Omron Viper 650 User Manual
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Omron Viper 650 User Manual

Robot with ethercat
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Viper 650 and 850
Robot with EtherCAT
User's Manual
I654-E-01

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Summary of Contents for Omron Viper 650

  • Page 1 Viper 650 and 850 Robot with EtherCAT User's Manual I654-E-01...
  • Page 2 The information contained herein is the property of OMRON, and shall not be reproduced in whole or in part without prior written approval of OMRON. The information herein is subject to change without notice and should not be construed as a commitment by OMRON The doc- umentation is periodically reviewed and revised.

  • Page 3: Table Of Contents

    Robot Safety Guide T20 Pendant (Option) 2.7 Disposal 2.8 How Can I Get Help? Chapter 3: Robot Installation 3.1 Robot Installation Overview Basic Installation Steps 3.2 Mounting a Viper Robot 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 4 AC Power Supply Connector Making the 200-240 VAC Power Supply Cable Connecting the AC Power Supply Cable 4.6 Grounding the Robot System Grounding the Robot Base Ground Point on eCS-ECAT Grounding Robot-Mounted Equipment Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 5 Remove and Replace a MicroSD Card Chapter 8: Technical Specifications 8.1 Robot Physical Dimension Drawings 8.2 General Robot Specifications 8.3 Performance Specifications General Performance Information Stopping Distances and Times 8.4 Electrical Specifications 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 6 A.1 Unpacking and Inspecting the Equipment Before Unpacking After Unpacking Inspecting the Equipment A.2 Repacking for Relocation A.3 Transportation and Storage of Robot Transportation and Storage Environment Precautions when Transporting Robot Transport Procedure Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 7: Chapter 1: Introduction

    Chapter 1: Introduction This manual contains information that is necessary to install and use Viper 650 and 850 Robot with EtherCAT. Read this manual and make sure you understand the functionality, installation, and performance of the robot before attempting to use it.

  • Page 8: Intended Audience

    These robots are offered with two different arm reaches to provide different working envelopes. The Viper 650 has a 650 mm radial reach and the Viper 850 has an 850 mm radial reach, measured from Joint 1 to Joint 5. Refer to Robot Physical Dimension Drawings on page 107 NOTE: The descriptions and instructions in this manual apply to all Viper 650 and 850 Robot with EtherCAT.
  • Page 9 EtherCAT network cables. The interface panel also has switches for setting an explicit EtherCAT Node address and operating mode as well as LEDs to indicate operating status. Additional Information: Refer to eCS-ECAT Interface Panel on page 16 for more information. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 10 Internal temperature sensors for hardware protection and troubleshooting. Power controller that uses single-phase AC power, 200-240 Volts. 2-digit alpha-numeric status panel to show operating status and fault codes. Expansion Input/Output (EXPIO) port Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 11 EtherCAT Communications Description on page 88. NX/3P, Switches used to adjust the operating mode of the robot. Refer OP/SV to Setting the EtherCAT Node ID on page 50 for more inform- ation. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 12: Ip54/65 And Cleanroom Versions

    IO Blox (max. input / output, using 8 IO Blox) 64/64 total per robot Conveyor tracking encoder Yes (2 max.) T20 Pendant option IP54/65 option Cleanroom option Pass-through, J1 to J4 7 air lines, 10 user electrical contacts Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 13: Robot Links And Joints

    NOTE: Some connections may differ on robots with the IP54/65 or Cleanroom options. Refer to IP54/65 Option Considerations on page 129 and Cleanroom Option Considerations on page 131 for more information. The external connections include: Pneumatic pass-through ports Electrical pass-through connections 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 14 Additional Information: Refer to Technical Specifications on page 107 for more information. C N 2 2 A I R 1 A I R 2 C N 2 0 Figure 1-7. Robot Air Connections (arrows) Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 15 Chapter 1: Introduction Figure 1-8. Pneumatic Pass-through Ports from (B) Base to (A) Outer Link 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 16: Ecs-Ecat Interface Panel

