ROKAE xMate CR20 Hardware Installation Manual
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ROKAE xMate CR20 Hardware Installation Manual

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xMate CR20
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Installation Manual

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Summary of Contents for ROKAE xMate CR20

  • Page 1 CR20 Hardware Installation Manual...
  • Page 3 CR20 Hardware Installation Manual Document ID: 2022xxxxxxxx Document Version: V1.0...

  • Page 5: Table Of Contents

    Contents 1 MANUAL OVERVIEW ......................... 7 1.1 A ..............................7 BOUT THIS MANUAL 1.2 T ................................7 ARGET GROUP 1.3 H ........................7 OW TO READ THE PRODUCT MANUAL 1.4 I ..........................7 LLUSTRATIONS IN THIS MANUAL 1.5 R ..........................7 ELATED PRODUCT DOCUMENTS 1.6 C ..................................
  • Page 6 2.5.3 Recovering from emergency stops ......................12 2.5.4 Safety precautions in Manual mode ..................... 12 2.5.5 Safety precautions in Automatic mode ....................12 2.5.6 Safe handling of fire accidents ........................ 13 2.5.7 Safe handling of electric shock accidents ................... 14 2.6 P ....................
  • Page 7 3.4 S .............................. 22 YMBOLS AND LABELS 4 TECHNICAL SPECIFICATIONS......................23 4.1 I ................................23 NTRODUCTION 4.2 N ................................23 AMEPLATE 4.3 S ................................. 23 PECIFICATIONS 4.3.1 Robot specifications ............................ 23 4.3.2 Teach Pendant specifications ........................24 4.4 W ............................... 25 ORKING SPACE 4.5 A ..............................
  • Page 8 5.5 O ............................. 34 SITE INSTALLATION 5.5.1 Transportation ............................... 34 5.5.2 Robot installation ............................34 5.5.3 Flange................................36 5.5.4 Power adapter ............................... 37 6 ELECTRICAL CONNECTIONS ......................39 6.1 E ..............................39 LECTRICAL LAYOUT 6.2 R ................................39 OBOT BASE 6.2.1 Robot power supply............................
  • Page 9 6.4.1 Teach Pendant buttons ..........................52 6.4.2 How to hold the Teach Pendant ......................53 7 MAINTENANCE ..........................54 7.1 I ................................54 NTRODUCTION 7.2 M ............................. 54 AINTENANCE SAFETY 7.3 M ............................54 AINTENANCE SCHEDULE 7.4 C ..................................54 HECK 7.5 C ..................................

  • Page 11: Manual Overview

    Also, figures from other models may be used to describe some general information. 1.5 Related product documents This document is the product manual for the xMate CR20 robot and is intended to be used with the following documents: xCore Control System User Manual ⚫...

  • Page 12: Safety

    This section describes the principles and procedures that must be followed to ensure the safe use of the xMate CR20 robots. xMate CR20 robot integrators must read and understand the information listed here before powering on the robot for the first time.

  • Page 13: Safety Notice

    ⚫ If you are unsure about the risks during the use of the robot, please contact ROKAE Technical Support. Problems arising from non-intended use are not covered by our support. 2.3 Safety protection devices 2.3.1 Emergency stop...

  • Page 14: Emergency Stop Types

    ⚫ STOP0: The motor power is switched off and the brakes are engaged. ⚫ STOP1: The robot comes to a controlled stop. Then the motor power is switched off and brakes are engaged. For xMate CR20 robots, STOP0 is used for handheld emergency stop signal processing. 2.5 Safety precautions...

  • Page 15: Operating Safety

    2022xxxxxxxx 2.5.1 Operating safety 2.5.1.1 General principles A few simple principles should be followed in order to operate the robot safely: ⚫ Always operate the robot in Manual mode if personnel are inside the safeguarded space. ⚫ Always bring the handheld emergency stop device along when you enter the safeguarded space so that robot control is in your hands.

  • Page 16: Recovering From Emergency Stops

    2022xxxxxxxx When the No Teach Pendant mode is selected for the control system, special attention must be paid to safety during debugging and programming. An emergency stop button device must be installed or placed within the reach of the operator and the signal of the emergency stop button must be routed into the safe DIO interface of the robot system so that the person can protect the safety of himself/herself and the equipment by pressing the emergency stop button promptly in case of...

  • Page 17: Safe Handling Of Fire Accidents

    2022xxxxxxxx DANGER In Automatic mode, the robot moves at the speed set in the program, which is up to 3.2 m/s for the end effector. In this mode, personnel must not enter the working space of the robot to avoid personal injury. 2.5.5.2 Enabling external safety signals External safety devices such as the safety gate and safety grating will be enabled in Automatic mode.

  • Page 18: Safe Handling Of Electric Shock Accidents

    2022xxxxxxxx 2.5.7 Safe handling of electric shock accidents 2.5.7.1 Treatment of an electric shock When someone gets an electric shock, do not panic and cut off the power supply immediately. Appropriate methods and measures should be adopted without hesitation according to the site conditions: ⚫...

  • Page 19: Personnel Requirements

    2022xxxxxxxx space, perform operations such as setting and teaching on the robot, as well as adjust and repair the robot. Warning The debugging and maintenance personnel who can enter the safeguarded space must accept and pass professional robot training in advance. Warning When performing robot operations, programming, and maintenance, personnel must pay attention to safety and wear necessary equipment, including work...
  • Page 20 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. Parts removed during the replacement (such as screws) should be correctly...

