Omron Viper 650 User Manual
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Omron Viper 650 User Manual

Robot with emb-60r
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Viper 650/850 Robot
with eMB-60R
User's Guide
I599-E-05

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Summary of Contents for Omron Viper 650

  • Page 1 Viper 650/850 Robot with eMB-60R User’s Guide I599-E-05...
  • Page 2 Copyright Notice The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Omron Adept Technologies, Inc.

  • Page 3: Table Of Contents

    2.6 Additional Safety Information Manufacturer’s Declaration of Incorporation Robot Safety Guide Manual Control Pendant (option) 2.7 Disposal Chapter 3: Robot Installation 3.1 Unpacking and Inspecting the Equipment 3.2 Repacking for Relocation 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 4 4.6 Mounting the eMB-40/60R Dimensions and Mounting Holes Mounting Clearances Chapter 5: System Installation 5.1 System Cables, without SmartController EX List of Cables and Parts Cable Installation Overview 5.2 System Cables, with SmartController EX Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 5 6.1 Status Panel Codes 6.2 Brakes Installing and Using the Brake Release Box Using the Brake Release Switch on UL Robots 6.3 Front Panel 6.4 Starting the System for the First Time Verifying Installation 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 6 8.2 Robot Flange Dimensions 8.3 Specifications Physical Performance Stopping Distances and Times Chapter 9: IP54/65 Option 9.1 Introduction 9.2 Differences from the Standard Robot Model Installation Environment Robot Connector Panel Cable Clearance Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 7 10.3 Air Lines and Signal Wiring 10.4 Cleanroom Cover at J6 Flange 10.5 Cable Clearance 10.6 Replacing Encoder Backup Battery Chapter 11: Status Codes 11.1 Introduction Status Panel Display Status Panel 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 8 Stop Circuits sections in Chapter 5: System Installation. Added part number for IEEE 1394 cable in Chapter 5: System Installation. Changed ACE software disk to ACE software media. Added a note about typical IO Blox configurations in Chapter 4: eMotionBlox-40/60R. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 9: Chapter 1: Introduction

    NOTE: The descriptions and instructions in this manual apply to both the Viper 650 and the Viper 850 robots, except for instances where there is a dif- ference, as in dimension and work envelope drawings. In those cases, the inform- ation is presented for both robots.

  • Page 10: Smartcontroller Ex (Option)

    Figure 1-2. SmartController EX Motion Controller eMotionBlox-40/60R The eMotionBlox-40/60R (eMB-40/60R) distributed servo controller contains the amplifiers to power the high-power motors of the Viper 650/850 robots, and runs the eV+ operating system for motion control. The eMB-40/60R features: Six AC servo motor amplifiers...

  • Page 11: How Can I Get Help

    Dual-digit diagnostics display for easy troubleshooting XSYSTEM ENET ENET Servo 200 - 240V Figure 1-3. eMotionBlox-40/60R (eMB-40/60R) 1.2 How Can I Get Help? Corporate Web Site You can access information sources on our corporate web site: http://www.ia.omron.com 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 12: Related Manuals

    1.2  How Can I Get Help? Related Manuals This manual covers the installation, operation, and maintenance of a Viper 650/850 robot sys- tem. There are additional manuals that cover programming the system, reconfiguring installed components, and adding other optional components. See the following table.

  • Page 13: Chapter 2: Safety

    Falling Hazards WARNING: PERSONAL INJURY OR PROPERTY DAMAGE RISK If mounted incorrectly, the robot can fall over and cause serious injury to per- sonnel or damage to itself or other equipment. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 14: Special Information

    After the E-Stop button has been manually released, the robot will wait until the motors are manually enabled. There are two ways to enable the motors: Enable power through ACE software installed on your PC Press the ROBOT POWER button on the Pendant Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 15: Safety Precautions

    Figure 2-1. Read Manual and Impact Warning Labels The Viper system must not be used for purposes other than described in Intended Use on page 17. Contact your local Omron support if you are not sure of the suitability for your application.

  • Page 16: General Hazards

    It is the end-user’s responsibility to ensure that all personnel who will work with or around robots have attended an appropriate Omron training course and have a working knowledge of the system. The user must provide the necessary additional training for all personnel who will be working with the system.

  • Page 17: Robot Behavior

    Limiting Devices There are no dynamic or electro-mechanical limiting devices provided by Omron Adept Tech- nologies, Inc. The robot does not have safety-rated soft axis or space limiting. However, the user can install their own safety rated (category 0 or 1) dynamic limiting devices if needed, that comply with ISO 10218-1, Clause 5.12.2.

