Omron Quattro 650H User manual

I598-E-01
Quick Setup Guide
Quattro 650H/650HS/
800H/800HS ePLC

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 Tech-
nologies, Inc. The information herein is subject to change without notice and should not be con-
strued as a commitment by Omron Adept Technologies, Inc. This manual is periodically
reviewed and revised.
Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in this
document. Critical evaluation of this manual by the user is welcomed. Your comments assist
us in preparation of future documentation. Please email your comments to: tech-
[e-mail].
Copyright© 2013, 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.
Printed in the United States of America
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
Page 2 of 16

Chapter 1: Quattro ePLC Robot Quick Setup
1.1 Introduction
Process Overview
This Quick Setup Guide presents the steps that are specific to a Quattro ePLC installation. The
major steps are:
lPreparation, including workcell layout and safety
lHardware Installation, including mounting the robot and system cable connections
lSystem Start-Up, including system configuration and tuning on the robot
It is assumed that the following have been completed. Refer to the Quattro Robot User's Guide
for information on these steps:
lDesign and construction of a robot frame
lInstallation of the robot cable box and cable trayon robot (Quattro HS)
lAttachment of the outer arms and platform on the robot
NOTE:This guide does not apply to robot systems that include a SmartController
motion controller. Refer to the Quattro Robot User's Guide for those systems.
During the installation and start-up process, refer to the Quattro Robot User's Guide, for more
information on your robot system. Also refer to your PLC user’s guide.
Resources on the Support Disk
lThis guide (along with three other ePLC robot quick setup guides)
lThe Quattro s650/800 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
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
Page 3 of 16

1.2 Safety
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 a
robot without adequate safeguards according to applicable
local and national standards. See Figure 1-1. 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 to the
XUSR connector on 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 Front Panel and optional T20 pendant.
Front Panel
T20 Pendant -
Optional
PC running
PLC Programming
Software
Safety Barrier
Restricted Area
Inside Safety
Barrier
200-240 VAC
Typical Workcell Layout
ePLC
Quattro Robot
24 VDC XUSR
Programmable Logic
Controller (PLC)
User-Supplied
Components
STOP
R
Figure 1-1. Typical Workcell Layout
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
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Chapter 1: Quattro ePLC Robot Quick Setup
Outer
Arms
Platform
(P31 shown)
Cable Inlet Box
Inner
Arms
Motor
Cover
AIB
Mounting
Pads
Base
Ball Joints
and Spring
Assemblies
Status Display
Panel
Figure 1-2. Quattro Robot Components, 650HS Robot Shown
1.4 Installing the Robot
Frame
The Quattro robot is mounted in a user-supplied frame, so that it hangs over the workspace. 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
Depending on your frame design, the robot can be mounted from either above or below the
frame, and to either the top or bottom of the frame pads.
NOTE:All mounting hardware is user-supplied. Refer to Install Mounting Hard-
ware on page 7.
Top of Pads Bottom of Pads
From Above Frame Eye bolts or Slings Slings
From Beneath Frame Eye bolts or Slings Slings or Fork lift with pad
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
Page 5 of 16

1.4 Installing the Robot
Using Eye Bolts:
1. Remove all lag bolts from the robot base mounting pads.
2. Screw the M16 eyebolts into opposing robot mounting pads, so that the robot will be bal-
anced when lifted.
3. Lock each eyebolt with a jam nut.
4. Connect slings to the M16 eyebolts and take up any slack in the slings.
CAUTION:Do not to lift the robot from any points other
than the eyebolts. Failure to comply could result in the robot
falling and causing either personnel injury or equipment
damage.
5. Lift the robot and position it directly over the mounting frame pads.
If lifting from inside the frame, you will have to twist the robot so that its mounting
pads clear the frame mounting pads, and you can raise it above the frame.
6. Slowly lower the robot while aligning the M16 holes in the robot mounting pads with
the holes in the frame mounting pads.
7. When the mounting pad surfaces are touching, start a bolt in each of the two unused
mounting holes.
8. Remove the slings and M16 eyebolts.
9. Refer to the table in Install Mounting Hardware on page 7 for mounting bolt torques.
Using Slings:
NOTE: Nylon slings can be wrapped across the center of the robot base, away from
the inner arms and status display. See the following figure.
Slings Slings
Figure 1-3. Safe Locations for Lifting a Quattro with Nylon Slings
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
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Chapter 1: Quattro ePLC Robot Quick Setup
1. Remove all lag bolts from the robot base mounting pads.
2. Wrap slings around the robot base. See the preceding figure for two methods.
3. Lift the robot and position it directly over or under the frame mounting pads.
For above lift/bottom mount or below lift/top mount, you will have to rotate the robot so
that its mounting pads clear the frame mounting pads.
4. Refer to the following table for mounting bolt torques.
Using a Forklift:
1. Remove all lag bolts from the robot base mounting pads.
2. Lift the robot and position it directly over or under the frame mounting pads.
Use a padded board as a support under the robot base.
If you want to mount to the top of the frame’s mounting pads, you will have to twist
the robot so that its mounting pads clear the frame mounting pads, and you can raise
them above the frame.
3. Refer to the table that follows for mounting bolt torques.
Install Mounting Hardware
NOTE:When mounting the robot, note the following:
1. Place split lock, then flat washers on the bolts.
Bolts are M16 x 2.0 if threaded into the robot base mounting tabs.
Bolts are M12 or ½ in. if going through the robot base mounting tabs into nuts.
NOTE:When M16 x 2.0 bolts are used, the bolt must engage at least 24 mm into
the threads of the base mounting pad.
2. Insert the bolts through the holes in the frame mounting pads and into the threaded
holes in the robot base mounting pads.
If using through-bolts, insert the bolts through the holes in both the mounting pads and
through the threaded holes in the robot base mounting pads into nuts.
3. Tighten the mounting hardware to the specifications listed in the following table.
Table 1-1. Mounting Bolt Torque Specifications
Standard Size Minimum Specification Torque
Threaded into base (aluminum):
Metric M16 x 2.0 ISO Property Class 5.8 98 N·m (74 ft-lb)
Using base mounting pad hole as through-hole:
Metric M12 ISO Property Class 9.8 100 N·m (75 ft-lb)
SAE ½ in. 100 N·m (75 ft-lb)
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
Page 7 of 16

