Omron Hornet 565 User manual

I595-E-01
Hornet 565 Robot
Quick Setup Guide

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: [e-mail].
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

Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
Page 3 of 18
Chapter 1: Hornet 565 Quick Setup Guide
1.1 Introduction
Process Overview
This Quick Setup Guide steps you through the installation and start-up of your Hornet 565
robot. The major steps are:
lPreparation: workcell layout and safety
lHardware Installation: mounting the robot and connecting system cables
lSystem Start-Up: system configuration and turning on the robot
It is assumed that a robot frame has been designed and built. Refer to the Hornet 565 Robot
User's Guide for information on requirements for the frame.
NOTE: This guide does not apply to robot systems that include a SmartController
EX motion controller. Refer to the 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 support disk.
Resources on the Support Disk
lThis guide
lThe Hornet 565 Robot User's Guide
Resources on Omron Web Sites
On the Omron Industrial Automation web site:
ia.omron.com
lThe ePLC Connect 3 Software User's Guide
lEtherNet/IP Connection Guide (P649-E1-01)
This covers ePLC for the Omron NJ controller with Omron Adept Robots.
lEtherNet/IP Connection Guide (P650-E1-01)
This covers ePLCIO for the Omron NJ controller with Omron Adept robots.

Chapter 1: Hornet 565 Quick Setup Guide
On the Omron Adept web site:
adept.com
lLegacy systems communication structure pdfs
lLegacy systems code examples
1.2 Safety
WARNING:It is strictly prohibited to install or operate our
robots without adequate safeguards according to applicable
local and national standards. See the following figure for a
simple workcell layout.
You must read the 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
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.
Front Panel -
Optional
T20 Pendant -
Optional
PC running
ACE Software
Safety Barrier
Restricted Area
Inside Safety
Barrier
200-240 VAC
Typical Workcell Layout
Hornet 565 Robot
24 VDC XUSR
Robot’s eAIB
Programmable Logic
Controller (PLC)
User-Supplied
Components
STOP
R
Figure 1-1. Simple Workcell Layout
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
1.4 Installing the Robot
Frame
The Hornet 565 robot is mounted in a user-supplied frame, so that it hangs over the work-
space. 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 con-
veyor, if your system has a conveyor. This will give you the best view of the Status Display
panel, and provide the best cross-belt movement of the robot’s platform.
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 1
Slots
Joint 2 Slots
Joint
3
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 three 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.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
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 suit-
able 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).
Brake-
Release
Button
Status Display
Panel
Joint 1
Joint 2
Ball Joints,
Joint 3
Status LED/
High-power
Lamp
Inner Arm
Motor Plug
Joint 4 Cover
Robot Base
Robot Base
Cover
Mounting Pad x3
Tool Flange
J4 Platform
and Ball Joints
Theta
Drive
Shaft
Outer Arms
Figure 1-3. Labeled Drawing of Hornet Components, J4 Platform, Springs not Shown
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
3 x 120°
3x Ø 42.84
Units are mm
M12 x 1.75
24
5
Section A-A
3x Ø 24
36°
Joint 1
Joint 2Joint 3
Ø 885.69
B.C. Ø 740.00 A
A
X+
Y+
Joint 4
Conveyor
Direction
Figure 1-4. Hornet 565 Robot Base Mounting Pattern
Attaching the Outer Arms and Platform
The Hornet 565 robot is available with either a rotating platform (J4) or a fixed platform. The
fixed platform model does not use a J4 motor or a theta drive shaft.
The Hornet 565 robot platform gets attached to the inner arms by the outer arms.
NOTE: Except for attaching the outer arms and, for the J4 platform, the theta drive
shaft, the platform is shipped fully assembled.
One pair of outer arms attaches between each inner arm and the platform. No tools are
needed.
For the J4 platform only:Both the theta drive shaft attachment on the J4 motor and the plat-
form are offset by about 2 in. from the centers of the robot base and tool flange. The platform
should be attached so that its shaft aligns between the Joint 1 and Joint 3 ball studs on the
robot base. Joint 1 should connect to motor 1, which is immediately to the right of the Status
Display panel on the robot base. See the preceding figure.
lEach outer arm has a ball joint socket at each end.
lThe inner arms and the platform have corresponding pairs of ball studs.
lThe procedure for attaching the outer arms is the same for both platforms.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
1. Attach one pair of outer arms to each inner arm.
Inner
Arm
Ball Joint
Socket
Ball Joint
Socket Insert
Outer Arm Springs Spring
Horseshoe
Pressed Pin
Ball Joint Stud
Outer Arms
Figure 1-5. Ball Joint Assembly, Inner Arm
a. Pivot the two arms away from each other lengthwise. This requires the least
stretching of the spring to attach the ball joints.
b. Slip one ball joint socket over the corresponding ball stud.
c. Swing the bottom end of the outer arm pair sideways as you slip the other ball
joint socket over the corresponding ball stud.
