Omron Quattro 650H User manual

I597-E-01
User’s Guide
Quattro
650H/650HS/800H/800HS

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 2010-2016 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

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Table of Contents
Chapter 1: Introduction 11
1.1 Quattro Robots, Product Description 11
Controllers 11
Sizes and Materials 11
Major Differences between Quattro H and HS Robots 11
eAIB 13
Quattro Robot Base 14
Inner Arms 14
Ball Joints, Outer Arms 14
Platforms 15
SmartController EX 18
1.2 Installation Overview 19
1.3 How Can I Get Help? 20
Related Manuals 20
Chapter 2: Safety 21
2.1 Warnings, Cautions, and Precautions 21
2.2 Safety Precautions 22
2.3 What to Do in an Emergency/Abnormal Situation 22
2.4 Robot Behavior 23
Hardstops 23
Limiting Devices 23
Singularities 23
2.5 Additional Safety Information 23
Manufacturer’s Declaration of Incorporation 23
Robot Safety Guide 23
Manual Control Pendant 23
2.6 Intended Use of the Robots 24
Chapter 3: Robot Installation - H 25
3.1 Transport and Storage 25
3.2 Unpacking and Inspecting the Equipment 25
Unpacking 25
3.3 Repacking for Relocation 27
3.4 Environmental and Facility Requirements 27
3.5 Mounting Frame 27
Frame Orientation 29

