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

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. Identication 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

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

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

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