1.5 System Cable Connections
NOTE:Check the tightness of the mounting bolts one week after initial installation,
and then recheck every 6 months. For periodic maintenance, refer to the Quattro
User’s 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 Quattro User's Guide for power spe-
cifications and wiring instructions.
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 standard
E Front Panel Cable 10356-10500 90356-10358 standard
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 user-supplied
M 24 VDC Power Cable (option) 04120-000 90565-010 user-supplied
N 24 VDC, 6 A Power Supply
(option)
04536-000 90565-010 user-supplied
P Ethernet Cable - PC -> PLC
(Only while programming PLC)
n/a n/a user-supplied
Q Ethernet Cable - PLC -> switch n/a n/a user-supplied
R Ethernet Cable - switch ->
SmartVisionMX
n/a n/a user-supplied
S Ethernet switch, cable n/a n/a user-supplied
T Camera and cable n/a n/a option
Power Requirements
The power requirements for the SmartVision EX and the Quattro robots are covered in their
respective user guides. For 24 VDC, both can be powered by the same power supply.
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
Page 8 of 16

Chapter 1: Quattro ePLC Robot Quick Setup
NOTE: The resistance of all ground conductors must be ≤ 10 Ω.
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 connector. C
3 Connect Front Panel cable to Front Panel and eAIB XSYSTEM cable XFP con-
nector or
D, E
3a if no Front Panel, install FP jumper on eAIB XSYSTEM cable XFP connector.
See NOTE after table.
F
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. See robot user's guide for location. n/a
5a Connect user-supplied ground to SmartVision MX, if used. See SmartVision
MX user's guide for location.
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 to SmartVision MX, if used. N,
M
8 Connect Ethernet cable from PC to PLC. P
9 Connect Ethernet cable from PLC to switch. 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
NOTE:A front panel ships with each Quattro ePLC system, but you can choose not
to use it if you replace its functionality with equivalent circuits. That is beyond the
scope of this guide.
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
Page 9 of 16

1.6 Configuration
DC
IN
24 V GND
AC
200 -
240 V
Ø
1
XBELTIO
XIO
Servo
ENETENET
XSYSTEM
ePLC Quattro Robot
24 VDC, 6 A
Power Supply
200-240 VAC
10 A
single-phase
AC Power
Cable
DC Power
Cable
Front Panel
Cable
Front Panel
User-Supplied PC
running PLC
Programming 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 to PLC
T20 Bypass Plug
User-Supplied
Ground Wire
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
5
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 from
PLC 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
SmartVision MX (option)
Camera
(option)
User-Supplied
Ground Wire
5a 7a
M
T
10
DC Power
Cable
S
PLC
Figure 1-4. Configuration with Vision
1.6 Configuration
The user-supplied PLC and the Quattro robot are connected either through a shared network or
via a user-supplied Ethernet cable.
When the Quattro ePLC 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
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
Page 10 of 16

Chapter 1: Quattro ePLC Robot Quick Setup
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 the ACE
software onto your PC 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 Quattro ePLC 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.
Figure 1-5. 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.
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
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1.7 Finding Additional Information
Figure 1-6. 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.
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 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 Quattro 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
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
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Chapter 1: Quattro ePLC Robot Quick Setup
NOTE:For dimensions and specifications, see Technical Specifications in the Quat-
tro User’s Guide.
System Operation
For details on system operation, see the following topics in the System Operation chapter of the
Quattro User’s Guide:
lRobot Status LED Indicator
lStatus panel fault codes
lBrake Release button (located above or in diagnostic panel).
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.
Quattro ePLC650/800 Quick Setup Guide, 13588-000 Rev D
Page 13 of 16

Authorized Distributor:
In the interest of product improvement,
specifications are subject to change without notice.
Cat. No. I598-E-01
Printed in USA
0416
© OMRON Corporation 2016 All Rights Reserved.
OMRON Corporation Industrial Automation Company
OMRON ELECTRONICS LLC
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IL 60169 U.S.A.
Tel: [phone]/Fax: [phone]
OMRON ADEPT TECHNOLOGIES, INC.
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Tel: [phone]/Fax: [phone]
Regional Headquarters
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Tel: [phone]/Fax: [phone] OMRON (CHINA) CO., LTD.
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Tel: [phone]/Fax: [phone]