Руководство по эксплуатации Omron Hornet 565 — робот-манипулятор (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  2015, 2016 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 Hornet 565, Product Description 9 eAIB Amplifier 10 Hornet 565 Base 10 Inner Arms 11 Ball Joints, Outer Arms 11 Platforms 11 SmartController EX 13 1.2 Installation Overview 14 1.3 How Can I Get Help? 15 Corporate Addresses 15 Related Manuals 15 Chapter 2:

Safety 17 2.1 Warnings, Cautions, and Precautions 17 2.2 Safety Precautions 18 2.3 What to Do in an Emergency/Abnormal Situation 18 2.4 Robot Behavior 18 Hardstops 18 Limiting Devices 19 Singularities 19 2.5 Intended Use of the Robots 19 2.6 Additional Safety Information 19 Manufacturer’s Declaration of Incorporation 19 Robot Safety Guide 20 Emergency Stop Circuit and Buttons 20 Manual Control Pendant 20 Chapter 3:

Robot Installation 21 3.1 Transport and Storage 21 3.2 Unpacking and Inspecting the Hornet 565 21 Before Unpacking 21 Upon Unpacking 21 Unpacking 21 3.3 Repacking for Relocation 23 3.4 Environmental and Facility Requirements 23 3.5 Mounting Frame 23 Hornet 565 Robot User's Guide, User’s Guide, 14608-000 Rev C Page 3 of 156

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Table of Contents Robot-to-Frame Considerations 24 Mounting 24 3.6 Mounting the Robot Base 25 Robot Orientation 25 Mounting Surfaces 25 Mounting Procedure 25 Install Mounting Hardware 26 3.7 Attaching the Outer Arms, Platform, and Theta Drive Shaft 27 Aligning the Platform with the Base 27 Attaching the Outer Arms 28 Attaching the Theta Drive Shaft 31 3.8 Mounting the Front Panel 33 3.9 End-Effectors 33 Attaching an End-Effector 33 Aligning an End-Effector 33 Grounding 33 Accessing Vacuum 33 Routing End-effector Lines 34 Chapter 4:

System Installation 35 4.1 System Cables, eAIB Only (no SmartController EX) 35 List of Cables and Parts 36 Cable Installation Overview 37 Optional Cables 38 4.2 System Cables, with SmartController EX 39 Installing a SmartController EX Motion Controller 39 List of Cables and Parts 40 Cable Installation Overview 41 Less Common Cables 41 4.3 System Cables for Systems with Belt Encoders 42 List of Cables and Parts 42 Cable Installation Overview 43 Pinouts for eAIB XBELT IO Adapter 44 4.4 ACE Software 45 User-supplied PC 45 Installing ACE Software 45 4.5 Robot Interface Panel 46 4.6 Connecting 24 VDC Power to Robot 47 Specifications for 24 VDC Robot and Controller Power 47 Details for 24 VDC Mating Connector 47 Procedure for Creating 24 VDC Cable 48 Installing 24 VDC Robot Cable 48 4.7 Connecting 200-240 VAC Power to Robot 49 Hornet 565 Robot User's Guide, User’s Guide, 14608-000 Rev C Page 4 of 156

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Table of Contents Specifications for AC Power 50 Details for AC Mating Connector 52 Procedure for Creating 200-240 VAC Cable 52 Installing AC Power Cable to Robot 53 4.8 Grounding the Hornet 565 53 Grounding Robot-Mounted Equipment 53 Grounding Robot Base to Frame 54 4.9 Installing User-Supplied Safety Equipment 55 Emergency Stop Circuits 60 Remote Manual Mode 62 User Manual/Auto Indication 62 User High Power On Indication 62 Remote High Power On/Off Control 62 High Power On/Off Lamp 63 Remote Front Panel or User-Supplied Control Panel Usage 63 Remote Pendant Usage 64 Chapter 5:

System Operation 65 5.1 Robot Status Display Panel 65 5.2 Status Panel Fault Codes 66 5.3 Using the Brake-Release Button 66 Robot Brakes 66 Brake-Release Button 67 5.4 Optional Front Panel 68 5.5 Connecting Digital I/O to the System 69 I/O on the eAIB 70 I/O with an Optional SmartController EX 71 5.6 Using Digital I/O on eAIB XIO Connector 72 Optional I/O Products 74 XIO Input Signals 74 XIO Output Signals 76 XIO Breakout Cable 78 5.7 Starting the System for the First Time 80 Verifying Installation 80 Turning on Power and Starting ACE 81 Enabling High Power 82 Verifying E-Stop Functions 82 Aligning the Platform and J4 Motor 82 Verify Robot Motions 83 5.8 Robot Motions 83 Straight-line Motion 83 Containment Obstacles 83 5.9 Learning to Program the Hornet 565 83 Hornet 565 Robot User's Guide, User’s Guide, 14608-000 Rev C Page 5 of 156

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