Omron Hornet 565 Manual de usuario

I595-E-01

Hornet 565 Robot

Quick Setup Guide

The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be

reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The

information herein is subject to change without notice and should not be construed as a commitment by

Omron Adept Technologies, Inc. The documentation is periodically reviewed and revised.

Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the doc-

umentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us

in preparation of future documentation. Please submit your comments to: techpubs@adept.com.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Created in the United States of America

Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C

Page 3 of 18

Chapter 1: Hornet 565 Quick Setup Guide

1.1 Introduction

Process Overview

This Quick Setup Guide steps you through the installation and start-up of your Hornet 565

robot. The major steps are:

lPreparation: workcell layout and safety

lHardware Installation: mounting the robot and connecting system cables

lSystem Start-Up: system configuration and turning on the robot

It is assumed that a robot frame has been designed and built. Refer to the Hornet 565 Robot

User's Guide for information on requirements for the frame.

NOTE: This guide does not apply to robot systems that include a SmartController

EX motion controller. Refer to the Hornet 565 Robot User’s Guide for those systems.

During the installation and start-up process, refer also to your Hornet 565 robot user’s guide,

shipped with each system, and available on the support disk.

Resources on the Support Disk

lThis guide

lThe Hornet 565 Robot User's Guide

Resources on Omron Web Sites

On the Omron Industrial Automation web site:

ia.omron.com

lThe ePLC Connect 3 Software User's Guide

lEtherNet/IP Connection Guide (P649-E1-01)

This covers ePLC for the Omron NJ controller with Omron Adept Robots.

lEtherNet/IP Connection Guide (P650-E1-01)

This covers ePLCIO for the Omron NJ controller with Omron Adept robots.

Chapter 1: Hornet 565 Quick Setup Guide

On the Omron Adept web site:

adept.com

lLegacy systems communication structure pdfs

lLegacy systems code examples

1.2 Safety

WARNING:It is strictly prohibited to install or operate our

robots without adequate safeguards according to applicable

local and national standards. See the following figure for a

simple workcell layout.

You must read the Robot Safety Guide and the Robot Installation and Operation chapters in the

robot user’s guide for information on safe operation of your robot system.

Refer to Installing User-Supplied Safety Equipment in the System Installation chapter of the

robot user’s guide, which provides details on connecting a user-designed E-Stop system

through the XUSR connector to the robot.

1.3 Workcell Layout

The following figure shows a simple workcell layout with a user-supplied safety barrier and E-

Stops provided by the optional Front Panel and optional T20 pendant.

Front Panel -

Optional

T20 Pendant -

Optional

PC running

ACE Software

Safety Barrier

Restricted Area

Inside Safety

Barrier

200-240 VAC

Typical Workcell Layout

Hornet 565 Robot

24 VDC XUSR

Robot’s eAIB

Programmable Logic

Controller (PLC)

User-Supplied

Components

STOP

Figure 1-1. Simple Workcell Layout

Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C

Page 4 of 18

Chapter 1: Hornet 565 Quick Setup Guide

1.4 Installing the Robot

Frame

The Hornet 565 robot is mounted in a user-supplied frame, so that it hangs over the work-

space. A sample frame design is given, with dimensions, in the user’s guide. See the following

figure.

Ensure that the robot is oriented such that the Status Display panel faces away from the con-

veyor, if your system has a conveyor. This will give you the best view of the Status Display

panel, and provide the best cross-belt movement of the robot’s platform.

Mounting the Robot

1. Position the robot under the mounting frame.

The pallet will not fit in most frames, so the robot will need to be unstrapped from the

pallet and moved manually.

2. Put nylon slings through the six lifting slots. See the following figure.

Joint 1

Slots

Joint 2 Slots

Joint

Figure 1-2. Four of Six Lifting Slots, Sample Frame (not to scale)

3. Take up the slack in the slings.

4. Lift the robot up to the mounting pads on the frame.

5. Mount the robot with three M12 x 1.75 screws. Mounting screws are user-supplied; the

length is determined by your frame design.

The screws should be stainless or zinc-plated steel.

Lock washers are not needed, as the robot base has spring-lock Heli-Coil®inserts.

Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C

Page 5 of 18

Chapter 1: Hornet 565 Quick Setup Guide

6. Use an external-tooth star washer, under one of the mounting screw heads, to ground

the robot base to the frame.

If the frame is painted where the star washer makes contact with it, use a ring terminal

under the star washer, and connect the other end of the wire from the terminal to a suit-

able grounding surface on the frame.

If the frame is not painted where the M12 screw makes contact with it, you do not need

to use a ring terminal - just put an external-tooth star washer under the mounting screw

head.

