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Viper 650
Omron Viper 650 User Manual
149 pages
Manual
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Viper 650 and 850
Robot with EtherCAT
User's
Manual
I65
4
-E-0
1
2
Table of Contents
Default Chapter
3
Table of Contents
3
Chapter 1: Introduction
7
Related Manuals
7
Intended Audience
8
Robot Overview
8
Robot Amplifier and Controller
8
IP54/65 and Cleanroom Versions
12
Robot Features
12
Robot Links and Joints
13
Robot Connections
13
Ecs-ECAT Interface Panel
16
Robot Options
18
IO Blox
18
T20 Pendant
19
IPC Application Controller
20
Front Panel
20
Optional Cables
22
Chapter 2: Safety
27
Dangers, Warnings, and Cautions
27
Alert Levels
27
Alert Icons
27
Special Information
28
Safety Precautions
28
What to Do in an Emergency
29
Stopping the Robot
29
Fire Response
29
Entrapment and Brake Release Box
29
Robot Behavior
29
Hardstops
29
Limiting Devices
29
Singularities
30
Intended Use of the Robot
30
Additional Safety Information
31
Manufacturer's Declarations
31
Robot Safety Guide
31
T20 Pendant (Option)
31
Disposal
31
How Can I Get Help
31
Chapter 3: Robot Installation
33
Robot Installation Overview
33
Basic Installation Steps
33
Mounting a Viper Robot
33
Mounting Surface
33
Mounting Surface Preparation
34
Mounting Procedure for Upright Viper
35
Mounting Procedure for Ceiling Mount
36
Robot Mounting Torque
37
Mounting the Ecs-ECAT
37
Installing the Front Panel
37
Connecting the Front Panel
38
Front Panel Schematic
38
Air Lines and Signal Wiring
39
Installing User-Supplied Safety Equipment
41
Contacts on XUSR Connector
41
Contacts on XFP Connector
43
Remote Pendant Signals on the XMCP Connector
43
E-Stop Circuits on XUSR and XFP Connectors
45
Emergency Stop Circuits
46
Remote Manual Mode
48
User Manual/Auto Indication
48
Remote High Power on / off Control
48
Using a User-Supplied Control Panel
50
Remote Pendant Usage
50
Setting the Ethercat Node ID
50
Setting the Ethercat Node ID Using Hardware Switches
51
Installing Joint Labels
52
Chapter 4: System Cable Installation
55
Basic System Cable Layout
55
List of Cables and Parts
56
Cable Installation Steps
58
XBELT IO Belt Encoder y Adapter Cable
59
Connecting Digital I/O to the System
62
Optional I/O Products
62
Digital I/O Signal Configuration
62
XIO Connector Signals
70
Connecting Cable from the Ecs-ECAT to the Robot
72
Connecting the 24 VDC Cable to the Ecs-ECAT
73
VDC Power Supply Connector
73
Making the 24 VDC Power Supply Cable
74
Connecting the 24 VDC Cable
74
Connecting 200-240 VAC Power Cable
76
AC Power Diagrams
76
AC Power Supply Connector
77
Making the 200-240 VAC Power Supply Cable
78
Connecting the AC Power Supply Cable
79
Grounding the Robot System
79
Grounding the Robot Base
79
Ground Point on Ecs-ECAT
80
Grounding Robot-Mounted Equipment
80
Chapter 5: Optional Equipment Installation
83
Installing End-Effectors
83
Mounting Locations for External Equipment
83
Chapter 6: System Operation
85
Verifying Installation
85
Mechanical Checks
85
System Cable Checks
85
User-Supplied Safety Equipment Checks
86
Switch Position Checks
87
Status LED and Display Panel
87
General Robot States
87
Ethercat Communications Description
88
System Behavior with Ethercat Communication Errors
89
Brakes
89
Brake Release Connector
89
Installing and Using the Brake Release Box
90
Robot Control Modes
91
Manual Mode
91
Automatic Mode
92
Operation Mode
92
Service Mode
92
Manually Jogging the Robot
93
Enabling Robot High Power
93
High Power Safety Timeout
93
High Power and Faults
94
High Power Request Methods
94
Disabling Robot High Power
95
Chapter 7: Maintenance
97
Periodic Maintenance
97
Periodic Maintenance Schedule
97
Checking Safety Systems
97
Checking Robot Mounting Bolts and Cover Plates
98
Checking Safety and Warning Labels
98
Replacing the Encoder Batteries
99
Non-Periodic Maintenance
102
Field-Replaceable Parts
103
Replacing the Ecs-ECAT Amplifier Chassis
103
Remove and Replace a Microsd Card
104
Chapter 8: Technical Specifications
107
Robot Physical Dimension Drawings
107
General Robot Specifications
112
Performance Specifications
113
General Performance Information
113
Stopping Distances and Times
114
Electrical Specifications
121
Solenoid Valve Specifications
121
External Connection Specifications
121
Environment and Facility Specifications
123
Other Specifications
124
Connector Specifications
124
Power Consumption Specifications
126
Tool Flange Dimensions
126
Front Panel Dimensions
127
Ethercat Communications Specifications
128
Chapter 9: IP54/65 Option Considerations
129
IP54/65 Option Classification
129
Differences from Standard Robot Model
129
Robot Connector Panel
129
Cable Clearance
130
Replacing Encoder Backup Battery
130
Chapter 10: Cleanroom Option Considerations
131
Differences from Standard Robot Model
131
Cleanroom Robot Connections
131
Cleanroom CN22 Cable
132
Air Lines and Signal Wiring
133
Cleanroom Cover at J6 Flange
135
Cleanroom Technical Specifications
136
Cable Clearance
137
Replacing Encoder Backup Battery
137
Chapter 11: Status Codes
139
Ecs-ECAT Display Panel
139
Status Codes Table
139
Appendix
145
Unpacking and Inspecting the Equipment
145
Before Unpacking
145
After Unpacking
145
Inspecting the Equipment
145
Repacking for Relocation
145
Transportation and Storage of Robot
145
Transportation and Storage Environment
145
Precautions When Transporting Robot
146
Transport Procedure
147
Other manuals for Omron Viper 650
User Guide
148 pages
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Omron Viper 650 Specifications
General
Payload
5 kg
Reach
650 mm
Repeatability
±0.02 mm
Axes
6
Weight
27 kg
Mounting
Floor, Wall
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