Viper 650/850 Robot with eMB-60R User's Guide (EN)

Copyright Notice 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 .

Copyright  2007, 2010 - 2012, 2016 - 2019 by Omron Adept Technologies, Inc. All rights reserved. Any trademarks from other companies used in this publication are the property of those respective companies. Created in the United States of America

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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 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 3

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Table of Contents 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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Table of Contents 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 05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 5

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