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i4-750H
Omron i4-750H Manuals
Manuals and User Guides for Omron i4-750H. We have
2
Omron i4-750H manuals available for free PDF download: User Manual
Omron i4-750H User Manual (182 pages)
Brand:
Omron
| Category:
Robotics
| Size: 16.47 MB
Table of Contents
Intended Audience
3
Applicable I4L Robot Models
3
Units
3
Manual Information
4
Page Structure
4
Special Information
4
Sections in this Manual
7
Table of Contents
8
Terms and Conditions Agreement
12
Warranty and Limitations of Liability
12
Application Considerations
12
Disclaimers
13
Safety Precautions
14
Definition of Precautionary Information
14
Symbols
14
Dangers
15
Warnings
16
Cautions
19
Precautions for Safe Use
20
Precautions for Correct Use
22
Regulations and Standards
24
Software Licenses and Copyrights
25
Related Manuals
26
Glossary
27
Revision History
28
Overview
29
Intended Use
30
Robot Features
31
Robot System
31
Basic Robot Components
32
Other Components
34
Front Panel
34
Connectors and Ports
36
IP65 Rating
39
Food-Grade Rating
40
Electrostatic Discharge Protection
40
Cleanroom Rating
40
Information Labels
41
Robot Label
41
Controller Label
41
Robot Configurations
43
I4-650H
43
I4-750H
43
I4-850H
43
Model Numbers
44
Robot Model Numbers
44
Controller Model Numbers
44
Optional Hardware
45
IO Blox
45
T20 Pendant
45
IPC Application Controller
46
XIO Termination Block
46
Optional Cables
47
Ecobra Mount Adapter
50
Camera Mounting Bracket and Adapter
51
Ecobra Tool Flange
52
Bellows
52
Wall Mount Bracket
52
Integrated Pneumatic Valves
53
Cable Seal
54
Specifications
55
Physical Specifications
56
Robot Overall Dimensions
56
Mounting Flange Dimensions
60
Tool Flange Dimensions
60
Front Panel Dimensions
61
Ecobra Mount Adapter Dimensions
61
Camera Mounting Bracket and Adapter Dimensions
62
Robot Weights
62
Wall Mount Bracket Dimensions
63
Cable Seal Dimensions
63
Performance Specifications
64
General Performance Information
64
Stopping Distances and Times
64
Electrical Specifications
68
Power Supply Specifications
68
XIO I/O Specifications
68
TIO Specifications
69
Belt Encoder Specifications
70
Environmental Specifications
71
Other Specifications
72
Ethernet Communication Specifications
72
Connector and Port Specifications
72
Mounting Screws and Torques
73
Installation
75
Robot Installation Procedure
77
Mounting the Robot
78
Robot Mounting Surface
78
Mounting Procedure
78
Installing End-Of-Arm Tooling
80
Installing Optional Equipment
81
Mounting External Equipment to the Robot
81
Tool Ethernet Connector Wiring
81
USER Connector Wiring
82
Bellows Installation Procedure
82
Pneumatic Valve Kit Installation Procedure
89
Adjustable Hardstop Details
94
Joint 1 Adjustable Hardstops
94
System Cable Installation
96
System Cable Overview
96
System Cable Installation Procedure
98
Connecting Digital I/O
100
XIO Connector Signals and Wiring
100
TIO Connector Signals and Wiring
104
IO Blox Connections
106
Connecting Pneumatic Equipment
107
Pass-Through Ports
107
Pneumatic Valve Kit
107
Installing Safety Equipment
109
Installing the Front Panel
109
Safety Circuits
110
3-10 Supplying Power and Ground
117
Grounding the System
117
DC Connections
118
AC Connections
119
3-11 Verifying Installation
120
Mechanical Checks
120
System Cable Checks
120
Safety Equipment Checks
120
Switch Position Checks
122
Connecting to the Robot
124
Initial Connection Procedure
124
Payload and Acceleration Considerations
125
Robot Control Modes
126
Manual Mode
126
Automatic Mode
126
Enabling and Disabling the Robot
128
Robot High Power Operations
128
LED Light Ring
130
LCD Display
131
LCD Display Status Messages
131
Brake Operation
132
Built-In Brake Release Button
132
Remote Brake Release
133
Manually Jogging the Robot
134
Robot Positioning
135
Joint Zero Position
135
Ready Position
135
Right-Left Arm Configurations
136
Troubleshooting
137
Fault Detection
138
Emergency Stop Troubleshooting
139
Error Messages
140
Periodic Maintenance
144
Periodic Maintenance Overview
144
Checking Safety Functions
145
Checking Fastener Torques
146
Checking Safety and Warning Labels
146
Checking for Oil Leaks
146
Lubricating Joint 3
146
Replacing Encoder Batteries
148
Harmonic Drive Oil Change
149
Cleaning the Robot
150
Bellows Inspection
150
Bellows Replacement Procedure
150
Non-Periodic Maintenance
154
Replacing the Tool Flange
154
Replacing the Amplifier Chassis
155
Replacing the Outer Link Cover
159
A-1 Cable Seal Kit Installation Procedure
162
A-2 Repacking the Robot for Transport
164
Transportation and Storage Considerations
165
