USER´S MANUAL - Omron Europe

USER´S MANUAL - Omron Europe
Cat. No. I201E-EN-01
Delta Robot
ZX-T Series
CR_UGD4_XXL1300H
Series
Delta Robot XXL
USER´S MANUAL
CONTENTS
CR_UGD4_XXL1300H
User's Manual
Safety Instructions
1. Attention
S-1
2. Explanation of warnings and notes
S-1
3. Safety information
S-2
3.1
General
S-2
3.2 Qualifiedpersonnel
S-2
3.3 Liability
S-2
3.4 Installationandoperatingconditions
S-2
3.5 Residualrisks
S-2
3.5.1
Releasedevice
S-3
3.5.2 Transport
S-3
3.5.3 Assemblyandstart-up
S-3
3.5.4 Maintenanceandrepair
S-3
3.5.5 Systemintegrator
S-4
Chapter 1
Introduction
1. Introduction
1-1
1.1 Descriptionoftherobot
1-1
1.2 Typecodeexplanation
1-1
2. Identification
1-1
3. Part names
1-2
Chapter 2
Model overview
1. Overview
Chapter 3
2-1
Installation
1. Unpacking
3-1
1.1 Unpackingtheshippingbox
3-1
1.2 Checkthedamage
3-1
1.3 Liftingandtransportation
3-1
2. Mounting the robot
3-3
3. Mounting the motors and cabling
3-4
3.1 Mountingthemotors
3-4
3.2 Connectingthecables
3-4
T-1
CONTENTS
User's Manual
3.3 Mountingthemotorcovers
3-5
3.4 Mountingtherotationmotororgearboxwithhisadaptorring
3-6
4. Assembling the secondary arms
3-7
4.1 Makeanassembly
3-7
4.2 Mountthearmassemblyontherobot
3-8
5. Mounting the rotational axis on the gearbox shaft
6. Calibration
Chapter 4
3-9
3-10
Maintenance
1. Periodic maintenance
4-1
1.1 Springs
4-1
1.2 Ballbearingcups
4-2
1.3 Rotationalaxis
4-2
2. Cleaning the robot
4-4
3. Spare parts
4-4
Chapter 5
Robot settings
1. Kinematics
5-1
2. Workspace
5-2
3. Software limits
5-3
Chapter6
Specifications
1. Basicspecifications
1.1 Cycletime
6-1
6-1
2. External view and dimensions
6-2
3. Designspecifications
6-3
3.1 Occupationareaofrobot
6-3
3.2 Gripperinterface
6-3
3.2.1 Withrotationalaxis
6-3
3.2.2 Withoutrotationalaxis
6-4
3.3 Softwaredesign
3.3.1
T-2
CR_UGD4_XXL1300H
Dimensionsandlimits
6-5
6-6
Safety Instructions
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
3.5.2
3.5.3
3.5.4
3.5.5
Releasedevice
Transport
Assemblyandstart-up
Maintenanceandrepair
Systemintegrator
S-3
S-3
S-3
S-3
S-4
1.
Attention
Informationinthisdocumentcanchangewithoutpriornotice.
Nopartofthismanualandaddeddocumentationmaybecopied,reproducedortranslatedintoanotherlanguagewithout
priorwrittenapproval.
Readandunderstandthematerialcontainedinthisuser'smanualbeforeyouworkontheCR_UGD4_XXL1300Hrobot
forthefirsttime.Thisuser'smanualissupposedtohelpyouusethecapabilitiesoftheCR_UGD4_XXL1300Hrobot
safelyandproperly.
2.
Explanation of warnings and notes
Thismanualusesthefollowingsafetyalertsymbolsandsignalwordstoprovidesafetyinstructionsthatmustbe
observedandtodescribehandlingprecautions,prohibitedactions,andcompulsoryactions.Makesureyouunderstand
themeaningofeachsymbolandsignalwordandthenreadthismanual.
DANGER
THISINDICATESANIMMEDIATELyHAzARDOUSSITUATIONWHICH,IfNOTAVOIDED,WILLRESULTINDEATHOR
SERIOUSINjURy.
WARNING
THISINDICATESAPOTENTIALLyHAzARDOUSSITUATIONWHICH,IfNOTAVOIDED,COULDRESULTINDEATHOR
SERIOUSINjURy.
NOTE
Explainsthekeypointintheoperationinasimpleandclearmanner.
S-1
Safety Instructions
OMRONEUROPEB.V.cannotbeholdresponsibleforanydamagetotheenvironment,tothemachineortothe
functioningofthemachineoccurredbyerrorsormissingdataintheillustrations,drawingorspecifications.
3.
