Viper ePLC Robot Quick Setup Guide

Viper ePLC Robot Quick Setup Guide
Viper 650/850 ePLC
Quick Setup Guide
I600-E-01
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. 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: techpubs@adept.com.
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
Viper ePLC650/850 Quick Setup Guide, 13589-000 Rev D
Page 2 of 14
Chapter 1: Viper ePLC Robot Quick Setup
1.1 Introduction
Process Overview
This Quick Setup Guide steps you through the installation and start-up of your Viper ePLC
robot. The major steps are:
l
Preparation, including workcell layout and safety
l
Hardware Installation, including mounting the robot and system cable connections
l
System Start-Up, including system configuration and turning on the robot
NOTE: This guide does not apply to robot systems that include an SmartController
motion controller. Refer to the Viper robot user's guide for those systems.
During the installation and start-up process, refer also to your PLC user’s guide and the Viper
user’s guide for more information.
Resources on the Support Disk
l
This guide (along with three other ePLC robot quick setup guides)
l
The Viper s650/s850 User's Guide
Resources on Omron Web Sites
On the Omron Industrial Automation web site:
ia.omron.com
l
The ePLC Connect 3 Software User's Guide
l
EtherNet/IP Connection Guide (P649-E1-01)
This covers ePLC for the Omron NJ controller with Omron Adept Robots.
l
EtherNet/IP Connection Guide (P650-E1-01)
This covers ePLCIO for the Omron NJ controller with Omron Adept robots.
On the Omron Adept web site:
adept.com
l
Legacy systems communication structure pdfs
l
Legacy 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 the preceding figure for a
simple workcell layout.
Viper ePLC650/850 Quick Setup Guide, 13589-000 Rev D
Page 3 of 14
1.3 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 EStops provided by the Front Panel and optional T20 pendant.
ePLC650
Viper Robot
Restricted Area
Inside Safety
Barrier
3A
3B
AIR2
CN21
2B
2A
1B
1A
Safety Barrier
eMB-60R Amplifier
XUSR
User-Supplied
Components
STOP
T20 Pendant Optional
Programmable
Logic
Controller (PLC)
R
Front Panel
24 VDC
XSYSTEM
ENET
ENET
DC
Ø
AC
1
XIO
GND
XBELTIO
IN
24V
200-240 VAC
Servo
200 240V
Figure 1-1. Typical Workcell Layout
Viper ePLC650/850 Quick Setup Guide, 13589-000 Rev D
Page 4 of 14
PC running
PLC Programming
Software
Chapter 1: Viper ePLC Robot Quick Setup
1.4 Installing the Robot
NOTE: Do not move the robot’s joints from the transport position, as shown.
Support the robot by the eyebolts, as shown, before removing the shipping bolts from the pallet. This will prevent the robot from tipping over. See the following figure.
Figure 1-2. Viper Robot Installation
Mounting the Robot
Mount the robot to a rigid surface that will prevent vibration and flexing during operation. We
recommend a 25 mm (1 in.) thick steel plate, mounted to a rigid steel tube frame. See the following figure for the mounting hole dimensions.
Viper ePLC650/850 Quick Setup Guide, 13589-000 Rev D
Page 5 of 14
1.4 Installing the Robot
200
160
+0.012
2X Ø6 - 0
66 ±0.05
142.3
200
160
184 ±0.05
R20
4X Ø12 THRU
For M10
Diamond-shaped pin
Units are mm
Figure 1-3. Mounting Hole Dimensions
Figure 1-4. Viper ePLC Robot Movements
Viper ePLC650/850 Quick Setup Guide, 13589-000 Rev D
Page 6 of 14
Chapter 1: Viper ePLC Robot Quick Setup
1.5 System Cable Connections
Open the Accessory box and locate the eAIB XSYSTEM cable. Connect the cables and peripherals as shown in the following figure. Parts and steps are covered in the following two
tables. Refer to the System Installation chapter in your Viper user’s guide for AC specifications
and wiring instructions.
Part
Cable and Parts List
Part #
Part of:
Notes
A
eAIB XSYSTEM Cable Assembly
13323-000
B
User E-Stop, Safety Gate
n/a
n/a
user-supplied
C
XUSR Jumper Plug
04736-000
13323-000
standard, eMB-60R
D
Front Panel
90356-10358
E
Front Panel Cable
10356-10500
9035610358
standard
F
Front Panel Jumper Plug
10053-000
13323-000
standard, eMB-60R
G
XMCP Jumper Plug
04737-000
13323-000
standard, eMB-60R
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
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
standard, eMB-60R
standard
option
Power Requirements
The power requirements for the SmartVision MX and the Viper robot are covered in their
respective user guides. For 24 VDC, both can be powered by the same power supply.
NOTE: The resistance of all ground conductors must be ≤ 10 Ω.
