Omron i4H User Manual
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Omron i4H User Manual

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i4H
Robots
User's Manual
i4-650H
i4-750H
i4-850H
I660-E-02

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Summary of Contents for Omron i4H

  • Page 1 Robots User's Manual i4-650H i4-750H i4-850H I660-E-02...
  • Page 2 Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publica- tion.

  • Page 3: Intended Audience

    Introduction Thank you for purchasing the i4H robot. This manual is OMRON's original instructions describing the setup, operations, and user maintenance of the i4H robot robot (herein also referred to as robot). Please read this manual and make sure you understand the functionality and performance of the robot before attempting to use it.

  • Page 4: Manual Information

    Special Information Level 2 heading Manual name Level 3 heading Page tab with the number of the main section Step in a procedure Page number Special Information Special information in this manual is classified as follows: i4H Robots User's Manual (I660)
  • Page 5 Precautions on what to do and what not to do to ensure proper operation and performance. Additional Information Additional information to read as required. This information is provided to increase understanding or make operation easier. Version Information Information on differences in specifications and functionality between different versions. i4H Robots User's Manual (I660)
  • Page 6 Manual Information i4H Robots User's Manual (I660)

  • Page 7: Sections In This Manual

    Sections in this Manual Sections in this Manual Overview Specifications Installation Operation Troubleshooting Maintenance Appendices i4H Robots User's Manual (I660)

  • Page 8: Table Of Contents

    Other Components ........................1-6 1-2-4 Front Panel..........................1-6 1-2-5 Connectors and Ports .........................1-8 1-2-6 IP65 Rating ..........................1-11 1-2-7 Food-grade Rating ........................1-12 1-2-8 Electrostatic Discharge Protection ....................1-12 1-2-9 Cleanroom Rating ........................1-12 Information Labels.......................1-13 1-3-1 Robot Label ..........................1-13 i4H Robots User's Manual (I660)
  • Page 9 Connector and Port Specifications ....................2-18 2-5-3 Mounting Screws and Torques ....................2-19 Section 3 Installation Robot Installation Procedure....................3-3 Mounting the Robot .......................3-4 3-2-1 Robot Mounting Surface ......................3-4 3-2-2 Mounting Procedure ........................3-4 Installing End-of-Arm Tooling....................3-6 Installing Optional Equipment ....................3-7 i4H Robots User's Manual (I660)
  • Page 10 Brake Operation ........................4-10 4-7-1 Built-in Brake Release Button ....................4-10 4-7-2 Remote Brake Release ......................4-11 Manually Jogging the Robot....................4-12 Robot Positioning ........................4-13 4-9-1 Joint Zero Position ........................4-13 4-9-2 Ready Position ..........................4-13 4-9-3 Right-Left Arm Configurations ....................4-14 i4H Robots User's Manual (I660)
  • Page 11 Cable Pinouts ........................A-7 A-5-1 XSYSTEM Cable Pinouts......................A-7 A-5-2 XBELTIO Adapter Cable Pinouts ....................A-9 A-5-3 Belt Encoder Y-adapter Cable Pinouts..................A-9 A-5-4 USER Cable Pinouts ........................ A-10 A-5-5 TIO Cable Pinouts ........................A-11 Parts List..........................A-12 Index i4H Robots User's Manual (I660)

  • Page 12: Terms And Conditions Agreement

    Omron’s exclusive warranty is that the Products will be free from defects in materials and workman- ship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, expressed or implied.

  • Page 13: Disclaimers

    • Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof. • Omron Companies shall not be responsible for the operation of the user accessible operating sys- tem (e.g. Windows, Linux), or any consequence thereof.

  • Page 14: Safety Precautions

    The following notation is used in this manual to provide precautions required to ensure safe usage of the i4H robot. The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions.

  • Page 15: Dangers

    Dangers DANGER General An i4H robot can cause serious injury or death, or damage to itself and other equipment, if the following safety precautions are not observed: • All personnel who install, operate, teach, program, or maintain the system must read this guide, read the Robot Safety Guide (Cat.

  • Page 16: Warnings

    Ensure compliance with all local and national safety and electrical codes for the installa- tion and operation of the robot system. i4H Robots User's Manual (I660)
  • Page 17 To prevent possible injury to personnel or damage to the equipment, make sure that the equipment is supported when releasing the brake and verify that the end-of-arm tooling and payload are clear of all obstructions. i4H Robots User's Manual (I660)
  • Page 18 The access covers on the robot are not interlocked. You must turn OFF and disconnect the power before the covers of the robot are removed. The procedures and replacement of the parts mentioned in this manual must be per- formed only by the skilled or instructed persons. i4H Robots User's Manual (I660)

  • Page 19: Cautions

    The design and installation of the complete system must comply with the safety stand- ards and regulations in the country of use. The integrators of the robot should under- stand the safety laws and regulations in their countries and prevent major hazards from occurring in the complete system. i4H Robots User's Manual (I660)

  • Page 20: Precautions For Safe Use

    • Do not connect user-supplied Manual / Automatic contacts or other control signals in parallel with the Front Panel switch contact. This would violate the Single Point of Control principle and might al- low Automatic mode to be selected while an operator is in the cell. i4H Robots User's Manual (I660)
  • Page 21 • Prior to placing the robot in Automatic Mode, all safeguards must be returned to their safe state. • After the robot is placed in Manual mode using the Front Panel key switch, the key should be re- moved for safety purposes. i4H Robots User's Manual (I660)

  • Page 22: Precautions For Correct Use

    • Only replace items on the robot system with the parts supplied by OMRON. • Only use the recommended grease on the joint 3 quill. Refer to the provided Safety Data Sheet for proper handling.
  • Page 23 • Keep a minimum of 300 mm clearance behind the robot to avoid unmounting of the robot in case of amplifier chassis replacement and to allow for easy switch setting access. • Never loosen or remove the quill clamp collar while the z-axis brake is released. i4H Robots User's Manual (I660)

  • Page 24: Regulations And Standards

    Regulations and Standards Regulations and Standards The OMRON i4H robot series are compliant to the following standard: Regulation/Standard Description 2006/42/EC Machinery Directive. 2014/30/EU EMC Directive. EN ISO 12100 Safety of Machines - General Principles for Design - Risk Assessment and Reduction.

  • Page 25: Software Licenses And Copyrights

    Software Licenses and Copyrights Software Licenses and Copyrights This product incorporates certain third party software. The license and copyright information associat- ed with this software is available at http://www.fa.omron.co.jp/nj_info_e/. i4H Robots User's Manual (I660)

  • Page 26: Related Manuals

    Describes the setup, operation, and user maintenance for the Teaching Pendant T20. Robot Safety Guide (Cat. No. I590) Describes how to use the OMRON robot safely. V+ User's Manual (Cat. No. I671) Provides a description of the V+ programming lan- guage and functionality.