    The eCS-ECAT includes the interface panel. It has connections for power (200-240 VAC, 24 VDC), communications, and other peripheral devices such as a pendant, IO Blox, or a Front Panel. Use the information below to understand all connection points for the eCS-ECAT interface panel. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 17 Indicates the status of the EtherCAT connection. Refer to EtherCAT Communications Description on page 88 for more inform- ation. Two 2-Position Mode Switches Used to adjust the operating mode of the robot. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 18: Robot Options

    NOTE: Refer to Connecting Digital I/O to the System on page 62 and the IO Blox User’s Guide (04638-000) for more information. You can add up to 8 IO Blox units. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 19: T20 Pendant

    Additional Information: Refer to the T20 Pendant User's Manual (Cat. No. I601) for more information about operating a robot with the T20 pendant. IMPORTANT: The T20 pendant can only communicate with the robot it is dir- ectly connected to. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 20: Ipc Application Controller

    IMPORTANT: If the Front Panel high power ON / OFF indicator fails, you might incorrectly assume that High Power is OFF and the robot is safe. To prevent this, a failed lamp causes an error (-924) *Front panel HIGH POWER lamp failure* Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 21 If an operator is going to be in the work cell with the switch in Manual mode, the operator must carry an enabling device such as the T20 pendant. WARNING: PERSONAL INJURY RISK Whenever possible, perform manual mode operations with all personnel outside the workspace. Automatic mode 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 22: Optional Cables

    XBELT I/O Adapter Cable (0.6 m) 13463-000 The optional XBELT IO Adapter cable splits the XBELTIO port on the interface panel into a belt encoder branch, an IO Blox branch, and an RS-232 branch. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 23 This optional cable connects to the XIO connector on the eCS-ECAT interface panel to add multiple I/O devices to the system without using an IO Blox unit. IMPORTANT: This cable is not compatible with the XIO Ter- 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 24 Input 5.1 Green/Black Input 6.1 Blue Blue/White 24 VDC Brown Common 2 Brown/White Input 1.2 Orange Input 2.2 Orange/Black Input 3.2 Gray Input 4.2 Gray/Black Input 5.2 Violet Input 6.2 Violet/White Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 25 Light Blue/Black Output 5 Light Green Output 6 Light Green/Black Output 7 White/Red Output 8 White/Blue Shell Shield Pin 1 Pin 9 Pin 10 Pin 18 Pin 19 Pin 26 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 27: Chapter 2: Safety

    Chapter 2: Safety This chapter describes the various alert icons used in this manual and their meaning, provides important safety precautions for using OMRON industrial robots and their intended uses, and gives guidance on proper disposal. 2.1 Dangers, Warnings, and Cautions...

  • Page 28: Special Information

    Never use the robot system for purposes other than described in Intended Use of the Robot on page 30. Contact your local OMRON support if you are not sure of the suit- ability for your application.

  • Page 29: What To Do In An Emergency

    Limiting Devices There are no dynamic or electro-mechanical limiting devices provided by OMRON The robot does not have safety-rated soft axis or space limiting. However, users 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 30: Singularities

    2.5 Intended Use of the Robot This section lists the intended uses, and prohibitions for use of OMRON industrial robots. DANGER: PERSONAL INJURY RISK This robot is not a collaborative robot. It requires a dedicated work area that prevents personnel from coming into contact with the robot during operation.

  • Page 31: Additional Safety Information

    000). Robot Safety Guide The Robot Safety Guide (Cat. No. I590), which ships with every robot system, provides detailed information on safety for OMRON robots. It also gives resources for more information on rel- evant standards. T20 Pendant (Option) The protective stop category for the pendant enable switch is category 1, which complies with the requirements of ISO 10218-1.

  • Page 33: Chapter 3: Robot Installation

    Mounting Surface Mount the Viper robot on a smooth, flat surface that is rigid enough to prevent vibration and flexing during robot operation. OMRON recommends a 25 mm thick steel plate mounted to a 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 34: Mounting Surface Preparation

    These can either be tapped for M10, at least 20 mm deep, or you can drill 12 mm thru-holes, and use nuts on the other side of the mounting surface. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 35: Mounting Procedure For Upright Viper

    1. While the robot is still bolted to the transportation pallet, connect a crane or hydraulic lift to the eyebolts at the top of the base. Refer to the following figure. Figure 3-2. Robot in Hoisting Sling 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 36: Mounting Procedure For Ceiling Mount

