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Quattro 650HS
User Manual
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Omron Quattro 650H, Quattro 650HS, Quattro 800H, Quattro 800HS User Manual

Quattro 650H/650HS/800H/800HS
User’s Guide
I597-E-05
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 doc­umentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to: techpubs@adept.com.
Copyright 2010-2019 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
Table of Contents
Chapter 1: Introduction 13
1.1 Quattro Robots, Product Description
Controllers 13 Sizes and Materials 13 Major Differences between Quattro H and HS Robots 13 eAIB 15 Quattro Robot Base 16 Inner Arms 16 Ball Joints, Outer Arms 16 Platforms 17 SmartController EX 20
1.2 Installation Overview
1.3 How Can I Get Help?
Related Manuals 22
13
21
22
Chapter 2: Safety 23
2.1 What to Do in an Emergency / Abnormal Situation
Releasing the Brakes 23 General Hazards 23 Releasing an E-Stop 23
2.2 Dangers, Warnings, and Cautions
Alert Levels 24 Alert Icons 24 Special Information 25
2.3 User's Responsibilities
Electrical Hazards 25 Pinch Hazard 25 Qualification of Personnel 25
2.4 Robot Behavior
Hardstops 26
2.5 Intended and Non-intended Use
Intended Use 26 Non-Intended Use 27 Robot Modifications 27
2.6 Additional Safety Information
Robot Safety Guide 28 T20 Manual Control Pendant (Option) 28 Disposal 28
23
24
25
26
26
27
09955-000 Rev. N Quattro User's Guide 3
Table of Contents
Chapter 3: Robot Installation - H 29
3.1 Transport and Storage
3.2 Unpacking and Inspecting the Equipment
Before Unpacking 29 Upon Unpacking 29 Unpacking 29
3.3 Repacking for Relocation
3.4 Environmental and Facility Requirements
3.5 Mounting Frame
Frame Orientation 33 Frame Construction 33 Robot-to-Frame Considerations 33 Mounting 34 Gussets 34
3.6 Mounting the Robot Base
Robot Orientation 34 Mounting Surfaces 35 Mounting Options 35 Mounting Procedure from Above the Frame 35 Mounting Procedure from Below the Frame 37 Install Mounting Hardware 37
3.7 Attaching the Outer Arms and Platform
Clocking the Platform to the Base 40 Attaching the Outer Arms 41
3.8 Mounting the Front Panel
29
29
31
31
32
34
39
44
Chapter 4: Robot Installation - HS 45
4.1 Transport and Storage
4.2 Unpacking and Inspecting the Quattro Equipment
Before Unpacking 45 Upon Unpacking 45 Unpacking 45
4.3 Repacking for Relocation
4.4 Environmental and Facility Requirements
4.5 Mounting Frame
Frame Mounting Tabs 48 Robot-to-Frame Considerations 49 Mounting 49 Gussets 49
4.6 Cable Inlet Box
Assembling Cable Inlet Box 50 Connecting the Cables 54
4 Quattro User's Guide 09955-000 Rev. N
45
45
47
47
48
50
Table of Contents
Installing the Cable Inlet Box 55
4.7 Mounting the Robot Base
Robot Orientation 56 Mounting Surfaces 56 Mounting Options 56 Mounting Procedure from Above the Frame 57 Mounting Procedure from Below the Frame 58 Install Mounting Hardware 59
4.8 Attaching the Outer Arms and Platform
Clocking the Platform to the Base 61 Attaching the Outer Arms 62
4.9 Mounting the Front Panel
4.10 Attaching the Cable Tray
56
60
65
65
Chapter 5: System Installation 71
5.1 System Cable Diagram
5.2 Installing the SmartController EX
List of Cables and Parts 72 Cable Installation Overview 74
5.3 Optional Cables
XIOBreakout Cable 75 DB9 Splitter Cable 75 eAIB XBELTIOAdapterCable 75 SmartController Belt Encoder Y-Adapter Cable 75
5.4 Connecting User-Supplied PC to Robot
PC Requirements 80
5.5 Installing ACE Software
5.6 Description of Connectors on Robot Interface Panel
5.7 Cable Connections from Robot to SmartController
5.8 Connecting 24 VDC Power to Robot
Specifications for 24 VDC Robot and Controller Power 83 Details for 24 VDC Mating Connector 84 Procedure for Creating 24 VDC Cable 84 Installing 24 VDC Robot Cable 85
