Omron Hornet 565 Manual de usuario

I596-E-03

Hornet 565 Robot

User’s 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 User's Guide, 14608-000 Rev F

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Revision History

Revision

code Date Revised Content

01 June,

2016

Original release

02 January,

2016

Updated graphics with platform oriented correctly, showing current

drive shaft. Updated to OAT logo on status panel, front panel. Updated

safety chapter, minor changes to stopping distance graph section in

Technical Specifications. Fixed rotation of tool flange in Fig. 5-2, added

graphic for J4 alignment.

03 July,

2017

Updated drawing of tool flange to show 41.14 mm pilot bore that was

added since original release.

Table of Contents

Chapter 1: Introduction 11

1.1 Hornet 565, Product Description 11

eAIB Amplifier 11

Hornet 565 Base 12

Inner Arms 12

Ball Joints, Outer Arms 13

Platforms 13

SmartController EX 15

1.2 Installation Overview 16

1.3 How Can I Get Help? 17

Corporate Addresses 17

Related Manuals 17

Chapter 2: Safety 19

2.1 Warnings, Cautions, and Precautions 19

2.2 What to Do in an Emergency/Abnormal Situation 19

Stopping the Robot 19

Fire Response 19

Entrapment and Brake Release Button 20

2.3 Safety Precautions 20

2.4 Robot Behavior 21

Hardstops 21

Limiting Devices 21

Singularities 21

2.5 Intended Use of the Robots 21

2.6 Additional Safety Information 21

Manufacturer’s Declaration of Incorporation 22

Robot Safety Guide 22

Emergency Stop Circuit and Buttons 22

Manual Control Pendant 22

Chapter 3: Robot Installation 23

3.1 Transport and Storage 23

3.2 Unpacking and Inspecting the Hornet 565 23

Before Unpacking 23

Upon Unpacking 23

Unpacking 23

3.3 Repacking for Relocation 25

3.4 Environmental and Facility Requirements 25

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3.5 Mounting Frame 25

Robot-to-Frame Considerations 26

Mounting 26

3.6 Mounting the Robot Base 27

Robot Orientation 27

Mounting Surfaces 27

Mounting Procedure 27

Install Mounting Hardware 28

3.7 Attaching the Outer Arms, Platform, and Theta Drive Shaft 29

Aligning the Platform with the Base 29

Attaching the Outer Arms 30

Attaching the Theta Drive Shaft 34

3.8 Mounting the Front Panel 35

3.9 End-Effectors 35

Attaching an End-Effector 35

Aligning an End-Effector 35

Grounding 36

Accessing Vacuum 36

Routing End-effector Lines 36

Chapter 4: System Installation 39

4.1 System Cables, eAIB Only (no SmartController EX) 39

List of Cables and Parts 40

Cable Installation Overview 41

Optional Cables 42

4.2 System Cables, with SmartController EX 43

Installing a SmartController EX Motion Controller 43

List of Cables and Parts 44

Cable Installation Overview 45

Less Common Cables 45

4.3 System Cables for Systems with Belt Encoders 46

List of Cables and Parts 46

Cable Installation Overview 47

Pinouts for eAIB XBELT IO Adapter 48

4.4 ACE Software 49

User-supplied PC 49

Installing ACESoftware 49

4.5 Robot Interface Panel 50

4.6 Connecting 24 VDC Power to Robot 51

Specifications for 24 VDC Robot and Controller Power 51

Details for 24 VDC Mating Connector 51

Procedure for Creating 24 VDC Cable 52

Installing 24 VDC Robot Cable 52

4.7 Connecting 200-240 VAC Power to Robot 53

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Specifications for AC Power 54