    Do not stay under a hoisted robot. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 37: Robot Mounting Torque

    Any sealed container would need to provide sufficient cooling for the eCS-ECAT’s internal fan to be effective. 3.4 Installing the Front Panel Use the information provided in this section to install the Front Panel. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 38: Connecting The Front Panel

    If you supply your own Front Panel E-Stop, its design must comply with the requirements of IEC 60204-1 and ISO 13849. The E-Stop's push button must comply with ISO 13850. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 39: Air Lines And Signal Wiring

    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. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 40 Air line connector (BSPT¼) for three solenoids in robot. Air Lines and Signal Wiring on page 39. AIR 2 Air line connector (BSPT¼), connects directly to AIR 2 on the second (upper) arm. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 41: Installing User-Supplied Safety Equipment

    User E-Stop CH 1 (mushroom N/C (Normally Closed) contacts, Shorted if push-button, safety gates, etc.) NOT Used 2, 15 User E-Stop CH 2 (same as pins N/C contacts, Shorted if NOT Used 1, 14) 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 42 Manual or Automatic indication Contacts are closed in Automatic mode CH 1 10, 23 Manual or Automatic indication Contacts are closed in Automatic mode CH 2 11, 12, No connection 13, 24, Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 43: Contacts On Xfp Connector

    Do not inadvertently connect 24 VDC signals to these pins as that will damage the elec- tronics. NOTE: Underwriters Laboratory evaluated the system with an OMRON Front Panel. Using a substitute front panel could void UL compliance. Remote Pendant Signals on the XMCP Connector Use the information in the following table to understand the remote pendant signals provided on the XMCP connector.
  • Page 44 No connection No connection Shield Shield GND 24 VDC No connection The preceding table gives descriptions of this circuit's functionality. The following figure shows an E-Stop diagram for the system. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 45: E-Stop Circuits On Xusr And Xfp Connectors

    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 3-5. E-Stop Circuit on XUSR and XFP Connectors 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 46: Emergency Stop Circuits

    User E-Stop contacts, so they will not indicate the status of the Line E-Stop, MCP ENABLE, or the Muted Safety gate. If you have a specific need for this function, Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 47 Chapter 3: Robot Installation 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, Figure 3-5. ) provide voltage- free contacts, one for each channel, to indicate whether the E-Stop chain on that channel, as described above, is closed.

  • Page 48: Remote Manual Mode

    There are two methods to provide high power ON / OFF control in a remote location as described below. DANGER: A High Power push-button must be installed outside of the robot's workspace. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 49 +5 VDC and ground, respectively. Pins 6, 14 are inputs for voltage-free nor- mally-open contacts from a user-supplied momentary push-button switch. Refer to items B and C in Figure 3-5. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 50: Using A User-Supplied Control Panel

    Additional Information: Refer to Front Panel Schematic on page 38 for internal wiring information. IMPORTANT: Underwriters Laboratory evaluated the system with an OMRON Front Panel. If you provide a substitute, the system may no longer be UL com- pliant.

  • Page 51: Setting The Ethercat Node Id Using Hardware Switches

    The switch settings are checked when 24 VDC power is applied to the eCS-ECAT. IMPORTANT: Turn OFF AC and DC power before changing EtherCAT node ID switches. Figure 3-7. eCS-ECAT Interface Panel EtherCAT ID Switches 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 52: Installing Joint Labels

    The system includes a set of joint directional labels that can be installed on the robot. See the following figure. Also refer to Robot Links and Joints on page 13 for a drawing of the joint Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 53 The yellow X-Y label can be used to indicate the X and Y axes in the World coordinate system in your workcell. Figure 3-9. Joint and Axes Directional Labels 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 55: Chapter 4: System Cable Installation

    NOTE: The figure below includes the optional and user-supplied equipment that may not be present in your system. Additional Information: Ethernet / EtherCAT network connections may differ for your application. Contact your local OMRON support for more information. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 56: List Of Cables And Parts

