ROKAE NB25 Series Product Manual

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NB25 Series

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Page 1 NB25 Series Product Ma n ual...
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
4.4 Allowable wrist payload ........................24 4.4.1 Allowable torque and inertia ....................24 4.4.2 Center of gravity of the load ....................25 4.4.3 Load diagram ........................25 4.4.4 Calculating the Inertia Moment................... 28 4.5 Working space ............................ 29 NB25 Series Product Manual...
Page 6 7.4 Cleaning .............................. 73 7.5 Confirmation after maintenance ....................... 73 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 ..........................79 NB25 Series Product Manual...
Page 7: 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 NB25 Series Product Manual...
Page 9: 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 10: 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. NB25 Series Product Manual...
Page 11: 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 NB25 Series Product Manual...
Page 12: 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. NB25 Series Product Manual...
Page 13: Safety Devices
Jog or run programs. Either releasing or pressing all the way down will cut off the motor power supply. NB25 Series Product Manual...
Page 14: 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. NB25 Series Product Manual...
Page 15: 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 NB25 Series Product Manual...
Page 16: 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 NB25 Series Product Manual...
Page 17: 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: NB25 Series Product Manual...
Page 18: 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 NB25 Series Product Manual...
Page 19: 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. NB25 Series Product Manual...
Page 20: 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 NB25 Series Product Manual...
Page 21: 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. NB25 Series Product Manual...
Page 22: 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 23: 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. NB25 Series Product Manual...
Page 24  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. NB25 Series Product Manual...
Page 25: Product Overview
3 Product Overview 3 Product Overview 3.1 Introduction The NB25 series is a multi-configuration light-weight industrial robot product family with flexible configuration options to meet the requirements of diverse industrial application scenarios. 3.2 Robot 3.2.1 Overview Basic configuration of the robot series:...
Page 26: 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 NB25 Series Product Manual...
Page 27: Symbols And Labels
High Burns may occur if temperature maintenance surface personnel touch symbol the hot surface of the robot during equipment repair or maintenance. Safety Keep away from warning the machine in symbol case of collision Logo NB25 Series Product Manual...
Page 29: Technical Specifications
+156° ~-99° +156° ~-99° +85° ~-200° +75° ~-200° ±180° ±180° ±135° ±135° ±360° ±360° Maximum 204° /s 204° /s velocity 186° /s 186° /s 182° /s 182° /s 492° /s 310° /s 450° /s 360° /s NB25 Series Product Manual...
Page 30: Allowable Wrist Payload
For NB25-12/2.1 models, the allowable moment and inertia are shown in the following table: Allowable torque Allowable inertia Axis 4 22Nm 2.8kg.m Axis 5 22Nm 2.8kg.m Axis 6 16Nm 2.8kg.m For NB25-20/2.0、NB25-25/1.8 and NB25-30/1.6 models, the allowable moment and inertia are shown in the following table: NB25 Series Product Manual...
Page 31: 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 4.4.3 Load diagram NB25 Series Product Manual...
Page 32 4 Technical Specifications Fig. 7 Load diagram for NB25-12/2.1 Fig. 8 Load diagram for NB25-20/2.0 NB25 Series Product Manual...
Page 33 4 Technical Specifications Fig. 9 Load diagram for NB25-25/1.8 Fig. 10 Load diagram for NB25-30/1.6 NB25 Series Product Manual...
Page 34: Calculating The Inertia Moment
The allowable inertia moment of NB25 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 NB25-12/2.1 working space is shown in the figure below: Fig. 12 NB25-12/2.1 working space NB25 Series Product Manual...
Page 36 4 Technical Specifications The NB25-20/2.0 working space is shown in the figure below: Fig. 13 NB25-20/2.0 working space NB25 Series Product Manual...