5.9 Connecting 200-240 VAC Power to Robot
Specifications for AC Power 86 Details for AC Mating Connector 89 Procedure for Creating 200-240 VAC Cable 89 Installing AC Power Cable to Robot 90
5.10 Grounding the Quattro Robot System
Quattro Robot Base 90 Quattro HS Robot Base 91
71
72
75
80
81
81
82
83
86
90
09955-000 Rev. N Quattro User's Guide 5
Table of Contents
Robot-Mounted Equipment 91 Configuration 92
5.11 Installing User-Supplied Safety Equipment
Emergency Stop Circuits 99 Remote Manual Mode 100 User Manual/Auto Indication 101 User High Power On Indication 101 Remote High Power On/Off Control 101 High Power On/Off Lamp 102 Remote Front Panel or User-Supplied Control Panel Usage 102 Remote Pendant Usage 103
94
Chapter 6: System Operation 105
6.1 Robot Status Display Panel
6.2 Status Panel Fault Codes
6.3 Using the Brake-Release Button
Brakes 107 Brake-Release Button 107
6.4 Front Panel
6.5 Connecting Digital I/O to the System
6.6 Using Digital I/O on Robot XIO Connector
Optional I/O Products 114 XIO Input Signals 114 XIO Output Signals 116 XIO Breakout Cable 119
6.7 Starting the System for the First Time
Verifying Installation 121 Turning on Power and Starting ACE 122 Enabling High Power 123 Verifying E-Stop Functions 123 Verify Robot Motions 123
6.8 Quattro Motions
Straight-line Motion 124 Containment Obstacles 124 Tool Flange Rotation Extremes 124
6.9 Learning to Program the Quattro Robot
105
106
107
109
110
112
121
124
128
Chapter 7: Optional Equipment Installation 129
7.1 End-Effectors
Attaching 129 Aligning 129 Grounding 129 Accessing Vacuum 129
6 Quattro User's Guide 09955-000 Rev. N
129
Table of Contents
7.2 Routing End-effector Lines
7.3 Ball Stud Locks
Installing a Ball Stud Lock 132 Removing a Ball Stud Lock 133
130
131
Chapter 8: Technical Specifications 135
8.1 Dimension Drawings
8.2 Internal Connections
8.3 XSYS/XSYSTEM Connector
8.4 Robot Specifications
8.5 Payload Specifications
Torque and Rotation Limits 147 Payload Mass vs. Acceleration 147 Payload Inertia vs. Acceleration 149
8.6 Stopping Times and Distances
8.7 Robot Mounting Frame, Quattro 650H Robot
135
144
145
145
147
150
158
Chapter 9: Maintenance - H 165
9.1 Periodic Maintenance Schedule
9.2 Warning Labels
9.3 Checking Safety Systems
9.4 Checking Robot Mounting Bolts
9.5 Checking Robot Gear Drives
9.6 Checking Fan Operation
9.7 Replacing the eAIB Chassis
Removing the eAIB Chassis 170 Installing a New eAIB Chassis 173
9.8 Commissioning a System with aneAIB
Safety Commissioning Utilities 175 E-Stop Configuration Utility 176 E-Stop Verification Utility 177 Teach Restrict Configuration Utility 177 Teach Restrict Verification Utility 178
9.9 Replacing the Encoder Battery Pack
Battery Replacement Interval 179 Battery Replacement Procedure 180
9.10 Replacing a Platform
Replacement 182
9.11 Configuration
9.12 Replacing a Ball Joint Insert
165
168
169
169
169
170
170
174
179
182
182
182
09955-000 Rev. N Quattro User's Guide 7
Table of Contents
9.13 Replacing Outer Arm Spring Assemblies
Removing Outer Arm Spring Assemblies 183 Installing Outer Arm Spring Assemblies 184
9.14 Changing the Lamp in the Front Panel High-Power Indicator
182
186
Chapter 10: Maintenance - HS 189
10.1 Cleaning
Water Shedding 189 Wash-Down 189 Chemical Compatibility 190
10.2 Warning Labels
10.3 Periodic Maintenance
10.4 Checking Safety Systems
10.5 Checking Robot Mounting Bolts
10.6 Checking Robot Gear Drives
10.7 Checking Fan Operation
10.8 Removing and Installing the Cable Inlet Box
Removing the Cable Inlet Box 197 Installing the Cable Inlet Box 198
10.9 Replacing the eAIB Chassis
Removing the eAIB Chassis 199 Installing a New eAIBChassis 201
10.10 Commissioning a System with aneAIB
Safety Commissioning Utilities 203 E-Stop Configuration Utility 204 E-Stop Verification Utility 205 Teach Restrict Configuration Utility 205 Teach Restrict Verification Utility 206
