USER´S MANUAL
Contents
1. suoupoyioedg ES Gripper dimensions 3 Design specifications 3 1 Occupation area of robot If the robot is integrated into the machine it must be considered what the reach is of all robot parts to prevent collision with other parts in the machine When the TCP moves to its outer positions the primary and secondary arms can rise above the baseplate take care that no mechanical obstructions are in the areas indicated in the below figure 535 100 WARNING A IF MECHANICAL OBSTRUCTIONS ARE IN THE INDICATED AREA THE ROBOT OR THE OTHER MACHINE PARTS COULD BE DAMAGED O O e zh Q Q O gt o 3 2 Gripper interface The below picture shows you the gripper connection sizes according to ISO 9409 1 A31 5 The gripper connection sizes for the robot with or without rotational axis are the same 4 0420 110 5 6 17 0 5 7 110 STC 531 5 08 57 122 18 G1 8 6H 119 46 6 4 The design of the gripper that is mounted under the robot have great influence on the performance of the robot Both the weight of the gripper and the distance of the center of gravity of the gripper to the TCP base point have negative influence on the final performance of the robot If you need to install cabling for the gripper please follow the following steps Mount the cables on the baseplate2. Robot model CR_UDG4_R_HD CR_UDG4_NR_HD X Y axis Stroke 01100mm Working volume Z axis Stroke 250mm max 1100mm 400mm center 0670mm N X180 default setting it can be 0 axis Rotation range changed Arm 1 2 3 1000W Servo motor Rotational axis 4 750W X Y Z axis 0 2mm Repeatability 0 axis 0 3 Maximum through put 150 Maximum payload 2kg 0 axis tolerable moment of inertia 2 According to the servo motor Travel limit Soft limit Noise level 68 dB A Ambient temperature 59 to 45 C Relative humidity Max 90 Protection class IP69K Weight 100kg This is the value at a constant ambient temperature 2 With 0 1kg payload When reciprocating 305mm in horizontal and 25mm in vertical directions 3 There are limits to acceleration coefficient settings 4 CPM Cycle per minutes Check the note 2 for the cycle definition The encoder power and brake cables are included with the Delta robot The last numbers of the Delta robot model code indicate the length of the cables Cable length UGDA xx HD3 O O o h Q Q O gt o UGDA xx HD5 UGDA xx 10 UGDA xx HDIS UGDA xx HD20 6 1 4 1 1 Cycle time If Ta P amp P path Payload Cycle time 25 305 x 25 mm Z1 x Y x Z2 e po zh O Q zi O gt o 2 External view and dimensions
3. 3 2 3 Mounting the motors cabling and gearbox housing 31 Mounting the motors When your robot is delivered without motors you have to mount them by yourself Before mounting the servo motors you have to be sure that the clamping hub screw is in the right position Please see also the below picture Unscrew the blind stop Be sure that the head from the clamping hub screw is in line with the hole o ia Q Q O Altenisan Talenig hocque wt Blind stop Clamping hub screw Now that the clamping hub screws is in the right position you can install the motor Please be sure that the connectors from the motor are correctly positioned Blind stop hole 4 x Allen bolt with washer 3 3 lt Puta drop of Loctite 243 on the 4 Allen bolts Now mount the 4 Allen bolts with washers Tighten the clamping hub screw with the specified torque Mount the blind stop 3 2 Mounting the gearbox housing into the body and connecting the cables First of all we have to feed the servo cables from the electrical cabinet through the cable feed through the pipe in the body see below picture Please don t forget to put a hose around the cables to keep water outside the body o a Q Q O Cable feed through pipe Servo cables The body is executed with 3 compartments Every compartment has his own number starting from 1 till 3 The gearbox housing and the nut are
4. Clean the robot by washing with soft cloth or sponge Use soap or mild detergent and warm water followed by clear water rinse For oil and grease stains use alcohol with soft cloth 3 Spare parts Steel ball bearing package CR_ART 1009 Plain bearing CR_ART 1078 TCP Tool Center Point CR_ART 1166 Ball bearing cups CR_ART 1169 Calibration tool CR_ART 1173 Primary arm set CR_ART 1189 Spring package CR_ART 1190 Secondary arm assembly CR_ART 1191 Hinge rollers 24 pieces CR_ART 1194 Rotational axis CR_ART 1196 Lower side rotational axis CR_ART 1199 Upper side rotational axis CR_ART 1201 Spline part rotational axis CR_ART 1203 Secondary round arm CR_ART 1206 Assembly key motor house CR_ART 1208 4 4 APTA Robot settings Contents 1 Kinematics 5 1 2 Workspace 5 2 3 Software limits 5 3 1 Kinematics The kinematics parameters for CR_UGD4_HD robot are shown below Set these parameters corresponding to the controller settings WARNING A IF THE KINEMATICS PARAMETERS ARE NOT SET PROPERLY THIS MAY CAUSE THE ROBOT TO MALFUNCTION SO BE SURE TO SET THESE PARAMETERS CORRECTLY Kinematics parameters 5 Rf 200 mm Distance radius from the center of the fixed frame to the motor of the axis Rm 50 mm Distance radius from the center of the moving frame to the connection point of Link 2 Lf 320 mm Lengt
