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Quattro 800H
Omron Quattro 800H Manuals
Manuals and User Guides for Omron Quattro 800H. We have
3
Omron Quattro 800H manuals available for free PDF download: User Manual, Quick Setup Manual
Omron Quattro 800H User Manual (240 pages)
Brand:
Omron
| Category:
Robotics
| Size: 5.9 MB
Table of Contents
Table of Contents
3
Chapter 1: Introduction
13
Quattro Robots, Product Description
13
Controllers
13
Sizes and Materials
13
Major Differences between Quattro H and HS Robots
13
Eaib
15
Quattro Robot Base
16
Inner Arms
16
Ball Joints, Outer Arms
16
Platforms
17
Smartcontroller EX
20
Installation Overview
21
How Can I Get Help
22
Related Manuals
22
Chapter 2: Safety
23
What to Do in an Emergency / Abnormal Situation
23
Releasing the Brakes
23
General Hazards
23
Releasing an E-Stop
23
Dangers, Warnings, and Cautions
24
Alert Levels
24
Alert Icons
24
Special Information
25
User's Responsibilities
25
Electrical Hazards
25
Pinch Hazard
25
Qualification of Personnel
25
Robot Behavior
26
Hardstops
26
Intended and Non-Intended Use
26
Intended Use
26
Non-Intended Use
27
Robot Modifications
27
Additional Safety Information
27
Robot Safety Guide
28
T20 Manual Control Pendant (Option)
28
Disposal
28
Chapter 3: Robot Installation - H
29
Transport and Storage
29
Unpacking and Inspecting the Equipment
29
Before Unpacking
29
Upon Unpacking
29
Unpacking
29
Repacking for Relocation
31
Environmental and Facility Requirements
31
Mounting Frame
32
Frame Orientation
33
Frame Construction
33
Robot-To-Frame Considerations
33
Mounting
34
Gussets
34
Mounting the Robot Base
34
Robot Orientation
34
Mounting Surfaces
35
Mounting Options
35
Mounting Procedure from above the Frame
35
Mounting Procedure from below the Frame
37
Install Mounting Hardware
37
Attaching the Outer Arms and Platform
39
Clocking the Platform to the Base
40
Attaching the Outer Arms
41
Mounting the Front Panel
44
Chapter 4: Robot Installation - HS
45
Transport and Storage
45
Unpacking and Inspecting the Quattro Equipment
45
Before Unpacking
45
Upon Unpacking
45
Unpacking
45
Repacking for Relocation
47
Environmental and Facility Requirements
47
Mounting Frame
48
Frame Mounting Tabs
48
Robot-To-Frame Considerations
49
Mounting
49
Gussets
49
Cable Inlet Box
50
Assembling Cable Inlet Box
50
Connecting the Cables
54
Installing the Cable Inlet Box
55
Mounting the Robot Base
56
Robot Orientation
56
Mounting Surfaces
56
Mounting Options
56
Mounting Procedure from above the Frame
57
Mounting Procedure from below the Frame
58
Install Mounting Hardware
59
Attaching the Outer Arms and Platform
60
Clocking the Platform to the Base
61
Attaching the Outer Arms
62
Mounting the Front Panel
65
Attaching the Cable Tray
65
Chapter 5: System Installation
71
System Cable Diagram
71
Installing the Smartcontroller EX
72
List of Cables and Parts
72
Cable Installation Overview
74
Optional Cables
75
XIO Breakout Cable
75
DB9 Splitter Cable
75
Eaib XBELT IO Adapter Cable
75
Smartcontroller Belt Encoder Y-Adapter Cable
75
Connecting User-Supplied PC to Robot
80
PC Requirements
80
Installing ACE Software
81
Description of Connectors on Robot Interface Panel
81
Cable Connections from Robot to Smartcontroller
82
Connecting 24 VDC Power to Robot
83
Specifications for 24 VDC Robot and Controller Power
83
Details for 24 VDC Mating Connector
84
Procedure for Creating 24 VDC Cable
84
Installing 24 VDC Robot Cable
85
Connecting 200-240 VAC Power to Robot
86
Specifications for AC Power
86
Details for AC Mating Connector
89
Procedure for Creating 200-240 VAC Cable
89
Installing AC Power Cable to Robot
90
Grounding the Quattro Robot System
90
Quattro Robot Base
90
Quattro HS Robot Base
91
Robot-Mounted Equipment
91
Configuration
92
Rev. N Quattro User's Guide
93
Installing User-Supplied Safety Equipment
94
Emergency Stop Circuits
99
Remote Manual Mode
100
User Manual/Auto Indication
