Omron eCobra 600 User manual

eCobra 600 and 800 Robot
with EtherCAT
User's Manual
I653-E-02

Copyright Notice
The information contained herein is the property of OMRON Robotics and Safety Technologies, Inc., and
shall not be reproduced in whole or in part without prior written approval of OMRON Robotics and
Safety Technologies, Inc.. The information herein is subject to change without notice and should not be
construed as a commitment by OMRON Robotics and Safety Technologies, Inc. The documentation is
periodically reviewed and revised.
OMRON Robotics and Safety Technologies, Inc., assumes no responsibility for any errors or omissions in
the documentation.
Copyright OMRON Robotics and Safety Technologies, Inc. by OMRON Corporation. All rights
reserved.
Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and
other countries for OMRON factory automation products.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
ODVA, CIP, DeviceNet, and EtherNet/IP are trademarks of ODVA.
Other company names and product names in this document are the trademarks or registered trademarks
of their respective companies.
Created in the United States of America.

Table of Contents
Chapter 1: Introduction 9
Related Manuals 9
1.1 Intended Audience 10
1.2 Robot Overview 12
Robot Amplifier and Controller 13
IP65 and Cleanroom Versions 16
Robot Features 16
Robot Links and Joints 17
Robot Connections 17
iCS-ECAT Robot Interface Panel 24
1.3 Robot Options 25
Solenoid Valve Kit 25
End of Arm Break-away Sensor 26
IO Blox 27
Optional I/O Items 27
T20 Pendant 28
IPC Application Controller 28
Front Panel 29
Camera Bracket Kit 31
Adjustable Hardstops 32
Optional Cables 33
Chapter 2: Safety 37
2.1 Dangers, Warnings, and Cautions 37
Alert Levels 37
Alert Icons 37
Special Information 38
2.2 Safety Precautions 38
2.3 What To Do In An Emergency 39
Stopping the Robot 39
Fire Response 39
Entrapment and Brake Release Button 39
2.4 Robot Behavior 39
Hardstops 39
Limiting Devices 39
Singularities 39
2.5 Intended Use of the Robot 40
2.6 Additional Safety Information 40
Manufacturer’s Declarations 40
Robot Safety Guide 40
T20 Pendant (Option) 40
2.7 Disposal 41
2.8 How Can I Get Help? 41
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 3

Chapter 3: Robot Installation 43
3.1 Robot Installation Overview 43
Basic Installation Steps 43
3.2 Mounting an eCobra Robot 43
Mounting Surface 44
Mounting Procedure 44
3.3 Install the Tool Flange 46
Tool Flange InstallationProcedure 47
3.4 Installing the Front Panel 47
Connecting the Front Panel 47
Front Panel Schematic 48
3.5 Installing User-Supplied Safety Equipment 49
Contacts on XUSR Connector 49
Contacts on XFP Connector 51
Remote Pendant Signals on the XMCPConnector 51
E-Stop Circuits on XUSR and XFP Connectors 53
Emergency Stop Circuits 54
Remote Manual Mode 56
User Manual/Auto Indication 56
Remote High Power ON / OFF Control 56
Using a User-Supplied Control Panel 57
Remote Pendant Usage 58
3.6 Setting the EtherCATNodeID 58
Setting the EtherCATNode ID UsingHardware Switches 59
Chapter 4: System Cable Installation 61
4.1 Basic System Cable Layout 61
List of Cables and Parts 62
Cable Installation Steps 64
XBELT IO Belt Encoder Y Adapter Cable 65
4.2 Connecting Digital I/O to the System 67
Digital I/O Signal Configuration 68
XIO Connector Signals 76
4.3 Connecting the 24 VDC Cable to the Robot 78
24 VDC Power Supply Connector 78
Making the 24 VDC Power Supply Cable 79
Connecting the 24 VDC Cable 79
4.4 Connecting 200-240 VAC Power Cable 81
AC Power Diagrams 81
AC Power Supply Connector 83
Making the 200-240 VAC Power Supply Cable 83
Connecting the AC Power Supply Cable 84
4.5 Grounding the Robot System 84
Grounding the Robot Base 85
Grounding Robot-Mounted Equipment 85
Chapter 5: Optional Equipment Installation 87
5.1 Installing End-Effectors 87
4 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B

24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 5
5.2 Mounting Locations for External Equipment 88
5.3 Installing the Solenoid Valve Kit 89
Solenoid Valve Kit Installation Procedure 90
Testing Solenoid Valve Kit Installation 93
5.4 Installing the Camera Bracket Kit 93
Tools Required 93
Procedure 93
5.5 Installing Adjustable Hardstops 95
Joint 1 Adjustable Hardstop Installation 95
Joint 2 Adjustable Hardstop Installation 96
Chapter 6: System Operation 99
6.1 Verifying Installation 99
Mechanical Checks 99
System Cable Checks 99
User-Supplied Safety Equipment Checks 100
Switch Position Checks 101
6.2 Robot Status LED and Display Panel 101
General Robot States 101
6.3 EtherCAT Communications Description 102
SystemBehavior with EtherCATCommunication Errors 103
6.4 Brakes 103
Brake Release Button 103
Remote Brake Release Feature 104
6.5 Robot Control Modes 104
Manual Mode 104
Automatic Mode 105
Operation Mode 105
Service Mode 105
6.6 Manually Jogging the Robot 106
6.7 Enabling Robot High Power 106
High Power Safety Timeout 106
High Power and Faults 107
High Power Request Methods 107
6.8 Disabling Robot High Power 108
Chapter 7: Maintenance 111
7.1 Periodic Maintenance 111
Periodic Maintenance Schedule 111
Checking Safety Systems 111
Checking Robot Mounting Bolts and CoverPlates 112
Checking Safety and Warning Labels 112
Checking for Oil Leaks 114
Lubricating Joint 3 115
Replacing the Encoder Battery Pack 117
7.2 Non-Periodic Maintenance 119
Field-Replaceable Parts 120
Remove the Tool Flange 120