  • Page 27: Glossary

    This is a ball-screw mechanism. Work Envelope Working area that is accessible by the robot considering any end-of-arm tooling and part shapes that are attached. Workspace Total area that the robot occupies considering all capable range of motion. i4H Robots User's Manual (I660)

  • Page 28: Revision History

    A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. I660-E-02 Cat. No. Revision code Revision code Date Revised content April 2022 Updates and minor modifications. January 2022 Original production. i4H Robots User's Manual (I660)

  • Page 29: Overview

    Mount Adapter .................. 1-22 1-6-7 Camera Mounting Bracket and Adapter ............1-23 1-6-8 eCobra Tool Flange ..................1-24 1-6-9 Bellows ......................1-24 1-6-10 Wall Mount Bracket ..................1-24 1-6-11 Integrated Pneumatic Valves................. 1-25 1-6-12 Cable Seal..................... 1-26 i4H Robots User's Manual (I660)

  • Page 30: Intended Use

    It is designed to perform automated motion control typically used with material handling opera- tions. The i4H robot is capable of high speed, high-precision motion for payloads up to 15 kg. Its durable design and flexible programmability make it ideal for a wide variety of robotic applications.

  • Page 31: Robot Features

    1 Overview Robot Features This section provides information about the features of the i4H robot series. The following items sum- marize the main features of this robot. • High speed, precision, and payloads are possible with a robust mechanical design.

  • Page 32: Basic Robot Components

    Use the following diagrams to understand the robot's 4 axes of motion. Joint 2 Joint 1 Joint 3 (Z-axis) Joint 4 Interface Panels Use the information below to identify the robot's interface panels and their functions. i4H Robots User's Manual (I660)
  • Page 33 Control Power IN/1 OUT/2 Connector Ethernet Chassis XSYSTEM Ports Ground Connector  Secondary Interface Panel The Secondary Interface Panel is located on top of the outer link and provides access to the follow- ing items. i4H Robots User's Manual (I660)

  • Page 34: Other Components

    • Indicating the robot High Power and Control Power state. • Enabling robot High Power. Refer to 4-4-1 Robot High Power Operations on page 4-6 for more information. • Activating an emergency stop and disabling robot High Power. i4H Robots User's Manual (I660)
  • Page 35 • XFP Connections on page 3-38 • 4-3 Robot Control Modes on page 4-4 • 4-4-1 Robot High Power Operations on page 4-6 Mode Selection Switch High Power Indicator Control Power LED Indicator Emergency Stop Button High Power Enable Button i4H Robots User's Manual (I660)

  • Page 36: Connectors And Ports

    Refer to the following sections for more information. • USER Cable on page 1-22 • 2-5-2 Connector and Port Specifications on page 2-18 • 3-4-3 USER Connector Wiring on page 3-8 • A-5-4 USER Cable Pinouts on page A-10 i4H Robots User's Manual (I660)
  • Page 37 Front Panel, Teach Pendant, and other user-supplied safety devices. Additional Information Refer to the following sections for more information. • 2-5-2 Connector and Port Specifications on page 2-18 • Standard Connections on page 3-22 • A-5 Cable Pinouts on page A-7 i4H Robots User's Manual (I660)
  • Page 38 • 3-8 Connecting Pneumatic Equipment on page 3-33 Tool Ethernet Connector The Tool Ethernet connector provides Ethernet communications to user-supplied devices that can be mounted to the outer link or end-of-arm tooling. This connector provides an extension of the Ethernet network. 1-10 i4H Robots User's Manual (I660)

  • Page 39: Ip65 Rating

    • 3-7-2 TIO Connector Signals and Wiring on page 3-30 • A-5-5 TIO Cable Pinouts on page A-11 Some first-generation models do not support TIO and integrated pneumatic valve control. Con- tact your local OMRON representative for more information. 1-2-6 IP65 Rating The IP65 rating is for applications where wash-down is required.

  • Page 40: Food-Grade Rating

    • Bellows are provided for the Joint 3 quill. Refer to 1-6-9 Bellows on page 1-24 for more information. • Various gaskets, seals, and o-rings are present. Additional Information Robot models with a Cleanroom rating also have electrostatic discharge protection. 1-12 i4H Robots User's Manual (I660)

  • Page 41: Information Labels

    Z for December. FF is reserved for internal use. • Product origin information is displayed. Refer to 1-5 Model Numbers on page 1-16 for model information. 1-3-2 Controller Label The controller label is described below. 1-13 i4H Robots User's Manual (I660)
  • Page 42 1 to 9 for January to September, X for October, Y for Novem- ber, and Z for December. FF is reserved for internal use. • Product origin information is displayed. Refer to 1-5 Model Numbers on page 1-16 for model information. 1-14 i4H Robots User's Manual (I660)

  • Page 43: Robot Configurations

    1 Overview Robot Configurations The i4H robot is offered in a variety of configurations with different work envelopes and z-axis stroke lengths. 1-4-1 i4-650H The i4-650H has a reach of 650 mm and is offered in the following configurations. i4-650H Standard...

  • Page 44: Model Numbers

    / IP65) 410 mm (IP20 with Food Grade lu- brication) 1-5-2 Controller Model Numbers The table below provides all robot controller model numbers and descriptions. Model Number Description i4H-iCS Internal controller for the robot. 1-16 i4H Robots User's Manual (I660)

  • Page 45: Optional Hardware

    Additional Information Refer to the following areas for more information. • 3-7-3 IO Blox Connections on page 3-32 • Omron Adept IO Blox User's Guide (04638-000) 1-6-2 T20 Pendant The T20 pendant is an optional handheld device that allows you to manually jog the robot, teach loca- tions, and view V+ programs without a PC.

