Omron IX3 565 Manuale utente

iX3 Robot with EtherCAT

User's Manual

I655-E-01

The information contained herein is the property of OMRON Robotics and Safety Technologies, Inc., and

shall not be reproduced in whole or in part without prior written approval of OMRON Robotics and

Safety Technologies, Inc. The information herein is subject to change without notice and should not be

construed as a commitment by OMRON Robotics and Safety Technologies, Inc. The documentation is

periodically reviewed and revised.

OMRON Robotics and Safety Technologies, Inc. assumes no responsibility for any errors or omissions in

the documentation.

reserved.

Sysmac and SYSMAC are trademarks or registered trademarks of Omron Corporation in Japan and other

countries for OMRON factory automation products.

EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,

Germany.

ODVA, CIP, DeviceNet, and EtherNet/IP are trademarks of ODVA.

Other company names and product names in this document are the trademarks or registered trademarks

of their respective companies.

Created in the United States of America.

Table of Contents

Chapter 1: Introduction 9

Related Manuals 9

1.1 Intended Audience 10

1.2 Robot Overview 10

Robot Amplifier and Controller 11

IP65 Versions 14

Robot Base 14

Outer Arms and Ball Joints 14

Inner Arms 15

Platforms 15

Robot Motions and Obstacles 16

1.3 Robot Options 16

IO Blox 16

Optional I/O Items 17

T20 Pendant 17

IPC Application Controller 18

Front Panel 19

Optional Cables 20

Tall Frame Mounting Adapters 23

Cable Inlet Box 23

Ball Stud Locks 24

Chapter 2: Safety 25

2.1 Dangers, Warnings, and Cautions 25

Alert Levels 25

Alert Icons 25

Falling Hazards 25

Special Information 26

2.2 What to Do in an Emergency or Abnormal Situation 26

Stopping the Robot 26

Entrapment and Brake Release Button 26

Releasing an E-Stop 26

2.3 Safety Precautions 27

User's Responsibilities 27

General Hazards 27

Qualification of Personnel 28

2.4 Robot Behavior 28

Hardstops 28

Limiting Devices 29

Singularities 29

22792-000 Rev. A iX3 565 Robot with EtherCAT User’s Manual 3

Table of Contents

2.5 Intended and Non-intended Use 29

Intended Use of the Robots 29

Non-Intended Use 29

2.6 Additional Safety Information 30

Manufacturer’s Declaration of Incorporation 30

Robot Safety Guide (Cat. No. I590) 30

Emergency Stop Circuit and Buttons 30

2.7 How CanIGet Help? 30

T20 Manual Control Pendant (Option) 31

Disposal 31

Chapter 3: Robot Installation 33

3.1 Robot Installation Overview 33

Basic Installation Steps 33

3.2 Mounting an iX3 Robot 34

Mounting Frame Overview 34

Robot Orientation 35

Mounting Surfaces 35

Mounting Procedure 35

3.3 Attaching the Theta Drive Shaft 36

Theta Drive Shaft Attachment Procedure 37

3.4 Installing the Platform 37

Align the Platform with the Robot Base 38

Attach the Outer Arms 39

3.5 Installing the FrontPanel 41

Mounting the Front Panel 41

Connecting the Front Panel 41

3.6 Installing User-Supplied Safety Equipment 43

Contacts on XUSR Connector 44

Contacts on XFP Connector 45

Remote Pendant Signals on the XMCPConnector 45

E-Stop Circuits on XUSR and XFP Connectors 46

Emergency Stop Circuits 48

Remote Manual Mode 50

User Manual/Auto Indication 50

