Omron i4-450L Manuals

Manuals and User Guides for Omron i4-450L. We have 2 Omron i4-450L manuals available for free PDF download: User Manual

Omron i4-450L User Manual

Omron i4-450L User Manual (174 pages)

Robots with EtherCAT

Brand: Omron | Category: Robotics | Size: 18.08 MB

Table of Contents

Intended Audience
3
Applicable I4L Robot Models
3
Units
3
Manual Information
4
Page Structure
4
Special Information
5
Sections in this Manual
7
Table of Contents
8
Terms and Conditions Agreement
12
Warranty and Limitations of Liability
12
Application Considerations
13
Disclaimers
13
Safety Precautions
15
Definition of Precautionary Information
15
Symbols
15
Dangers
16
Warnings
17
Cautions
19
Precautions for Safe Use
21
Precautions for Correct Use
23
Regulations and Standards
25
Conformance to EU Directives
25
Conformance to KC Certification
25
Software Licenses and Copyrights
26
Related Manuals
27
Glossary
28
Overview
29
Intended Use
30
Robot Features
31
Robot Integrated System
31
Basic Robot Components
32
Front Panel
34
Connectors and Ports
36
Information Labels
39
Robot Label
39
Controller Label
40
Robot Configurations
41
I4-350L
41
I4-450L
41
I4-550L
41
I4-550L (350 MM Z)
42
Mounting and Cabling Options
42
Model Numbers
43
Robot Model Numbers
43
Controller Model Numbers
43
Optional Hardware
44
IO Blox
44
T20 pendant
44
IPC Application Controller
45
XIO Termination Block
45
Optional Cables
46
Camera Mounting Bracket Kit
48
Bellows Kit
49
Pneumatic Valve Kit
50
Power Supply Kits
51
Specifications
55
Physical Specifications
56
Robot Overall Dimensions
56
Mounting Flange Dimensions
58
Tool Flange Dimensions
59
Front Panel Dimensions
59
Camera Mounting Bracket Dimensions
60
Robot Work Envelope Dimensions
60
Robot Weights
62
Performance Specifications
63
General Performance Information
63
Stopping Distances and Times
63
Electrical Specifications
67
Power Supply Specifications
67
XIO and TIO Connector I/O Specifications
67
Belt Encoder Specifications
68
Environmental Specifications
69
Other Specifications
70
Ethercat Communication Specifications
70
Connector and Port Specifications
70
Mounting Hardware and Torques
71
Installation
73
Robot Installation Procedure
75
Mounting the Robot
77
Robot Mounting Surface
77
Mounting Procedure
77
Installing End-Of-Arm Tooling
79
Installing Optional Equipment
80
Mounting External Equipment to the Robot
80
USER Connector Wiring
80
Bellows Kit Installation Procedure
81
Pneumatic Valve Kit Installation Procedure
87
Control Power Kit Connections
91
High Power Kit Connections
91
Adjustable Hardstops
92
Joint 1 Adjustable Hardstops
93
Joint 2 Adjustable Hardstops
93
Joint 3 Adjustable Hardstop
93
System Cable Installation
95
System Cable Overview
95
System Cable Installation Procedure
97
Connecting Digital I/O
98
XIO Connector Signals and Wiring
98
TIO Connector Signals and Wiring
102
IO Blox Connections
104
Installing Safety Equipment
106
Installing the Front Panel
106
Safety Circuits
107
Setting the Ethercat Node ID
114
Ethercat Node ID Setting Example
114
3-10 Supplying Power and Ground
116
Grounding the System
116
24 VDC Connections
117
3-11 Verifying Installation
119
Mechanical Checks
119
System Cable Checks
119
Safety Equipment Checks
119
Switch Position Checks
121
Configuration Procedure Overview
124
Payload and Acceleration Considerations
126
Robot Control Modes
127
Manual Mode
127
Automatic Mode
127
Operation Mode
128
Host Mode
129
Enabling and Disabling the Robot
130
Robot High Power Operations
130
LED Indicator
132
Brake Operation
133
Built-In Brake Release Button
133
Remote Brake Release
134
Manually Jogging the Robot
135
Robot Positioning
136
Joint Zero Position
136
Ready Position
136
Right-Left Arm Configurations
137
Collision Avoidance
137
Troubleshooting
139
Fault Detection
140
Emergency Stop Troubleshooting
141
Error Messages
142
Periodic Maintenance
146
Periodic Maintenance Overview
146
Checking Safety Functions
146
Checking Fastener Torques
147
Checking Safety and Warning Labels
148
Checking for Oil Leaks
148
Lubricating Joint 3
149
Replacing Encoder Backup Batteries
150
Cleaning the Robot
151
Bellows Inspection
152
Non-Periodic Maintenance
153
Replacing the Tool Flange
153
A-1 Unpacking and Inspecting the Robot
156
A-1-1 before Unpacking the Robot
156
A-1-2 Unpacking the Robot
156
Before Unpacking the Robot
156
Unpacking the Robot
156
A-2 Repacking the Robot for Transport
158
Transportation and Storage Considerations
159
A-4 I/O Signal Numbering
160
Input Signal Numbering
160
A-4-2 Output Signal Numbering
161
A-5 Cable Pinouts
163
A-5-1 XSYSTEM Cable Pinouts
163
XSYSTEM Cable Pinouts
163
XBELTIO Adapter Cable Pinouts
164
A-5-3 Belt Encoder Y-Adapter Cable Pinouts
165
A-6 Parts List
167