Page 37 4 Technical Specifications The NB25-25/1.8 and NB25-35/1.8 working space is shown in the figure below: Fig. 14 NB25-25/1.8 and NB25-35/1.8 working space NB25 Series Product Manual...
Page 38: Overall Dimensions And Mechanical Interfaces
Axes 1, 3 and 4. To ensure the service life of the threads, do not remove the interface mounting screws frequently. The overall dimensions and external interface dimensions of NB25-12/2.1 are shown in the NB25 Series Product Manual...
Page 39 4 Technical Specifications figure below: Fig. 16 Overall dimensions and mechanical interfaces of NB25-12/2.1 NB25 Series Product Manual...
Page 40 The overall dimensions and external interface dimensions of NB25-20/2.0 are shown in the figure below: Fig. 17 Overall dimensions and mechanical interfaces of NB25-20/2.0 The overall dimensions and external interface dimensions of NB25-25/1.8 and NB25-35/1.8 are shown in the figure below: NB25 Series Product Manual...
Page 41 4 Technical Specifications Fig. 18 Overall dimensions and mechanical interfaces of NB25-25/1.8 and NB25-35/1.8 NB25 Series Product Manual...
Page 42: Mounting Flange
Pay attention to the interference zone at the end of the fixture during design. The mounting flange of NB25 robots is shown in the figure below: NB25 Series Product Manual...
Page 43 4 Technical Specifications Fig. 20 Mounting flange NB25 Series Product Manual...
Page 45: Environment And Installation
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 Electrical fast Below ± 2kV transient (EFT) NB25 Series Product Manual...
Page 46: Unpacking
Unpacking procedures: ① Step 1: Open the wooden packaging box Put on a pair of protective gloves, remove the fixed bolts, and move the wooden box upwards to separate the wooden box from the bottom pallet. NB25 Series Product Manual...
Page 47 Flat washer Spring washer ② Step 2: Remove the packaging of the control cabinet and the Teach Pendant cardboard Use a pair of scissors to cut off the packing straps fixing the Teach Pendant cardboard box NB25 Series Product Manual...
Page 48 Handle the robot arm body carefully after removing the bolts. NB25 Series Product Manual...
Page 49: Robot Transportation Angle
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 NB25 Series Product Manual...
Page 50: On-Site Installation
Fig. 24 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. 24 Reference handling dimensions of the NB25 series Model...
Page 51 Be careful not to tilt during the handling and transport slowly. NB25 Series Product Manual...
Page 52: 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. NB25 Series Product Manual...
Page 53: Fixing The Required Parts
Socket head cap bolt M16X50 Steel-structure support Warning The customers should design and fabricate the brackets used for fixing the robot by themselves and determine the size and shape of the brackets according to the actual NB25 Series Product Manual...
Page 54: Foundation Installation
"5.5.6 Supporting reaction force of the robot"; No insulating layer material is allowed between the adaptation plate and the  foundation. 5.5.6 Supporting reaction force of the robot The figure shows the force direction of the robot base. NB25 Series Product Manual...
Page 55: Electrical Connection
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 the same time. 5.6 Electrical connection NB25 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. 30 Definition of the robot arm body side ports Meaning Power port definition NB25 Series Product Manual...
Page 57: Definition Of The Io Fitting Pins
Encoder Axis 6 DATA6− DATA6+ BK1+ BK2+ RS485 BK3+ Band-type brake BK4+ BK5+ BK6+ 24V+ 24V power supply Earthing isolator 24V− 5.6.2 Definition of the IO fitting pins Fig. 31 Definition of the IO fitting pins NB25 Series Product Manual...
Page 58: Cabinet Cable Length And Wiring Method
Please refer to the position of each pipeline interface in the following figure for user wiring. The specifications of IO cable plug and gas pipe are shown in the following table. Specification IO Plug 24 wires, 30V, 1.5A Air In 2-φ8, 8bar NB25 Series Product Manual...
Page 59: Brake Release
Remove the 6-M3 screws on the brake release cover; Open the brake release cover; Press the enabling button "EN" and the releasing button of corresponding shaft number to release the brake. Install the brake release cover. Fig. 33 Brake Release NB25 Series Product Manual...