A-4 I/O Signal Numbering
166
Input Signal Numbering
166
Output Signal Numbering
166
A-5 Cable Pinouts
167
A-5-1 XSYSTEM Cable Pinouts
167
XSYSTEM Cable Pinouts
167
A-5-2 XBELTIO Adapter Cable Pinouts
169
A-5-3 Belt Encoder Y-Adapter Cable Pinouts
169
XBELTIO Adapter Cable Pinouts
169
Belt Encoder Y-Adapter Cable Pinouts
169
A-5-4 USER Cable Pinouts
170
TIO Cable Pinouts
171
A-6 Parts List
172
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Omron i4-750H User Manual (150 pages)
Robots with EtherCAT
Brand:
Omron
| Category:
Robotics
| Size: 10.15 MB
Table of Contents
Intended Audience
3
Applicable I4H Robot Models
3
Units
3
Sections in this Manual
5
Table of Contents
6
Manual Information
10
Page Structure
10
Special Information
10
Terms and Conditions Agreement
12
Warranty and Limitations of Liability
12
Application Considerations
13
Disclaimers
13
Safety Precautions
15
Definition of Precautionary Information
15
Symbols
15
Dangers
16
Warnings
17
Cautions
20
Precautions for Safe Use
21
Precautions for Correct Use
23
Regulations and Standards
25
Related Manuals
26
Terminology and Abbreviations
27
Overview
29
Intended Use
30
Robot Features
31
Robot Integrated System
31
Basic Robot Components
32
Other Components
34
Front Panel
34
Connectors
36
Information Labels
39
Robot Label
39
Controller Label
39
Robot Configurations
41
I4-650H
41
I4-750H
41
I4-850H
41
Model Numbers
42
Robot Model Numbers
42
Controller Model Numbers
42
Optional Hardware
43
IO Box
43
T20 Pendant
43
IPC Application Controller
44
XIO Termination Block
44
Optional Cables
45
Wall Mount Bracket
47
Ecobra Mount Adapter
47
Camera Mounting Bracket and Adapter
48
Ecobra Tool Flange
48
Specifications
49
Physical Specifications
50
Robot Overall Dimensions
50
Cable Clearances
54
Mounting Flange Dimensions
54
Tool Flange Dimensions
55
Front Panel Dimensions
55
Ecobra Mount Adapter Dimensions
55
Wall Mount Bracket Dimensions
56
Camera Mounting Bracket and Adapter Dimensions
56
Robot Weights
57
Performance Specifications
58
General Performance Information
58
Stopping Distances and Times
58
Electrical Specifications
62
Power Supply Specifications
62
XIO I/O Specifications
62
Environmental Specifications
64
Other Specifications
65
Connector and Port Specifications
65
Mounting Screws and Torques
65
Installation
67
Robot Installation Procedure
68
Mounting the Robot
69
Robot Mounting Surface
69
Mounting Procedure
69
Installing End-Of-Arm Tooling
71
Installing Optional Equipment
72
Mounting External Equipment to the Robot
72
Tool Ethercat Connector Wiring
72
USER Connector Wiring
73
Adjustable Hardstop Details
74
Joint 1 Adjustable Hardstops
74
System Cable Installation
76
System Cable Overview
76
System Cable Installation Procedure
78
Connecting Digital I/O
79
XIO Connector Signals and Wiring
79
IO Blox Connections
83
Installing Safety Equipment
85
Installing the Front Panel
85
Safety Circuits
86
Setting the Ethercat Node ID
93
Ethercat Node ID Setting Example
93
3-10 Supplying Power and Ground
95
Grounding the System
95
DC Connections
96
AC Connections
97
3-11 Verifying Installation
98
Mechanical Checks
98
System Cable Checks
98
Safety Equipment Checks
98
Switch Position Checks
100
Payload and Acceleration Considerations
102
Robot Control Modes
103
Manual Mode
103
Automatic Mode
103
Operation Mode
104
Host Mode
104
Service Mode
105
Enabling and Disabling the Robot
106
Enabling Robot High Power
106
Disabling High Power
107
LED Light Ring
108
LCD Display
109
LCD Display Status Messages
109
Brake Operation
110
Built-In Brake Release Button
110
Remote Brake Release
111
Manually Jogging the Robot
112
Troubleshooting
113
Fault Detection
114
Emergency Stop Troubleshooting
115
Error Messages
116
Field-Replaceable Items
120
Periodic Maintenance
121
Periodic Maintenance Overview
121
Checking Safety Functions
121
Checking Fastener Torques
122
Checking Safety and Warning Labels
123
Checking for Oil Leaks
123
Lubricating Joint 3
123
Replacing Encoder Batteries
124
Harmonic Drive Oil Change
126
Cleaning the Robot
126
Non-Periodic Maintenance
127
Replacing the Tool Flange
127
Replacing the Ics-ECAT Amplifier Chassis
128
Replacing the Outer Link Cover
132
Appendix
136
A-1 Repacking the Robot for Transport
136
Transportation and Storage Considerations
137
A-3 I/O Signal Numbering
138
A-3-1 Input Signal Numbering
138
A-3-2 Output Signal Numbering
139
A-4 Cable Pinouts
141
A-4-1 XSYSTEM Cable Pinouts
141
XSYSTEM Cable Pinouts
141
XBELTIO Adapter Cable Pinouts
142
A-4-3 Belt Encoder Y-Adapter Cable Pinouts
143
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