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Omron DeltaRobot XXL 1300 CR UGD4 XXL1300H Series Owner's manual

  • Hello! I'm your chat assistant. I've read the user's manual for the OMRON Delta Robot CR_UGD4_XXL1300H series, including models CR_UGD4_XXL1300H_R and CR_UGD4_XXL1300H_NR. This manual provides important information about the installation, operation, and maintenance of these robots. The robot is a high-speed device perfect for pick and place applications. It features a low-maintenance design and an optional rotational axis, depending on the model. I'm ready to answer any questions you have about these robots.
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ZX-T Series
Cat. No. I201E-EN-01B
Delta Robot XXL
USER´S MANUAL
Delta Robot
CR_UGD4_XXL1300H Series
CONTENTS CR_UGD4_XXL1300H
User's Manual
T-1
Safety Instructions
1. Atte ntion S -1
2. Explanation of warnings and notes S-1
3. Safet y in format ion S -2
3.1 General S-2
3.2 Qualiedpersonnel S-2
3.3 Liability S-2
3.4 Installationandoperatingconditions S-2
3.5 Residualrisks S-2
3.5.1 Releasedevice S-3
3.5.2 Transport S-3
3.5.3 Assemblyandstart-up S-3
3.5.4 Maintenanceandrepair S-3
3.5.5 Systemintegrator S-4
Chapter 1 Introduction
1. I nt r o du c t i o n 1-1
1.1 Descriptionoftherobot 1-1
1.2 Typecodeexplanation 1-1
2. Identication 1-1
3. Part names 1-2
Chapter 2 Model overview
1. Over v iew 2-1
Chapter 3 Installation
1. Unpack i ng 3 -1
1.1 Unpackingtheshippingbox 3-1
1.2 Checkthedamage 3-1
1.3 Liftingandtransportation 3-1
2. Mounting the robot 3-3
3. Mounting the motors and cabling 3-4
3.1 Mountingthemotors 3-4
3.2 Connectingthecables 3-4
CONTENTS CR_UGD4_XXL1300H
User's Manual
T-2
3.3 Mountingthemotorcovers 3-5
3.4 Mountingtherotationmotororgearboxwithhisadaptorring 3-6
4. Assembling the secondary arms 3-7
4.1 Makeanassembly 3-7
4.2 Mountthearmassemblyontherobot 3-8
5.
Mounting the rotational axis on the gearbox shaft 3-9
6 . Cal i bra t io n 3 -10
Chapter 4 Maintenance
1. Period ic mai ntenance 4 -1
1.1 Springs 4-1
1.2 Ballbearingcups 4-2
1.3 Rotationalaxis 4-2
2. Cleaning the robot 4-4
3. Spare part s 4-4
Chapter 5 Robot settings
1. K i nemati cs 5 -1
2. Workspace 5 -2
3. Soft ware l i mit s 5 - 3
Chapter 6 Specications
1. Basicspecications 6-1
1.1 Cycletime 6-1
2. External view and dimensions 6-2
3. Designspecications 6-3
3.1 Occupationareaofrobot 6-3
3.2 Gripperinterface 6-3
3.2.1 Withrotationalaxis 6-3
3.2.2 Withoutrotationalaxis 6-4
3.3 Softwaredesign 6-5
3.3.1 Dimensionsandlimits 6-6
Contents
1. Attention S-1
2. Explanation of warnings and notes S-1
3. Safety information S-2
3.1 General S-2
3.2 Qualified personnel S-2
3.3 Liability S-2
3.4 Installation and operating conditions S-2
3.5 Residual risks S-2
3.5.1 Releasedevice S-3
3.5.2 Transport S-3
3.5.3 Assemblyandstart-up S-3
3.5.4 Maintenanceandrepair S-3
3.5.5 Systemintegrator S-4
Safety Instructions
Safety Instructions
S-1
1. Attention
Informationinthisdocumentcanchangewithoutpriornotice.
OMRONEUROPEB.V.cannotbeholdresponsibleforanydamagetotheenvironment,tothemachineortothe
functioningofthemachineoccurredbyerrorsormissingdataintheillustrations,drawingorspecifications.