Page 60 Before the brake release of A2 and A3 joints, please use tools such as crane to fix the lower arm and forearm; otherwise, the arms will fall down due to the brake release, resulting in personal injury or equipment damage. NB25 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. NB25 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. 34 Calibration method Position Axis A1 calibration position Axis A2 calibration position NB25 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. NB25 Series Product Manual...
Page 64: Zero Check
(The robot can be moved to zero position quickly by using the HMI, see Fig. 37). If the robot cannot return to the correct zero position, please contact us. Fig. 36 Zero position of the robot NB25 Series Product Manual...
Page 65 6 Zero calibration Fig. 37 How to move to zero position NB25 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 NB25 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 NB25 Series Product Manual...
Page 69: Lubrication
In addition, when using a manual pump, in order to ensure smooth removal of used oil inside the reducer, it is recommended that after a period of oil refill, stop for a period of time, wait until the outlet does not discharge any grease before continuing to refill oil. NB25 Series Product Manual...
Page 70 The robot has been filled with a specified amount of grease when leaving the factory. Do not mix with other greases, otherwise, the reducer may break down after it is used for a period of time. 7.3.2.3 A1 Lubrication Fig. 39 A1 grease refill NB25 Series Product Manual...
Page 71 When the grease replacement is completed, install the plug at the oil inlet, and apply the Three Bond 1215 sealant to the thread; NB25 Series Product Manual...
Page 72 50% in the motion range of ± 70° to discharge redundant grease and gas; Wipe the redundant grease out of oil outlet with a cloth, and install the plug at the oil outlet. Apply the Three Bond 1215 sealant to the screw thread of the plug. 7.3.2.6 A4 Lubrication NB25 Series Product Manual...
Page 73 Wipe the redundant grease out of oil outlet with a cloth, and install the plug at the oil outlet. Apply the Three Bond 1215 sealant to the screw thread of the plug. 7.3.2.7 A6 Lubrication Fig. 43 Grease refill NB25 Series Product Manual...
Page 74: Motor Sealing
Otherwise, personal injury or equipment damage may occur due to falling of the lower arm and upper arm that lose braking function after the motors are removed. Tips NB25 Series Product Manual...
Page 75: Fastening Of Socket Head Cap Screws
When fixing, do not tighten the screws one at a time, but tightening in 2~3 times by using a hex wrench, and then tighten the screws by following the tightening torques listed in the table above using a torque wrench. Fig. 45 Screw tightening diagram Description Hole NB25 Series Product Manual...
Page 76: Battery Replacement
During the battery replacement, take necessary precautions to prevent others from switching on the system power supply. Step 2: Remove the fixing screws 6-M4X16 from the electrical installation board of the base and pull out the electrical installation board; NB25 Series Product Manual...
Page 77: Maintenance Of Timing Belts
After replacement, conduct a zero calibration on the robot. If you have any problem during the adjustment, please contact ROKAE. Axes 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 78 If the timing belt or sealing gasket is found to be damaged, replace it in time. After replacement, perform another zero calibration on the robot. Do not pry the Timing belt pulley when adjusting the belt tension. NB25 Series Product Manual...
Page 79: Cleaning
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 Whether the robot cable is correctly connected NB25 Series Product Manual...
Page 80: Maintenance Part List
Code Remarks Reference section Timing 14040300106 B=9mm 7.3.6.1 belt 14040300105 B=9mm 7.3.6.2 Battery Base electrical 15020301005/15 Battery pack / 7.3.5 pack installation 070401332 Encoder battery board component LS01E2-207 Grease Wrist 19010100009 96 grease 7.3.2 (appropriate amount) NB25 Series Product Manual...
Page 81: 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 82 May be caused by wear of oil seal lip by impurities in extreme conditions; May be caused by improper NB25 Series Product Manual...
Page 83 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. NB25 Series Product Manual...
Page 85: Revision
Revision Revision Version Date Content 2022/12/21 Initial version NB25 Series Product Manual...
Page 87 [Back cover page]...

This manual is also suitable for:

Nb25-12/2.1 Nb25-20/2.0 Nb25-25/1.8 Nb25-30/1.6 Nb25-35/1.8

ROKAE NB25 Series Product Manual

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