  • Page 18: Robot Modifications

    Cause injury to personnel Damage itself or other equipment Reduce system reliability and performance If there is any doubt concerning the application, ask your your local Omron support to determ- ine if it is an intended use or not. Robot Modifications If the user or integrator makes any changes to the robot, it is their responsibility to ensure that there are no sharp edges, corners, or protrusions.

  • Page 19: Disposal

    WEEE (Waste Electronics and Electrical Equipment). All electrical and elec- tronic products should be disposed of separately from the municipal waste system via des- ignated collection facilities. For information about disposal of your old equipment, contact your local Omron support. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 21: Chapter 3: Robot Installation

    If the items received do not match the packing slip, or are damaged, do not sign the receipt. Contact your local Omron support as soon as possible. If the items received do not match your order, please contact your local Omron support imme- diately.

  • Page 22: Environmental And Facility Requirements

    Protective Earth Grounding resistance: 10 Ω or less Ground See Robot Installation on page 21. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 23: Transporting The Robot

    Failure to comply could result in the robot falling and caus- ing either personnel injury or equipment damage. Figure 3-2. Robot in Hoisting Sling Meaning Key Meaning Sling Eyebolt Waste Cloth 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 24: Transport Procedure

    As shown at right, mount the eye- bolts. When delivered, the robot is packed with eyebolts attached, so this step is not required. (A) is one of two eyebolts. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 25 Mounting the Robot on page 26. Remove the eyebolts from the robot. WARNING: Before running the robot, be sure to remove the eyebolts. Otherwise, the robot arm will strike these eye- bolts. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 26: Mounting The Robot

    Ø4 mm. The hole in the base of the Viper is Ø6, but you need to drill a Ø4 hole in your mounting surface for the shank of that pin. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 27: Grounding The Robot

    3.7 Mounting the Front Panel The Front Panel must be installed outside of the workspace. NOTE: European standards require that the remote High Power push-button be located outside of the workspace of the robot. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 28: Description Of Connectors On Robot Interface Panel

    The robot is equipped with seven air lines. Six lines, from AIR1 input, are controlled by the three internal solenoid valves. One line, from AIR2 input, is connected directly to AIR2 on the second arm. There are ten user electric lines. See the following figures and tables. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 29 CN20 pin layout Solenoid 2B (solenoid valve 2) AIR1 (BSPT ¼) - Air line Solenoid 3A (solenoid valve 3) AIR2 (BSPT ¼) - Air line Solenoid 3B (solenoid valve 3) Ground terminal, M5 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 30: Optional Solenoid Cable

    ACE software, using the digital outputs, or programmatically, with eV+. Refer to the fol- lowing screen shots: Figure 3-5. ACE Digital I/O Icon Figure 3-6. ACE Digital I/O Box (Output Shown) Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 31 Input 1005 Ground Inputs 1001 to 1005 are preconfigured as low-active (sinking) inputs. Outputs 0007 and 0008 are preconfigured as high-side (sourcing) outputs. Limited to a combined total of 1A of current. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 32: Solenoid Valve Specifications

    Zener diode Note that the robot is rated at 0.1 to 0.39 MPa, 0.49 Max (14 - 56.6 psi, 71.1 Max). This upper limit is lower than the solenoid's upper limit. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 33: External Mounting Locations On Robot

    Continuous Turn on J6 As an option, the Viper 650/850 can be ordered so that Joint 6 (J6) is programmed for con- tinuous turn. Note that if J6 is programmed for continuous turn, it may lose its calibration.

  • Page 34: Center Of Gravity Position Of End-Effector

    When calculating the moment of inertia around J4, J5, and J6 of the end-effector, use the for- mulas given in the following table. See Robot Installation on page 21. Table 3-6. Moment of Inertia Formulas Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 35 When calculating the moment of inertia of a complicated shape, divide the shape into simple parts as much as possible for easier calculations. The following diagrams and tables use an example end-effector shape to demonstrate how to calculate the moment of inertia. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 36 (from 1 and 5 in previous table) Moment of inertia around J6 of ③ : I (from 1 and 5 in previous table) Moment of inertia around J6 of entire end-effector: I Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 37 (from 2 and 5 in previous table) Moment of inertia around J4 and J5 of ③ : I (from 2 and 5 in previous table) Moment of inertia around J4 and J5 of entire end-effector: I 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 39: Chapter 4: Emotionblox-40/60R