Safety information
3.1
General
Safety Instructions
This´3. Safety information´subchaptercontainsinformationregardingworkingwiththeCR_UGD4_XXL1300H
robot.QualifiedpersonnelworkingwiththeCR_UGD4_XXL1300HrobotmusthavereadandunderstoodtheCR_
UGD4_XXL1300Hrobotdocumentation,includingthesafetyinformationchapter.
3.2
Qualified personnel
Thesearepeoplewho,duetherespecialisttraining,knowledgeandexperience,andtheirfamiliarizationwiththe
relevantstandards,areabletoassesstheworktobecarriedoutanddetectanypotentialhazards.
3.3
Liability
TheCR_UGD4_XXL1300Hrobotisbuildusingstate-of-the-arttechnologyandinaccordancewiththerecognized
safetyrules.Nevertheless,misuseoftheCR_UGD4_XXL1300Hrobotmayconstitutearisktolifeandlimborcause
damagetotheCR_UGD4_XXL1300Hrobotandtoothermaterialproperty.
3.4
Installation and operating conditions
youmayonlyusethecomponentsinaccordancewiththeinstallationandoperatingconditionsdescribedinthe
documentation.Theoperatingconditionsattheinstallationlocationmustbecheckedandmaintainedinaccordance
withtherequiredtechnicaldata.WithinthemeaningoftheMachineryDirectivetheCR_UGD4_XXL1300Hrobotis
anincompletemachine.CommissioningisprohibiteduntiltheusablemachineorsysteminwhichtheCR_UGD4_
XXL1300HrobotisinstalledmeetsallrequirementsoftheMachinedirective2006/42/EC.
fortheCR_UGD4_XXL1300Hrobotyouhavetoobservethefollowingstandards,directivesandregulations:
• ENISO10218-1:2011Robotsandroboticdevices-Safetyrequirementsforindustrialrobots-Part1:Robots.
• ENISO10218-1:2011Robotsandroboticdevices-Safetyrequirementsforindustrialrobots-Part2:Robotsystems
andintegration.
3.5
Residual risks
Safetyandhealthrisksarisingfromtherobotmechanicshavebeenreducedbymeansofsafetytechnologyanddesign
engineering.Howeveraresidualriskremains,sincetherobotmechanicswillbemovebyanautomatedcontrolsystem.
Thefollowingaretypicalwarningsconcerningresidualriskswhichcannotbeassignedtoaspecificaction.The
expressionofsafetylabelsisidenticaltothesafetyinformation.
S-2
3.5.1
Release device
Therobotmechanicsarenotsuppliedwithanreleaseswitchtocontrolthebrakesofthemotors.
3.5.2
Transport
Theprescribedtransportpositionoftherobotmustbeobserved.Transportationmustbecarriedoutinaccordancewith
thetransportationinstructionsorassemblyinstructionsoftherobot.
WARNING
• ONLyUSEAUTHORIzEDHANDLINGEQUIPMENTWITHASUffICIENTLOAD-BEARINGCAPACITyTOTRANSPORT
THEROBOT.
• WEARSUITABLEPROTECTIVECLOTHINGIfNECESSARy.
3.5.3
Assembly and start-up
Beforestartingupsystemsanddevicesforthefirsttime,acheckmustbecarriedouttoensurethatthesystemand
devicesarecompletedandoperational,thattheycanbeoperatedsafelyandthatanydamageisdetected.
Thevalidnationalorregionalworksafetyregulationsmustbeobservedforthischeck.Thecorrectfunctioningofall
safetycircuitsmustalsobetested.
Thefollowingtestsmustbecarriedoutbeforestart-upandrecommissioning.Itmustbeensuredthat:
• Therobotiscorrectlyinstalledandfastenedinaccordancewiththespecificationsintheassemblyinstructions.
• Therearenoforeignbodiesorloosepartsontherobot.
• Allrequiredsafetyequipmentiscorrectlyinstalledandoperational.
WARNING
• AWRONGINSTALLEDROBOTMAyTHROWOffHISARMS.
• WEARSUITABLEPROTECTIVECLOTHINGIfNECESSARy.
3.5.4
Maintenance and repair
Aftermaintenanceandrepairwork,checksmustbecarriedouttoensuretherequiredsafetylevel.Thevalidnational
orregionalworksafetyregulationsmustbeobservedforthischeck.Thecorrectfunctioningofallsafetycircuitsmust
alsobetested.
Thepurposeofmaintenanceandrepairworkistoensurethatthesystemiskeptoriginalor,intheeventofafault,to
returnthesystemtoanoperationalstate.Repairworkincludestroubleshootinginadditiontotheactualrepairitself.
