Viper 650/850 Robot
with eMB-60R
User’s Guide
I599-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 2007, 2010 - 2012, 2016 - 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 9
1.1 Product Description
SmartController EX (Option) 10
eMotionBlox-40/60R 10
1.2 How Can I Get Help?
Corporate WebSite 11
Related Manuals 12
11
Chapter 2: Safety 13
2.1 Dangers, Warnings, and Cautions
Alert Levels 13
Alert Icons 13
Falling Hazards 13
Special Information 14
2.2 What to Do in an Emergency or Abnormal Situation
Releasing the Brakes 14
Releasing an E-Stop 14
2.3 Safety Precautions
User's Responsibilities 15
General Hazards 16
Qualification of Personnel 16
2.4 Robot Behavior
Hardstops 17
Limiting Devices 17
Singularities 17
2.5 Intended and Non-intended Use
Intended Use 17
Non-Intended Use 17
Robot Modifications 18
2.6 Additional Safety Information
Manufacturer’s Declaration of Incorporation 18
Robot Safety Guide 18
Manual Control Pendant (option) 18
2.7 Disposal
13
14
15
17
17
18
19
9
Chapter 3: Robot Installation 21
3.1 Unpacking and Inspecting the Equipment
3.2 Repacking for Relocation
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 3
21
21
Table of Contents
3.3 Environmental and Facility Requirements
3.4 Transporting the Robot
Precautions when Transporting Robot 23
Transport Procedure 24
3.5 Mounting the Robot
3.6 Grounding the Robot
3.7 Mounting the Front Panel
3.8 Description of Connectors on Robot Interface Panel
3.9 Air Lines and Signal Wiring
Optional Solenoid Cable 30
Solenoid Valve Specifications 32
External Mounting Locations on Robot 33
3.10 Designing End-Effectors
Continuous Turn on J6 33
Mass of End-Effector 33
Center of Gravity Position of End-Effector 34
Moment of Inertia Around J4, J5, and J6 34
22
23
26
27
27
28
28
33
Chapter 4: eMotionBlox-40/60R 39
4.1 Introduction
4.2 Connectors on eMB-40/60R Interface Panel
4.3 eMB-40/60R Operation
Status LED 41
Status Panel 42
Brake Release Button 43
Brake Release Connector 44
4.4 Connecting Digital I/O to the System
4.5 Using Digital I/O on eMB-40/60R XIO Connector
Optional I/O Products 48
XIO Input Signals 48
XIO Output Signals 50
XIO Breakout Cable 52
4.6 Mounting the eMB-40/60R
Dimensions and Mounting Holes 54
Mounting Clearances 55
39
40
41
45
46
54
Chapter 5: System Installation 57
5.1 System Cables, without SmartController EX
List of Cables and Parts 58
Cable Installation Overview 59
5.2 System Cables, with SmartController EX
57
61
4 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
Table of Contents
Installing a SmartController EX Motion Controller 61
List of Cables and Parts 62
Cable Installation Overview 63
5.3 Optional Cables
XIO Breakout Cable 64
DB9 Splitter Cable 64
eAIB XBELT IO Adapter Cable 64
SmartController EX Belt Encoder Y-Adapter Cable 64
5.4 ACE Software
5.5 Connecting Cables from the eMB-40/60R to the Robot
5.6 Connecting 24 VDC Power to eMB-40/60R Servo Controller
Specifications for 24 VDC Power 70
Details for 24 VDC Mating Connector 71
Procedure for Creating 24 VDC Cable 71
Installing the 24 VDC Cable 72
5.7 Connecting 200-240 VAC Power to eMB-40/60R
Specifications for AC Power 73
Facility Overvoltage Protection 74
AC Power Diagrams 75
Details for AC Mating Connector 76
Procedure for Creating 200-240 VAC Cable 76
Installing AC Power Cable to eMB-40/60R 77
5.8 Grounding the Robot System
Ground Point on Robot Base 78
Ground Point on eMotionBlox-40/60R 78
Robot-Mounted Equipment Grounding 79
5.9 Installing User-Supplied Safety Equipment
Emergency Stop Circuits 85
Remote Manual Mode 87
User Manual/Auto Indication 87
User High Power On Indication 88
Remote High Power On/Off Control 88
High Power On/Off Lamp 88
Remote Front Panel or User-Supplied Control Panel Usage 88
Remote Pendant Usage 89