  • Page 46: Ipc Application Controller

    The XIO Termination Block is used to connect digital I/O devices to the robot. This unit provides termi- nal block connection points for 12 inputs and 8 outputs. LED indicators are provided to indicate 1-18 i4H Robots User's Manual (I660)

  • Page 47: Optional Cables

    The part number for the XIO Termination Block is 90356-40100 (2 m cable included). Additional Information Refer to the following areas for more information. • XIO Cable on page 1-21 • 1-6-5 Optional Cables This section provides information about optional cables that are available. 1-19 i4H Robots User's Manual (I660)
  • Page 48 The optional belt encoder Y-adapter cable connects to the XBELTIO adapter cable's BELT ENCODER connector. This cable provides individual connections for two belt encoder input signals. • The part number for this cable is 09443-000. • The length of this cable is 3 m. 1-20 i4H Robots User's Manual (I660)
  • Page 49 • The length of this cable is 3 m. Additional Information Refer to the following areas for more information. • 3-7-3 IO Blox Connections on page 3-32 • Omron Adept IO Blox User's Guide (04638-000) 1-21 i4H Robots User's Manual (I660)

  • Page 50: Ecobra Mount Adapter

    • The mount adapter is made from 6061-T6 aluminum. Additional Information Using this adapter will add an additional 19 mm between the robot and the mounting surface. Refer to 2-1-5 eCobra Mount Adapter Dimensions on page 2-7 for more information. 1-22 i4H Robots User's Manual (I660)

  • Page 51: Camera Mounting Bracket And Adapter

    • The weight of the camera mounting bracket is 120 grams. • The weight of the adapter plate is 37 grams. Additional Information Refer to 2-1-6 Camera Mounting Bracket and Adapter Dimensions on page 2-8 for more in- formation. 1-23 i4H Robots User's Manual (I660)

  • Page 52: Ecobra Tool Flange

    600/800 robot. The eCobra tool flange has the same bolt pattern as the typical eCobra tool flange and it fits the Z-axis quill of the i4H SCARA robot series. To replace the standard tool flange that is supplied with the robot with the optional eCobra tool flange, use the same procedure found in 6-2-1 Replacing the Tool Flange on page 6-12.

  • Page 53: Integrated Pneumatic Valves

    Precautions for Correct Use Pneumatic pass-through ports are re-purposed when the optional pneumatic valve kit is instal- led. Additional Information Refer to 3-8-2 Pneumatic Valve Kit on page 3-33 for more information. 1-25 i4H Robots User's Manual (I660)

  • Page 54: Cable Seal

    The Cable Seal Kit part number for a standard robot is 08765-000. The Cable Seal Kit part number for an inverted robot is 08765-200. Additional Information Refer to the following sections for more information. • A-1 Cable Seal Kit Installation Procedure on page A-2 • 2-1-9 Cable Seal Dimensions on page 2-9 1-26 i4H Robots User's Manual (I660)

  • Page 55: Specifications

    TIO Specifications ..................2-15 2-3-4 Belt Encoder Specifications................2-16 Environmental Specifications ..............2-17 Other Specifications ..................2-18 2-5-1 Ethernet Communication Specifications............2-18 2-5-2 Connector and Port Specifications ..............2-18 2-5-3 Mounting Screws and Torques ..............2-19 i4H Robots User's Manual (I660)

  • Page 56: Physical Specifications

    Standard Dimensions Overall dimensions for the i4-650H Standard are provided below. ±152° ±140° ±360° 418.5 i4-650H Long Quill Dimensions Overall dimensions for the i4-650H Long Quill are provided below. ±152° ±140° 1080 ±360° 418.5 i4H Robots User's Manual (I660)
  • Page 57 173.5 ±152° ±140° ±360° i4-750H Standard Dimensions Overall dimensions for the i4-750H Standard are provided below. 1056 ±152° ±140° ±360° 418.5 i4-750H Long Quill Dimensions Overall dimensions for the i4-750H Long Quill are provided below. i4H Robots User's Manual (I660)
  • Page 58 ±140° ±360° i4-750H Inverted Long Quill Dimensions Overall dimensions for the i4-750H Inverted Long Quill are provided below. 1056 173.5 ±152° ±140° ±360° i4-850H Standard Dimensions Overall dimensions for the i4-850H Standard are provided below. i4H Robots User's Manual (I660)
  • Page 59 1080 ±360° 418.5 i4-850H Inverted Dimensions Overall dimensions for the i4-850H Inverted are provided below. 1156 ±152° ±140° ±360° i4-850H Inverted Long Quill Dimensions Overall dimensions for the i4-850H Inverted Long Quill are provided below. i4H Robots User's Manual (I660)

  • Page 60: Mounting Flange Dimensions

    4X Ø 14 THRU +0.02 Ø 8 332 375 +0.02 Ø 8 2-1-3 Tool Flange Dimensions The robot's tool flange dimensions are provided below. Geometry and tolerances meet ISO-9409-1-50-4-M6 (2004) requirements for manipulating industrial robots. i4H Robots User's Manual (I660)

  • Page 61: Front Panel Dimensions

    4 X M6 X 1.0 THRU 45° +0.013 THRU 2-1-4 Front Panel Dimensions The Front Panel dimensions are provided below. Ø 4 2-1-5 eCobra Mount Adapter Dimensions The eCobra mount adapter dimensions are provided below. i4H Robots User's Manual (I660)

  • Page 62: Camera Mounting Bracket And Adapter Dimensions

    Add 2.0 kg to the weights below for robots with a Cable Seal and bellows present. Robot Model Weight i4-650H Standard 50.4 kg i4-650H Inverted i4-650H Long Quill 50.8 kg i4-650H Inverted Long Quill i4-750H Standard 50.9 kg i4-750H Inverted i4H Robots User's Manual (I660)

  • Page 63: Wall Mount Bracket Dimensions

    4X R15 0.000 4X Ø 8.0 -0.015 THRU 4X Ø 13.5 THRU ALL 9 STOCK 582.7 0.75 42° 0.75 442 ±2.0 12.0 STOCK 468 ±2.0 2-1-9 Cable Seal Dimensions Cable Seal dimensions are provided below. i4H Robots User's Manual (I660)

  • Page 64: Performance Specifications

    Stopping Distances and Times The following graphs present information required by Clause 7.2 n of ISO 10218-1. This information should be used to calculate the safe distance needed when designing and installing safeguarding de- vices. 2-10 i4H Robots User's Manual (I660)
  • Page 65 33%, 66% and 100% of the maximum payload (15 kg). Data provided is for the three joints of greatest displacement (J1, J2, and J3). Joint 1 Stopping Time 5 kg 10 kg 15 kg Speed (%) Joint 1 Stopping Distance 5 kg 10 kg 15 kg Speed (%) 2-11 i4H Robots User's Manual (I660)
  • Page 66 Joint 2 Stopping Time 5 kg 10 kg 15 kg Speed (%) Joint 2 Stopping Distance 5 kg 10 kg 15 kg Joint 3 Stopping Time 5 kg 10 kg 15 kg Speed (%) 2-12 i4H Robots User's Manual (I660)
  • Page 67 2 Specifications Joint 3 Stopping Distance 5 kg 10 kg 15 kg 2-13 i4H Robots User's Manual (I660)

