ROKAE XB16 Product Manual

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XB16/XB20/XB25

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Page 1 XB16/XB20/XB25 Product Ma n ual...
Page 4 We will check the contents of this manual on a regular basis. No prior notice will be given if there is any change in the contents of the manual. It is impossible for ROKAE to foresee all hazards and consequences, and therefore this manual cannot warn the user of all possible hazards.
Page 5: Table Of Contents
2.3.11 Safe handling on the production line................13 2.3.12 Safe handling of fire accidents ..................13 2.3.13 Safe handling of electric shock accidents ..............14 2.4 Personnel and work content requirements ..................14 2.4.1 Definition of personnel ....................... 14 2.4.2 Personnel requirements ..................... 15 XB16/XB20/XB25 Product Manual...
Page 6 5.4.1 Unpacking ..........................36 5.4.2 Robot transportation angle ....................39 5.4.3 Inspection before the transportation ................39 5.5 On-site installation ..........................39 5.5.1 Handling ..........................40 5.5.2 Installing the robot ......................42 5.5.3 Fixing the required parts ..................... 43 XB16/XB20/XB25 Product Manual...
Page 7 7.3.5 Battery replacement ......................66 7.3.6 Maintenance of timing belts ....................67 7.4 Cleaning .............................. 69 7.5 Confirmation after maintenance ..................... 69 7.6 Maintenance Part List ........................69 8 Common Failures ......................71 8.1 Introduction ............................71 XB16/XB20/XB25 Product Manual...
Page 8 Contents 8.2 Analysis of the failure causes and countermeasures ..............71 Revision ..........................75 XB16/XB20/XB25 Product Manual...
Page 9: Manual Overview
For matters related to maintenance and repair of the robot, please contact our after-sales department or the local reseller. Service hotline: 400-010-8700. Get the following information ready when contacting us:  Controller model/serial number  Robot model/serial number  Software name/version  Problems with the system XB16/XB20/XB25 Product Manual...
Page 11: Safety
2.1.1 Safety responsibility description ROKAE is dedicated to but not liable for providing reliable safety information. Even if all operations are carried out according to the safe operation instructions, we cannot guarantee that our industrial robots will not cause personal and property losses.
Page 12: Hazard Description
During the maintenance and repair of the equipment, a burn may be caused if the maintenance personnel touch the surface robot's hot surface. Electric The current operation may cause an electric shock with a shock serious or even fatal injury. XB16/XB20/XB25 Product Manual...
Page 13: Safety Features
The robot system is designed in accordance with the following relevant standards: Standard Description 2006/42/EC Machinery directive 2014/30/EU Electromagnetic compatibility directive EN ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk reduction XB16/XB20/XB25 Product Manual...
Page 14: Motion Enabling And Safe Stop
Therefore, This emergency stop method provides the best protection for nearby equipment. Both safe stops arising from the opening of safety gate/safety grating in automatic mode and pressing of the emergency stop button in automatic mode are STOP 1. XB16/XB20/XB25 Product Manual...
Page 15: Safety Devices
Jog or run programs. Either releasing or pressing all the way down will cut off the motor power supply. XB16/XB20/XB25 Product Manual...
Page 16: Safety Precautions
Therefore, one must observe the safety specifications when entering the working range of the robot. 2.3.1.2 About this section This section will describe some basic safety specifications to the end users of the robot. XB16/XB20/XB25 Product Manual...
Page 17: About The User's Own Safety
Please keep the key properly and carefully consider the user permission of the key. Generally, only those personnel who have completed safety training and basic operation training can have the permission to use the key. XB16/XB20/XB25 Product Manual...
Page 18: Safety Precautions For Using The Control Cabinet
The control cabinet is only used to control motion of the robot arm body. Using it for any other purposes, such as standing on the cabinet body, working on the control cabinet and using the cabinet body as a ladder, is prohibited. 2.3.5 Emergency stop button test XB16/XB20/XB25 Product Manual...
Page 19: Resetting The Emergency Stop
It is very necessary to carry out band-type brake tests to ensure its functioning. The testing method is as follows: Operation In manual mode, run each axis to its maximum load position. Press the enabling switch and keep it in the middle position. XB16/XB20/XB25 Product Manual...