    2-digit alpha-numeric display to show operating status and fault codes XSYSTEM ENET ENET Servo 200 - 240V Figure 4-1. (A) Robot Interface Panel and (B) Robot Connector on eMB-40/60R 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 40: Connectors On Emb-40/60R Interface Panel

    Smart-Servo For the IEEE 1394 cable from the controller. ENET Two Ethernet ports are available. One will be needed to connect to a PC running ACE software. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 41: Emb-40/60R Operation

    The Status LED Indicator is located near the top of the eMB-40/60R. See the following figure. This is a bi-color, red and green LED. The color and blinking pattern indicates the status of the robot. See the following table. Figure 4-3. Controls and Indicators on eMB-40/60R 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 42: Status Panel

    These codes provide details for quickly isolating prob- lems during troubleshooting. In the Status Panel Codes table, the '#' in the LED column represents a single digit. The digits will be displayed as one of the following: Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 43: Brake Release Button

    NOTE: If this button is pressed while high power is on, high power will auto- matically shut down. For manual release of the brakes on the Viper 650/850 robot, a Brake Release connector is provided on the eMB-40/60R for connecting a manual brake release box. See the following sec- tion for more details.

  • Page 44: Brake Release Connector

    Table 4-4. Brake Release Connector Pinouts Pin # Description Pin Location Release1_N Release2_N Release3_N Release4_N Release5_N Release6_N DB-9 Female Brake Connector Not connected 24 V Mating Connector: D-Subminiature 9-Pin Male Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 45: Connecting Digital I/O To The System

    You can connect digital I/O to the system in several different ways. See the following table and figure. NOTE: A typical IO Blox configuration is shown in Figure 4-4. Other con- figurations may be possible. Contact your local Omron support for more inform- ation. Table 4-5. Digital I/O Connection Options...

  • Page 46: Using Digital I/O On Emb-40/60R Xio Connector

    8 outputs. These signals can be used by eV+ to perform various functions in the workcell. See the following table for the XIO signal designations. 12 Inputs, signals 1097 to 1108 8 Outputs, signals 0097 to 0104 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 47 1106 Input 5.2 1107 Input 6.2 1108 Output 1 0097 Output 2 0098 Output 3 0099 Output 4 0100 Output 5 0101 Output 6 0102 Output 7 0103 Output 8 0104 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 48: Optional I/O Products

    Software scan rate/response time 16 ms scan cycle/ 32 ms max response time Turn off response time (hardware) 5 µsec maximum Software scan rate/response time 16 ms scan cycle/ 32 ms max response time Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 49 This guarantees that the inputs will not be turned on by the leakage current from the outputs. This is useful in situations where the outputs are looped-back to the inputs for monitoring purposes. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 50: Xio Output Signals

    The outputs are accessed through direct connection to the XIO connector (see Table 4-7. ), or through the optional XIO Termination Block. See the documentation supplied with the Ter- mination Block for details. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 51 ≤ 4 A Peak short circuit current ovpk Typical Output Wiring Example +24 VDC 0097 0098 0099 0100 0101 0102 0103 0104 Figure 4-6. Typical User Wiring for XIO Output Signals 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 52: Xio Breakout Cable

    5 M (16.4 ft). See the following table for the wire chart on the cable. NOTE: This cable is not compatible with the XIO Termination Block. Figure 4-7. Optional XIO Breakout Cable Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 53 Violet/White Output 1 Pink Output 2 Pink/Black Output 3 Light Blue Output 4 Light Blue/Black Output 5 Light Green Output 6 Light Green/Black Output 7 White/Red Output 8 White/Blue Shell Shield 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 54: Mounting The Emb-40/60R

    6x, SHCS,M4 X 6 20x M4, 7 mm 45.7 Figure 4-8. eMB-40/60R Mounting Dimensions. Units are mm. NOTE: 112 mm clearance required in front of unit to remove amps from box enclosure. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 55: Mounting Clearances

    NOTE: These dimensions assume the eMB-40/60R has exposure to outside air, rather than being in a sealed container. Any sealed container would need to provide sufficient cooling for the eMB-40/60R’s internal fan to be effective. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 57: Chapter 5: System Installation

    CN20 PC, ACE Figure 5-1. System Cable Diagram for Viper 650/850 Robots with eMB-40/60R, Pendant, and Vision The figure includes the optional T20 pendant and optional SmartVision MX industrial PC. NOTE: See Installing the 24 VDC Cable on page 72 for additional system grounding information.