10.11 Replacing the Encoder Battery Pack
Battery Replacement Interval 207 Battery Replacement Procedure 208
10.12 Replacing a Platform
Replacement 211 Configuration 212
10.13 Replacing a Ball Joint Insert
10.14 Replacing Outer Arm Spring Assemblies
Removing Outer Arm Spring Assemblies 213 Installing Outer Arm Spring Assemblies 214
10.15 Replacing the Front Panel
189
190
191
195
195
195
196
197
199
202
207
211
212
213
216
8 Quattro User's Guide 09955-000 Rev. N
Table of Contents
Chapter 11: Robot Cleaning/ Environmental Concerns- H 217
11.1 Ambient Environment
Humidity 217 Temperature 217
11.2 Cleaning
Caustic Compatibility 218 Water Shedding 218 Wipe-Down 218
11.3 Cleanroom Classification
11.4 Design Factors
Robot Base and Components 218 Inner Arms 219 Ball Joints 219 Outer Arms 219 Springs 219 Platforms 219
11.5 Installing Cable Seal Kit
Overview 220 Installation Procedure 221
217
218
218
218
220
Chapter 12: Environmental Concerns - HS 227
12.1 Ambient Environment
Humidity 227 Temperature 227
12.2 Cleanroom Classification
12.3 Design Factors
Robot Base and Components 228 Inner Arms 228 Ball Joints 228 Outer Arms 228 Spring Assemblies 229 Platforms 229
227
228
228
Chapter 13: Status Codes 231
13.1 Status Panel Display
13.2 Status Codes
231
232
09955-000 Rev. N Quattro User's Guide 9
Revision History
Revision
Code
01 June,
Date Revised Content
Original release.
2016
02 May, 2017 Regulatory updates.
03 November,
2017
l Added the Quattro 800HS to USDA approved list. l Clarified that Line E-Stop Input can be used for pro-
duction lines.
l Clarified note on emergency stop circuits. l Clarified that the ball joint inserts are made of special
acetal material.
04 April, 2018 l Updated safety chapter format and alert levels through-
out user guide.
l Clarified that USDA approved platforms are stainless
steel.
l Updated unpacking instructions with new crate con-
figuration.
l Updated recommended power supply model numbers. l Updated images of platform to show Omron Adept logo. l Changed ACE software disk to ACEsoftware media. l Updated pictures to show painted inner arms. l Add note to firmly hold end of arm tooling when attach-
ing to the flange to prevent damage to platform belt.
l Minor updates to fix broken links and incorrect ref-
erences.
05 March,
2019
l Updated copyright for 2019. l Added WEEEdisposal information. l Removed www.adept.com from Chapter 1: Introduction. l Updated safety chapter format and added fire and ESD
alert icons.
l Added addition information regarding intended and non-
intended use of Quattro robots.
l Made a note that Hardstops have been moved to the
base.
l Added Max Allowable Center of Gravity (CG) table in
chapter 8.
l Graphics improved and modified for translation and
added call-out tables.
l Added Status Codes chapter. l Added Platform configuration procedure to System
Installation chapter and removed configuration pro­cedure from Maintenance chapters.
l Revised encoder battery replacement interval. l Revised Ball Stud Lock section with new part number for
individual locks.
10 Quattro User's Guide 09955-000 Rev. N
Revision
Code
Date Revised Content
l Many changes to Chapter 5: System Installation includ-
ing new and improved figures, content removal and addi­tions.
l Operating temperature range, changed to 1 to 40°C
from previously noted 5 to 40°C.
l Added red CADversion of status codes to Status Panel
Fault Codes section in chapter 5.
l Dual robot configuration renamed to single and multiple
robot configuration.
l Removed references to obsolete sDIO module. l Added IOBlox device to Table 6-3. Digital I/O Connection
Options
l Added a note about typical IOBlox configurations in
Chapter 6: System Operation.
09955-000 Rev. N Quattro User's Guide 11

