Omron i4-350L User Manual page 123

Operation
i4L Robots with EtherCAT User's Manual (I659)
This section provides information necessary to operate the robot.
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 Manual Mode................................................................................................... 4-5
4-3-2 Automatic Mode .............................................................................................. 4-5
4-3-3 Operation Mode............................................................................................... 4-6
4-3-4 Host Mode ....................................................................................................... 4-7
4-4 Enabling and Disabling the Robot................................................................ 4-8
4-4-1 Robot High Power Operations......................................................................... 4-8
4-5 LED Indicator ................................................................................................ 4-10
4-6 Brake Operation ........................................................................................... 4-11
4-6-1 Built-in Brake Release Button ........................................................................4-11
4-6-2 Remote Brake Release ................................................................................. 4-12
4-7 Manually Jogging the Robot ....................................................................... 4-13
4-8 Robot Positioning ........................................................................................ 4-14
4-8-1 Joint Zero Position......................................................................................... 4-14
4-8-2 Ready Position .............................................................................................. 4-14
4-8-3 Right-Left Arm Configurations ....................................................................... 4-15
4-8-4 Collision Avoidance ....................................................................................... 4-15
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4-1