  • Page 58: List Of Cables And Parts

    24 VDC Power Cable 04120- 24 VDC, 6 A Power Supply 04536- Ethernet Cable - PC ->Switch, if used Ethernet Cable - switch -> eMB-40/60R Ethernet Cable - switch -> SmartVision MX Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 59: Cable Installation Overview

    Front Panel, install FP jumper on eAIB XSYSTEM cable XFP connector. See NOTE after table. Connect T20 Pendant adapter cable to eAIB XSYSTEM cable XMCP con- J, K nector or if no T20 Pendant, install XMCP jumper 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 60 NOTE: A front panel ships with each Viper robot system, but you can choose not to use it if you replace its functionality with equivalent circuits. That is bey- ond the scope of this guide. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 61: System Cables, With Smartcontroller Ex

    Refer to the SmartController EX User’s Guide for complete information on installing the optional SmartController EX. This list summarizes the main steps. 1. Mount the SmartController EX and Front Panel. 2. Connect the Front Panel to the SmartController EX. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 62: List Of Cables And Parts

    Items L, M and N below are available, as an option, in the power supply/cable kit 90565- 010. AC Power Cable 04118- 24 VDC Power Cable 04120- 24 VDC, 6 A Power Supply 04536- Ethernet Cable, PC - SmartController EX, Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 63: Cable Installation Overview

    Connect user-supplied ground to robot. See robot user's guide for location. Connect user-supplied ground to SmartController EX. See SmartController EX user's guide for location. Connect user-supplied ground to SmartVision MX, if used. See SmartVision MX user's guide for location. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 64: Optional Cables

    The optional SmartController EX Belt Encoder Y-Adapter cable split the SmartController EX BELT ENCODER port into two belt encoder leads for encoders 1 and 2 and encoders 3 and 4. Find the pin connection diagrams in the figures below. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 65 DB 15 Male Force / EXPIO Branch Con- DB9 Male nector RS232 Branch Connector DB9 Male Belt Y Splitter Cable Con- 09443- DB15 nector Female Belt Encoder 1 Connector M12 Female, 8-pin 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 66 PIN 16 (DATA +) PIN 3 PIN 17 (DATA -) PIN 2 PIN 6 PIN 9 SHIELD PIN 26 PIN 19 SHIELD Figure 5-5. eAIB XBELT IO Adapter Cable Pinout - Force / EXPIO Connections Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 67 PIN 4 PIN 2 PIN 4 (5V) PIN 5 PIN 7 PIN 12 (GND) SHIELD SHIELD Figure 5-7. Belt Y Splitter Cable Pinout - 2 Encoder Connections NOTE: Cable shields connected to DSUB shell. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 68: Ace Software

    2. Especially if you are upgrading your ACE software installation: from the ACE software media menu, click Read Important Information. 3. From the ACE software media menu, select: Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 69: Connecting Cables From The Emb-40/60R To The Robot

    WARNING: Verify that all connectors are fully-inserted and screwed down. Failure to do this could cause unexpected robot motion. Also, a connector could get pulled out or dislodged unexpectedly. Figure 5-9. Incorrect and Correct Arm Power/Signal Cable Insertion 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 70: Connecting 24 Vdc Power To Emb-40/60R Servo Controller

    CAUTION: Make sure you select a 24 VDC power supply that meets the spe- cifications in the preceding table. Using an underrated supply can cause sys- tem problems and prevent your equipment from operating correctly. See the following table for a recommended power supply. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 71: Details For 24 Vdc Mating Connector

    2. Use shielded two-conductor cable with 14-16 AWG wire to create the 24 VDC cable. Select the wire length to safely reach from the user-supplied 24 VDC power supply to the eMB-40/60R base. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 72: Installing The 24 Vdc Cable

    The cable shield should be connected to the ground point on the interface panel. eMB-40/60R – 24 V, 6 A – SmartController EX 24 V, 5 A – Figure 5-10. User-Supplied 24 VDC Cable Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 73: Connecting 200-240 Vac Power To Emb-40/60R

    Specifications are established at nominal line voltage. Low line voltage can affect robot per- formance. NOTE: The robot system is intended to be installed as a piece of equipment in a permanently-installed system. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 74: Facility Overvoltage Protection