Remote High Power ON / OFF Control 51

Using a User-Supplied Control Panel 52

Remote Pendant Usage 52

3.7 Setting the EtherCATNodeID 52

Setting the EtherCATNode ID UsingHardware Switches 53

3.8 Installing End-of-Arm Tooling 55

3.9 Installing a Cable Inlet Box 55

3.10 Installing or Removing Ball Stud Locks 58

4 iX3 565 Robot with EtherCAT User’s Manual 22792-000 Rev. A

Table of Contents

Installing Ball StudLocks 58

Removing Ball StudLocks 59

Chapter 4: System Cable Installation 61

4.1 Basic System Cable Layout 61

List of Cables and Parts 63

Cable Installation Steps 64

XBELT IO Belt Encoder Y Adapter Cable 65

4.2 Connecting Digital I/O to the System 68

Digital I/O Signal Configuration 68

XIO Connector Signals 75

4.3 Connecting the 24 VDC Cable to the Robot 77

24 VDC Power Supply Connector 77

Making the 24 VDC Power Supply Cable 77

Connecting the 24 VDC Cable 78

4.4 Connecting AC Power Cable 79

AC Power Diagrams 80

AC Power Supply Connector 81

Making the AC Power Supply Cable 82

AC Power Supply Cable ConnectionProcedure 83

4.5 Grounding the Robot System 84

Grounding the Robot Base 84

Chapter 5: System Operation 87

5.1 Verifying Installation 87

Mechanical Checks 87

System Cable Checks 87

User-Supplied Safety Equipment Checks 88

Switch Position Checks 89

5.2 Robot Status LED and Display Panel 89

General Robot States 90

5.3 EtherCAT Communications Description 90

5.4 Brakes 91

Brake Release Button 91

Remote Brake Release Feature 92

5.5 Robot Control Modes 93

Manual Mode 93

Automatic Mode 93

Operation Mode 93

Service Mode 94

5.6 Manually Jogging the Robot 94

5.7 Enabling Robot High Power 94

22792-000 Rev. A iX3 565 Robot with EtherCAT User’s Manual 5

Table of Contents

High Power Safety Timeout 95

High Power and Faults 95

High Power Request Methods 95

5.8 Disabling Robot High Power 97

Chapter 6: Maintenance 99

6.1 Periodic Maintenance Schedule 99

6.2 Non-periodic Maintenance Schedule 101

6.3 Cleaning 101

Wash Down 101

Water Shedding 102

6.4 Checking Safety Systems 102

High Power Indicator Check 102

6.5 Checking Labels 103

Warning Labels 103

Information Labels 104

6.6 Checking for Gear Drive Leaks 105

6.7 Checking Fan Operation 106

6.8 Theta Drive Shaft Bushing Replacement 106

Theta Drive Shaft Bushing Replacement Procedure 107

6.9 Theta Drive Shaft Replacement 109

6.10 Aligning the Platform with the Joint 4 Motor 110

6.11 Replacing the Encoder Battery Pack 110

Encoder Battery Pack Replacement Interval 110

Encoder Battery Pack Replacement Procedure 110

6.12 Replacing a Platform 112

6.13 Replacing a Ball Joint Socket Insert 113

6.14 Replacing the iCS-ECAT Unit 113

6.15 Remove and Replace a MicroSD Card 116

Removing a MicroSD Card from an iCS-ECAT 116

Replacing a MicroSD Card in an iCS-ECAT 117

Chapter 7: Technical Specifications 119

7.1 Robot Physical Dimension Drawings 119

7.2 Arm Travel Volumes 120

7.3 Tool Flange Dimensions 123

7.4 General Robot Specifications 124

7.5 Performance Specifications 124

Payload Inertia and Acceleration Specifications 124

Cycle Time and Acceleration Specifications 125

6 iX3 565 Robot with EtherCAT User’s Manual 22792-000 Rev. A

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Payload Center ofGravity Specifications 127

