Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Related Manuals for ROKAE XB12 Series
Summary of Contents for ROKAE XB12 Series
- Page 1 XB12 Series Product Ma nual...
- Page 3 XB12 Series Product Manual Document No.:DOC-00001172 Version: C © Copyright 2015 ROKAE. All rights reserved.
- 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
2.3.12 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 2.4.3 Work content requirements ...................... 16 XB12 Series Product Manual... - Page 6 5.4.2 Robot transportation angle ...................... 36 5.4.3 Inspection before the transportation ..................37 5.5 On-site installation ........................... 38 5.5.1 Handling ............................38 5.5.2 Installing the robot ........................40 5.5.3 Fixing the required parts ......................40 5.5.4 Bracket installation ........................41 XB12 Series Product Manual...
- Page 7 7.3.5 Maintenance of timing belts ..................... 62 7.4 Cleaning ..............................64 7.5 Confirmation after maintenance ......................64 7.6 Maintenance Part List ..........................65 8 Common Failures ......................67 8.1 Introduction ............................... 67 8.2 Analysis of the failure causes and countermeasures ................67 XB12 Series 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 XB12 Series 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. XB12 Series 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 XB12 Series 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. XB12 Series 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. XB12 Series 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. XB12 Series Product Manual... -
Page 17: About The User's Own Safety
The mode selection switch of a standard Teach Pendant is equipped with a key, i.e. switchover between manual/auto modes is only possible using the key. Please keep the key properly and carefully consider the user permission of the key. Generally, only those XB12 Series Product Manual... -
Page 18: Safety Precautions For Using The Control Cabinet
2.3.4.3 Do not use the control cabinet for other purposes 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 XB12 Series Product Manual... -
Page 19: Emergency Stop Button Test
During daily use of the robot, normal wear will occur to the band-type brakes of individual joints. It is very necessary to carry out band-type brake tests to ensure its functioning. The testing method is as follows: XB12 Series Product Manual... -
Page 20: Manual Release Of The Band-Type Brake
2.3.9.2 Speed limitation in manual mode The motion velocity of the robot end is limited to less than 250mm/s in manual mode. This means that the maximum motion velocity of the robot end will not exceed 250mm/s whether XB12 Series Product Manual... -
Page 21: Safety Precautions In Auto Mode
The fire-extinguishing equipment on the working site of the robot shall be supplied by the user. The user shall choose appropriate fire-extinguishing equipment according to the actual situations of the site. For fire with the controller, use a carbon dioxide (CO fire extinguisher. XB12 Series Product Manual... -
Page 22: Safe Handling Of Electric Shock Accidents
Give first aid immediately by cardiopulmonary resuscitation. 2.4 Personnel and work content requirements 2.4.1 Definition of personnel There are three types of personnel: ⚫ Operating personnel The operating personnel can switch on/off the robot power supply and start robot programs XB12 Series Product Manual... -
Page 23: Personnel Requirements
The maintenance personnel should meet the criteria of operating personnel. In addition, the maintenance personnel should also have a certain level of other expertises (such as electrical, mechanical and pneumatic) and can complete their tasks according to manual documents. XB12 Series Product Manual... -
Page 24: Work Content Requirements
⚫ 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
When the debugging is finished, execute a test run according to the following procedures: ⚫ At low velocity, execute the program one step after another for at least one cycle to confirm that everything is normal. XB12 Series 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. XB12 Series Product Manual...
-
Page 27: Product Overview
3.1 Introduction 3.1.1 Overview XB12 series of industrial robots is a series of robots customized to meet the needs of plane handling. At present, it includes 4 robots of different models. The product names are XB12 R707-3, XB12 R707-4, XB12 R906-3-LAR, XB12 R906-4-LAR, respectively. XB12 R707-3 and... -
Page 28: Robot Arm Body
Cabinet cable 3.2.3 Robot arm body In the XB12 series, XB12 R707-3 and XB12 R906-3-LAR have three joints, and XB12 R707-4 and XB12 R906-4-LAR have four joints, and the number of freedom is equal to the number of axes and joints. Therefore, XB12 R707-3 and XB12 R906-3-LAR are referred to as three- axis robots for short, and XB12 R707-4 and XB12 R906-4-LAR are referred to as four-axis robots for short, where each joint motor is equipped with a brake. -
Page 29: Symbols And Labels
Do not enter into symbol the working area while the robot is on, since the robot may collide and cause severe accidents. Packing and Indicates the transportation packing and pose board transportation pose of the product. XB12 Series Product Manual... -
Page 31: Technical Specifications
AC servo Reach 707mm 906mm Repeatability ±0.02mm ±0.03mm Wrist payload 12kg Range of +135° ~-96° +100°~-126° motion +65° ~-195° +120° ~-120° +360° ~- +360° ~- 360° 360° Maximum 297° /s velocity 297° /s 360°/s 356°/s 356°/s XB12 Series Product Manual... -
Page 32: Allowable Wrist Payload
Make sure to match the load according to the robot's carrying capacity. The load exceeding the carrying capacity of the robot will trigger the alarm or even cause damage to robot components, thereby reducing the robot's service life. 4.4.2 Center of gravity of the load XB12 Series Product Manual... - Page 33 The position of the center of gravity of the load is determined by the distance between the center of gravity and the flange surface. The distance is illustrated in the figure below. See the Load diagram for the rated distance. Fig. 6 Center of gravity of the load XB12 Series Product Manual...