    3-phase system). This will cause high-current pulses at relatively low voltage levels. The user shall take the necessary steps to prevent damage to the robot system (such as by interposing a transformer). See 1131-4 for additional information. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 75: Ac Power Diagrams

    NOTE: F1 is user-supplied, must be slow-blow. 200–240 VAC 10 A 3Ø 200–240 VAC 10 A eMB-40/60R 1Ø 200-240 VAC Figure 5-12. Single-Phase Load across L1 and L2 of a Three-Phase Supply 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 76: Details For Ac Mating Connector

    6. Insert the wires into the connector through the removable bushing. 7. Connect each wire to the correct terminal screw, and tighten the screw firmly. 8. Tighten the screws on the cable clamp. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 77: Installing Ac Power Cable To Emb-40/60R

    Proper grounding is essential for safe and reliable robot operation. Follow these recom- mendations to properly ground your robot system. WARNING: ELECTROCUTION RISK Wiring must be performed by authorized or certified personnel. Failure to observe this precaution may result in fire or electric shock. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 78: Ground Point On Robot Base

    M4 screw and external tooth lock washer to connect to earth ground. Make sure to tighten the screw on the ground wire to create a proper ground connection. Optionally, two tapped holes are provided to attach user-supplied strain relief. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 79: Robot-Mounted Equipment Grounding

    XFP (15-pin) connector are both female D-sub connectors. Refer to the following table for the XUSR pin-out descriptions, and Table 5-9. for the XFP pin-out descriptions. See the figure E-Stop Circuit on XUSR and XFP Connectors on page 83 for the XUSR wiring diagram. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 80 E-Stops are not tripped Manual/Automatic indication CH Contacts are closed in Automatic mode 9, 22 Manual/Automatic indication CH Contacts are closed in Automatic mode 10, 23 No connection 11, 12, 13, 24, Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 81 Users must exercise caution to avoid inadvertently connecting 24 V signals to these pins, because this will damage the electronics. NOTE: The system was evaluated by Underwriters Laboratory with a Front Panel. Using a substitute front panel could void UL compliance. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 82 Shield GND 24 V No connection The following figure shows an E-Stop diagram for the system. See Emergency Stop Circuits on page 85 for a description of the functionality of this circuit. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 83 XSYSTEM-14 XSYSTEM-30 XSYSTEM-27 (XUSR-22) (XUSR-5) (XUSR-6) XSYSTEM-8 XSYSTEM-38 (XPND-26) (XPND-25) XSYSTEM-29 (XUSR-18) XSYSTEM-44 (XUSR-19) XSYSTEM-26 (XUSR-8) XSYSTEM-10 (XUSR-7) XSYSTEM-25 (XUSR-20) XSYSTEM-40 (XUSR-21) Figure 5-16. E-Stop Circuit on XUSR and XFP Connectors 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 84 User E-Stop and Gate Interlock NOTE: Jumper closed when not used, MUST open both channels independently if used. Coil Single-Phase AC Input, 200-240 LINE E-Stop High Power to Amplifiers (Internal (External User E- Connections) Stop System) Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 85: Emergency Stop Circuits

    , although an Emergency Stop will still occur. It will also flag an error state if the independent channels are crossed, meaning one line from each channel is accidentally connected to the other channel. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 86 MCP ENABLE, or the Muted Safety gate. If you have a specific need in this area, contact your local Omron support for information on alternate indicating modes. Two pairs of pins on the XUSR connector (pins 7, 20 and 8, 21) provide voltage-free contacts, one for each channel, to indicate whether the E-Stop chain, as described above, on that channel is closed.

  • Page 87: Remote Manual Mode

    Manual mode is selected. The load on the contacts should not exceed 40 VDC or 30 VAC at a maximum of 1 A. WARNING: PERSONAL INJURY RISK Any safeguards that were suspended must be returned to full functionality prior to selecting Automatic Mode. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 88: User High Power On Indication

    Panel contains no active components, only switches and lights. Customers should be able to adapt the Front Panel’s functionality into their own Front Panel design. To automatically con- trol the Front Panel’s signals, use relay contacts instead of switches. See the figure Front Panel Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 89: Remote Pendant Usage

    Connectors: must be 15-pin, standard D-sub male and female. Maximum cable length is 10 meters. CAUTION: PERSONAL INJURY OR PROPERTY DAMAGE RISK Do not modify the cable that is attached to the pendant. This could cause unpredictable behavior from the robot system. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 91: Chapter 6: System Operation