Thefollowingsafetymeasuresmustbecarriedoutwhenworkingontherobot:
• Switchofthemachine(system)wheretherobotisbuilt-in(e.g.withapadlock)topreventitfrombeingswitchedon
again
• Labelthemachine(system)withasignindicationthatworkisinprogress.Thissignmustremaininplace,even duringtemporaryinterruptionstothework.
• Theemergencystopfromthemachine(system)mustremainactive.Ifsafetyfunctionsorsafeguardsaredeactivated
duringmaintenanceorrepairwork,theymustbereactivatedimmediatelyaftertheworkiscompleted.
S-3
Safety Instructions
WARNING
• MOUNTARELEASESWITCHONTHEMACHINESOTHEARMS(MOTOR)OfTHEROBOTCOULDBEMANUALLy moved.
• MOVINGANAXISWITHANIMPROPERLyWORkINGRELEASESWITCHCANDAMAGETHEMOTORBRAkE.THIS CANRESULTINPERSONALINjURyANDMATERIALDAMAGE.
• BEfORERELEASINGTHEBRAkE,yOUHAVETOBESURETHATNOONEISINTHEHAzARDAREAOfTHEROBOT.
3.5.5
System integrator
Therobotissafelyintegratedintoacompletesystembythesystemintegrator.Thesystemintegratorisresponsiblefor
thefollowingtasks:
Safety Instructions
•
•
•
•
•
•
Installingtherobot
Performingriskassessment
Implementingtherequiredsafetyfunctionsandsafequards
Issuingthedeclarationofconformity
AttachingtheCEmark
Creatingtheoperatinginstructionsforthecompletesystem
S-4
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.
Introduction
CongratulationswiththepurchaseofyourhighspeedDeltarobotXXL.Thisisahighspeedpickandplacerobotwhich
usesstate-of-the-artcarboncompositematerialsandthelatestservodrivetechnologytobeputinuseinthemost
demandingpickandplaceapplications.
ThismanualdescribesthemainversionsoftheCR_UGD4_XXL1300Hrobot,andalloptions.Whereapplicablecheck
theappropriatedataforyourrobottype,thetypecanbefoundontheidentificationtagoftherobot.
1.1
Description of the robot
TheCR_UGD4_XXL1300HDeltarobotisahighspeedpickandplacerobotwhichusesstate-of-the-artcarbon
compositematerialsandthelatestservodrivetechnologytobeputinuseinthemostdemandingpickandplace
applications.Therobotisdesignedasa3-axis(optional4throtationalaxis)Deltakinematicsystem.
Characteristicsoftherobot:
• Requiresverylowmaintenance
• 3+1(rotationalaxisoptional)degreesoffreedom
• Compactdesignformountinginamachine
• Lownoiselevel<68dB(A)
1.2
Type code explanation
CR_UGD4_XXL1300H_R:3+1axes(withrotationalaxis),1300mmworkingrange,max.payload:8kg
CR_UGD4_XXL1300H_NR:3axes(withoutrotationalaxis),1300mmworkingrange,max.payload:8kg
2.
Identification
Ontherobotbaseplateanidentificationtagismounted,importantdataonthisplate:
• Robottype
• Totalweightoftherobot
• yearofproduction
• Serialnumber,importantfororderingspareparts
1-1
Introduction
Thismanualshouldbereadbeforethecommissioningoftherobot.Bymechanicalengineersinthedesignphaseduring
theintegrationoftherobotinthemachineandbysoftwareengineerstochecktheperformanceenvelopeoftherobot.
1
3.
1
Part names
CR_UGD4_XXL1300H
Introduction
Cable entry plate
Rotary servo motor
Motor cover
Primary arm
Rotational axis
Secondary arm
TCP (Tool Center Point)
TheCR_UGD4_XXL1300HrobotconsistsofthreeradiallyplacedaxiswhichgivetheTCPfreedomtomoveinthree
directions,X,yandz.Anoptionalfourthaxiscantakecareoftherotation,Rz,oftheTCP.
Theprimaryandsecondaryarmsoftherobotareconstructedfromanodizedaluminumendsandcarboncomposite
material;theyaredirectlymountedonadouble-stagegearboxtoguaranteehighstiffness.Thesecondaryarmsare
mountedwithhardenedstainlesssteelballjointbearingstotheprimaryarmsandtheTCP,thisguaranteeslowwear
andfrictionandisveryeasytoservice.
Optionallytherobotisequippedwithanextraservomotorfortherotationalaxis,theslidingshaftisconstructedof
titaniumtomaintainthehighlydynamiccharacteroftherobot.
1-2
Chapter 2 Model overview
Contents
1.
Overview
2-1
1.