64
68
69
70
73
77
79
Chapter 6: System Operation 91
6.1 Status Panel Codes
6.2 Brakes
Installing and Using the Brake Release Box 91
Using the Brake Release Switch on UL Robots 92
6.3 Front Panel
6.4 Starting the System for the First Time
Verifying Installation 95
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 5
91
91
93
95
Table of Contents
System Start-up Procedure 96
Running the ACE Software 96
Verifying E-Stop Functions 97
Verify Robot Motions 98
6.5 Learning to Program the Robot
6.6 Installing Joint Labels
6.7 Caution Label on Robot
98
99
100
Chapter 7: Maintenance 101
7.1 Field-replaceable Parts
7.2 Periodic Maintenance Schedule
7.3 Checking Safety Systems
7.4 Checking Robot Mounting Bolts
7.5 Replacing Encoder Backup Batteries
Battery Replacement Intervals 102
Battery Replacement Procedure 102
7.6 Replacing the eMB-40/60R Amplifier
Remove the eMB-40/60R Amplifier 106
Installing a New eMB-40/60R 107
7.7 Commissioning a System with an eMB-40/60R
Safety Commissioning Utilities 108
E-Stop Configuration Utility 109
E-Stop Verification Utility 110
Teach Restrict Configuration Utility 110
Teach Restrict Verification Utility 111
7.8 Changing the Lamp in the Front Panel High-Power Indicator
101
101
102
102
102
106
107
112
Chapter 8: Technical Specifications 115
8.1 Robot Dimensions
8.2 Robot Flange Dimensions
8.3 Specifications
Physical 120
Performance 121
Stopping Distances and Times 122
115
119
120
Chapter 9: IP54/65 Option 129
9.1 Introduction
9.2 Differences from the Standard Robot Model
Installation Environment 130
Robot Connector Panel 130
Cable Clearance 131
6 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
129
130
Table of Contents
Replacing Encoder Backup Battery 131
Chapter 10: Cleanroom Option 133
10.1 Introduction
10.2 Differences from Standard Robot Model
Cleanroom Technical Specifications 134
Robot Connector Panel 134
10.3 Air Lines and Signal Wiring
10.4 Cleanroom Cover at J6 Flange
10.5 Cable Clearance
10.6 Replacing Encoder Backup Battery
133
133
135
137
138
138
Chapter 11: Status Codes 139
11.1 Introduction
Status Panel Display 139
Status Panel 139
139
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 7
Revision History
Revision
code
Date Revised Content
01 April,
2016
02 January,
2017
03 July,
2017
04 October,
2018
05 March,
2019
Original release
Added ISO-required text for stopping distances and times.
l Added photos showing good and bad connections for the Arm
Power/Signal Cable; added to related text.
l Noted how Cleanroom Arm Power/Signal Cable connects in
Options chapter.
l Corrected ambient temperature to 5 to 40°C.
l Changed transport and lift position of joints to match what the
user will receive.
l Updated Safety chapter to newer format.
l Added WEEE information.
l Changed eAIB to eMB-40/60R in several places.
l Added graphics of display panel LED to eMB-40/60R chapter.
l Added display panel codes chapter.
l Copyright date updated to include 2019.
l Corrected bore hole distance.
l Revised encoder battery replacement procedure.
l Updated Safety chapter with latest information.
l Removed duplicated chapter 5.
l System Installation chapter added as chapter 5.
l Changed XMCP jumper plug P/N from 04737-000 to 10052-000.
l Changed T20 Pendant P/N from 10055-000 to 10054-010.
l Removed references to obsolete sDIO units from table 4-5
(optional sDIO Module, connects to controller), figure 4-4, table
4-6, and table 1-1.
l Dual robot configuration guide renamed to single and multiple
robot configuration guide.
l Added call outs to figures.
l Added humidity range of 5% to 90% to table 3-1; previously it
noted 90% or less.
l Moved optional cable information and System Cables, with Two
Conveyor Encoders section to new section 5.3 Optional Cables.