  • Page 68: Electrical Specifications

    3-phase system), which will cause high current pulses at relatively low voltage levels. You must take the necessary steps to prevent damage to the robot. 2-3-2 XIO I/O Specifications Specifications for the XIO input and output circuits are provided below. 2-14 i4H Robots User's Manual (I660)

  • Page 69: Tio Specifications

    0 to 7.5 mA OFF state current range 0 to 0.5 mA ON state current range 2.5 to 6 mA Typical threshold current 2.0 mA Impedance (V 3.9 kΩ Current at 24 VDC < 6 mA 2-15 i4H Robots User's Manual (I660)

  • Page 70: Belt Encoder Specifications

    Counting unit Pulses Counter range -8388607 to 8388608 ON voltage/current 2 to 5 VDC OFF voltage/current 0 to 0.8 VDC Input current 100 μA 5 VDC output rating 5 VDC ±10% 1 A max. 2-16 i4H Robots User's Manual (I660)

  • Page 71: Environmental Specifications

    Food Grade model: Food Grade Lubrication, NSF H1, ISO 21469 certified • IP65 model: NEMA Type 4, Food Grade Lubrication, NSF H1, ISO 21469 certified • Electrostatic Discharge Protection, Cleanroom mod- el: ISO 4 / Class 10 2-17 i4H Robots User's Manual (I660)

  • Page 72: Other Specifications

    Connector assembly consists of the following items: • Housing: Harting 09 15 100 0307 • Insert: Harting 09 15 119 3101 • Pins: Harting 09 15 100 6201(1 mm size) and 09 15 100 6211 (1.5 mm size) 2-18 i4H Robots User's Manual (I660)

  • Page 73: Mounting Screws And Torques

    M12 x 1.75 mm 10.9 or 12.9 96 to 104 N-m • Screw DIN 912 or ISO 4782 Hex Nuts (through hole mounting only) • Flat Washer –- • DIN 125 or ISO 7089 2-19 i4H Robots User's Manual (I660)
  • Page 74 2 Specifications 2-20 i4H Robots User's Manual (I660)

  • Page 75: Installation

    3-10 Supplying Power and Ground..............3-43 3-10-1 Grounding the System................... 3-43 3-10-2 DC Connections .................... 3-44 3-10-3 AC Connections .................... 3-45 3-11 Verifying Installation ..................3-46 3-11-1 Mechanical Checks ..................3-46 3-11-2 System Cable Checks ................... 3-46 i4H Robots User's Manual (I660)
  • Page 76 3 Installation 3-11-3 Safety Equipment Checks ................3-46 3-11-4 Switch Position Checks ................. 3-48 i4H Robots User's Manual (I660)

  • Page 77: Robot Installation Procedure

    Refer to 3-9 Installing Safety Equipment on page 3-35 for more information. Make power and ground connections. Refer to 3-10 Supplying Power and Ground on page 3-43 for more information. Verify the robot installation. Refer to 3-11 Verifying Installation on page 3-46 for more information. i4H Robots User's Manual (I660)

  • Page 78: Mounting The Robot

    Use the following procedure to mount the robot to a horizontal surface. If mounting the robot to a vertical surface using a wall mount bracket, fasten the wall mount bracket to the surface before attaching the robot. Refer to the following sections for more information. i4H Robots User's Manual (I660)
  • Page 79 Torque the mounting screws in a criss-cross sequence using a minimum of three passes until the required torque of 96 to 104 N-m is achieved. After all four screws have been tightened to the specified torque, the mounting procedure is complete. i4H Robots User's Manual (I660)

  • Page 80: Installing End-Of-Arm Tooling

    DANGER Failure 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. i4H Robots User's Manual (I660)

  • Page 81: Installing Optional Equipment

    Refer to 2-5-2 Connector and Port Specifications on page 2-18 for more information about the Tool Ethernet connector type. PIN 1, Transmit + (TD+) PIN 2, Receive + (RD+) PIN 4, Receive - (RD-) PIN 3, Transmit - (TD-) i4H Robots User's Manual (I660)

  • Page 82: User Connector Wiring

    Refer to 6-2-1 Replacing the Tool Flange on page 6-12 for more information. • The procedure below installs the upper bellows first and then the lower bellows next. i4H Robots User's Manual (I660)
  • Page 83 Slide the bellows down the quill and then wrap it around the exterior of the robot housing. Orientation of the bellows is not required because it is symmetrical. Take care to ensure the bellows is wrapped evenly and completely around the robot housing. i4H Robots User's Manual (I660)
  • Page 84 Tighten to a torque of 0.6 N-m. Place the upper bearing adapter on the top of the quill. Ensure the upper bearing adapter is completely seated on top of the quill. 3-10 i4H Robots User's Manual (I660)
  • Page 85 This may require stretching the bellows slightly so it can be positioned over the upper bearing adapter lip. Place the two halves of the large clamp on the upper bearing adapter. The bellows should be evenly positioned between the upper bearing adapter and the large clamp. 3-11 i4H Robots User's Manual (I660)
  • Page 86 Begin the lower bellows installation by sliding the bellows up the quill and then wrap it around the exterior of the robot housing. Orientation of the bellows is not required because it is symmetrical. Take care to ensure the bellows is wrapped evenly and completely around the robot housing. 3-12 i4H Robots User's Manual (I660)
  • Page 87 Tighten to a torque of 0.6 N-m. Place the large o-ring (2) on the tool flange (1), slide the tool flange bearing adapter (3) over the tool flange (1), and then secure the assembly with the lock ring (4). 3-13 i4H Robots User's Manual (I660)
  • Page 88 This may require stretching the bellows slightly so it can be positioned over the tool flange bearing adapter lip. Place the large clamp on the tool flange bearing adapter. The bellows should be evenly positioned between the tool flange bearing adapter and the large clamp. 3-14 i4H Robots User's Manual (I660)