    Figure 4-1. Typical System Cable Connections List of Cables and Parts The following table identifies and provides details about cables and parts illustrated in Basic System Cable Layout on page 55. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 57 200-240 VAC AC Power Cable 04118-000 24 VDC Power Cable 04120-000 Cable Assembly, XSYSTEM 13322-100 Adapter with Jumpers XFP Connector on XSYSTEM cable XFP Jumper Plug 10052-000 Front Panel 90356-10358 XUSR Connector on XSYSTEM 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 58: Cable Installation Steps

    Connect T20 adapter cable (not shown) to XSYSTEM cable XMCP con- nector. If no T20 is present in the system, install XMCP jumper, or T20 Adapter Cable with bypass plug. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 59: Xbelt Io Belt Encoder Y Adapter Cable

    E, F, G, H, J, K, Additional Information: Ethernet / EtherCAT network con- nections may differ. Contact your local OMRON support for more information. Connect downstream EtherCAT device(s). XBELT IO Belt Encoder Y Adapter Cable The XBELT IO Encoder Y Adapter Cable adds two additional encoder outputs (for ENC1 and ENC2, to the Belt Branch.
  • Page 60 PIN 22 (ENC2_Z-) PIN 1 PIN 1 (5V) PIN 4 PIN 10 (GND) PIN 12 SHIELD SHIELD Figure 4-3. XBELT I/O Adapter Cable Pinout - Encoder 1 and 2 Connections Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 61 PIN 1 (ENC2_I-) PIN 6 PIN 4 PIN 2 PIN 4 (5V) PIN 5 PIN 7 PIN 12 (GND) SHIELD SHIELD Figure 4-6. Belt Y Splitter Cable Pinout - 2 Encoder Connections 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 62: Connecting Digital I/O To The System

    NOTE: Each IO Blox unit (up to 8) must have a unique address. IO Blox units with duplicate addresses will conflict. Refer to the IO Blox User’s Guide (04638- 000) for more information. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 63 The XIO Termination Block provides 12 inputs and 8 out- puts (refer to the following figure). This offers the same signal capacity as the XIO connector on the eCS-ECAT interface panel. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 64 NOTE: Each IOBlox group has a maximum of 4 IOBlox units, daisy-chained for a range of 32 signals (4 units x 8 inputs/outputs). Default Input Signal Allocations Use the table below to understand default input allocations. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 65 1241 to 1248 ON, ON 1249 to 1256 XBELTIO IOBlox Group 2 OFF, OFF 1257 to 1264 ON, OFF 1265 to 1272 OFF, ON 1273 to 1280 ON, ON 1281 to 1288 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 66 1529 to 1536 ON, ON 1537 to 1544 XBELTIO IOBlox Group 2 OFF, OFF 1545 to 1552 ON, OFF 1553 to 1560 OFF, ON 1561 to 1568 ON, ON 1569 to 1576 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 67 49 to 56 ON, ON 57 to 64 XBELTIO IOBlox Group 2 OFF, OFF 65 to 72 ON, OFF 73 to 80 OFF, ON 81 to 88 ON, ON 89 to 96 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 68 337 to 344 ON, ON 345 to 352 XBELTIO IOBlox Group 2 OFF, OFF 353 to 360 ON, OFF 361 to 368 OFF, ON 369 to 376 ON, ON 377 to 384 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 69 625 to 632 ON, ON 633 to 640 XBELTIO IOBlox Group 2 OFF, OFF 641 to 648 ON, OFF 649 to 656 OFF, ON 657 to 664 ON, ON 665 to 672 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 70: Xio Connector Signals

    Common 1 Input 1.1 Input 2.1 Input 3.1 Input 4.1 Input 5.1 Input 6.1 24 VDC Common 2 Input 1.2 Input 2.2 Input 3.2 Input 4.2 Input 5.2 Input 6.2 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 71 3.9 KΩ minimum Current at V = +24 VDC ≤ 6 mA Turn on response time (hardware) 5 μsec maximum Software scan rate and response time 16 ms scan cycle 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 72: Connecting Cable From The Ecs-Ecat To The Robot

    Refer to the following figure. 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. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 73: Connecting The 24 Vdc Cable To The Ecs-Ecat

    Power requirements for the user-supplied power supply vary depending on the configuration of the robot and connected devices. OMRON recommends a 24 VDC, 6 A power supply to allow for startup current draw from connected user devices, such as digital I/O loads.