This section includes new details and figures to illustrate all
encoder cable configurations and pinouts.
l Minor text changes to Line E-Stop Input and Emergency
StopCircuits sections in Chapter 5: System Installation.
l Added part number for IEEE 1394 cable in Chapter 5: System
Installation.
l Changed ACEsoftware disk to ACE software media.
l Added a note about typical IOBlox configurations in Chapter 4:
eMotionBlox-40/60R.
8 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
1.1 Product Description
J1
J2
J3
J4
J5
J6
A
B
C
D
E
F
K
G
H
J
M
L
The Viper 650 robot and Viper 850 robots are high-performance, six-joint robots designed specifically for assembly applications. The speed and precision of the Viper robots also make
them ideal for material handling, packaging, machine tending, and many other operations
requiring fast and precise automation.
NOTE: The descriptions and instructions in this manual apply to both the
Viper 650 and the Viper 850 robots, except for instances where there is a difference, as in dimension and work envelope drawings. In those cases, the information is presented for both robots. The robot motors are powered by an eMB40/60R servo-controller/amplifier. Either robot can be controlled by the eMB40/60R, running eV+, or an optional SmartController EX motion controller.
Chapter 1: Introduction
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 9
Figure 1-1. Robot Joint Identification
1.1 Product Description
Key Meaning Key Meaning
A Base (1st Joint) G 2nd Arm
B 2nd Joint H 3rd joint motor cover (rear side)
C 3rd joint motor cover (rear side) J 4th Joint
D 1st Arm K 2nd arm cover
E 3rd Joint L 5th Joint
F 4th joint cover M 6th Joint
SmartController EX (Option)
The SmartController EX motion controller is the foundation of our family of high-performance
distributed motion and vision controllers. The SmartController EX is designed for use with:
l
eCobra robots
l
Quattro robots
l
Viper robots
l
Hornet robots
The SmartController EX supports a conveyor tracking option, as well as other options. The
SmartController EX uses the eV+ Operating System (as does the eMB-40/60R). 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, the distributed controls architecture supporting our products. The SmartController also includes Fast Ethernet and DeviceNet.
Figure 1-2. SmartController EX Motion Controller
eMotionBlox-40/60R
The eMotionBlox-40/60R (eMB-40/60R) distributed servo controller contains the amplifiers to
power the high-power motors of the Viper 650/850 robots, and runs the eV+ operating system
for motion control.
The eMB-40/60R features:
l
Six AC servo motor amplifiers
l
Emergency stop circuitry
10 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
Chapter 1: Introduction
DC
IN
24V
GND
AC
200 -
240V
Ø
1
XBELTIO
XIO
Servo
ENETENET
XSYSTEM
l
High servo rate, to deliver low positional errors and superior path following
l
Sine wave commutation, for low cogging torque and improved path following
l
Digital feed-forward design, to maximizes efficiency, torque, and velocity
l
Integral temperature sensors and status monitoring for maximum reliability
l
Dual-digit diagnostics display for easy troubleshooting
Figure 1-3. eMotionBlox-40/60R (eMB-40/60R)
1.2 How Can I Get Help?
Corporate WebSite
You can access information sources on our corporate web site:
http://www.ia.omron.com
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 11
1.2 How Can I Get Help?
Related Manuals
This manual covers the installation, operation, and maintenance of a Viper 650/850 robot system. There are additional manuals that cover programming the system, reconfiguring installed
components, and adding other optional components. See the following table.
