Omron Quattro 650H Manual de usuario

I597-E-05

User’s Guide

Quattro

650H/650HS/800H/800HS

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

Table of Contents

Chapter 1: Introduction 13

1.1 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

1.2 Installation Overview 21

1.3 How Can I Get Help? 22

Related Manuals 22

Chapter 2: Safety 23

2.1 What to Do in an Emergency / Abnormal Situation 23

Releasing the Brakes 23

General Hazards 23

Releasing an E-Stop 23

2.2 Dangers, Warnings, and Cautions 24

Alert Levels 24

Alert Icons 24

Special Information 25

2.3 User's Responsibilities 25

Electrical Hazards 25

Pinch Hazard 25

Qualification of Personnel 25

2.4 Robot Behavior 26

Hardstops 26

2.5 Intended and Non-intended Use 26

Intended Use 26

Non-Intended Use 27

Robot Modifications 27

2.6 Additional Safety Information 27

Robot Safety Guide 28

T20 Manual Control Pendant (Option) 28

Disposal 28

09955-000 Rev. N Quattro User's Guide 3

Table of Contents

Chapter 3: Robot Installation - H 29

3.1 Transport and Storage 29

3.2 Unpacking and Inspecting the Equipment 29

Before Unpacking 29

Upon Unpacking 29

Unpacking 29

3.3 Repacking for Relocation 31

3.4 Environmental and Facility Requirements 31

3.5 Mounting Frame 32

Frame Orientation 33

Frame Construction 33

Robot-to-Frame Considerations 33

Mounting 34

Gussets 34

3.6 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

3.7 Attaching the Outer Arms and Platform 39

Clocking the Platform to the Base 40

Attaching the Outer Arms 41

3.8 Mounting the Front Panel 44

Chapter 4: Robot Installation - HS 45

4.1 Transport and Storage 45

4.2 Unpacking and Inspecting the Quattro Equipment 45

Before Unpacking 45

Upon Unpacking 45

Unpacking 45

4.3 Repacking for Relocation 47

4.4 Environmental and Facility Requirements 47

4.5 Mounting Frame 48

Frame Mounting Tabs 48

Robot-to-Frame Considerations 49

Mounting 49

Gussets 49

4.6 Cable Inlet Box 50

Assembling Cable Inlet Box 50

Connecting the Cables 54

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Table of Contents

Installing the Cable Inlet Box 55

4.7 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

4.8 Attaching the Outer Arms and Platform 60

Clocking the Platform to the Base 61

Attaching the Outer Arms 62

4.9 Mounting the Front Panel 65

4.10 Attaching the Cable Tray 65

Chapter 5: System Installation 71

5.1 System Cable Diagram 71

5.2 Installing the SmartController EX 72

List of Cables and Parts 72

Cable Installation Overview 74

5.3 Optional Cables 75

XIOBreakout Cable 75

DB9 Splitter Cable 75

eAIB XBELTIOAdapterCable 75

SmartController Belt Encoder Y-Adapter Cable 75

5.4 Connecting User-Supplied PC to Robot 80

PC Requirements 80

5.5 Installing ACE Software 81

5.6 Description of Connectors on Robot Interface Panel 81

5.7 Cable Connections from Robot to SmartController 82

5.8 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

5.9 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

5.10 Grounding the Quattro Robot System 90

Quattro Robot Base 90

Quattro HS Robot Base 91

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Robot-Mounted Equipment 91

Configuration 92

5.11 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

6.1 Robot Status Display Panel 105

6.2 Status Panel Fault Codes 106

6.3 Using the Brake-Release Button 107

Brakes 107

Brake-Release Button 107

6.4 Front Panel 109

6.5 Connecting Digital I/O to the System 110

6.6 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

6.7 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

6.8 Quattro Motions 124

Straight-line Motion 124

Containment Obstacles 124

Tool Flange Rotation Extremes 124

6.9 Learning to Program the Quattro Robot 128

Chapter 7: Optional Equipment Installation 129

7.1 End-Effectors 129

Attaching 129

Aligning 129

Grounding 129

Accessing Vacuum 129

6 Quattro User's Guide 09955-000 Rev. N

Table of Contents

7.2 Routing End-effector Lines 130

7.3 Ball Stud Locks 131

Installing a Ball Stud Lock 132

Removing a Ball Stud Lock 133

Chapter 8: Technical Specifications 135

8.1 Dimension Drawings 135

8.2 Internal Connections 144

8.3 XSYS/XSYSTEM Connector 145

8.4 Robot Specifications 145

8.5 Payload Specifications 147

Torque and Rotation Limits 147

Payload Mass vs. Acceleration 147

Payload Inertia vs. Acceleration 149

8.6 Stopping Times and Distances 150

8.7 Robot Mounting Frame, Quattro 650H Robot 158

Chapter 9: Maintenance - H 165