5. Installing the robot Performing risk assessment Implementing the required safety functions and safequards Issuing the declaration of conformity Attaching the CE mark S 4 Creating the operating instructions for the complete system Introduction Contents 1 Introduction 1 1 1 4 Description of the robot 1 1 1 2 Type code explanation 1 1 2 Identification 1 1 3 Part names 1 2 1 Introduction Congratulations with the purchase of your high speed Delta robot IP69K This is a high speed pick and place robot which uses state of the art stainless steel 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 HD 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_HD Delta robot is a high speed pick and place robot which uses state of the art stainless steel 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
6. 2 Workspace 52 3 Software limits 5 3 Chapter 6 Specifications 1 Basic specifications 6 1 11 Cycle time 6 2 2 External view and dimensions 6 3 3 Design specifications 6 4 3 1 Occupation area of robot 6 4 3 2 Gripper interface 6 4 3 3 Software design 6 5 3 3 1 Dimensions and limits 6 6 Safety Instructions Contents 1 Attention 2 Explanation of warnings and notes 3 Safety information 3 1 3 2 523 3 4 3 5 51 3 5 2 353 3 5 4 355 General Qualified personnel Liability Installation and operating conditions Residual risks Release device Transport Assembly and start up Maintenance and repair System integrator 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_HD robot for the first time This user s manual is supposed to help you use the capabilities of the CR_UGD4_HD robot safely and properly SUOIJONIISU Ajojos 2 Explanation of warnings and notes This manual uses the following safety alert sym
7. 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 HD robot is an incomplete machine Commissioning is prohibited until the usable machine or system in which the CR UGD4 HD robot is installed meets all requirements of the Machine directive 2006 42 EC For the 0004 HD 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 5 2 3 5 1 Release device The robot mechanics are not supplied with an release switch to control the brakes of the motors
8. WARNING A e 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 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 installe
9. a 3 axis optional 4th rotational axis Delta kinematic system Characteristics of the robot Requires very low maintenance e 3 1 rotational axis optional degrees of freedom Compact design for mounting in a machine Low noise level 68 dB A Equipped with special Delta robot gearboxes P69K protection 1 2 code explanation CR UGD4 R HD 3 1 axes with rotational axis 1100 mm working range max payload 2 kg CR UGD4 NR HD 3 axes without rotational axis 1100 mm working range max payload 2 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 1 lt 3 Part names CR UGD4 HD Cover 0 mi Rotational axis TCP Tool Center Point The CR_UGD4_HD robot consists of three radially placed axis which give the TCP freedom to move in three directions X Y and 7 An optional fourth axis can take care of the rotation Rz of the Optionally the robot is equipped with an extra servo motor for the rotational axis 1 2 Model overview Contents 1 Overview 2 1 1 Overview The CR_UGD4_HD has a working range of 1100 mm The specifications are given in the below figure if specifications differ for models for instance w
10. D 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 springs on damages Only use springs delivered by OMRON otherwise the guarantee will expire Replace springs after overstretching For spare parts see Section 3 Spare parts in this chapter WARNING INCORRECT MOUNTED SPRINGS CAN JUMP AWAY WEAR SUITABLE PROTECTIVE CLOTHING AND SAFETY GLASSES NEVER PULL THE SPRINGS FURTHER APART THAN NECESSARY WHEN MOUNTING THE ARM ASSEMBLY ON THE PRIMARY ARM OR TCP BALL JOINTS ES How to disassemble the springs Disassemble the secondary arms from the robot Replace the springs For re assembling the secondary arms see Section 4 Assembling the secondary arms in Chapter 3 4 1 4 1 2 Ball bearing cups The ball bearing cups has the same lifetime as the springs We recommend to exchange these at the same time as the springs How to maintain the ball bearing cups The ball bearing cups has to be replaced every 3800 working hours or once a year When the ball bearing cups make squeaking noises take of the secondary arm assembly s and clean the cups with pressed air Do not lubricate the ball bearing cups For instructions to replace the ball bearing cups see below picture Description 5 bolt Screw an M5 bolt in the backside from the cup holder Now the ball bearing cup w
