ROKAE NB12 Product Manual

Hide thumbs

Table Of Contents

Table of Contents

Quick Links

Download this manual

NB12

Product Ma nual

Table of Contents

Need help?

Do you have a question about the NB12 and is the answer not in the manual?

Questions and answers

Summary of Contents for ROKAE NB12

Page 1 NB12 Product Ma nual...
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
2.3.13 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 2.5 Safety training ............................16 NB12 Product Manual...
Page 6 5.4.3 Inspection before the transportation ..................43 5.5 On-site installation ........................... 44 5.5.1 Transportation ..........................44 5.5.2 Robot installation ........................48 5.5.3 Parts required for fixing ......................48 5.5.4 Bracket installation ........................48 5.5.5 Foundation installation ......................50 NB12 Product Manual...
Page 7 7.4 Cleaning ..............................73 7.5 Confirmation after maintenance ......................74 7.6 Maintenance part list ..........................74 8 Common Failures ............................. 75 8.1 Introduction ............................... 75 8.2 Analysis of the failure causes and countermeasures ................75 Revision History ............................79 NB12 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 NB12 Product Manual...
Page 11: Safety
2.1.1 Safety responsibilities 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. NB12 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 NB12 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. NB12 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. NB12 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. NB12 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 personnel NB12 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 NB12 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. NB12 Product Manual...
Page 20: Manual Release Of The Band-Type Brake
The manual mode is used to write and debug robot programs and engage in commissioning of the workstation. 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 NB12 Product Manual...
Page 21: Safety Precautions In The Automatic 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 NB12 Product Manual...
Page 22: Safe Handling Of Electric Shock Accidents
10 seconds. If neither breath nor arterial pulse is sensed, the wounded is deemed with a cardiac arrest. 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 NB12 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. NB12 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. NB12 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. NB12 Product Manual...
Page 27: Product Overview
NB12-16/1.0, NB12-10/1.6, NB12-16/0.95-3, and NB12-16/0.95-4, wherein the first four models feature six rotary joints, NB12-16/0.95-3 three, and NB12-16/0.95-4 four. 3.1.2 IP67 rating The NB12 product series has an IP67 protection rating configuration, which is achieved by adding dynamic and static seals and other accessories. 3.2 Robot 3.2.1 Overview...
Page 28: Robot Arm Body
Among the NB12 series, NB12-12/1.4, NB12-16/1.1, NB12-16/1.0 and NB12-10/1.6 have 6 DOF, NB12-16/0.95-3 has 3 DOF, and NB12-16/0.95-4 has 4 DOF. The number of DOF is equal to the number of axes and joints. Each joint motor is equipped with a brake.
Page 29: Symbols And Labels
3 Product Overview Fig. 3 6-axis robot: movement direction of each axis Fig. 4 3-axis and 4-axis robots: movement direction of each axis 3.3 Symbols and labels NB12 Product Manual...
Page 30 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 transportation pose board pose of the product. NB12 Product Manual...
Page 31: Technical Specifications
4 Technical Specifications 4 Technical Specifications 4.1 Introduction This section mainly describes the various performance parameters of the NB12 robot product series. 4.2 Model Payload and reach Code of axis number 6 axes Null 3 axes 4 axes Fig. 5 Model description 4.3 Specification...
Page 32: Allowable Wrist Load
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 NB12 series, the allowable moment and inertia are shown in the following table: Allowable torque...
Page 33: Center Of Gravity Of The Load
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 NB12 Product Manual...
Page 34: Wrist Load Diagram
The allowable inertia moment of NB12 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 NB12-12/1.4 working space is shown in the figure below: Fig. 8 NB12-12/1.4 working space NB12 Product Manual...
Page 36 4 Technical Specifications The NB12-16/1.1 working space is shown in the figure below: Fig. 9 NB12-16/1.1 working space NB12 Product Manual...
Page 37 4 Technical Specifications The NB12-16/1.0 working space is shown in the figure below: Fig. 10 NB12-16/1.0 working space NB12 Product Manual...