Replacing the iCS-ECAT Amplifier Chassis 121
Remove and Replace a MicroSD Card 125
Change Front Panel High-Power ON Lamp 126
Chapter 8: Technical Specifications 131
8.1 Robot Physical Dimension Drawings 131
8.2 General Robot Specifications 136
8.3 Performance Specifications 137
General Performance Information 137
Stopping Distances and Times 138
Hardstop and Softstop Limits 144
8.4 Electrical Specifications 145
Internal Connection Specifications 145
External Connection Specifications 145
8.5 Environment and Facility Specifications 147
8.6 Other Specifications 148
Solenoid Valve Kit Specifications 148
ConnectorSpecifications 148
Power Consumption Specifications 149
8.7 Tool Flange Dimensions 149
8.8 Front Panel Dimensions 150
8.9 EtherCAT Communications Specifications 151
Chapter 9: IP65 Option Considerations 153
9.1 IP65 Option Classification 153
9.2 User Requirements to Meet IP65 Rating 153
Sealing the Tool Flange 154
Pressurizing the Robot 154
9.3 Cable Seal Assembly 156
Cable Seal Identification 156
Dimension Drawing for Cable Seal Assembly 158
9.4 Remove and Reinstall Outer Link Cover 159
Outer Link Cover Removal Procedure 159
Outer Link Cover Reinstallation Procedure 160
9.5 IP65 RobotConnections 162
Joint 1 Connections 162
Pneumatic Pass-through Connections 163
Robot Solenoid Option Consideration for IP65 Robots 163
9.6 IP65 Option Maintenance 164
IP65 Bellows Replacement 164
Chapter 10: Cleanroom Option Considerations 167
10.1 Cleanroom Option Classification 167
10.2 User Requirements to Meet Cleanroom Rating 167
10.3 Cleanroom Robot Connections 168
Robot Solenoid Option Consideration for Cleanroom Robots 168
10.4 Cleanroom Option Maintenance 169
Cleanroom Bellows Replacement 169
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24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 7
Chapter 11: Status Codes 171
11.1 Robot Display Panel 171
11.2 Status Codes Table 171
Appendix 177
A.1 Unpacking and Inspecting the Equipment 177
Before Unpacking 177
After Unpacking 177
Inspecting the Equipment 177
A.2 Repacking for Relocation 177
A.3 Transportation and Storage 177

8 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
Revision History
Revision
Code ReleaseDate Details
A July, 2020 Original release
B August, 2020 Minor corrections and updates

Chapter 1: Introduction
This manual contains information that is necessary to install and use eCobra 600 and 800
Robots with EtherCAT. Please read this manual and make sure you understand the func-
tionality, installation, and performance of the robot before attempting to use it.
Related Manuals
Use the following related manuals for reference.
Table 1-1. Related Manuals
Manual Description
Robot Safety Guide (Cat. No.
I590)
Contains safety information for OMRON industrial robots.
Sysmac Studio Robot Integ-
rated System Building Func-
tion with Robot Integrated
CPU Unit Operation Manual
(Cat. No. W595)
Describes the operating procedures of the Sysmac Studio.
Sysmac Studio Robot Integ-
rated System Building Func-
tion with IPC Application
Controller Operation Manual
(Cat. No. W621)
Describes the operating procedures of the IPC
ApplicationController.
eV+3 User'sManual (Cat.
No. I651)
Provides a description of the eV+ programming language
and functionality.
eV+3 Keyword
ReferenceManual (Cat. No.
I652)
Provides reference to eV+ Keyword use and functionality.
NJ-series Robot Integrated
CPU Unit User's Manual
(Cat. No. O037)
Provides information that is necessary to use the robot con-
trol function of the NJ-series CPU Unit.
IPC Application Controller
User’s Manual (Cat. No.
I632)
Provides information that is necessary to use the robot con-
trol function of the IPC Application Controller.
[[[Undefined variable
Primary.T20User'sGuide]]]
Describes the use of the optional T20 manual control
pendant.
IO Blox User’s Guide (04638-
000)
Describes the IO Blox product, its connections, and input/out-
put signals.
24402-000 Rev B eCobra 600 and 800 Robots with EtherCAT 9

10 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
1.1 Intended Audience
This manual is intended for the following personnel, who must also have knowledge of com-
mon programming practices and robotic control methods.
lPersonnel in charge of introducing FA systems.
lPersonnel in charge of designing FA systems.
lPersonnel in charge of installing and maintaining FA systems.
lPersonnel in charge of managing FA systems and facilities.