Omron Quattro 650H Manual de usuario

I598-E-01

Quick Setup Guide

Quattro 650H/650HS/

800H/800HS ePLC

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 Tech-

nologies, Inc. The information herein is subject to change without notice and should not be con-

strued as a commitment by Omron Adept Technologies, Inc. This manual is periodically

reviewed and revised.

Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in this

document. Critical evaluation of this manual by the user is welcomed. Your comments assist

us in preparation of future documentation. Please email your comments to: tech-

pubs@adept.com.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Printed in the United States of America

Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D

Page 2 of 16

Chapter 1: Quattro ePLC Robot Quick Setup

1.1 Introduction

Process Overview

This Quick Setup Guide presents the steps that are specific to a Quattro ePLC installation. The

major steps are:

lPreparation, including workcell layout and safety

lHardware Installation, including mounting the robot and system cable connections

lSystem Start-Up, including system configuration and tuning on the robot

It is assumed that the following have been completed. Refer to the Quattro Robot User's Guide

for information on these steps:

lDesign and construction of a robot frame

lInstallation of the robot cable box and cable trayon robot (Quattro HS)

lAttachment of the outer arms and platform on the robot

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

motion controller. Refer to the Quattro Robot User's Guide for those systems.

During the installation and start-up process, refer to the Quattro Robot User's Guide, for more

information on your robot system. Also refer to your PLC user’s guide.

Resources on the Support Disk

lThis guide (along with three other ePLC robot quick setup guides)

lThe Quattro s650/800 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

Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D

Page 3 of 16

1.2 Safety

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 a

robot without adequate safeguards according to applicable

local and national standards. See Figure 1-1. 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 to the

XUSR connector on 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 Front Panel and optional T20 pendant.

Front Panel

T20 Pendant -

Optional

PC running

PLC Programming

Software

Safety Barrier

Restricted Area

Inside Safety

Barrier

200-240 VAC

Typical Workcell Layout

ePLC

Quattro Robot

24 VDC XUSR

Programmable Logic

Controller (PLC)

User-Supplied

Components

STOP

Figure 1-1. Typical Workcell Layout

Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D

Page 4 of 16

Chapter 1: Quattro ePLC Robot Quick Setup

Outer

Arms

Platform

(P31 shown)

Cable Inlet Box

Inner

Arms

Motor

Cover

AIB

Mounting

Pads

Base

Ball Joints

and Spring

Assemblies

Status Display

Panel

Figure 1-2. Quattro Robot Components, 650HS Robot Shown

1.4 Installing the Robot

Frame

The Quattro robot is mounted in a user-supplied frame, so that it hangs over the workspace. 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

Depending on your frame design, the robot can be mounted from either above or below the

frame, and to either the top or bottom of the frame pads.

NOTE:All mounting hardware is user-supplied. Refer to Install Mounting Hard-

ware on page 7.

Top of Pads Bottom of Pads

From Above Frame Eye bolts or Slings Slings

From Beneath Frame Eye bolts or Slings Slings or Fork lift with pad

Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D

Page 5 of 16

1.4 Installing the Robot

Using Eye Bolts:

1. Remove all lag bolts from the robot base mounting pads.

2. Screw the M16 eyebolts into opposing robot mounting pads, so that the robot will be bal-

anced when lifted.

3. Lock each eyebolt with a jam nut.

4. Connect slings to the M16 eyebolts and take up any slack in the slings.

CAUTION:Do not to lift the robot from any points other

than the eyebolts. Failure to comply could result in the robot

falling and causing either personnel injury or equipment

damage.

5. Lift the robot and position it directly over the mounting frame pads.

If lifting from inside the frame, you will have to twist the robot so that its mounting

pads clear the frame mounting pads, and you can raise it above the frame.

6. Slowly lower the robot while aligning the M16 holes in the robot mounting pads with

the holes in the frame mounting pads.

7. When the mounting pad surfaces are touching, start a bolt in each of the two unused

mounting holes.