Overview
TheCR_UGD4_XXL1300Hhasaworkingrangeof1300mm.Thespecificationsaregiveninthebelowfigure,if
specificationsdifferformodels,forinstancewith-orwithoutrotationaxis,itisindicatedinthespecificationlist.The
Deltarobotisdeliveredstandardwithsanitarysecondaryarms,thismeanstheyarefullyclosedtopreventany
contaminationontheinsideofthesecondaryarms.
2
CR_UGD4_XXL1300H (1300 mm)
150
300
900
Model overview
780
1300
NOTE
Notethattherotationservomotor,onthetopoftherobot,isoptional.
2-1
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
6.
Calibration
3-9
3-10
1.
Unpacking
1.1
Unpacking the shipping box
Therobotcomesinaspecialshippingbox.
Thefollowingstepmustbecarriedouttoremovetheshippingbox:
• Unscrewthescrewsfromthecoverofthewoodenbox
• Nowremovethecover
1.2
3
Check the damage
• 1xTCP-ToolCenterPoint(incaseofCR_UGD4_XXL1300H_NRmodel)
• 6xsecondaryarms
• 6xspringpackage(12xspringbracketsand6xspring)
Checkallthecomponentsandtherobotfortransportationdamage.
1.3
Lifting and transportation
Beforetherobotislifted,itmustbeensuredthatitisfreefromobstructions.
Removeallthescrewswheretherobotismountedwithinthebox.
1
No.
1
Description
3xscrewswithprotectionmaterial
Therobotmustbeliftedandtransportedbyusingliftingtackleorforklifttruck.Twoliftingstrapshastobeattached
intotwoeyeboltsthatarescrewedintothebaseplate.Theliftingstrapshastobelongenoughandmustberoutedin
suchawaythattherobotisnotdamaged.
3-1
Installation
firsttakeouttheindividualcomponentsfromthepackageandcheckthateverythingiscompleteaccordingtothe
followinglist:
• 1xrotationalaxis(incaseofCR_UGD4_XXL1300H_Rmodel)
• 1xadaptorringfortherotationalaxisgearormotor(incaseofCR_UGD4_XXL1300H_Rmodel)
WARNING
• THEROBOTMAyTILTDURINGTRANSPORTATION.
• ADDITIONALSAfEGUARDINGMEASUREMUSTBETAkEN.
• WEARSUITABLEPROTECTIVECLOTHINGIfNECESSARy.
• WHENUSINGAfORkLIfTTRUCk,DRIVEEXTREMELySLOWLyANDCAREfULLy.
1
3
2
Installation
3
No.
3-2
Description
1
Liftingtackle
2
2xliftingstraps
3
2xeyebolts
2.
Mounting the robot
Themountingsurfacefortherobotmustbemachinedandofanappropriatequality.It'salsopossibletousealevelling
elementtoaligntherobot.
ThreeM20boltsareneededtomountingtherobottotheframe,exactboltlengthdependsonframelayout.The
tighteningtorqueofaM206.8boltis300Nm.
Thebelowfigureshowsthemountingpatternfromtherobot.
0RXQWLQJKROHV
[0
3
Installation
[žPRXQWLQJSDWWHUQ
ž
ž
NOTE
Itisadvisabletoputonemotoroftherobotinlinewiththedirectionofthetransportbelttomakeprogrammingeasier.
3-3
3.
Mounting the motors and cabling
3.1
Mounting the motors
Whenyourrobotisdeliveredwithoutmotors,youhavetomountthembyyourself.firstofall,youhavetoremovethe
threemotorcoversfromtherobot.
Thefollowingstepsmustbecarriedouttoremovethemotorcoversfromtherobot.Pleaseseealsothefollowing
picture:
• RemovetheM6Allenbolt
3
Installation
1
2
No.
Description
1
1xM6Allenbolt
2
Motorcover
• Removethemotorcover
• Repeattheprocessfortheothertwomotorcovers
3.2
Connecting the cables
Therobotisdeliveredwith3cableentryplates.Theyaremountedaboveeveryprimaryarmmotortofeedhiscables
through.
Thefollowingstepsmustbecarriedouttofeedthecablesthroughtheentryplates.Pleaseseealsothebelowpictures:
• Removethe4boltsofthecableentryplates
• Removethecableentryglands
1
2
3
3-4
No.
Description
1
4xM5Allenbolt
2
Cableentryglands
3
Blindthule
• Insertthecablesintotheopeningofthemotorcover
• Connectthecables
3
3.3
Mounting the motor covers
• Mountthecoverinthemachinedgroove
• InstalltheAllenM6boltinthecoverbracketandtighten
• Repeattheprocessfortheothertwomotorcovers
• Themotorcoversarenowmounted
1
2
No.
