Omron i4-350L User Manual page 10

CONTENTS
3-6-1
3-6-2
3-7 Connecting Digital I/O .........................................................................................................3-26
3-7-1
3-7-2
3-7-3
3-8 Installing Safety Equipment................................................................................................3-34
3-8-1
3-8-2
3-9 Setting the EtherCAT Node ID ............................................................................................3-42
3-9-1
3-10 Supplying Power and Ground ............................................................................................3-44
3-10-1
3-10-2
3-10-3
3-11 Verifying Installation............................................................................................................3-47
3-11-1
3-11-2
3-11-3
3-11-4
Section 4 Operation
4-1 Configuration Procedure Overview......................................................................................4-2
4-2 Payload and Acceleration Considerations ..........................................................................4-4
4-3 Robot Control Modes ............................................................................................................4-5
4-3-1
4-3-2
4-3-3
4-3-4
4-4 Enabling and Disabling the Robot .......................................................................................4-8
4-4-1
4-5 LED Indicator........................................................................................................................4-10
4-6 Brake Operation ................................................................................................................... 4-11
4-6-1
4-6-2
4-7 Manually Jogging the Robot...............................................................................................4-13
4-8 Robot Positioning ................................................................................................................4-14
4-8-1
4-8-2
4-8-3
4-8-4
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 Periodic Maintenance ............................................................................................................6-2
8
System Cable Overview ............................................................................................................3-23
System Cable Installation Procedure ........................................................................................3-25
XIO Connector Signals and Wiring ...........................................................................................3-26
TIO Connector Signals and Wiring............................................................................................3-30
IO Blox Connections .................................................................................................................3-32
Installing the Front Panel ..........................................................................................................3-34
Safety Circuits ...........................................................................................................................3-35
EtherCAT Node ID Setting Example .........................................................................................3-42
Grounding the System ..............................................................................................................3-44
24 VDC Connections.................................................................................................................3-45
48 VDC Connections.................................................................................................................3-45
Mechanical Checks ...................................................................................................................3-47
System Cable Checks ...............................................................................................................3-47
Safety Equipment Checks .........................................................................................................3-47
Switch Position Checks .............................................................................................................3-49
Manual Mode ..............................................................................................................................4-5
Automatic Mode ..........................................................................................................................4-5
Operation Mode ..........................................................................................................................4-6
Host Mode ...................................................................................................................................4-7
Robot High Power Operations ....................................................................................................4-8
Built-in Brake Release Button ................................................................................................... 4-11
Remote Brake Release .............................................................................................................4-12
Joint Zero Position ....................................................................................................................4-14
Ready Position ..........................................................................................................................4-14
Right-Left Arm Configurations ...................................................................................................4-15
Collision Avoidance ...................................................................................................................4-15
i4L Robots with EtherCAT User's Manual (I659)