101
User High Power on Indication
101
Remote High Power On/Off Control
101
High Power On/Off Lamp
102
Remote Front Panel or User-Supplied Control Panel Usage
102
Remote Pendant Usage
103
Chapter 6: System Operation
105
Robot Status Display Panel
105
Status Panel Fault Codes
106
Using the Brake-Release Button
107
Brakes
107
Brake-Release Button
107
Front Panel
109
Connecting Digital I/O to the System
110
Using Digital I/O on Robot XIO Connector
112
Optional I/O Products
114
XIO Input Signals
114
XIO Output Signals
116
XIO Breakout Cable
119
Starting the System for the First Time
121
Verifying Installation
121
Turning on Power and Starting ACE
122
Enabling High Power
123
Verifying E-Stop Functions
123
Verify Robot Motions
123
Quattro Motions
124
Straight-Line Motion
124
Containment Obstacles
124
Tool Flange Rotation Extremes
124
Learning to Program the Quattro Robot
128
Chapter 7: Optional Equipment Installation
129
End-Effectors
129
Attaching
129
Aligning
129
Grounding
129
Accessing Vacuum
129
Routing End-Effector Lines
130
Ball Stud Locks
131
Installing a Ball Stud Lock
132
Removing a Ball Stud Lock
133
Chapter 8: Technical Specifications
135
Dimension Drawings
135
Internal Connections
144
XSYS/XSYSTEM Connector
145
Robot Specifications
145
Payload Specifications
147
Torque and Rotation Limits
147
Payload Mass Vs. Acceleration
147
Payload Inertia Vs. Acceleration
149
Stopping Times and Distances
150
Robot Mounting Frame, Quattro 650H Robot
158
Chapter 9: Maintenance - H
165
Periodic Maintenance Schedule
165
Warning Labels
168
Checking Safety Systems
169
Checking Robot Mounting Bolts
169
Checking Robot Gear Drives
169
Checking Fan Operation
170
Replacing the Eaib Chassis
170
Removing the Eaib Chassis
170
Installing a New Eaib Chassis
173
Commissioning a System with Aneaib
174
Safety Commissioning Utilities
175
E-Stop Configuration Utility
176
E-Stop Verification Utility
177
Teach Restrict Configuration Utility
177
Teach Restrict Verification Utility
178
Replacing the Encoder Battery Pack
179
Battery Replacement Interval
179
Battery Replacement Procedure
180
Replacing a Platform
182
Replacement
182
Configuration
182
Replacing a Ball Joint Insert
182
Replacing Outer Arm Spring Assemblies
182
Removing Outer Arm Spring Assemblies
183
Installing Outer Arm Spring Assemblies
184
Changing the Lamp in the Front Panel High-Power Indicator
186
Chapter 10: Maintenance - HS
189
Cleaning
189
Water Shedding
189
Wash-Down
189
Chemical Compatibility
190
Warning Labels
190
Periodic Maintenance
191
Checking Safety Systems
195
Checking Robot Mounting Bolts
195
Checking Robot Gear Drives
195
Checking Fan Operation
196
Removing and Installing the Cable Inlet Box
197
Removing the Cable Inlet Box
197
Installing the Cable Inlet Box
198
Replacing the Eaib Chassis
199
Removing the Eaib Chassis
199
Installing a New Eaib Chassis
201
Commissioning a System with Aneaib
202
Safety Commissioning Utilities
203
E-Stop Configuration Utility
204
E-Stop Verification Utility
205
Teach Restrict Configuration Utility
205
Teach Restrict Verification Utility
206
Replacing the Encoder Battery Pack
207
Battery Replacement Interval
207
Battery Replacement Procedure
208
Replacing a Platform
211
Replacement
211
Configuration
212
Replacing a Ball Joint Insert
212
Replacing Outer Arm Spring Assemblies
213
Removing Outer Arm Spring Assemblies
213
Installing Outer Arm Spring Assemblies
214
Replacing the Front Panel
216
Chapter 11: Robot Cleaning/Environmental Concerns- H
217
Ambient Environment
217
Humidity
217
Temperature
217
Cleaning
218
Caustic Compatibility
218
Water Shedding
218
Wipe-Down
218
Cleanroom Classification
218
Design Factors
218
Robot Base and Components
218
Inner Arms
219
Ball Joints
219
Outer Arms
219
Springs
219
Platforms
219
Installing Cable Seal Kit
220
Overview
220
Installation Procedure
221
Chapter 12: Environmental Concerns - HS
227
Ambient Environment