Chapter 1: Introduction

1.1 Quattro Robots, Product Description

The Quattro robot is a four-axis parallel robot. The four identical axis motors control move­ment of the robot tool in X, Y, and Z directions, as well as Theta rotation.

Controllers

The Quattro robot requires a SmartController EX motion controller for control. That controller can be combined with a user-supplied PLC, for programming.
The robot servo code runs on an SmartServo distributed-motion control platform embedded in the robot base as part of the power amplifiers.

Sizes and Materials

There are two sizes of Quattro robots, each available with anodized aluminum or stainless steel platforms:
l
Quattro 650H (AnodizedAluminum & SS) and Quattro 650HS (SS)
and
l
Quattro 800H (Anodized Aluminum &SS) and Quattro 800HS (SS)
The Quattro 650H and 800H areavailable with anodized aluminum or stainless steel (SS) platforms, and anodized aluminum outer arm spoons. The eAIB and cable box used with the two H models are anodized aluminum.
The Quattro 650HS and 800HS are USDAAccepted, and therefore only available with stainless steel platforms and stainless steel outer arm spoons. The eAIB and cable box used with the two HS models are electroless nickel (EN).
In most aspects, the robots are similar enough that they will be covered together. In areas where there are significant differences, the Quattro H and Quattro HS robots will be presented in two chapters, using titles such as Robot Installation—H for the 650H and 800H robots, and Robot Installation—HS for the 650HS and 800HS robots.

Major Differences between Quattro H and HS Robots

Note that either anodized aluminum or stainless steel platforms can be used on the Quattro 650H and 800H robots.
The Quattro 650HS and 800HS are only available with stainless steel platforms.
09955-000 Rev. N Quattro User's Guide 13
1.1 Quattro Robots, Product Description
Table 1-1. Quattro H/HS Differences
Standard (650H/800H) HS (650HS/800HS)
USDA Accepted
No Yes
(Meat and Poultry)
IP rating IP65, Option IP66, Standard
P30 Platform, no rotation Hard-anodized or Stainless Steel
Stainless Steel (SS)
(SS)
P31 Platform, 46.25° Hard-anodized or SS SS
P32 Platform, 92.5° Hard-anodized or SS SS
P34 Platform, 185° Hard-anodized or SS SS
Outer Arm Spoons Hard-Anodized Stainless Steel
Base Mounting Pad Holes M16-2.0, through-hole M16-2.0, blind, 40 mm
bolt
Base Coating material White polyurethane
powder
eAIB Black Anodized, Single-bolt
White ETFE, USDA approved
EN, 6-bolt installation
installation
Cable Inlet box Hard-Anodized, Option EN, Standard
Cable Tray Not required Required (for USDA)
Status Display Half-height Full-height, to shield
labels
Protective Earth Ground On base-mounting pad In cable inlet box
Motor covers White Solid white, no label
Exposed bolts and screws all
No Yes
gasketed
Similarities Between the Quattro Robots
l
All models use the same motors
l
All models share the same base casting, although the H and HS have some machining and coating differences. Platform coatings/materials differ for HS robots, but dimensions do not.
l
The mounting hole pattern for the bases is the same.
l
All share the same inner arm design.
l
All have an eAIB.
14 Quattro User's Guide 09955-000 Rev. N
Chapter 1: Introduction
Figure 1-1. Major Robot Components, Isometric View (650HS shown)
Callout Description Callout Description
A Mounting Pads F Motor Cover
B eAIB G Outer Arms
C Cable Inlet Box H Platform
D Base J Ball Joints (Spring Assemblies not shown)
E Inner Arm

eAIB

The power amplifiers for the Quattro robot are embedded in the base of the robot. This amp­lifier section is known as the Amplifiers in Base (eAIB)distributed motion control platform, and provides closed-loop servo control of the robot amplifiers, as well as robot I/O. The eAIB is available in either an anodized or electroless nickel finish.
The eAIB features:
l
On-board digital I/O: 12 inputs, 8 outputs
l
Low EMI for use with noise-sensitive equipment
l
No external fan for quiet operation
09955-000 Rev. N Quattro User's Guide 15
1.1 Quattro Robots, Product Description
l
8 kHz servo rate to deliver low positional errors and superior path following
l
Sine-wave commutation to lower cogging torque and improve path following
l
Digital feed-forward design to maximize efficiency, torque, and velocity
l
Temperature sensors on all amplifiers and motors for maximum reliability and easy troubleshooting
l
Hardware-based E-Stop and Teach Restrict controls
These are for improved safety relative to European standards implemented in 2012.
NOTE: The H and HSamplifiers and their cable inlet boxes are not inter­changeable.

Quattro Robot Base

The Quattro robot base is an aluminum casting that houses the four drive motors, and sup­ports the power amplifiers. It provides four mounting pads for attaching the base to a rigid support frame. The Status Display Panel is mounted on the side of the robot base.

Inner Arms

The four robot motors attach directly to the inner arms through a high-performance gear redu­cer. Other than optional, user-supplied hardware mounted on the platform, these are the only drive motors in the Quattro robot. The following figure shows an inner arm from a Quattro robot. RIA-compliant hard stops limit the inner arm motion to -52° and +124°.
Figure 1-2. Inner Arm

Ball Joints, Outer Arms

The inner arm motion is transmitted to the platform through the outer arms, which are con­nected between the inner arms and platform with precision ball joints. The outer arms are car­bon fiber epoxied assemblies with identical ball joint sockets at each end. A bearing insert in
16 Quattro User's Guide 09955-000 Rev. N
Chapter 1: Introduction
D
A
E
F
C
G
H
B
each socket accepts the ball joint studs on the inner arms and platform, and allows for approx­imately ± 60° of relative motion. No ball joint lubrication is required.

