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
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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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