Viper ePLC650/850 Quick Setup Guide, 13589-000 Rev D
Page 7 of 14
1.5 System Cable Connections
Step
Connection
Part
1
Connect eAIB XSYSTEM cable to XSYSTEM on eMB-60R
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 connector 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
NOTE: Ground conductor resistance must be ≤ 10 Ω.
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 eMB-60R 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 eMB-60R.
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 Viper 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.
Viper ePLC650/850 Quick Setup Guide, 13589-000 Rev D
Page 8 of 14
Chapter 1: Viper ePLC Robot Quick Setup
XUSR for:
- User E-Stop/Safety Gate
- Muted Safety Gate
2
B
The Jumper Plug is required if
neither of these is used
XUSR
2a
C
XUSR Jumper Plug
E
3
XFP
3a
4a
XSYSTEM
J
XMCP Jumper Plug
85 - 264 VAC
Universal
Input
N
M
XSYSTEM
GND
7
ENET
AC
1
Servo
200 240 V
DC Power
Cable
6
7a
10
L
T
9b
Ethernet from eMB-60R
to SmartVision MX
R
PLC
Camera
(option)
8
P
9a
ENET
DC
IN
24 V
M
Ethernet from
PC to PLC
Servo
Robot Interface
Panel
DC Power
Cable
User-Supplied
Ground Wire
5a
ENET
1
24 VDC, 6 A
Power Supply
SmartVision MX (option)
User-Supplied PC
running PLC
Programming Software
AC
1
200 240V
eAIB
XSYSTEM
Cable
Either T20 Pendant,T20 Bypass Plug, or
XMCP Jumper Plug must be used
T20 Pendant (option)
GND
4
G
H
24V
XBELTIO
4
T20 Bypass Plug
ENET
DC
IN
5
A
XMCP
XIO
T20 Adapter
Cable
4a
K
User-Supplied
Ground Wire
FP Jumper Plug
XBELTIO
FP plug must be used
XIO
F
Ø
Front Panel Either Front Panel or
Ø
D
3
Front Panel
Cable
eMB-60R for
Viper ePLC
Robot
9
S
Q
User-supplied
Switch
AC Power
Cable
200-240 VAC
10 A
single-phase
Ethernet from
PLC to eMB-60R
Figure 1-5. Configuration with Vision
1.6 Configuration
The user-supplied PLC and Viper robot are connected either through a shared network or via a
user-supplied Ethernet cable.
When the Viper 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
NOTE: If you can use the robot’s default IP address, then you can skip the ACE software installation completely.
Viper ePLC650/850 Quick Setup Guide, 13589-000 Rev D
Page 9 of 14
1.6 Configuration
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 ACE disk.
NOTE: You will have to restart the PC after installing ACE software.
Setting the Robot IP Address
Configure the IP address of the Viper 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 1-6. 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.
Viper ePLC650/850 Quick Setup Guide, 13589-000 Rev D
Page 10 of 14
Chapter 1: Viper ePLC Robot Quick Setup
Figure 1-7. 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 Equipment Installation chapter of the Viper s650/s850 Robot User’s Guide:
l
Installing end-effectors
l
Connecting user air and electrical lines to user connection panel
l
Mounting external equipment on the robot
l
Mounting the robot solenoid option kit
Viper ePLC650/850 Quick Setup Guide, 13589-000 Rev D
Page 11 of 14
1.7 Finding Additional Information
NOTE: For dimensions and specifications, see Technical Specifications in the Viper
s650/s850 Robot User’s Guide.
System Operation
For details on system operation, see the following topics in the System Operation chapter of the
Viper s650/s850 Robot User’s Guide:
l
Robot Status LED Indicator
l
Status panel fault codes
l
Brake Release button (located above or in diagnostic panel). To move Joint 3 manually,
press the Brake Release button.
l
Connecting digital I/O on the XIO connector at the robot interface panel
l
Connecting a user-designed E-Stop System
Viper ePLC650/850 Quick Setup Guide, 13589-000 Rev D
Page 12 of 14
OMRON Corporation
Kyoto, JAPAN
Industrial Automation Company
Authorized Distributor:
Contact: industrial.omron.eu
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69, 2132 JD Hoofddorp
The Netherlands
Tel: (31)2356-81-300/Fax: (31)2356-81-388
OMRON ELECTRONICS LLC
2895 Greenspoint Parkway, Suite 200 Hoffman Estates,
IL 60169 U.S.A.
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
OMRON ASIA PACIFIC PTE. LTD.
No. 438A Alexandra Road # 05-05/08 (Lobby 2),
Alexandra Technopark,
Singapore 119967
Tel: (65) 6835-3011/Fax: (65) 6835-2711
OMRON ADEPT TECHNOLOGIES, INC.
4550 Norris Canyon Road, Suite 150, San Ramon, CA 94583 U.S.A.
Tel: (1) 925-245-3400/Fax: (1) 925-960-0590
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower, 200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200
© OMRON Corporation 2016 All Rights Reserved.
In the interest of product improvement,
specifications are subject to change without notice.
Printed in USA
Cat. No. I600-E-01
0416
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising