Omron CR_UDG4_NR, User Manual

Page 1: ...ZX T Series Cat No I192E EN 01 Delta Robot USER S MANUAL Delta Robot CR_UGD4 Series...

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Page 3: ...embly and start up S 3 3 5 4 Maintenance and repair S 3 3 5 5 System integrator S 4 Chapter 1 Introduction 1 Introduction 1 1 1 1 Description of the robot 1 1 1 2 Type code explanation 1 1 2 Identific...

Page 4: ...6 Calibration 3 10 Chapter 4 Maintenance 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 Chapter 5 Robot setting...

Page 5: ...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 star...

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Page 7: ...first time This user s manual is supposed to help you use the capabilities of the CR_UGD4 robot safely and properly 2 Explanation of warnings and notes This manual uses the following safety alert sym...

Page 8: ...ibed 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 Direct...

Page 9: ...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 bodie...

Page 10: ...e 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 d...

Page 11: ...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...

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Page 13: ...tag of the robot 1 1 Description of the robot The CR_UGD4 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...

Page 14: ...tational axis Motor connector Encoder connector the cR_ugD4 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 ta...

Page 15: ...Chapter 2 Model overview Contents 1 Overview 2 1...

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Page 17: ...or 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 c...

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Page 19: ...ng 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 Assembl...

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Page 21: ...D4_R model 1 x tcP tool center Point in case of cR_ugD4_NR model 6 x secondary arms 6 x spring package 12 x spring brackets and 12 x spring Check all the components and the robot for transportation da...

Page 22: ...Ng tRaNSPORtatION aDDItIONal SafEguaRDINg MEaSuRE MuSt BE takEN wEaR SuItaBlE PROtEctIvE clOthINg If NEcESSaRy whEN uSINg a fORklIft tRuck DRIvE ExtREMEly SlOwly aND caREfully 1 2 3 No Description 1 L...

Page 23: ...bolts are needed to mounting the robot to the frame exact bolt length depends on frame layout The tightening torque of a M16 6 8 bolt is 140Nm The below figure shows the mounting pattern from the rob...

Page 24: ...the following picture Remove the M6 allen bolt 1 2 No Description 1 1 x M6 Allen bolt 2 Motor cover Remove the motor cover Repeat this process for the other two motor covers 3 2 Connecting the cables...

Page 25: ...nto the cable entry plate afterwards also slide the blind thule back into the cable entry plate Mount the cable entry plate on the baseplate using the 4 M5 allen bolts 3 3 Mounting the motor covers Mo...

Page 26: ...e type of rotation motor or gearbox with rotation motor a special adaptor ring for mounting is included 1 2 No Description 1 Gearbox or motor 2 Adaptor ring Now mount the adaptor ring with the motor o...

Page 27: ...bly 1 2 3 No Description 1 Sanitary cup holder incl ball bearing cup 2 Spring package 3 Secondary arm Repeat this action for the other 2 arm sets WARNING INcORREct MOuNtED SPRINgS caN juMP away wEaR S...

Page 28: ...ary arm Now pull the arms apart against the force of the spring in order to pull the second arm over the second ball joint of the primary arm then repeat this action for the tcP see below picture 1 No...

Page 29: ...ht irregular resistance is normal and caused by the manufacturing tolerances of the tubes the axis is run in during the first 150 hours of operation In case of problems please check the axis for damag...

Page 30: ...the robot by yourself a calibration kit with a special tool is available shown in the below picture The calibration set can be ordered as CR_ART 1007 No Description 1 Calibration tool The following st...

Page 31: ...Remove the tool WARNING calIBRatINg thE ROBOt MuSt BE caRRIED Out By QualIfIED PROgRaMMINg PERSONNEl ONly aS thIS REQuIRES aN ExcEllENt lEvEl Of kNOwlEDgE Of thE cONtROl SyStEM whEN caRRyINg Out thE h...

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Page 33: ...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...

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Page 35: ...CTIVATED IMMEDIATELy AfTER ThE WORK IS COMPLETED 1 1 Springs how to maintain the springs the springs has to be replaced every 3800 working hours or once a year when the robot is fall apart check the s...

Page 36: ...eplace the ball bearing cups see below picture 1 No Description 1 M5 bolt Screw an M5 bolt in the backside from the cup holder Now the ball bearing cup will come out 1 3 Rotational axis The plain bear...

Page 37: ...p connector unscrew the three M5 bolts with washer from the top connector and the slider clamp top Remove the top connector from the tubes Remove the slider clamp top with the plain bearings Now excha...

Page 38: ...ssembly CR_ART 1006 1 Calibration tool CR_ART 1007 Steel ball bearing package CR_ART 1009 TCP Tool Center Point CR_ART 1019 Plain bearing CR_ART 1020 Secondary round arm CR_ART 1026 12 x spring CR_ART...

Page 39: ...Chapter 5 Robot settings Contents 1 Kinematics 5 1 2 Workspace 5 2 3 Software limits 5 3...

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Page 41: ...ARAMETERS ARE NOT SET PROPERLy ThIS MAy CAUSE ThE ROBOT TO MALfUNCTION SO BE SURE TO SET ThESE PARAMETERS CORRECTLy Lm mm Rf Lf Rm Kinematics parameters Rf 200 mm Distance radius from the center of th...

Page 42: ...KSPACE PARAMETERS ARE NOT SET PROPERLy ThIS MAy CAUSE ThE ROBOT TO MALfUNCTION SO BE SURE TO SET ThESE PARAMETERS CORRECTLy Zu Rcy Hcy Hco Rcy Rco Workspace parameters Zu 616 mm Distance from the Z ax...

Page 43: ..._UGD4 robot are shown below WARNING If ThE OR axIS SOft lIMIt IS SEt INcORREctly thE aRM May cOllIDE wIth thE ROBOt BaSE OR BaSE PREPARED By ThE USER CAUSING BREAKAGE SO BE SURE TO SET ThE SOfT LIMITS...

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Page 45: ...ents 1 Basic specifications 6 1 1 1 Cycle time 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 3 Software design 6 4 3 3...

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Page 47: ...o motor user tubing outer diameter 8 5 Travel limit Soft limit Noise level 68 dB a Ambient temperature 5 C to 45 C Relative humidity Max 90 Protection class IP65 Weight 65kg 1 This is the value at a c...

Page 48: ...6 Specifications 6 2 2 External view and dimensions 67 0 ULSSHU GLPHQVLRQV 0...

Page 49: ...ve the baseplate take care that no mechanical obstructions are in the areas indicated in the below figure 350 130 150 335 200 80 42 75 WARNING If MEChANICAL OBSTRUCTIONS ARE IN ThE INDICATED AREA ThE...

Page 50: ...me near the turning point from the primary arm on the gearbox Mount the cables on the primary arm with ty raps or clamping parts keep a big loop at the hinge point from the primary and secondary arm M...

Page 51: ...s and limits Description Value Negative software limit 47 Positive software limit 99 tb z top baseplate to zero position 90 mm z tw zero position to top work area 660 mm Top mounting bracket Top work...

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Page 53: ...ears as a suffix to the catalog number on the front cover manual Cat No I192E EN 01 Revision code The following table outlines the changes made to the manual during each revision Revision code Date De...

Page 54: ...Cat No I192E EN 01 Note Specifications subject to change without notice Authorized Distributor Printed in Europe...