Omron Adept Hornet 565 Quick Setup Guide (EN)

1.3 Workcell Layout

Chapter 1: Hornet 565 Quick Setup Guide 1.1 Introduction This Quick Setup Guide steps you through the installation and start-up of your Omron Adept Hornet 565 robot. The major steps are: l Preparation : workcell layout and safety l Hardware Installation : mounting the robot and system cable connections l Software Installation : .NET Framework and Adept ACE l System Start-Up : system configuration and turning on the robot NOTE : This guide does not apply to Adept robot systems that include an Adept SmartController EX motion controller. Refer to the Adept Hornet 565 Robot User’s Guide for those systems.

During the installation and start-up process, refer also to your Hornet 565 robot user’s guide, shipped with each system, and available on the Adept support disk and the Adept Document Library, for more information. Operation and Maintenance of an Adept Hornet 565 robot are not covered in this guide. Refer to the full user’s guide for that information. 1.2 Safety WARNING: Adept Technology strictly prohibits installation or operation of an Adept robot without adequate safeguards according to applicable local and national standards. See Workcell Layout on page 3 for a simple workcell layout.

You must read the Adept Robot Safety Guide and the Robot Installation and Operation chapters in the robot user’s guide for information on safe operation of your robot system. Refer to Installing User-Supplied Safety Equipment in the System Installation chapter of the Adept robot user’s guide, which provides details on connecting a user-designed E-Stop system through the XUSR connector to the robot. 1.3 Workcell Layout The following figure shows a simple workcell layout with a user-supplied safety barrier and E- Stops provided by the optional Front Panel and optional T20 pendant. WARNING: If you do not purchase an Adept front panel, you must provide your own E-Stop circuit and button.

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Frame

Chapter 1: Hornet 565 Quick Setup Guide Typical Workcell Layout Adept Hornet 565 Robot Restricted Area Inside Safety Barrier Safety Barrier Robot’s eAIB 24 VDC XUSR 200-240 VAC STOP Front Panel - Optional T20 Pendant - Optional R PC running Adept ACE Software Figure 1-1. Simple Workcell Layout 1.4 Installation Frame The Adept Hornet 565 robot is mounted in a user-supplied frame, so that it hangs over the workspace. A sample frame design is given, with dimensions, in the user’s guide. See the following figure. Ensure that the robot is oriented such that the Status Display panel faces away from the conveyor, if your system has a conveyor.

This will give you the best view of the display panel, and provide the best cross-belt movement of the robot’s platform. Adept Hornet 565 Robot Quick Setup Guide, Rev A Page 4 of 18

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Mounting the Robot

Chapter 1: Hornet 565 Quick Setup Guide Mounting the Robot 1. Position the robot under the mounting frame. The pallet will not fit in most frames, so the robot will need to be unstrapped from the pallet and moved manually. 2. Put nylon slings through the six lifting slots. See the following figure. Joint 2 Slots Joint 3 Joint 1 Slots Figure 1-2. Four of Six Lifting Slots, Sample Frame (not to scale) 3. Take up the slack in the slings. 4. Lift the robot up to the mounting pads on the frame. 5. Mount the robot with 3 M12 x 1.75 screws. Mounting screws are user-supplied; the length is determined by your frame design. The screws should be stainless or zinc-plated steel.

Lock washers are not needed, as the robot base has spring-lock Heli-Coil ® inserts. 6. Use an external-tooth star washer, under one of the mounting screw heads, to ground the robot base to the frame. If the frame is painted where the star washer makes contact with it, use a ring terminal under the star washer, and connect the other end of the wire from the terminal to a suitable grounding surface on the frame. If the frame is not painted where the M12 screw makes contact with it, you do not need to use a ring terminal - just put an external-tooth star washer under the mounting screw head. 7. Tighten all mounting screws to 61 N-m (45 ft-lbf).

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Mounting the Robot

Chapter 1: Hornet 565 Quick Setup Guide Status Display Panel Joint 4 Cover Mounting Pad x3 Joint 1 Robot Base Cover Robot Base Inner Arm Motor Plug Joint 2 Status LED/ High-power Lamp Ball Joints, Joint 3 Theta Drive Shaft Brake- Release Button Outer Arms J4 Platform and Ball Joints Tool Flange Figure 1-3. Labeled Drawing of Hornet Components, J4 Platform Shown B.C. Ш 740.00 A Ш 885.69 Joint 2 Joint 3 A 3 x 120° Conveyor Direction Joint 4 X+ M12 x 1.75 24 5 ±0.1 3x Ш 42.84 3x Ш 24 +0.03 0.00 Y+ 36° Joint 1 Units are mm Section A-A Figure 1-4. Hornet 565 Robot Base Mounting Pattern Adept Hornet 565 Robot Quick Setup Guide, Rev A Page 6 of 18 Ø 0.2

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