    6. Repeat steps 4 and 5 above for releasing the brake on another joint. NOTE: When the Status LED (Green) is on, it indicates that the circuit is enabled, when the Brake Release push button is pressed. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 92: Using The Brake Release Switch On Ul Robots

    3. Using the joint selector switch, select the joint for which you want to release the brake. 4. Depress the Brake Release push button to release the brake. 5. Repeat steps 3 and 4 above to release the brake on another joint. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 93: Front Panel

    Any user-supplied front panel E-Stop must be designed in accordance with the requirements of IEC 60204-1 and ISO 13849. The push button of the E-Stop must comply with ISO 13850 (Clause 5.5.2). Figure 6-3. Front Panel 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 94 E. Emergency Stop Switch The E-Stop is a multi-channel, passive E-Stop that supports Category 3 CE safety require- ments. Pressing this button turns off high power to the robot motors. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 95: Starting The System For The First Time

    Pendant to the XSYSTEM on the eMB-40/60R. XUSR to the XSYSTEM on the eMB-40/60R. User-supplied 24 VDC power to the eMB-40/60R 24 VDC connector. User-supplied 200/240 VAC power to the eMB-40/60R 200/240 VAC connector. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 96: System Start-Up Procedure

    ACE major version, and y is the ACE minor version. For example, for ACE 3.6, it would be: Start > Programs > Omron > ACE 3.6 2. On the ACE Startup menu, click New SmartController Workspace.

  • Page 97: Verifying E-Stop Functions

    The High Power push button/light on the Front Panel should go out. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 98: Verify Robot Motions

    To learn how to use and program the robot, see the ACE User’s Guide, which provides inform- ation on robot configuration, control and programming through the ACE software “point and click” user interface. For eV+ programming information, refer to the eV+ user and reference guides. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 99: Installing Joint Labels

    The yellow X-Y label can be used to indicate the X and Y axes in the World coordin- ate system in your workcell. Table 6-1. Joint and Axes Directional Labels 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 100: Caution Label On Robot

    Figure 6-5. Caution Label on Joint 4 Rotation NOTE: There is no CALSET operation on the Viper robot, and there is no Install- ation and Maintenance Guide. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 101: Chapter 7: Maintenance

    This is mandated by Clause 5.2.4 of ISO 10218-1. The only field-replaceable parts on the Viper 650/850 robots are the encoder battery and the eMB-40/60R. The part number for the battery is 05234-000.

  • Page 102: Checking Safety Systems

    Battery Replacement Procedure NOTE: Dispose of the batteries according to all local and national envir- onmental regulations regarding electronic components. Replace the batteries according to the following procedure: Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 103 NOTE: Some robots have PCAs with only three battery connections, there- fore, they do not have dummy connectors. For those robots, remove and replace all three batteries one at a time. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 104 Figure 7-3. Connecting (A) First New Battery 7. Disconnect the old backup battery that is next to the new battery connected in the Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 105 8. Disconnect the old backup battery that is next to the new battery connected in the pre- vious step, and then connect a new battery (3rd one). See the following figure. Figure 7-5. Connecting Third New Battery 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 106: Replacing The Emb-40/60R Amplifier

    5. Disconnect the eAIB XSYS cable from the eMB-40/60R XSYSTEM connector. If the system was upgraded from an MB-40/60R to an eMB-40/60R, you may need to dis- connect the XSYS cable and eAIB XSLV Adapter from the XSYSTEM connector. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 107: Installing A New Emb-40/60R

    In rare cases with a new robot with an eMB-40/60R, you may need to commission the system. If the system will not power up, and the robot status display shows SE, you need to commission the system. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 108: Safety Commissioning Utilities

    A PC with ACE software version 3.3.2.10 or later must be connected to the eMB-40/60R. The Front Panel keyswitch must be in Auto mode. See (A) in following graphic. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 109: E-Stop Configuration Utility

    E-Stop Configuration Utility This utility sets the E-Stop hardware delay to factory specifications. NOTE: Ensure that the commissioning jumper is plugged into the XBELTIO jack on the eMB-40/60R before you start this procedure. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 110: E-Stop Verification Utility

    NOTE: Ensure that the commissioning jumper is plugged into the XBELTIO jack on the eMB-40/60R before you start this procedure. Procedure NOTE: This procedure takes 2 or 3 minutes to complete. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 111: Teach Restrict Verification Utility