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Omron i4-450L User Manual

Omron i4-450L User Manual (142 pages)

Brand: Omron | Category: Robotics | Size: 10.07 MB

Table of Contents

Intended Audience
3
Applicable Products
3
Sections in this Manual

5
- Table of Contents
  6
Manual Information

10
- Page Structure
  10
- Special Information
  11
Terms and Conditions Agreement

12
Safety Precautions

15
- Definition of Precautionary Information
  15
- Symbols
  15
- Dangers
  16
- Warnings
  17
- Cautions
  19
Precautions for Safe Use

20
Precautions for Correct Use

22
Regulations and Standards

24
Related Manuals

26
- Related Product Manuals
  26
Terminology and Abbreviations

27
- Overview
  29
Intended Use

30
Robot Features

31
- Basic Robot Components
  31
- Front Panel
  33
- Connectors
  35
- XSYSTEM Cable
  37
Information Labels

38
- Robot Label
  38
- Controller Label
  39
Robot Configurations

40
- I4-350L
  40
- I4-450L
  40
- I4-550L
  40
- I4-550L (350 MM Z)
  41
- Mounting and Cabling Options
  41
Model Numbers

42
- Robot Model Numbers
  42
- Controller Model Numbers
  42
Optional Hardware

43
- IO Blox
  43
- T20 Pendant
  43
- IPC Application Controller
  44
- XIO Termination Block
  44
- Optional Cables
  45
  - Specifications
    49
Physical Specifications

50
- Robot Overall Dimensions
  50
- Mounting Flange Dimensions
  52
- Tool Flange Dimensions
  53
- Front Panel Dimensions
  53
- Robot Work Envelope Dimensions
  54
- Robot Weights
  55
Performance Specifications

56
- General Performance Information
  56
- Stopping Distances and Times
  56
Electrical Specifications

60
- Power Supply Specifications
  60
- XIO and TIO Connector I/O Specifications
  60
Environmental Specifications

62
Other Specifications

63
- Connector and Port Specifications
  63
- Mounting Hardware and Torques
  63
  - Installation
    65
Robot Installation Procedure

66
Mounting the Robot

67
- Robot Mounting Surface
  67
- Mounting Procedure
  67
Installing End-Of-Arm Tooling

69
Installing Optional Equipment

70
- Mounting External Equipment to the Robot
  70
Adjustable Hardstops

71
System Cable Installation

74
- System Cable Overview
  74
- System Cable Installation Procedure
  76
Connecting Digital I/O

77
Installing Safety Equipment

84
- Installing the Front Panel
  84
- Safety Circuits
  85
Supplying Power and Ground

92
- Grounding the System
  92
- 24 VDC Connections
  93
3-10 Verifying Installation

95
- Mechanical Checks
  95
- System Cable Checks
  95
- Safety Equipment Checks
  95
- Switch Position Checks
  97
Payload and Speed Considerations

100
Robot Control Modes

101
- Manual Mode
  101
- Automatic Mode
  101
Enabling and Disabling the Robot

103
- Enabling Robot High Power
  103
- Disabling High Power
  104
LED Indicator

105
Brake Operation

106
- Built-In Brake Release Button
  106
- Remote Brake Release
  107
Connecting to the Robot

108
- Initial Connection Procedure
  108
Manually Jogging the Robot

109
- Troubleshooting
  111
Fault Detection

112
Emergency Stop Troubleshooting

113
Error Messages

114
Field-Replaceable Items

118
Periodic Maintenance

119
- Periodic Maintenance Overview
  119
- Checking Safety Functions
  119
- Checking Fastener Torques
  120
- Checking Safety and Warning Labels
  120
- Checking for Oil Leaks
  121
- Lubricating Joint 3
  122
- Replacing Encoder Backup Batteries
  123
- Cleaning the Robot
  124
Non-Periodic Maintenance

125
- Replacing the Tool Flange
  125
A-1 Unpacking and Inspecting the Robot

128
- A-1-1 before Unpacking the Robot
  128
- A-1-2 Unpacking the Robot
  128
- Before Unpacking the Robot
  128
- Unpacking the Robot
  128
A-2 Repacking the Robot for Transport

130
Transportation and Storage Considerations

131
A-4 I/O Signal Numbering

132
- A-4-1 Input Signal Numbering
  132
- A-4-2 Output Signal Numbering
  132
A-5 Cable Pinouts

133
- A-5-1 XSYSTEM Cable Pinouts
  133
- XSYSTEM Cable Pinouts
  133
- XBELTIO Adapter Cable Pinouts
  134
- A-5-3 Belt Encoder Y-Adapter Cable Pinouts
  135

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