-
Page 34: Load Diagram
The allowable inertia moment of XB12 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. -
Page 35: Working Space
4 Technical Specifications 4.5 Working space The XB12 R707-3、XB12 R707-4 working space is shown in the figure below: Fig. 8 XB12 R707-3、XB12 R707-4 working space XB12 Series Product Manual... - Page 36 4 Technical Specifications The XB12 R906-3-LAR、XB12 R906-4-LAR working space is shown in the figure below: Fig. 9 XB12 R906-3-LAR、XB12 R906-4-LAR working space XB12 Series Product Manual...
-
Page 37: Overall Dimensions And Mechanical Interfaces
To ensure the service life of the threads, do not remove the interface mounting screws frequently. The overall dimensions and external interface dimensions of XB12 R707-3、XB12 R707-4 are shown in the figure below: Fig. 10 Overall dimensions and mechanical interfaces of XB12 R707-3、XB12 R707-4 XB12 Series Product Manual... - Page 38 4 Technical Specifications The overall dimensions and external interface dimensions of XB12 R906-3-LAR、 XB12 R906- 4-LA are shown in the figure below: Fig. 11 Overall dimensions and mechanical interfaces of XB12 R906-3-LAR、XB12 R906-4- XB12 Series Product Manual...
-
Page 39: Mounting Flange
Pay attention to the interference zone at the end of the fixture during design. The mounting flange of XB12L robots is shown in the figure below: Fig. 12 Mounting flange XB12 Series Product Manual... -
Page 41: 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 Below ± 2kV Electrical fast XB12 Series Product Manual... -
Page 42: Unpacking
① Step 1: Open the wooden packaging box Put on a pair of protective gloves, cut off the metal packing straps of the wooden packaging box using a pair of steel strip scissors, and move the wooden box upwards to separate the XB12 Series Product Manual... - Page 43 Use a pair of scissors to cut off the sealing tapes of the cardboard box, open the cardboard box, and take out the Teach Pendant cable, the Teach Pendant and the robot cable under the Teach Pendant foam. Fig. 14 Unpacking the control cabinet and the Teach Pendant cardboard box Name Teach Pendant XB12 Series Product Manual...
-
Page 44: Robot Transportation Angle
Handle the robot arm body carefully after removing the bolts. 5.4.2 Robot transportation angle XB12 Series Product Manual... -
Page 45: Inspection Before The Transportation
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 XB12 Series Product Manual... -
Page 46: On-Site Installation
Fig. 17 shows the contour size of the robot in the transportation posture, in which dimensions C and D indicate the center of gravity position of the robot for reference in transportation. Fig. 17 Reference handling dimensions of the XB12 series Model... - Page 47 In no case shall any person be allowed to stand below the place where the robot is being lifted. Warning Be sure to turn off all the power, hydraulic and air sources of the robot during the transportation. Fig. 18 Robot lifting and handling Component Lifting hook Lifting rope Robot 5.5.1.5 Forklift XB12 Series Product Manual...
-
Page 48: 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. 5.5.3 Fixing the required parts XB12 Series Product Manual... -
Page 49: Bracket Installation
When the bracket installation method is selected, see the figure below for the reference bracket size for the XB12 R707-3 and XB12 R707-4 base bracket installation: Fig. 20 Bracket fixing method of XB12 R707-3 and XB12 R707-4 XB12 Series Product Manual... -
Page 50: 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 are as follow: XB12 Series Product Manual... - Page 51 For the torque and supporting reaction force generated by the robot, refer to "5.5.6 Supporting reaction force of the robot"; No insulating layer material is allowed between the adaptation plate and the ⚫ foundation. XB12 Series Product Manual...
-
Page 52: Supporting Reaction Force Of The Robot
Bending torque along any direction in the XY-plane Tz/Nm Bending torque in the Z-plane Fig. 24 Supporting reaction force of the robot Force Maximum load XB12 R707-4 XB12 R906-4- Fxy/N 2300 2300 Fz/N 2880 2880 Txy/Nm 2000 2000 Tz/Nm XB12 Series Product Manual... -
Page 53: Electrical Connection
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 XB12 Series Product Manual... - Page 54 Signal port definition table Reser Reserv Reserved Reserv Reserv Reserv Reserved Reserv Reser A2-VCC A6-VCC Reserv Reser A2-GND A6-GND Reserv Reser Reserv A1-ES- A2-ES- A3-ES- A4-ES- A5-ES- A6-ES- Reser A1-ES+ A2-ES+ A3-ES+ A4-ES+ A5-ES+ A6-ES+ Reserv XB12 Series Product Manual...