  • Page 74: Making The 24 Vdc Power Supply Cable

    The following instructions correspond to the numbered steps in green boxes in the following figure. The red circled letters identify specific items. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 75 The 24 VDC output must be less than 300 W peak or 8 Amp (max) in- line circuit protection must be provided for each connected robot. Refer to (D) in Figure 4-11. above. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 76: Connecting 200-240 Vac Power Cable

    NOTE: Install the robot system as a piece of equipment in a permanently- installed system. AC Power Diagrams If using a three-phase power source, it must be symmetrically-earthed (with grounded neutral). Connections called out as single-phase can be wired Line-to-Neutral or Line-to-Line. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 77: Ac Power Supply Connector

    The cable and accessory box that came with your system contains the AC power supply con- nector. The supplied plug is internally labeled for the AC power connections (L, E, N). Additional Information: Refer to Connector Specifications on page 124 for more information. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 78: Making The 200-240 Vac Power Supply Cable

    7. Tighten the screws on the cable clamp, then reinstall the cover and tighten the screw. 8. Prepare the opposite end of the cable for connection to the facility AC power source. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 79: Connecting The Ac Power Supply Cable

    You can ground the robot base by using a ground wire at the robot base (see the following fig- ure). The robot ships with an M5 screw in the grounding hole. You must supply the ground wire. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 80: Ground Point On Ecs-Ecat

    Grounding Robot-Mounted Equipment The tool flange is not grounded to protective earth. If hazardous voltages are present at any user-supplied robot-mounted equipment or tooling, you must install a ground connection from Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 81 DANGER: ELECTROCUTION HAZARD Failing to ground robot-mounted equipment or tooling that uses hazardous voltages could lead to injury or fatality of a person touching the end-effector during an electrical fault. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 83: Chapter 5: Optional Equipment Installation

    The robot arm has four multi-purpose mounting locations for adding external equipment. Each location has a set of two tapped holes. Additional Information: Refer to Figure 8-5. for mounting hole dimensional information. The five locations are shown in the following two figures. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 84 Figure 5-1. External Equipment Mounting Locations for J1 and J2. For J1, there are two holes on each side, so two holes are not visible in this figure. Figure 5-2. External Equipment Mounting Locations for J3 and J4 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 85: Chapter 6: System Operation

    If a pendant is present, ensure that it is connected to the XMCP on the XSYSTEM cable. If not using a pendant, ensure that the appropriate jumper is installed. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 86: User-Supplied Safety Equipment Checks

    All E-Stops must be deactivated. If E-Stop or Teach Restrict configuration is necessary, the supplied jumper plug (11901- 000) must be installed on the XBELTIO connector on the eCS-ECAT interface panel. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 87: Switch Position Checks

    STATUS Figure 6-2. eCS-ECAT Status LED and Display Panel General Robot States The table below provides general information about the robot state when observing the status LED and display panel. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 88: Ethercat Communications Description

    Figure 6-3. EtherCAT LED Location The LED indicators will be in the following states during normal EtherCAT communications. RUN: Lit green ERR: Not lit FS: Not lit Use the table below to understand EtherCAT communication states. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 89: System Behavior With Ethercat Communication Errors

    WARNING: Secure the robot prior to releasing the brakes on axes 2 or 3, to prevent injury to personnel or equipment damage. Brake Release Connector The 9-pin Brake Release connector provides an interface for connecting a manual brake release box. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 90: Installing And Using The Brake Release Box

    1. Make sure that high power is off. 2. Connect the 9-pin male D-sub connector into the 9-pin female D-sub connector marked BRAKE on the eCS-ECAT. 3. Press one of the E-Stops (Pendant, Front Panel, or external). Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 91: Robot Control Modes

    When the robot is placed in Manual mode, robot motion speed is limited to 250 mm/sec and servo torque is limited so that an operator can safely work inside the cell. Manual mode 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 92: Automatic Mode

    Figure 6-6. Operation Mode Selected Service Mode Service mode is used for special conditions when the robot must be accessed with methods other than EtherCAT communications. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 93: Manually Jogging The Robot

    IMPORTANT: The operating mode switch state is checked only during robot startup after power is applied. If the following conditions are present on your system, contact your local OMRON rep- resentative for support. The license mode of the robot needs to be changed.