Table 1-1. Related Manuals
Manual Title Description
Robot Safety Guide Contains general safety information for all of our robots. A prin-
ted copy of this guide ships with each robot.
SmartController
EXUser’s Guide
T20 Pendant User's
Guide
IO Blox User’s Guide Describes the IO Blox product.
ACE User’s Guide Describes the installation and use of the ACE software.
Single and Multiple Robot
Configuration Guide
Contains complete information on the installation and operation
of the optional SmartController EX.
Describes the T20 pendant.
Contains cable diagrams and configuration procedures for a
single and multi-robot system.
12 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
2.1 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.
Chapter 2: Safety
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.
Falling Hazards
WARNING: PERSONALINJURYORPROPERTYDAMAGERISK
If mounted incorrectly, the robot can fall over and cause serious injury to personnel or damage to itself or other equipment.
This identifies a hazardous electrical situation.
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 13
2.2 What to Do in an Emergency or Abnormal Situation
!
!
Safety Barriers
To protect personnel from coming in contact with robot unintentionally or objects entering
robot’s operation zone, install user-supplied safety barriers in the workcell.
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.
2.2 What to Do in an Emergency or Abnormal Situation
Press any E-Stop button (a red push-button on a yellow background) and then follow the
internal procedures of your company or organization for an emergency or abnormal situation.
If a fire occurs, use CO2to extinguish the fire.
Releasing the Brakes
In case of an emergency or abnormal situation, the joints of the robot can be manually moved
without high voltage. However, only qualified personnel who have read and understood the
robot user's guide and Robot Safety Guide should manually move the robot into a safe state. See
Brakes on page 91.
WARNING: PERSONALINJURYRISK
Viper robots are not collaborative robots. They require a dedicated work area
that will prevent personnel from coming into contact with them during operation.
Releasing an E-Stop
CAUTION: PERSONALINJURYORPROPERTYDAMAGERISK
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 two ways to enable the motors:
l
Enable power through ACE software installed on your PC
ll
Press the ROBOTPOWER button on the Pendant
14 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
Once the motors are enabled, the robot will wait two seconds and then resume commanded
!
motion, if there is adequate space to maneuver.
2.3 Safety Precautions
WARNING: PERSONALINJURYORPROPERTYDAMAGERISK
A Viper robot can cause serious injury or death, or damage to itself and other
equipment, if the safety precautions in this manual are not observed.
WARNING: ELECTROCUTIONRISK
During maintenance, disconnect AC power from the robot, and install a lockout tag-out to prevent anyone from reconnecting power.
User's Responsibilities
Safe use of Viper robots is your responsibility. To ensure compliance with safety rules and regulations:
Chapter 2: Safety
l
All personnel who install, operate, teach, program, or maintain a Viper system must
read this guide, read the Robot Safety Guide, and complete a training course for their
responsibilities in regard to the robot.
l
All personnel who design a Viper robot system must read this guide, read the Robot
Safety Guide, and must comply with all local and national safety regulations for the loc-
ation in which the robot is installed.
Figure 2-1. Read Manual and Impact Warning Labels
l
The Viper system must not be used for purposes other than described in Intended Use
on page 17. Contact your local Omron support if you are not sure of the suitability for
your application.
l The environment must be suitable for safe operation of the robot.
l
The user is responsible for providing safety barriers around the robot to prevent anyone
from accidentally coming into contact with the robot when it is in motion.
l
Power to the robot and its power supply must be locked out and tagged out before any
maintenance is performed.
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 15
2.3 Safety Precautions
l The Vipers must be well maintained, so that their control and safety functions continue
to work properly.
General Hazards
IMPORTANT: The following situations could result in injury or damage
to the equipment.
l
Do not place objects on the robot.
l
Do not exceed the maximum payload capacity.
l
Do not exceed the maximum limits given in technical specifications. See Technical Specifications on page 115.
l
Do not drop the robot, put weights on it or otherwise operate it irresponsibly.
l Do not use unauthorized parts.