    NOTE: This procedure will move the robot approximately ±5 degrees from the starting point of each joint. This can be any position that does not conflict with obstacles or the limits of joint move- ments. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 112: Changing The Lamp In The Front Panel High-Power Indicator

    Follow this procedure to replace the High Power indicator lamp. The part number for the lamp is 27400-29006. WARNING: ELECTROCUTION RISK Lockout and tagout power before servicing. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 113 12. Re-install the two screws on the back of the body. 13. Re-install the Front Panel in its mounting. 14. Reconnect the cable between the Front Panel and the eMB-40/60R (or controller). 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 114 Back side of front cover High Power On/Off Lamp Body Wires between LED and body of Front Panel. Be careful when separating front cover from body to avoid damaging the wires. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 115: Chapter 8: Technical Specifications

    Chapter 8: Technical Specifications 8.1 Robot Dimensions 578.42 575.68 Figure 8-1. Viper 650 Side Dimensions and Work Envelope. Units are mm. Key Meaning Key Meaning Point P Workable space defined by point P 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 116 8.1  Robot Dimensions ±360° ±190° Figure 8-2. Viper 650 Top Dimensions and Work Envelope. Units are mm. Meaning Point P Workable space defined by point P 187.7 (standard cable clearance) 222 (IP54/65 and Cleanroom) Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 117 Chapter 8: Technical Specifications 779.88 779.88 Figure 8-3. Viper 850 Side Dimensions and Work Envelope. Units are mm. Key Meaning Key Meaning Point P Workable space defined by point P 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 118 Point P Workable space defined by point P 187.7 (standard cable clearance) 222 (IP54/65 and Cleanroom) NOTE: Dimension drawings for the eMB-40/60R are shown in Dimensions and Mounting Holes on page 54. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 119: Robot Flange Dimensions

    28.00 Figure 8-5. Robot Flange Dimensions. (A) Bolt Circle. Units are mm. Tolerances, if not specified: 1 Place Decimals: ±0.50 2 Place Decimals: ±0.10 3 Place Decimals: ±0.05 Angular Dimensions: ±0.5° 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 120: Specifications

    Degree of Protection IP40 (IP54/65 w/ option) IP40 (IP54/65 w/ option) Weight Approx. 34 kg Approx. 36 kg Note 1: Only the Ø4x6 air tubing system may be controlled by built-in solenoid valves. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 121: Performance

    ±0.02 mm ections: ±0.03 mm Maximum allowable inertia moment Around J4: 0.295 kgm Around J5: 0.295 kgm Around J6: 0.045 kgm Note 2: Position repeatability is the value at constant ambient temperature. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 122: Stopping Distances And Times

    66% max. Payload Green line 100% max. Payload Stopping Time in s Stopping Distance in degrees Speed as % 100% Figure 8-6. Joint 1 Stopping Distance for Viper 650, in Degrees Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 123 Chapter 8: Technical Specifications 100% Figure 8-7. Joint 1 Stopping Time for Viper 650, in Seconds 100% Figure 8-8. Joint 2 Stopping Distance for Viper 650, in Degrees 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 124 8.3  Specifications 100% Figure 8-9. Joint 2 Stopping Time for Viper 650, in Seconds 100% Figure 8-10. Joint 3 Stopping Distance for Viper 650, in Degrees Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 125 Chapter 8: Technical Specifications 100% Figure 8-11. Joint 3 Stopping Time for Viper 650, in Seconds 100% Figure 8-12. Joint 1 Stopping Distance for Viper 850, in Degrees 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 126 8.3  Specifications 100% Figure 8-13. Joint 1 Stopping Time for Viper 850, in Seconds 100% Figure 8-14. Joint 2 Stopping Distance for Viper 850, in Degrees Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 127 Chapter 8: Technical Specifications 100% Figure 8-15. Joint 2 Stopping Time for Viper 850, in Seconds 100% Figure 8-16. Joint 3 Stopping Distance for Viper 850, in Degrees 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 128 If an integrator wants to measure stopping distances and times in a real cell with a real robot and with real tools and loads, they should contact their local Omron support. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 129: Chapter 9: Ip54/65 Option

    Chapter 9: IP54/65 Option 9.1 Introduction The Viper 650 and 850 robots can be ordered with an IP54/65 option that is a dust-proof, splash-proof model. With the IP54/65 option, the main body of the robot is rated IP54, and Joints 4, 5, 6 are rated IP65. Without this option, the robots have a rating of IP40.