11. Delta Robot IP69K USER S MANUAL CONTENTS en Safety Instructions 1 Attention S 1 2 Explanation of warnings and notes 5 1 3 Safety information S2 3 1 General 5 2 3 2 Qualified personnel 5 2 3 3 Liability S 2 3 4 Installation and operating conditions S 2 3 5 Residual risks 5 2 3 5 1 Release device 8 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 Introduction 1 1 11 Description of the robot 1 1 1 2 Type code explanation 1 1 2 Identification 1 1 3 Part names 1 2 Chapter 2 Model overview 1 Overview 2 1 Chapter 3 Installation 1 Unpacking 3 1 11 Unpacking the shipping box 3 1 12 Check the damage 3 1 13 Lifting and transportation 3 1 2 Mounting the robot 3 2 3 Mounting the motors cabling and gearbox housing 3 3 31 Mounting the motors 33 3 2 Mounting the gearbox housing into the body and connecting the cables 3 4 3 3 Mounting the covers 3 8 CONTENTS CR UGD4 HD User s Manual 4 Assembling the secondary arms 3 9 4 1 Make an assembly 3 9 4 2 Mount the arm assembly on the robot 3 10 5 Mounting the rotational axis on the cardan joint 3 11 6 Calibration 3 12 Chapter 4 Maintenance Periodic maintenance 4 1 ll Springs 4 1 12 Ball bearing cups 4 2 13 Rotational axis 4 2 2 Cleaning the robot 4 4 3 Spare parts 4 4 Chapter 5 Robot settings Kinematics 5 1
12. also numbered Please mount all the parts with the same numbers that means Compartment 1 with gearbox housing 1 and nut 1 We will start with assembling of compartment 1 Put the plastic ring in the chamber Put the nut with number 1 in the chamber 3 4 Description Plastic ring Nut 5 o Q Q p O Now feed the servo cables for motor 1 through the hole from the nut plastic ring and housing Now attach the cables to the motor Now the servo cables are attached we have to mount the gearbox housing into the body Please be sure that the rubber O ring see below picture 15 properly installed into the groove As you can see below there is a dowel pin welded in the ring from the body The gearbox housing has a cutout for this pin These have to be mounted into each other 3 5 4 Description O ring Cutout Dowel pin Now you have to put the plastic ring on the flange and mount the nut on the screw thread see below picture First try to fasten the nut as far as you can with your hand o na O Description Plastic ring Screw thread Nut When you can t tighten the nut with your hand anymore you have to use the special tool which is delivered with your robot see below picture Description Hole for torque wrench 1 2 inch When the nut is tightened with your hand you have to tighten it with an torque wrench and the spec
13. bols 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 A THIS INDICATES AN IMMEDIATELY HAZARDOUS SITUATION WHICH IF NOT AVOIDED WILL RESULT IN DEATH OR SERIOUS INJURY WARNING A THIS INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH IF NOT AVOIDED COULD RESULT IN DEATH OR SERIOUS INJURY Explains the key point in the operation in a simple and clear manner S 1 lt SUOIJONIISU AJOJOS 3 Safety information 3 1 General This 3 Safety information subchapter contains information regarding working with the CR UGD4 HD robot Qualified personnel working with the CR_UGD4_HD robot must have read and understood the CR_UGD4_HD 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 0084 HD robot is build using state of the art technology and in accordance with the recognized safety rules Nevertheless misuse of the UGD4 HD robot may constitute a risk to life and limb or cause damage to the CR_ 0004 HD robot and to other material property
14. d 6 Calibration No every robot that is delivered is calibrated If you want to calibrate 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 1173 54 Description Calibration tool WARNING A 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 HOMING YOURSELF THIS MUST BE CARRIED OUT EXACTLY IN THE WAY AND THE ORDER THAT THEY ARE DESCRIBED 3 12 PTAS Maintenance Contents 1 Periodic maintenance 4 1 1 1 Springs 4 1 12 Ball bearing cups 4 2 1 3 Rotational axis 4 2 2 Cleaning the robot 3 Spare parts 1 Periodic maintenance Before working on the robot please be ensured that the machine where the robot is built in is totally switched off DANGER A SWITCH OFF THE MACHINE SYSTEM WHERE THE ROBOT IS BUILT IN E G WITH A PADLOCK 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 COMPLETE
