Omron i4-350L User Manual
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Omron i4-350L User Manual

Robots with ethercat
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i4L
Robots with EtherCAT
User's Manual
i4-350L
i4-450L
i4-550L
I659-E-01

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  • Page 1 Robots with EtherCAT User's Manual i4-350L i4-450L i4-550L I659-E-01...
  • 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 i4L robot. This manual is OMRON's original instructions describing the setup, operations, and user maintenance of the i4L 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

    Manual Information Manual Information Page Structure The following page structure is used in this manual. 5 Installation Unpack This section provides details on how to unpack the Industrial Panel PC. 5-1-1 Unpack Procedure Check the package for damage. If there is any visible damage: •...

  • Page 5: Special Information

    Manual Information Special Information Special information in this manual is classified as follows: Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage of the product. Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance. Additional Information Additional information to read as required.
  • Page 6 Manual Information i4L Robots with EtherCAT User's Manual (I659)

  • Page 7: Sections In This Manual

    Sections in this Manual Sections in this Manual Overview Specifications Installation Operation Troubleshooting Maintenance Appendices i4L Robots with EtherCAT User's Manual (I659)

  • Page 8: Table Of Contents

    1-2-4 Connectors and Ports .........................1-8 Information Labels....................... 1-11 1-3-1 Robot Label ..........................1-11 1-3-2 Controller Label .........................1-12 Robot Configurations ......................1-13 1-4-1 i4-350L ............................1-13 1-4-2 i4-450L ............................1-13 1-4-3 i4-550L ............................1-13 1-4-4 i4-550L (350 mm Z)........................1-14 1-4-5 Mounting and Cabling Options ....................1-14...
  • Page 9 CONTENTS Model Numbers ........................1-15 1-5-1 Robot Model Numbers ......................1-15 1-5-2 Controller Model Numbers ......................1-15 Optional Hardware .......................1-16 1-6-1 IO Blox ............................1-16 1-6-2 T20 Pendant..........................1-16 1-6-3 IPC Application Controller ......................1-17 1-6-4 XIO Termination Block.......................1-17 1-6-5 Optional Cables.........................1-18 1-6-6 Camera Mounting Bracket Kit ....................1-20 1-6-7 Bellows Kit..........................1-21 1-6-8...
  • Page 10 CONTENTS 3-6-1 System Cable Overview ......................3-23 3-6-2 System Cable Installation Procedure ..................3-25 Connecting Digital I/O ......................3-26 3-7-1 XIO Connector Signals and Wiring ...................3-26 3-7-2 TIO Connector Signals and Wiring....................3-30 3-7-3 IO Blox Connections .........................3-32 Installing Safety Equipment....................3-34 3-8-1 Installing the Front Panel ......................3-34 3-8-2 Safety Circuits ...........................3-35 Setting the EtherCAT Node ID ....................3-42...
  • Page 11 CONTENTS 6-1-1 Periodic Maintenance Overview....................6-2 6-1-2 Checking Safety Functions ......................6-2 6-1-3 Checking Fastener Torques ......................6-3 6-1-4 Checking Safety and Warning Labels ..................6-4 6-1-5 Checking for Oil Leaks ........................6-4 6-1-6 Lubricating Joint 3 ........................6-5 6-1-7 Replacing Encoder Backup Batteries..................6-6 6-1-8 Cleaning the Robot ........................6-7 6-1-9 Bellows Inspection ........................6-8 Non-periodic Maintenance ....................6-9...

  • Page 12: Terms And Conditions Agreement

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

  • Page 13: Application Considerations

    • 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 Terms and Conditions Agreement Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate; how- ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions. i4L Robots with EtherCAT User's Manual (I659)

  • Page 15: Safety Precautions

    Safety Precautions Safety Precautions Definition of Precautionary Information The following notation is used in this manual to provide precautions required to ensure safe usage of the i4L robot. The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions. The following notation is used.

  • Page 16: Dangers

    • The robot system must not be used for purposes other than described in 1-1 Intended Use on page 1-2. Contact your local Omron support if you are not sure of the suitabili- ty for your application. •...

  • Page 17: Warnings

    Safety Precautions The robot system must be installed with user-supplied interlock barriers. The interlocked barriers must open the E-Stop circuit in the event of personnel attempting to enter the work cell when High Power is enabled. Failure to install suitable guarding or interlocks could result in injury or death.
  • Page 18 Safety Precautions Provide appropriately-sized Branch Circuit Protection and Lockout / Tagout Capability in accordance with the National Electrical Code and any local codes. Always use proper lifting technique when lifting the robot. Failure to comply could result in the robot falling and causing either personnel injury or equipment damage. If you supply your own Front Panel, its design must comply with the requirements of IEC 60204-1 and ISO 13849.

  • Page 19: Cautions

    Safety Precautions In Automatic mode, the robot can move unexpectedly. Ensure all personnel remain clear of the cell when Automatic mode is enabled. 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.
  • Page 20 Safety Precautions 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.

  • Page 21: Precautions For Safe Use

    Precautions for Safe Use Precautions for Safe Use • The Joint 3 quill and the tool flange are not grounded to protective earth. If hazardous voltages are present at any user-supplied robot-mounted equipment or tooling, you must install a ground connec- tion from that equipment or tooling to the ground point on the robot base.
  • Page 22 Precautions for Safe Use • Acoustic emission from these robots may be up to 70 dB (A) at 1 m distance under worst-case con- ditions. Typical values will be lower, depending on payload, speed, acceleration, and mounting. Ap- propriate safety measures should be taken, such as ear protection and display of a warning sign. •...

  • Page 23: Precautions For Correct Use

    PC. • Only replace items on the robot system with the parts supplied by OMRON. • Only use the recommended grease on the joint 3 quill. Use THK AFF Grease (part number 20950-000).
  • Page 24 Precautions for Correct Use • The z-axis stroke is reduced when bellows are present. Bellows reduce the travel by 27 mm (180 mm quill length) / 53 mm (350 mm quill length) in the z-axis retracted position and 27 mm (180 mm quill length) / 53 mm (350 mm quill length) in the z-axis extended position.

  • Page 25: Regulations And Standards

    Regulations and Standards Regulations and Standards Conformance to EU Directives The robot complies with the following EN Directives. Directives • 2006/42/EC Machinery Directive • 2014/30/EU EMC Directive EN Harmonized Standards The robot system conforms to the following EN standards. • EN ISO 12100 Safety of Machinery General Principles for Design Risk Assessment and Reduction...