  • Page 94: High Power And Faults

    Figure 6-7. High Power Button on Front Panel Request High Power with a Connected PC High power can be requested with Sysmac Studio software. Refer to the software user doc- umentation for more information. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 95: Disabling Robot High Power

    Refer to the eV+3 User's Manual (Cat. No. I651) or the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for more information. External signal state control through the XUSR connector on the XSYSTEM cable. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 97: Chapter 7: Maintenance

    Use the following steps to check all robot safety devices that may be present in the system. These tests should be done every six months. IMPORTANT: Operating any of the following safety devices should disable robot high power. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 98: Checking Robot Mounting Bolts And Cover Plates

    The part number of this label is 18241-000. Figure 7-1. Read Manual and Impact Warning Label This is placed in the following location on the robot: Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 99: Replacing The Encoder Batteries

    IMPORTANT: Do NOT turn off the 24 VDC to the eCS-ECAT, and do not disconnect the arm/power cable between the eCS-ECAT and the robot. 3. Remove the cover from the robot. See the following figure. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 100 Figure 7-4. Removing Dummy Connector Cap 5. Connect a new battery (1st one) to the pin from which you disconnected the dummy connector cap in the previous step. See the following figure. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 101 7. 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. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 102: Non-Periodic Maintenance

    Tightening torque: IP54/65 and cleanroom models - Hex socket bolt: 2.0 N·m 7.2 Non-Periodic Maintenance This section provides information and instructions for performing maintenance that does not occur at regular intervals. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 103: Field-Replaceable Parts

    Item OMRON Part Number eCS-ECAT 29600-000F MicroSD Contact your local OMRON support if you need to replace your MicroSD card card. Replacing the eCS-ECAT Amplifier Chassis This section describes the process of removing and replacing the eCS-ECAT amplifier. IMPORTANT: The Teach Restrict and E-Stop hardware delay configurations are lost when replacing an eCS-ECAT unit.

  • Page 104: Remove And Replace A Microsd Card

    Remove and Replace a MicroSD Card The eCS-ECAT requires a MicroSD card to operate. The following procedures provide import- ant precautions and instructions for removing and replacing the MicroSD card. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 105 4. Remove the six M4 screws as shown in the following figure. Save the screws for re- assembly. Figure 7-9. eCS-ECAT Bolt Locations (circled) 5. Lift the controller up from the eCS-ECAT frame. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 106 M4 screws previously removed. 3. Reconnect all cables that were disconnected to access the MicroSD card. 4. Turn on AC and DC power to the eCS-ECAT. 5. Power-on the eCS-ECAT. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 107: Chapter 8: Technical Specifications

    This chapter provides technical specifications for the robot's hardware, performance, electrical connections, installation environment, and other aspects of the system. 8.1 Robot Physical Dimension Drawings This section provides physical dimensions for the Viper 650 and Viper 850 robots and their operating envelopes. 578.42 575.68...
  • Page 108 187.7 (Note 1) Point P ±190° ±360° Note 1: On IP-54/65 and Cleanroom robots, clearance dimension for cables is 222 mm. Figure 8-2. Viper 650 Robot Top View Dimensions (units in mm) Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 109 Chapter 8: Technical Specifications 779.88 779.88 Point P Workable space defined by point P Figure 8-3. Viper 850 Robot Side View Dimensions (units in mm) 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 110 187.7 (Note 1) Point P ±360° ±190° Note 1: On IP-54/65 and Cleanroom robots, clearance dimension for cables is 222 mm. Figure 8-4. Viper 850 Robot Top View Dimensions (units in mm) Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 111 2x M8 One pair of holes on each side of robot Figure 8-5. External Tooling Mounting Lcations (units in mm) Refer also to Mounting Locations for External Equipment on page 83. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 112: General Robot Specifications

    Figure 8-6. eCS-ECAT Dimensions (units in mm) 8.2 General Robot Specifications The following table provides general robot specifications. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 113: Performance Specifications