Frame Construction 29
Robot-to-Frame Considerations 29
Mounting 29
Gussets 30
3.6 Mounting the Robot Base 30
Robot Orientation 30
Mounting Surfaces 30
Mounting Options 31
Mounting Procedure from Above the Frame 31
Mounting Procedure from Below the Frame 33
Install Mounting Hardware 33
3.7 Attaching the Outer Arms and Platform 35
Clocking the Platform to the Base 35
Attaching the Outer Arms 37
3.8 Mounting the Front Panel 40
Chapter 4: Robot Installation - HS 41
4.1 Transport and Storage 41
4.2 Unpacking and Inspecting the Quattro Equipment 41
Before Unpacking 41
Upon Unpacking 41
Unpacking 41
4.3 Repacking for Relocation 44
4.4 Environmental and Facility Requirements 44
4.5 Mounting Frame 44
Frame Mounting Tabs 45
Robot-to-Frame Considerations 45
Mounting 46
Gussets 46
4.6 Cable Inlet Box 46
Assembling Cable Inlet Box 46
Connecting the Cables 52
Installing the Cable Inlet Box 52
4.7 Mounting the Robot Base 54
Robot Orientation 54
Mounting Surfaces 54
Mounting Options 54
Mounting Procedure from Above the Frame 55
Mounting Procedure from Below the Frame 56
Install Mounting Hardware 57
4.8 Attaching the Outer Arms and Platform 58
Clocking the Platform to the Base 59
Attaching the Outer Arms 60
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4.9 Mounting the Front Panel 63
4.10 Attaching the Cable Tray 63
Chapter 5: System Installation 69
5.1 System Cable Diagram 69
5.2 Cable Parts List 70
5.3 Installing the SmartController EX Motion Controller 70
5.4 Connecting User-Supplied PC to Robot 70
PC Requirements 71
5.5 Installing ACE Software 71
5.6 Description of Connectors on Robot Interface Panel 72
5.7 Cable Connections from Robot to SmartController 73
5.8 Connecting 24 VDC Power to Robot 73
Specifications for 24 VDC Robot and Controller Power 73
Details for 24 VDC Mating Connector 74
Procedure for Creating 24 VDC Cable 74
Installing 24 VDC Robot Cable 75
5.9 Connecting 200-240 VAC Power to Robot 76
Specifications for AC Power 77
Details for AC Mating Connector 78
Procedure for Creating 200-240 VAC Cable 79
Installing AC Power Cable to Robot 80
5.10 Grounding the Quattro Robot System 80
Quattro Robot Base 80
Quattro HS Robot Base 81
Robot-Mounted Equipment 81
5.11 Installing User-Supplied Safety Equipment 82
Emergency Stop Circuits 86
Remote Manual Mode 88
User Manual/Auto Indication 88
User High Power On Indication 88
Remote High Power On/Off Control 89
High Power On/Off Lamp 89
Remote Front Panel or User-Supplied Control Panel Usage 89
Remote Pendant Usage 90
Chapter 6: System Operation 91
6.1 Robot Status Display Panel 91
6.2 Status Panel Fault Codes 92
6.3 Using the Brake-Release Button 93
Brakes 93
Brake-Release Button 93
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6.4 Front Panel 94
6.5 Connecting Digital I/O to the System 95
6.6 Using Digital I/O on Robot XIO Connector 96
Optional I/O Products 98
XIO Input Signals 98
XIO Output Signals 100
XIO Breakout Cable 101
6.7 Starting the System for the First Time 103
Verifying Installation 103
Turning on Power and Starting ACE 104
Enabling High Power 104
Verifying E-Stop Functions 105
Verify Robot Motions 105
6.8 Quattro Motions 106
Straight-line Motion 106
Containment Obstacles 106
Tool Flange Rotation Extremes 106
6.9 Learning to Program the Quattro Robot 110
Chapter 7: Optional Equipment Installation 111
7.1 End-Effectors 111
Attaching 111
Aligning 111
Grounding 111
Accessing Vacuum 111
7.2 Routing End-effector Lines 112
7.3 Ball Stud Locks 113
Installing a Ball Stud Lock 114
Removing a Ball Stud Lock 115
Chapter 8: Technical Specifications 117
8.1 Dimension Drawings 117
8.2 Internal Connections 125
8.3 XSYS/XSYSTEM Connector 125
8.4 Robot Specifications 126
8.5 Payload Specifications 127
Torque and Rotation Limits 127
Payload Mass vs. Acceleration 128
Payload Inertia vs. Acceleration 129
8.6 Stopping Times and Distances 130
8.7 Robot Mounting Frame, Quattro 650H Robot 138
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Chapter 9: Maintenance - H 143
9.1 Periodic Maintenance Schedule 143
9.2 Warning Labels 146
9.3 Checking Safety Systems 147
9.4 Checking Robot Mounting Bolts 147
9.5 Checking Robot Gear Drives 147
9.6 Checking Fan Operation 148
9.7 Replacing the eAIB Chassis 148
Removing the eAIB Chassis 148
Installing a New eAIB Chassis 151
9.8 Commissioning a System with an eAIB 152
Safety Commissioning Utilities 153
E-Stop Configuration Utility 154
E-Stop Verification Utility 155
Teach Restrict Configuration Utility 155
Teach Restrict Verification Utility 156
9.9 Replacing the Encoder Battery Pack 157
Battery Replacement Interval 158
Battery Replacement Procedure 158
9.10 Replacing a Platform 160
Replacement 160
Configuration 160
9.11 Replacing a Ball Joint Insert 161
9.12 Replacing Outer Arm Spring Assemblies 161
Removing Outer Arm Spring Assemblies 161
Installing Outer Arm Spring Assemblies 163
9.13 Changing the Lamp in the Front Panel High-Power Indicator 165
Chapter 10: Maintenance - HS 167
10.1 Cleaning 167
Water Shedding 167
Wash-Down 167
Chemical Compatibility 168
10.2 Warning Labels 168
10.3 Periodic Maintenance 169
10.4 Checking Safety Systems 172
10.5 Checking Robot Mounting Bolts 173
10.6 Checking Robot Gear Drives 173
10.7 Checking Fan Operation 174
10.8 Removing and Installing the Cable Inlet Box 175
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Removing the Cable Inlet Box 175
Installing the Cable Inlet Box 176
10.9 Replacing the eAIB Chassis 177
Removing the eAIB Chassis 177
Installing a New eAIBChassis 179
10.10 Commissioning a System with an eAIB 180
Safety Commissioning Utilities 181
E-Stop Configuration Utility 182
E-Stop Verification Utility 183
Teach Restrict Configuration Utility 183
Teach Restrict Verification Utility 184
10.11 Replacing the Encoder Battery Pack 185
Battery Replacement Interval 186
Battery Replacement Procedure 186
10.12 Replacing a Platform 189
Replacement 189
Configuration 190
10.13 Replacing a Ball Joint Insert 190
10.14 Replacing Outer Arm Spring Assemblies 191
Removing Outer Arm Spring Assemblies 191
Installing Outer Arm Spring Assemblies 193
10.15 Replacing the Front Panel 195
Chapter 11: Robot Cleaning/ Environmental Concerns- H 197
11.1 Ambient Environment 197
Humidity 197
Temperature 197
11.2 Cleaning 198
Caustic Compatibility 198
Water Shedding 198
Wipe-Down 198
11.3 Cleanroom Classification 198
11.4 Design Factors 198
Robot Base and Components 198
Inner Arms 199
Ball Joints 199
Outer Arms 199
Springs 199
Platforms 199
11.5 Installing Cable Seal Kit 200
Overview 200
Installation Procedure 200
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Chapter 12: Environmental Concerns - HS 207
12.1 Ambient Environment 207
Humidity 207
Temperature 207
12.2 Cleanroom Classification 208
12.3 Design Factors 208
Robot Base and Components 208
Inner Arms 208
Ball Joints 208
Outer Arms 209
Spring Assemblies 209
Platforms 209
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