Pick & Place solutions Product Brochure

Pick & Place solutions Product Brochure
Pick & Place solutions
»
» Delta solution integrated into the Sysmac platform
Washdown and hygienic Delta robot
» SCARA
series expanded with new belt-less models
Delta and SCARA solutions
With more than 50 years experience in machine
automation and with special focus on the
Packaging industry, we offer a new wide range of
solutions ideal for Pick & Place applications.
The new solutions centred on Delta robots allow
you to build very high through-put machines
that handle more than one hundred picking
operations per minute.
With more than 70 robot models, the SCARA
based solutions are excellent when you face
heavy part handling in combination with high
speed cycles.
All the Omron Pick & Place solutions are fully
integrated with our wide product portfolio
making the modular design of your machines
even easier. The high performance and
reliability of our products represent the
cornerstone of our mechatronics solutions, that
can also be provided with advanced vision
systems to detect the positions of the products
to be handled and to inspect them
simultaneously.
The vision systems have been specially
designed and optimised for Pick & Place
applications. The FQ-M and FZM1 vision systems
provide seamless integration with the Omron
automation architecture and implement new
algorithms that are able to detect the positions
of multiple pieces in the field of view in a very
short time.
2
• Up to 200 cycles per minute
• Payload up to 3 Kg.
• Up to 80 cycles per minute
• Payload up to 50 Kg.
• Compact footprint
3
Delta Robot Solution
The fastest picking system integrated in the Sysmac platform
The combination of high performance servo
motors with the kinematics of Delta robots,
allows you to achieve the maximum through­
put in your Pick & Place applications. The NJ
Robotics controller is able to keep control of
all motion devices in the machine, including
single axis, simple groups of axes and robot
FQ-M Vision sensor
control, by providing independent or
synchronized movements.
NJ Robotics
The synchronization with the multiple
conveyors can be fully programmed thanks to
a powerful command developed specially for
Pick & Place applications that use a Delta
robot.
Encoder
feedback
NJ Robotics
Robot
Cycle time
8 Delta 2
ms
4 Delta 1 ms
Benefits
• Robot control integrated in the NJ Robotics
controller
• Control of up to 8 robots by one controller
• High through-put can be achieved by using
the Delta robot, more than 200 cycle/min per
robot
4
Delta Robot Series
Washdown Delta robot
•Rated working range: Ø 1100 x 450 mm
•Max. Payload: 3 Kg
•Cycle time 25/305/25 mm (0.1 Kg): Up to
150 cycle/min
Accurax G5 Servo motors
• High frequency response of 2 kHz
• 17 bit absolute encoder
• Low cogging torque
Delta robot
Mini Delta robot
•Rated working range: ø 1100 x 400 mm
•Max. Payload: 2Kg
•Cycle time 25/305/25mm (0.1Kg):
Up to 150 cycle/min.
•Rated working range: ø 500 x 155mm /
ø 450 x 135mm (with rotational axis)
•Max. Payload: 1Kg
•Cycle time 25/305/25mm (0.1Kg):
Up to 200 cycle/min.
5
Delta Robot Solution
The NJ Robotics controller represents the core of this system architecture and is based on the
EtherCAT bus, providing the highest motion performance for demanding picking applications.
The Delta robot arms use the G5 servo motors to reduce the settling time thanks in part to the
high frequency response of 2Khz of this high-end servo model , representing the best choice for
positioning tasks. The FQ-M vision sensor is designed for motion applications and is able to
detect the position of several pieces moving on a conveyor, in a very short time in order to
increase the overall through-put of the machine.