    Joint 2: 300°/sec Joint 2: 250°/sec Joint 3: 375°/sec Joint 3: 250°/sec Joint 4: 375°/sec Joint 4: 375°/sec Joint 5: 375°/sec Joint 5: 375°/sec Joint 6: 600°/sec Joint 6: 600°/sec 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 114: Stopping Distances And Times

    33%, 66% and 100% of the maximum payload (5 kg). Data provided is for the three joints of greatest displacement (J1, J2, and J3). NOTE: Where lines overlap (and may not be visible) differences are not sig- nificant. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 115 J1 Stopping Distance (Viper650) Payload 33% Payload 66% Payload 100% Speed (%) Figure 8-7. Stopping Distance in Degrees versus Speed % for Viper 650 Joint 1 J1 Stopping Time (Viper650) Payload 33% Payload 66% Payload 100% Speed (%) Figure 8-8.
  • Page 116 J2 Stopping Distance (Viper650) Payload 33% Payload 66% Payload 100% Speed (%) Figure 8-9. Stopping Distance in Degrees versus Speed % for Viper 650 Joint 2 J2 Stopping Time (Viper650) Payload 33% Payload 66% Payload 100% Speed (%) Figure 8-10. Stopping Time in seconds versus Speed % for Viper 650 Joint 2...
  • Page 117 Chapter 8: Technical Specifications J3 Stopping Distance (Viper650) Payload 33% Payload 66% Payload 100% Speed (%) Figure 8-11. Stopping Distance in Degrees versus Speed (%) for Viper 650, Joint 3 J3 Stopping Time (Viper650) Payload 33% Payload 66% Payload 100% Speed (%) Figure 8-12.
  • Page 118 Figure 8-13. Stopping Distance in Degrees versus Speed (%) for Viper 850 Joint 1 J1 Stopping Time (Viper850) Payload 33% Payload 66% Payload 100% Speed (%) Figure 8-14. Stopping Time in Seconds versus Speed (%) for Viper 850 Joint 1 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 119 Figure 8-15. Stopping Distance in Degrees versus Speed (%) for Viper 850 Joint 2 J2 Stopping Time (Viper850) Payload 33% Payload 66% Payload 100% Speed (%) Figure 8-16. Stopping Time in Seconds versus Speed (%) for Viper 850 Joint 2 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 120 Stopping distance will vary only if there is an actuating mechanism fail- ure, which may require replacement of the failed component. If you want to measure stopping distances and time with your application, contact your local OMRON support. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 121: Electrical Specifications

    Circuit Protection Output must be less than 300 W peak or provide 8 Amp in-line circuit protection Cabling 1.31 – 2.08 mm² (16-14 AWG) Shielding Shield connected to frame ground terminal 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 122 Maximum total current 1.0 A @ 50°C limit, all channels 1.5 A @ 25°C Maximum ON state res- 0.32 Ω @ 85°C istance (I = 0.5 A) Maximum output leakage 25 μA Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 123: Environment And Facility Specifications

    You must take the necessary steps to prevent damage to the robot system (such as by interposing a transformer). See 61131-4 for additional information. 8.5 Environment and Facility Specifications The robot installation must meet the following operating environment specifications. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 124: Other Specifications

    Pressure: 0.3 MPa + 10% Flow: 0.06 m /min Pneumatic pass-through ports 6 mm diameter (quantity 1) 4 mm diameter (quantity 6) DC supply connector Housing: Connector receptacle, 2 position, type: Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 125 Digi-Key part number: WM18493-ND AC power supply connector AC in-line power plug, straight, female with screw terminals. Rated at 10 A, 250 VAC Qualtek part number: 709-00/00 Digi-Key part number: Q217-ND 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 126: Power Consumption Specifications

    20° C ambient. COARSE is enabled and BREAKs are used at each end location. Not achievable over all paths. 8.7 Tool Flange Dimensions The following figure provides dimensions for the tool flange. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 127: Front Panel Dimensions

    5 mm Figure 8-20. Front Panel Dimensions (Rear and Side Views) NOTE: Design of the factory-supplied Front Panel E-Stop is in accordance with the requirements of IEC 60204-1 and ISO 13849 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 128: Ethercat Communications Specifications

    Recommended cable: straight, double-shielded cable with aluminum tape and braiding Maximum transmission distance 100 m between nodes Communications cycle 2 ms, 4 ms Wiring in a ring configuration is not possible. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 129: Chapter 9: Ip54/65 Option Considerations

    This chapter provides important considerations when using a robot with the IP54/65 option. 9.1 IP54/65 Option Classification 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.