Page 20: Manual Release Of The Band-Type Brake
Jog or run programs on the robot, regardless of the set velocity in the program. 2.3.9.3 Bypass external safety signals In manual mode, signals of external safety devices such as the safety door and safety grating will be bypassed, i.e. in manual mode, the system can still perform motor enabling operations XB16/XB20/XB25 Product Manual...
Page 21: Safety Precautions In Auto Mode
When the fire has spread and become out of control, the personnel on site should immediately notify other personnel to give up their personal belongings and evacuate from the emergency exit as soon as possible rather than trying to put out the fire. Do not use the elevator during XB16/XB20/XB25 Product Manual...
Page 22: Safe Handling Of Electric Shock Accidents
Teach Pendant or other interfaces, but may not enter into the safety zone.  Debugging personnel The debugging personnel can conduct robot operations, enter into the safety zone and perform operations such as setting, teaching and programming on the robot. XB16/XB20/XB25 Product Manual...
Page 23: Personnel Requirements
Otherwise, the robot may fall due to misoperation, thus leading to personal injury and death or equipment damage.  When the robot equipment is put into use for the first time after installation, make sure to XB16/XB20/XB25 Product Manual...
Page 24: Safety Training
 Appropriate lighting should be provided during the maintenance.  In case of part replacement, make sure to use a part specified by ROKAE. Otherwise, the robot equipment may be damaged.
Page 25: Personnel Safety
 At the running velocity of actual application, execute the program continuously for at least one cycle to confirm that everything is normal. 2.5.2.3 Safety of maintenance personnel The following precautions should be fully noted in order to ensure the safety of the maintenance personnel: XB16/XB20/XB25 Product Manual...
Page 26  When servicing the interior of the control cabinet, if it is necessary to touch the power supply unit or printed circuit board, make sure to switch off the power supply of the main circuit breaker of the control cabinet first to prevent electric shock. XB16/XB20/XB25 Product Manual...
Page 27: Product Overview
3 Product Overview 3 Product Overview 3.1 Introduction The XB16/XB20/XB25 series is a multi-configuration light-weight industrial robot product family with flexible configuration options to meet the requirements of diverse industrial application scenarios. 3.2 Robot 3.2.1 Overview Basic configuration of the robot series:...
Page 28: Robot Arm Body
Base - The base is the foundation of the entire robot, with the electrical interface of the robot arranged behind. Fig. 3 Movement direction of each axis Component name Wrist Upper arm Lower arm Swing joint Base XB16/XB20/XB25 Product Manual...
Page 29: Symbols And Labels
High Burns may occur if temperature maintenance surface personnel touch symbol the hot surface of the robot during equipment repair or maintenance. XB16/XB20/XB25 Product Manual...
Page 30 3 Product Overview Position Label type Remarks Legend Safety warning Keep away from symbol the machine in case of collision Logo XB16/XB20/XB25 Product Manual...
Page 31: Technical Specifications
±180° motion +156°~-99° +156°~-99° +156°~-99° +75°~-200° +75°~-200° +75°~-200° ±180° ±180° ±180° ±135° ±135° ±135° ±360° ±360° ±360° Maximum 204°/s 204°/s 204°/s velocity 186°/s 186°/s 186°/s 183°/s 183°/s 183°/s 492°/s 492°/s 492°/s 450°/s 450°/s 450°/s 705°/s 705°/s 705°/s XB16/XB20/XB25 Product Manual...
Page 32: Allowable Wrist Payload
In order to avoid robot failure and damage caused by overload, the payload installed on the robot is not allowed to exceed the allowable torque and inertia. For XB16/XB20/XB25 models, the allowable moment and inertia are shown in the following table:...
Page 33: Center Of Gravity Of The Load
The distance is illustrated in the figure below. See the Load diagram for the rated distance. Fig. 6 Center of gravity of the load 4.4.3 Load diagram Fig. 7 Load diagram for XB16 XB16/XB20/XB25 Product Manual...
Page 34: Calculating The Inertia Moment
4 Technical Specifications Fig. 8 Load diagram for XB20 Fig. 9 Load diagram for XB25 4.4.4 Calculating the Inertia Moment XB16/XB20/XB25 Product Manual...