  • Page 89: Pneumatic Valve Kit Installation Procedure

    22776-000 Port Blocking Plug 22755-000 M4 x 30 Screws 04221191066-0030 M4 Lock Washers 18913-000 Loctite 545 87101-00545 Pneumatic Line Fittings 19107-002 Wire Harness 20005-000 Pneumatic Line 20013-000 Pneumatic Line Cap 22757-000 Cable Tie 27300-00023 3-15 i4H Robots User's Manual (I660)
  • Page 90 Interface Panel. Take note about the line number arrangement before removing. This will be used in the next step. Insert the previously removed 6 mm pneumatic lines into the valve manifold ports as shown below. 3-16 i4H Robots User's Manual (I660)
  • Page 91 Insert a 3 mm hex bit into the fitting to tighten it. Apply Loctite thread lock 545 before inserting the fittings. Tighten the fittings to 9 N-m using a 3 mm hex bit. 3-17 i4H Robots User's Manual (I660)
  • Page 92 Connect the pneumatic valve assembly solenoids to the outer link control board using the pro- vided wiring harness. Use the diagram below to understand the correct connections. Position the wire harness in a location that prevents it from interfering with moving parts such as a fan or belt. 3-18 i4H Robots User's Manual (I660)
  • Page 93 Secure the wire harness to a rigid location that prevents it from interfering with moving parts such as a fan or belt. Trim any excess cable tie material using cutters. Replace the outer link cover to complete this procedure. 3-19 i4H Robots User's Manual (I660)

  • Page 94: Adjustable Hardstop Details

    • Torque wrench. • 3 mm hex key. • Loctite thread lock type 243 and 222 or equivalent. Joint 1 Hardstop Adjustment Procedure Use the following procedure to make adjustments to the Joint 1 hardstops. 3-20 i4H Robots User's Manual (I660)
  • Page 95 Repeat steps 2 and 3 if a second hardstop is required. Replace the Joint 1 hardstop cover. Apply Loctite 222 or equivalent to the fasteners, insert them, and tighten to a torque of 1.1 N-m to complete this procedure. 3-21 i4H Robots User's Manual (I660)

  • Page 96: System Cable Installation

    The following figure shows standard connections with the XSYSTEM cable. This cable is supplied with the robot. Additional Information Refer to 3-9 Installing Safety Equipment on page 3-35 for more information about XFP, XUSR, and XMCP connections. 3-22 i4H Robots User's Manual (I660)
  • Page 97 The following figure shows optional connections to the robot. Additional Information Refer to 3-7 Connecting Digital I/O on page 3-26 for more information about connecting I/O with IO Blox Units or with the XIO connector. 3-23 i4H Robots User's Manual (I660)

  • Page 98: System Cable Installation Procedure

    Refer to 3-6-1 System Cable Overview on page 3-22 for more information. Connect all user-supplied safety equipment to the XUSR connector on the XSYSTEM cable. Refer to 3-9 Installing Safety Equipment on page 3-35 for more information. 3-24 i4H Robots User's Manual (I660)
  • Page 99 3 Installation If applicable, connect devices to the XBELTIO connector and the USER connectors. Refer to Optional Connections on page 3-23 for more information. Connect the robot to the Ethernet network. 3-25 i4H Robots User's Manual (I660)

  • Page 100: Connecting Digital I/O

    --– 24 VDC Common 1 Input 1.1 Input 2.1 Input 3.1 Input 4.1 Input 5.1 Input 6.1 Ground 24 VDC Common 2 Input 1.2 Input 2.2 Input 3.2 Input 4.2 Input 5.2 Input 6.2 3-26 i4H Robots User's Manual (I660)
  • Page 101 Each channel is capable of switching up to 0.7 A of current. This driver has over-temperature protection, shorted load protection, and is current limiting. The driver draws power from the 24 VDC Control Power supplied to the robot through a self-reset- ting polyfuse. 3-27 i4H Robots User's Manual (I660)
  • Page 102 Use the following diagrams for XIO Breakout cable pinout information. PIN 1 PIN 9 PIN 10 PIN 18 PIN 19 PIN 26 Pin Number Signal Wire Color White 24 VDC White / Black Common 1 Input 1.1 Red / Black 3-28 i4H Robots User's Manual (I660)
  • Page 103 An XIO termination block can be connected directly to the XIO connector to provide simple wiring and access to the built-in I/O. Additional Information Refer to the Adept XIO Termination Block Installation Guide (00340-000) for more information. 3-29 i4H Robots User's Manual (I660)

  • Page 104: Tio Connector Signals And Wiring

    • Refer to A-5-5 TIO Cable Pinouts on page A-11 for more information. Wire Color Signal V+ Signal Number Black 24 VDC White Output 1 Green Output 2 Yellow Output 3 Brown Output 4 Blue Input 1 1017 3-30 i4H Robots User's Manual (I660)
  • Page 105 Use surge suppression when switching inductive loads such as relays to prevent damage to the output circuits. Additional Information If there is an output short or other over-current condition, the affected output of the driver inte- grated circuit turns OFF until the condition is removed. 3-31 i4H Robots User's Manual (I660)

  • Page 106: Io Blox Connections

    IO Blox units can be connected as shown below. Additional Information Refer to the following areas for more information. • A-4 I/O Signal Numbering on page A-6 • Omron Adept IO Blox User's Guide (04638-000) XBELTIO Adapter Cable EXPIO to...

  • Page 107: Connecting Pneumatic Equipment

    • A-4 I/O Signal Numbering on page A-6 • 3-4-5 Pneumatic Valve Kit Installation Procedure on page 3-15 Use the information in the table below to understand port designations when a pneumatic valve kit is installed. 3-33 i4H Robots User's Manual (I660)
  • Page 108 • Signal OFF: pressure Valve 2 • Signal ON: pressure • Signal OFF: exhaust Valve 3 • Signal ON: exhaust • Signal OFF: pressure Valve 3 • Signal ON: pressure • Signal OFF: exhaust 3-34 i4H Robots User's Manual (I660)

  • Page 109: Installing Safety Equipment

    The length of the XSYSTEM cable (1.8 m) and the length of the Front Panel extension cable (3 m) should also be considered when choosing an installation location. If you need to extend the Front Pan- el beyond the supplied cable distance, contact your local OMRON representative for more information. DANGER Any High Power push-buttons must be installed outside of the robot's workspace.