  • Page 26: Software Licenses And Copyrights

    Regulations and Standards 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/. i4L Robots with EtherCAT User's Manual (I659)

  • Page 27: 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 28: Glossary

    Glossary Glossary Term / Abbreviation Description Application Controller Industrial PC that provides additional functionality to the robot to execute PackManager and Robot Vision Manager applications. Automatic Mode Operating state of the robot during normal conditions. In this mode, pro- gram execution will control the robot up to the maximum allowable speed. Control Power 24 VDC supply that energizes control and other non-servo motor circuits.

  • Page 29: Overview

    Connectors and Ports..................1-8 Information Labels ..................1-11 1-3-1 Robot Label ....................1-11 1-3-2 Controller Label ..................... 1-12 Robot Configurations .................. 1-13 1-4-1 i4-350L ......................1-13 1-4-2 i4-450L ......................1-13 1-4-3 i4-550L ......................1-13 1-4-4 i4-550L (350 mm Z)..................1-14 1-4-5 Mounting and Cabling Options ..............

  • Page 30: Intended Use

    1 Overview Intended Use The i4L robot is a selective compliance assembly robot arm (SCARA) for use within factory environ- ments. It is designed to perform automated motion control typically used with material handling opera- tions. The i4L robot is capable of high speed, high-precision motion for payloads up to 5 kg. Its compact de- sign and flexible programmability make it ideal for a wide variety of robotic applications.

  • Page 31: Robot Features

    1-2-1 Robot Integrated System The Robot Integrated CPU Unit provides the functionality of previous OMRON PLCs and also the functionality that is required for robot control. Control of I/O devices on high-speed EtherCAT can be applied to robots, safety devices, vision systems, motion equipment, discrete I/O, and more.

  • Page 32: Basic Robot Components

    EtherNet/IP Robot Integrated CPU Unit NJ501-R EtherCAT Application Controller Camera Sysmac Studio Slave FH-series Vision Terminal 1S-series Servo Drives Systems OMRON G5-series Servo Drives I/O control robot (with built-in EtherCAT external devices communications) Safety Front Panel Encoder, devices digital I/O...
  • Page 33 1 Overview Joint 1 Joint 2 Joint 3 (Z-axis) Joint 4 Interface Panels Use the information below to identify the robot's interface panels and their functions. Secondary Interface Panel Primary Interface Panel  Primary Interface Panel The Primary Interface Panel is located on the base of the robot and provides access to the follow- ing items.

  • Page 34: Front Panel

    1 Overview Pneumatic Pass-through Ports USER Connector Encoder Backup Battery Access Mode Switches Control Power EtherCAT Node Connector Switches High Power Connector Ethernet Interface Port IN/1 OUT/2 XSYSTEM XBELTIO Connector Connector Connector EtherCAT Ports  Secondary Interface Panel The Secondary Interface Panel is located on top of the outer link and provides access to the follow- ing items.
  • Page 35 1 Overview Precautions for Safe Use If the supplied Front Panel is not used, a High Power indicator light must be present in the sys- tem. This indicator light must be amber in color. It must be either mounted to the robot or inte- grated into the work cell where it is visible from all approaches or entry points.

  • Page 36: Connectors And Ports

    1 Overview Item Description Mode Selection Switch Controls the robot's operating mode. The left position selects Manual mode. The right position selects Automatic mode. Refer to 4-3 Robot Control Modes on page 4-5 for more information. High Power Indicator Provides an indication of the robot's High Power state with an amber LED.
  • Page 37 1 Overview Precautions for Correct Use Robot motion is not possible until High Power is supplied and has been enabled. Refer to 4-4 Enabling and Disabling the Robot on page 4-8 for more information. Additional Information Refer to the following sections for more information. •...
  • Page 38 • XIO Cable on page 1-20 • Ethernet Interface Port The Ethernet interface port is used for service operations. Contact your local OMRON representative for more information. Pneumatic Pass-through Ports The pneumatic pass-through ports provide pass-through air lines from the Primary Interface Panel to the Secondary Interface Panel.

  • Page 39: Information Labels

    1 Overview Information Labels The information labels contain relevant information about the robot and the controller. The following examples will be different from your product label. 1-3-1 Robot Label The robot label is described below. Item Name Description The robot part number is displayed. Part number Product type The product type is displayed.

  • Page 40: Controller Label

    1 Overview 1-3-2 Controller Label The controller label is described below. - iCS Item Name Description The controller part number is displayed. Part number Product type The product type is displayed. Alerts and compliance General alerts and compliance information is displayed. Controller information The controller model and general electrical power supply information is displayed.

  • Page 41: Robot Configurations

    The i4L robot is offered in a variety of configurations with different work envelopes and z-axis stroke lengths. 1-4-1 i4-350L The i4-350L configuration has a reach of 350 mm and a z-axis stroke of 180 mm. 180 mm 350 mm 1-4-2 i4-450L The i4-450L configuration has a reach of 450 mm and a z-axis stroke of 180 mm.

  • Page 42: I4-550L (350 Mm Z)

    1 Overview 1-4-4 i4-550L (350 mm Z) The i4-550L (350 mm Z) configuration has a reach of 550 mm and a z-axis stroke of 350 mm. 350 mm 550 mm 1-4-5 Mounting and Cabling Options The robot has a table mount flange and a wall mount flange integrated into the base. This allows the robot to be table-mounted or wall-mounted without the need for additional brackets or adapters.

  • Page 43: Model Numbers

    1 Overview Model Numbers Models numbers and descriptions associated with the robot are provided below. 1-5-1 Robot Model Numbers The table below provides all robot model numbers and descriptions. Primary Interface Panel Orien- Model Number Reach Z-axis Stroke tation RS4-2063002 350 mm 180 mm Rear...

  • Page 44: 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 45: Ipc Application Controller

    1 Overview 1-6-3 IPC Application Controller The IPC Application Controller can be added to your system to execute PackManager and Robot Vi- sion Manager applications. The Pack Manager application controls automated pick-and-place systems with cameras, conveyors, and robots based on the data that you set up in the Sysmac Studio. It is executed on the IPC Applica- tion Controller to control the process data and recipe data.

  • Page 46: Optional Cables

    1 Overview ON/OFF status. Each input has a switch to simulate input signals for troubleshooting or testing pur- poses. Use the XIO cable to connect the XIO Termination block to the robot. 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.
  • Page 47 1 Overview XIO Breakout XIO Cable Cable EXPIO to IO Blox Cable XBELTIO Adapter Cable Belt Encoder Y-adapter Cable XBELTIO Adapter Cable The optional XBELTIO adapter cable connects to the XBELTIO connector on the Primary Interface Panel. It provides connections for belt encoder, force sensor, RS-232, and IO Blox signals. •...