Servo motor
Delta robot
•3 Kg payload
•IP67
Servo d
rive
Inverter
Vision
NX I/O
Ethe
rNet
HMI
NJ Robo
tics
6
Product overview
Delta Robot Series
Robot
Specifications
•Robot control integrated in the NJ robotics
•Control of up to 8 robots by one controller
•Degrees of freedom: 3 + 1 (rotational axis optional)
•Up to 200 cycle per minute
•Model Range from 450 to 1100 mm
•Payload range: 1 to 3 Kg
•IP class range: IP65, IP67 hygienic design
Reference list R6Y31110H03067NJ5
R6Y31110L03067NJ5
R6Y30110S03067NJ5
Description Washdown Delta robot 3 axes + 1 rot. axis with high inertia
Washdown Delta robot 3 axes + 1 rot. axis
Washdown Delta robot 3 axes
CR_UGD4_R
CR_UGD4_NR
Delta robot 3 axes + 1 rot. axis
Delta robot 3 axes
CR_UGD4MINI_R
CR_UGD4MINI_NR
Mini Delta robot 3 axes + 1 rot. axis
Mini Delta robot 3 axes
NJ Robotics
Controller
•Up to 64 axes motion control
•Scalable control: CPUs for 16, 32 and 64 axes
•Up to 8 Delta robots
•EtherCAT and EtherNet/IP ports embedded
•Conforms to IEC 61131-3 standards
Reference list
NJ501-4500
NJ501-4400
NJ501-4300
NJ501-4310*
Description
64 axes
32 axes
16 axes
16 axes
Vision
Servo system
* The NJ501-4310 CPU only supports one Delta robot.
Accurax G5 servo
system
•High frequency response
of 2 kHz
•Safety conforming to
ISO13849-1
•Advanced tuning algorith
•Delta robot: 1.5 kW servo
drive
•Mini Delta robot: 400 W
servo drive
Accurax G5 servo motor
Mini Delta
•17 bit absolute encoder
•230 VAC 400W servo
motor with brake
•Low cogging torque
Delta
•17 bit absolute encoder
•230 VAC 1 kW servo motor
with brake for the arms
•230 VAC 50, 100 or 1000
W servo motors for the
rotational axis
•Low cogging torque
FQM series
Xpectia FZM1
•Camera, vision and connectivity in one
•Compact vision sensor
•Designed for high speed pick and place
•Encoder tracking and smart calibration
function
•Fast and powerful object recognition
•Stable measurements under
changing conditions
•Wide variety of positioning measurement methods
•Simple auto calibration
•Flexible camera installation
Note: Please contact your OMRON representative for detailed specs and ordering information.
7
Delta Robot Series
Washdown Delta robot specifications
MODEL
Working volume
R6Y31110H03067NJ5
Ø 1100 mm
Z axis (stroke) *1
300 mm (maximum Ø 1100 mm) / 450 mm (center Ø 580 mm)
θ axis (rotation angle)
Arm 1, 2, 3
Servo motor
Rotational axis 4
Repeatability *1
8
R6Y31110L03067NJ5
X, Y axis (stroke)
X, Y, Z axis
θ axis
±180 deg (default setting, it can be changed)
R6Y30110S03067NJ5
-
Model
R88M-K1K030T-BS2
Capacity
1000 W
Model
R88M-K10030T-S2
R88M-K05030T-S2
-
Capacity
100 W
5o W
-
±0.2 mm
±0.1 deg
Maximum payload
3 kg
Maximum through-put
150 CPM *2
-
θ axis tolerable moment of inertia *3
0.035 kgm2
User tubing (outer diameter)
Ø6
0.01 kgm2
Travel limit
1. Soft limit, 2. Mechanical stopper (X, Y, Z axis)
Noise level
< 73.7 dB (A)
Ambient temperature
0 to 45ºC
Relative humidity
Max. 85%
Protection class
IP67
Weight (kg)
75 kg
-
Delta robot specifications
MODEL
Working volume
CR_UGD4_R
Ø 1100 mm
Z axis (stroke) *1
250 mm (maximum Ø 1100 mm) / 400 mm (center Ø 580 mm)
θ axis (rotation angle)
Arm 1, 2, 3
Servo motor
Rotational axis 4
Repeatability *1
CR_UGD4_NR
X, Y axis (stroke)
Model
Capacity
Model
Capacity
X, Y, Z axis
θ axis
Maximum payload
±180 deg (default setting, it can be changed)
R88M-K1K030T-BS2
1000 W
R88M-K1K030T-BS2
1000 W
±0.3 mm
±0.4 deg
2 kg
Maximum through-put
150 CPM *2
θ axis maximum torque
User tubing (outer diameter)
Travel limit