Page 35 The allowable inertia moment of XB4 series robots can be found in 4.4.1. Please calculate the inertia of the load before use and ensure that it is used within the allowable value. Tips In general, the mass, centroid and inertia information of the load can be quickly obtained in CAD software! XB16/XB20/XB25 Product Manual...
Page 36: Working Space
4 Technical Specifications 4.5 Working space The XB16 working space is shown in the figure below: Fig. 10 XB16 working space XB16/XB20/XB25 Product Manual...
Page 37 4 Technical Specifications The XB20 working space is shown in the figure below: Fig. 11 XB20 working space XB16/XB20/XB25 Product Manual...
Page 38 4 Technical Specifications The XB25 working space is shown in the figure below: Fig. 12 XB25 working space XB16/XB20/XB25 Product Manual...
Page 39: Overall Dimensions And Mechanical Interfaces
4.6 Overall dimensions and mechanical interfaces Extra load can be applied to the lower arm and upper arm of the XB16/XB20/XB25 robot series. See the figure below for its mounting interfaces and the interference radius of Axes 1, 3 and To ensure the service life of the threads, do not remove the interface mounting screws frequently.
Page 40 4 Technical Specifications The overall dimensions and external interface dimensions of XB20 are shown in the figure below: Fig. 14 Overall dimensions and mechanical interfaces of XB20 XB16/XB20/XB25 Product Manual...
Page 41: Mounting Flange
Pay attention to the interference zone at the end of the fixture during design. The mounting flange of XB16/XB20/XB25 robots is shown in the figure below: Fig. 16 Mounting flange...
Page 43: Environment And Installation
Connect the I/O signal cable and air pipe ① 5.3 Environmental conditions The robot is suitable for general industrial environments, which should meet the following conditions: Item Condition Temperature 0°C~+40°C Relative humidity 20%~80%, no condensation Electrical fast Below ±2kV transient (EFT) XB16/XB20/XB25 Product Manual...
Page 44: Unpacking
Protective gloves Unpacking procedures: ① Step 1: Open the wooden packaging box Put on a pair of protective gloves, remove the fixed bolts, and move the wooden box upwards to separate the wooden box from the bottom pallet. XB16/XB20/XB25 Product Manual...
Page 45 Bolt 4-M12x100 Flat washer Spring washer ② Step 2: Remove the packaging of the control cabinet and the Teach Pendant cardboard Use a pair of scissors to cut off the packing straps fixing the Teach Pendant cardboard box XB16/XB20/XB25 Product Manual...
Page 46 Handle the robot arm body carefully after removing the bolts. XB16/XB20/XB25 Product Manual...
Page 47: Robot Transportation Angle
Before moving the robot, check its stability and refer to "5.5.1.2 Tilt risk" Once the above conditions are met, you can move it to the installation site according to the descriptions in the next section 5.5 On-site installation XB16/XB20/XB25 Product Manual...
Page 48: Handling
797.2 1382.2 5.5.1.4 Crane The weight of XB16/XB20/XB25 robot body is about 260kg, and the weight of the control cabinet is about 80kg, please choose a sling or protected steel wire rope with sufficient strength. Avoid excessive vibration and collision during handling, otherwise the performance of precision equipment will be affected.
Page 49 Warning The weight of an XB16/XB20/XB25 robot arm body is about 260kg. Use a lifting hook and a lifting rope with the bearing strength of 400kg or more. It is recommended to use a sling or protected steel wire rope as the lifting rope to prevent the lifting rope from damaging the arm body painting.
Page 50: Installing The Robot
When removing any screws from the robot equipment, hold the robot steady in order to prevent rollover; Retrofitting or disassembling the equipment is prohibited. If disassembly is necessary, please contact us. XB16/XB20/XB25 Product Manual...
Page 51: Fixing The Required Parts
5.5.4 Bracket installation When the bracket installation method is selected, see the figure below for the reference bracket size for the XB16/XB20/XB25 base bracket installation: Fig. 23 Bracket fixing method Description Cylindrical pin...