Description
1
Coverbracket
2
Machinedgroove
3-5
Installation
• Clampthecableentryglandsaroundthecableandslideitbackintothecableentryplate.Afterwardsalsoslidethe
blindthulebackintothecableentryplate
• Mountthecableentryplateonthebaseplate,usingthe4M5Allenbolts
3.4
Mounting the rotation motor or gearbox with his adaptor ring
ThissectionisapplicableonlytotheCR_UGD4_XXL1300H_Rmodel(withrotationalaxis).
Dependentonthetypeofrotationmotororgearboxwithrotationmotor,aspecialadaptorringformountingis
included.
3
1
2
Installation
No.
Description
1
Gearboxormotor
2
Adaptorring
Nowmounttheadaptorring(withthemotororgearbox)onthelowersideofthebaseplatefromtherobotwiththe
includedboltsandrings.
1
2
No.
3-6
Description
1
Lowersideofthebaseplate
2
Rotationadaptorringwithmotororgearbox
4.
Assembling the secondary arms
4.1
Make an assembly
Beforemountingthesecondaryarmsontherobot,wehavetopre-assemblethemasshownonthebelowfigure,sothat
wegetanarmassembly.
3
3
1
2
Installation
No.
Description
1
Sanitarycupholderincl.ballbearingcup
2
Springpackage
3
Secondaryarm
Repeatthisactionfortheother2armsets.
WARNING
• INCORRECTMOUNTEDSPRINGSCANjUMPAWAy.
• WEARSUITABLEPROTECTIVECLOTHINGANDSAfETyGLASSES.
• NEVERPULLTHESPRINGSfURTHERAPARTTHANNECESSARyWHENMOUNTINGTHEARMASSEMBLyONTHE PRIMARyARMORTCPBALLjOINTS.
• REPLACESPRINGSAfTEROVERSTRETCHING.
3-7
4.2
Mount the arm assembly on the robot
formounting,pullasecondaryarmwithhiscupholderovertheballjointoftheprimaryarm.Nowpullthearmsapart
withtheincluded"secondaryarmexpander"againsttheforceofthespringinordertoputthesecondarmoverthe
secondballjointoftheprimaryarm.
ThenrepeatthisactionfortheTCP(seebelowpicture).
3
Installation
1
No.
1
Description
TCP-ToolCenterPoint(withorwithoutrotationalaxis)
Repeatthisactionfortheother2secondaryarmassembly's.
Nowyourrobotmechaniciscompletelyinstalled.
3-8
5.
Mounting the rotational axis on the gearbox shaft
ThissectionisapplicableonlytotheCR_UGD4_XXL1300H_Rmodel(withrotationalaxis).
Pleaseperformthefollowingstepsfirst.
• Extendtherotationalaxistoitsentirelength,thenretractthesameandcheckwhetheritiseasytooperateorwhether
someresistanceoccurs
NOTE
Alightirregularresistanceisnormalandcausedbythemanufacturingtolerancesofthetubes.Theaxisisruninduringthefirst150
hoursofoperation.Incaseofproblems,pleasechecktheaxisfordamageorcontactyourOMRONrepresentative.
3
1
Installation
2
No.
Description
1
Clampingbushwithbolts
2
Rotationalaxis
ReleasethetwoM5Allenboltswhicharemountedintotheclampingbush(seeabovepicture).
Indeliverycondition,anextrafillbushislocatedintheclampingbush.
Measureyourmotor/gearboxaxisanddetermineifyouneedtheextrafillbush.
1
2
3-9
No.
Description
1
Motororgearshaft
2
Topconnectorrotationalaxis
Nowpushthetopconnectorintotheshaftuntilthetopconnectorcomesintoitsstoppositionontheshaft.Tightenthe
twoM5Allenboltswith7Nm.
Therotationalaxisisnowmounted.
3
6.
Calibration
Installation
Noteveryrobotthatisdeliverediscalibrated.
Ifyouwanttocalibratetherobotbyyourself,acalibrationkitwithaspecialtoolisavailable(showninthebelow
picture).
ThecalibrationsetcanbeorderedasCR_ART.1098
No.
