Omron i4L Series User Manual

3-9-1 Grounding the System ..............................................................................................................3-28
3-9-2 24 VDC Connections.................................................................................................................3-29
3-9-3 48 VDC Connections.................................................................................................................3-29
3-10 Verifying Installation............................................................................................................3-31
3-10-1 Mechanical Checks ...................................................................................................................3-31
3-10-2 System Cable Checks...............................................................................................................3-31
3-10-3 Safety Equipment Checks.........................................................................................................3-31
3-10-4 Switch Position Checks.............................................................................................................3-33
Section 4 Operation
4-1 Payload and Speed Considerations.....................................................................................4-2
4-2 Robot Control Modes ............................................................................................................4-3
4-2-1 Manual Mode ..............................................................................................................................4-3
4-2-2 Automatic Mode ..........................................................................................................................4-3
4-3 Enabling and Disabling the Robot .......................................................................................4-5
4-3-1 Enabling Robot High Power ........................................................................................................4-5
4-3-2 Disabling High Power..................................................................................................................4-6
4-4 LED Indicator..........................................................................................................................4-7
4-5 Brake Operation .....................................................................................................................4-8
4-5-1 Built-in Brake Release Button .....................................................................................................4-8
4-5-2 Remote Brake Release ...............................................................................................................4-9
4-6 Connecting to the Robot .....................................................................................................4-10
4-6-1 Initial Connection Procedure .....................................................................................................4-10
4-7 Manually Jogging the Robot............................................................................................... 4-11
Section 5 Troubleshooting
5-1 Fault Detection .......................................................................................................................5-2
5-2 Emergency Stop Troubleshooting .......................................................................................5-3
5-3 Error Messages ......................................................................................................................5-4
Section 6 Maintenance
6-1 Field-replaceable Items .........................................................................................................6-2
6-2 Periodic Maintenance ............................................................................................................6-3
6-2-1 Periodic Maintenance Overview..................................................................................................6-3
6-2-2 Checking Safety Functions .........................................................................................................6-3
6-2-3 Checking Fastener Torques ........................................................................................................6-4
6-2-4 Checking Safety and Warning Labels .........................................................................................6-4
6-2-5 Checking for Oil Leaks ................................................................................................................6-5
6-2-6 Lubricating Joint 3 .......................................................................................................................6-6
6-2-7 Replacing Encoder Backup Batteries..........................................................................................6-7
6-2-8 Cleaning the Robot .....................................................................................................................6-8
6-3 Non-periodic Maintenance ....................................................................................................6-9
6-3-1 Replacing the Tool Flange...........................................................................................................6-9
Appendices
A-1 Unpacking and Inspecting the Robot ................................................................................. A-2
A-1-1 Before Unpacking the Robot ...................................................................................................... A-2
A-1-2 Unpacking the Robot.................................................................................................................. A-2
CONTENTS
6
i4L Robots User's Manual (I658)

Omron i4L Series Specifications

General

Brand	Omron
Model	i4L Series
Category	Robotics
Language	English