Related Manuals for Omron Delta 5
Summary of Contents for Omron Delta 5
- Page 1 Cat. No. I205E-EN-03A Delta 5 Robot ZX-T Series IP65 protection class CR_UGD5 Series USER´S MANUAL...
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Page 3: Table Of Contents
CONTENTS Delta Robot 5 Axes User's Manual Safety Instructions 1. Attention 2. Explanation of warnings and notes 3. Safety information 3.1 General 3.2 Qualified personnel 3.3 Liability 3.4 Installation and operating conditions 3.5 Residual risks 3.5.1 Release device 3.5.2 Transport 3.5.3 Assembly and start-up 3.5.4 Maintenance and repair 3.5.5 System integrator Chapter 1 Introduction 1. - Page 4 CONTENTS Delta Robot 5 Axes User's Manual Chapter 3 Installation 1. Unpacking 1.1 Unpacking the shipping box 1.2 Check the damage 1.3 Lifting and transportation 2. Mounting the robot 3. Mounting the motors and cabling 3.1 Mounting the motors 3.2 Connecting the cables 3.3 Mounting the motor covers 3.4 Mounting the rotational and tilt gearbox with their adaptor plate 4. Assembling the secondary arms 4.1 Make an assembly 4.2 Mount the arm assembly on the robot 5.
- Page 5 CONTENTS Delta Robot 5 Axes User's Manual Chapter 6 Specifications 1 . Basic specifications 1.1 Cycle time 2. External view and dimensions 2.1 CR_UGD5_XL 2.2 CR_UGD5 2.3 CR_UGD5_XS 3 . Design specifications 3.1 Occupation area of robot 3.2 Software design 3.2.1 Dimensions and limits 3.2.2 Gear ratio 3.3 Recommended robot position...
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Page 7: Safety Instructions
Safety Instructions Contents Attention Explanation of warnings and notes Safety information General Qualified personnel Liability Installation and operating conditions Residual risks 3.5.1 Release device 3.5.2 Transport 3.5.3 Assembly and start-up 3.5.4 Maintenance and repair 3.5.5 System integrator... -
Page 9: Attention
Information in this document can change without prior notice. OMRON EUROPE B.V. cannot be hold responsible for any damage to the environment, to the machine or to the functioning of the machine occurred by errors or missing data in the illustrations, drawing or specifications. -
Page 10: Safety Information
Safety information General This ´3. Safety information´ subchapter contains information regarding working with the CR_UGD5 robot. Qualified personnel working with the CR_UGD5 robot must have read and understood the CR_UGD5 robot documentation, including the safety information chapter. Qualified personnel These are people who, due there specialist training, knowledge and experience, and their familiarization with the relevant standards, are able to assess the work to be carried out and detect any potential hazards. -
Page 11: Release Device
3.5.1 Release device The robot mechanics are not supplied with an release switch to control the brakes of the motors. WARNING • MOUNT A RELEASE SWITCH ON THE MACHINE SO THE ARMS (MOTOR) OF THE ROBOT COULD BE MANUALLY MOVED. •... -
Page 12: System Integrator
3.5.5 System integrator The robot is safely integrated into a complete system by the system integrator. The system integrator is responsible for the following tasks: • Installing the robot • Performing risk assessment • Implementing the required safety functions and safequards •... - Page 13 Chapter 1 Introduction Contents Introduction Description of the robot Type code explanation Identification Part names...
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Page 15: Description Of The Robot
Introduction Congratulations with the purchase of your high speed Delta robot 5 axes. This manual should be read before the commissioning of the robot. By mechanical engineers in the design phase during the integration of the robot in the machine and by software engineers to check the performance envelope of the robot. This manual describes the main versions of the CR_UGD5 robot, and all options. -
Page 16: Part Names
Part names CR_UGD5 series Rotational motor Tilt motor Cable entry plate Primary arm Motor cover Tilt axis Secondary arm Rotational axis TCP (Tool Center Point) -
Page 17: Chapter 2 Model Overview
Chapter 2 Model overview Contents Overview... -
Page 19: Overview
Overview The specifications are given in the below figure, if specifications differ for models, it is indicated in the specification list. The Delta robot 5 axes is delivered standard with sanitary secondary arms, this means they are fully closed to prevent any contamination on the inside of the secondary arms. - Page 20 CR_UGD5_XS (650 mm) 407,5...
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Page 21: Chapter 3 Installation
Chapter 3 Installation Contents Unpacking Unpacking the shipping box Check the damage Lifting and transportation Mounting the robot Mounting the motors and cabling Mounting the motors Connecting the cables Mounting the motor covers Mounting the rotational and tilt gearbox with their adaptor plate Assembling the secondary arms Make an assembly Mount the arm assembly on the robot... -
Page 23: Unpacking
Unpacking Unpacking the shipping box The robot comes in a special shipping box. The following step must be carried out to remove the cover from the box: • Unscrew the screws from the cover of the wooden box • Now remove the cover Check the damage First take out the individual components from the package and check that everything is complete according to the following list:... - Page 24 WARNING • THE ROBOT MAY TILT DURING TRANSPORTATION. • ADDITIONAL SAFEGUARDING MEASURE MUST BE TAKEN. • WEAR SUITABLE PROTECTIVE CLOTHING IF NECESSARY. • WHEN USING A FORKLIFT TRUCK, DRIVE EXTREMELY SLOWLY AND CAREFULLY. Description Lifting tackle 2 x lifting straps 2 x eyebolts...
