Omron i4H User Manual page 8

CONTENTS
3-8-2
3-9 Setting the EtherCAT Node ID ............................................................................................3-27
3-9-1
3-10 Supplying Power and Ground ............................................................................................3-29
3-10-1
3-10-2
3-10-3
3-11 Verifying Installation............................................................................................................3-32
3-11-1
3-11-2
3-11-3
3-11-4
Section 4 Operation
4-1 Payload and Acceleration Considerations ..........................................................................4-2
4-2 Robot Control Modes ............................................................................................................4-3
4-2-1
4-2-2
4-2-3
4-2-4
4-2-5
4-3 Enabling and Disabling the Robot .......................................................................................4-6
4-3-1
4-3-2
4-4 LED Light Ring .......................................................................................................................4-8
4-5 LCD Display............................................................................................................................4-9
4-5-1
4-6 Brake Operation ...................................................................................................................4-10
4-6-1
4-6-2
4-7 Manually Jogging the Robot...............................................................................................4-12
Section 5 Troubleshooting
5-1 Fault Detection .......................................................................................................................5-2
5-2 Emergency Stop Troubleshooting .......................................................................................5-3
5-3 Error Messages ......................................................................................................................5-4
Section 6 Maintenance
6-1 Field-replaceable Items .........................................................................................................6-2
6-2 Periodic Maintenance ............................................................................................................6-3
6-2-1
6-2-2
6-2-3
6-2-4
6-2-5
6-2-6
6-2-7
6-2-8
6-2-9
6
Safety Circuits ...........................................................................................................................3-20
EtherCAT Node ID Setting Example .........................................................................................3-27
Grounding the System ..............................................................................................................3-29
DC Connections ........................................................................................................................3-30
AC Connections ........................................................................................................................3-31
Mechanical Checks ...................................................................................................................3-32
System Cable Checks ...............................................................................................................3-32
Safety Equipment Checks .........................................................................................................3-32
Switch Position Checks .............................................................................................................3-34
Manual Mode ..............................................................................................................................4-3
Automatic Mode ..........................................................................................................................4-3
Operation Mode ..........................................................................................................................4-4
Host Mode ...................................................................................................................................4-4
Service Mode ..............................................................................................................................4-5
Enabling Robot High Power ........................................................................................................4-6
Disabling High Power ..................................................................................................................4-7
LCD Display Status Messages....................................................................................................4-9
Built-in Brake Release Button ...................................................................................................4-10
Remote Brake Release ............................................................................................................. 4-11
Periodic Maintenance Overview..................................................................................................6-3
Checking Safety Functions .........................................................................................................6-3
Checking Fastener Torques ........................................................................................................6-4
Checking Safety and Warning Labels .........................................................................................6-5
Checking for Oil Leaks ................................................................................................................6-5
Lubricating Joint 3 .......................................................................................................................6-5
Replacing Encoder Batteries.......................................................................................................6-6
Harmonic Drive Oil Change ........................................................................................................6-8
Cleaning the Robot .....................................................................................................................6-8
i4H Robots with EtherCAT User's Manual (I661)