Omron iX4-650HS Manuals

Manuals and User Guides for Omron iX4-650HS. We have 1 Omron iX4-650HS manual available for free PDF download: User Manual

Omron iX4-650HS User Manual

Omron iX4-650HS User Manual (192 pages)

Robot with EtherCAT

Brand: Omron | Category: Robotics | Size: 8 MB

Table of Contents

Table of Contents
3
Ix4 650 H/HS and 800 H/HS Robot with Ethercat
5
Ix4 650 H/HS and 800 H/HS Robot with Ethercat
7
Chapter 1: Introduction

9
- Related Manuals
  9
- Intended Audience
  10
- Robot Overview
  10
  - Major Differences between Ix4-650H/800H and Ix4-650HS/800HS Robots
    11
  - Robot Amplifier and Controller
    12
  - Robot Base
    15
  - Outer Arms and Ball Joints
    15
  - Inner Arms
    16
  - Platforms
    16
  - Robot Motions and Obstacles
    18
- Robot Options
  18
  - I/O Options
    18
  - T20 Pendant
    19
  - IPC Application Controller
    20
  - Front Panel
    20
  - Optional Cables
    21
  - Cable Inlet Box
    24
  - Ball Stud Locks
    25
Chapter 2: Safety

27
- Dangers, Warnings, and Cautions
  27
  - Alert Levels
    27
  - Alert Icons
    27
  - Falling Hazards
    27
  - Special Information
    28
- What to Do in an Emergency or Abnormal Situation
  28
  - Stopping the Robot
    28
  - Entrapment and Brake Release Button
    28
  - Releasing an E-Stop
    28
- Safety Precautions
  29
  - User's Responsibilities
    29
  - General Hazards
    29
  - Qualification of Personnel
    30
- Robot Behavior
  30
  - Hardstops
    30
  - Limiting Devices
    31
  - Singularities
    31
- Intended and Non-Intended Use
  31
  - Intended Use of the Robots
    31
  - Non-Intended Use
    31
- Additional Safety Information
  32
- How Can I Get Help
  32
  - T20 Manual Control Pendant (Option)
    33
  - Disposal
    33
Chapter 3: Robot Installation

35
- Robot Installation Overview
  35
  - Basic Installation Steps
    35
- Mounting Frame
  35
  - Frame Orientation
    37
  - Frame Construction
    37
  - Frame Mounting Tabs
    37
  - Robot-To-Frame Considerations
    38
  - Mounting Surfaces
    38
  - Gussets
    39
- Mounting the Robot Base
  39
  - Robot Orientation
    39
  - Mounting Procedure
    39
- Installing the Platform
  42
- Installing the Front Panel
  47
  - Mounting the Front Panel
    47
  - Connecting the Front Panel
    48
- Installing User-Supplied Safety Equipment
  49
- Setting the Ethercat Node ID
  58
  - Setting the Ethercat Node ID Using Hardware Switches
    59
- Installing or Removing Ball Stud Locks
  61
  - Installing Ball Stud Locks
    61
  - Removing Ball Stud Locks
    62
Chapter 4: System Cable Installation

63
Chapter 5: System Operation

103
- Verifying Installation
  103
  - Mechanical Checks
    103
  - System Cable Checks
    103
  - Safety Equipment Checks
    104
  - Switch Position Checks
    105
- Robot Status LED and Display Panel
  105
  - General Robot States
    105
- Ethercat Communications Description
  106
- Brakes
  107
  - Brake Release Button
    107
  - Remote Brake Release Feature
    108
- Robot Control Modes
  109
  - Manual Mode
    109
  - Automatic Mode
    109
  - Operation Mode
    109
  - Service Mode
    110
- Manually Jogging the Robot
  110
- Enabling Robot High Power
  110
  - High Power Safety Timeout
    111
  - High Power and Faults
    111
  - High Power Request Methods
    111
- Disabling Robot High Power
  113
Chapter 6: Maintenance

115
- Periodic Maintenance Schedule
  115
- Non-Periodic Maintenance Schedule
  117
- Cleaning Ix4-650H/800H Robots
  118
  - Caustic Compatibility
    118
  - Wash down
    119
  - Water Shedding
    119
  - Design Factors
    119
- Cleaning Ix4-650HS/800HS Robots
  120
  - Chemical Compatibility
    121
  - Wash down
    121
  - Water Shedding
    122
  - Design Factors
    122
- Checking Safety Systems
  123
  - High Power Indicator Check
    123
- Checking Labels
  124
  - Warning Labels
    124
- Checking for Gear Drive Leaks
  125
- Checking Fan Operation
  126
- Replacing the Encoder Battery Pack
  126
  - Encoder Battery Pack Replacement Interval
    127
  - Encoder Battery Pack Replacement Procedure
    127
- Replacing a Platform
  130
  - Configuration
    131
- Replacing Outer Arm Spring Assemblies
  131
- Replacing a Ball Joint Socket Insert
  133
- Replacing the Ics-ECAT Unit for an Ix4-650H/800H Robot
  135
  - Removing the Ics-ECAT Chassis
    135
  - Installing a New Ics-ECAT Chassis
    137
- Replacing the Ics-ECAT Unit for an Ix4-650HS/800HS Robot
  138
  - Removing the Ics-ECAT Chassis from an Ix4-650HS/800HS Robot
    138
  - Installing a New Ics-ECAT Chassis
    141
- Remove and Replace a Microsd Card
  142
  - Removing a Microsd Card from an Ics-ECAT
    142
  - Replacing a Microsd Card in an Ics-ECAT
    143
Chapter 7: Technical Specifications

145
- Robot Physical Dimension Drawings
  145
- Arm Travel Volumes
  149
- Tool Flanges
  152
- General Robot Specifications
  154
- Performance Specifications
  156
  - Payload Specifications
    156
  - Payload Center of Gravity Specifications
    158
  - Stopping Time and Distance
    158
- Electrical Specifications
  166
  - External Connection Specifications
    166
  - Facility Overvoltages Protection
    169
- Ethercat Communications Specifications
  169
- Mounting Frame Specifications
  170
- Environmental and Facility Specifications
  176
  - Environmental Requirements
    176
  - Design Considerations
    177
- Weights
  178
- Power Connector Specifications
  178
Chapter 8: Status Codes

179
- Status Display Panel
  179
- Status Codes Table
  179
Appendix

187
- Unpacking and Inspecting the Equipment
  187
  - Before Unpacking
    187
  - After Unpacking
    187
  - Unpacking Procedure
    187
- Repacking for Relocation
  189
- Transportation and Storage
  189

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