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Page 25: Mounting The Robot
Mounting the robot The mounting surface for the robot must be machined and of an appropriate quality. It’s also possible to use a levelling element to align the robot. Three M16 bolts are needed to mounting the robot to the frame, exact bolt length depends on frame layout. The tightening torque of a M16 6.8 bolt is 140Nm. -
Page 26: Mounting The Motors And Cabling
Mounting the motors and cabling Mounting the motors When your robot is delivered without motors, you have to mount them by yourself. First of all you have to remove the three motor covers from the robot. The following steps must be carried out to remove the motor covers from the robot. Please see also the following picture: •... -
Page 27: Mounting The Motor Covers
Description 4 x M5 Allen bolt Cable entry glands Blind thule • Insert the cables into the opening of the robot baseplate • Connect the cables • Clamp the cable entry glands around the cable and slide it back into the cable entry plate. Afterwards also slide the blind thule back into the cable entry plate •... -
Page 28: Mounting The Rotational And Tilt Gearbox With Their Adaptor Plate
Mounting the rotational and tilt gearbox with their adaptor plate Dependent on the type of rotational and tilt gearbox, a special adaptor plate for mounting is included. Description Gearbox or motor Adaptor ring Now mount the adaptor plate with the gearboxes on the top of the baseplate from the robot with the included bolts and rings. -
Page 29: Assembling The Secondary Arms
Assembling the secondary arms Make an assembly Before mounting the secondary arms on the robot, we have to pre-assemble them as shown on the below figure, so that we get an arm assembly. Description Sanitary cup holder incl. ball bearing cup Spring package Secondary arm Repeat this action for the other 2 arm sets. -
Page 30: Mount The Arm Assembly On The Robot
Mount the arm assembly on the robot For mounting, pull a secondary arm with his cup holder over the ball joint of the primary arm. Now pull the arms apart against the force of the spring in order to pull the second arm over the second ball joint of the primary arm. Then repeat this action for the TCP (see below picture). -
Page 31: Mounting The Rotational And Tilt Axis On The Gearbox Shafts
A light irregular resistance is normal and caused by the manufacturing tolerances of the tubes. The axis is run in during the first 150 hours of operation. In case of problems, please check the axis for damage or contact your OMRON representative. -
Page 32: Calibration
Description Motor or gear shaft Top connector rotational axis Now push the top connector into the shaft until the top connector comes into its stop position on the shaft. Tighten the two M5 Allen bolts with 7 Nm. The rotational and tilt axis are now mounted. Calibration No every robot that is delivered is calibrated. - Page 33 • Now tighten the star nut until the tool is fixed • Release the motor brake from the selected motor and push the upper arm with his ball joint against the calibration tool as shown in the above picture • Now fix the motor brake from the selected motor •...
- Page 34 • Now mount the calibration tool on the TCP as shown in the above picture. • Now tighten the star nut until the tool is fixed • Release the motor brake from both axis and push the swivel arm against the calibration tool as shown in the above picture •...
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Page 35: Gripper Interface
Gripper interface The below picture shows you the gripper connection sizes according to ISO 9409-1-A31,5. M5, (4x) 90º 45º STC 31,5 20H7 The design of the gripper that is mounted under the robot have great influence on the performance of the robot. Both the weight of the gripper and the distance of the center of gravity of the gripper to the TCP base point have negative influence on the final performance of the robot. -
Page 37: Chapter 4 Maintenance
Chapter 4 Maintenance Contents Periodic maintenance Springs Ball bearing cups Rotational and tilt axis Cleaning the robot Spare parts... -
Page 39: Periodic Maintenance
• The springs has to be replaced every 3800 working hours or once a year • When the robot is fall apart, check the springs on damages • Only use springs delivered by OMRON, otherwise the guarantee will expire • Replace springs after overstretching •... -
Page 40: Ball Bearing Cups
Ball bearing cups The ball bearing cups has the same lifetime as the springs. We recommend to exchange these at the same time as the springs. How to maintain the ball bearing cups: • The ball bearing cups has to be replaced every 3800 working hours or once a year •... - Page 41 Description M5 bolt with washer Slider clamp bottom Plain bearing • Unscrew the two M5 bolts with washer and take of the slider clamp bottom • Now exchange the old bearing with a new one • Put back the slider clamp bottom and the two M5 bolts with washer •...