  • Page 48: Camera Mounting Bracket Kit

    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) 1-6-6 Camera Mounting Bracket Kit A camera mounting bracket can be used to attach a Basler or Sentech camera to the robot outer link.

  • Page 49: Bellows Kit

    1 Overview Apply Loctite 222 or equivalent thread locking compound to all screws. Apply the following torque val- ues when tightening the screws. • 51120-67010: 2.9 N-m • 04221001184-0006: 1.3 N-m • 51006-69012: 5.7 N-m 22866-100 51120-67010 (2) 22866-000 04221001184-0006 (4) 51006-69012 (2) The following items are included in the camera mounting bracket kit for cable management.

  • Page 50: Pneumatic Valve Kit

    1 Overview A hole is present at the top of the bellows assembly that can be used for a user-supplied seal fitting if cabling or tubing needs to pass through the Joint 3 quill. The part number for bellows kits are provided below. All components are supplied for installation. •...

  • Page 51: Power Supply Kits

    1 Overview Additional Information • When the pneumatic valve kit is installed, TIO signals are allocated for valve solenoid control. Refer to Pneumatic Valve Kit Signals on page 3-32 for more information. • Valve types are SMC type VQZ1121-5MO1-C4-Q. • Refer to 3-4-4 Pneumatic Valve Kit Installation Procedure on page 3-15 for more informa- tion.
  • Page 52 1 Overview High Power Kit The High Power Kit provides 48 VDC power to the robot. This kit contains two 48 VDC power supplies, a redundancy unit, and all required DC cables and connectors. All connectors are pre-installed on the cables.
  • Page 53 1 Overview 48 VDC Power Supplies Redundancy Unit 1-25 i4L Robots with EtherCAT User's Manual (I659)
  • Page 54 1 Overview 1-26 i4L Robots with EtherCAT User's Manual (I659)

  • Page 55: Specifications

    Specifications This section provides specifications for the robot's hardware, performance, electrical connections, installation environment, and other technical aspects of the system. Physical Specifications ................. 2-2 2-1-1 Robot Overall Dimensions................2-2 2-1-2 Mounting Flange Dimensions................2-4 2-1-3 Tool Flange Dimensions .................. 2-5 2-1-4 Front Panel Dimensions ..................

  • Page 56: Physical Specifications

    This section provides physical specifications for the i4L robot. 2-1-1 Robot Overall Dimensions Use the diagrams below to understand the robot's overall physical dimensions. i4-350L Dimensions Overall dimensions for the i4-350L are provided below. 30 mm 160 mm 350 mm 61 mm...
  • Page 57 2 Specifications i4-450L Dimensions Overall dimensions for the i4-450L are provided below. 160 mm 450 mm 61 mm 642 mm 600 mm +/- 360° 180 mm 242.5 mm 240 mm 180 mm 62.5 mm i4-550L Dimensions Overall dimensions for the i4-550L are provided below. 160 mm 550 mm 61 mm...

  • Page 58: Mounting Flange Dimensions

    2 Specifications i4-550L (350 mm Z) Dimensions Overall dimensions for the i4-550L (350 mm Z) are provided below. 160 mm 61 mm 550 mm 770 mm 642 mm +/- 360° 242.5 mm 240 mm 350 mm 180 mm Cable Clearances There must be at least 183 mm of clearance from the Primary Interface Panel connectors to provide adequate space for cables.

  • Page 59: Tool Flange Dimensions

    2 Specifications Mounting Mounting Mounting Mounting Holes (x4) Holes (x4) Holes (x4) Holes (x4) Front 220 mm 220 mm 79 mm 59 mm R 20 mm R 20 mm 20 mm 20 mm 120 mm 120 mm 2-1-3 Tool Flange Dimensions The robot's tool flange dimensions are provided below.

  • Page 60: Camera Mounting Bracket Dimensions

    20.0 mm 36.5 mm 2-1-6 Robot Work Envelope Dimensions Use the diagrams below to understand the robot's working envelope dimensions. i4-350L Work Envelope Work envelope dimensions are provided below. R 175 mm 191 mm R 350 mm R 137 mm...
  • Page 61 2 Specifications i4-450L Work Envelope Work envelope dimensions are provided below. 191 mm R 275 mm R 450 mm R 156.5 mm R 175 mm 245 mm 148° 180 mm 242.5 mm 136° i4-550L Work Envelope Work envelope dimensions are provided below. 191 mm 20 mm R 275 mm...

  • Page 62: Robot Weights

    2-1-7 Robot Weights Weights for the different robot models are provided in the following table. Additional Information Weights provided do not include optional accessories. Robot Model Weight i4-350L 15.1 kg i4-450L 15.9 kg i4-550L 16.4 kg i4-550L (350 mm Z) 16.5 kg...

  • Page 63: Performance Specifications

    2 Specifications Performance Specifications The following sections provide robot performance specifications. 2-2-1 General Performance Information The following table provides general performance information for the robot. Item i4-350L i4-450L i4-550L i4-550L (350 mm Z) 2 kg rated Payload 5 kg maximum...
  • Page 64 2 Specifications WARNING The stopping time and distance, or angle, of a robot joint from initiation of a stop sig- nal is not negligible and must be taken into account when designing and applying safeguarding devices. The graphs show the time elapsed and distances traveled between the initiation of a stop signal and the cessation of all robot motion.
  • Page 65 2 Specifications Joint 2 Stopping Time (all payloads) Speed (%) Joint 2 Stopping Distance (all payloads) Speed (%) Joint 3 Stopping Time (all payloads) Speed (%) 2-11 i4L Robots with EtherCAT User's Manual (I659)
  • Page 66 2 Specifications Joint 3 Stopping Distance (all payloads) Speed (%) 2-12 i4L Robots with EtherCAT User's Manual (I659)

  • Page 67: Electrical Specifications

    2 Specifications Electrical Specifications Electrical specifications are provided in the sections below. 2-3-1 Power Supply Specifications Specifications for user-supplied 24 VDC and 48 VDC power supplies are provided below. Additional Information Refer to the following documents for Control Power Kit and High Power Kit equipment specifica- tions.

  • Page 68: Belt Encoder Specifications

    2 Specifications Type Item Specification Input circuits Type Sinking / Sourcing Operational voltage range 0 to 30 VDC OFF state voltage range 0 to 3 VDC ON state voltage range 10 to 30 VDC Typical threshold voltage 8 VDC Operational current range 0 to 7.5 mA OFF state current range 0 to 0.5 mA...

