Omron Quattro 650H Manuale utente

I597-E-01

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

Quattro User's Guide, 09955-000 Rev J

Page 3 of 212

Table of Contents

Chapter 1: Introduction 11

1.1 Quattro Robots, Product Description 11

Controllers 11

Sizes and Materials 11

Major Differences between Quattro H and HS Robots 11

eAIB 13

Quattro Robot Base 14

Inner Arms 14

Ball Joints, Outer Arms 14

Platforms 15

SmartController EX 18

1.2 Installation Overview 19

1.3 How Can I Get Help? 20

Related Manuals 20

Chapter 2: Safety 21

2.1 Warnings, Cautions, and Precautions 21

2.2 Safety Precautions 22

2.3 What to Do in an Emergency/Abnormal Situation 22

2.4 Robot Behavior 23

Hardstops 23

Limiting Devices 23

Singularities 23

2.5 Additional Safety Information 23

Manufacturer’s Declaration of Incorporation 23

Robot Safety Guide 23

Manual Control Pendant 23

2.6 Intended Use of the Robots 24

Chapter 3: Robot Installation - H 25

3.1 Transport and Storage 25

3.2 Unpacking and Inspecting the Equipment 25

Unpacking 25

3.3 Repacking for Relocation 27

3.4 Environmental and Facility Requirements 27

3.5 Mounting Frame 27

Frame Orientation 29

Frame Construction 29

Robot-to-Frame Considerations 29

Mounting 29

Gussets 30

3.6 Mounting the Robot Base 30

Robot Orientation 30

Mounting Surfaces 30

Mounting Options 31

Mounting Procedure from Above the Frame 31

Mounting Procedure from Below the Frame 33

Install Mounting Hardware 33

3.7 Attaching the Outer Arms and Platform 35

Clocking the Platform to the Base 35

Attaching the Outer Arms 37

3.8 Mounting the Front Panel 40

Chapter 4: Robot Installation - HS 41

4.1 Transport and Storage 41

4.2 Unpacking and Inspecting the Quattro Equipment 41

Before Unpacking 41

Upon Unpacking 41

Unpacking 41

4.3 Repacking for Relocation 44

4.4 Environmental and Facility Requirements 44

4.5 Mounting Frame 44

Frame Mounting Tabs 45

Robot-to-Frame Considerations 45

Mounting 46

Gussets 46

4.6 Cable Inlet Box 46

Assembling Cable Inlet Box 46

Connecting the Cables 52

Installing the Cable Inlet Box 52

4.7 Mounting the Robot Base 54

Robot Orientation 54

Mounting Surfaces 54

Mounting Options 54

Mounting Procedure from Above the Frame 55

Mounting Procedure from Below the Frame 56

Install Mounting Hardware 57

4.8 Attaching the Outer Arms and Platform 58

Clocking the Platform to the Base 59

Attaching the Outer Arms 60

Quattro User's Guide, 09955-000 Rev J

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4.9 Mounting the Front Panel 63