According to the servo motor
Ø 8 *4
1. Soft limit, 2. Mechanical stopper (X, Y, Z axis)
Noise level
< 68 dB (A)
Ambient temperature
5ºC to 45ºC
Relative humidity
Max. 90%
Protection class
IP65
Weight (kg)
65 kg
-
-
-
Mini Delta robot specifications
MODEL
Working volume
CR_UGD4MINI_R
Ø 500 mm
Z axis (stroke) *1
135 mm (maximum Ø 450 mm)
155 mm (maximum Ø 500 mm)
θ axis (rotation angle)
±180 deg (default setting, it can be changed)
R88M-K40030T-BS2
400 W
R88M-K40030T-BS2
400 W
±0.2 mm
±0.3 deg
1 kg
-
Arm 1, 2, 3
Servo motor
Rotational axis 4
Repeatability *1
CR_UGD4MINI_NR
X, Y axis (stroke)
X, Y, Z axis
θ axis
Maximum payload
Model
Capacity
Model
Capacity
Maximum through-put
200 CPM *2
θ axis maximum torque
User tubing (outer diameter)
Travel limit
According to the servo motor
Ø 8 *4
1. Soft limit, 2. Mechanical stopper (X, Y, Z axis)
Noise level
< 68 dB (A)
Ambient temperature
5ºC to 45ºC
Relative humidity
Max. 90%
Protection class
IP65
Weight (kg)
25 kg
-
-
*1. This is the value at a constant ambient temperature. - *2. CPM: Cycle per minute. With 0.1 kg payload. When reciprocating 305 mm in horizontal and 25 mm in vertical directions. - *3. There are limits to
acceleration coefficient settings. - *4. Only for the air suctioning. The air injection is not allowed.
9
SCARA Solution
The flexible picking system
The wide reach and payload ranges allow
you to choose the right robot type for your
application. Special versions, such as cleanroom and dust/drip-proof types enable
installation in critical environments for
applications in food and pharmaceutical
industries.
High reliability is ensured by the simple
mechanical structure of our SCARA robots
that use a belt-less system in the XG series via
a direct coupling between motors, gearboxes,
arms and the shafts.
Benefits
• Higher reliability of SCARA robots (belt-less transmission
on XG series, no electronic parts in movement)
• Higher precision and high speed
• Higher rigidity
• Easy integration of the FQ-M vision system
10
High reliability:
• Belt-less system
• Direct coupling
• Maintenance-free
y2
Object detection
The vision sensor calculates the
coordinates of the pieces and
sends the data to the robot
controller via Ethernet.
y
x2
P2
x
FQ-M
Vision sensor
b2
SCARA robot
k
bac
eed
f
r
ode
Enc
P1
P2
P3
rnet
Ethe
SCARA controller
Flexible Data Format
The FQ-M vision sensor provides a customisable data output
format simplifying the programming manner of the robot
controller.
11
SCARA Solution
Simplify your machines and reduce manufacturing time using a SCARA robot solution.
Flexibility and a wide range of products allows you to choose exactly the right model for your
needs.
A vision system can be easily connected via Ethernet to the SCARA controller thanks to the
built-in communication and the system can be fully controlled by our PLC that provides a wide
set of functions together with the reliability found in all Omron products.
SCARA robot
Vision
SCARA controller
HMI
Ethernet
PLC
12
Product overview
SCARA robots
Robot
•Wide Reach range up to 1200mm radius
•Wide Payload range up to 50Kg
•Versions available for Clean-room C10, IP65 and special
mounting type
•High reliability (no belts in XG series, no electronic parts
in movement)
•Minimum maintenance
•Higher rigidity
SCARA controller
Controller
•Compact design
•Dedicated robotic functions for Pick & Place and conveyor tracking.
•Simple programming by teaching pendant and software.
•One controller type for all the robot models.