  • Page 69: Environmental Specifications

    2 Specifications Environmental Specifications Environmental specifications are provided below. WARNING To reduce the risk of fire or electric shock, install the robot in a controlled environment relatively free of contaminants. Item Specification 5 to 40°C Ambient operating temperature Storage temperature –25 to 55°C Humidity 5 to 90%, non-condensing...

  • Page 70: Other Specifications

    2 Specifications Other Specifications Other specifications for associated equipment are provided below. 2-5-1 EtherCAT Communication Specifications EtherCAT communication specifications are provided below. Item Specification Synchronization DC (Distributed Clock) Physical Layer 100BASE-TX Modulation Baseband Baud rate 100 Mbits/s Line, daisy chain, and branching Topology Transmission media Twisted-pair cable of category 5 or higher...

  • Page 71: Mounting Hardware And Torques

    2 Specifications 2-5-3 Mounting Hardware and Torques The following bolt types, washers, and torque is required for mounting the robot. Type Quantity Size Class Torque • Socket Head Cap M8 x 1.25 mm 10.9 or 12.9 30-32 N-m Screw • DIN 912 or ISO 4782 •...
  • Page 72 2 Specifications 2-18 i4L Robots with EtherCAT User's Manual (I659)

  • Page 73: Installation

    Installation This section provides information about installing the robot and other necessary equip- ment. Robot Installation Procedure ................ 3-3 Mounting the Robot ..................3-5 3-2-1 Robot Mounting Surface.................. 3-5 3-2-2 Mounting Procedure ..................3-5 Installing End-of-Arm Tooling ............... 3-7 Installing Optional Equipment ..............3-8 3-4-1 Mounting External Equipment to the Robot.............
  • Page 74 3 Installation 3-11-1 Mechanical Checks ..................3-47 3-11-2 System Cable Checks ................... 3-47 3-11-3 Safety Equipment Checks ................3-47 3-11-4 Switch Position Checks ................. 3-49 i4L Robots with EtherCAT User's Manual (I659)

  • Page 75: Robot Installation Procedure

    3 Installation Robot Installation Procedure The basic installation steps are provided below. WARNING • Ensure that installation and post-installation checks of the product are performed by personnel in charge who possess a thorough understanding of the machinery to be installed. •...
  • Page 76 3 Installation Refer to 3-11 Verifying Installation on page 3-47 for more information. i4L Robots with EtherCAT User's Manual (I659)

  • Page 77: Mounting The Robot

    3 Installation Mounting the Robot Use the information in the following sections to mount the robot. 3-2-1 Robot Mounting Surface The following considerations must be made when preparing a robot mounting surface. • It must be smooth and flat. • It must be rigid enough to prevent vibration and flexing that is caused by reactionary forces during fast robot motion.
  • Page 78 3 Installation Before beginning the mounting procedure, have the following tools and resources available. Prepare the mounting holes before beginning the mounting procedure. • Prepare the mounting holes. • A torque wrench for proper tightening of the mounting bolts. • Assistance to lift and maneuver the robot into the mounting position. •...

  • Page 79: Installing End-Of-Arm Tooling

    3 Installation Installing End-of-Arm Tooling You must provide, install, and ground (if necessary) end-of-arm tooling to the tool flange. Use the following details when designing and installing end-of-arm tooling. • Hole diameters and placement on the tool flange comply with ISO-9409-1-50-4-M6 (2004) stand- ards.

  • Page 80: Installing Optional Equipment

    3 Installation Installing Optional Equipment This section provides information about installing the following optional equipment. 3-4-1 Mounting External Equipment to the Robot The robot body has accommodations to mount external equipment such as a camera or solenoid valves. Use the information below to understand how to mount external equipment to the robot. 4 mounting holes are provided on the bottom of the outer link between joint 2 and joint 4.

  • Page 81: Bellows Kit Installation Procedure

    3 Installation PIN 1 PIN 8 PIN 9 PIN 15 3-4-3 Bellows Kit Installation Procedure Use the following procedure to install bellows. Precautions for Correct Use • Never loosen or remove the quill clamp collar while the z-axis brake is released. •...
  • Page 82 3 Installation Begin the upper bellows installation by removing the quill clamp collar at the top of the Joint 3 quill and the tool flange using 3 and 4 mm hex bits. The quill clamp collar will be replaced by the upper bearing adapter provided in the bellows in- stallation kit.
  • Page 83 3 Installation Apply thread lock (87002-00680) to the clamp fasteners, insert, and tighten using an T8 torx bit while ensuring that the bellows are completely seated and positioned between the small clamp and the robot housing. Tighten to a torque of 2.4 N-m. Place the upper bearing adapter on the top of the quill.
  • Page 84 3 Installation Place the two halves of the clamp on the upper bearing adapter. The bellows should be evenly positioned between the upper bearing adapter and the clamp. Apply thread lock to the clamp fasteners, insert, and tighten using an T8 torx bit while ensuring that the bellows are completely seated and positioned between the clamp and the upper bear- ing adapter.
  • Page 85 3 Installation Place the two halves of the clamp around the robot housing. Apply thread lock to the clamp fasteners, insert, and tighten using an T8 torx bit while ensuring that the bellows are completely seated and positioned between the clamp and the robot hous- ing.
  • Page 86 3 Installation Apply thread lock to the tool flange setscrew and then tighten to a torque of 1.1 N-m using a 2.5 mm hex bit.. Do not over-tighten the tool flange setscrew. This will cause off-center alignment of the tool flange on the quill.

  • Page 87: Pneumatic Valve Kit Installation Procedure

    3 Installation Place the clamp on the tool flange bearing adapter. The bellows should be evenly positioned between the tool flange bearing adapter and the clamp. Apply thread lock to the clamp fasteners, insert, and tighten using an T8 torx bit while ensuring that the bellows are completely seated and positioned between the clamp and the tool flange bearing adapter.
  • Page 88 3 Installation • 6 mm socket. • Slotted screw driver. • Cutters. Make the following considerations before installing the pneumatic valve kit. • The outer link cover must be removed. If bellows are installed, the upper assembly must be re- moved before beginning this procedure.
  • Page 89 3 Installation Place the outer link cover on the robot in its original position. Replace four of the outer link cover fastening screws as indicated below. Apply thread lock to the screws and tighten using a 2.5 mm hex bit to a torque of 2.9 N-m. Fasten two wire harness retaining clips (23477-000) to the outer link using two screws that were previously removed in the locations shown below.
  • Page 90 3 Installation Connect the wire harness as shown below. SNLD 3 SNLD 2 SNLD 1 Tighten the wire harness TIO connector retaining screws using a slotted screwdriver. Secure the wire harness to the robot by inserting two cable ties (27300-00024) through the wire harness retaining clips and then around the wire harness.

