remote location using voltage free contacts Refer to E Stop Circuits on XUSR and XFP Con nectors...

Страница 47: ...indication of one controller is to be connected to the input of another controller the Line E Stop input is the point to connect the other controller s output contacts See Figure 3 5 for more informa...

Страница 48: ...es with the Front Panel Manual Automatic mode contacts Both the Front Panel and the user contacts need to be closed to allow Automatic mode WARNING PERSONAL INJURY RISK Do not connect user supplied Ma...

Страница 49: ...ther than the Front Panel requires a custom splitter cable In this situation place a second momentary contact for high power ON OFF in parallel with the Front Panel push button contact This second con...

Страница 50: ...ndard D sub male and female l Maximum cable length is 10 meters CAUTION EQUIPMENT DAMAGE HAZARD Do not modify the cable that is attached to the pendant This could cause unpredictable behavior from the...

Страница 51: ...cal switches that can be used for setting the EtherCAT node ID address as described in the figure below The switch settings are checked when 24 VDC power is applied to the eCS ECAT IMPORTANT Turn OFF...

Страница 52: ...AT Node ID Address Example Use the following example to understand how to set the EtherCAT node ID An EtherCAT node ID of 196 is used in this example 1 Convert the node ID of 196 into hexadecimal form...

Страница 53: ...cation The yellow X Y label can be used to indicate the X and Y axes in the World coordinate system in your workcell J2 J1 J5 J3 J4 J6 Figure 3 9 Joint and Axes Directional Labels 21861 000 Rev A Vipe...

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Страница 55: ...ant neutral DANGER ELECTROCUTION RISK Only a skilled and instructed person must install AC power Clause 5 2 4 of the ISO 10218 1 requires that the person installing the system must use fail safe locko...

Страница 56: ...with EtherCAT 21861 000 Rev A Figure 4 1 Typical System Cable Connections List of Cables and Parts The following table identifies and provides details about cables and parts illustrated in Basic Syst...

Страница 57: ...s Robot Integrated CPU NJ501 RXXX X E Ethernet IP cable X F Network switch X G User supplied PC X H Ethernet IP cable 1 X I Ethernet RJ45 Port on XSYSTEM cable X J Ethernet IP cable to IPC Applic atio...

Страница 58: ...Use the following procedure to install all necessary system cables Refer to Basic System Cable Layout on page 55 for references to item letters Additional Information Refer to eCS ECAT Interface Panel...

Страница 59: ...respect ive devices Additional Information Ethernet EtherCAT network con nections may differ Contact your local OMRON support for more information B C D E F G H J K L 9 Connect downstream EtherCAT dev...

Страница 60: ...the following figures the callout letters circled in red correspond to the Item letters in XBELT IO Belt Encoder Y Adapter Cable on page 59 Belt Encoder PIN 15 PIN 7 PIN 14 PIN 6 PIN 13 PIN 5 PIN 11...

Страница 61: ...e 4 5 XBELT I O Adapter Cable Pinout EXPIO Connections Splitter Cable PIN 1 PIN 15 ENC1_A F SHIELD G H PIN 3 PIN 7 ENC1_A PIN 4 PIN 14 ENC1_B PIN 5 PIN 6 ENC1_B PIN 6 PIN 13 ENC1_I PIN 8 PIN 5 ENC1_I...

Страница 62: ...of the XBELTIO cable 8 inputs 8 outputs per device up to 8 IO Blox devices 4 per group for the Viper Refer to the IO Blox User s Guide 04638 000 Optional I O Products This optional product is also ava...

Страница 63: ...mm connected to XBELTIO connector on the eCS ECAT interface panel F FORCE EXPIO connector on XBELTIO cable H IO Blox Group 2 maximum 4 IO Blox units in this group XIO Termination Block You can also ex...

Страница 64: ...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 Default Signal A...

Страница 65: ...1088 ON ON 1089 to 1096 2 XIO XIO N A 1097 to 1108 EXPIO IOBlox Group 1 OFF OFF 1129 to 1136 ON OFF 1137 to 1144 OFF ON 1145 to 1152 ON ON 1153 to 1160 XBELTIO IOBlox Group 2 OFF OFF 1161 to 1168 ON...

Страница 66: ...68 OFF ON 1369 to 1376 ON ON 1377 to 1384 5 XIO XIO N A 1385 to 1396 EXPIO IOBlox Group 1 OFF OFF 1417 to 1424 ON OFF 1425 to 1432 OFF ON 1433 to 1440 ON ON 1441 to 1448 XBELTIO IOBlox Group 2 OFF OFF...