15. d and operational WARNING AWRONG 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 1s completed 5 3 lt SUOIJONIISU Ajojos SUOIJONIISU AJOJOS 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
16. h of Link 1 Lm 850 mm Length of Link 2 5 1 lt 2 Workspace The workspace parameters for the CR_UGD4_HD robot are shown below Set these parameters corresponding to the controller settings WARNING A IF THE WORKSPACE PARAMETERS ARE NOT SET PROPERLY THIS MAY CAUSE THE ROBOT TO MALFUNCTION SO BE SURE TO SET THESE PARAMETERS CORRECTLY Workspace parameters Zu 616 mm Distance from the Z axis origin position O O O o O o Rey 550 mm Radius of the cylinder 250 mm Height of the cylinder Rco 336 mm Radius of the frustum cone of underside Hco 150 mm Height of the frustum cone 3 Software limits The software limits for the CR_UGD4_HD robot are shown below WARNING A IF THE a B OR y 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 CORRECTLY x Minus direction soft limit 47 Plus direction soft limit 99 O O O o O o 5 3 lt Specifications Contents 1 Basic specifications 1 1 Cycle time 2 External view and dimensions 3 Design specifications 3 1 Occupation area of robot 3 2 Gripper interface 3 3 Software design 3 3 1 Dimensions and limits 6 1 6 2 6 3 6 4 6 4 6 5 6 6 1 Basic specifications
17. ial tool as shown below see next picture The tightening torque is 180 Nm Torque wrench Special tool 5 o ia Q Q O Repeat these actions also for the other 2 compartments Now your motors and gearbox housings are mounted 3 7 lt 3 3 Mounting the covers For mounting the cover you first have to adjust the mounting bracket Mount the bracket on the 2 thread ends see below picture Thread end Bracket Adjust the height from the bracket to between 26 29 cm see below picture o a Q Q O gt Now lock the 4 nuts so the bracket is mounted Now mount the cover on the robot with the special bolt please be sure that the edge of the robot body is totally covered 3 8 4 Assembling the secondary arms 4 1 Make an assembly Before mounting the secondary arms on the robot we have to pre assemble them as shown on the below figure so that we get an arm assembly 5 o Q Q p O 3 Description Sanitary cup holder incl ball bearing cup Spring package Secondary arm Repeat this action for the other 2 arm sets WARNING INCORRECT MOUNTED SPRINGS CAN JUMP AWAY WEAR SUITABLE PROTECTIVE CLOTHING AND SAFETY GLASSES NEVER PULL THE SPRINGS FURTHER APART THAN NECESSARY WHEN MOUNTING THE ARM ASSEMBLY ON THE PRIMARY ARM OR TCP BALL JOINTS REPLACE SPRINGS AFTER OVERSTRETCHING 3 9 4 4 2 Mount the arm assembly on the
18. ill come out 1 3 Rotational axis The plain bearings on the rotational axis wear with time so that backlash starts to occur on the rotational axis How fast the plain bearings become worn depends strongly on the following factors The working path The payload The speed of the robot The rotation actions When do I have to exchange the plain bearings If there is a lot of play on the rotational axis Every 3000 working hours or once a year For instructions to replace the plain bearings see below picture 4 2 Description 1 5 bolt with washer Plain bearing Lower rotation tube Unscrew the 5 bolt with washer from the upper plain bearing Remove the lower rotation tube 2 x M5 bolt with washer Lower plain bearing Unscrew the two 5 bolts with washer and take of the old lower and upper plain bearing S Q D Q O O Now put the new upper plain bearing on the tubes Put back the lower plain bearing and the 2 x M5 bolt with washer Tighten the 2 x M5 bolt Now put back the lower rotation tube and mount it with the M5 bolt with washer Tighten the M5 bolt WARNING PLAIN BEARINGS HAS TO BE MOUNTED VERY CAREFULLY WRONG MOUNTED PLAIN BEARINGS MAY DAMAGE EXTEND THE ROTATIONAL AXIS TO ITS ENTIRE LENGTH THEN RETRACT THE SAME AND CHECK WHETHER IT IS EASY TO OPERATE OR WHETHER SOME RESISTANCE OCCURS 4 3 lt 2 Cleaning the robot