  • Page 91: Control Power Kit Connections

    3 Installation 3-4-5 Control Power Kit Connections Use the following diagram to connect the Control Power Kit to the robot. Robot Black (+) White (-) Supply 3-4-6 High Power Kit Connections Use the following diagram to connect the High Power Kit to the robot. Robot 23910-000 Main...

  • Page 92: Adjustable Hardstops

    3 Installation Adjustable Hardstops The robot is equipped with several mechanical hardstop adjustment points for joints 1, 2, and 3 as de- scribed in the following sections. Adjust these mechanical hardstops to restrict the robot's range of motion in order to prevent collisions within the workspace if necessary. WARNING The robot's physical hardstop devices are not intended to withstand repeated use and if this occurs, the hardstop may become damaged.

  • Page 93: Joint 1 Adjustable Hardstops

    +133° Joint 3 5 mm from end of travel. The i4-350L model includes pre-installed hardstop screws in positions 5 and 6 to prevent base interference with the quill. Do not remove these pre-installed hardstop screws. 3-5-1 Joint 1 Adjustable Hardstops Use the following information when making joint 1 hardstop adjustments.
  • Page 94 3 Installation Socket-head Clamp Collar Screw Z-axis Quill (Top End) Loosen the clamp collar socket-head screw and slide the clamp to the appropriate location to limit the down stroke of the z-axis quill. When the clamp is in the desired location, apply thread lock and tighten the socket-head screw to a torque of 4.5 N-m.

  • Page 95: System Cable Installation

    3 Installation System Cable Installation This section provides information about installing the robot system cables. WARNING • Never connect or disconnect system cables while power is applied to the robot. Failure to comply may cause unexpected behavior and can result in personnel in- jury and equipment damage.
  • Page 96 3 Installation XUSR Connector Front Panel Connector Extension Cable XSYSTEM Cable XMCP Connector Front T20 Pendant Panel Adapter Cable T20 Pendant Jumper Plug T20 Pendant Optional Connections 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.

  • Page 97: System Cable Installation Procedure

    3 Installation XIO Breakout XIO Cable Cable EXPIO to IO Blox Cable XBELTIO Adapter Cable Belt Encoder Y-adapter Cable 3-6-2 System Cable Installation Procedure The following procedure provides details about system cable installation. The robot must be mounted before following the steps below. Refer to 3-2 Mounting the Robot on page 3-5 for more information.

  • Page 98: Connecting Digital I/O

    3 Installation Connecting Digital I/O The following sections describe the various methods to connect digital I/O to the robot. 3-7-1 XIO Connector Signals and Wiring The XIO connector on the Primary Interface Panel provides access to 12 built-in digital inputs and 8 built-in digital outputs.
  • Page 99 3 Installation Pin Number Designation Signal Bank Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 Only applies when using an XIO Termination Block. XIO Internal Circuits Use the following information to understand the XIO internal circuits. ...
  • Page 100 3 Installation Precautions for Safe Use Output 8 can be assigned to indicate the robot's High Power state. When High Power is ena- bled, this output will turn ON. When High Power is not enabled, this output will be OFF. This is not a safety-rated means of indicating a High Power state and should only be used for monitor- ing the robot status.
  • Page 101 3 Installation Pin Number Signal Wire Color Input 2.1 Yellow Input 3.1 Yellow / Black Input 4.1 Green 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...

  • Page 102: Tio Connector Signals And Wiring

    3 Installation 3-7-2 TIO Connector Signals and Wiring The TIO connector on the Secondary Interface Panel provides access to built-in digital I/O. V+ signal number assignments vary based on the Robot Number setting. The Robot Number is desig- nated with the Robot Device Assignment in Sysmac Studio. Refer to the following areas for more information about V+ signal number assignments.
  • Page 103 3 Installation Pin Number Designation Input 2 Input 4 24 VDC Output 3 Output 4 Ground Input 1 Input 3 Ground Output 1 Output 2 Ground TIO Internal Circuits Use the following diagram to understand the TIO internal circuits.  TIO Input Signals The 5 input channels are optically isolated and share a common source / sink line.

  • Page 104: Io Blox Connections

    3 Installation 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. +24 VDC Output 1 Output 2 Output 3 Output 4 Pneumatic Valve Kit Signals Use the following signal designations to control solenoids on the pneumatic valve kit.
  • Page 105 3 Installation XBELTIO Adapter Cable EXPIO to IO Blox Cable 3-33 i4L Robots with EtherCAT User's Manual (I659)

  • Page 106: 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 107: Safety Circuits

    3 Installation 152 mm 140 mm Ø 4 mm 41 mm 125 mm 76 mm 89 mm 56 mm 16 mm 5 mm Front Panel Connections The Front Panel is connected directly to the XFP connector on the XSYSTEM cable with the 3 m ex- tension cable supplied with the Front Panel.
  • Page 108 3 Installation XFP-1 XFP-2 XFP-14 High Power XFP-13 Indicator / XFP-9 XFP-10 XFP-5 Button XFP-6 XMCP-1 XMCP-2 XMCP-9 XMCP-10 XSYSTEM-5 XFP-3 XFP-4 XUSR-1 XUSR-2 Automatic / Manual Mode Selection XUSR-14 XUSR-15 XFP-11 XFP-12 XUSR-3 XUSR-4 XUSR-16 XUSR-17 Automatic Mode XUSR-17 XUSR-9 XUSR-16 XUSR-10...
  • Page 109 3 Installation Pins Description Additional Information 3, 16 Line emergency stop inputs Normally closed contacts on user-supplied safety devices typically used for other robot or line emergency stop in- 4, 17 terconnection. This does not affect emergency stop indication signals on pins 7, 20.
  • Page 110 3 Installation Pins Description Additional Information 1, 9 Front panel E-stop button channel 1 input Typically connected to normally closed contacts on the E-stop button used with the Front Panel. 2, 10 Front panel E-stop button channel 2 input 3, 11 Automatic / Manual mode selection channel 1 in- Typically connected to the selector switch used with the front panel.
  • Page 111 3 Installation +24 VDC +5 VDC Common PIN 4 +5 VDC PIN 5 PIN 1 +24 VDC Common PIN 3 Common Control Power PIN 12 PIN 10 PIN 13 Indicator PIN 14 PIN 9 PIN 11 Automatic / Manual High Power E-stop Button Mode Switch Button / Indicator...
  • Page 112 3 Installation Additional Information Refer to the T20 Pendant User's Manual (Cat. No. I601) for additional information. Precautions for Correct Use If Teach Pendant cabling is installed, the jumper plug or the Teach Pendant must be connected to satisfy safety circuits and allow High Power to be enabled. Pins Description Additional Information...
  • Page 113 3 Installation Additional Information • The jumper plug is supplied with the Teach Pendant kit. • The part number for the Teach Pendant jumper plug is 10048-000. 3-41 i4L Robots with EtherCAT User's Manual (I659)