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.
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:
l
Skilled persons have technical knowledge or sufficient experience to enable them to
avoid the dangers, electrical and/or mechanical
l
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:
l
Have the necessary qualifications
l
Have received the guides (both this user’s guide, and the Robot Safety Guide)
l
Have read the guides
l
Understand the guides
l
Will work in the manner specified by the guides
16 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
2.4 Robot Behavior
!
Hardstops
If the Viper runs into one of its hardstops, the robot’s motion will stop completely, an envelope
error will be generated, and power will be cut to the robot motors.
The robot cannot continue to move after hitting a hardstop until the error has been cleared.
The Viper’s hardstops are capable of stopping the robot at any speed, load, and maximum or
minimum extension.
Limiting Devices
There are no dynamic or electro-mechanical limiting devices provided by Omron Adept Technologies, Inc. The robot does not have safety-rated soft axis or space limiting.
However, the user can install their own safety rated (category 0 or 1) dynamic limiting devices
if needed, that comply with ISO10218-1, Clause 5.12.2.
Singularities
There are no singularities with a Viper robot that cause a hazard.
Chapter 2: Safety
2.5 Intended and Non-intended Use
Intended Use
The normal and intended use of these robots does not create hazards. The Viper robots have
been designed and constructed in accordance with the relevant requirements of IEC60204-1.
The Viper robots are intended for use in parts assembly and material handling for payloads
less than 5 kg (11 lb). See Specifications on page 120 for complete information on the robot specifications. Refer to the Robot Safety Guide for details on the intended use of robots.
WARNING: PERSONALINJURYRISK
Viper robots are not collaborative robots. They require a dedicated work area
that will prevent personnel from coming into contact with them during operation.
Guidelines for safe use:
l
Clean, dry mounting surfaces — The robot shall not be installed in an environment
where it will be directly exposed to water, oil, or cutting chips.
l
Temperature — 5 to 40°C (41 to 104°F), with a recommended humidity range of 5% to
90%, non-condensing.
Non-Intended Use
Viper robots are not intended for use in any of the following situations:
l
Use in the presence of ionizing or non-ionizing radiation
l
Use in potentially explosive atmospheres
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 17
2.6 Additional Safety Information
l
Use in medical or life saving applications
l
Use in a residential setting. They are for industrial use only
l
Use before performing a risk assessment
l
Where the equipment will be subject to extremes of heat or humidity
Non-intended use of Vipers can:
l
Cause injury to personnel
l
Damage itself or other equipment
l
Reduce system reliability and performance
If there is any doubt concerning the application, ask your your local 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:
Manufacturer’s Declaration of Incorporation
This lists all standards with which the robot complies. The Manufacturer’s Declarations for
the Viper robot and other products are in the Manufacturer's Declarations Guide.
Robot Safety Guide
The Robot Safety Guide provides detailed information on safety for fixed robots. It also gives
resources for more information on relevant standards. It ships with each robot.
Manual Control Pendant (option)
The E-Stop provided in the T20 Pendant complies with ISO 10218-1 (per clause 5.5.2), with
stop category 1 (per IEC 60204). The E-stop button complies with ISO 13850. The E-Stop meets
the requirements of PL-d per ISO 13849.
The protective stop category for the pendant enable switch is category 1, which complies with
the requirements of ISO 10218-1.
NOTE: Omron Adept Technologies, Inc. does not offer a cableless
(wireless)pendant.
The manual control pendant can only move one robot at a time, even if multiple robots are
connected to a SmartController, and the pendant is connected to the SmartController.
18 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
2.7 Disposal
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 designated collection facilities. For information about disposal of your old equipment, contact your
local Omron support.
Chapter 2: Safety
Dispose of in accordance with applicable regulations.
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 19
Chapter 3: Robot Installation
!