9.1 Periodic Maintenance Schedule 165

9.2 Warning Labels 168

9.3 Checking Safety Systems 169

9.4 Checking Robot Mounting Bolts 169

9.5 Checking Robot Gear Drives 169

9.6 Checking Fan Operation 170

9.7 Replacing the eAIB Chassis 170

Removing the eAIB Chassis 170

Installing a New eAIB Chassis 173

9.8 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

9.9 Replacing the Encoder Battery Pack 179

Battery Replacement Interval 179

Battery Replacement Procedure 180

9.10 Replacing a Platform 182

Replacement 182

9.11 Configuration 182

9.12 Replacing a Ball Joint Insert 182

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9.13 Replacing Outer Arm Spring Assemblies 182

Removing Outer Arm Spring Assemblies 183

Installing Outer Arm Spring Assemblies 184

9.14 Changing the Lamp in the Front Panel High-Power Indicator 186

Chapter 10: Maintenance - HS 189

10.1 Cleaning 189

Water Shedding 189

Wash-Down 189

Chemical Compatibility 190

10.2 Warning Labels 190

10.3 Periodic Maintenance 191

10.4 Checking Safety Systems 195

10.5 Checking Robot Mounting Bolts 195

10.6 Checking Robot Gear Drives 195

10.7 Checking Fan Operation 196

10.8 Removing and Installing the Cable Inlet Box 197

Removing the Cable Inlet Box 197

Installing the Cable Inlet Box 198

10.9 Replacing the eAIB Chassis 199

Removing the eAIB Chassis 199

Installing a New eAIBChassis 201

10.10 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

10.11 Replacing the Encoder Battery Pack 207

Battery Replacement Interval 207

Battery Replacement Procedure 208

10.12 Replacing a Platform 211

Replacement 211

Configuration 212

10.13 Replacing a Ball Joint Insert 212

10.14 Replacing Outer Arm Spring Assemblies 213

Removing Outer Arm Spring Assemblies 213

Installing Outer Arm Spring Assemblies 214

10.15 Replacing the Front Panel 216

8 Quattro User's Guide 09955-000 Rev. N

Table of Contents

Chapter 11: Robot Cleaning/ Environmental Concerns- H 217

11.1 Ambient Environment 217

Humidity 217

Temperature 217

11.2 Cleaning 218

Caustic Compatibility 218

Water Shedding 218

Wipe-Down 218

11.3 Cleanroom Classification 218

11.4 Design Factors 218

Robot Base and Components 218

Inner Arms 219

Ball Joints 219

Outer Arms 219

Springs 219

Platforms 219

11.5 Installing Cable Seal Kit 220

Overview 220

Installation Procedure 221

Chapter 12: Environmental Concerns - HS 227

12.1 Ambient Environment 227

Humidity 227

Temperature 227

12.2 Cleanroom Classification 228

12.3 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

13.1 Status Panel Display 231

13.2 Status Codes 232

09955-000 Rev. N Quattro User's Guide 9

10 Quattro User's Guide 09955-000 Rev. N

Revision History

Revision

Code Date Revised Content

01 June,

2016

Original release.

02 May, 2017 Regulatory updates.

03 November,

2017

lAdded the Quattro 800HS to USDA approved list.

lClarified that Line E-Stop Input can be used for pro-

duction lines.

lClarified note on emergency stop circuits.

lClarified that the ball joint inserts are made of special

acetal material.

04 April, 2018 lUpdated safety chapter format and alert levels through-

out user guide.

lClarified that USDA approved platforms are stainless

steel.

lUpdated unpacking instructions with new crate con-

figuration.

lUpdated recommended power supply model numbers.

lUpdated images of platform to show Omron Adept logo.

lChanged ACE software disk to ACEsoftware media.

lUpdated pictures to show painted inner arms.

lAdd note to firmly hold end of arm tooling when attach-

ing to the flange to prevent damage to platform belt.

lMinor updates to fix broken links and incorrect ref-

erences.

05 March,

2019

lUpdated copyright for 2019.

lAdded WEEEdisposal information.

lRemoved www.adept.com from Chapter 1: Introduction.

lUpdated safety chapter format and added fire and ESD

alert icons.

lAdded addition information regarding intended and non-

intended use of Quattro robots.

lMade a note that Hardstops have been moved to the

base.

lAdded Max Allowable Center of Gravity (CG) table in

chapter 8.

lGraphics improved and modified for translation and

added call-out tables.

lAdded Status Codes chapter.

lAdded Platform configuration procedure to System

Installation chapter and removed configuration pro-

cedure from Maintenance chapters.

lRevised encoder battery replacement interval.

lRevised Ball Stud Lock section with new part number for

individual locks.

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