Omron ECobra 600 Manual de usuario

eCobra 600 and 800 Robot

with EtherCAT

User's Manual

I653-E-02

The information contained herein is the property of OMRON Robotics and Safety Technologies, Inc., and

shall not be reproduced in whole or in part without prior written approval of OMRON Robotics and

Safety Technologies, Inc.. The information herein is subject to change without notice and should not be

construed as a commitment by OMRON Robotics and Safety Technologies, Inc. The documentation is

periodically reviewed and revised.

OMRON Robotics and Safety Technologies, Inc., assumes no responsibility for any errors or omissions in

the documentation.

reserved.

Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and

other countries for OMRON factory automation products.

EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,

Germany.

ODVA, CIP, DeviceNet, and EtherNet/IP are trademarks of ODVA.

Other company names and product names in this document are the trademarks or registered trademarks

of their respective companies.

Created in the United States of America.

Table of Contents

Chapter 1: Introduction 9

Related Manuals 9

1.1 Intended Audience 10

1.2 Robot Overview 12

Robot Amplifier and Controller 13

IP65 and Cleanroom Versions 16

Robot Features 16

Robot Links and Joints 17

Robot Connections 17

iCS-ECAT Robot Interface Panel 24

1.3 Robot Options 25

Solenoid Valve Kit 25

End of Arm Break-away Sensor 26

IO Blox 27

Optional I/O Items 27

T20 Pendant 28

IPC Application Controller 28

Front Panel 29

Camera Bracket Kit 31

Adjustable Hardstops 32

Optional Cables 33

Chapter 2: Safety 37

2.1 Dangers, Warnings, and Cautions 37

Alert Levels 37

Alert Icons 37

Special Information 38

2.2 Safety Precautions 38

2.3 What To Do In An Emergency 39

Stopping the Robot 39

Fire Response 39

Entrapment and Brake Release Button 39

2.4 Robot Behavior 39

Hardstops 39

Limiting Devices 39

Singularities 39

2.5 Intended Use of the Robot 40

2.6 Additional Safety Information 40

Manufacturer’s Declarations 40

Robot Safety Guide 40

T20 Pendant (Option) 40

2.7 Disposal 41

2.8 How Can I Get Help? 41

24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 3

Chapter 3: Robot Installation 43

3.1 Robot Installation Overview 43

Basic Installation Steps 43

3.2 Mounting an eCobra Robot 43

Mounting Surface 44

Mounting Procedure 44

3.3 Install the Tool Flange 46

Tool Flange InstallationProcedure 47

3.4 Installing the Front Panel 47

Connecting the Front Panel 47

Front Panel Schematic 48

3.5 Installing User-Supplied Safety Equipment 49

Contacts on XUSR Connector 49

Contacts on XFP Connector 51

Remote Pendant Signals on the XMCPConnector 51

E-Stop Circuits on XUSR and XFP Connectors 53

Emergency Stop Circuits 54

Remote Manual Mode 56

User Manual/Auto Indication 56

Remote High Power ON / OFF Control 56

Using a User-Supplied Control Panel 57

Remote Pendant Usage 58

3.6 Setting the EtherCATNodeID 58

Setting the EtherCATNode ID UsingHardware Switches 59

Chapter 4: System Cable Installation 61

4.1 Basic System Cable Layout 61

List of Cables and Parts 62

Cable Installation Steps 64

XBELT IO Belt Encoder Y Adapter Cable 65

4.2 Connecting Digital I/O to the System 67

Digital I/O Signal Configuration 68

XIO Connector Signals 76

4.3 Connecting the 24 VDC Cable to the Robot 78

24 VDC Power Supply Connector 78

Making the 24 VDC Power Supply Cable 79

Connecting the 24 VDC Cable 79

4.4 Connecting 200-240 VAC Power Cable 81

AC Power Diagrams 81

AC Power Supply Connector 83

Making the 200-240 VAC Power Supply Cable 83

Connecting the AC Power Supply Cable 84

4.5 Grounding the Robot System 84

Grounding the Robot Base 85

Grounding Robot-Mounted Equipment 85

Chapter 5: Optional Equipment Installation 87

5.1 Installing End-Effectors 87

4 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B

24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 5

5.2 Mounting Locations for External Equipment 88

5.3 Installing the Solenoid Valve Kit 89

Solenoid Valve Kit Installation Procedure 90

Testing Solenoid Valve Kit Installation 93

5.4 Installing the Camera Bracket Kit 93

Tools Required 93

Procedure 93

5.5 Installing Adjustable Hardstops 95

Joint 1 Adjustable Hardstop Installation 95

Joint 2 Adjustable Hardstop Installation 96

Chapter 6: System Operation 99

6.1 Verifying Installation 99

Mechanical Checks 99

System Cable Checks 99

User-Supplied Safety Equipment Checks 100

Switch Position Checks 101

6.2 Robot Status LED and Display Panel 101

General Robot States 101

6.3 EtherCAT Communications Description 102

SystemBehavior with EtherCATCommunication Errors 103

6.4 Brakes 103

Brake Release Button 103

Remote Brake Release Feature 104

6.5 Robot Control Modes 104

Manual Mode 104

Automatic Mode 105

Operation Mode 105

Service Mode 105

6.6 Manually Jogging the Robot 106

6.7 Enabling Robot High Power 106

High Power Safety Timeout 106

High Power and Faults 107

High Power Request Methods 107