Platforms

Figure 1-3. Quattro Ball Joint Assembly, Quattro HS Robot shown
Callout Description Callout Description
A Ball Joint Stud E Ball Joint Socket Insert
B Inner Arm F Outer Arm Springs
C Ball Joint Socket G Spring Horseshoe
D Pressed Pin H Outer Arms
Each pair of outer arms is held together with spring assemblies that pre-tension the ball joints. The outer arms can be installed and removed without tools.
The platform converts the motion of the four Quattro motors into Cartesian motion and, for all but the fixed platform, Theta rotation of the robot tool.
The Quattro robot currently supports four models of platforms, depending on the amount of Theta rotation and inertia needed.
NOTE: The four models of platforms require different robot parameters.
09955-000 Rev. N Quattro User's Guide 17
1.1 Quattro Robots, Product Description
The suffix on the part numbers that follow indicates the finish or material of the platform. Refer to Materials and Finishes on page 20.
P31 Platform (P/N 09503-xxx)
The P31 platform has a rotation range of ±46.25°. The tool flange is machined into one of the pivot links. It does not rotate in relation to the pivot link, so there are no gears or belts involved. See P31 Platform on page 18.
P30 Platform (P/N 09730-xxx)
The P30 platform is a fixed platform that provides no Theta rotation. The tool flange is machined into the one-piece platform. See P30 Platform on page 19.
P32 Platform (P/N 09732-xxx)
The P32 platform has a rotation range of ±92.5°. The tool flange is mounted on one of the pivot links. See P32 Platform on page 19.
P34 Platform (P/N 09734-xxx)
The P34 platform has a rotation range of ±185°. The tool flange is mounted on one of the pivot links.
Figure 1-4. P31 Platform
18 Quattro User's Guide 09955-000 Rev. N
Figure 1-5. P30 Platform
Chapter 1: Introduction
Figure 1-6. P32 Platform
NOTE: The only visible difference between the P32 and P34 platforms is the model number, and the two or four dots immediately below that number. Two dots designate a P32 platform.
09955-000 Rev. N Quattro User's Guide 19
1.1 Quattro Robots, Product Description
Materials and Finishes
Platforms are available in:
l
Aluminum with hard-anodized finish
l
Stainless steel
The following table shows which materials and finishes are compatible with which robots:
650H 650HS 800H 800HS Part Number
Hard
Yes No Yes No XXXXX-000
Anodized
Stainless
Yes Yes Yes Yes XXXXX-200
Steel
Platform Clocking
Rotational platforms are constructed such that the clocking, or rotational alignment, of the plat­form relative to the robot base is critical. This is detailed in Clocking the Platform to the Base on page 40.
Platform Shipping
l
The platform and outer arms are removed.
l
The platform is shipped pre-assembled as a unit. You will need to connect the outer arms between the inner arms and the platform to reassemble the robot. The outer-arm assemblies are interchangeable.
Any end-effectors and their air lines and wiring are user-supplied.

SmartController EX

The SmartController motion controller is the foundation of our family of high-performance, dis­tributed motion controllers. The SmartController EX is designed for use with:
l
Quattro robots
l
eCobra 600/800 robots
l
Viper robots
The controller supports a conveyor tracking option, as well as other options. The SmartCon­troller EX uses the eV+ operating system. It offers scalability and support for IEEE 1394-based digital I/O and general motion expansion modules. The IEEE 1394 interface is the backbone of SmartServo, our distributed controls architecture supporting our products. The SmartController EX also includes Fast Ethernet and DeviceNet.
20 Quattro User's Guide 09955-000 Rev. N
Refer to the SmartController EX User’s Guide for SmartController specifications.