Nopartofthismanualandaddeddocumentationmaybecopied,reproducedortranslatedintoanotherlanguagewithout
priorwrittenapproval.
Readandunderstandthematerialcontainedinthisuser'smanualbeforeyouworkontheCR_UGD4_XXL1300Hrobot
forthefirsttime.Thisuser'smanualissupposedtohelpyouusethecapabilitiesoftheCR_UGD4_XXL1300Hrobot
safelyandproperly.
2. Explanation of warnings and notes
Thismanualusesthefollowingsafetyalertsymbolsandsignalwordstoprovidesafetyinstructionsthatmustbe
observedandtodescribehandlingprecautions,prohibitedactions,andcompulsoryactions.Makesureyouunderstand
themeaningofeachsymbolandsignalwordandthenreadthismanual.
DANGER
THISINDICATESANIMMEDIATELYHAZARDOUSSITUATIONWHICH,IFNOTAVOIDED,WILLRESULTINDEATHOR
SERIOUSINJURY.
WARNING
THISINDICATESAPOTENTIALLYHAZARDOUSSITUATIONWHICH,IFNOTAVOIDED,COULDRESULTINDEATHOR
SERIOUSINJURY.
NOTE
Explainsthekeypointintheoperationinasimpleandclearmanner.
Safety Instructions
S-2
3. Safety information
3.1 General
This´3. Safety information´subchaptercontainsinformationregardingworkingwiththeCR_UGD4_XXL1300H
robot.QualifiedpersonnelworkingwiththeCR_UGD4_XXL1300HrobotmusthavereadandunderstoodtheCR_
UGD4_XXL1300Hrobotdocumentation,includingthesafetyinformationchapter.
3.2 Qualified personnel
Thesearepeoplewho,duetherespecialisttraining,knowledgeandexperience,andtheirfamiliarizationwiththe
relevantstandards,areabletoassesstheworktobecarriedoutanddetectanypotentialhazards.
3.3 Liability
TheCR_UGD4_XXL1300Hrobotisbuildusingstate-of-the-arttechnologyandinaccordancewiththerecognized
safetyrules.Nevertheless,misuseoftheCR_UGD4_XXL1300Hrobotmayconstitutearisktolifeandlimborcause
damagetotheCR_UGD4_XXL1300Hrobotandtoothermaterialproperty.
3.4 Installation and operating conditions
Youmayonlyusethecomponentsinaccordancewiththeinstallationandoperatingconditionsdescribedinthe
documentation.Theoperatingconditionsattheinstallationlocationmustbecheckedandmaintainedinaccordance
withtherequiredtechnicaldata.WithinthemeaningoftheMachineryDirectivetheCR_UGD4_XXL1300Hrobotis
anincompletemachine.CommissioningisprohibiteduntiltheusablemachineorsysteminwhichtheCR_UGD4_
XXL1300HrobotisinstalledmeetsallrequirementsoftheMachinedirective2006/42/EC.
FortheCR_UGD4_XXL1300Hrobotyouhavetoobservethefollowingstandards,directivesandregulations:
• ENISO10218-1:2011Robotsandroboticdevices-Safetyrequirementsforindustrialrobots-Part1:Robots.
• ENISO10218-1:2011Robotsandroboticdevices-Safetyrequirementsforindustrialrobots-Part2:Robotsystems
 andintegration.
3.5 Residual risks
Safetyandhealthrisksarisingfromtherobotmechanicshavebeenreducedbymeansofsafetytechnologyanddesign
engineering.Howeveraresidualriskremains,sincetherobotmechanicswillbemovebyanautomatedcontrolsystem.
Thefollowingaretypicalwarningsconcerningresidualriskswhichcannotbeassignedtoaspecificaction.The
expressionofsafetylabelsisidenticaltothesafetyinformation.
Safety Instructions
S-3
3.5.1 Release device
Therobotmechanicsarenotsuppliedwithanreleaseswitchtocontrolthebrakesofthemotors.