Страница 67: ...1713 to 1720 OFF ON 1721 to 1728 ON ON 1729 to 1736 XBELTIO IOBlox Group 2 OFF OFF 1737 to 1744 ON OFF 1745 to 1752 OFF ON 1753 to 1760 ON ON 1761 to 1768 Default Output Signal Allocations Use the tab...

Страница 68: ...OFF 169 to 176 OFF ON 177 to 184 ON ON 185 to 192 3 XIO XIO N A 193 to 200 EXPIO IOBlox Group 1 OFF OFF 225 to 232 ON OFF 233 to 240 OFF ON 241 to 248 ON ON 249 to 256 XBELTIO IOBlox Group 2 OFF OFF...

Страница 69: ...473 to 480 6 XIO XIO N A 481 to 488 EXPIO IOBlox Group 1 OFF OFF 513 to 520 ON OFF 521 to 528 OFF ON 529 to 536 ON ON 537 to 544 XBELTIO IOBlox Group 2 OFF OFF 545 to 552 ON OFF 553 to 560 OFF ON 561...

Страница 70: ...760 ON ON 761 to 768 XIO Connector Signals The XIO connector on the eCS ECAT interface panel offers access to digital I O 12 inputs and 8 outputs Refer to the following table for the XIO signal desig...

Страница 71: ...see the previous table or through the optional XIO Termination Block See the documentation supplied with the termination block for details XIO Input Specifications Table 4 6 XIO Input Specifications...

Страница 72: ...cator Output Assignment Output 8 can be assigned to indicate the robot s high power state When high power is enabled this output will turn ON When high power is not enabled this output will be OFF Use...

Страница 73: ...ECAT Power requirements for the user supplied power supply vary depending on the configuration of the robot and connected devices OMRON recommends a 24 VDC 6 A power supply to allow for startup curren...

Страница 74: ...the user supplied 24 VDC power supply to the eCS ECAT interface panel 3 Crimp the pins to the wires using a crimping tool 4 Insert the pins into the connector Confirm that the positive and negative 24...

Страница 75: ...n eCS ECAT interface panel NOTE To comply with standards DC power should be supplied over a shiel ded cable with the shield connected to frame ground at both ends of the cable 1 Connect one end of the...

Страница 76: ...and national safety and electrical codes for the installation and operation of the robot system DANGER ELECTROCUTION RISK ISO 10218 1 Clause 5 2 4 mandates that during installation you must provide a...

Страница 77: ...d AC Power Cable 3 200 240 VAC 200 240 VAC eCS ECAT 1 200 240 VAC Line 1 Figure 4 13 Single Phase Load across L1 and L2 of a Three Phase Supply AC Power Supply Connector The cable and accessory box th...

Страница 78: ...panel 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 Strip 18 to 24 mm of insulation from each o...

Страница 79: ...sures are in place 1 With the AC supply OFF connect the unterminated end of the AC power cable to your facility AC power source 2 Plug the AC connector into the AC power connector on the eCS ECAT inte...

Страница 80: ...figure The user should provide a ground wire and use the provided M4 screw and external tooth lock washer to connect to earth ground Make sure to tighten the screw on the ground wire to create a prop...

Страница 81: ...Information Refer to Tool Flange Dimensions on page 126 for more information about the tool flange grounding point DANGER ELECTROCUTION HAZARD Failing to ground robot mounted equipment or tooling that...

Страница 82: ......

Страница 83: ...supplied fits into the hole in the tool flange and can be used as a keying or anti rotation device with a user designed end effector The tool flange is not grounded to protective earth If hazardous vo...

Страница 84: ...therCAT 21861 000 Rev A Figure 5 1 External Equipment Mounting Locations for J1 and J2 For J1 there are two holes on each side so two holes are not visible in this figure Figure 5 2 External Equipment...

Страница 85: ...nded 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 System Cable Checks Make the following checks to verify proper sy...

Страница 86: ...stem not Commissioned on the eCS ECAT Status LED panel use the utilities below to troubleshoot the system Table 6 1 Safety Utilities in Sysmac Studio Utility Description E Stop Configuration Utility T...

Страница 87: ...are set to the proper positions 6 2 Status LED and Display Panel The status LED and display panel are used to visually indicate the general state of the robot NOTE The status LED on the robot is amber...

Страница 88: ...e information ON Fast Flashing 5 Hz Status Code s System fault is present Refer to Status Codes on Status Codes Table on page 139 for more information 6 3 EtherCAT Communications Description The Ether...

