Omron Hornet 565 Manuale utente

I595-E-02

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.

This manual was originally written in English.

Created in the United States of America

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.

Changed one drawing to show tool flange pin hole aligned with J1.

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

Page 3 of 20

Chapter 1: Safety

1.1 Warnings, Cautions, and Precautions

There are six levels of special alert notation used in our manuals. In descending order of

importance, they are:

DANGER: This indicates an imminently hazardous electrical situation which,

if not avoided, will result in death or serious injury.

DANGER: This indicates an imminently hazardous situation which, if not

avoided, will result in death or serious injury.

WARNING: This indicates a potentially hazardous electrical situation which,

if not avoided, could result in injury or major damage to the equipment.

WARNING: This indicates a potentially hazardous situation which, if not

avoided, could result in injury or major damage to the equipment.

CAUTION: This indicates a situation which, if not avoided, could result in

damage to the equipment.

Precautions for Safe Use: This gives precautions on what to do and what not

to do to ensure safe product use.

1.2 What To Do in an Emergency/Abnormal Situation

Stopping the Robot

Press any E-Stop button (a red push-button on a yellow background) and then follow the

internal procedures of your company or organization for an emergency situation.

Fire Response

If a fire occurs, use CO2to extinguish the fire.

Chapter 1: Safety

Entrapment and Brake Release Button

In case of entrapment of a person by the robot, or any other emergency or abnormal situation,

the robot can be manually moved to a safe state without high voltage electric power. Axes 1

through 3 are held by brakes, which can only be released with the brake release button. This

requires 24 V power to the robot.

DANGER: Hornet 565s are not collaborative robots. They require a dedicated

work area that will prevent personnel from coming into contact with them dur-

ing operation.

DANGER: During maintenance, disconnect AC power from the robot, and

install a lock-out tag-out to prevent anyone from reconnecting power.

1.3 Operation Safety

WARNING: It is strictly prohibited to install or operate an Omron Adept Tech-

nologies, Inc. robot 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.

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

Page 4 of 20

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

Page 5 of 20

Chapter 2: Quick Setup

2.1 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 under the following cir-

cumstances. Refer to the Hornet 565 Robot User’s Guide for those systems.

lSystems that include a SmartController EX motion controller

lSystems that include a PLC

lSystems purchased without an Omron Adept Technologies, Inc. Front Panel

During the installation and start-up process, refer also to your Hornet 565 Robot User’s Guide.

Resources on Omron Web Sites

On the Omron Industrial Automation web site:

ia.omron.com

lePLC Connect 3 Software User's Guide (11464-000)

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.

On the Omron Adept web site:

adept.com

lLegacy systems communication structure pdfs

lLegacy systems code examples

Chapter 2: Quick Setup

2.2 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

Figure 2-1. Simple Workcell Layout

2.3 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.

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

Page 6 of 20

Chapter 2: Quick Setup

Joint 1

Slots

Joint 2 Slots

Joint 3

Slots

Figure 2-2. 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.

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).

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

Page 7 of 20

Chapter 2: Quick Setup

Brake-

Release

Button

Status Display

Panel

Joint 1

Joint 2

Joint 3,

Ball Joints 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 2-3. Labeled Drawing of Hornet Components, J4 Platform

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 2-4. Hornet 565 Robot Base Mounting Pattern

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

Page 8 of 20

Chapter 2: Quick Setup

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.

WARNING: Incorrect alignment of the platform with the robot base will result

in incorrect robot performance and possible damage to the drive shaft.

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.

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 2-5. Ball Joint Assembly, Inner Arm

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

Page 9 of 20

Chapter 2: Quick Setup

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. Separate

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 platform ball studs.

Theta

Drive

Shaft

Attachment Joint 1

Joint 3 Joint 2

Tool

Flange

X+

Y+

Figure 2-6. 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 and slip the left ball joint socket

over the left ball stud.

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

Figure 2-7. Ball Joint Assembly, Showing

Springs and Horseshoes

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

Page 10 of 20

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