Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Subscribe to Our Youtube Channel
Related Manuals for ROKAE XB7 Series
Summary of Contents for ROKAE XB7 Series
- Page 1 XB7 Series Product Ma nual...
- Page 3 XB7 Series Product Manual Document No.:DOC-00001164 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 XB7 Series Product Manual... - Page 6 5.4.1 Unpacking ........................... 36 5.4.2 Robot transportation angle ...................... 38 5.4.3 Inspection before the transportation ..................39 5.5 On-site installation ........................... 39 5.5.1 Handling ............................39 5.5.2 Installing the robot ........................42 5.5.3 Fixing the required parts ......................42 XB7 Series Product Manual...
- Page 7 7.4 Cleaning ..............................67 7.5 Confirmation after maintenance ......................67 7.6 Maintenance Part List ..........................68 8 Common Failures ......................69 8.1 Introduction ............................... 69 8.2 Analysis of the failure causes and countermeasures ................69 Revision ........................... 73 XB7 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 XB7 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. XB7 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 XB7 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. XB7 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. XB7 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. XB7 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 XB7 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 XB7 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: XB7 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 XB7 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. XB7 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 XB7 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. XB7 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. XB7 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. XB7 Series Product Manual...
-
Page 27: Product Overview
3 Product Overview 3 Product Overview 3.1 Introduction 3.1.1 Overview The XB7 series is a multi-configuration light-weight industrial robot product family with flexible configuration options to meet the requirements of diverse industrial application scenarios. 3.1.2 IP67 rating The XB7 product series has an IP67 protection rating configuration, which is achieved by adding dynamic and static seals and other accessories. -
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 3.3 Symbols and labels XB7 Series Product Manual... - Page 29 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. XB7 Series Product Manual...
-
Page 31: Technical Specifications
± 360° ± 360° Maximum 440° /s 355° /s 297° /s velocity 355° /s 355° /s 223° /s 440° /s 355° /s 297° /s 480° /s 480° /s 480° /s 450° /s 450° /s 450° /s XB7 Series Product Manual... -
Page 32: Allowable Wrist Payload
For XB7, XB7L and XB7XL models, the allowable moment and inertia are shown in the following table: Allowable torque Allowable inertia Axis 4 16.6Nm 0.4kg.m Axis 5 16.6Nm 0.4kg.m Axis 6 9.4Nm 0.15kg.m XB7 Series Product Manual... -
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 XB7 Series Product Manual... -
Page 34: Load Diagram
The allowable inertia moment of XB7 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 XB7 working space is shown in the figure below: Fig. 8 XB7 working space XB7 Series Product Manual... - Page 36 4 Technical Specifications The XB7L working space is shown in the figure below: Fig. 9 XB7L working space XB7 Series Product Manual...
- Page 37 4 Technical Specifications The XB7XL working space is shown in the figure below: Fig. 10 XB7XL working space XB7 Series Product Manual...
-
Page 38: Overall Dimensions And Mechanical Interfaces
The overall dimensions and external interface dimensions of XB7 are shown in the figure below: 2-M4 8 2-M5 8 2-M6 10 M4 8 2-M10 20 2-M4 8 2-M5 8 Fig. 11 Overall dimensions and mechanical interfaces of XB7 XB7 Series Product Manual... - Page 39 The overall dimensions and external interface dimensions of XB7L are shown in the figure below: (612.8) 2-M5 8 2-M4 8 2-M6 10 M4 8 2-M10 20 2-M5 8 2-M4 8 Fig. 12 Overall dimensions and mechanical interfaces of XB7L XB7 Series Product Manual...
- Page 40 4 Technical Specifications The overall dimensions and external interface dimensions of XB7XL are shown in the figure below: Fig. 13 Overall dimensions and mechanical interfaces of XB7XL XB7 Series Product Manual...
-
Page 41: Mounting Flange
Pay attention to the interference zone at the end of the fixture during design. The mounting flange of XB7/XB7L/XB7XL robots is shown in the figure below: Fig. 14 Mounting flange XB7 Series Product Manual... -
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 Below ± 2kV Electrical fast XB7 Series Product Manual... -
Page 44: 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 XB7 Series Product Manual... - Page 45 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. 16 Unpacking the control cabinet and the Teach Pendant cardboard box Name Teach Pendant XB7 Series Product Manual...
-
Page 46: Robot Transportation Angle
Handle the robot arm body carefully after removing the bolts. 5.4.2 Robot transportation angle XB7 Series Product Manual... -
Page 47: 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 5.5 On-site installation 5.5.1 Handling XB7 Series Product Manual... - Page 48 Fig. 19 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. 19 Reference handling dimensions of the XB7 series Model...
- Page 49 Be careful not to tilt during the handling and transport slowly. XB7 Series Product Manual...
