Omron i4L Series - 3 Installation

3
Installation
This section provides information about installing the robot and other necessary equip-
ment.
3-1 Robot Installation Procedure ........................................................................ 3-2
3-2 Mounting the Robot ....................................................................................... 3-3
3-2-1 Robot Mounting Surface.................................................................................. 3-3
3-2-2 Mounting Procedure ........................................................................................ 3-3
3-3 Installing End-of-Arm Tooling ....................................................................... 3-5
3-4 Installing Optional Equipment ...................................................................... 3-6
3-4-1 Mounting External Equipment to the Robot..................................................... 3-6
3-5 Adjustable Hardstops ....................................................................................3-7
3-5-1 Joint 1 Adjustable Hardstops........................................................................... 3-8
3-5-2 Joint 2 Adjustable Hardstops........................................................................... 3-8
3-5-3 Joint 3 Adjustable Hardstop ............................................................................ 3-8
3-6 System Cable Installation............................................................................ 3-10
3-6-1 System Cable Overview ................................................................................ 3-10
3-6-2 System Cable Installation Procedure ............................................................ 3-12
3-7 Connecting Digital I/O.................................................................................. 3-13
3-7-1 XIO Connector Signals and Wiring................................................................ 3-13
3-7-2 TIO Connector Signals and Wiring................................................................ 3-17
3-7-3 IO Blox Connections...................................................................................... 3-19
3-8 Installing Safety Equipment ........................................................................ 3-20
3-8-1 Installing the Front Panel............................................................................... 3-20
3-8-2 Safety Circuits ............................................................................................... 3-21
3-9 Supplying Power and Ground..................................................................... 3-28
3-9-1 Grounding the System................................................................................... 3-28
3-9-2 24 VDC Connections..................................................................................... 3-29
3-9-3 48 VDC Connections..................................................................................... 3-29
3-10 Verifying Installation .................................................................................... 3-31
3-10-1 Mechanical Checks ....................................................................................... 3-31
3-10-2 System Cable Checks ................................................................................... 3-31
3-10-3 Safety Equipment Checks ............................................................................. 3-31
3-10-4 Switch Position Checks ................................................................................. 3-33
3-1
i4L Robots User's Manual (I658)
3