Страница 89: ...ed deceleration and high power will be disabled 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...

Страница 90: ...GND 8 Not connected 9 24 V Mating Connector D Subminiature 9 Pin Male Installing and Using the Brake Release Box This procedure describes how to install and use a brake release box on Viper robots The...

Страница 91: ...that is turned on 1 2 3 4 5 6 OFF BRAKE RELEASE Axis selector switch Status LED Brake Release Push button 9 pin male D Sub connector Figure 6 5 Brake Release Box NOTE The cable for the break release b...

Страница 92: ...tic mode Ensure that personnel stay clear of the robot work area To place the robot in Automatic mode use the Front Panel keyswitch and rotate it to the right position Operation Mode Operation mode sh...

Страница 93: ...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 Whe...

Страница 94: ...on after the following non fatal errors to allow for program automatic recovery from errors without manual intervention l 624 Force protect limit exceeded l 1003 Time out nulling errors Mtr l 1006 Sof...

Страница 95: ...Panel set the Auto Manual switch to Auto refer to the following figure then press and release the blinking ROBOT POWER button to enable high power to the robot NOTE The factory default high power time...

Страница 96: ......

Страница 97: ...summary of the periodic maintenance procedures and guidelines on frequency Table 7 1 Inspection and Maintenance Item to Inspect Period Reference Check E Stop enable and key switches and barrier interl...

Страница 98: ...labels and their placement on the robot Use this information to perform periodic checks NOTE Labels that provide instructions for lifting or installing are not con sidered warning labels They may be...

Страница 99: ...should be replaced every 2 years If the robot is turned ON with 24 VDC supplied to the robot more than half the time then you can increase the replacement interval to a maximum of 4 years NOTE Dispos...

Страница 100: ...ose with an eCS ECAT have PCAs with only three battery connections therefore they do not have dummy connectors For those robots remove and replace all three bat teries one at a time This is the reason...

Страница 101: ...ee the following figure NOTE Be sure to replace all three old batteries with a new set Other wise the battery service life will be reduced Figure 7 6 Connecting Second New Battery 7 Disconnect the old...

Страница 102: ...See the following figure Figure 7 8 Reconnecting Dummy Connector Cap 9 Replace the cover on the robot l Tightening torque standard models Phillips head screw 0 59 N m l Tightening torque IP54 65 and c...

Страница 103: ...card Contact your local OMRON support if you need to replace your MicroSD card Replacing the eCS ECAT Amplifier Chassis This section describes the process of removing and replacing the eCS ECAT ampli...

Страница 104: ...croSD card that you removed from the failed unit into the new eCS ECAT 3 Carefully place the eCS ECAT next to the robot 4 Connect all cables and wires that were removed when removing the old eCS ECAT...

Страница 105: ...o receive the new MicroSD card Removing a MicroSD Card from an eCS ECAT Use the following procedure to remove a MicroSD card from an eCS ECAT amplifier unit 1 Make sure that the eCS ECAT is powered OF...

Страница 106: ...card will pop out slightly and can be pulled out How Replacing a MicroSD Card in an eCS ECAT Use the following procedure to replace a MicroSD card You must remove the existing MicroSD card before per...

Страница 107: ...s This section provides physical dimensions for the Viper 650 and Viper 850 robots and their operating envelopes f65 105 90 270 390 95 203 164 34 108 295 80 375 115 578 42 575 68 73 46 335 75 R578 42...

Страница 108: ...B A I R 2 C N 2 1 J6 360 J4 190 59 51 67 79 R 6 5 3 4 2 R 2 3 3 7 9 187 7 Note 1 Note 1 On IP 54 65 and Cleanroom robots clearance dimension for cables is 222 mm Point P J1 170 170 Workable space defi...

Страница 109: ...5 f65 120 J5 105 1 3 5 79 209 R779 88 R166 34 R 4 1 4 8 8 J2 1 0 0 J3 R323 35 R 4 1 4 8 8 75 365 335 337 97 143 26 90 203 Workable space defined by point P Figure 8 3 Viper 850 Robot Side View Dimensi...

Страница 110: ...B A I R 2 C N 2 1 J6 360 J4 190 59 51 R 8 5 4 8 8 R 2 4 1 3 4 187 7 Note 1 Point P J1 170 170 67 79 Workable space defined by point P Note 1 On IP 54 65 and Cleanroom robots clearance dimension for ca...