3.1 Unpacking and Inspecting the Equipment
Carefully inspect all shipping crates for evidence of damage during transit. If any damage is
apparent, request that the carrier’s agent be present at the time the container is unpacked.
Before signing the carrier’s delivery sheet, please compare the actual items received (not just
the packing slip) with your equipment purchase order and verify that all items are present and
that the shipment is correct and free of visible damage.
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.
If the items received do not match your order, please contact your local Omron support immediately.
Inspect each item for external damage as it is removed from its container. If any damage is
evident, contact your local Omron support.
Retain all containers and packaging materials. These items may be necessary to settle claims
or, at a later date, to relocate equipment.
3.2 Repacking for Relocation
If the robot or other equipment needs to be relocated, reverse the steps in the installation procedures that follow in this chapter. Reuse all original packing containers and materials and follow all safety notes used for installation. Improper packaging for shipment will void your
warranty. Specify this to the carrier if the robot is to be shipped.
CAUTION: Before transportation, set the robot in a transport position by
manually moving the second, third, and fourth axes. See the following figure.
Figure 3-1. Robot in Transport Position
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 21
3.3 Environmental and Facility Requirements
3.3 Environmental and Facility Requirements
The robot system installation must meet the operating environment requirements shown in the
following table.
Table 3-1. Robot System Operating Environment Requirements
Item Condition
Flatness of the
0.1 mm/500 mm
mounting surface
Installation type Floor-mount or Overhead-mount
Ambient
temperature
During operation: 5 to 40°C (41 to 104° F)
During storage and transportation: -25 to 60°C
Humidity During operation: 5% to 90% (Non-condensing)
During storage and transportation: 75% or less (Non-condensing)
Altitude up to 1000 m
Vibration During operation: 4.9 m/s2(0.5 G) or less
During storage and transportation: 29.4 m/s2(3 G) or less
Safe Installation
Environment
The robot should not be installed in an environment where:
l
There are flammable gases or liquids
l
There are any acidic, alkaline, or other corrosive gases
l
There is sulfuric or other types of cutting or grinding oil mist
l
There are any large-sized inverters, high output/high frequency
transmitters, large contractors, welders, or other sources of electrical noise
l
There are any shavings from metal processing or other conductive
material flying about
l
It may be directly exposed to water, oil, or cutting chips
Working space,
etc.
l
Sufficient service space must be available for inspection and disassembly.
l
Keep wiring space (230 mm or more) behind the robot, and fasten
the wiring to the mounting face or beam so that the weight of the
cables will not be directly applied to the connectors.
Protective Earth
Ground
Grounding resistance: 10 Ω or less
See Robot Installation on page 21.
22 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
3.4 Transporting the Robot
!
C
B
A
Precautions when Transporting Robot
l
The robots weigh 34 and 36 kg (74 and 79 lb). Use a crane suitable for the robot weight.
l
Have at least two workers handle this job.
l
Workers should wear hardhats, safety shoes, and gloves during transport.
l
Do not hold the first arm, elbow, either side of the 2nd arm, 2nd-joint cover, or 3rd-joint
cover, or apply force to any of them. See Robot Joint Identification on page 9.
WARNING: Do not attempt to lift the robot at any points other than the eyebolts provided. Do not attempt to move any robot links until the robot has been
secured in position. Failure to comply could result in the robot falling and causing either personnel injury or equipment damage.
Chapter 3: Robot Installation
Figure 3-2. Robot in Hoisting Sling
Key Meaning Key Meaning
A Sling C Eyebolt
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 23
B Waste Cloth
3.4 Transporting the Robot
A
Transport Procedure
Step Procedure Drawing
1 Before transportation, set the robot in
a transport position as shown at right
by manually moving the second,
third, and fourth joints.
When initially unpacked, the robot is
in the transport position, so this step
is not required.
Transport Position
Joint Angle
First joint (J1) 90°
Second joint (J2) -155°
2 Disconnect the robot control cable, air
hoses, and user signal cables from the
robot.