Page 52: Foundation Installation
For the torque and supporting reaction force generated by the robot action, refer to  "5.5.6Supporting reaction force of the robot". 5.5.5 Foundation installation When the foundation installation method is selected, see the figure below for the installation and adaptation dimensions of XB16/XB20/XB25: Fig. 24 Foundation fixing method Description Cylindrical pin Adaptation plate...
Page 53: Electrical Connection
6700 Tips The above force and torque data are the limit values that may appear during the motion of the robot. The limit values occur seldom and cannot be reached at the same time. 5.6 Electrical connection XB16/XB20/XB25 Product Manual...
Page 54: Definition Of The Robot Arm Body Side Ports
Make sure that the equipment is properly grounded to avoid the risk of electric  shock. 5.6.1 Definition of the robot arm body side ports Fig. 26 Definition of the robot arm body side ports Power port definition table Definitio A1-U A1-V A1-W A1-PE Definitio A2-U A2-V A2-W A2-PE XB16/XB20/XB25 Product Manual...
Page 55: Definition Of The Control Cabinet Side Ports
5.6.3 Definition of the IO fitting pins Fig. 27 Definition of the IO fitting pins Forearm IO connector and base IO connector are connected with numbered pins one by one which are defined as follow: XB16/XB20/XB25 Product Manual...
Page 56: Cabinet Cable Length And Wiring Method
Please refer to the position of each pipeline interface in the following figure for user wiring. The specifications of IO cable plug and gas pipe are shown in the following table. Specification IO Plug 24 wires, 30V, 1.5A Air In 2-φ8, 8bar Air Out 2-φ8(AIR1,AIR2/AO), 8bar XB16/XB20/XB25 Product Manual...
Page 57: Brake Release
Air Out Air In 5.8 Brake release In order to facilitate debugging and maintenance, XB16/XB20/XB25 robot has brake release buttons on the base. The operation steps are as follows: Remove the 6-M3 screws on the brake release cover; Open the brake release cover;...
Page 58 Before the brake release of A2 and A3 joints, please use tools such as crane to fix the lower arm and forearm; otherwise, the arms will fall down due to the brake release, resulting in personal injury or equipment damage. XB16/XB20/XB25 Product Manual...
Page 59: Zero Calibration
Then calibrate each axis (just click the corresponding calibration button on HMI to record the multiturn value of the encoder), which can ensure that the zero position after calibration is exactly the same as the first mechanical calibration. XB16/XB20/XB25 Product Manual...
Page 60: When Is Zero Calibration Required
Axis 6 zero point (please specify when ordering).It is recommended to design a 5(+0.02,+0.05)mm keyway on the end tool flange to cope with the calibration tool. Fig. 30 Calibration method Position Axis A1 calibration position Axis A2 calibration position XB16/XB20/XB25 Product Manual...
Page 61: Mechanical Calibration
"Calibrate" button for the corresponding joint on the HMI and The joints with coupling relationship complete the calibration of that need to be calibrated simultaneously. joint. After this, you can continue to move the next joint. XB16/XB20/XB25 Product Manual...
Page 62: Software Calibration
The zero calibration interface is under the "Calibration" category. Jog the robot to the zero mark on each axis and make sure they are aligned in the single-axis mode, and XB16/XB20/XB25 Product Manual...
Page 63: Zero Check
(The robot can be moved to zero position quickly by using the HMI, see Fig. 34). If the robot cannot return to the correct zero position, please contact us. Fig. 33 Zero position of the robot XB16/XB20/XB25 Product Manual...
Page 64 6 Zero calibration Fig. 34 How to move to zero position XB16/XB20/XB25 Product Manual...
Page 65: Maintenance
Other items can also be added according to the intervals. 1） With the power OFF Item Position Interval Daily months months months months Check screws Externally ● for loosening visible screws Screws ● around the axis XB16/XB20/XB25 Product Manual...
Page 66: Lubrication
Check the whole Whole ● ● ● ● ● robot for abnormal robot sound and vibration Check for change in Whole ● positioning accuracy robot and deviation of the stop position from the start position 7.3.2 Lubrication XB16/XB20/XB25 Product Manual...
Page 67 In addition, when using a manual pump, in order to ensure smooth removal of used oil inside the reducer, it is recommended that after a period of oil refill, stop for a period of time, wait until the outlet does not discharge any grease before continuing to refill oil. XB16/XB20/XB25 Product Manual...