  • Page 114: Setting The Ethercat Node Id

    3 Installation Setting the EtherCAT Node ID The EtherCAT node ID / address can be set with two methods as described below. • Use Hardware Switches on the Robot. Use the hardware switches on the robot interface panel to set an explicit EtherCAT node ID for the robot.
  • Page 115 3 Installation Confirm that the switches are in the following positions. Apply or cycle Control Power to implement the new node ID setting. Confirm the correct EtherCAT node ID of 196 with Sysmac Studio.. 3-43 i4L Robots with EtherCAT User's Manual (I659)

  • Page 116: 3-10 Supplying Power And Ground

    3 Installation 3-10 Supplying Power and Ground The robot requires separate 24 VDC and 48 VDC power supplies. The 24 VDC supply provides Con- trol Power and the 48 VDC supply provides power to the internal servo amplifiers. A lockout tagout main disconnect device must be installed on the AC supply to the 24 VDC and 48 VDC power supplies.

  • Page 117: 24 Vdc Connections

    3 Installation Robot Main 24 VDC Disconnect Power Supply Device Supply Ground 48 VDC Power Supply Ground 3-10-2 24 VDC Connections The 24 VDC Control Power connector is located on the Primary Interface Panel. A 24 VDC power sup- ply mating connector is provided with the robot. Use the illustration below to understand the polarity of the mating connector.
  • Page 118 3 Installation Additional Information • The connector and pins are provided with the robot and require assembly with user-supplied wires. The connector part number is 22009-000L. The pin part number is 02709-000. 0 VDC +48 VDC • Refer to 3-4-6 High Power Kit Connections on page 3-19 for more information. 3-46 i4L Robots with EtherCAT User's Manual (I659)

  • Page 119: 3-11 Verifying Installation

    3 Installation 3-11 Verifying Installation If any modifications have been made to the robot during installation or other actions, make the follow- ing checks before operation. 3-11-1 Mechanical Checks Make the following mechanical checks after any hardware adjustments have been made to the sys- tem.
  • Page 120 3 Installation Safety Setting Function Description Configure E-stop Hardware The objective of the ESTOP hardware delay feature is to comply with safety Delay regulations which require the robot to have the capability of disabling High Power without software intervention in an emergency stop situation. Verify E-stop Hardware Delay Configuration will set the delay for the emergency stop timer circuit.

  • Page 121: Switch Position Checks

    3 Installation 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 Check the following switch positions on the Primary Interface Panel to make sure they are set correct- ly.
  • Page 122 3 Installation 3-50 i4L Robots with EtherCAT User's Manual (I659)
  • Page 123 Operation This section provides information necessary to operate the robot. Configuration Procedure Overview .............. 4-2 Payload and Acceleration Considerations ..........4-4 Robot Control Modes..................4-5 4-3-1 Manual Mode....................4-5 4-3-2 Automatic Mode ....................4-5 4-3-3 Operation Mode....................4-6 4-3-4 Host Mode ....................... 4-7 Enabling and Disabling the Robot..............

  • Page 124: Configuration Procedure Overview

    Refer to NJ-series Robot Integrated CPU Unit User's Manual (Cat. No. O037) for more infor- mation. Add the EtherCAT slaves including the OMRON robots and make the EtherCAT network set- tings. Refer to NJ-series Robot Integrated CPU Unit User's Manual (Cat. No. O037) for more infor- mation.
  • Page 125 4 Operation • T20 Pendant User's Manual (Cat. No. I601) Operate the Controller and the machine. Perform the troubleshooting for the error, periodic inspections, and maintenance. Refer to the following manuals for more information. • NJ-series Robot Integrated CPU Unit User's Manual (Cat. No. O037) •...

  • Page 126: Payload And Acceleration Considerations

    If non-linear moves such as joint moves or arc moves are required with high speeds or high payloads, contact your local OMRON representative for more information about acceleration and payload limita- tions. Use the following chart to understand the limitations to acceleration and payload when making linear moves.

  • Page 127: Robot Control Modes

    4 Operation Robot Control Modes The robot can operate in Automatic or Manual control modes. These modes are described in the fol- lowing sections. 4-3-1 Manual Mode Manual mode is typically used during functions of commissioning, position teaching, and other setup operations.

  • Page 128: Operation Mode

    4 Operation Precautions for Safe Use Prior to placing the robot in Automatic Mode, all safeguards must be returned to their safe state. To place the robot in Automatic mode, use the Front Panel key switch and rotate it to the right position as indicated below.

  • Page 129: Host Mode

    Dip switch 2 on the Primary Interface Panel should remain in the OFF / OP position during normal op- eration. If any of the following conditions are present on your robot, contact your local OMRON representative for support using service mode.

  • Page 130: Enabling And Disabling The Robot

    4 Operation Enabling and Disabling the Robot Enabling the robot energizes all robot servo motors with the 48 VDC power supply. This is also refer- red to as enabling High Power. When the robot is enabled, it is capable of moving. Program execution and I/O control functions are still operational when High Power is disabled.
  • Page 131 4 Operation High Power Control Methods There are several methods to control robot High Power as described below.  Front Panel When a Front Panel is present in the system, the High Power button can be used to request High Power to the robot.

  • Page 132: Led Indicator

    4 Operation LED Indicator The LED indicator on the top of the outer link provides a visual status of the robot. The LED indica- tions and associated robot states are described below. Precautions for Safe Use The LED indicator does not reflect the robot's High Power status. To see the robot's High Power status, use the Front Panel indicator or a user-supplied indicator connected to the XFP connec- tor.