When the robot is first unpacked, this
step is not required.
3 As shown at right, mount the eye-
bolts.
When delivered, the robot is packed
with eyebolts attached, so this step is
not required.
(A) is one of two eyebolts.
Third joint (J3) +245°
Fourth joint (J4) -90°
Fifth joint (J5) -90°
24 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
Step Procedure Drawing
C
B
A
!
4 As shown at right, place a waste cloth
on the second joint and pass the sling
through the two eyebolts.
Note: Before transporting the robot,
check that the path to the mounting
location is free of obstacles.
Callouts are defined following Figure
3-2.
(A) is the sling, (B) is a waste cloth for
padding, (C) is one of two eyebolts.
5 Worker A: Remove the four bolts
while supporting the robot to prevent
it from tipping over.
6 Worker B: Operate the crane and
move the robot to the mounting location.
Chapter 3: Robot Installation
7 Worker B: Put the robot down in the
mounting location.
Worker A: Temporarily secure the
robot base with four bolts.
8 Secure the robot according to the
instructions in Mounting the Robot on
page 26.
9 Remove the eyebolts from the robot.
WARNING: Before running
the robot, be sure to remove
the eyebolts. Otherwise, the
robot arm will strike these eyebolts.
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 25
3.5 Mounting the Robot
2X Ø6
200
160
R20
66 ±0.05 142.3
184 ±0.05
160
200
+0.012
- 0
A
B
3.5 Mounting the Robot
Figure 3-3. Mounting Hole Pattern for Robot. Units are mm.
Key Meaning
1.
See the preceding figure for the location and dimensions of the robot mounting holes.
A 4x Ø12 for Thru, or tap for M10
B Diamond-shaped pin
Drill four bolt holes (M10), 20 mm deep or more.
l
These either need to be tapped for M10, or you can drill 12 mm thru-holes, and
use nuts on the other side of the mounting surface.
l
Drill a dowel pin hole Ø4 mm, H7 for the diamond-shaped pin, 10 mm deep or
more.
NOTE:The diamond-shaped pin has a Ø6 mm diamond-shaped section, but the
shank is only Ø4 mm. The hole in the base of the Viper is Ø6, but you need to
drill a Ø4 hole in your mounting surface for the shank of that pin.
26 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
Chapter 3: Robot Installation
l
Drill a dowel pin hole Ø6 mm, H7 for the internally threaded positioning pin,
10to 15 mm deep.
2.
Locate two alignment pins, one round and one diamond-shaped, supplied as part of the
robot bundle.
3.
Drive the diamond-shaped pin into one Ø6, H7 hole in the robot base so that it is oriented as shown in the preceding figure.
4.
Drive the internally threaded alignment pin into the other Ø6, H7 hole in the robot base.
NOTE: Be sure to use the alignment pins. It can minimize positional deviations that may be caused by the removal/installation of the robot for
maintenance and reduce vibration during operation.
5.
Set the robot into place on the robot mount. When transporting the robot, follow the
instructions given in Transporting the Robot on page 23.
6.
Secure the robot to the mount with four bolts:
l
Bolt: M10, strength class: 12.9
l
Tightening torque: 70 ± 14 N·m (52 ± 10 ft-lbf)
For threaded M10 holes, use plain washers and 30 mm M10 bolts.
For 12 mm thru holes, use plain and lock washers on both sides.
3.6 Grounding the Robot
Ground the grounding terminal of the robot with a wire of 12 AWG or larger. Ground resistance must be less than 10 Ohms. See Grounding the Robot System on page 77.
3.7 Mounting the Front Panel
The Front Panel must be installed outside of the workspace.
NOTE: European standards require that the remote High Power push-button be
located outside of the workspace of the robot.