7. Tighten all mounting screws to 61 N-m (45 ft-lbf).

Brake-

Release

Button

Status Display

Panel

Joint 1

Joint 2

Ball Joints,

Joint 3

Status LED/

High-power

Lamp

Inner Arm

Motor Plug

Joint 4 Cover

Robot Base

Cover

Mounting Pad x3

Tool Flange

J4 Platform

and Ball Joints

Theta

Drive

Shaft

Outer Arms

Figure 1-3. Labeled Drawing of Hornet Components, J4 Platform, Springs not Shown

Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C

Page 6 of 18

Chapter 1: Hornet 565 Quick Setup Guide

3 x 120°

3x Ø 42.84

Units are mm

M12 x 1.75

Section A-A

3x Ø 24

36°

Joint 1

Joint 2Joint 3

Ø 885.69

B.C. Ø 740.00 A

X+

Y+

Joint 4

Conveyor

Direction

Figure 1-4. Hornet 565 Robot Base Mounting Pattern

Attaching the Outer Arms and Platform

The Hornet 565 robot is available with either a rotating platform (J4) or a fixed platform. The

fixed platform model does not use a J4 motor or a theta drive shaft.

The Hornet 565 robot platform gets attached to the inner arms by the outer arms.

NOTE: Except for attaching the outer arms and, for the J4 platform, the theta drive

shaft, the platform is shipped fully assembled.

One pair of outer arms attaches between each inner arm and the platform. No tools are

needed.

For the J4 platform only:Both the theta drive shaft attachment on the J4 motor and the plat-

form are offset by about 2 in. from the centers of the robot base and tool flange. The platform

should be attached so that its shaft aligns between the Joint 1 and Joint 3 ball studs on the

robot base. Joint 1 should connect to motor 1, which is immediately to the right of the Status

Display panel on the robot base. See the preceding figure.

lEach outer arm has a ball joint socket at each end.

lThe inner arms and the platform have corresponding pairs of ball studs.

lThe procedure for attaching the outer arms is the same for both platforms.

Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C

Page 7 of 18

Chapter 1: Hornet 565 Quick Setup Guide

1. Attach one pair of outer arms to each inner arm.

Inner

Arm

Ball Joint

Socket

Ball Joint

Socket Insert

Outer Arm Springs Spring

Horseshoe

Pressed Pin

Ball Joint Stud

Outer Arms

Figure 1-5. Ball Joint Assembly, Inner Arm

a. Pivot the two arms away from each other lengthwise. This requires the least

stretching of the spring to attach the ball joints.

b. Slip one ball joint socket over the corresponding ball stud.

c. Swing the bottom end of the outer arm pair sideways as you slip the other ball

joint socket over the corresponding ball stud.

CAUTION:Do not overstretch the outer arm springs. Separ-

ate the sockets only enough to fit them over the ball studs.

2. Attach one pair of outer arms to each of the three pairs of ball studs on the platform.

Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C

Page 8 of 18

Chapter 1: Hornet 565 Quick Setup Guide

Theta

Drive

Shaft

Attachment Joint 1

Joint 3 Joint 2

Tool

Flange

X+

Y+

Figure 1-6. Top View of J4 Platform

a. Swing the bottom end of the outer arm pair to the right, as far as possible.

b. Slip the right ball joint socket over the right ball stud. (Move the platform as

needed to do this.)

c. Move the platform and outer arm pair to the left as you slip the left ball joint

socket over the corresponding ball stud.

3. Ensure that all spring hooks are fully-seated in the grooves of the horseshoes. See the fol-

lowing figure.

Figure 1-7. Ball Joint Assembly, Showing Springs and Horseshoes

Attaching the Theta Drive Shaft (J4 Platform Only)

NOTE:The fixed platform does not use a theta drive shaft, so this section does not

apply to robots with a fixed platform.

Each U-joint has two identical ends. When the theta drive shaft is shipped, it will have one

end of a U-joint attached to each end. Attach the top end of the drive shaft to the J4 motor

shaft, labeled Top, first. This requires using a 3 mm hex key, with its short end shortened to 10

- 15 mm. A normal hex key will not fit in the space available.

Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C

Page 9 of 18

Chapter 1: Hornet 565 Quick Setup Guide

10 - 15 mm

3 mm

Figure 1-8. Shortened Hex Key

Theta

Drive

Shaft

Set

Screw

U-Joint

J4 Shaft

(Motor or

Platform)

Upper U-Joint

at J4 Motor

Center Section

of Drive Shaft

CylinderSection

of Drive Shaft

Lower U-Joint

at J4 Platform

Figure 1-9. U-Joint, Set Screw, J4 Shaft | Drive Shaft

To attach the free end of the U-joint:

1. Slide the end of the U-joint over the shaft (platform or J4 motor).

The fit will be fairly tight.

The hole in the side of the U-joint needs to line up with the hole in the shaft.

2. Screw an M6 x 20 dog point set screw (included) through the shaft, going through the

hole in the side of the U-joint, and into the blind hole on the opposite side of the U-joint.

The U-joint is not threaded.

Use Loctite 242, and tighten to 5 N-m (3.7 ft-lbf)of torque. The head of the set-screw

should be flush with the outer surface of the U-joint.

NOTE: The platform and J4 motor will need to be aligned after the ACE software

has been installed, and the robot has been powered-on.

Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C

Page 10 of 18

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