227
Humidity
227
Temperature
227
Cleanroom Classification
228
Design Factors
228
Robot Base and Components
228
Inner Arms
228
Ball Joints
228
Outer Arms
228
Spring Assemblies
229
Platforms
229
Chapter 13: Status Codes
231
Status Panel Display
231
Status Codes
232
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Omron Quattro 800H User Manual (212 pages)
Brand:
Omron
| Category:
Robotics
| Size: 15.45 MB
Table of Contents
Table of Contents
3
Chapter 1: Introduction
11
Quattro Robots, Product Description
11
Controllers
11
Sizes and Materials
11
Major Differences between Quattro H and HS Robots
11
Eaib
13
Quattro Robot Base
14
Inner Arms
14
Ball Joints, Outer Arms
14
Platforms
15
Smartcontroller EX
18
Installation Overview
19
How Can I Get Help
20
Related Manuals
20
Chapter 2: Safety
21
Warnings, Cautions, and Precautions
21
Safety Precautions
22
What to Do in an Emergency/Abnormal Situation
22
Robot Behavior
23
Hardstops
23
Limiting Devices
23
Singularities
23
Additional Safety Information
23
Manufacturer's Declaration of Incorporation
23
Robot Safety Guide
23
Manual Control Pendant
23
Intended Use of the Robots
24
Chapter 3: Robot Installation - H
25
Transport and Storage
25
Unpacking and Inspecting the Equipment
25
Unpacking
25
Repacking for Relocation
27
Environmental and Facility Requirements
27
Mounting Frame
27
Frame Orientation
29
Frame Construction
29
Robot-To-Frame Considerations
29
Mounting
29
Gussets
30
Mounting the Robot Base
30
Robot Orientation
30
Mounting Surfaces
30
Mounting Options
31
Mounting Procedure from above the Frame
31
Mounting Procedure from below the Frame
33
Install Mounting Hardware
33
Attaching the Outer Arms and Platform
35
Clocking the Platform to the Base
35
Attaching the Outer Arms
37
Mounting the Front Panel
40
Chapter 4: Robot Installation - HS
41
Transport and Storage
41
Unpacking and Inspecting the Quattro Equipment
41
Before Unpacking
41
Upon Unpacking
41
Unpacking
41
Repacking for Relocation
44
Environmental and Facility Requirements
44
Mounting Frame
44
Frame Mounting Tabs
45
Robot-To-Frame Considerations
45
Mounting
46
Gussets
46
Cable Inlet Box
46
Assembling Cable Inlet Box
46
Connecting the Cables
52
Installing the Cable Inlet Box
52
Mounting the Robot Base
54
Robot Orientation
54
Mounting Surfaces
54
Mounting Options
54
Mounting Procedure from above the Frame
55
Mounting Procedure from below the Frame
56
Install Mounting Hardware
57
Attaching the Outer Arms and Platform
58
Clocking the Platform to the Base
59
Attaching the Outer Arms
60
Mounting the Front Panel
63
Attaching the Cable Tray
63
Chapter 5: System Installation
69
System Cable Diagram
69
Cable Parts List
70
Installing the Smartcontroller EX Motion Controller
70
Connecting User-Supplied PC to Robot
70
PC Requirements
71
Installing ACE Software
71
Description of Connectors on Robot Interface Panel
72
Cable Connections from Robot to Smartcontroller
73
Connecting 24 VDC Power to Robot
73
Specifications for 24 VDC Robot and Controller Power
73
Details for 24 VDC Mating Connector
74
Procedure for Creating 24 VDC Cable
74
Installing 24 VDC Robot Cable
75
Connecting 200-240 VAC Power to Robot
76
Specifications for AC Power
77
Details for AC Mating Connector
78
Procedure for Creating 200-240 VAC Cable
79
Installing AC Power Cable to Robot
80
Grounding the Quattro Robot System
80
Quattro Robot Base
80
Quattro HS Robot Base
81
Robot-Mounted Equipment
81
Installing User-Supplied Safety Equipment
82
Emergency Stop Circuits
86
Remote Manual Mode
88
User Manual/Auto Indication
88
User High Power on Indication
88
Remote High Power On/Off Control
89
High Power On/Off Lamp
89
Remote Front Panel or User-Supplied Control Panel Usage
89
Remote Pendant Usage
90
Chapter 6: System Operation
91
Robot Status Display Panel
91
Status Panel Fault Codes
92
Using the Brake-Release Button
93
Brakes
93
Brake-Release Button
93
Front Panel
94