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 27
3.8 Description of Connectors on Robot Interface Panel
CN22
CN20
AIR1
AIR2
CN20
1
2
A
B
D
C
D
3.8 Description of Connectors on Robot Interface Panel
Figure 3-4. Robot Interface Panel
Key Meaning Key Meaning
A CN22 Power/Signal Cable to eMB-40/60R C Grounding Terminal, M5
B Ground Label D Air 1 and Air 2
Table 3-2. Robot Interface Connections
CN22 The Arm Power/Signal cable from the eMB-40/60R is installed at this connector.
CN20 Pins 1 to 10 are wired directly to corresponding pins 1 to 10 on CN21 on the upper
arm. Pins 12 to 18 are for solenoid control. See Air Lines and Signal Wiring on
page 28.
AIR 1 Air line connector (BSPT1/4) for three solenoids in robot. Air Lines and Signal Wir-
ing on page 28.
AIR 2 Air line connector (BSPT1/4), connects directly to AIR 2 on the second (upper)
arm.
Grounding
Terminal
Protective earth ground point on the robot. See Grounding the Robot on page 27.
3.9 Air Lines and Signal Wiring
The robot is equipped with seven air lines. Six lines, from AIR1 input, are controlled by the
three internal solenoid valves. One line, from AIR2 input, is connected directly to AIR2 on the
second arm. There are ten user electric lines. See the following figures and tables.
28 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
Chapter 3: Robot Installation
A
B
D
C
H
G
F
E
Air intake/Exhaust States.
Air tubing joint Valve Signal
AIR1 Air
intake
1A 1B
1B 1A
2A 2B
2B 2A
3A 3B
3B 3A
AIR2
Exhaust Solenoid
valve
1
1
2
2
3
3
Solenoid
A B
ON OFF
OFF ON
ON OFF
OFF ON
ON OFF
OFF ON
CN20 Pin Assignments
NPN type (source IN, sink OUT)
Note 1: Pins #1 to #10 on CN21 and those on
CN20 are connected with each other. The allowable current per line is 1 A.
Note 2: Use the supplied mating connector sets
CN20 pin
No.
12 0 V
13 Solenoid 1A (solenoid valve 1)
14 Solenoid 1B (solenoid valve 1)
15 Solenoid 2A (solenoid valve 2)
16 Solenoid 2B (solenoid valve 2)
17 Solenoid 3A (solenoid valve 3)
Used for:
for CN20 and CN21. See Cleanroom Option on
page 133 for information about the mating connectors on Cleanroom and IP54/65 robots.
Key Meaning
A CN21 pin layout
18 Solenoid 3B (solenoid valve 3)
NPN type (source IN, sink OUT)
CN20 pin
No.
Used for:
B Connector CN21
C Air lines (x7)
D Connector CN20
E CN20 pin layout
F AIR1 (BSPT ¼) - Air line
G AIR2 (BSPT ¼) - Air line
H Ground terminal, M5
12 0 V
13 Solenoid 1A (solenoid valve 1)
14 Solenoid 1B (solenoid valve 1)
15 Solenoid 2A (solenoid valve 2)
16 Solenoid 2B (solenoid valve 2)
17 Solenoid 3A (solenoid valve 3)
18 Solenoid 3B (solenoid valve 3)
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 29
3.9 Air Lines and Signal Wiring
Connector set part
No.
05019-000 for CN20 SRCN6A25-24S (round type con-
Connector No. Model and part name Appearance
nector) Japan Aviation Electronics Industry Ltd.
for CN21 JMLP1610M (L type plug con-
nector) DDK Electronics, Inc.
Optional Solenoid Cable
An optional 4 meter solenoid cable is available that connects between the XDIO connector on
the SmartController and the CN20 connector on the robot. The part number is 05739-040.
NOTE: The optional solenoid cable does not work with the IP54/65 or the Cleanroom robots.
Installing this cable allows you to control the three internal robot solenoids directly from either
the ACE software, using the digital outputs, or programmatically, with eV+. Refer to the following screen shots:
Figure 3-5. ACE Digital I/O Icon
Figure 3-6. ACE Digital I/O Box (Output Shown)
30 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
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