-
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. 5.5.3 Fixing the required parts Part name Details Foundation Bracket installation installation XB7 Series Product Manual... -
Page 51: Bracket Installation
5.5.4 Bracket installation When the bracket installation method is selected, see the figure below for the reference bracket size for the XB7/7Lbase bracket installation: Fig. 22 Bracket fixing method Description XB7 Series Product Manual... - Page 52 Socket head cap bolt M12X50 Steel-structure support Cylindrical pin Bearing surface Fix the robot using four M12 high-strength bolts of Grade 12.9(torque 55± 5Nm) and make sure that the screwing depth is no less than 20mm. Warning XB7 Series Product Manual...
-
Page 53: Foundation Installation
Mount the adaptation plate onto the foundation with four M16 chemical bolts (expansion bolts), then fix the robot base onto the adaptation plate with four socket head cap bolts M12X40(torque 55± 5Nm). See the figure below for the installation and adaptation dimensions of XB7XL: XB7 Series Product Manual... -
Page 54: Supporting Reaction Force Of The Robot
The figure shows the force direction of the robot base. Name Description Fxy/N Force along any direction in the XY- plane Fz/N Force in the Z-plane Txy/Nm Bending torque along any direction in the XY-plane Tz/Nm Bending torque in the Z-plane XB7 Series Product Manual... -
Page 55: Electrical Connection
When connecting the robot and controller, make sure that the connection is correct. ⚫ Otherwise, the robot system may not operate properly, and safety problems may also be caused. For details, refer to the controller manual. XB7 Series Product Manual... -
Page 56: 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. 27 Definition of the robot arm body side ports Meaning Power port definition Signal port definition XB7 Series Product Manual... -
Page 57: Definition Of The Control Cabinet Side Ports
A3-ES- A4-ES- A5-ES- A6-ES- Reserv Reser A1-ES+ A2-ES+ A3-ES+ A4-ES+ A5-ES+ A6-ES+ Reserv Reserv Reserved Reserv Reserv Reserv Reserved 5.6.2 Definition of the control cabinet side ports Fig. 28 Definition of the control cabinet side ports XB7 Series Product Manual... -
Page 58: Definition Of The Io Fitting Pins
A turning radius should be reserved during use, which should be 10 times the cable diameter (approx. 170mm); ⚫ Do not wind up the redundant cable. When the cable is wound up for more than XB7 Series Product Manual... -
Page 59: User Wiring/Routing
B, remove end cap before installing the Rc1/8 pipe fitting. When using the IP67 enhancement function, you need to enable the reserved startup interface and use the air source handling component. Please contact ROKAE for details. Fig. 31 User wiring/routing XB7 Series Product Manual... - Page 60 It is recommended to use a 4-φ4, 5bar circuit interface KQ2S04-M5A quick change fitting from SMC. Gas pipe plug M-5P Heavy-duty See 5.6.1 connector Pneumatic 4-φ4, 5bar It is recommended to use a circuit interface KQ2H04-01S direct fitting from SMC. XB7 Series Product Manual...
-
Page 61: 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. XB7 Series Product Manual... -
Page 62: 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. 32 Calibration method Position Axis A1 calibration position Axis A2 calibration position XB7 Series Product Manual... -
Page 63: Mechanical 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. XB7 Series Product Manual... -
Page 64: 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, XB7 Series Product Manual... -
Page 65: Zero Check
(The robot can be moved to zero position quickly by using the HMI, see Fig. 36). If the robot cannot return to the correct zero position, please contact us. Fig. 35 Zero position of the robot XB7 Series Product Manual... - Page 66 6 Zero calibration Fig. 36 How to move to zero position XB7 Series Product Manual...
-
Page 67: 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 XB7 Series Product Manual... - Page 68 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 XB7 Series Product Manual...
-
Page 69: 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. XB7 Series Product Manual... -
Page 70: 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 XB7 Series Product Manual... -
Page 71: 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. XB7 Series Product Manual... -
Page 72: 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 XB7 Series Product Manual... - Page 73 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 74 Tighten the flange fixing screws (for the tightening torque, see 7.3.3); ⚫ 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 XB7 Series Product Manual...
-
Page 75: Cleaning
7.5 Confirmation after maintenance Each time after performing maintenance operation on the robot, you should always confirm the robot status by following the procedures below: Item Whether the robot appearance is intact Whether the robot is fixed securely XB7 Series Product Manual... -
Page 76: Maintenance Part List
Width B=9mm 7.3.5.1 belt 14040300001 Width B=9mm 7.3.5.2 A5/A6 14040300002 Width B=6mm 7.3.5.3 Battery Base 15020301005/15070 Battery pack / 7.3.4 pack electrical 401332 Encoder battery installation component board Grease Wrist 19010100009 96 grease 7.3.2 (appropriate amount) XB7 Series Product Manual... -
Page 77: 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 78 May be caused by wear of oil seal lip by impurities in extreme conditions; May be caused by improper sealing XB7 Series Product Manual...
- Page 79 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. XB7 Series Product Manual...
-
Page 81: Revision
错误!文档中没有指定样式的文字。 Revision Version Date Content 2021/10/22 Initial version XB7 Series Product Manual... - Page 83 [Back cover page]...
Need help?
Do you have a question about the XB7 Series and is the answer not in the manual?
Questions and answers