Omron Viper 650 Manuel utilisateur

I599-E-05

Viper 650/850 Robot

with eMB-60R

User’s 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.

Created in the United States of America

Table of Contents

Chapter 1: Introduction 9

1.1 Product Description 9

SmartController EX (Option) 10

eMotionBlox-40/60R 10

1.2 How Can I Get Help? 11

Corporate WebSite 11

Related Manuals 12

Chapter 2: Safety 13

2.1 Dangers, Warnings, and Cautions 13

Alert Levels 13

Alert Icons 13

Falling Hazards 13

Special Information 14

2.2 What to Do in an Emergency or Abnormal Situation 14

Releasing the Brakes 14

Releasing an E-Stop 14

2.3 Safety Precautions 15

User's Responsibilities 15

General Hazards 16

Qualification of Personnel 16

2.4 Robot Behavior 17

Hardstops 17

Limiting Devices 17

Singularities 17

2.5 Intended and Non-intended Use 17

Intended Use 17

Non-Intended Use 17

Robot Modifications 18

2.6 Additional Safety Information 18

Manufacturer’s Declaration of Incorporation 18

Robot Safety Guide 18

Manual Control Pendant (option) 18

2.7 Disposal 19

Chapter 3: Robot Installation 21

3.1 Unpacking and Inspecting the Equipment 21

3.2 Repacking for Relocation 21

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3.3 Environmental and Facility Requirements 22

3.4 Transporting the Robot 23

Precautions when Transporting Robot 23

Transport Procedure 24

3.5 Mounting the Robot 26

3.6 Grounding the Robot 27

3.7 Mounting the Front Panel 27

3.8 Description of Connectors on Robot Interface Panel 28

3.9 Air Lines and Signal Wiring 28

Optional Solenoid Cable 30

Solenoid Valve Specifications 32

External Mounting Locations on Robot 33

3.10 Designing End-Effectors 33

Continuous Turn on J6 33

Mass of End-Effector 33

Center of Gravity Position of End-Effector 34

Moment of Inertia Around J4, J5, and J6 34

Chapter 4: eMotionBlox-40/60R 39

4.1 Introduction 39

4.2 Connectors on eMB-40/60R Interface Panel 40

4.3 eMB-40/60R Operation 41

Status LED 41

Status Panel 42

Brake Release Button 43

Brake Release Connector 44

4.4 Connecting Digital I/O to the System 45

4.5 Using Digital I/O on eMB-40/60R XIO Connector 46

Optional I/O Products 48

XIO Input Signals 48

XIO Output Signals 50

XIO Breakout Cable 52

4.6 Mounting the eMB-40/60R 54

Dimensions and Mounting Holes 54

Mounting Clearances 55

Chapter 5: System Installation 57

5.1 System Cables, without SmartController EX 57

List of Cables and Parts 58

Cable Installation Overview 59

5.2 System Cables, with SmartController EX 61

4 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M

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Installing a SmartController EX Motion Controller 61

List of Cables and Parts 62

Cable Installation Overview 63

5.3 Optional Cables 64

XIO Breakout Cable 64

DB9 Splitter Cable 64

eAIB XBELT IO Adapter Cable 64

SmartController EX Belt Encoder Y-Adapter Cable 64

5.4 ACE Software 68

5.5 Connecting Cables from the eMB-40/60R to the Robot 69

5.6 Connecting 24 VDC Power to eMB-40/60R Servo Controller 70

Specifications for 24 VDC Power 70

Details for 24 VDC Mating Connector 71

Procedure for Creating 24 VDC Cable 71

Installing the 24 VDC Cable 72

5.7 Connecting 200-240 VAC Power to eMB-40/60R 73

Specifications for AC Power 73

Facility Overvoltage Protection 74

AC Power Diagrams 75

Details for AC Mating Connector 76

Procedure for Creating 200-240 VAC Cable 76

Installing AC Power Cable to eMB-40/60R 77

5.8 Grounding the Robot System 77

Ground Point on Robot Base 78

Ground Point on eMotionBlox-40/60R 78

Robot-Mounted Equipment Grounding 79

5.9 Installing User-Supplied Safety Equipment 79

Emergency Stop Circuits 85

Remote Manual Mode 87

User Manual/Auto Indication 87

User High Power On Indication 88

Remote High Power On/Off Control 88

High Power On/Off Lamp 88

Remote Front Panel or User-Supplied Control Panel Usage 88

Remote Pendant Usage 89

Chapter 6: System Operation 91

6.1 Status Panel Codes 91

6.2 Brakes 91

Installing and Using the Brake Release Box 91

Using the Brake Release Switch on UL Robots 92

6.3 Front Panel 93

6.4 Starting the System for the First Time 95

Verifying Installation 95

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System Start-up Procedure 96