4.10 Attaching the Cable Tray 63

Chapter 5: System Installation 69

5.1 System Cable Diagram 69

5.2 Cable Parts List 70

5.3 Installing the SmartController EX Motion Controller 70

5.4 Connecting User-Supplied PC to Robot 70

PC Requirements 71

5.5 Installing ACE Software 71

5.6 Description of Connectors on Robot Interface Panel 72

5.7 Cable Connections from Robot to SmartController 73

5.8 Connecting 24 VDC Power to Robot 73

Specifications for 24 VDC Robot and Controller Power 73

Details for 24 VDC Mating Connector 74

Procedure for Creating 24 VDC Cable 74

Installing 24 VDC Robot Cable 75

5.9 Connecting 200-240 VAC Power to Robot 76

Specifications for AC Power 77

Details for AC Mating Connector 78

Procedure for Creating 200-240 VAC Cable 79

Installing AC Power Cable to Robot 80

5.10 Grounding the Quattro Robot System 80

Quattro Robot Base 80

Quattro HS Robot Base 81

Robot-Mounted Equipment 81

5.11 Installing User-Supplied Safety Equipment 82

Emergency Stop Circuits 86

Remote Manual Mode 88

User Manual/Auto Indication 88

User High Power On Indication 88

Remote High Power On/Off Control 89

High Power On/Off Lamp 89

Remote Front Panel or User-Supplied Control Panel Usage 89

Remote Pendant Usage 90

Chapter 6: System Operation 91

6.1 Robot Status Display Panel 91

6.2 Status Panel Fault Codes 92

6.3 Using the Brake-Release Button 93

Brakes 93

Brake-Release Button 93

Quattro User's Guide, 09955-000 Rev J

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6.4 Front Panel 94

6.5 Connecting Digital I/O to the System 95

6.6 Using Digital I/O on Robot XIO Connector 96

Optional I/O Products 98

XIO Input Signals 98

XIO Output Signals 100

XIO Breakout Cable 101

6.7 Starting the System for the First Time 103

Verifying Installation 103

Turning on Power and Starting ACE 104

Enabling High Power 104

Verifying E-Stop Functions 105

Verify Robot Motions 105

6.8 Quattro Motions 106

Straight-line Motion 106

Containment Obstacles 106

Tool Flange Rotation Extremes 106

6.9 Learning to Program the Quattro Robot 110

Chapter 7: Optional Equipment Installation 111

7.1 End-Effectors 111

Attaching 111

Aligning 111

Grounding 111

Accessing Vacuum 111

7.2 Routing End-effector Lines 112

7.3 Ball Stud Locks 113

Installing a Ball Stud Lock 114

Removing a Ball Stud Lock 115

Chapter 8: Technical Specifications 117

8.1 Dimension Drawings 117

8.2 Internal Connections 125

8.3 XSYS/XSYSTEM Connector 125

8.4 Robot Specifications 126

8.5 Payload Specifications 127

Torque and Rotation Limits 127

Payload Mass vs. Acceleration 128

Payload Inertia vs. Acceleration 129

8.6 Stopping Times and Distances 130

8.7 Robot Mounting Frame, Quattro 650H Robot 138

Quattro User's Guide, 09955-000 Rev J

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Chapter 9: Maintenance - H 143

9.1 Periodic Maintenance Schedule 143

9.2 Warning Labels 146

9.3 Checking Safety Systems 147

9.4 Checking Robot Mounting Bolts 147

9.5 Checking Robot Gear Drives 147

9.6 Checking Fan Operation 148

9.7 Replacing the eAIB Chassis 148

Removing the eAIB Chassis 148

Installing a New eAIB Chassis 151

9.8 Commissioning a System with an eAIB 152

Safety Commissioning Utilities 153

E-Stop Configuration Utility 154

E-Stop Verification Utility 155

Teach Restrict Configuration Utility 155

Teach Restrict Verification Utility 156

9.9 Replacing the Encoder Battery Pack 157

Battery Replacement Interval 158

Battery Replacement Procedure 158

9.10 Replacing a Platform 160

Replacement 160

Configuration 160

9.11 Replacing a Ball Joint Insert 161

9.12 Replacing Outer Arm Spring Assemblies 161

Removing Outer Arm Spring Assemblies 161

Installing Outer Arm Spring Assemblies 163

9.13 Changing the Lamp in the Front Panel High-Power Indicator 165

Chapter 10: Maintenance - HS 167

10.1 Cleaning 167

Water Shedding 167

Wash-Down 167

Chemical Compatibility 168

10.2 Warning Labels 168

10.3 Periodic Maintenance 169

10.4 Checking Safety Systems 172

10.5 Checking Robot Mounting Bolts 173

10.6 Checking Robot Gear Drives 173

10.7 Checking Fan Operation 174

10.8 Removing and Installing the Cable Inlet Box 175

Quattro User's Guide, 09955-000 Rev J

Page 7 of 212

Removing the Cable Inlet Box 175

Installing the Cable Inlet Box 176

10.9 Replacing the eAIB Chassis 177

Removing the eAIB Chassis 177

Installing a New eAIBChassis 179

10.10 Commissioning a System with an eAIB 180

Safety Commissioning Utilities 181

E-Stop Configuration Utility 182

E-Stop Verification Utility 183

Teach Restrict Configuration Utility 183

Teach Restrict Verification Utility 184

10.11 Replacing the Encoder Battery Pack 185

Battery Replacement Interval 186

Battery Replacement Procedure 186

10.12 Replacing a Platform 189

Replacement 189

Configuration 190

10.13 Replacing a Ball Joint Insert 190

10.14 Replacing Outer Arm Spring Assemblies 191

Removing Outer Arm Spring Assemblies 191

Installing Outer Arm Spring Assemblies 193

10.15 Replacing the Front Panel 195

Chapter 11: Robot Cleaning/ Environmental Concerns- H 197

11.1 Ambient Environment 197

Humidity 197

Temperature 197

11.2 Cleaning 198

Caustic Compatibility 198

Water Shedding 198

Wipe-Down 198

11.3 Cleanroom Classification 198

11.4 Design Factors 198

Robot Base and Components 198

Inner Arms 199

Ball Joints 199

Outer Arms 199

Springs 199

Platforms 199

11.5 Installing Cable Seal Kit 200

Overview 200

Installation Procedure 200

Quattro User's Guide, 09955-000 Rev J

Page 8 of 212

Chapter 12: Environmental Concerns - HS 207

12.1 Ambient Environment 207

Humidity 207

Temperature 207

12.2 Cleanroom Classification 208

12.3 Design Factors 208

Robot Base and Components 208

Inner Arms 208

Ball Joints 208

Outer Arms 209

Spring Assemblies 209

Platforms 209

Quattro User's Guide, 09955-000 Rev J

Page 9 of 212

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