19. ith or without rotation axis it is indicated in the specification list The Delta robot is delivered standard with IP69K protection CR_UGD4 HD 1100 mm O Q 2 lt lt z nn 1100 Note that the rotation servo motor on the top of the robot is optional 2 1 lt Installation Contents 1 Unpacking 1 1 Unpacking the shipping box 1 2 Check the damage 13 Lifting and transportation 2 Mounting the robot 3 Mounting the motors cabling and gearbox housing 3 1 Mounting the motors 3 2 Mounting the gearbox housing into the body and connecting the cables 3 3 Mounting the covers 4 Assembling the secondary arms 4 1 Make an assembly 4 2 Mount the arm assembly on the robot 5 Mounting the rotational axis on the cardan joint 6 Calibration 35 3 1 3 1 3 1 35 313 3 3 3 4 3 8 3 9 3 10 3 11 3 12 1 Unpacking 1 1 Unpacking the shipping box The robot comes in a special shipping box The following step must be carried out to remove the cover from the box Unscrew the screws from the cover of the wooden box Now remove the cover 12 Check the damage First take out the individual components from the package and check that everything is complete according to the following list x rotational axis in case of CR UGD4 R HD model x Tool Center Point in case of CR UGD4 NR HD model 6
20. or frame 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 Mount the cables on the secondary arm with ty raps or clamping parts Keep a big loop from the lowest mounting point at the secondary arm till the connection on the gripper 3 3 Software design The arm lengths and pitch circles of the rotation points are shown in the below picture Upper arm rotation points circle diameter 400 mm Upper arm length 320 mm Lower arm length 850 Lower rotation points circle diameter 100 mm O O o h Q Q O gt o 6 5 lt 3 3 1 Dimensions and limits Negative software limit Positive software limit 99 Tb z top baseplate to zero position 270 mm Z tw zero position to top work area 645 mm Top mounting bracket 09 work area O po zh O O zi O gt o Revision history A manual revision code appears as a suffix to the catalog number on the front cover manual Cat No I199E EN 01 L Revision code The following table outlines the changes made to the manual during each revision May 2015 Original production OMRON Authorized Distributor Cat No 1199E EN 01 Note Specifications subject to change without notice Printed in Europe
21. robot For mounting pull a secondary arm with his cup holder over the ball joint of the primary 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 o Q Q O Description TCP Tool Center Point Repeat this action for the other 2 secondary arm assembly s Now your robot mechanic is completely installed 3 10 5 Mounting the rotational axis on the cardan joint This section is applicable only to the CR_UGD4_R_HD model with rotational axis Please perform the following steps first Extend the rotational axis to its entire length then retract the same and check whether it is easy to operate or whether some resistance occurs NOTE A light 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 damage or contact your OMRON representative 5 o Q Q O Description Hole for M5 mounting bolt Rotational axis Assembling to the Cardan joint 3 11 4 Cardan joint Top connector rotational axis Puta drop of Loctite 243 on the supplied M5 bolt with washer Now attach the top connector to the Cardan joint Tighten the M5 hexagon bolt with 9Nm The rotational axis is now mounte
22. x secondary arms 12 x springs 1 x top cover Check all the components and the robot for transportation damage 5 o Q Q p O 1 3 Lifting and transportation Before the robot is lifted it must be ensured that it is free from obstructions Remove all the screws where the robot is mounted with in the box The robot must be lifted and transported by using lifting tackle or a forklift truck Two lifting straps has to be attached into two eyebolts that are screwed into the baseplate The lifting straps has to be long enough and must be routed in such a way that the robot is not damaged WARNING THE ROBOT MAY TILT DURING TRANSPORTATION ADDITIONAL SAFEGUARDING MEASURE MUST BE TAKEN WEAR SUITABLE PROTECTIVE CLOTHING IF NECESSARY WHEN USING A FORKLIFT TRUCK DRIVE EXTREMELY SLOWLY AND CAREFULLY 3 1 lt 2 Mounting the robot The mounting surface for the robot must be machined and of an appropriate quality It s also possible to use a levelling element to align the robot Three M16 bolts are needed to mounting the robot to the frame exact bolt length depends on frame layout The tightening torque ofa M16 6 8 bolt is 140Nm The below figure shows the mounting pattern from the robot 3x 120 mounting o a Q Q O 680 NOTE It is advisable to put one motor of the robot in line with the direction of the transport belt to make programming easier
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