Page 38 4 Technical Specifications The NB12-10/1.6 working space is shown in the figure below: Fig. 11 NB12-10/1.6 working space NB12 Product Manual...
Page 39 4 Technical Specifications The NB12-16/0.95-3、NB12-16/0.95-4 working space is shown in the figure below: Fig. 12 NB12-16/0.95-3, NB12-16/0.95-4 working space NB12 Product Manual...
Page 40: Overall Dimensions And Mechanical Interfaces
4 Technical Specifications 4.6 Overall dimensions and mechanical interfaces Extra load can be applied to the lower arm and upper arm of the NB12 robot series. See the figure below for its mounting interfaces and the interference radius. To ensure the service life of the threads, do not remove the interface mounting screws frequently.
Page 41 4 Technical Specifications The overall dimensions and external interface dimensions of NB12-16/1.1 are shown in the figure below: Fig. 14 Overall dimensions and mechanical interfaces of NB12-16/1.1 NB12 Product Manual...
Page 42 4 Technical Specifications The overall dimensions and external interface dimensions of NB12-16/1.0 are shown in the figure below: Fig. 15 Overall dimensions and mechanical interfaces of NB12-16/1.0 NB12 Product Manual...
Page 43 4 Technical Specifications The overall dimensions and external interface dimensions of NB12-10/1.6 are shown in the figure below: Fig. 16 Overall dimensions and mechanical interfaces of NB12-10/1.6 NB12 Product Manual...
Page 44: Mounting Flange
Pay attention to the interference zone at the end of the fixture during design. The mounting flange of NB12 robots is shown in the figure below: NB12 Product Manual...
Page 45 4 Technical Specifications bottom hole depth 11 Fig. 18 Mounting flange NB12 Product Manual...
Page 47: Environment And Installation
5.1 Introduction This section mainly describes the relevant information to be paid attention to during the installation of the NB12 robot series. Transportation and installation of the robot and related equipment should be carried out by qualified personnel. In addition, make sure to work in accordance with the laws and regulations in your country.
Page 48: Unpack
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 NB12 Product Manual...
Page 49 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. NB12 Product Manual...
Page 50 Use an external hex wrench to remove the four nuts that fix the robot. Unscrew them and move the robot arm body to the designated safe position. Fig. 21 Unpacking the robot arm body Name Specification Quantity Outer hex bolt M16X50 Spring washer Flat washer NB12 Product Manual...
Page 51: Robot Transportation Angle
-15° 60° 45° NB12-16/0.95-4 -15° 60° 45° 0° 5.4.3 Inspection before the transportation The installation personnel who installs and operates the robot must have the necessary knowledge for installation, maintenance and repair of mechanical and electronic equipment, NB12 Product Manual...
Page 52: On-Site Installation
5.5.1.3 Handling dimensions Fig. 23 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. NB12 Product Manual...
Page 53 Warning The weight of an NB12-12/1.4 robot arm body is about 115kg, the weight of an NB12- 16/1.1 robot arm body is about 112kg, the weight of an NB12-16/1.0 robot arm body is about 110kg, the weight of an NB12-10/1.6 robot arm body is about 117kg, the weight...
Page 54 5 Environment and Installation of an NB12-16/0.95-3 robot arm body is about 67kg and the weight of an NB12- 16/0.95-4 robot arm body is about 69kg. Use a lifting hook and a lifting rope with the bearing strength of 200kg 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 55 Socket head cap screw 4-M12x24 (strength grade 12.9) Transportation brackets, 2 pcs Warning When handling the robot using the bottom pallet and forklift, be careful about the counterweight on both sides of the bottom pallet to prevent rollover. NB12 Product Manual...
Page 56: Robot Installation
The fixing strength of the mounting bracket shall not be lower than that of the robot fixing plate and the foundation during the foundation installation. 5.5.4 Bracket installation When the bracket installation method is selected, see the figure below for the reference bracket size for the NB12-12/1.4、NB12-16/1.1、NB12-16/1.0 and NB12-10/1.6 base bracket installation: NB12 Product Manual...
Page 57 You can reinforce the design with beams and reinforcing ribs to make sure that the bracket offers sufficient strength; NB12 Product Manual...
Page 58: Foundation Installation
⚫ 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 NB12-12/1.4、NB12-16/1.1、NB12-16/1.0 and NB12-10/1.6: Fig. 27 Foundation fixing method Description Adaptation plate...
Page 59 7980 7980 Tz/Nm 2450 2450 2450 2450 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 NB12 Product Manual...
Page 60: Electrical Connections
⚫ 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 NB12 Product Manual...