  • Page 130: 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. Refer to Replacing the Encoder Batteries on page 99. Tightening torque: Hex socket bolt: 2.0 N·m. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 131: Chapter 10: Cleanroom Option Considerations

    Chapter 10: Cleanroom Option Considerations This chapter provides important considerations when using a robot with the Cleanroom option. Both the Viper 650 and Viper 850 robots are available in Class 10 Cleanroom models. 10.1 Differences from Standard Robot Model This option is a factory-installed configuration. The installation, operation, and specifications of the Cleanroom robot are the same as the standard robot, except for issues noted in this sec- tion.

  • Page 132: Cleanroom Cn22 Cable

    For the eCS-ECAT end of the cable, line up the slot in the cable end with the matching key in the eCS-ECATconnector, apply firm pressure straight in, and thread the lock ring fully onto the connector. There should be no visible threads when connected. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 133: 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 10-4. Air Intake/Exhaust Connections and Signals 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 134 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 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 135: Cleanroom Cover At J6 Flange

    NOTE: The mating connectors are the same for Cleanroom and IP54/65 robots. 10.3 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. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 136: Cleanroom Technical Specifications

    Clean Class for Cleanroom Robot Class 10 Recommended vacuum flow rate 130 liters/minute (4.6 SCFM) User air lines 6 systems ( 4x6), 3 solenoid valves (2-position, Ø double solenoid) contained. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 137: 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. Refer to Battery Replacement Procedure on page 99. Tightening torque: Hex socket bolt: 2.0 N·m. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...

  • Page 139: Chapter 11: Status Codes

    24 VDC power supply. *Motor Amplifier -1018 A power amplifier fault is Check user motor Fault* indicated on axis #. power connections for shorts or opens. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 140 Help. fault. *E-STOP detected -643 An E-STOP condition has This is a normal by robot* been detected by the response to many robot. E-STOP conditions. Remove the source Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 141 (I0, I1, sists longer than 30 …) on the display during seconds. Could indic- normal system boot. ate servo ini- tialization failure. Contact your local OMRON support. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 142 *Safety System -1109* Robot hardware did not Contact your local Fault* Code 0 detect pressing the Front OMRON support. Panel high-power button before the servo system attempted to enable power. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 143 E-Stop missioned and veri- Commissioned* Delay. fied. None Software watchdog If the problem per- timeout. On some sists, contact your products it is normal for local OMRON sup- 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 144 Make Sysmac Studio. sure that nothing is obstructing the robot's motion. If the error recurs, contact your local OMRON support. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 145: Appendix

    If the received items do not match the packing slip, are damaged, or do not match your order, do not sign the receipt, and call your local OMRON support as soon as possible. Inspecting the Equipment Inspect each item for external damage as you remove it from its container.

  • Page 146: Precautions When Transporting Robot

    Do not attempt to move any robot links until the robot has been secured in pos- ition. Failure to comply could result in the robot falling and causing either per- sonnel injury or equipment damage. Figure A-1. Robot in Hoisting Sling Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...

  • Page 147: Transport Procedure

    Worker B: Put the robot down in the mounting location. Worker A: Temporarily secure the robot base with four bolts. Secure the robot according to the instruc- tions in Transport Procedure on page 147. 21861-000 Rev A Viper 650 and 850 Robot with EtherCAT...
  • Page 148 Step Procedure Drawing 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. Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A...
  • Page 149 OMRON ROBOTICS AND SAFETY TECHNOLOGIES, INC. No. 438A Alexandra Road # 05-05/08 (Lobby 2), 4225 Hacienda Drive, Pleasanton, CA 94588 U.S.A. © OMRON Corporation 2020 All Rights Reserved. Alexandra Technopark, Tel: (1) 925-245-3400/Fax: (1) 925-960-0590 In the interest of product improvement,...

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