Страница 111: ...36 35 2x M4 16 2x M5 12 2x M8 25 30 One pair of holes on each side of robot Figure 8 5 External Tooling Mounting Lcations units in mm Refer also to Mounting Locations for External Equipment on page 8...

Страница 112: ...183 64 384 3 154 94 6X SHCS M4 X 6 0 32 73 0 7 62 165 1 38 1 0 32 73 0 7 62 38 1 165 1 0 7 62 0 47 63 38 1 330 2 20X M4 7mm 0 7 62 142 24 0 47 63 330 2 38 1 0 32 73 0 165 1 330 2 47 63 Figure 8 6 eCS...

Страница 113: ...nformation The following table provides general performance information for the robot Table 8 2 General Robot Performance Information Performance Item Viper 650 and Viper 850 Robots Maximum Moment of...

Страница 114: ...n of a stop signal is not negligible and must be taken into account when designing and applying safeguarding devices The graphs show the time elapsed and distances traveled between the initiation of a...

Страница 115: ...0 120 Stopping Distance deg Speed J1 Stopping Distance Viper650 Payload 33 Payload 66 Payload 100 Figure 8 7 Stopping Distance in Degrees versus Speed for Viper 650 Joint 1 0 0 1 0 2 0 3 0 4 0 5 0 20...

Страница 116: ...2 Stopping Distance Viper650 Payload 33 Payload 66 Payload 100 Figure 8 9 Stopping Distance in Degrees versus Speed for Viper 650 Joint 2 0 0 1 0 2 0 3 0 4 0 5 0 20 40 60 80 100 120 Stopping Time s Sp...

Страница 117: ...ayload 66 Payload 100 Figure 8 11 Stopping Distance in Degrees versus Speed for Viper 650 Joint 3 0 0 1 0 2 0 3 0 4 0 5 0 20 40 60 80 100 120 Stopping Time s Speed J3 Stopping Time Viper650 Payload 33...

Страница 118: ...10 20 30 40 50 60 70 80 0 20 40 60 80 100 120 Stopping Distance deg Speed J1 Stopping Distance Viper850 Payload 33 Payload 66 Payload 100 Figure 8 13 Stopping Distance in Degrees versus Speed for Vipe...

Страница 119: ...ayload 66 Payload 100 Figure 8 15 Stopping Distance in Degrees versus Speed for Viper 850 Joint 2 0 0 1 0 2 0 3 0 4 0 5 0 20 40 60 80 100 120 Stopping Time s Speed J2 Stopping Time Viper850 Payload 33...

Страница 120: ...0 120 Stopping Time s Speed J3 Stopping Time Viper850 Payload 33 Payload 66 Payload 100 Figure 8 18 Stopping Time in Seconds versus Speed for Viper 850 Joint 3 Stopping distances and times will not si...

Страница 121: ...ure 5 to 50 C Dry air non condensing Solenoid Operating voltage 24 V 10 Power consumption current 0 5 W 21 mA Surge voltage protection circuit Zener diode aNote that the robot is rated at 0 1 to 0 39...

Страница 122: ...age range 10 to 30 VDC Typical threshold voltage Vin 8 VDC Operational current range 0 to 7 5 mA OFF state current range 0 to 0 5 mA ON state current range 2 5 to 7 5 mA Typical threshold current 2 0...

Страница 123: ...protect the robot and eCS ECAT from excessive overvoltages and voltage spikes If your country requires a CE certified installation or compliance with IEC 61131 2 IEC 61131 2 requires that the installa...

Страница 124: ...oor mount or Overhead mount Flatness of the mounting surface 0 1 mm 500 mm Cleanroom rating cleanroom models only ISO 4 Fed Reg Class 10 8 6 Other Specifications Other item specifications are provided...

Страница 125: ...Pins Molex connector crimp terminal female 14 18 AWG l Molex part number 43375 0001 l Digi Key part number WM18493 ND AC power supply connector AC in line power plug straight female with screw termina...

Страница 126: ...s move 834 2088 850 No load Adept cycle3 358 1237 5 kg Adept cycle3 407 1202 5 kg all joints move 704 2090 1Typical power data is with 220 VAC 60 Hz 1 phase nominal input 2For short durations 100 ms 3...

Страница 127: ...obots A is Bolt Circle units in mm 8 8 Front Panel Dimensions The following figure provides Front Panel enclosure dimensions 56 mm 76 mm 89 mm 125 mm 152 mm 140 mm 41 mm 16 mm 4 mm 5 mm Figure 8 20 Fr...