Details for AC Mating Connector 56

Procedure for Creating 200-240 VAC Cable 56

Installing AC Power Cable to Robot 57

4.8 Grounding the Hornet 565 57

Grounding Robot-Mounted Equipment 57

Grounding Robot Base to Frame 58

4.9 Installing User-Supplied Safety Equipment 59

Emergency Stop Circuits 63

Remote Manual Mode 65

User Manual/Auto Indication 65

User High Power On Indication 65

Remote High Power On/Off Control 65

High Power On/Off Lamp 66

Remote Front Panel or User-Supplied Control Panel Usage 66

Remote Pendant Usage 67

Chapter 5: System Operation 69

5.1 Robot Status Display Panel 69

5.2 Status Panel Fault Codes 70

5.3 Using the Brake-Release Button 70

Robot Brakes 70

Brake-Release Button 71

5.4 Optional Front Panel 72

5.5 Connecting Digital I/O to the System 74

I/O on the eAIB 74

I/O with an Optional SmartController EX 74

5.6 Using Digital I/O on eAIB XIO Connector 76

Optional I/O Products 78

XIO Input Signals 78

XIO Output Signals 80

XIO Breakout Cable 82

5.7 Starting the System for the First Time 84

Verifying Installation 84

Turning on Power and Starting ACE 85

Enabling High Power 86

Verifying E-Stop Functions 86

Aligning the Platform and J4 Motor 86

Verify Robot Motions 87

5.8 Robot Motions 88

Straight-line Motion 88

Containment Obstacles 88

5.9 Learning to Program the Hornet 565 88

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Chapter 6: Options 89

6.1 Tall Frame Adapters 89

6.2 ePLC Connect 90

Configuration 90

Setting the Robot IP Address 90

Configuring the Omron PLC 92

Enabling High Power 92

6.3 SmartVision MX Industrial PC 92

6.4 SmartController EX Motion Controller 92

6.5 sDIO Module 92

6.6 IOBlox I/ODevice 92

6.7 eAIB XBELT IOAdapter Cable 92

6.8 Cable Inlet Box 93

Overview 93

Installation Procedure 94

6.9 Intelligent Force Sensor 99

6.10 Ball Stud Locks 99

Installing a Ball Stud Lock 100

Removing a Ball Stud Lock 101

Chapter 7: Maintenance 103

7.1 Cleaning 103

Water Shedding 103

Wash-Down 103

Chemical Compatibility 104

7.2 Periodic Maintenance Schedule 104

7.3 Checking Labels 106

Warning Labels 106

Informative Labels 107

7.4 Checking Safety Systems 107

7.5 Checking Robot Mounting Bolts 108

7.6 Checking for Gear Drive Oil Leakage 108

7.7 Checking Fan Operation 109

7.8 Theta Drive Shaft 110

Replacing the Drive Shaft Bushings 110

Removing the Drive Shaft 113

Installing a Drive Shaft 114

Aligning the Platform and J4 Motor 115

7.9 Replacing the Encoder Battery Pack 115

7.10 Non-Periodic Maintenance 118

7.11 Changing the Front Panel High-Power Indicator Lamp 118

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7.12 Replacing a Platform 120

7.13 Replacing a Ball Joint Insert 120

7.14 Replacing Outer Arm Spring Assemblies 120

7.15 Replacing the eAIB Chassis 124

Removing the eAIB Chassis 124

Installing a New eAIB Chassis 128

7.16 Commissioning a System with an eAIB 128

Safety Commissioning Utilities 129

E-Stop Configuration Utility 130

E-Stop Verification Utility 131

Teach Restrict Configuration Utility 131

Teach Restrict Verification Utility 132

Chapter 8: Technical Specifications 135

8.1 Dimension Drawings 135

8.2 Robot Specifications 139

8.3 Environmental Specifications 139

Operating 139

Shipping and Storage 139

8.4 Payload Specifications 140

Payload 140

Torque 140

8.5 Performance 141

Repeatability, Unidirectional 141

Cycle Times 141

Power Consumption 141

Stopping Time and Distance 142

Payload Mass vs. Acceleration 148

Payload Inertia vs. Acceleration 148

8.6 Robot Mounting Frame 149

Chapter 9: Environmental Concerns 155

9.1 Ambient Environment 155

9.2 Cleanroom Classification 155

9.3 Design Factors 155

Robot Base and Components 156

Inner Arms 156

Ball Joints 156

Outer Arms 156

Spring Assemblies 157

Platforms 157

Hornet 565 Robot User's Guide, User’s Guide, 14608-000 Rev F

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