1.2 Installation Overview

The system installation process is summarized in the following table. Also, refer to System Installation on page 71.
NOTE: For multi-robot installations, see the Single and Multiple Robot Con­figuration Guide.
Chapter 1: Introduction
Figure 1-7. SmartController EX
Table 1-2. Installation Overview
Task to be Performed Reference Location
Mount the cable box (Quattro HS robot or Quattro H robot with IP65 option).
Mount the robot to a level, stable mounting frame. Mounting the Robot Base on page
Attach the robot outer arms and platform. Attaching the Outer Arms and Plat-
Install the SmartController, Front Panel, Pendant (if purchased), and ACE software.
Install the IEEE 1394 and XSYS cables between the robot and SmartController.
Create a 24 VDC cable and connect it between the SmartController and the user-supplied power supply.
Create a 24 VDC cable and connect it between the robot and the user-supplied 24 VDC power supply.
Create a 200-240 VAC cable and connect it between the robot and the facility AC power source.
Cable Inlet Box on page 50 and Installing Cable Seal Kit on page
220.
34.
form on page 39.
Installing the SmartController EX on page 72.
Cable Connections from Robot to SmartController on page 82.
Installing the SmartController EX on page 72.
Connecting 24 VDC Power to Robot on page 83.
Connecting 200-240 VAC Power to Robot on page 86.
Install user-supplied safety barriers in the workcell. Installing User-Supplied Safety
Equipment on page 94.
Connect digital I/O through the robot XIO connector. Using Digital I/O on Robot XIO Con-
09955-000 Rev. N Quattro User's Guide 21
1.3 How Can I Get Help?
Task to be Performed Reference Location
nector on page 112.
Start the system, including system start-up and test­ing operation.
Install optional equipment, including end-effectors, user air and electrical lines, external equipment, etc.

1.3 How Can I Get Help?

For support or service, contact your local Omron support.
Refer to additional information sources on our corporate website:
http://www.ia.omron.com

Related Manuals

This manual covers the installation, operation, and maintenance of an Quattro robot system. There are additional manuals that cover programming the system, reconfiguring installed com­ponents, and adding optional components. See the following table. These manuals are avail­able on the software media shipped with each system.
Manual Title Description
Starting the System for the First Time on page 121.
End-Effectors on page 129.
Table 1-3. Related Manuals
Robot Safety Guide Contains safety information for our robots.
SmartController EX User’s Guide
ePLC Connect 3 User’s Guide Describes the installation and use of the ePLC Connect 3 soft-
ACE User’s Guide Describes the installation and use of ACE software.
Single and Multiple Robot Configuration Guide
T20 Pendant User's Guide Describes the use of the optional T20 manual control pendant.
Contains complete information on the installation and oper­ation of the SmartController EX.
ware, for using a user-supplied PLC as controller.
Contains cable diagrams and configuration procedures for a single and multi-robot system.
22 Quattro User's Guide 09955-000 Rev. N

Chapter 2: Safety

!

2.1 What to Do in an Emergency / Abnormal Situation

Press the E-Stop button (a red push-button on a yellow background) and then follow the internal procedures of your company or organization for a robot emergency situation. If a fire occurs, use a type D extinguisher: foam, dry chemical, or CO2.

Releasing the Brakes

In case of an emergency or abnormal situation, the platform can be manually moved without electric power. However, only qualified personnel who have read and understood this manual and the Robot Safety Guide should manually move the platform to a safe state. The brakes can be released with the brake release button on Status Display Panel, see Robot Status Display Panel on page 105. This requires 24 V power, and an E-Stop must be pressed on the robot. All robot axes are held by brakes, which can be released with the brake release button. Remote brake release feature is also available via XIO Input 6.2 (Pin 18) configuration, see Remote Brake Release Feature on page 108.

General Hazards

IMPORTANT: The following situations could result in injury or damage to the equipment.
l
Do not place objects on the Platform or Base of the robot.
l
Do not exceed the maximum payload capacity.
l
Do not exceed the maximum recommended limits given in technical specifications. See Technical Specifications on page 135.
Rotational speed becomes more significant when the payload’s center of gravity is farther away (vertically and/ or horizontally) from the platform’s center of gravity.
l
Do not drop the robot, put uneven weights on the outer arms or otherwise operate it irre­sponsibly.
l
Do not use unauthorized parts.

Releasing an E-Stop

CAUTION: PERSONALINJURYORPROPERTYDAMAGERISK If the robot’s E-Stop is triggered, ensure that the cause of the E-Stop is resolved, before releasing the E-Stop.
After the E-Stop button has been manually released, the robot will wait until the motors are manually enabled.
There are three ways to enable the motors:
09955-000 Rev. N Quattro User's Guide 23
2.2 Dangers, Warnings, and Cautions
!
!
!
!
l
Enable power through ACE software installed on your PC
l
Press the green ROBOT POWER button on the Front Panel
l
Press the ROBOTPOWER button on the Pendant
Once the motors are enabled, the robot will wait two seconds and then resume commanded motion, if there is adequate space to maneuver.