Connecting Digital I/O to the System
95
Using Digital I/O on Robot XIO Connector
96
Optional I/O Products
98
XIO Input Signals
98
XIO Output Signals
100
XIO Breakout Cable
101
Starting the System for the First Time
103
Verifying Installation
103
Turning on Power and Starting ACE
104
Enabling High Power
104
Verifying E-Stop Functions
105
Verify Robot Motions
105
Quattro Motions
106
Straight-Line Motion
106
Containment Obstacles
106
Tool Flange Rotation Extremes
106
Learning to Program the Quattro Robot
110
Chapter 7: Optional Equipment Installation
111
End-Effectors
111
Attaching
111
Aligning
111
Grounding
111
Accessing Vacuum
111
Routing End-Effector Lines
112
Ball Stud Locks
113
Installing a Ball Stud Lock
114
Removing a Ball Stud Lock
115
Chapter 8: Technical Specifications
117
Dimension Drawings
117
Internal Connections
125
XSYS/XSYSTEM Connector
125
Robot Specifications
126
Payload Specifications
127
Torque and Rotation Limits
127
Payload Mass Vs. Acceleration
128
Payload Inertia Vs. Acceleration
129
Stopping Times and Distances
130
Robot Mounting Frame, Quattro 650H Robot
138
Chapter 9: Maintenance - H
143
Periodic Maintenance Schedule
143
Warning Labels
146
Checking Safety Systems
147
Checking Robot Mounting Bolts
147
Checking Robot Gear Drives
147
Checking Fan Operation
148
Replacing the Eaib Chassis
148
Removing the Eaib Chassis
148
Installing a New Eaib Chassis
151
Commissioning a System with an Eaib
152
Safety Commissioning Utilities
153
E-Stop Configuration Utility
154
E-Stop Verification Utility
155
Teach Restrict Configuration Utility
155
Teach Restrict Verification Utility
156
Replacing the Encoder Battery Pack
157
Battery Replacement Interval
158
Battery Replacement Procedure
158
Replacing a Platform
160
Replacement
160
Configuration
160
Replacing a Ball Joint Insert
161
Replacing Outer Arm Spring Assemblies
161
Removing Outer Arm Spring Assemblies
161
Installing Outer Arm Spring Assemblies
163
Changing the Lamp in the Front Panel High-Power Indicator
165
Chapter 10: Maintenance - HS
167
Cleaning
167
Water Shedding
167
Wash-Down
167
Chemical Compatibility
168
Warning Labels
168
Periodic Maintenance
169
Checking Safety Systems
172
Checking Robot Mounting Bolts
173
Checking Robot Gear Drives
173
Checking Fan Operation
174
Removing and Installing the Cable Inlet Box
175
Removing the Cable Inlet Box
175
Installing the Cable Inlet Box
176
Replacing the Eaib Chassis
177
Removing the Eaib Chassis
177
Installing a New Eaib Chassis
179
Commissioning a System with an Eaib
180
Safety Commissioning Utilities
181
E-Stop Configuration Utility
182
E-Stop Verification Utility
183
Teach Restrict Configuration Utility
183
Teach Restrict Verification Utility
184
Replacing the Encoder Battery Pack
185
Battery Replacement Interval
186
Battery Replacement Procedure
186
Replacing a Platform
189
Replacement
189
Configuration
190
Replacing a Ball Joint Insert
190
Replacing Outer Arm Spring Assemblies
191
Removing Outer Arm Spring Assemblies
191
Installing Outer Arm Spring Assemblies
193
Replacing the Front Panel
195
Chapter 11: Robot Cleaning/Environmental Concerns- H
197
Ambient Environment
197
Humidity
197
Temperature
197
Cleaning
198
Caustic Compatibility
198
Water Shedding
198
Wipe-Down
198
Cleanroom Classification
198
Design Factors
198
Robot Base and Components
198
Inner Arms
199
Ball Joints
199
Outer Arms
199
Springs
199
Platforms
199
Installing Cable Seal Kit
200
Overview
200
Installation Procedure
200
Omron Quattro 800H Quick Setup Manual (17 pages)
Brand:
Omron
| Category:
Robotics
| Size: 4.03 MB
Table of Contents
Copyright Notice
2
Process Overview
3
Installing the Robot
5
Mounting the Robot
5
Install Mounting Hardware
7
System Cable Connections
8
Power Requirements
8
Installing ACE Software
11
Setting the Robot IP Address
11
Finding Additional Information
12
System Operation
13
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