Running the ACE Software 96

Verifying E-Stop Functions 97

Verify Robot Motions 98

6.5 Learning to Program the Robot 98

6.6 Installing Joint Labels 99

6.7 Caution Label on Robot 100

Chapter 7: Maintenance 101

7.1 Field-replaceable Parts 101

7.2 Periodic Maintenance Schedule 101

7.3 Checking Safety Systems 102

7.4 Checking Robot Mounting Bolts 102

7.5 Replacing Encoder Backup Batteries 102

Battery Replacement Intervals 102

Battery Replacement Procedure 102

7.6 Replacing the eMB-40/60R Amplifier 106

Remove the eMB-40/60R Amplifier 106

Installing a New eMB-40/60R 107

7.7 Commissioning a System with an eMB-40/60R 107

Safety Commissioning Utilities 108

E-Stop Configuration Utility 109

E-Stop Verification Utility 110

Teach Restrict Configuration Utility 110

Teach Restrict Verification Utility 111

7.8 Changing the Lamp in the Front Panel High-Power Indicator 112

Chapter 8: Technical Specifications 115

8.1 Robot Dimensions 115

8.2 Robot Flange Dimensions 119

8.3 Specifications 120

Physical 120

Performance 121

Stopping Distances and Times 122

Chapter 9: IP54/65 Option 129

9.1 Introduction 129

9.2 Differences from the Standard Robot Model 130

Installation Environment 130

Robot Connector Panel 130

Cable Clearance 131

6 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M

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Replacing Encoder Backup Battery 131

Chapter 10: Cleanroom Option 133

10.1 Introduction 133

10.2 Differences from Standard Robot Model 133

Cleanroom Technical Specifications 134

Robot Connector Panel 134

10.3 Air Lines and Signal Wiring 135

10.4 Cleanroom Cover at J6 Flange 137

10.5 Cable Clearance 138

10.6 Replacing Encoder Backup Battery 138

Chapter 11: Status Codes 139

11.1 Introduction 139

Status Panel Display 139

Status Panel 139

05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 7

8 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M

Revision History

Revision

code Date Revised Content

01 April,

2016

Original release

02 January,

2017

Added ISO-required text for stopping distances and times.

03 July,

2017

lAdded photos showing good and bad connections for the Arm

Power/Signal Cable; added to related text.

lNoted how Cleanroom Arm Power/Signal Cable connects in

Options chapter.

lCorrected ambient temperature to 5 to 40°C.

04 October,

2018

lChanged transport and lift position of joints to match what the

user will receive.

lUpdated Safety chapter to newer format.

lAdded WEEE information.

lChanged eAIB to eMB-40/60R in several places.

lAdded graphics of display panel LED to eMB-40/60R chapter.

lAdded display panel codes chapter.

05 March,

2019

lCopyright date updated to include 2019.

lCorrected bore hole distance.

lRevised encoder battery replacement procedure.

lUpdated Safety chapter with latest information.

lRemoved duplicated chapter 5.

lSystem Installation chapter added as chapter 5.

lChanged XMCP jumper plug P/N from 04737-000 to 10052-000.

lChanged T20 Pendant P/N from 10055-000 to 10054-010.

lRemoved references to obsolete sDIO units from table 4-5

(optional sDIO Module, connects to controller), figure 4-4, table

4-6, and table 1-1.

lDual robot configuration guide renamed to single and multiple

robot configuration guide.

lAdded call outs to figures.

lAdded humidity range of 5% to 90% to table 3-1; previously it

noted 90% or less.

lMoved optional cable information and System Cables, with Two

Conveyor Encoders section to new section 5.3 Optional Cables.

This section includes new details and figures to illustrate all

encoder cable configurations and pinouts.

lMinor text changes to Line E-Stop Input and Emergency

StopCircuits sections in Chapter 5: System Installation.

lAdded part number for IEEE 1394 cable in Chapter 5: System

Installation.

lChanged ACEsoftware disk to ACE software media.

lAdded a note about typical IOBlox configurations in Chapter 4:

eMotionBlox-40/60R.

Chapter 1: Introduction

1.1 Product Description

The Viper 650 robot and Viper 850 robots are high-performance, six-joint robots designed spe-

cifically for assembly applications. The speed and precision of the Viper robots also make

them ideal for material handling, packaging, machine tending, and many other operations

requiring fast and precise automation.

NOTE: The descriptions and instructions in this manual apply to both the

Viper 650 and the Viper 850 robots, except for instances where there is a dif-

ference, as in dimension and work envelope drawings. In those cases, the inform-

ation is presented for both robots. The robot motors are powered by an eMB-

40/60R servo-controller/amplifier. Either robot can be controlled by the eMB-

40/60R, running eV+, or an optional SmartController EX motion controller.

Figure 1-1. Robot Joint Identification

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10 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M

1.1 Product Description

Key Meaning Key Meaning

A Base (1st Joint) G 2nd Arm

B 2nd Joint H 3rd joint motor cover (rear side)

C 3rd joint motor cover (rear side) J 4th Joint

D 1st Arm K 2nd arm cover

E 3rd Joint L 5th Joint

F 4th joint cover M 6th Joint

SmartController EX (Option)

The SmartController EX motion controller is the foundation of our family of high-performance

distributed motion and vision controllers. The SmartController EX is designed for use with:

leCobra robots

lQuattro robots

lViper robots

lHornet robots

The SmartController EX supports a conveyor tracking option, as well as other options. The

SmartController EX uses the eV+ Operating System (as does the eMB-40/60R). It offers scalab-

ility and support for IEEE 1394-based digital I/O and general motion expansion modules. The

IEEE 1394 interface is the backbone of SmartServo, the distributed controls architecture sup-

porting our products. The SmartController also includes Fast Ethernet and DeviceNet.

Figure 1-2. SmartController EX Motion Controller

eMotionBlox-40/60R

The eMotionBlox-40/60R (eMB-40/60R) distributed servo controller contains the amplifiers to

power the high-power motors of the Viper 650/850 robots, and runs the eV+ operating system

for motion control.

The eMB-40/60R features:

lSix AC servo motor amplifiers

lEmergency stop circuitry

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Ce manuel convient aux modèles suivants

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