Omron i4L Series User Manual page 8

CONTENTS
3-9-1
3-9-2
3-9-3
3-10 Verifying Installation............................................................................................................3-31
3-10-1
3-10-2
3-10-3
3-10-4
Section 4 Operation
4-1 Payload and Speed Considerations.....................................................................................4-2
4-2 Robot Control Modes ............................................................................................................4-3
4-2-1
4-2-2
4-3 Enabling and Disabling the Robot .......................................................................................4-5
4-3-1
4-3-2
4-4 LED Indicator..........................................................................................................................4-7
4-5 Brake Operation .....................................................................................................................4-8
4-5-1
4-5-2
4-6 Connecting to the Robot .....................................................................................................4-10
4-6-1
4-7 Manually Jogging the Robot............................................................................................... 4-11
Section 5 Troubleshooting
5-1 Fault Detection .......................................................................................................................5-2
5-2 Emergency Stop Troubleshooting .......................................................................................5-3
5-3 Error Messages ......................................................................................................................5-4
Section 6 Maintenance
6-1 Field-replaceable Items .........................................................................................................6-2
6-2 Periodic Maintenance ............................................................................................................6-3
6-2-1
6-2-2
6-2-3
6-2-4
6-2-5
6-2-6
6-2-7
6-2-8
6-3 Non-periodic Maintenance ....................................................................................................6-9
6-3-1
Appendices
A-1 Unpacking and Inspecting the Robot ................................................................................. A-2
A-1-1
A-1-2
6
Grounding the System ..............................................................................................................3-28
24 VDC Connections.................................................................................................................3-29
48 VDC Connections.................................................................................................................3-29
Mechanical Checks ...................................................................................................................3-31
System Cable Checks ...............................................................................................................3-31
Safety Equipment Checks .........................................................................................................3-31
Switch Position Checks .............................................................................................................3-33
Manual Mode ..............................................................................................................................4-3
Automatic Mode ..........................................................................................................................4-3
Enabling Robot High Power ........................................................................................................4-5
Disabling High Power ..................................................................................................................4-6
Built-in Brake Release Button .....................................................................................................4-8
Remote Brake Release ...............................................................................................................4-9
Initial Connection Procedure .....................................................................................................4-10
Periodic Maintenance Overview..................................................................................................6-3
Checking Safety Functions .........................................................................................................6-3
Checking Fastener Torques ........................................................................................................6-4
Checking Safety and Warning Labels .........................................................................................6-4
Checking for Oil Leaks ................................................................................................................6-5
Lubricating Joint 3 .......................................................................................................................6-6
Replacing Encoder Backup Batteries..........................................................................................6-7
Cleaning the Robot .....................................................................................................................6-8
Replacing the Tool Flange...........................................................................................................6-9
Before Unpacking the Robot ...................................................................................................... A-2
Unpacking the Robot.................................................................................................................. A-2
i4L Robots User's Manual (I658)