Страница 128: ...tem Specification Synchronization DC Distributed Clock Physical Layer 100BASE TX Modulation Baseband Baud rate 100 Mbits s Topology1 Line daisy chain and branching Transmission media Twisted pair cabl...

Страница 129: ...pheral electronics are not dust or splash proof Therefore when using these products in an environment exposed to dust or mist put them in protective enclosures A Viper robot with the IP54 65 option is...

Страница 130: ...n page 131 l for IP54 65 compliance keep the factory installed plugs over unused I O connectors in place Cable Clearance For the IP54 65 robot the cable clearance dimension at the back of the robot is...

Страница 131: ...Cleanroom robot are the same as the standard robot except for issues noted in this sec tion IMPORTANT You must use an additional high flow rate vacuum source to evacuate the inner link and base A Vip...

Страница 132: ...el Vacuum Fitting The vacuum fitting on the Cleanroom Viper Robot Connection Panel shown in the preceding figures is a simple push fit with an OD of 32 mm and an ID of 25 mm Cleanroom CN22 Cable For t...

Страница 133: ...ce Refer to Cleanroom Technical Specifications on page 134 for the recommended vacuum flow rate Air Lines and Signal Wiring The Cleanroom robot is equipped with six air lines The six lines from Valve...

Страница 134: ...for CN20 pin Used for M 24 V M 0 V N Solenoid 1A solenoid valve 1 N Solenoid 1A solenoid valve 1 P Solenoid 1B solenoid valve 1 P Solenoid 1B solenoid valve 1 R Solenoid 2A solenoid valve 2 R Solenoi...

Страница 135: ...raight plug HIROSE ELECTRIC CO LTD for CN20 H MS3057 12A cord clamp HIROSE ELECTRIC CO LTD Applicable wire diameter 11 4 to 15 9 for CN20 H MS3057 12A1 cord clamp HIROSE ELECTRIC CO LTD Applicable wir...

Страница 136: ...Cover Dimensions units in mm Key Meaning Key Meaning A M3 Bolt Head C Chamfer B Bolt Circle BC NOTE Clearance must be made between the J6 Cleanroom Cover and user tool ing 10 4 Cleanroom Technical Sp...

Страница 137: ...r dimension drawings 10 6 Replacing Encoder Backup Battery For the Cleanroom robot the procedure to replace the encoder battery is the same as the stand ard robot except the cover uses hex socket head...

Страница 138: ......

Страница 139: ...T s 2 digit Status Display These messages use the following numbering scheme l Informational Messages Numbers 0 to 49 provide information l Warning Messages Numbers 50 to 299 list warning messages abo...

Страница 140: ...ol system If the error persists contact your local OMRON support BA None N A The encoder backup bat tery is low Replace the encoder backup battery D Duty cycle exceeded Mtr 1021 The indicated motor ha...

Страница 141: ...function of any cool ing fans H Motor over heating Mtr 1016 The motor encoder tem perature sensor indicates an overtemperature Reduce robot speed acceleration and or deceleration motions or intro duce...

Страница 142: ...ct your local OMRON support P3 Power system failure Code 3 1115 The regenerative energy dump circuit has exceeded its max short term dump rating Contact your local OMRON support P4 Power system failur...

Страница 143: ...tact your local OMRON sup port S5 Safety System Fault Code 5 1109 The power system was improperly unlocked by software during a power sequence in manual mode Contact your local OMRON support S6 Safety...

Страница 144: ...t SRV_DIRECT SRV_ STAT Contact your local OMRON support TR Safety System Not Commissioned 648 The Teach Restrict has not been commissioned and verified Commission and verify the Teach Restrict V Hard...

Страница 145: ...y damage is evident contact your local OMRON support Retain all containers and packaging materials These items may be necessary if there is any apparent damage or relocation becomes necessary at a lat...

Страница 146: ...and 36 kg Use a crane suitable for the robot weight l Have at least two workers handle this job l Workers should wear hardhats safety shoes and gloves during transport l Do not hold the first link elb...

Страница 147: ...packed with eyebolts attached so this step is not required A is one of two eyebolts 4 As shown at right place a waste cloth on the second joint and pass the wire through the two eyebolts Note Before t...

Страница 148: ...850 Robot with EtherCAT 21861 000 Rev A Step Procedure Drawing 9 Remove the eyebolts from the robot WARNING Before running the robot be sure to remove the eyebolts Otherwise the robot arm will strike...

Страница 149: ...on 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 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omr...

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Omron Viper 650, Руководство пользователя

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Содержание Viper 650

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