  • Page 133: Brake Operation

    4 Operation Brake Operation The robot has a mechanical brake on joints 3 and 4. Releasing the brake is typically done when you need to manually position joint 3 or 4. The brake is controlled with the methods described below. The mechanical brake is capable of preventing the z-axis quill from lowering more than 5 mm when up to 100 N of downward force is applied.

  • Page 134: Remote Brake Release

    4 Operation 4-6-2 Remote Brake Release The brake can be released with a signal connected to the XIO connector. This is typically used for re- mote control of the brake. Use the Sysmac Studio to configure the robot by selecting Enable Brake Release Input. This setting will change the XIO input 6.2 (pin 18) for use as a brake release signal from another device such as a remote pushbutton or an output from another control device.

  • Page 135: Manually Jogging The Robot

    4 Operation Manually Jogging the Robot Manually jogging the robot is typically performed during setup or when teaching locations. Precautions for Safe Use During manual operation, ensure all persons are a safe distance away from the robot work en- velope. The following considerations should be made when jogging the robot.

  • Page 136: Robot Positioning

    Manual (Cat. No. I672) for more information. Ready positions provide below may vary slightly due to nulling tolerances. Model Joint 1 Position Joint 2 Position Joint 3 Position Joint 4 Position i4-350L -44.42° 88.83° 10.00 mm 44.42° i4-450L -35.10° 99.72°...

  • Page 137: Right-Left Arm Configurations

    4 Operation 4-8-3 Right-Left Arm Configurations The robot can operate in a left-arm or right-arm configurations. Select an appropriate configuration for the work area based on your application requirements. Use the RIGHTY/LEFTY keywords to set an arm configuration. Consider specifying the arm configura- tion before moving the robot to transformation locations.
  • Page 138 4 Operation 4-16 i4L Robots with EtherCAT User's Manual (I659)

  • Page 139: Troubleshooting

    Troubleshooting This section provides robot troubleshooting information. Fault Detection ....................5-2 Emergency Stop Troubleshooting..............5-3 Error Messages ....................5-4 i4L Robots with EtherCAT User's Manual (I659)

  • Page 140: Fault Detection

    5 Troubleshooting Fault Detection Robot faults can be detected with the following methods. • 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. •...

  • Page 141: Emergency Stop Troubleshooting

    5 Troubleshooting Emergency Stop Troubleshooting If the emergency stop circuit is not operating as expected, the following supplied jumper plugs can be used to troubleshoot the problem. These jumpers can be placed on the XSYSTEM cable to bypass and isolate safety devices. Refer to 3-6-1 System Cable Overview on page 3-23 for jumper installation locations.

  • Page 142: Error Messages

    Delay or Teach Restrict. The Teach Restrict has not been commissioned and verified. -651 *RSC communications There is a failure to communicate Contact your local OMRON sup- failure* with the Robot Signature Card. port. -670 *RSC power failure* The 24 VDC input voltage is out of Check connections and voltage lev- bounds (too high or low).
  • Page 143 V+ Error Message Explanation Corrective Action Code -1009 *Safety System Fault* Robot hardware did not detect Contact your local OMRON sup- Code 0 pressing the Front Panel High port. Power button before the servo system attempted to enable pow- *Safety System Fault* Contact your local OMRON support.
  • Page 144 If the error continues, contact your local OMRON support. -1115 *Power system failure* The dual-channel brake circuit has Contact your local OMRON sup- Code 0 reported a cyclic check error. port. *Power system failure* The power system has unexpect- Code 1 edly turned off power.
  • Page 145 Maintenance This section provides information for maintaining the robot. Periodic Maintenance ..................6-2 6-1-1 Periodic Maintenance Overview..............6-2 6-1-2 Checking Safety Functions................6-2 6-1-3 Checking Fastener Torques ................6-3 6-1-4 Checking Safety and Warning Labels ............. 6-4 6-1-5 Checking for Oil Leaks ..................6-4 6-1-6 Lubricating Joint 3 ...................

  • Page 146: Periodic Maintenance

    6 Maintenance Periodic Maintenance This section lists when to perform periodic maintenance on your robots and the steps for checking each item to inspect. WARNING • Never connect or disconnect system cables while power is applied to the robot. Failure to comply may cause unexpected behavior and can result in personnel in- jury and equipment damage.

  • Page 147: Checking Fastener Torques

    6 Maintenance Precautions for Safe Use The High Power indicator must be operational to satisfy safety requirements. Additional Information Refer to 3-11-3 Safety Equipment Checks on page 3-47 for more information. High Power Indicator Check The robot monitors current used by the High Power indicator. This is to ensure that a High Power indi- cator device is connected and functioning properly to satisfy safety requirements.

  • Page 148: Checking Safety And Warning Labels

    Periodically check the robot for oil leaks. Carefully inspect the following points for oil or excessive de- bris accumulation. Oil and dirt should not be present. If oil or excessive debris accumulation is detect- ed, contact your local OMRON support representative. i4L Robots with EtherCAT User's Manual (I659)

  • Page 149: Lubricating Joint 3

    6 Maintenance Joint 2 Joint 3 Joint 1 6-1-6 Lubricating Joint 3 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.

  • Page 150: Replacing Encoder Backup Batteries

    6 Maintenance Additional Information • If bellows are present on the robot, they must be removed before this procedure to access the Joint 3 and then reinstalled after this procedure is complete. Refer to 3-4-3 Bellows Kit Installation Procedure on page 3-9 for more information. •...

  • Page 151: Cleaning The Robot

    For information about disposal of your old equipment, contact your local OMRON representative. Precautions for Correct Use Only replace items on the robot system with the parts supplied by OMRON. Remove the encoder battery compartment cover fastener screw and then remove the cover. Encoder Battery Compartment...

  • Page 152: Bellows Inspection

    6 Maintenance 6-1-9 Bellows Inspection Check the bellows each week for cracks, wear, or damage and replace if necessary. Refer to the 3-4-3 Bellows Kit Installation Procedure on page 3-9 for replacement and installation steps. i4L Robots with EtherCAT User's Manual (I659)

  • Page 153: Non-Periodic Maintenance

    6 Maintenance Non-periodic Maintenance This section provides information and instructions for performing maintenance that does not occur at regular intervals. WARNING • Never connect or disconnect system cables while power is applied to the robot. Failure to comply may cause unexpected behavior and can result in personnel in- jury and equipment damage.
  • Page 154 6 Maintenance Tool Flange Replacement Procedure Use the following procedure to replace the tool flange on the z-axis quill if necessary. Quill Slots Socket-head Screws (x4) Setscrew Take note of the old tool flange position and orientation on the quill. Loosen the setscrew and socket-head screws while holding the old tool flange in place.
  • Page 155 Appendices Unpacking and Inspecting the Robot............A-2 A-1-1 Before Unpacking the Robot ................A-2 A-1-2 Unpacking the Robot..................A-2 Repacking the Robot for Transport ............. A-4 Transportation and Storage Considerations ..........A-5 I/O Signal Numbering..................A-6 A-4-1 Input Signal Numbering................... A-6 A-4-2 Output Signal Numbering ................