CJ2 PLC
Logic
•Robust and reliable modular PLC
•PTP or advanced motion control
•Up to 2560 I/O
•Open communication: supports master and slave units for Profibus, CAN,
PROFINET, DeviceNet and EtherNet/IP
NJ Machine Controller
Vision
•Up to 64 axes motion control
•Scalable control: CPUs for 4, 8, 16, 32 and 64 axes
•EtherCAT and EtherNet/IP ports embedded
•Conforms to IEC 61131-3 standards
•Certified PLCopen Function Blocks for Motion Control
FQM series
Xpectia FZM1
•Camera, vision and connectivity in one
•Compact vision sensor
•Designed for high speed pick and place
•Encoder tracking and smart calibration
function
•Fast and powerful object recognition
•Stable measurements under
changing conditions
•Wide variety of positioning
measurement methods
•Simple auto calibration
•Flexible camera installation
Note: Please contact your OMRON representative for detailed specs and ordering information.
13
SCARA Series
STANDARD MODELS
XG series - Tiny type
R6YXG150
R6YXG180
R6YXG220
R6YXGL250
R6YXGL350
R6YXGL400
R6YXGL500
R6YXGL600
1
1
1
1
5 (4)*1
5 (4)*1
5 (4)*1
5 (4)*1
5 (4)*1
120
150
180
220
250
350
400
500
600
0.005
0.005
0.005
0.01
0.01
0.01
0.01
0.01
0.01
Max. payload (kg)
Reach (mm)
Repeatability (mm)*2
X, Y
±(mm)
Z
±(mm)
R
±(º)
X
Axis specifications
Maximum speed
Y
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.004
0.004
0.004
0.01
0.004
0.004
0.004
0.004
0.004
350
Arm length (mm)
45
75
105
111
100
200
250
250
Rotation range ±(º)
125
125
125
120
140
140
140
140
140
Arm length (mm)
75
75
75
109
150
150
150
250
250
144
Rotation range ±(º)
145
145
145
140
144
144
144
144
Z
Stroke (mm)
50
50
50
100
150
150
150
150
150
R
Rotation range ±(º)
360
360
360
360
360
360
360
360
360
4900
X, Y
Combined (mm/s)
3300
3400
3300
3400
4500
5600
6100
5100
Z
(mm/s)
900
900
900
700
1100
1100
1100
1100
1100
R
(º/s)
1700
1700
1700
1700
1020
1020
1020
1020
1020
0,33*3
0,33*3
0,33*3
0,46*3
0,49*4
0,49*4
0,49*4
0,59*4
0,63*4
6
6.1
6.2
7
14.5
15
15.5
17
18
-
-
-
-
R6YACXGLF
R6YACXGLF
R6YACXGLF
R6YACXGLF
R6YACXGLF
Standard time cycle (sec)
Weight (kg)
Tool flange
Option
XGL series - Low payload
R6YXG120
Open shaft
Regeneration unit
-
-
-
-
R6YACXGLS
R6YACXGLS
R6YACXGLS
R6YACXGLS
R6YACXGLS
N.A.
N.A.
N.A.
N.A.
N.A.
N.A.
N.A.
N.A.
N.A.
SPECIAL MODELS
XSH series
R6YXSH300
XGS series (W=Wall mount type / U=Inverse mount type)
R6YXSH400
R6YXGS 500
R6YXGS 600
R6YXGS 700
R6YXGS 800
R6YXGS 900
R6YXGS
1000
R6YXC180
R6YXC220
W type U type W type U type W type U type W type U type W type U type W type U type
Max. payload (kg)
Reach (mm)
Repeatability (mm)*2
Maximum speed
10
10
20
20
20
20
1
1
500
600
700
800
900
1000
180
220
X, Y
±(mm)
0.01
0.01
0.01
0.01
0.02
0.02
0.02
0.02
0.01
0.01
±(mm)
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
R
±(º)
0.004
0.005
0.005
0.004
0.004
0.004
0.004
0.004
0.004
0.004
Arm length (mm)
175
225
200
300
300
400
500
600
71
111
Rotation range ±(º)
115
115
105
130
130
130
130
130
120
120
109
Arm length (mm)
125
175
300
300
400
400
400
400
109
Rotation range ±(º)
140
140
125
145
130
145
150
150
140
140
Z
Stroke (mm)
150
150
200(300)
200(300)
200(400)
200(400)
200(400)
200(400)
100
100
R
Rotation range ±(º)
360
360
360
360
360
360
360
360
360
360
X, Y
Combined (mm/s)
4400
6000
7600
8400
8400
9200
9900
10600
3300
3400
Z
(mm/s)
1000
1000
2300(1700)
2300(1700)
2300(1700)
2300(1700)
2300(1700)
2300(1700)
700
700
R
(º/s)
1020
1020
1700
1700
920
920
920
920
1700
1700
0,54*4
0,66*4
0,45*4
0,46*4
0,42*4
0,48*4
0,49*4
0,49*4
0,42*3
0,45*3
15
15
26
27
51
53
55
57
6.5
6.5
Y
Standard time cycle (sec)
Weight (kg)
3
400
Z
X
Axis specifications
3
300
800
800
480
480
480
480
User wiring (sq x wires)
User tubing (Ø)
Regeneration unit
0.1 sq x 8 wires; Ø 3 x 2
0.2 sq x 10 wires; Ø 4 x 3
N.A.