1
Description
Calibrationtool
Thefollowingstepsmustbecarriedouttoputthethreeupperarmsfromtherobotinthezeroposition.Please,seethe
belowpictures:
• Makesureallthesecondaryarmsaredisassembled
• Releasethemotorbrakeandmakesurealltheprimaryarmsarerotateddownfarenough,sothecalibrationtool couldbemounted
• Slidethecalibrationtoolonthebaseplateasshowninthenextpicture
• Nowtightenthestarnutuntilthetoolisfixed
3-10
• Releasethemotorbrakefromtheselectedmotorandpushtheupperarmwithhisballjointagainstthecalibrationas
shownintheabovepicture
• Nowfixthemotorbrakefromtheselectedmotor
• Repeatthecalibrationstepsfortheothertwoprimaryarms
• Removethetool
• Nowalltheprimaryarmsareinzeropositionfromthekinematicmodel
• Nowputtheencodervaluesfromtheservomotorsin0º
• Checkthattheangleindicatedforthethreemotorsis0º(±0.1°)
• yourrobotisnowcalibrated
3-11
Installation
WARNING
• CALIBRATINGTHEROBOTMUSTBECARRIEDOUTByQUALIfIEDPROGRAMMINGPERSONNELONLy,ASTHIS REQUIRESANEXCELLENTLEVELOfkNOWLEDGEOfTHECONTROLSySTEM.
• WHENCARRyINGOUTTHEHOMINGyOURSELf,THISMUSTBECARRIEDOUTEXACTLyINTHEWAyANDTHE ORDERTHATTHEyAREDESCRIBED.
3
Chapter 4 Maintenance
Contents
1.
Periodic maintenance
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 parts
4-4
1.
Periodic maintenance
Beforeworkingontherobot,pleasebeensuredthatthemachinewheretherobotisbuiltin,istotallyswitchedoff.
DANGER
• SWITCHOffTHEMACHINE(SySTEM)WHERETHEROBOTISBUILTIN(E.G.WITHAPADLOCk)TOPREVENTIT
fROMBEINGSWITCHEDONAGAIN.
• LABELTHEMACHINE(SySTEM)WITHASIGNINDICATIONTHATWORkISINPROGRESS.THISSIGNMUST
REMAININPLACE,EVENDURINGTEMPORARyINTERRUPTIONSTOTHEWORk.
• THEEMERGENCySTOPfROMTHEMACHINE(SySTEM)MUSTREMAINACTIVE.IfSAfETyfUNCTIONSOR
SAfEGUARDSAREDEACTIVATEDDURINGMAINTENANCEORREPAIRWORk,THEyMUSTBEREACTIVATED
IMMEDIATELyAfTERTHEWORkISCOMPLETED.
1.1
Springs
4
WARNING
• INCORRECTMOUNTEDSPRINGSCANjUMPAWAy.
• WEARSUITABLEPROTECTIVECLOTHINGANDSAfETyGLASSES.
• NEVERPULLTHESPRINGSfURTHERAPARTTHANNECESSARyWHENMOUNTINGTHEARMASSEMBLyONTHE PRIMARyARMORTCPBALLjOINTS.
Howtodisassemblethesprings:
• Disassemblethesecondaryarmsfromtherobotwiththe"secondaryarmexpander"
• Replacethesprings
• forre-assemblingthesecondaryarms,seeSection 4 Assembling the secondary armsinChapter3
4-1
Maintenance
Howtomaintainthesprings:
• Thespringshastobereplacedevery3800workinghoursoronceayear
• Whentherobotisfallapart,checkthespringsondamages
• OnlyusespringsdeliveredbyOMRON,otherwisetheguaranteewillexpire
• Replacespringsafteroverstretching
• forspareparts,seeSection 3 Spare partsinthischapter
1.2
Ball bearing cups
Theballbearingcupshasthesamelifetimeasthesprings.Werecommendtoexchangetheseatthesametimeasthe
springs.
Howtomaintaintheballbearingcups:
• Theballbearingcupshastobereplacedevery3800workinghoursoronceayear
• Whentheballbearingcupsmakesqueakingnoises,takeofthesecondaryarmassembly’sandcleanthecupswith pressedair
• Do not lubricate the ball bearing cups!
forinstructionstoreplacetheballbearingcups,seebelowpicture:
4
1
Maintenance
No.
1
Description
M6bolt
• ScrewanM6boltinthebacksidefromthecupholder
• Nowtheballbearingcupwillcomeout
1.3
Rotational axis
Theplainbearingsontherotationalaxiswearwithtimesothatbacklashstartstooccurontherotationalaxis.Howfast
theplainbearingsbecomeworndependsstronglyonthefollowingfactors:
• Theworkingpath
• Thepayload
• Thespeedoftherobot
• Therotationactions
WhendoIhavetoexchangetheplainbearings?
• Ifthereisalotofplayontherotationalaxis
• Every3000workinghoursoronceayear
forinstructionstoreplacetheplainbearings,seethebelowpicture:
1
2
4-2
No.
Description
1
Sliderblock
2
M6boltwithwasher
• UnscrewthetwoM6boltswithwasherandtakeofthebolts
4
1
No.
1
Description
Plainbearing
• Exchangetheoldplainbearingswiththenewones
• Putbackthetwotubesontherotationalaxis
• MountthetubeswiththetwoM6boltsincludingwashers
WARNING
• PLAINBEARINGSHASTOBEMOUNTEDVERyCAREfULLy.
