ROKAE xMate CR12 Hardware Installation Manual

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Hardware installation manual (65 pages)

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xMate CR12

Hardware Installation

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Page 1 CR12 Hardware Installation Manual...
Page 4 This manual is originally written in Simplified Chinese. Other language versions are translated. Copyright © ROKAE 2015-2022. All rights reserved. ROKAE (Shandong) Intelligent Technology Co., Ltd. Shandong, China...
Page 5: Table Of Contents
202206261124/V0.1 Contents 1 Manual Overview ......................5 1.1 About this manual ............................5 1.2 Target group..............................5 1.3 How to read the product manual ......................5 1.4 Illustrations in this manual ........................5 1.5 Related product documents ........................5 1.6 Contact ................................. 5 2 Safety ..........................6 2.1 Introduction ..............................
Page 6 202206261124/V0.1 4.2.1 Model ............................16 4.2.2 Nameplate ........................... 16 4.3 Specifications ............................16 4.3.1 Data sheet............................ 16 4.4 Working space ............................18 5 Unpacking and Installation ..................19 5.1 Introduction .............................. 19 5.2 Installation flow chart ..........................19 5.3 Environmental conditions ........................19 5.4 Unpacking and hardware installation ....................
Page 7 202206261124/V0.1 7.2 Maintenance safety ........................... 42 7.3 Maintenance schedule ..........................42 7.4 Check ................................42 7.5 Cleaning ..............................43 8 Zero Calibration ......................45 8.1 Introduction ............................... 45 8.1.1 Overview ............................45 8.1.2 What is a mechanical zero? ....................... 45 8.1.3 What is zero calibration?......................
Page 9: Manual Overview
Also, figures of other models may be used to describe some general information. 1.5 Related product documents This document is the product manual for the xMate CR12 robot and is intended to be used with the following documents: xCore Control System User Manual ⚫...
Page 10: Safety
2.1.1 Safety responsibilities ROKAE is dedicated to but not liable for providing reliable safety information. Even if all safety instructions are followed, there is no guarantee that xMate CR12 will not cause any personal injury or property damage.
Page 11: Safety Notice
If you are unsure about the risks during the use of the robot, please contact ROKAE ⚫...
Page 12: Enabling Switch
2 Safety 202206261124/V0.1 2.3.2 Enabling switch 2.3.2.1 Enabling device The enabling device is a special switch with two contacts and three positions, and is also called a three-position enabling switch (hereinafter referred to as "enabling switch"). It is used to power on/off the joints in Manual mode to enable robot motions. The robot will be powered on and able to move only after the enabling switch is pressed and held in the middle position.
Page 13: Safety Precautions
STOP1: The robot comes to a controlled stop. Then the motor power is switched off ⚫ and brakes are engaged. For the xMate CR12 robots, STOP0 is used for handheld emergency stop signal processing. 2.5 Safety precautions 2.5.1 Operating safety 2.5.1.1 General principles...
Page 14: Safety Precautions In Automatic Mode
2 Safety 202206261124/V0.1 In Manual mode, the speed of the robot's end effector is limited to 250 mm/s. This means that the maximum speed of the robot will not exceed 250 mm/s whether you jog the robot or execute a program, regardless of the speed set in the program. 2.5.3.3 Bypassing external safety signals In Manual mode, signals of external safety devices such as the safety gate and safety grating will be bypassed.
Page 15 2 Safety 202206261124/V0.1 Test that the emergency stop button on the handheld emergency stop and enabling ⚫ device can stop the robot and engage brakes. Test that the robot can switch between Manual and Automatic mode. ⚫ Test that the 3-position handheld emergency stop and enabling device must be ⚫...
Page 16: Product Overview
3 Product Overview 202206261124/V0.1 3 Product Overview 3.1 Introduction xMate CR12 is a new generation of flexible collaborative robot that boosts industrial productivity with highly sensitive force sensing and highly dynamic force control. 3.2 Robot 3.2.1 Overview The basic configuration of xMate CR12:...