  • Page 110: Safety Circuits

    The XMCP connector provides access to the following safety circuits that are use with a connected Teach Pendant. • Dual channel E-stop button inputs. • Dual channel pendant enable switch inputs. Use the diagram below to understand safety circuits. 3-36 i4H Robots User's Manual (I660)
  • Page 111 1, 14 Emergency stop channel 1 input Typically connected to normally closed contacts on user- supplied safety devices such as E-stop buttons, safety 2, 15 Emergency stop channel 2 input switches, or safety relays. 3-37 i4H Robots User's Manual (I660)
  • Page 112 Use the information in the following table to understand the signals provided on the XFP connector. PIN 8 PIN 1 PIN 15 PIN 9 Additional Information Refer to Front Panel Connections on page 3-36 for more information. 3-38 i4H Robots User's Manual (I660)
  • Page 113 IEC 60204-1 and ISO 13849. The E-Stop's push button must comply with ISO 13850. Precautions for Correct Use Do not disable or bypass the High Power button. This will violate IEC 60204-1. 3-39 i4H Robots User's Manual (I660)
  • Page 114 • The part number for the XFP jumper plug is 10053-000. XMCP Connections Use the information in the following table to understand the signals provided on the XMCP connector. PIN 8 PIN 1 PIN 15 PIN 9 3-40 i4H Robots User's Manual (I660)
  • Page 115 Never run a robot system with all jumpers installed. This would leave the system with no E-Stops. Additional Information • The XMCP jumper plug is supplied with the robot. • The part number for the XMCP jumper plug is 10052-000. 3-41 i4H Robots User's Manual (I660)
  • Page 116 Additional Information • The jumper plug is supplied with the Teach Pendant kit. • The part number for the Teach Pendant jumper plug is 10048-000. 3-42 i4H Robots User's Manual (I660)

  • Page 117: 3-10 Supplying Power And Ground

    High Power Ground Chassis Ground Housing Ground 3-43 i4H Robots User's Manual (I660)

  • Page 118: Dc Connections

    Use the illustration below to understand the polarity of the mating connector. Additional Information A connector and pins are included with the robot. The part number for this assembly is 22822-200. +24 VDC 0 VDC 3-44 i4H Robots User's Manual (I660)

  • Page 119: Ac Connections

    Primary Interface Panel 1 Φ, 200-240 VAC 12 A Fuse / Breaker Slow-blow Type Line 1 200-240 VAC 3 Φ Line 2 200-240 VAC Line 3 (unused) Earth Ground Primary Interface Panel 1 Φ, 200-240 VAC 3-45 i4H Robots User's Manual (I660)

  • Page 120: 3-11 Verifying Installation

    High Pow- Configuration will set predetermined speed limits for each robot motor. Verification will verify that Teach Restrict operations are functioning properly in Automatic and Manual modes. 3-46 i4H Robots User's Manual (I660)
  • Page 121 The High Power indicator needs to be periodically checked for correct functionality. The following considerations should be made before beginning the High Power indicator check proce- dure. • Control power and High Power supplies need to be available. 3-47 i4H Robots User's Manual (I660)

  • Page 122: Switch Position Checks

    Check that the High Power indicator flashes. After the High Power request is made and the in- dicator is checked, the procedure is complete. 3-11-4 Switch Position Checks Switch positions on the Primary Interface Panel are reserved for future use and do not impact func- tionality of the robot. 3-48 i4H Robots User's Manual (I660)
  • Page 123 Built-in Brake Release Button ............... 4-10 4-7-2 Remote Brake Release ..................4-11 Manually Jogging the Robot ............... 4-12 Robot Positioning ..................4-13 4-9-1 Joint Zero Position..................4-13 4-9-2 Ready Position ....................4-13 4-9-3 Right-Left Arm Configurations ............... 4-14 i4H Robots User's Manual (I660)

  • Page 124: Connecting To The Robot

    If no controller(s) is detected, check the Ethernet network and cables and ensure that a network connection is available to the robot and the PC. After the desired robot controller appears with the proper network settings, click the Connect Button to establish a connection and complete this procedure. i4H Robots User's Manual (I660)

  • Page 125: Payload And Acceleration Considerations

    Payload Z-Location vs. Acceleration at 100% Speed (Linear Moves Only) 1100 1000 1 kg 2 kg 3 kg 4 kg 5 kg 10 kg 15 kg Payload Z-Location (mm) = Joint 3 Position + Payload Center of Gravity i4H Robots User's Manual (I660)

  • Page 126: Robot Control Modes

    4-3-2 Automatic Mode Automatic mode is used when the robot is operating under normal conditions. When the robot is placed in Automatic mode, program execution will control the robot up to the maxi- mum speed. i4H Robots User's Manual (I660)
  • Page 127 Changing the robot control mode will automatically disable High Power. WARNING In Automatic mode, the robot can move unexpectedly. Ensure all personnel remain clear of the cell when Automatic mode is enabled. i4H Robots User's Manual (I660)

  • Page 128: Enabling And Disabling The Robot

    If a fault is present, the robot will not enter the High Power state. The AUTO.POWER.OFF system switch controls if the robot prevents or disables High Power for spe- cific errors. Refer to the V+ Keyword Reference Manual (Cat. No. I672) for more information. i4H Robots User's Manual (I660)
  • Page 129 If a pendant is connected to the robot, it can be used to control High Power. Refer to the T20 Pendant User's Manual (Cat. No. I601) for more information.  Faults and Emergency Stops Robot faults and E-stop open circuit detection will disable High Power. i4H Robots User's Manual (I660)

  • Page 130: Led Light Ring

    The robot is in a normal operating state while in Manual mode. Fast Flashing Red (1 Hz) The robot is in an error state from an emergency stop or other condition. Solid Red The robot has a system error. i4H Robots User's Manual (I660)

  • Page 131: Lcd Display

    The robot is in an idle state with no errors present. The robot is in a normal operating state while in Automatic mode. The robot is in a normal operating state while in Manual mode. i4H Robots User's Manual (I660)

  • Page 132: Brake Operation

    24 VDC control power is ON and High Power is disabled will release the brake. The brake will remain released while the button is pressed. Releasing the button will re-enable the brake. 4-10 i4H Robots User's Manual (I660)

  • Page 133: Remote Brake Release

    To comply with ISO 10218-1 when using a remote brake release button, ensure the brake re- lease button displays a warning label to indicate that the z-axis of the robot may fall due to grav- ity if the brake is released. 4-11 i4H Robots User's Manual (I660)

  • Page 134: Manually Jogging The Robot

    • The robot can be jogged with the pendant while in Automatic mode or in Manual mode. • The robot can be jogged with the software while in Automatic mode. If the pendant is connected, it must be set to COMP to allow the software to jog the robot. 4-12 i4H Robots User's Manual (I660)

  • Page 135: Robot Positioning

    Ready positions provided below may vary slightly due to nulling tolerances. Model Joint 1 Position Joint 2 Position Joint 3 Position Joint 4 Position i4-650H -32.86° 80.58° 10.00 mm 47.72° i4-750H -48.19° 96.38° 10.00 mm 48.19° i4-850H -45.15° 109.95° 10.00 mm 63.90° 4-13 i4H Robots User's Manual (I660)

  • Page 136: Right-Left Arm Configurations

    Moves to precision points are not affected by arm configurations because these points are unique joint positions. Refer to the V+ Keyword Reference Manual (Cat. No. I672) for more information. Left Arm Right Arm Configuration Configuration 4-14 i4H Robots User's Manual (I660)