N.A.
0.2 sq x 20 wires; Ø 6 x 3
RGU3
RGU3
RGU3
RGU3
Class 10; Suct. vol.
(Nl/min) = 30;
RGU3
RGU3
N.A.
*1 Maximum payload is 4kg when tool flange and hollow shaft options are installed. *2 This is the value at constant ambient temperature. *3 With 0.1 kg payload. When reciprocating 100mm in horizontal
and 25mm in vertical directions. *4 With 2 kg payload. When reciprocating 300mm in horizontal and 25mm in vertical directions.
14
N.A.
XG series
R6YXG500
R6YXG600
R6YXGH600
X series
R6YXG700
R6YXG800
R6YXG900
R6YXG1000
R6YXX1200
10
10
20
20
20
20
20
50
500
600
600
700
800
900
1000
1200
0.01
0.01
0.02
0.02
0.02
0.02
0.02
0.05
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.02
0.004
0.004
0.004
0.004
0.004
0.004
0.004
0.005
200
300
200
300
400
500
600
600
130
130
130
130
130
130
130
125
300
300
400
400
400
400
400
600
145
145
150
150
150
150
150
150
200(300)
200(300)
200(400)
200(400)
200(400)
200(400)
200(400)
400
360
360
360
360
360
360
360
360
7600
8400
7700
8400
9200
9900
10600
7400
2300(1700)
2300(1700)
2300(1700)
2300(1700)
2300(1700)
2300(1700)
2300(1700)
750
1700
1700
1020
1020
1020
1020
1020
600
0,45*4
0,46*4
0,47*4
0,42*4
0,48*4
0,49*4
0,49*4
0,91*4
30
31
48(50)
50(52)
52(54)
54(56)
56(58)
124
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
RGU3
RGU3
RGU3
RGU3
RGU3
RGU3
RGU3
RGU2
XC series - Clean type
R6YXCH250
R6YXCH350
R6YXCH400
XP series - Dust-proof & drip-proof type
R6YXC500 R6YXC600
R6YXC700
R6YXC800
R6YXC1000
R6YXP250
R6YXP350 R6YXP400
R6YXP500
R6YXP600 R6YXP700 R6YXP800
R6YXP1000
3
3
3
10
10
20
20
20
3
3
3
10
10
20
20
20
250
350
400
500
600
700
800
1000
250
350
400
500
600
700
800
1000
0.01
0.01
0.01
0.02
0.02
0.02
0.02
0.02
0.01
0.01
0.01
0.02
0.02
0.02
0.02
0.02
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.005
0.005
0.005
0.005
0.005
0.005
0.005
0.005
0.005
0.005
0.005
0.005
0.005
0.005
0.005
0.005
125
225
225
250
350
350
450
550
125
225
225
250
350
350
450
550
115
115
115
120
120
120
120
120
115
115
115
120
120
120
120
120
125
125
175
250
250
350
350
450
125
125
175
250
250
350
350
450
130
128
143
142
145
145
145
145
130
130
140
145
145
145
145
145
150
150
150
200(300)
200(300)
200(400)
200(400)
200(400)
150
150
150
200(300)
200(300)
200(400)
200(400)
200(400)
360
360
360
360
360
360
360
360
360
360
360
360
360
360
360
360
4000
5000
6000
4900
5600
6700
7300
8000
4000
5000
6000
4900
5600
6700
7300
8000
1000
1000
1000
1700
1700
1700
1700
1700
1000
1000
1000
1700
1700
1700
1700
1700
1020
1020
1020
876
876
600
600
600
1020
1020
1020
876
876
600
600
600
0,54*4
0,54*4
0,66*4
0,53*4
0,56*4
0,57*4
0,57*4
0,6*4
0,54*4
0,54*4
0,66*4
0,53*4
0,56*4
0,57*4
0,57*4
0,6*4
16
16
16
31
33
57
58
59
15
15
15
30
32
56
57
58
0.2 sq x 10 wires; Ø 4 x 3
0.2 sq x 20 wires; Ø 6 x 3
0.2 sq x 10 wires; Ø 4 x 3
Class 10; Suction volume (Nl/min) = 60;
N.A.
