Omron Adept Hornet 565 User’s Guide (EN)

Copyright Notice The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. The documentation is periodically reviewed and revised. Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. 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 by Adept Technology, Inc. All rights reserved. Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview, Meta Controls, MetaControls, Metawire, Motivity, Soft Machines, and Visual Machines are registered Brain on Board is a registered trademark of Adept Technology, Inc. in Germany. trademarks of Adept Technology, Inc. Adept ACE, Adept ePLC Connect, Adept Hornet 565, Adept SmartController EX, Adept SmartVision MX, Adept T20, eAIB, IO Blox, and eV+ are trademarks of Adept Technology, Inc. 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 11 1.1 Adept Hornet 565 Robots, Product Description 11 Adept eAIB Amplifier 12 Adept Hornet 565 Robot Base 12 Inner Arms 13 Ball Joints, Outer Arms 13 Platforms 13 Adept SmartController™EX 15 1.2 Warnings, Cautions, and Notes in Manual 15 1.3 Safety Precautions 16 1.4 What to Do in an Emergency 17 1.5 Additional Safety Information 17 1.6 Intended Use of the Robots 17 1.7 Installation Overview 17 1.8 Manufacturer’s Declaration 18 1.9 How Can I Get Help? 18 Related Manuals 18 Adept Document Library 19 Chapter 2:

Robot Installation 21 2.1 Transport and Storage 21 2.2 Unpacking and Inspecting the Adept Equipment 21 Before Unpacking 21 Upon Unpacking 21 Unpacking 21 2.3 Repacking for Relocation 23 2.4 Environmental and Facility Requirements 23 2.5 Mounting Frame 23 Robot-to-Frame Considerations 24 Mounting 24 2.6 Mounting the Robot Base 25 Robot Orientation 25 Mounting Surfaces 25 Mounting Procedure 25 Install Mounting Hardware 26 2.7 Attaching the Outer Arms, Platform, and Theta Drive Shaft 27 Aligning the Platform with the Base 27 Adept Hornet 565 Robot User's Guide, User’s Guide, Rev A Page 5 of 142

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Table of Contents Attaching the Outer Arms 28 Attaching the Theta Drive Shaft 31 2.8 End-Effectors 33 Attaching an End-Effector 33 Aligning an End-Effector 33 Grounding 33 Accessing Vacuum 33 Routing End-effector Lines 34 Chapter 3:

System Installation 35 3.1 System Cables, eAIB Only (no SmartController EX) 35 List of Cables and Parts 36 Cable Installation Overview 37 Optional Cables 38 3.2 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 3.3 System Cables for Systems with Belt Encoders 42 List of Cables and Parts 43 Cable Installation Overview 43 3.4 Adept ACE Software 44 User-supplied PC 44 Installing Adept ACE Software 44 3.5 Robot Interface Panel 45 3.6 Connecting 24 VDC Power to Robot 46 Specifications for 24 VDC Robot and Controller Power 46 Details for 24 VDC Mating Connector 47 Procedure for Creating 24 VDC Cable 47 Installing 24 VDC Robot Cable 48 3.7 Connecting 200-240 VAC Power to Robot 49 Specifications for AC Power 49 Details for AC Mating Connector 51 Procedure for Creating 200-240 VAC Cable 51 Installing AC Power Cable to Robot 52 3.8 Grounding the Adept Robot System 52 Grounding Robot-Mounted Equipment 52 Grounding Robot Base to Frame 53 3.9 Installing User-Supplied Safety Equipment 53 Emergency Stop Circuits 58 Remote Manual Mode 60 User Manual/Auto Indication 60 User High Power On Indication 60 Adept Hornet 565 Robot User's Guide, User’s Guide, Rev A Page 6 of 142

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Table of Contents Remote High Power On/Off Control 60 High Power On/Off Lamp 61 Remote Front Panel or User-Supplied Control Panel Usage 61 Remote Pendant Usage 62 Chapter 4: System Operation 63 4.1 Robot Status Display Panel 63 4.2 Status Panel Fault Codes 64 4.3 Using the Brake-Release Button 64 Robot Brakes 64 Brake-Release Button 65 4.4 Optional Adept Front Panel 66 4.5 Connecting Digital I/O to the System 67 I/O on the eAIB: 67 I/O with an Optional SmartController EX:

67 4.6 Using Digital I/O on eAIB XIO Connector 69 Optional I/O Products 70 XIO Input Signals 70 XIO Output Signals 72 XIO Breakout Cable 74 4.7 Starting the System for the First Time 76 Verifying Installation 76 Turning on Power and Starting Adept ACE 77 Enabling High Power 78 Verifying E-Stop Functions 78 Aligning the Platform and J4 Motor 78 Verify Robot Motions 79 4.8 Robot Motions 79 Straight-line Motion 79 Containment Obstacles 79 4.9 Learning to Program the Adept Hornet 565 Robot 79 Chapter 5:

Options 81 5.1 Tall Frame Adapters 81 5.2 ePLC Connect 82 Configuration 82 Setting the Robot IP Address 82 Setting the Robot IP Address on the PLC 84 Using the PLC to Enable High Power 84 5.3 SmartVision MX Industrial PC 85 5.4 SmartController EX Motion Controller 85 5.5 sDIO Module 85 Adept Hornet 565 Robot User's Guide, User’s Guide, Rev A Page 7 of 142

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