CAUTION:Do not overstretch the outer arm springs. Separ-
ate the sockets only enough to fit them over the ball studs.
2. Attach one pair of outer arms to each of the three pairs of ball studs on the platform.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
Theta
Drive
Shaft
Attachment Joint 1
Joint 3 Joint 2
Tool
Flange
X+
Y+
Figure 1-6. Top View of J4 Platform
a. Swing the bottom end of the outer arm pair to the right, as far as possible.
b. Slip the right ball joint socket over the right ball stud. (Move the platform as
needed to do this.)
c. Move the platform and outer arm pair to the left as you slip the left ball joint
socket over the corresponding ball stud.
3. Ensure that all spring hooks are fully-seated in the grooves of the horseshoes. See the fol-
lowing figure.
Figure 1-7. Ball Joint Assembly, Showing Springs and Horseshoes
Attaching the Theta Drive Shaft (J4 Platform Only)
NOTE:The fixed platform does not use a theta drive shaft, so this section does not
apply to robots with a fixed platform.
Each U-joint has two identical ends. When the theta drive shaft is shipped, it will have one
end of a U-joint attached to each end. Attach the top end of the drive shaft to the J4 motor
shaft, labeled Top, first. This requires using a 3 mm hex key, with its short end shortened to 10
- 15 mm. A normal hex key will not fit in the space available.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
10 - 15 mm
3 mm
Figure 1-8. Shortened Hex Key
Theta
Drive
Shaft
Set
Screw
U-Joint
J4 Shaft
(Motor or
Platform)
Upper U-Joint
at J4 Motor
Center Section
of Drive Shaft
CylinderSection
of Drive Shaft
Lower U-Joint
at J4 Platform
Figure 1-9. U-Joint, Set Screw, J4 Shaft | Drive Shaft
To attach the free end of the U-joint:
1. Slide the end of the U-joint over the shaft (platform or J4 motor).
The fit will be fairly tight.
The hole in the side of the U-joint needs to line up with the hole in the shaft.
2. Screw an M6 x 20 dog point set screw (included) through the shaft, going through the
hole in the side of the U-joint, and into the blind hole on the opposite side of the U-joint.
The U-joint is not threaded.
Use Loctite 242, and tighten to 5 N-m (3.7 ft-lbf)of torque. The head of the set-screw
should be flush with the outer surface of the U-joint.
NOTE: The platform and J4 motor will need to be aligned after the ACE software
has been installed, and the robot has been powered-on.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
1.5 System Cable Connections
Open the Accessory box and locate the eAIB XSYSTEM cable. Connect the cables and peri-
pherals as shown in the following figure. Parts and steps are covered in the following two
tables. Refer to the System Installation chapter in your Hornet 565 Robot User’s Guide for more
detail.
DC
IN
24 V GND
AC
200 -
240 V
Ø
1
XBELTIO
XIO
Servo
ENETENET
XSYSTEM
Hornet 565
Robot
24 VDC, 6 A Power Supply
200-240 VAC
10 A
single-phase
AC Power
Cable
Front Panel
Cable
Front Panel (option)
User-Supplied PC
running ACE Software
T20 Adapter
Cable
XMCP Jumper Plug
XMCP
XFP
XUSR
XUSR Jumper Plug
eAIB
XSYSTEM
Cable
Robot Interface
Panel
XUSR for:
- User E-Stop/Safety Gate
- Muted Safety Gate
The Jumper Plug is required if
neither of these is used
Ethernet
from PC
T20 Bypass Plug
T20 Pendant (option) Either T20 Pendant,T20 Bypass Plug, or
XMCP Jumper Plug must be used
2
3
4a
A
B
G
H
J
4a
44
1
6
7
9
8
L
M
Q
P
E
K
D
N
3
85 - 264 VAC Universal Input
DC
IN
24V GND
AC
200-
240V
Ø
1
XBELTIO
XIO
Servo
ENETENET
XSYSTEM
Ethernet to eAIB
FP Jumper Plug
F
Either Front Panel or
FP plug must be used
3a
2a
C
Ethernet from eAIB
to SmartVision MX
R
9b
9a
User-supplied
Switch
User-supplied
PLC Option
to eAIB XBELTIO
Conveyors 1 & 2
XBELT IO
13463-000
HDB26
FEMALE
BELT
ENCODER
FORCE/
EXPIO
RS232
BELTENC.