6.8 Disabling Robot High Power 108

Chapter 7: Maintenance 111

7.1 Periodic Maintenance 111

Periodic Maintenance Schedule 111

Checking Safety Systems 111

Checking Robot Mounting Bolts and CoverPlates 112

Checking Safety and Warning Labels 112

Checking for Oil Leaks 114

Lubricating Joint 3 115

Replacing the Encoder Battery Pack 117

7.2 Non-Periodic Maintenance 119

Field-Replaceable Parts 120

Remove the Tool Flange 120

Replacing the iCS-ECAT Amplifier Chassis 121

Remove and Replace a MicroSD Card 125

Change Front Panel High-Power ON Lamp 126

Chapter 8: Technical Specifications 131

8.1 Robot Physical Dimension Drawings 131

8.2 General Robot Specifications 136

8.3 Performance Specifications 137

General Performance Information 137

Stopping Distances and Times 138

Hardstop and Softstop Limits 144

8.4 Electrical Specifications 145

Internal Connection Specifications 145

External Connection Specifications 145

8.5 Environment and Facility Specifications 147

8.6 Other Specifications 148

Solenoid Valve Kit Specifications 148

ConnectorSpecifications 148

Power Consumption Specifications 149

8.7 Tool Flange Dimensions 149

8.8 Front Panel Dimensions 150

8.9 EtherCAT Communications Specifications 151

Chapter 9: IP65 Option Considerations 153

9.1 IP65 Option Classification 153

9.2 User Requirements to Meet IP65 Rating 153

Sealing the Tool Flange 154

Pressurizing the Robot 154

9.3 Cable Seal Assembly 156

Cable Seal Identification 156

Dimension Drawing for Cable Seal Assembly 158

9.4 Remove and Reinstall Outer Link Cover 159

Outer Link Cover Removal Procedure 159

Outer Link Cover Reinstallation Procedure 160

9.5 IP65 RobotConnections 162

Joint 1 Connections 162

Pneumatic Pass-through Connections 163

Robot Solenoid Option Consideration for IP65 Robots 163

9.6 IP65 Option Maintenance 164

IP65 Bellows Replacement 164

Chapter 10: Cleanroom Option Considerations 167

10.1 Cleanroom Option Classification 167

10.2 User Requirements to Meet Cleanroom Rating 167

10.3 Cleanroom Robot Connections 168

Robot Solenoid Option Consideration for Cleanroom Robots 168

10.4 Cleanroom Option Maintenance 169

Cleanroom Bellows Replacement 169

6 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B

24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 7

Chapter 11: Status Codes 171

11.1 Robot Display Panel 171

11.2 Status Codes Table 171

Appendix 177

A.1 Unpacking and Inspecting the Equipment 177

Before Unpacking 177

After Unpacking 177

Inspecting the Equipment 177

A.2 Repacking for Relocation 177

A.3 Transportation and Storage 177

8 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B

Revision History

Revision

Code ReleaseDate Details

A July, 2020 Original release

B August, 2020 Minor corrections and updates

Chapter 1: Introduction

This manual contains information that is necessary to install and use eCobra 600 and 800

Robots with EtherCAT. Please read this manual and make sure you understand the func-

tionality, installation, and performance of the robot before attempting to use it.

Related Manuals

Use the following related manuals for reference.

Table 1-1. Related Manuals

Manual Description

Robot Safety Guide (Cat. No.

I590)

Contains safety information for OMRON industrial robots.

Sysmac Studio Robot Integ-

rated System Building Func-

tion with Robot Integrated

CPU Unit Operation Manual

(Cat. No. W595)

Describes the operating procedures of the Sysmac Studio.

Sysmac Studio Robot Integ-

rated System Building Func-

tion with IPC Application

Controller Operation Manual

(Cat. No. W621)

Describes the operating procedures of the IPC

ApplicationController.

eV+3 User'sManual (Cat.

No. I651)

Provides a description of the eV+ programming language

and functionality.

eV+3 Keyword

ReferenceManual (Cat. No.

I652)

Provides reference to eV+ Keyword use and functionality.

NJ-series Robot Integrated

CPU Unit User's Manual

(Cat. No. O037)

Provides information that is necessary to use the robot con-

trol function of the NJ-series CPU Unit.

IPC Application Controller

User’s Manual (Cat. No.

I632)

Provides information that is necessary to use the robot con-

trol function of the IPC Application Controller.

[[[Undefined variable

Primary.T20User'sGuide]]]

Describes the use of the optional T20 manual control

pendant.

IO Blox User’s Guide (04638-

000)

Describes the IO Blox product, its connections, and input/out-

put signals.

24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 9

10 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B

1.1 Intended Audience

This manual is intended for the following personnel, who must also have knowledge of com-

mon programming practices and robotic control methods.

lPersonnel in charge of introducing FA systems.

lPersonnel in charge of designing FA systems.

lPersonnel in charge of installing and maintaining FA systems.

lPersonnel in charge of managing FA systems and facilities.

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