  • Page 130: Differences From The Standard Robot Model

    Ground Terminal C Air 2 Air 1 NOTE: On the IP54/65 robot, the CN20 and CN21 connectors are IP65 rated. Also, the robot cable has a splash-proof connector on the robot end. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 131: Cable Clearance

    For the IP54/65 robot, the procedure to replace the encoder battery is the same as the standard robot, except the cover uses hex socket-head bolts instead of screws. Removing Cover to Replace Encoder Batteries on page 103. Tightening torque: Hex socket bolt: 2.0 N·m (1.5 ft-lbf). 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 133: Chapter 10: Cleanroom Option

    Chapter 10: Cleanroom Option 10.1 Introduction The Viper 650 and 850 robots are available in Class 10 Cleanroom models. Figure 10-1. Viper 850 Robot - Cleanroom Model 10.2 Differences from Standard Robot Model The installation, operation, and specifications of the Cleanroom robot are the same as the standard robot, except for issues noted in this section.

  • Page 134: Cleanroom Technical Specifications

    You should hear and feel a click as it latches into place. See Cleanroom Technical Specifications on page 134 for the recommended vacuum flow rate. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 135: Air Lines And Signal Wiring

    There are ten user electric lines. The air lines and signal wiring are shown in the following figures and tables. Figure 10-3. Air Intake/Exhaust Connections and Signals 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 136 Pins A to K on CN20 and #1 to #10 on CN21 are connected with each other as shown below. The allowable current per line is 1 A. CN20 CN21 Use the supplied mating connector sets shown in the table below for CN20 and CN21. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 137: Cleanroom Cover At J6 Flange

    The Cleanroom robot has a J6 Cleanroom Cover that is not present on the standard robot. See the following figure. Figure 10-4. (A) Viper 850 J6 Cleanroom Cover Any user tooling at the flange must allow for clearance. See the following figure. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...

  • Page 138: Cable Clearance

    For the Cleanroom robot, the procedure to replace the encoder battery is the same as the stand- ard robot, except the cover uses hex socket-head bolts instead of screws. See Battery Replace- ment Procedure on page 102. Tightening torque: Hex socket bolt: 2.0 N·m (1.5 ft-lbf). Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...

  • Page 139: Chapter 11: Status Codes

    These codes provide details for quickly isolating prob- lems during troubleshooting. In the Status Panel Codes table, the '#' in the LED column represents a single digit. The digits will be displayed as one of the following: 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 140 1394 Fault Hard Envelope Error (Joint #) NOTE: Due to the nature of the Viper 650/850 bus line encoder wiring, a single encoder wiring error may result in multiple channels of displayed encoder errors. Reference the lowest encoder number displayed.
  • Page 141 The encoder backup bat- Replace the encoder tery is low. backup battery. *Duty-cycle -1021 The indicated motor (#) Turn high power exceeded* has been driven hard for back on; reduce the 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 142 J1 and ition and re-enable J2/J3 if the option is high power. installed. None Firmware version mis- Contact your local match. Omron support. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 143 Contact your local Omron support. *Motor stalled* -1007 A motor stall occurs Check for obstacles Mtr # when the maximum and free movement 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 144 -1115 The high-voltage DC bus Contact your local failure* Code 4 did not discharge its Omron support. voltage when expected. (Note: This error is only relevant to legacy Cobra AIB systems.) Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 145 If the problem per- Fault* Code 2 ienced a failure on chan- sists, contact your nel 1 during the cyclic local Omron support. check of dual-channel power system. This may indicate a welded relay 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 146 E-Stop Commissioned* and verified. Delay. None Software watchdog If the problem per- timer timeout. On some sists, contact your products it is normal for local Omron support. Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M...
  • Page 147 Make by ACE. sure that nothing is obstructing the robot's motion. If the error recurs, con- tact your local Omron support. 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide...
  • Page 148 OMRON ASIA PACIFIC PTE. LTD. OMRON ADEPT TECHNOLOGIES, INC. No. 438A Alexandra Road # 05-05/08 (Lobby 2), 4550 Norris Canyon Road, Suite 150, San Ramon, CA 94583 U.S.A. © OMRON Corporation 2016-2019 All Rights Reserved. Alexandra Technopark, Tel: (1) 925-245-3400/Fax: (1) 925-960-0590 Singapore 119967...

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