WARNING
• MOUNTARELEASESWITCHONTHEMACHINESOTHEARMS(MOTOR)OFTHEROBOTCOULDBEMANUALLY
MOVED.
• MOVINGANAXISWITHANIMPROPERLYWORKINGRELEASESWITCHCANDAMAGETHEMOTORBRAKE.THIS
 CANRESULTINPERSONALINJURYANDMATERIALDAMAGE.
• BEFORERELEASINGTHEBRAKE,YOUHAVETOBESURETHATNOONEISINTHEHAZARDAREAOFTHEROBOT.
3.5.2 Transport
Theprescribedtransportpositionoftherobotmustbeobserved.Transportationmustbecarriedoutinaccordancewith
thetransportationinstructionsorassemblyinstructionsoftherobot.
WARNING
• ONLYUSEAUTHORIZEDHANDLINGEQUIPMENTWITHASUFFICIENTLOAD-BEARINGCAPACITYTOTRANSPORT
 THEROBOT.
• WEARSUITABLEPROTECTIVECLOTHINGIFNECESSARY.
3.5.3 Assembly and start-up
Beforestartingupsystemsanddevicesforthefirsttime,acheckmustbecarriedouttoensurethatthesystemand
devicesarecompletedandoperational,thattheycanbeoperatedsafelyandthatanydamageisdetected.
Thevalidnationalorregionalworksafetyregulationsmustbeobservedforthischeck.Thecorrectfunctioningofall
safetycircuitsmustalsobetested.
Thefollowingtestsmustbecarriedoutbeforestart-upandrecommissioning.Itmustbeensuredthat:
• Therobotiscorrectlyinstalledandfastenedinaccordancewiththespecificationsintheassemblyinstructions.
• Therearenoforeignbodiesorloosepartsontherobot.
• Allrequiredsafetyequipmentiscorrectlyinstalledandoperational.
WARNING
• AWRONGINSTALLEDROBOTMAYTHROWOFFHISARMS.
• WEARSUITABLEPROTECTIVECLOTHINGIFNECESSARY.
3.5.4 Maintenance and repair
Aftermaintenanceandrepairwork,checksmustbecarriedouttoensuretherequiredsafetylevel.Thevalidnational
orregionalworksafetyregulationsmustbeobservedforthischeck.Thecorrectfunctioningofallsafetycircuitsmust
alsobetested.
Thepurposeofmaintenanceandrepairworkistoensurethatthesystemiskeptoriginalor,intheeventofafault,to
returnthesystemtoanoperationalstate.Repairworkincludestroubleshootinginadditiontotheactualrepairitself.
Thefollowingsafetymeasuresmustbecarriedoutwhenworkingontherobot:
• Switchofthemachine(system)wheretherobotisbuilt-in(e.g.withapadlock)topreventitfrombeingswitchedon
 again
• Labelthemachine(system)withasignindicationthatworkisinprogress.Thissignmustremaininplace,even
 duringtemporaryinterruptionstothework.
• Theemergencystopfromthemachine(system)mustremainactive.Ifsafetyfunctionsorsafeguardsaredeactivated
 duringmaintenanceorrepairwork,theymustbereactivatedimmediatelyaftertheworkiscompleted.
Safety Instructions
S-4
3.5.5 System integrator
Therobotissafelyintegratedintoacompletesystembythesystemintegrator.Thesystemintegratorisresponsiblefor
thefollowingtasks:
• Installingtherobot
• Performingriskassessment
• Implementingtherequiredsafetyfunctionsandsafequards
• Issuingthedeclarationofconformity
• AttachingtheCEmark
• Creatingtheoperatinginstructionsforthecompletesystem
Chapter 1 Introduction
Contents
1. Introduction 1-1
1.1 Description of the robot 1-1
1.2 Type code explanation 1-1
2. Identification 1-1
3. Part names 1-2
1-1
1
Introduction
1. Introduction
CongratulationswiththepurchaseofyourhighspeedDeltarobotXXL.Thisisahighspeedpickandplacerobotwhich
usesstate-of-the-artcarboncompositematerialsandthelatestservodrivetechnologytobeputinuseinthemost
demandingpickandplaceapplications.