  • Page 137: Troubleshooting

    Troubleshooting This section provides robot troubleshooting information. Fault Detection ....................5-2 Emergency Stop Troubleshooting..............5-3 Error Messages ....................5-4 i4H Robots User's Manual (I660)

  • Page 138: Fault Detection

    • Create a V+ program to change the state of an output signal when a fault is present. Refer to the V+ User's Manual (Cat. No. I671) for more information. • Use the LED light ring and LCD display to visually see when a fault is present. i4H Robots User's Manual (I660)

  • Page 139: Emergency Stop Troubleshooting

    • XFP jumper plug (part number 10052-000) • XUSR jumper plug (part number 04736-000) • XMCP jumper plug (10052-000) WARNING Never run a robot system with all jumpers installed. This would leave the system with no E-Stops. i4H Robots User's Manual (I660)

  • Page 140: Error Messages

    Error Messages The following table lists robot error messages. Additional Information Other system messages may be present. Use the ACE Software to check for these messages. If errors persist, contact your local OMRON representative. Error Message Explanation Corrective Action 24 VDC power fault.
  • Page 141 5 Troubleshooting Error Message Explanation Corrective Action Processor overloaded. Contact your local OMRON representative for A servo task has overrun its allotted support. execution window. RSC fault. Contact your local OMRON representative for There is a failure to communicate with support.
  • Page 142 5 Troubleshooting i4H Robots User's Manual (I660)
  • Page 143 Maintenance This section provides information on the maintenance of the i4H robot. Periodic Maintenance ..................6-2 6-1-1 Periodic Maintenance Overview..............6-2 6-1-2 Checking Safety Functions................6-3 6-1-3 Checking Fastener Torques ................6-4 6-1-4 Checking Safety and Warning Labels ............. 6-4 6-1-5 Checking for Oil Leaks ..................

  • Page 144: Periodic Maintenance

    6-1-9 Cleaning the Robot on page Bellows inspection 1 week 6-1-10 Bellows Inspection on page 150 km of linear travel is approximately 2 weeks if a robot is operating 24 hours per day for 7 days per week. i4H Robots User's Manual (I660)

  • Page 145: Checking Safety Functions

    Make a High Power request using one of the methods described in High Power Control Meth- ods on page 4-7. Check that the High Power indicator flashes. After the High Power request is made and the in- dicator is checked, the procedure is complete. i4H Robots User's Manual (I660)

  • Page 146: Checking Fastener Torques

    The joint 3 quill needs to be lubricated on a periodic basis of 3 months or 150 km of linear travel, whichever comes first. 150 km of linear travel is approximately 2 weeks if a robot is operating 24 hours per day for 7 days per week. i4H Robots User's Manual (I660)
  • Page 147 Press the brake release button while moving the z-axis to the bottom of its stroke to expose the lower section of the quill. Remove any existing grease or debris from the newly exposed section of the quill with a clean, lint-free cloth. i4H Robots User's Manual (I660)

  • Page 148: Replacing Encoder Batteries

    There are two connectors near the battery pack. Ensure that at least one battery pack is connected at all times during this procedure. Use the following diagram to identify items referenced during the replacement procedure. LCD Display Battery Pack J3 Connector J4 Connector Plastic Strap i4H Robots User's Manual (I660)

  • Page 149: Harmonic Drive Oil Change

    OMRON representative. Precautions for Correct Use Only replace items on the robot system with the parts supplied by OMRON. Remove the four screws that fasten the LCD display assembly to the robot. Tilt the LCD display assembly forward and carefully lift and move it away from the robot. Take care not to strain or damage the cables.

  • Page 150: Cleaning The Robot

    • The upper and lower bellows are identical and interchangeable. • A bellows replacement kit includes the upper and lower bellows items. Begin the upper bellows removal by removing the large clamp from the upper bearing adapter using a 2.5 mm hex bit. i4H Robots User's Manual (I660)
  • Page 151 Loosen the upper bearing adapter clamp using a 3 mm hex bit and then remove it from the quill. Remove the small clamp from the robot housing using a 2.5 mm hex bit. Take note of the orientation of the small clamp before removal. i4H Robots User's Manual (I660)
  • Page 152 The tool flange includes a bearing adapter to accommodate the lower bellows. Disassembly of these components is not required. Remove the small clamp from the robot housing using a 2.5 mm hex bit. 6-10 i4H Robots User's Manual (I660)
  • Page 153 6 Maintenance Remove the bellows by pulling them downward and off of the quill. Refer to 3-4-4 Bellows Installation Procedure on page 3-8 to install the replacement bellows and complete this procedure. 6-11 i4H Robots User's Manual (I660)

  • Page 154: Non-Periodic Maintenance

    Precautions for Correct Use When removing and replacing the tool flange, you must reinstall it in the same position to avoid losing the calibration for the robot. 6-12 i4H Robots User's Manual (I660)

  • Page 155: Replacing The Amplifier Chassis

    6-2-2 Replacing the Amplifier Chassis The amplifier chassis can be replaced in the event of repair or upgrade. Precautions for Correct Use Follow appropriate ESD procedures when removing or replacing the amplifier chassis. 6-13 i4H Robots User's Manual (I660)
  • Page 156 Refer to 3-11-3 Safety Equipment Checks on page 3-46 for more information. Disconnect all external cables connected to the Primary Interface Panel. Remove the six M5 X 16 screws securing the amplifier chassis to the robot base. 6-14 i4H Robots User's Manual (I660)
  • Page 157 Take note of the internal harness and cable routing. Similar routing must be used when reas- sembling the components. Disconnect the following items from the amplifier chassis: • Ground connection • Encoder and I/O connections • Motor power connection • End-of-arm PCA connection 6-15 i4H Robots User's Manual (I660)
  • Page 158 After all internal connections have been removed, slide the amplifier chassis out of the robot base completely. Remove the Micro SD card from the amplifier chassis. Press the Micro SD card in and then release to eject it from the slot. Micro SD Card 6-16 i4H Robots User's Manual (I660)

  • Page 159: Replacing The Outer Link Cover

    Disconnect all cables as well as any pneumatic tubing connected to the Secondary Interface Panel. Remove the quill clamp collar from the top of the quill by loosening the socket-head capscrew and then slide the collar off of the quill. 6-17 i4H Robots User's Manual (I660)
  • Page 160 Apply 2.8 N-m of torque to the socket-head capscrew to secure the clamp collar. Connect all previously disconnected cables as well as any pneumatic tubing connected to the Secondary Interface Panel to complete this procedure. 6-18 i4H Robots User's Manual (I660)
  • Page 161 XSYSTEM Cable Pinouts................A-7 A-5-2 XBELTIO Adapter Cable Pinouts ..............A-9 A-5-3 Belt Encoder Y-adapter Cable Pinouts ............A-9 A-5-4 USER Cable Pinouts ..................A-10 A-5-5 TIO Cable Pinouts ..................A-11 Parts List ...................... A-12 i4H Robots User's Manual (I660)

  • Page 162: A-1 Cable Seal Kit Installation Procedure

    Apply thread lock to the four M4 X 50 mm screws, insert, and tighten using a 3 mm hex key to fasten the Cable Seal Housing to the robot. Tighten to a torque of 2.4 N-m. Ensure that the gasket is seated between Primary Interface Panel surface and the Cable Seal Housing. i4H Robots User's Manual (I660)
  • Page 163 Cable Entry Cover is completely secured to the Cable Seal Housing. Tighten to a torque of 7.3 N-m. After Cable Entry Cover is attached to the Cable Seal Housing, this installation procedure is complete. i4H Robots User's Manual (I660)

  • Page 164: A-2 Repacking The Robot For Transport

    The robot must be carefully packed if it needs to be transported. Reuse all original packing containers and materials and follow all safety guidelines detailed in the installation section of this manual. Reverse the installation instructions to repack the robot for transport. i4H Robots User's Manual (I660)

  • Page 165: Transportation And Storage Considerations

    This could damage the robot. Use a forklift or pallet jack to transport the packaged equipment in an upright position. Always keep the ISO double-arrows on the sides of the crate oriented up. i4H Robots User's Manual (I660)

  • Page 166: A-4 I/O Signal Numbering

    3001 to 3003 IO Blox 1 OFF, OFF 65 to 72 IO Blox 2 ON, OFF 73 to 80 IO Blox 3 OFF, ON 81 to 88 IO Blox 4 ON, ON 89 to 96 i4H Robots User's Manual (I660)

  • Page 167: A-5 Cable Pinouts

    Appendix A-5 Cable Pinouts Cable pinout information is provided below. A-5-1 XSYSTEM Cable Pinouts Use the following diagrams for XSYSTEM cable pinout information. i4H Robots User's Manual (I660)
  • Page 168 PIN 33 PIN 13 PIN 15 PIN 8 PIN 15 PIN 3 PIN 4 SHELL SHELL PIN 21 PIN 6 PIN 1 PIN 8 PIN 22 PIN 3 PIN 35 PIN 2 PIN 36 PIN 1 i4H Robots User's Manual (I660)

  • Page 169: A-5-2 Xbeltio Adapter Cable Pinouts

    PIN 3 PIN 26 (RXD) PIN 2 PIN 18 (GND) PIN 5 SHIELD PIN 9 SHIELD PIN 6 A-5-3 Belt Encoder Y-adapter Cable Pinouts Use the following diagrams for Belt Encoder Y-adapter cable pinout information. i4H Robots User's Manual (I660)

  • Page 170: A-5-4 User Cable Pinouts

    Wire Color Black Light blue White Pink White / Black Green Red / Black Yellow Green / Black Brown Yellow / Black Blue Brown / Black Orange Blue / Black Gray Orange / Black Purple A-10 i4H Robots User's Manual (I660)

  • Page 171: Tio Cable Pinouts

    Output 1 Green Output 2 Yellow Output 3 Brown Output 4 Blue Input 1 Orange Input 2 Gray Input 3 Purple Input 4 Light Blue Input 5 Pink 0 VDC White/Black Red/Black Green/Black Yellow/Black Brown/Black A-11 i4H Robots User's Manual (I660)

  • Page 172: A-6 Parts List

    Includes con- Jumpers Connector nector, pins, and retaining clip. Control Power 22822-200 Includes con- Connector nector and pins. XFP Jumper 10053-000 Plug XUSR Jumper 04736-000 Plug XMCP Jumper 10052-000 Plug T20 Pendant 10048-000 Jumper Plug A-12 i4H Robots User's Manual (I660)
  • Page 173 IO Blox Kit (ro- 90356-30200 Includes 300 bot connection) mm cable to connect directly to the robot. IO Blox Kit (IO 90356-30100 Includes 200 Blox connection) mm cable to connect to an- other IO Blox unit. A-13 i4H Robots User's Manual (I660)
  • Page 174 210 mm are includ- Bellows Installa- 19464-004F All components tion Kit, Long for installing bel- Quill lows on a stand- ard robot with a Joint 3 quill length of 410 mm are includ- A-14 i4H Robots User's Manual (I660)
  • Page 175 Use with IP20 (standard) models only. Use with IP20 (Food Grade) or IP65 models only. Not for use with IP20 (standard) or Cleanroom models. IP65 and Cleanroom / ESD models only. IP65 models only. A-15 i4H Robots User's Manual (I660)
  • Page 176 Appendix A-16 i4H Robots User's Manual (I660)
  • Page 177 Index i4H Robots User's Manual (I660)
  • Page 178 Joint 3................1-4 Controller Label............... 1-13 Joint 4................1-4 Cycle Time...............2-10 Joint Ranges..............2-10 Joint Speeds..............2-10 Jumper Plugs Teach Pendant............. 3-42 Dimensions XFP................3-40 Camera Mounting Bracket..........2-8 XUSR................3-38 eCobra Mount Adapter...........2-7 XMCP................3-41 Front Panel..............2-7 i4H Robots User's Manual (I660)
  • Page 179 Power Supply..............2-14 Primary Interface Panel............. 1-5 Quill................... 1-4 Ready Position..............4-13 Repeatability..............2-10 Right-Arm................ 4-14 Robot Label..............1-13 Safety Circuits..............3-36 Secondary Interface Panel..........1-5 Storage Temperature............2-17 Switch Settings..............3-48 T20 Pendant..............1-17 Tool Flange................ 1-4 i4H Robots User's Manual (I660)
  • Page 180 Index i4H Robots User's Manual (I660)
  • Page 182 4225 Hacienda Drive, Pleasanton, CA 94588 OMRON ASIA PACIFIC PTE. LTD. U.S.A. No. 438A Alexandra Road # 05-05/08 (Lobby 2), © OMRON Corporation 2022 All Rights Reserved. OMRON (CHINA) CO., LTD. Alexandra Technopark, In the interest of product improvement, Room 2211, Bank of China Tower, Singapore 119967 specifications are subject to change without notice.

This manual is also suitable for:

I4-650hI4-750hI4-850h

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