N.A.
N.A.
RGU2
RGU2
RGU2
RGU2
RGU2
N.A.
N.A.
N.A.
0.2 sq x 20 wires; Ø 6 x 3
RGU2
RGU2
RGU2
RGU2
RGU2
15
Omron Europe B.V. Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. Tel: +31 (0) 23 568 13 00 Fax: +31 (0) 23 568 13 88 www.industrial.omron.eu
Austria
Tel: +43 (0) 2236 377 800
www.industrial.omron.at
Germany
Tel: +49 (0) 2173 680 00
www.industrial.omron.de
Portugal
Tel: +351 21 942 94 00
www.industrial.omron.pt
Turkey
Tel: +90 212 467 30 00
www.industrial.omron.com.tr
Belgium
Tel: +32 (0) 2 466 24 80
www.industrial.omron.be
Hungary
Tel: +36 1 399 30 50
www.industrial.omron.hu
Russia
Tel: +7 495 648 94 50
www.industrial.omron.ru
United Kingdom
Tel: +44 (0) 870 752 08 61
www.industrial.omron.co.uk
Czech Republic
Tel: +420 234 602 602
www.industrial.omron.cz
Italy
Tel: +39 02 326 81
www.industrial.omron.it
South Africa
Tel: +27 (0)11 608 3041
www.industrial.omron.co.za
Denmark
Tel: +45 43 44 00 11
www.industrial.omron.dk
Netherlands
Tel: +31 (0) 23 568 11 00
www.industrial.omron.nl
Spain
Tel: +34 913 777 900
www.industrial.omron.es
Finland
Tel: +358 (0) 207 464 200
www.industrial.omron.fi
Norway
Tel: +47 (0) 22 65 75 00
www.industrial.omron.no
Sweden
Tel: +46 (0) 8 632 35 00
www.industrial.omron.se
France
Tel: +33 (0) 1 56 63 70 00
www.industrial.omron.fr
Poland
Tel: +48 (0) 22 458 66 66
www.industrial.omron.pl
Switzerland
Tel: +41 (0) 41 748 13 13
www.industrial.omron.ch
More Omron representatives
www.industrial.omron.eu
Automation Systems
• Programmable logic controllers (PLC) • Human machine interfaces (HMI) • Remote I/O
• Industrial PC’s • Software
Motion & Drives
• Motion controllers • Servo systems • Inverters • Robots
Control Components
• Temperature controllers • Power supplies • Timers • Counters • Programmable relays
• Digital panel indicators • Electromechanical relays • Monitoring products • Solid-state relays
• Limit switches • Pushbutton switches • Low voltage switch gear
Sensing & Safety
• Photoelectric sensors • Inductive sensors • Capacitive & pressure sensors
• Cable connectors • Displacement & width-measuring sensors • Vision systems
• Safety networks • Safety sensors • Safety units/relay units • Safety door/guard lock switches
CD_EN-03A+Pick&Place+Brochure
Although we strive for perfection, Omron Europe BV and/or its subsidiary and affiliated companies do not warrant
or make any representations regarding the correctness or completeness of the information described in this document.
We reserve the right to make any changes at any time without prior notice.
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