09443-000
DB15
FEMALE
12
Belt
Force/EXPIO
RS-232
SmartVision MX (option)
R
S
7a
M
DC Power
Cable
Camera
(option)
T
10
10
12
11
U
V
Figure 1-10. System Cable Diagram, with SmartVision MX, Front Panel, and T20 Pendant Options
WARNING:If you do not purchase a Front Panel, you must
provide your own E-Stop circuit and button.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
Parts Table
Part Cable and Parts List Part # Part of: Notes
A eAIB XSYSTEM Cable Assembly 13323-000 standard, eAIB
B User E-Stop, Safety Gate n/a n/a user-supplied
C XUSR Jumper Plug 04736-000 13323-000 standard, eAIB
D Front Panel 90356-10358 or user-supplied
E Front Panel Cable 10356-10500 90356-10358 or user-supplied
F Front Panel Jumper Plug 10053-000 13323-000 standard, eAIB
G XMCP Jumper Plug 04737-000 13323-000 standard, eAIB
H T20 Bypass Plug 10048-000 10055-000 standard, T20
J T20 Adapter Cable 10051-003 10055-000 standard, T20
K T20 Pendant (option) 10055-000 option
L AC Power Cable (option) 04118-000 90565-010 or user-supplied
M 24 VDC Power Cable (option) 04120-000 90565-010 or user-supplied
N 24 VDC, 6 A Power Supply
(option)
04536-000 90565-010 or user-supplied
P Ethernet Cable - PC -> PLC
(Only while programming PLC)
n/a n/a user-supplied
Q Ethernet Cable - switch -> eAIB n/a n/a user-supplied
R Ethernet Cable - switch ->
SmartVisionMX
n/a n/a user-supplied
S Ethernet switch, cable for
SmartVision MX.
n/a n/a option,
user-supplied
T Camera and cable n/a n/a option
U eAIB XBELTIO cable 13463-000 option
V Y-adapter cable 09443-000 option
The XUSR, XMCP, and XFP jumpers intentionally bypass safety connections so you can test
the system functionality during setup.
WARNING:Under no circumstances should you run the
system, in production mode, with all three jumpers
installed. This would leave the system with no E-Stops.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
Connection Steps Table
Step Connection Part
1 Connect eAIB XSYSTEM cable to XSYSTEM on eAIB. A
2 Connect a user E-Stop or Muted Safety Gate to the eAIB XSYSTEM cable
XUSR connector or
B
2a verify XUSR jumper plug is installed in eAIB XSYSTEM cable XUSR con-
nector.
C
3 If you purchased a Front Panel, connect Front Panel cable to Front Panel and
eAIB XSYSTEM cable XFP connector or
D, E
3a if using user-supplied Front Panel, connect Front Panel to eAIB XSYSTEM
cable XFP. See warning after table.
A, E
4 Connect T20 adapter cable to eAIB XSYSTEM cable XMCP connector or J, K
4a if no T20, install XMCP jumper
or
T20 Adapter Cable with T20 bypass plug.
G
or
H
5 Connect user-supplied ground to robot. n/a
6 Connect 200-240 VAC to AC Input on eAIB Interface Panel; secure with
clamp.
L
7 Connect 24 VDC to DC Input on Interface Panel. N,
M
7a Connect 24 VDC and shield ground to SmartVision MX, if used. See
SmartVision MX user's guide for location.
N,
M
8 Connect Ethernet cable from PC to PLC, if a PLC is used. P
9 Connect Ethernet cable from PLC to switch, if a PLC is used. S
9a Connect Ethernet cable from switch to eAIB. Q, S
9b Connect Ethernet cable from SmartVision MX, if used, to switch. R, S
10 Connect optional camera and cable to SmartVision MX, if used. T
11 Connect optional eAIB XBELTIO cable to the XBELTIO port on eAIB. U
12 Connect the Y-adapter cable to the eAIB XBELTIO cable, Belt branch V
WARNING:If you do not purchase a Front Panel, you must
provide your own front panel with equivalent circuits to be
able to enable power and have an E-Stop button.
XBELTIO pinouts are covered in the full Hornet User’s Guide.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
Power Requirements
The power requirements for the SmartVision EX and the Hornet 565 robot are covered in their
respective user guides. For 24 VDC, both can be powered by the same power supply.
Grounding the System
NOTE: The resistance of all ground conductors must be ≤ 10 Ω.
The following ground connections need to be made:
lEnd effector-to-robot base, if hazardous voltage is present on the end-effector
lRobot base-to-frame
lFrame-to-Earth
l24 VDC cable shield to power supply and eAIB
1.6 Configuration
The user-supplied PLC and Hornet 565 robot are connected either through a shared network or
via a user-supplied Ethernet cable.