Page 61 Encoder Axis 5 DATA5− DATA5+ VCC6 GND6 Axis 6 Encoder Axis 6 DATA6− DATA6+ BK1+ BK2+ RS485 BK3+ Band-type brake BK4+ BK5+ BK6+ 24V+ 24V power supply Earthing isolator 24V− Fig. 31 Parts for power and signal NB12 Product Manual...
Page 62: Definition Of Ps1 And Ps2 Interface Pins
Connection instructions on the 12-pin IO fittings of PS2 (on the top of the upper arm) and PS1 (on the back of the robot): Pins 1 - 12 are directly connected internal pins. The user can customize the pin function; 5.6.3 Definition of LAN port pins Fig. 34 Definition of LAN port pins NB12 Product Manual...
Page 63: Definition Of Ps1 Port Pins When Selecting Solenoid Valve
DC 24V supply, the solenoid valve actuates and the corresponding 2A or 2B port is open. Pins 5 and 6 are for control signals over the third set of solenoid valves and correspond to the NB12 Product Manual...
Page 64: Cabinet Cable Length And Wiring Method
When wiring, refer to the position of each pipe interface in the following figure. The specifications of the IO cable plugs and air pipes are shown in the following table. NB12 Product Manual...
Page 65 12-way signal (30V, 1A) When solenoid valves are selected, see 5.6.4 for the pin definition. Air pipe 1*φ8+2*φ6 air pipe Positive pressure 0.002Mpa interface Heavy-duty connector 12-way signal (30V, 1A) See 5.6.3 for the pin definition. NB12 Product Manual...
Page 67: 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. NB12 Product Manual...
Page 68: 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. 31 Calibration method Position Axis A1 calibration position NB12 Product Manual...
Page 69: Mechanical Calibration
Only after the previous joint is calibrated, moves to the zero position, click can you click the "Calibrate" button of the "Calibrate" button for the the next joint. corresponding joint on the HMI The joints with coupling relationship and complete the calibration of NB12 Product Manual...
Page 70: Soft Calibration
Zero calibration can only be performed admin-level or above user account in manual mode with no program and enter the zero calibration running. interface. The zero calibration interface is under the "Calibration" category. Jog the robot to the zero mark on NB12 Product Manual...
Page 71: Zero Check
(The robot can be moved to zero position quickly by using the HMI, see Fig. 35). If the robot cannot return to the correct zero position, please contact us. Fig. 34 Zero position of the robot NB12 Product Manual...
Page 72 6 Zero calibration Fig. 35 How to move to zero position NB12 Product Manual...
Page 73: 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 NB12 Product Manual...
Page 74 Working space Each ● confirmation joint 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 NB12 Product Manual...
Page 75: Lubrication
Thread sealant Appropriate Lubricating oil refill procedures for NB12 wrists: 1） Rotate the wrist to zero position. Turn off the power; 2） Unscrew the M10 screw plug with a hex wrench; 3） Clean the thread to prevent impurities from falling into the gearbox;...
Page 76 Name Screw plug M10 Oil inlet Lubricating oil refill procedures for NB12 wrists: 1） Rotate the wrist from zero to 90 degrees upward (as shown in Fig. 37). Turn off the power; 2） Unscrew the M10 screw plug with a hex wrench;...
Page 77: 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 NB12 Product Manual...
Page 78: 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. NB12 Product Manual...
Page 79: 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 NB12 Product Manual...
Page 80 After replacement, conduct a zero calibration on the robot. If you have any problem during the adjustment, please contact ROKAE. Axes 3, 4, 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 81: Cleaning
Turn off the power, hydraulic and air sources of the robot; ⚫ ⚫ Clean the robot using a vacuum cleaner or wipe it with a rag; ⚫ Power up the robot after confirming that all safety conditions are met. Warning Do not flush the robot with water; NB12 Product Manual...
Page 82: Confirmation After Maintenance
Width B=10mm 7.3.5.1 belt A5/A6 14040300236 Width B=8mm 7.3.5.2 Battery Base 15020301005/15070 Battery pack / 7.3.4 electrical Encoder battery pack 401332 installation component board Grease Wrist 19010100009 96 grease 7.3.2 (appropriate amount) Grease A1/A2/A3 19010100008 VIGOGREASE REO 7.3.2 NB12 Product Manual...
Page 83: 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 84 May be caused by wear of oil seal lip by impurities in extreme conditions; May be caused by improper sealing NB12 Product Manual...
Page 85 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. NB12 Product Manual...
Page 87: Revision History
Revision History Revision History Version Date Content 2021/10/22 Initial version NB12 Product Manual...
Page 89 [Back cover page]...

ROKAE NB12 Product Manual

Quick Links

Need help?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for ROKAE NB12

Summary of Contents for ROKAE NB12

Table of Contents