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Page 42: Cleaning The Robot
Spare parts Keep a stock of the most important components to make sure the equipment is functioning and ready for operation at all times. Robot part Description Quantity OMRON Part No. per robot CR_UGD5_XL CR_UGD5 CR_UGD5_XS Robot base 1 x motor cover... - Page 43 Robot part Description Quantity OMRON Part No. per robot CR_UGD5_XL CR_UGD5 CR_UGD5_XS Rotational/Tilt axis 1 x tilt part CR_AS-3073 1 x tilt stool CR_AS-3074 1 x connection head CR_AS-3075 1 x complete head CR_AS-3079 1 x head cover CR_PT-05244 1 x dome...
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Page 45: Chapter 5 Robot Settings
Chapter 5 Robot settings Contents Kinematics Workspace Software limits... -
Page 47: Kinematics
Kinematics The kinematics parameters for the CR_UGD5 robots are shown below. Set these parameters corresponding to the controller settings. WARNING IF THE KINEMATICS PARAMETERS ARE NOT SET PROPERLY, THIS MAY CAUSE THE ROBOT TO MALFUNCTION. SO, BE SURE TO SET THESE PARAMETERS CORRECTLY. Kinematics parameters ... -
Page 48: Workspace
Workspace The workspace parameters for the CR_UGD5 robots are shown below. Set these parameters corresponding to the controller settings. WARNING IF THE WORKSPACE PARAMETERS ARE NOT SET PROPERLY, THIS MAY CAUSE THE ROBOT TO MALFUNCTION. SO, BE SURE TO SET THESE PARAMETERS CORRECTLY. Workspace parameters CR_UGD5_XL -716 mm Distance from the Z-axis origin position... -
Page 49: Software Limits
Software limits The software limits for the CR_UGD5 robots are shown below. WARNING α- β- γ- IF THE AXIS SOFT LIMIT IS SET INCORRECTLY, THE ARM MAY COLLIDE WITH THE ROBOT BASE OR BASE PREPARED BY THE USER, CAUSING BREAKAGE. SO, BE SURE TO SET THE SOFT LIMITS CORRECTLY. Minus direction soft limit [CR_UGD5_XL/CR_UGD5: -35°] [CR_UGD5_XS: -48°]... - Page 51 Chapter 6 Specifications Contents Basic specifications Cycle time External view and dimensions CR_UGD5_XL CR_UGD5 CR_UGD5_XS Design specifications Occupation area of robot Software design 3.2.1 Dimensions and limits 3.2.2 Gear ratio Recommended robot position...
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Page 53: Basic Specifications
Basic specifications Robot model CR_UGD5_XL CR_UGD5 CR_UGD5_XS X, Y axis Stroke 1300mm 1100mm 650mm Ø Ø Ø 250mm (max. Ø1300mm)/ 250mm (max. Ø1100mm)/ 200mm (max. Ø650mm)/ Z axis Stroke 400mm (center Ø870mm) 400mm (center Ø670mm) 270mm (center Ø407.5mm) Working volume RZ axis Rotation angle ±180°... -
Page 54: External View And Dimensions
External view and dimensions CR_UGD5_XL... -
Page 55: Cr_Ugd5
CR_UGD5... -
Page 56: Cr_Ugd5_Xs
CR_UGD5_XS... -
Page 57: Design Specifications
Design specifications Occupation area of robot If the robot is integrated into the machine it must be considered what the reach is of all robot parts to prevent collision with other parts in the machine. When the TCP moves to its outer positions, the primary and secondary arms can rise above the baseplate, take care that no mechanical obstructions are in the areas indicated in the below picture. -
Page 58: Software Design
Software design The arm lengths and pitch circles of the rotation points are shown in the below picture. Upper arm length CR_UGD5_XL: 420 mm CR_UGD5: 320 mm Upper arm rotation points CR_UGD5_XS: 220 mm circle diameter 400 mm Lower arm length CR_UGD5_XL: 950 mm CR_UGD5: 850 mm CR_UGD5_XS: 600 mm... -
Page 59: Dimensions And Limits
3.2.1 Dimensions and limits Description CR_UGD5_XL CR_UGD5 CR_UGD5_XS Negative software limit -35º -48º Positive software limit 88º 102º Tb-z (top baseplate to zero position) 90 mm Z-tw (zero position to ball bearings) 716 mm 616 mm 440 mm Neg.° Top mounting bracket Tb-z Primary arm 0°... -
Page 60: Recommended Robot Position
Recommended robot position It is recommended to place the robot in such way that there is no risk of the product or gripper hitting the lower arm of the robot in the situation where the swing arm is rotated to the horizontal position. This issue occurs due to the fact that the dome in which the swing arm is mounted isn't placed in the center of the TCP. - Page 63 Revision history A manual revision code appears as a suffix to the catalog number on the front cover manual. The following table outlines the changes made to the manual during each revision. Revision code Date Description October 2016 Original production January 2017 Small error was corrected October 2017...
- Page 64 Authorized Distributor: Cat. No. I205E-EN-03A Note: Specifications subject to change without notice. Printed in Europe...