8. Remove the slings and M16 eyebolts.

9. Refer to the table in Install Mounting Hardware on page 7 for mounting bolt torques.

Using Slings:

NOTE: Nylon slings can be wrapped across the center of the robot base, away from

the inner arms and status display. See the following figure.

Slings Slings

Figure 1-3. Safe Locations for Lifting a Quattro with Nylon Slings

Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D

Page 6 of 16

Chapter 1: Quattro ePLC Robot Quick Setup

1. Remove all lag bolts from the robot base mounting pads.

2. Wrap slings around the robot base. See the preceding figure for two methods.

3. Lift the robot and position it directly over or under the frame mounting pads.

For above lift/bottom mount or below lift/top mount, you will have to rotate the robot so

that its mounting pads clear the frame mounting pads.

4. Refer to the following table for mounting bolt torques.

Using a Forklift:

1. Remove all lag bolts from the robot base mounting pads.

2. Lift the robot and position it directly over or under the frame mounting pads.

Use a padded board as a support under the robot base.

If you want to mount to the top of the frame’s mounting pads, you will have to twist

the robot so that its mounting pads clear the frame mounting pads, and you can raise

them above the frame.

3. Refer to the table that follows for mounting bolt torques.

Install Mounting Hardware

NOTE:When mounting the robot, note the following:

1. Place split lock, then flat washers on the bolts.

Bolts are M16 x 2.0 if threaded into the robot base mounting tabs.

Bolts are M12 or ½ in. if going through the robot base mounting tabs into nuts.

NOTE:When M16 x 2.0 bolts are used, the bolt must engage at least 24 mm into

the threads of the base mounting pad.

2. Insert the bolts through the holes in the frame mounting pads and into the threaded

holes in the robot base mounting pads.

If using through-bolts, insert the bolts through the holes in both the mounting pads and

through the threaded holes in the robot base mounting pads into nuts.

3. Tighten the mounting hardware to the specifications listed in the following table.

Table 1-1. Mounting Bolt Torque Specifications

Standard Size Minimum Specification Torque

Threaded into base (aluminum):

Metric M16 x 2.0 ISO Property Class 5.8 98 N·m (74 ft-lb)

Using base mounting pad hole as through-hole:

Metric M12 ISO Property Class 9.8 100 N·m (75 ft-lb)

SAE ½ in. 100 N·m (75 ft-lb)

Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D

Page 7 of 16

1.5 System Cable Connections

NOTE:Check the tightness of the mounting bolts one week after initial installation,

and then recheck every 6 months. For periodic maintenance, refer to the Quattro

User’s Guide.

1.5 System Cable Connections

Open the Accessory box and locate the eAIB XSYSTEM cable. Connect the cables and peri-

pherals as shown in the following figure. Parts and steps are covered in the following two

tables. Refer to the System Installation chapter in your Quattro User's Guide for power spe-

cifications and wiring instructions.

Part Cable and Parts List Part # Part of: Notes

A eAIB XSYSTEM Cable Assembly 13323-000 standard, eAIB

B User E-Stop, Safety Gate n/a n/a user-supplied

C XUSR Jumper Plug 04736-000 13323-000 standard, eAIB

D Front Panel 90356-10358 standard

E Front Panel Cable 10356-10500 90356-10358 standard

F Front Panel Jumper Plug 10053-000 13323-000 standard, eAIB

G XMCP Jumper Plug 04737-000 13323-000 standard, eAIB

H T20 Bypass Plug 10048-000 10055-000 standard, T20

J T20 Adapter Cable 10051-003 10055-000 standard, T20

K T20 Pendant (option) 10055-000 option

L AC Power Cable (option) 04118-000 90565-010 user-supplied

M 24 VDC Power Cable (option) 04120-000 90565-010 user-supplied

N 24 VDC, 6 A Power Supply

(option)

04536-000 90565-010 user-supplied

P Ethernet Cable - PC -> PLC

(Only while programming PLC)

n/a n/a user-supplied

Q Ethernet Cable - PLC -> switch n/a n/a user-supplied

R Ethernet Cable - switch ->

SmartVisionMX

n/a n/a user-supplied

S Ethernet switch, cable n/a n/a user-supplied

T Camera and cable n/a n/a option

Power Requirements

The power requirements for the SmartVision EX and the Quattro robots are covered in their

respective user guides. For 24 VDC, both can be powered by the same power supply.

Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D

Page 8 of 16

Chapter 1: Quattro ePLC Robot Quick Setup

NOTE: The resistance of all ground conductors must be ≤ 10 Ω.

Step Connection Part

1 Connect eAIB XSYSTEM cable to XSYSTEM on eAIB A

2 Connect a user E-Stop or Muted Safety Gate to the eAIB XSYSTEM cable XUSR

connector or

2a verify XUSR jumper plug is installed in eAIB XSYSTEM cable XUSR connector. C

3 Connect Front Panel cable to Front Panel and eAIB XSYSTEM cable XFP con-

nector or

D, E

3a if no Front Panel, install FP jumper on eAIB XSYSTEM cable XFP connector.

See NOTE after table.

4 Connect T20 adapter cable to eAIB XSYSTEM cable XMCP connector or J, K

4a if no T20, install XMCP jumper or T20 Adapter Cable with T20 bypass plug. G or

5 Connect user-supplied ground to robot. See robot user's guide for location. n/a

5a Connect user-supplied ground to SmartVision MX, if used. See SmartVision

MX user's guide for location.

n/a

6 Connect 200-240 VAC to AC Input on eAIB Interface Panel; secure with clamp. L

7 Connect 24 VDC to DC Input on Interface Panel. N,

7a Connect 24 VDC to SmartVision MX, if used. N,

8 Connect Ethernet cable from PC to PLC. P

9 Connect Ethernet cable from PLC to switch. S

9a Connect Ethernet cable from switch to eAIB. Q, S

9b Connect Ethernet cable from SmartVision MX, if used, to switch. R, S

10 Connect optional camera and cable to SmartVision MX, if used. T

NOTE:A front panel ships with each Quattro ePLC system, but you can choose not

to use it if you replace its functionality with equivalent circuits. That is beyond the

scope of this guide.

Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D

Page 9 of 16

1.6 Configuration

24 V GND

200 -

240 V

XBELTIO

XIO

Servo

ENETENET

XSYSTEM

ePLC Quattro Robot

24 VDC, 6 A

Power Supply

200-240 VAC

10 A

single-phase

AC Power

Cable

DC Power

Cable

Front Panel

Cable

Front Panel

User-Supplied PC

running PLC

Programming Software

T20 Adapter

Cable

XMCP Jumper Plug

XMCP

XFP

XUSR

XUSR Jumper Plug

eAIB

XSYSTEM

Cable

Robot Interface

Panel

XUSR for:

- User E-Stop/Safety Gate

- Muted Safety Gate

The Jumper Plug is required if

neither of these is used

Ethernet from

PC to PLC

T20 Bypass Plug

User-Supplied

Ground Wire

T20 Pendant (option) Either T20 Pendant,T20 Bypass Plug, or

XMCP Jumper Plug must be used

85 - 264 VAC

Universal

Input

24V GND

200 -

240V

XBELTIO

XIO

Servo

ENETENET

XSYSTEM

Ethernet from

PLC to eAIB

FP Jumper Plug

Either Front Panel or

FP plug must be used

Ethernet from eAIB

to SmartVision MX R

User-supplied

Switch

SmartVision MX (option)

Camera

(option)

User-Supplied

Ground Wire

5a 7a

DC Power

Cable

PLC

Figure 1-4. Configuration with Vision

1.6 Configuration

The user-supplied PLC and the Quattro robot are connected either through a shared network or

via a user-supplied Ethernet cable.

When the Quattro ePLC robot is powered on and waiting for a PLC connection, the robot

status panel will display its IP address, two digits at a time.

The format will be:

IP xxx-xxx-xxx-xxx OK

Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D

Page 10 of 16

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