2.2 Dangers, Warnings, and Cautions

Alert Levels

There are three levels of alert notation used in our manuals. In descending order of import­ance, they are:
DANGER: Identifies an imminently hazardous situation which, if not avoided, is likely to result in serious injury, and might result in fatality or severe property damage.
WARNING: Identifies a potentially hazardous situation which, if not avoided, will result in minor or moderate injury, and might result in serious injury, fatal­ity, or significant property damage.
CAUTION: Identifies a potentially hazardous situation which, if not avoided, might result in minor injury, moderate injury, or property damage.

Alert Icons

The icon that starts each alert can be used to indicate the type of hazard. These will be used with the appropriate signal word - Danger, Warning, or Caution - to indicate the severity of the hazard. The text following the signal word will specify what the risk is, and how to avoid it.
Icon Meaning Icon Meaning
This is a generic alert icon. Any specifics on the risk will be in the text following the signal word.
This identifies a hazardous elec­trical situation.
This identifies a hazardous ESD situation.
This identifies a hazardous burn­related situation.
24 Quattro User's Guide 09955-000 Rev. N

Special Information

!
There are several types of notation used to call out special information.
IMPORTANT: Information to ensure safe use of the product.
NOTE: Information for more effective use of the product.
Additional Information: Offers helpful tips, recommendations, and best prac-
tices.
Version Information: Information on differences in specifications for different versions of hardware or software.

2.3 User's Responsibilities

Safe use of the Quattro robot is your responsibility. Safe use includes:
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Reading the installation and operation instructions, as well as the Robot Safety Guide, before using the equipment.
Chapter 2: Safety
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Ensuring that the environment is suitable for safe operation of the robot.
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Ensuring that anyone working with or near a robot has been adequately trained, and is following this guide and the Robot Safety Guide for safe robot operation.
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Maintaining the robots so that their control and safety functions continue to work prop­erly.

Electrical Hazards

WARNING: ELECTROCUTIONRISK Quattro robots use 200-240 VAC power. Thus, appropriately-sized branch cir­cuit protection and lockout/ tagout capability must be provided in accordance with National Electrical Code and any local codes.

Pinch Hazard

Robots' Arm Spring Assemblies
CAUTION: PINCHRISK Ball joints are spring-loaded. Be careful not to pinch your fingers.

Qualification of Personnel

It is the end-user’s responsibility to ensure that all personnel who will work with or around robots have attended an appropriate Omron training course and have a working knowledge of the system. The user must provide the necessary additional training for all personnel who will be working with the system.
09955-000 Rev. N Quattro User's Guide 25
2.4 Robot Behavior
!
As noted in this and the Robot Safety Guide, certain procedures should be performed only by skilled or instructed persons. For a description of the level of qualification, we use the standard terms:
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Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers, electrical and/or mechanical
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Instructed persons are adequately advised or supervised by skilled persons to enable them to avoid the dangers, electrical and/or mechanical
All personnel must observe industry-prescribed safety practices during the installation, oper­ation, and testing of all electrically-powered equipment.
IMPORTANT: Before working with the robot, every entrusted person must con­firm that they:
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Have the necessary qualifications
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Have received the guides (both this user’s guide, and the Robot Safety Guide)
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Have read the guides
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Understand the guides
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Will work in the manner specified by the guides

2.4 Robot Behavior

Hardstops

The robot’s hardstops are located at the base. If the robot runs into one of its hardstops, the robot’s motion will stop completely, the system will generate an envelope error, and power will be cut to the robot motors.
The robot cannot continue to move after hitting a hardstop until you clear the error.
The robot’s hardstops can stop the robot at any speed, load, and maximum or minimum exten­sion.

2.5 Intended and Non-intended Use

Intended Use

The normal and intended use of these robots does not create hazards. The Quattro robot has been designed and constructed in accordance with the relevant requirements of IEC60204-1.
The Quattro robot is intended for use in parts assembly and material handling for payloads up to 6.0 kg (13.2 lb), for anodized platforms, and payloads up to 3 kg (6.6 lb) for stainless steel platforms. See Technical Specifications on page 135 for complete information on the robot spe­cifications. Refer to the Robot Safety Guide for details on the intended use of our robots.
WARNING: PERSONALINJURYRISK Quattros are not collaborative robots. They require a dedicated work area that will prevent personnel from coming into contact with them during operation.
26 Quattro User's Guide 09955-000 Rev. N
Guidelines for safe use:
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Clean, dry surfaces— The Quattro robot is designed to be compatible with standard cleaning and operational needs for secondary food packaging, as well as less stringent requirements. The platform and the arms, are IP67 rated. The base of the Quattro H robot, is IP65 rated, and for the Quattro HS robot, the rating is IP66.
IMPORTANT: For standard Quattro H robot, the topside of the base is IP20 rated, and therefore must not be exposed to liquid.
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Temperature — 1 to 40°C (34 to 104°F), with a recommended humidity range of 5% to 90%, non-condensing.