Page 68 The robot has been filled with a specified amount of grease when leaving the factory. Do not mix with other greases, otherwise, the reducer may break down after it is used for a period of time. 7.3.2.3 A1 Lubrication Fig. 36 A1 grease refill XB16/XB20/XB25 Product Manual...
Page 69 Refill oil from the oil inlet with an oil gun. The refill speed should not exceed 300g/min, until the old oil is completely emptied and the new oil flows out. When the grease replacement is completed, install the plug at the oil inlet, and apply the Three Bond 1215 sealant to the thread; XB16/XB20/XB25 Product Manual...
Page 70 50% in the motion range of ±70° to discharge redundant grease and gas; Wipe the redundant grease out of oil outlet with a cloth, and install the plug at the oil outlet. Apply the Three Bond 1215 sealant to the screw thread of the plug. 7.3.2.6 A4 Lubrication XB16/XB20/XB25 Product Manual...
Page 71 Wipe the redundant grease out of oil outlet with a cloth, and install the plug at the oil outlet. Apply the Three Bond 1215 sealant to the screw thread of the plug. 7.3.2.7 A6 Lubrication Fig. 40 Grease refill XB16/XB20/XB25 Product Manual...
Page 72: Motor Sealing
BZ01 screw plug back. 7.3.3 Motor sealing The Axes 1~3 of the XB16/XB20/XB25 robot are exposed to the outside of the robot arm body. When it is necessary to remove the motor for maintenance or repair, apply a small amount of the Three Bond 1211 sealant evenly to the motor flange contact surface before installing the motor.
Page 73: Fastening Of Socket Head Cap Screws
When fixing, do not tighten the screws one at a time, but tightening in 2~3 times by using a hex wrench, and then tighten the screws by following the tightening torques listed in the table above using a torque wrench. Fig. 42 Screw tightening diagram Description Hole XB16/XB20/XB25 Product Manual...
Page 74: Battery Replacement
During the battery replacement, take necessary precautions to prevent others from switching on the system power supply. Step 2: Remove the fixing screws 6-M4X16 from the electrical installation board of the base and pull out the electrical installation board; XB16/XB20/XB25 Product Manual...
Page 75: Maintenance Of Timing Belts
After replacement, conduct a zero calibration on the robot. If you have any problem during the adjustment, please contact ROKAE. Axes 5 and 6 of the robot are all driven by timing belts. If they become loosened, they may cause abnormal sound, accuracy decrease and other failures.
Page 76 Install the side cover of the upper arm.  If the timing belt or sealing gasket is found to be damaged, replace it in time. After replacement, perform another zero calibration on the robot. Fig. 45 Maintenance of timing belts XB16/XB20/XB25 Product Manual...
Page 77: Cleaning
Only switch on the power supply of the robot when all the basic items above are inspected and confirmed. 7.6 Maintenance Part List Name Position Code Remarks Reference section Timing 14040300106 B=9mm 7.3.6.1 belt 14040300105 B=9mm 7.3.6.2 Battery Base electrical 15020301005/15 Battery pack / 7.3.5 pack installation board 070401332 Encoder battery XB16/XB20/XB25 Product Manual...
Page 78 7 Maintenance component Grease Wrist 19010100009 96 grease 7.3.2 (appropriate amount) XB16/XB20/XB25 Product Manual...
Page 79: Common Failures
8.2 Analysis of the failure causes and countermeasures Possible failures of the robot are summarized in the table below. For those circumstances not mentioned in the list and for which causes cannot be identified, please contact ROKAE promptly. Failure...
Page 80 May be caused by wear of oil seal lip by impurities in extreme conditions; May be caused by improper sealing between the XB16/XB20/XB25 Product Manual...
Page 81 The offset may be caused by motor encoder failure. Position offset after The origin may be Perform the zero parameter changes calibration again. lost due to parameter changes. XB16/XB20/XB25 Product Manual...
Page 83 Revision Revision Version Date Content 2021/10/22 Initial version XB16/XB20/XB25 Product Manual...
Page 85 [Back cover page]...

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