Omron i4-850H Manuals

Manuals and User Guides for Omron i4-850H. We have 2 Omron i4-850H manuals available for free PDF download: User Manual

Omron i4-850H User Manual

Omron i4-850H 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 i4-850H User Manual

Omron i4-850H 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
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
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
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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