Page 17: Definitions Of Rotation Directions And Coordinate Systems
3 Product Overview 202206261124/V0.1 protection device Power adapter and cables Other interfaces and accessories 3.2.3 Definitions of rotation directions and coordinate systems The flexible collaborative robot features 6 degrees of freedom, or 6 joints or axes (see Figure 4 for details). The definitions of axis rotation directions and coordinate systems are described below.
Page 18: Symbols And Labels
3 Product Overview 202206261124/V0.1 Figure 4. Definitions of robot rotation directions and coordinate systems 3.3 Symbols and labels xMate CR12Hardware Installation Manual...
Page 19 3 Product Overview 202206261124/V0.1 Figure 5. Symbols and labels Position Label type Remarks Arm body logo Product nameplate Indicates product model and other product information. Electrical hazard Do not touch the electrical symbol components inside a live robot to avoid the risk of electric shock. xMate CR12Hardware Installation Manual...
Page 20: Technical Specifications
4 Technical Specifications 202206261124/V0.1 4 Technical Specifications 4.1 Introduction This section describes the performance parameters of the xMate CR12 flexible collaborative robot. 4.2 Model and nameplate 4.2.1 Model Figure 6. Model description 4.2.2 Nameplate Figure 7. Nameplate 4.3 Specifications 4.3.1 Data sheet...
Page 21 4 Technical Specifications 202206261124/V0.1 Number of axes Maximum reach 1300 mm Repeatability ±0.02 mm Maximum payload 12 kg Axis 1 ±175° Axis 2 ±170° Axis 3 ±175° Range of motion Axis 4 ±175° Axis 5 ±175° Axis 6 ±175° Axis 1 120°/s Axis 2 120°/s...
Page 22: Working Space
4 Technical Specifications 202206261124/V0.1 4.4 Working space The working space of xMate CR12 is shown in the figure below. Figure 8. The working space of xMate CR12 xMate CR12Hardware Installation Manual...
Page 23: Unpacking And Installation
202206261124/V0.1 5 Unpacking and Installation 5.1 Introduction This section contains instructions for unpacking and installing the xMate CR12 flexible collaborative robot. 5.2 Installation flow chart The installation flow chart is used to check the robot installation progress. Put a check mark in the "Completed"...
Page 24 5 Unpacking and Installation 202206261124/V0.1 Avoid exposure to sunlight. Keep away from salt, etc. Keep away from flammable and corrosive liquids and gases. Protect from shock and vibration. Keep away from sources of electrical interference. Warning Never place or use the robot in any explosive environment! Notes At low ambient temperature (<...
Page 25: Unpacking And Hardware Installation
Remarks Power cord AC 220V 2M Power cord DC 48V 5M Servo debug cable USB drive Rokae 32G Mechanical zero xMate CR12 calibration block calibration block Interface adapter With wrist flange interface xMate CR12 Hardware Electronic xMate CR12Hardware Installation Manual...
Page 26: Robot Angle And Force Application Points During Transportation
Control System drive User Manual Top liners Power adapter xMate CR12 Handheld emergency With cables stop & enabling device Bottom liners ② Step 2: Take out the parts from the box in order Keep the above parts and accessories properly and handle items such as power adapters and cables with care.
Page 27: Check Before Installation
5 Unpacking and Installation 202206261124/V0.1 Warning The arrows in the figure indicate the suggested locations and directions of force application on the robot during packaging and transportation. It is strongly NOT recommended to apply force to other parts of the robot during transportation. Improper operations and force application points may damage the robot.
Page 28: Robot Installation
5 Unpacking and Installation 202206261124/V0.1 Figure 11. Reference transportation dimensions of the robot 5.5.2 Robot installation 5.5.2.1 Parts required for fixing Part name Description Bracket installation ✔ Socket head cap screw 4-M12x35 (Grade 12.9) ✔ Mounting seat Mounting plate thickness: At least 25 Notes: No insulating layer is allowed between the fixing plate/mounting seat and the manipulator/concrete.