• WRONGMOUNTEDPLAINBEARINGSMAyDAMAGE.
• EXTENDTHEROTATIONALAXISTOITSENTIRELENGTH,THENRETRACTTHESAMEANDCHECkWHETHERITIS
EASyTOOPERATEORWHETHERSOMERESISTANCEOCCURS.
4-3
Maintenance
• Removethetwotubes(sometimesthetubeswillclampinsidethesliderblock,useasmallplastichammertorelease
them)
2.
Cleaning the robot
Cleantherobotbywashingwithsoftclothorsponge.Usesoapormilddetergentandwarmwaterfollowedbyclear
waterrinse.
foroilandgreasestainsusealcoholwithsoftcloth.
Donotuseahighpressurewatercleaner,oranyotherhighpressurecleaningdevice.
3.
Spare parts
Description
4
OMRON Part No.
Maintenance
Calibrationtool
CR_ART.1098
Springpackage
CR_ART.1123
Ballbearingcups
CR_ART.1124
Cardancoupling
CR_ART.1126
Hingerollers
CR_ART.1127
Plainbearing
CR_ART.1128
Gearboxfortherotationalaxis
CR_ART.1154
Primaryarmset
CR_ART.1239
Secondaryarmset
CR_ART.1240
Splinepartrotationalaxis
CR_ART.1241
Gearboxfortheprimaryarm
CR_ART.1268
TCP-ToolCenterPoint
CR_ART.1269
4-4
Chapter 5 Robot settings
Contents
1.
Kinematics
5-1
2.
Workspace
5-2
3.
Software limits
5-3
1.
Kinematics
ThekinematicsparametersfortheCR_UGD4_XXL1300Hrobotareshownbelow.Settheseparameterscorresponding
tothecontrollersettings.
WARNING
IfTHEkINEMATICSPARAMETERSARENOTSETPROPERLy,THISMAyCAUSETHEROBOTTOMALfUNCTION.SO,
BESURETOSETTHESEPARAMETERSCORRECTLy.
.LQHPDWLFVSDUDPHWHUV
5I
/I
5
Robot settings
/P
5P
PP
5I PP'LVWDQFHUDGLXVIURPWKHFHQWHURIWKHIL[HGIUDPHWRWKHPRWRURIWKHD[LV
5PPP'LVWDQFHUDGLXVIURPWKHFHQWHURIWKHPRYLQJIUDPHWRWKHFRQQHFWLRQSRLQWRI/LQN
/I PP/HQJWKRI/LQN
/P
PP/HQJWKRI/LQN
5-1
2.
Workspace
TheworkspaceparametersfortheCR_UGD4_XXL1300Hrobotareshownbelow.Settheseparameterscorresponding
tothecontrollersettings.
WARNING
IfTHEWORkSPACEPARAMETERSARENOTSETPROPERLy,THISMAyCAUSETHEROBOTTOMALfUNCTION.SO,
BESURETOSETTHESEPARAMETERSCORRECTLy.
Workspace parameters
Zu
5
Rcy
Rcy
Robot settings
Hcy
Hco
Rco
Zu:
-731 mm Distance from the Z-axis origin position
Rcy:
650 mm Radius of the cylinder
Hcy:
300 mm Height of the cylinder
Rco:
390 mm Radius of the frustum cone of underside
Hco:
150 mm Height of the frustum cone
5-2
3.
Software limits
ThesoftwarelimitsfortheCR_UGD4_XXL1300Hrobotareshownbelow.
WARNING
IfTHEα-,β- or γ-AXISSOfTLIMITISSETINCORRECTLy,THEARMMAyCOLLIDEWITHTHEROBOTBASEORBASE
PREPAREDByTHEUSER,CAUSINGBREAkAGE.SO,BESURETOSETTHESOfTLIMITSCORRECTLy.
Minus direction
soft limit [-30°]
5
Robot settings
Plus direction
soft limit [88°]
5-3
Chapter 6 Specifications
Contents
1.
1.1
Basic specifications
Cycle time
6-1
6-1
2.
External view and dimensions
6-2
3.
Design specifications
6-3
3.1
Occupation area of robot
6-3
3.2
Gripper interface
6-3
3.2.1
3.2.2
Withrotationalaxis
Withoutrotationalaxis
6-3
6-4
3.3
Software design
6-5
3.3.1
Dimensionsandlimits
6-6
1.