Stopping Time and Distance 128

7.6 Electrical Specifications 132

External Connection Specifications 132

7.7 EtherCAT Communications Specifications 135

7.8 Mounting Frame Specifications 135

7.9 Environmental and Facility Specifications 142

Environmental Requirements 142

Design Considerations 143

7.10 Weights 144

7.11 Power Connector Specifications 144

Chapter 8: Status Codes 145

8.1 Robot Display Panel 145

8.2 Status Codes Table 146

Appendix 153

A.1 Unpacking and Inspecting the Equipment 153

Before Unpacking 153

After Unpacking 153

Inspecting the Equipment 153

A.2 Repacking for Relocation 153

Unpacking Procedure 153

A.3 Transportation and Storage 154

22792-000 Rev. A iX3 565 Robot with EtherCAT User’s Manual 7

Chapter 1: Introduction

This manual contains information that is necessary to install and use iX3 565 Robot with

EtherCAT. Please read this manual and make sure you understand the functionality, install-

ation, and performance of the robot before attempting to use it.

Related Manuals

Use the following related manuals for reference.

Table 1-1. Related Manuals

Manual Description

Robot Safety Guide (Cat. No.

I590)

Contains safety information for OMRON industrial robots.

Sysmac Studio Robot Integ-

rated System Building Func-

tion with Robot Integrated

CPU Unit Operation Manual

(Cat. No. W595)

Describes the operating procedures of the Sysmac Studio.

Sysmac Studio Robot Integ-

rated System Building Func-

tion with IPC Application

Controller Operation Manual

(Cat. No. W621)

Describes the operating procedures of the IPC

ApplicationController.

eV+3 User'sManual (Cat.

No. I651)

Provides a description of the eV+ programming language

and functionality.

eV+3 User'sManual (Cat.

No. I651)

Provides reference to eV+ Keyword use and functionality.

eV+3 Keyword

ReferenceManual (Cat. No.

I652)

Provides information that is necessary to use the robot con-

trol function of the NJ-series CPU Unit.

IPC Application Controller

User’s Manual (Cat. No.

I632)

Provides information that is necessary to use the robot con-

trol function of the IPC Application Controller.

NJ-series Robot Integrated

CPU Unit User's Manual

(Cat. No. O037)

Describes the settings and operation of the CPU Unit and

programming concepts for OMRON robot control.

T20 Pendant User's Manual

(Cat. No. I601)

Describes the use of the optional T20 manual control

pendant.

22792-000 Rev. A iX3 565 Robot with EtherCAT User’s Manual 9

10 iX3 565 Robot with EtherCAT User’s Manual 22792-000 Rev. A

1.1 Intended Audience

Manual Description

IO Blox User’s Guide (04638-

000)

Describes the IO Blox product, its connections, and input/out-

put signals.

1.1 Intended Audience

This manual is intended for the following personnel, who must also have knowledge of fact-

ory automation (FA) systems and robotic control methods.

lPersonnel in charge of introducing FA systems.

lPersonnel in charge of designing FA systems.

lPersonnel in charge of installing and maintaining FA systems.

lPersonnel in charge of managing FA systems and facilities.

1.2 Robot Overview

The iX3 565 Robot with EtherCAT is a three-arm parallel robot. Servo motors in the robot base

control movement of the robot platform through mechanical links, arms, and an optional drive

shaft when platform rotation is needed. A tool flange is provided on the bottom of the platform

for mounting end-of-arm tooling.

Servo and other control functions are provided with an integrated controller(iCS-ECAT) that is

mounted on the top of the robot base.

Built-in EtherCAT communications allow this robot to operate together with EtherCAT slaves,

other Sysmac products, and the Sysmac Studio Automation Software to achieve optimum func-

tionality and ease of operation.

NA-series

Teaching pendant

T20

(with built-in EtherCAT

communications)

Slave

Terminal

Vision sensor

OMRON

robot

Robot Integrated CPU Unit

NJ501-R

I/O control

external devices

1S-series Servo Drives

G5-series Servo Drives

Server Relational database

USB

Camera

FH-series Vision

Systems

Robots controllable by NJ Robotics function

EtherCAT

Application Controller

Sysmac Studio

EtherNet/IP

Front Panel

Safety

devices Encoder,

digital I/O

Figure 1-1. EtherCATSystem Topology

Two models of the iX3 565 Robot with EtherCAT are available:

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