When the Hornet 565 robot is powered on and waiting for a PLC connection, the robot status
panel will display its IP address, two digits at a time.
The format will be:
IP xxx-xxx-xxx-xxx OK
NOTE:If you can use the robot’s default IP address, then you can skip the ACE soft-
ware installation completely.
Installing ACE Software
ACE is used to change the IP address of the robot and for troubleshooting. You install ACE
from the software disk.
NOTE: You will have to restart the PC after installing ACE software.
Setting the Robot IPAddress
Configure the IP address of the Hornet 565 robot using ACE software.
1. Connect the PC and the robot, either through a shared network or with an Ethernet
cable between them.
2. Start the ACE software.
3. Click the Detect and Configure button, circled in the following figure.
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Chapter 1: Hornet 565 Quick Setup Guide
Figure 1-11. Detect and Configure Button
The IP address detection and configuration window will open. The ACE software will show
the IP address of any controllers it detects. See the following figure.
Figure 1-12. IP Addresses Detected
4. You can change the IP address and subnet mask in the Desired Address and Desired
Subnet fields, if needed.
5. Click OK. The ACE software will ask you to wait for the controller to reboot.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
Configuring the Omron PLC
Refer to the EtherNet/IP Connection Guide (P649-E1-01) for configuring the Omron PLC to
work with Omron Adept robots. Refer to Resources on Omron Web Sites on page 3.
Using your PLC software, set the IP address for the PLC to connect to on the robot.
Enabling High Power
The details of enabling high power to the robot are covered in the EtherNet/IP Connection
Guide (P649-E1-01).
Once high power is enabled, the Robot Status Panel displays ON, and the amber Robot Status
LED is on.
1.7 Start-up Procedure
Aligning the Platform and J4 Motor
It is possible for either the motor shaft or the platform shaft to be turned, manually, before the
theta drive shaft is connected to both. If not detected, the software may assume the robot’s tool
flange is at a different angle than it really is. To ensure that the software knows the actual rota-
tion of the tool flange with respect to the J4 motor, you need to use the ACE software to estab-
lish this alignment.
1. Within the ACE software, open the Hornet robot object.
2. In the Configure tab, click Adjust J4 Zero.
This will launch a utility for aligning the theta drive shaft.
3. Follow the instructions in the utility.
Contact Omron Adept Technologies, Inc. for more information on this procedure.
NOTE:Once the theta drive shaft is installed, the J4 motor and the tool flange will
always rotate together, so the software will know the orientation of the tool flange.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
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Chapter 1: Hornet 565 Quick Setup Guide
1.8 Finding Additional Information
Installing Optional Equipment
For details on installing optional equipment, see the following topics in the Optional Equip-
ment Installation chapter of the Hornet 565 user’s guide:
lInstalling end-effectors
lConnecting user air and electrical lines to user connection panel
lMounting external equipment on the robot
lMounting the robot solenoid option kit
NOTE:For dimensions and specifications, see Technical Specifications in the Hor-
net 565 User’s Guide.
System Operation
For details on system operation, see the following topics in the System Operation chapter of the
Hornet 565 user’s guide:
lRobot Status LED Indicator
lStatus panel fault codes
lBrake Release button (located above or in diagnostic panel). To move Joint 3 manually,
press the Brake Release button.
lConnecting digital I/O on the XIO connector at the robot interface panel
lConnecting a user-designed E-Stop System
For information on the ePLC Connect software interface, refer to the ePLC Connect 3 Software
User's Guide.
Hornet 565 Robot Quick Setup Guide, 14692-000 Rev C
Page 17 of 18

Authorized Distributor:
In the interest of product improvement,
specifications are subject to change without notice.
Cat. No. I595-E-01
Printed in USA
0416
© OMRON Corporation 2016 All Rights Reserved.
OMRON Corporation Industrial Automation Company
OMRON ELECTRONICS LLC
2895 Greenspoint Parkway, Suite 200 Hoffman Estates,
IL 60169 U.S.A.
Tel: [phone]/Fax: [phone]
OMRON ADEPT TECHNOLOGIES, INC.
4550 Norris Canyon Road, Suite 150, San Ramon, CA 94583 U.S.A.
Tel: [phone]/Fax: [phone]
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69, 2132 JD Hoofddorp
The Netherlands
Tel: [phone]/Fax: [phone]
Contact: www.ia.omron.com
Kyoto, JAPAN
OMRON ASIA PACIFIC PTE. LTD.
No. 438A Alexandra Road # 05-05/08 (Lobby 2),
Alexandra Technopark,
Singapore 119967
Tel: [phone]/Fax: [phone] OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower, 200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: [phone]/Fax: [phone]