Basic specifications
Robot model
Workingvolume
CR_UDG4_XXL1300H_R
CR_UDG4_XXL1300H_NR
X,yaxis
Stroke
Ø 1300mm
zaxis
Stroke
300mm(max.Ø1300mm)/450mm(centerØ780mm)
θaxis
Rotationrange
±180°(defaultsetting,itcanbe
changed)
Arm1,2,3
3000W
Servomotor
Rotationalaxis4
Repeatability
*1
Maximumthrough-put
1000W
X,y,zaxis
±1mm
θaxis
±0.3°
*2
90CPM
Maximumpayload
*4
8kg
θaxistolerablemomentofinertia
*3
Accordingtotheservomotor
Ø8
Usertubing(outerdiameter)
*5
Travellimit
Softlimit
Noiselevel
<68dB(A)
Ambienttemperature
5ºCto45ºC
Relativehumidity
Max.90%
IP65
Weight
90kg
Specifications
Protectionclass
*1:
*2:
*3:
*4:
*5:
6
Thisisthevalueataconstantambienttemperature.
With0.1kgpayload.Whenreciprocating305mminhorizontaland25mminverticaldirections.
Therearelimitstoaccelerationcoefficientsettings.
CPM:Cycleperminutes.Checkthenote2forthecycledefinition.
Onlyfortheairsuctioning.Theairinjectionisnotallowed.
1.1
Cycle time
Y
Z1
P&P path
Z2
Payload
25x300x25mm(z1xyxz2)
Cycle time
0.90s
8kg
200x1000x200mm(z1xyxz2)
1.5s
6-1
2.
External view and dimensions
0RXQWLQJKROHV
[0
ž
ž
Specifications
6
ƒ
31,5
G3/8 depth 15
8 x M6
STC 50
63
Gripper dimensions
6-2
3.
Design specifications
3.1
Occupation area of robot
Iftherobotisintegratedintothemachineitmustbeconsideredwhatthereachisofallrobotpartstopreventcollision
withotherpartsinthemachine.
WhentheTCPmovestoitsouterpositions,theprimaryandsecondaryarmscanriseabovethebaseplate,takecarethat
nomechanicalobstructionsareintheareasindicatedinthebelowpicture.
600
420
400
100
200
6
3.2
Gripper interface
3.2.1
With rotational axis
ThebelowfigureshowsthegripperconnectionsizesfortheCR_UGD4_XXL1300H_Rrobot(withrotationalaxis)
accordingtoISO9409-1-A31,5.
31,5
G3/8 depth 15
8 x M6
STC 50
63
6-3
Specifications
WARNING
IfMECHANICALOBSTRUCTIONSAREINTHEINDICATEDAREA,THEROBOTORTHEOTHERMACHINEPARTS
couLd be damaGed.
3.2.2
Without rotational axis
ThebelowfigureshowsthegripperconnectionsizesfortheCR_UGD4_XXL1300H_NRrobot(withoutrotational
axis).
Thedesignofthegripperthatismountedundertherobothavegreatinfluenceontheperformanceoftherobot.Both
theweightofthegripperandthedistanceofthecenterofgravityofthegrippertotheTCPbasepointhavenegative
influenceonthefinalperformanceoftherobot.
6
Ifyouneedtoinstallcablingforthegripper,pleasefollowthefollowingsteps:
• Mountthecablesonthebaseplateorframe,neartheturningpointfromtheprimaryarmonthegearbox
• Mountthecablesontheprimaryarm,withty-rapsorclampingparts
• keepabigloopatthehingepointfromtheprimaryandsecondaryarm
• Mountthecablesonthesecondaryarm,withty-rapsorclampingparts
• keepabigloopfromthelowestmountingpointatthesecondaryarmtilltheconnectiononthegripper
Specifications
6-4
3.3
Software design
Thearmlengthsandpitchcirclesoftherotationpointsareshowninthebelowpicture.
Upper arm rotation points
circle diameter 295 mm
Upper arm length
440 mm
Lower arm length
950 mm
Lower arm rotation points
circle diameter 140 mm
6
Specifications
6-5
3.3.1
Dimensions and limits
Description
Value
Negativesoftwarelimit
-30º
Positivesoftwarelimit
88º
Tb-z(topbaseplatetozeroposition)
210mm
z-tw(zeropositiontotopworkarea)
690mm
Neg.°
Top mounting bracket
0°
Tb-z
Primary arm
Z-tw
6
Pos.°
Specifications
Top work area
6-6
Revision history
Amanualrevisioncodeappearsasasuffixtothecatalognumberonthefrontcovermanual.
Cat. No. I201E-EN-01
Revision code
Thefollowingtableoutlinesthechangesmadetothemanualduringeachrevision.
Revision code
Date
01
july2015
Description
Originalproduction
Authorized Distributor:
Cat. No. I201E-EN-01
Note: Specifications subject to change without notice.
Printed in Europe
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