3-11 Verifying Installation; Mechanical Checks; System Cable Checks; Safety Equipment Checks - Omron i4-350L User Manual

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.
• Check that the robot mounting surface is secure and adequate.
• Check all mounting bolts and other fasteners for proper torque.
• Check the tool flange and end-of-arm tooling for correct installation and grounding (when necessa-
ry).
• Check any equipment that is mounted to the robot to make sure it is securely fastened.
3-11-2

System Cable Checks

Make the following system cable checks after any adjustments have been made to cable connections.
• Check all cables and connectors to ensure that they are securely fastened and free of damage.
• Check the system ground and power supply connections to make sure that they are connected
properly.
• Check that all cables are adequately supported and not strained near the connectors.
3-11-3

Safety Equipment Checks

Make the following checks to all user-supplied safety equipment to ensure emergency stops are prop-
erly installed and other safety systems are functioning correctly.
When checking safety equipment, the following prerequisites are necessary.
• Sysmac Studio must be installed and available.
• The Front Panel operating mode switch must be in the Automatic position.
• All emergency stop devices must be able to be activated and deactivated easily.
Use the following utilities in the Sysmac Studio to confirm safety operations controlled by robot soft-
ware.
Safety Setting Function
Configure Teach Restrict
Verify Teach Restrict Auto
Verify Teach Restrict Manual
i4L Robots with EtherCAT User's Manual (I659)
The objective of the Teach Restrict feature is to comply with safety regulations
which require that the speed be limited while the robot is in Manual mode.
This is hardware-based safety functionality to prevent rapid robot motion in
Manual mode even in the unexpected event of software error attempting to
move a robot faster than allowed. While jogging the robot in Manual mode, if
any joint exceeds its configured speed limit, the system will disable High Pow-
er.
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.
Description
3 Installation
3
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