-
Page 55: Definition Of The Control Cabinet Side Ports
The power port definition table and signal port definition table on the control cabinet side are exactly the same as those on the robot arm body side. 5.6.3 Definition of the IO fitting pins Fig. 27 Definition of the IO fitting pins XB12 Series Product Manual... -
Page 56: Cabinet Cable Length And Wiring Method
Before wiring, power off the controller and related devices and place a warning symbol (e.g. do not turn on the power). Wiring when the power is on is extremely dangerous and may cause electric shock and/or failure of the robot system. XB12 Series Product Manual... - Page 57 Rc1/8 pipe fitting. When using the IP54 enhancement function, you need to enable the reserved startup interface and use the air source handling component. Please contact ROKAE for details. Fig. 29 User wiring/routing of XB12 R707-3 and XB12 R707-4 Fig. 30 User wiring/routing of XB12 R707-3-LAR and XB12 R707-4-LAR XB12 Series Product Manual...
- Page 58 5 Environment and Installation Name Specification Remarks IO cable plug 8 wires ,30V, 0.5A See 5.6.3 for the pin definition Reserved Reserved Heavy-duty See 5.6.1 connector XB12 Series 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. XB12 Series Product Manual... -
Page 60: When Is Zero Calibration Required
5(+0.02,+0.05)mm keyway on the end tool flange to cope with the calibration tool. Fig. 31 Calibration method Position Axis A1 calibration position Axis A2 calibration position Axis A3 calibration position Axis A4 calibration position XB12 Series Product Manual... -
Page 61: Mechanical Calibration
Repeat Step 3 until all robot joints are calibrated. Tips Because of the flexibility of the robot joints and linkages, calibrate from low to high axis numbers to achieve higher calibration accuracy. XB12 Series Product Manual... -
Page 62: Software Calibration
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. Repeat Step 3 until all robot joints XB12 Series Product Manual... -
Page 63: Zero Check
If the robot cannot return to the correct zero position, please contact us. Fig. 34 Zero position of the robot of XB12 R707-3 and XB12 R707-4 Fig. 35 Zero position of the robot of XB12 R707-3-LAR and XB12 R707-4-LAR XB12 Series Product Manual... - Page 64 6 Zero calibration Fig. 36 How to move to zero position XB12 Series 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 XB12 Series Product Manual... - Page 66 Check the whole Whole ● ● ● ● ● robot for abnormal robot sound and vibration Check for change in Whole ● positioning robot accuracy and deviation of the stop position from the start position XB12 Series Product Manual...
-
Page 67: Lubrication
3） Clean the thread to prevent impurities from falling into the gearbox; 4） Refill an appropriate amount of grease into the wrist; 5） Apply an appropriate amount of thread sealant to the thread of the M10 screw plug, screw the M10 screw plug back. XB12 Series Product Manual... -
Page 68: Fastening Of Socket Head Cap Screws
Socket head cap screw Torque (Nm) For the torque of the set screws used for the pulley, refer to the following table: Socket flat head set Torque (Nm) screw XB12 Series Product Manual... -
Page 69: Battery Replacement
Only when the robot stays stationary and the power is OFF can you replace the battery. Check the status before operation. Warning A mechanical zero inspection should be performed upon the completion of battery replacement on the robot in any status. XB12 Series Product Manual... -
Page 70: Maintenance Of Timing Belts
Step 7: Install the electrical installation board back. Tips When the zero point is lost due to failure to follow the above procedures, refer to 6.2. to carry out the zero calibration. 7.3.5 Maintenance of timing belts Warning XB12 Series Product Manual... - Page 71 After replacement, conduct a zero calibration on the robot. If you have any problem during the adjustment, please contact ROKAE. Axes 2 and 3 of the robot are all driven by timing belts. If they become loosened, they may cause abnormal sound, accuracy decrease and other failures.
-
Page 72: Cleaning
Do not clean the robot in case of incomplete robot appearance; Do not clean the robot with the power on. 7.5 Confirmation after maintenance Each time after performing maintenance operation on the robot, you should always confirm XB12 Series Product Manual... -
Page 73: Maintenance Part List
Timing 14040300010 Width B=9mm 7.3.5.1 belt A3/A4 14040300002 Width B=6mm 错误!未找到 引用源。 Battery Base 15020301005/15070 Battery pack / 7.3.4 electrical Encoder battery pack 401332 installation component board LS01E2-207 Grease Wrist 19010100009 96 grease 7.3.2 (appropriate amount) XB12 Series Product Manual... -
Page 75: 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 76 May be caused by wear of oil seal lip by impurities in extreme conditions; May be caused by improper sealing XB12 Series Product Manual...
- Page 77 The offset may be caused by motor encoder failure. Position offset after The origin may be Perform the zero parameter changes lost due to calibration again. parameter changes. XB12 Series Product Manual...
- Page 79 错误!文档中没有指定样式的文字。 Revision Version Date Content 2021/10/22 Initial version XB12 Series Product Manual...
- Page 81 [Back cover page]...
Need help?
Do you have a question about the XB12 Series and is the answer not in the manual?
Questions and answers