Page 29: Flange
5 Unpacking and Installation 202206261124/V0.1 Figure 12. Reference bracket fixing method 5.5.3 Flange To ensure the accurate positioning of the tool, the reserved Φ6 pin holes should be used. There are six M6 threaded holes on the wrist flange of the robot to attach the tool to the flange. The M6 bolts must be tightened with a torque of 15 Nm.
Page 30 The location must meet the following conditions: With good ventilation and heat dissipation conditions; Outside the range of motions of xMate CR12; The power switch is easy to access for operators. xMate CR12Hardware Installation Manual...
Page 31: Electrical Connections
The network interfaces are used to connect the robot to an external network or to a pad or PC that has the xMate CR12 software installed for control and debugging of the robot. Figure 14. Electrical layout...
Page 32: Robot Power Supply
The robot's power supply interface is an M23 special-purpose socket (pin-type). It works with the xMate CR12 power cord that has a special-purpose plug (hole-type) to supply power to the robot. The electrical specifications of the power supply of the robot are shown below.
Page 33: Powering On The Robot
Figure 17. Handheld emergency stops and enabling device interface 6.2.4 General-purpose DIDO xMate CR12 provides 4 digital input and 4 digital output channels on terminal connector J7. Users must connect to the corresponding channel using a cable with the E0308 pin-type cold-pressed terminal in order to use the DIO function.
Page 34 6 Electrical Connections 202206261124/V0.1 Figure 18. General-purpose DIO interface J8 Point position Definition 24V+ DI_COM DO_COM DI_00 DO_00 DI_01 DO_01 DI_02 DO_02 DI_03 DO_03 6.2.4.1 General-purpose DI Digital inputs can be configured as PNP or NPN inputs. The user-input electrical specifications supported in the two modes are listed below.
Page 35 6 Electrical Connections 202206261124/V0.1 User Robot Figure 19. PNP input wiring diagram NPN input ⚫ See Figure 21 for details on an NPN configuration. User Robot Figure 20. NPN input wiring diagram 6.2.4.2 General-purpose DO Digital outputs can be configured as PNP or NPN outputs. The user-output electrical parameter specifications supported in the two modes are listed below.
Page 36: Safety Dio
Figure 22. NPN output wiring diagram 6.2.5 Safety DIO xMate CR12 supports dedicated safety inputs such as external emergency stop and safeguard stop (for example, the safety gate), and dedicated safety outputs such as safety status feedback. The channels are located on terminal connector J6. Users must connect to the corresponding channel using a cable with the E0308 pin-type cold-pressed terminal in order to use this safety DIO function.
Page 37 6 Electrical Connections 202206261124/V0.1 a fault on one branch will not cause the failure of the safety function. Point position Definition VCC24 SGATE1 VCC24 SGATE2 VCC24 EXSTOP1 VCC24 EXSTOP2 STOP_STATE_00_A STOP_STATE_00_B STOP_STATE_01_A STOP_STATE_01_B 6.2.5.1 Safety DI The electrical principles and specifications of the safety DI interface are shown below. 外部急停...
Page 38 6 Electrical Connections 202206261124/V0.1 Safety gate Robot VCC24 VCC24 SGATE1 SGATE2 Figure 24. Safety gate interface External emergency stop Safeguard stop (safety gate) Applicatio For emergency stop For other safety protection equipment only equipment Robot Stopped Stopped status Program Paused Paused execution Drive...
Page 39: Extended Ethernet Interface
J1 is standard RJ45 interfaces that can be connected by a standard network cable. They support EtherNet and Modbus TCP/IP communication protocols, with a maximum communication speed of 100 Mbps. You can connect the xMate CR12 robot to a network device that has the xMate CR12 software installed.