  • Page 156: A-1 Unpacking And Inspecting The Robot

    Appendices A-1 Unpacking and Inspecting the Robot This section provides information about unpacking and inspecting the robot. A-1-1 Before Unpacking the Robot Before unpacking the robot, carefully inspect all shipping containers for evidence of damage during transit. Pay special attention to any tilt and shock indication labels on the exteriors of the containers. Precautions for Correct Use If any damage is detected before unpacking the robot, request that the carrier’s agent be present when you unpack the container.
  • Page 157 Remove the straps that secure the accessory box to the pallet and set it aside. Inspect the entire robot for damage before proceeding. If any damage is evident, contact your local OMRON representative. Remove the 4 M8 X 50 screws that fasten the robot to the pallet.

  • Page 158: A-2 Repacking The Robot For Transport

    Appendices 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 and unpacking instructions provided in this manual to repack the robot.

  • Page 159: Transportation And Storage Considerations

    Appendices A-3 Transportation and Storage Consider- ations This section provides details about transporting and storing your robot. Precautions for Safe Use • This equipment must be shipped and stored in a temperature-controlled environment, within the range –25 to +55°C. The recommended humidity range is 5 to 90%, non-condensing. It should be shipped and stored in the supplied packaging, which is designed to prevent dam- age from normal shock and vibration.

  • Page 160: A-4 I/O Signal Numbering

    Appendices A-4 I/O Signal Numbering Digital I/O for the V+ programming language uses numeric signal numbers in the ranges provided be- low based on the I/O configuration of the system. A-4-1 Input Signal Numbering Use the table below to understand the digital input signal numbers. Robot Input Type Switch Position...

  • Page 161: A-4-2 Output Signal Numbering

    Appendices Robot Input Type Switch Position V+ Signal Numbers 1601 to 1612 1617 to 1621 IO Blox 1 OFF, OFF 1665 to 1672 IO Blox 2 ON, OFF 1673 to 1680 IO Blox 3 OFF, ON 1681 to 1688 IO Blox 4 ON, ON 1689 to 1696 1701 to 1712...
  • Page 162 Appendices Robot Output Type Switch Position V+ Signal Numbers 401 to 408 417 to 420 IO Blox 1 OFF, OFF 465 to 472 IO Blox 2 ON, OFF 473 to 480 IO Blox 3 OFF, ON 481 to 488 IO Blox 4 ON, ON 489 to 496 501 to 508...

  • Page 163: A-5 Cable Pinouts

    Appendices 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. i4L Robots with EtherCAT User's Manual (I659)

  • Page 164: Xbeltio Adapter Cable Pinouts

    Appendices XUSR XSYSTEM PIN 5 PIN 11 PIN 12 PIN 14 PIN 5 PIN 30 PIN 6 PIN 10 PIN 7 PIN 26 PIN 8 PIN 12 PIN 9 PIN 1 PIN 14 PIN 28 PIN 10 PIN 3 PIN 13 PIN 14 PIN 43 PIN 4...

  • Page 165: A-5-3 Belt Encoder Y-Adapter Cable Pinouts

    Appendices XBELTIO BELT ENCODER PIN 2 (ENC1_A+) PIN 15 PIN 3 (ENC1_A-) PIN 7 PIN 11 (ENC1_B+) PIN 14 PIN 12 (ENC1_B-) PIN 6 PIN 19 (ENC1_Z+) PIN 13 PIN 8 PIN 1 PIN 20 (ENC1_Z-) PIN 5 PIN 4 (ENC2_A+) PIN 11 PIN 5 (ENC2_A-) PIN 3...
  • Page 166 Appendices Encoder 1 BELT ENC. PIN 1 PIN 15 (ENC1_A+) PIN 8 PIN 7 (ENC1_A-) PIN 3 PIN 1 PIN 2 PIN 4 PIN 14 (ENC1_B+) PIN 5 PIN 6 (ENC1_B-) PIN 7 PIN 3 PIN 6 PIN 13 (ENC1_I+) PIN 8 PIN 5 (ENC1_I-) PIN 6...

  • Page 167: A-6 Parts List

    Appendices A-6 Parts List Standard robot parts and accessories are provided in the following table. Item Part Number Details Included Optional Cables XSYSTEM cable 13322-000 XBELTIO Cable 13463-000 XIO Breakout 04465-000 Cable IO Blox Exten- 04677-030 Extends the sion Cable (to connection be- robot) tween the IO...
  • Page 168 Appendices Item Part Number Details Included Optional Other Items Encoder Backup 20269-000F 3 batteries in- Batteries cluded. Front Panel Kit 92546-10358 Kit includes front panel and 3 m cable. Tool Flange 19360-016F XIO Termination 90356-40100 Block and Cable T20 Pendant Kit 10046-010 Kit includes the pendant, 3 m...
  • Page 169 Index i4L Robots with EtherCAT User's Manual (I659)
  • Page 170 Jogging................4-13 Cable Exit Cutout............2-4 Joint 1................1-5 Front Panel..............2-5 Joint 2................1-5 i4-350L Overall...............2-2 Joint 3................1-5 i4-350L Work Envelope..........2-6 Joint 4................1-5 i4-450L Overall...............2-3 Joint Ranges..............2-9 i4-450L Work Envelope..........2-7 Joint Speeds..............2-9 i4-550L (350 mm Z) Overall........... 2-4 i4-550L (350 mm Z) Work Envelope......
  • Page 171 Index Joint Zero Position............4-14 Table Mount Flange............1-4 Jumper Plugs Tool Flange................ 1-4 Teach Pendant............. 3-40 XFP................3-39 XUSR................3-37 Wall Mount Flange.............1-4 XMCP................3-40 Warning Labels..............6-4 Wiring Belt Encoder Y-adapter Cable........A-11 LED Indicator............1-6, 4-10 TIO Connector............. 3-30 Left Arm................4-15 XBELTIO Adapter Cable..........A-10 XFP Connector............
  • Page 172 Index i4L Robots with EtherCAT User's Manual (I659)
  • Page 174 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.

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