Thismanualshouldbereadbeforethecommissioningoftherobot.Bymechanicalengineersinthedesignphaseduring
theintegrationoftherobotinthemachineandbysoftwareengineerstochecktheperformanceenvelopeoftherobot.
ThismanualdescribesthemainversionsoftheCR_UGD4_XXL1300Hrobot,andalloptions.Whereapplicablecheck
theappropriatedataforyourrobottype,thetypecanbefoundontheidentificationtagoftherobot.
1.1 Description of the robot
TheCR_UGD4_XXL1300HDeltarobotisahighspeedpickandplacerobotwhichusesstate-of-the-artcarbon
compositematerialsandthelatestservodrivetechnologytobeputinuseinthemostdemandingpickandplace
applications.Therobotisdesignedasa3-axis(optional4throtationalaxis)Deltakinematicsystem.
Characteristicsoftherobot:
• Requiresverylowmaintenance
• 3+1(rotationalaxisoptional)degreesoffreedom
• Compactdesignformountinginamachine
• Lownoiselevel<68dB(A)
1.2 Type code explanation
CR_UGD4_XXL1300H_R:3+1axes(withrotationalaxis),1300mmworkingrange,max.payload:8kg
CR_UGD4_XXL1300H_NR:3axes(withoutrotationalaxis),1300mmworkingrange,max.payload:8kg
2. Identification
Ontherobotbaseplateanidentificationtagismounted,importantdataonthisplate:
• Robottype
• Totalweightoftherobot
• Yearofproduction
• Serialnumber,importantfororderingspareparts
1-2
Introduction
1
3. Part names
CR_UGD4_XXL1300H
Primary arm
TCP (Tool Center Point)
Cable entry plate Rotary servo motor
Motor cover
Secondary arm
Rotational axis
TheCR_UGD4_XXL1300HrobotconsistsofthreeradiallyplacedaxiswhichgivetheTCPfreedomtomoveinthree
directions,X,YandZ.Anoptionalfourthaxiscantakecareoftherotation,Rz,oftheTCP.
Theprimaryandsecondaryarmsoftherobotareconstructedfromanodizedaluminumendsandcarboncomposite
material;theyaredirectlymountedonadouble-stagegearboxtoguaranteehighstiffness.Thesecondaryarmsare
mountedwithhardenedstainlesssteelballjointbearingstotheprimaryarmsandtheTCP,thisguaranteeslowwear
andfrictionandisveryeasytoservice.
Optionallytherobotisequippedwithanextraservomotorfortherotationalaxis,theslidingshaftisconstructedof
titaniumtomaintainthehighlydynamiccharacteroftherobot.
Chapter 2 Model overview
Contents
1. Overview 2-1
2
Model overview
2-1
1. Overview
TheCR_UGD4_XXL1300Hhasaworkingrangeof1300mm.Thespecificationsaregiveninthebelowfigure,if
specificationsdifferformodels,forinstancewith-orwithoutrotationaxis,itisindicatedinthespecificationlist.The
Deltarobotisdeliveredstandardwithsanitarysecondaryarms,thismeanstheyarefullyclosedtopreventany
contaminationontheinsideofthesecondaryarms.
CR_UGD4_XXL1300H (1300 mm)
900300150
780
1300
NOTE
Notethattherotationservomotor,onthetopoftherobot,isoptional.
Chapter 3 Installation
Contents
1. Unpacking 3-1
1.1 Unpacking the shipping box 3-1
1.2 Check the damage 3-1
1.3 Lifting and transportation 3-1
2. Mounting the robot 3-3
3. Mounting the motors and cabling 3-4
3.1 Mounting the motors 3-4
3.2 Connecting the cables 3-4
3.3 Mounting the motor covers 3-5
3.4 Mounting the rotation motor or gearbox with his adaptor ring 3-6
4. Assembling the secondary arms 3-7
4.1 Make an assembly 3-7
4.2 Mount the arm assembly on the robot 3-8
5.
Mounting the rotational axis on the gearbox shaft 3-9
6. Calibration 3-10
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