Non-Intended Use

The Quattro robots are not intended for use in any of the following situations:
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Use in the presence of ionizing or non-ionizing radiation
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Use in potentially explosive atmospheres
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Use in medical or life saving applications
Chapter 2: Safety
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Use in a residential setting (they are for industrial use only)
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Use before performing a risk assessment
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Where the equipment will be subject to extremes of heat or humidity
Non-intended use of Quattro robots can:
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Cause injury to personnel
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Damage itself or other equipment
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Reduce system reliability and performance
If there is any doubt concerning the application, ask your Omron Support to determine if it is an intended use or not.

Robot Modifications

If the user or integrator makes any changes to the robot, it is their responsibility to ensure that there are no sharp edges, corners, or protrusions.
Note that any change to the robot can lead to loss in safety or functionality. The user or integ­rator must ensure that all safety features are operational after modifications.

2.6 Additional Safety Information

Contact your local Omron support for other sources of safety information:
09955-000 Rev. N Quattro User's Guide 27
2.6 Additional Safety Information

Robot Safety Guide

The Robot Safety Guide, which ships with every robot system, provides detailed information on safety for Omron Adept Technologies, Inc. robots. It also gives resources for information on relevant standards.

T20 Manual Control Pendant (Option)

The protective stop category for the pendant enable switch is category 1, which complies with the requirements of ISO 10218-1. The pendant's design is in accordance with the requirements of IEC 60204-1 and ISO 13849. The E-Stop button complies with ISO 13850.
NOTE: Omron Adept Technologies, Inc. does not offer a wireless pendant.
The manual control pendant can only move one robot at a time, even if your network contains multiple robots.

Disposal

Dispose of in accordance with applicable regulations.
Customers can contribute to resource conservation and protecting the environment by the proper disposal of WEEE (Waste Electronics and Electrical Equipment). All electrical and elec­tronic products should be disposed of separately from the municipal waste system via des­ignation collection facilities. For information about disposal of your old equipment, contact your local Omron support.
28 Quattro User's Guide 09955-000 Rev. N

Chapter 3: Robot Installation - H

3.1 Transport and Storage

This equipment must be shipped and stored in a temperature-controlled environment, within the range –25 to +60°C (-13 to 140°F). The recommended humidity range is 5% to 90%, non-con­densing. It should be shipped and stored in the supplied crate, which is designed to prevent damage from normal shock and vibration. You should protect the crate from excessive shock and vibration.
Use a forklift, pallet jack, or similar device to transport and store the packaged equipment.
The robot must always be stored and shipped in an upright position in a clean, dry area that is free from condensation. Do not lay the crate on its side or any other non-upright position. This could damage the robot.
The Quattro robot weighs 118 to 123 kg (260 to 271 lb) with no options installed.

3.2 Unpacking and Inspecting the Equipment

Before Unpacking

Before unpacking, carefully inspect all shipping crates for evidence of damage during transit. If any damage is indicated, request that the carrier’s agent be present at the time the container is unpacked.

Upon Unpacking

Before signing the carrier’s delivery sheet, compare the actual items received (not just the pack­ing slip) with your equipment purchase order. Verify that all items are present and that the shipment is correct and free of visible damage.
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If the items received do not match the packing slip, or are damaged, do not sign the receipt. Contact your local Omron support as soon as possible (see How Can I Get Help? on page 22).
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If the items received do not match your order, please contact your local Omron support immediately.
Retain all containers and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate the equipment.

Unpacking

The Quattro robot is shipped in a wooden crate that holds the robot base, outer arms, platform, controller, miscellaneous hardware, and any accessories ordered.
The top of the crate should be removed first.
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3.2 Unpacking and Inspecting the Equipment
Figure 3-1. Robot Base in Crate, (A) Outer Arms
The robot base is shipped with the inner arms attached. The outer arms are assembled in pairs, packed in a cardboard box at the bottom of the crate. The platform is shipped fully assembled, but separate from the robot base and outer arms.
1. Remove the ancillary items (controller, outer arms, platform, etc.) that are in cardboard boxes and attached to the crate bottom.
Figure 3-2. Outer Arms
2.
The robot base is secured to the crate with four machine bolts, one in each crate post.
Place a protective pad over the eAIB to protect it from damage from tools during the removal of the bolts.
3.
Remove the bolt from each crate post.
30 Quattro User's Guide 09955-000 Rev. N
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