Installation - Omron i4H User Manual

Installation

i4H Robots User's Manual (I660)
This section provides information about installing the robot and other necessary equip-
ment.
3-1 Robot Installation Procedure ........................................................................ 3-3
3-2 Mounting the Robot ....................................................................................... 3-4
3-2-1 Robot Mounting Surface.................................................................................. 3-4
3-2-2 Mounting Procedure ........................................................................................ 3-4
3-3 Installing End-of-Arm Tooling ....................................................................... 3-6
3-4 Installing Optional Equipment ...................................................................... 3-7
3-4-1 Mounting External Equipment to the Robot..................................................... 3-7
3-4-2 Tool Ethernet Connector Wiring ...................................................................... 3-7
3-4-3 USER Connector Wiring.................................................................................. 3-8
3-4-4 Bellows Installation Procedure ........................................................................ 3-8
3-4-5 Pneumatic Valve Kit Installation Procedure................................................... 3-15
3-5 Adjustable Hardstop Details ....................................................................... 3-20
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 Connector Signals and Wiring................................................................ 3-26
3-7-2 TIO Connector Signals and Wiring................................................................ 3-30
3-7-3 IO Blox Connections...................................................................................... 3-32
3-8 Connecting Pneumatic Equipment............................................................. 3-33
3-8-1 Pass-through Ports........................................................................................ 3-33
3-8-2 Pneumatic Valve Kit ...................................................................................... 3-33
3-9 Installing Safety Equipment ........................................................................ 3-35
3-9-1 Installing the Front Panel............................................................................... 3-35
3-9-2 Safety Circuits ............................................................................................... 3-36
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 System Cable Checks ................................................................................... 3-46
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