Page 40: Function Buttons On The Wrist
6 Electrical Connections 202206261124/V0.1 Figure 26. The EtherCAT debug interface 6.2.8 Function buttons on the wrist The robot is equipped with function buttons on the wrist for continuous path recording, direct teaching control, etc. under safe conditions, as shown in the figure below. Figure 27.
Page 41: Tool Interface
DO_1 AI_0/RS485A AI_1/RS485B 6.2.9.1 Special-purpose tool IO The xMate CR12 robot supports the use of a special-purpose gripper as the end effector. The electrical and special-purpose communication interfaces of the gripper are integrated into this connector. 6.2.9.2 General-purpose tool IO This connector provides power and control signals for grippers and sensors used on a specific robot tool.
Page 42 6 Electrical Connections 202206261124/V0.1 Supply voltage 24.8 Supply current —— Attention 1. The maximum supply current of the tool is 2A, which lasts up to 1 second. Tool digital outputs: The robot provides two channels of tool digital outputs. The digital outputs, once activated, provide 24V power to the user side using the internal 24V power supply.
Page 43: Power Adapter
Figure 30. Wrist input interface 6.3 Power adapter The power adapter is an optional part of the xMate CR12 robot. It converts the mains power to the DC power usable by the robot and provides a power supply indicator. Figure 31. Power adapter interface...
Page 44: Power Input
Indicator Adapter locking) status status Not powered Steady red Powered on The electrical specifications of the input power are listed below. ROKAE power adapter DC voltage 48 V Output Rated current 42 A Ripple and noise 150 mVp-p Voltage range...
Page 45: Power Output
The power output interface of the adapter is an M23 special-purpose socket (hole-type) that outputs the 48V DC voltage usable by the xMate CR12 robot. It works with the xMate CR12 power cord that has a special-purpose plug (pin-type) to supply power to the robot.
Page 46: Maintenance
7 Maintenance 202206261124/V0.1 7 Maintenance 7.1 Introduction Please read the "Maintenance Safety" section, this manual, and other related documents carefully before maintenance. Perform the maintenance after you have gained a full understanding of the safe maintenance methods. 7.2 Maintenance safety Warning Strictly follow the maintenance procedures.
Page 47: Cleaning
7 Maintenance 202206261124/V0.1 and the robot Power base adapter connectors for any loose connection. 7.5 Cleaning Warning Improper use of liquid detergents or incorrect disconnection of the power supply may cause electric shock and result in serious injury or death. Warning Perform cleaning only after the robot is completely powered off.
Page 49: Zero Calibration
8 Zero Calibration 202206261124/V0.1 8 Zero Calibration 8.1 Introduction 8.1.1 Overview This section describes the zero calibration. Use the calibration tools described in this section during calibration. 8.1.2 What is a mechanical zero? The robot is pre-defined with an initial pose during its design, in which the angle of each joint is zero.
Page 50: Calibration Method
8 Zero Calibration 202206261124/V0.1 After replacing the encoder battery. ⚫ 8.2 Calibration method 8.2.1 Mechanical calibration The keyway calibration method is adopted from the first axis to the sixth axis of the xMate CR12 robot. Only one axis can be calibrated at a time, and the specific operation process is as follows.
Page 51 202206261124/V0.1 Figure 38.step 3 Definition Calibration slot Special calibration tool Warning Note that after the mechanical zero calibration is finished, the special calibration tool must be removed from the corresponding calibration keyway. After the mechanical calibration process is over, be sure to check the robot body status to prevent accidents. xMate CR12Hardware Installation Manual...
Page 52: Decommissioning
9 Decommissioning 202206261124/V0.1 9 Decommissioning 9.1 Robot decommissioning The decommissioning, storage and disposal of the robot must be performed in compliance with relevant national laws, regulations, and standards. 9.2 Recycling Contact us for the recycling of batteries. xMate CR12Hardware Installation Manual...

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