  • Page 21: Safety Training

    2022xxxxxxxx installed back to their original positions. If you find the parts not enough or redundant, confirm again and make sure to install them correctly. 2.7 Safety training 2.7.1 Overview The on-site operator, debugging personnel, and maintenance personnel must accept formal robot safety and operation training and pass the exams before they can perform operation, debugging, and maintenance on the robot.
  • Page 22 2022xxxxxxxx The emergency stop button should be set up within reach of the operator. ⚫ 2.7.2.2 Safety of debugging personnel During the debugging, you need to enter into the working range of the robot under some circumstances. Special attention must be paid to safety: Make sure that the equipment is safe before debugging.

  • Page 23: Pre-Use Assessment

    2022xxxxxxxx ⚫ When servicing the interior of the robot, if it is necessary to touch the power supply unit or printed circuit board, make sure to switch off the power supply of the robot in advance to prevent electric shock. 2.8 Pre-use assessment The following tests must be conducted before using the robot for the first time or after making any modifications.

  • Page 24: Product Overview

    2022xxxxxxxx 3 Product Overview 3.1 Introduction xMate CR20 is a new-generation flexible cobot that boosts industrial productivity with highly sensitive force sensing and highly dynamic force control. 3.2 Robot 3.2.1 Overview The basic configuration of xMate CR20: Product name Maximum payload...

  • Page 25: Definitions Of Rotation Directions And Frames

    2022xxxxxxxx 3.2.3 Definitions of rotation directions and frames The flexible cobot features 6 degrees of freedom, or 6 joints or axes (see Figure 3-2 Definitions of robot rotation directions and frames). The definitions of axis rotation directions and frames are described below. Base frame: The -X axis points in the outgoing cable direction of the base, and the +Z axis in a direction perpendicular to the mounting surface.

  • Page 26: Teach Pendant Components

    2022xxxxxxxx Figure 3-3 Teach Pendant 3.3.2 Teach Pendant components The xPad2 Teach Pendant consists of the following components: Touch LCD ➢ Keys ➢ Buttons ➢ USB interface, etc. ➢ 3.4 Symbols and labels Figure 3-4 Symbols and labels Position Label type Remarks Arm body logo Product nameplate...

  • Page 27: Technical Specifications

    2022xxxxxxxx 4 Technical Specifications 4.1 Introduction This section describes the specifications of the xMate CR20 flexible cobot. 4.2 Nameplate Figure 4-1 Robot body nameplate Figure 4-2 Teach Pendant nameplate 4.3 Specifications 4.3.1 Robot specifications Product name xMate CR20 Number of axes...

  • Page 28: Teach Pendant Specifications

    2022xxxxxxxx Axis 6 ±175° Axis 1 120°/s Axis 2 120°/s Axis 3 120°/s Maximum speed Axis 4 180°/s Axis 5 234°/s Axis 6 234°/s Operating temperature 0°C to +45°C Storage temperature -10°C to +55°C Protection level IP67 Mounting method Floor mounted Weight About 75 kg Noise level...

  • Page 29: Working Space

    2022xxxxxxxx 4.4 Working space xMate CR20 is shown in the figure below: Figure 4-3 Working space of xMate CR20 4.5 Allowable load Warning It is very important to always define the correct actual load data and calibrate the...

  • Page 30: Allowable Wrist Torque And Inertia

    2022xxxxxxxx payload of the robot. Incorrectly defined load data may result in robot overload. If incorrect load data and/or loads other than those specified in the load diagram are used, the following components may be damaged due to overload: Motor ⚫...

  • Page 31: Calculation Of Load Inertia

    See 4.5.1 for the maximum allowable inertia of the xMate CR20 robots. Calculate the rotational inertia of the load before use and ensure that it is within the allowable range.
  • Page 32 2022xxxxxxxx...

  • Page 33: Unpacking And Installation

    2022xxxxxxxx 5 Unpacking and Installation 5.1 Introduction This section contains instructions for unpacking and installing the xMate CR20 flexible cobot. 5.2 Installation flow chart The installation flow chart is used to check the robot installation progress. Put a check mark in the "Completed" column when a step is finished.

  • Page 34: Unpacking And Hardware Installation

    2022xxxxxxxx fog, etc. Keep away from flammable and corrosive liquids and gases. Protect from shock and vibration. Keep away from sources of electrical interference. Warning Never place or use the robot in any explosive environment! Notes At low ambient temperatures (< 10°C), the grease (or lubricating oil) inside the reducer (or gearbox) has a high viscosity and may cause the robot to stop or operate inefficiently.
  • Page 35 2022xxxxxxxx Figure 5-1 Unpacking...
  • Page 36 ② Step 2: Take out the parts from the box in order Unscrew four M6 bolts on the robot base to remove the xMate CR20 robot body. Keep the above parts and accessories properly and handle items such as power adapters and cables with care.

  • Page 37: Robot Angle And Force Application Points During Transportation

    2022xxxxxxxx unpacked and before it is installed in place. During transportation, keep the robot balanced to prevent it from tipping over. Remove the liners only before the installation of the robot body. 5.4.2 Robot angle and force application points during transportation Figure 5-2 Robot orientation and suggested points of force application during packing and transportation 0°...

  • Page 38: On-Site Installation

    2022xxxxxxxx Make sure that the storage environment complies with the requirements if the robot is not installed directly. When these prerequisites are met, install the robot as described in the next section. 5.5 On-site installation 5.5.1 Transportation 5.5.1.1 Risk of tipping When the robot is not fastened to the foundation and standing still, make sure that the robot is enclosed in the bottom liners.
  • Page 39 2022xxxxxxxx manipulator/concrete. "✔" indicates that the item is required for the installation. The fixing strength of the mounting bracket should not be lower than that of the robot fixing plate and the foundation in the foundation installation. 5.5.2.2 Bracket installation Here is the specific fixing method: Use pins in the reserved cylindrical pin holes for accurate positioning.

  • Page 40: Flange

    2022xxxxxxxx Fig 5-5 Supporting reaction force of the robot Max. Value for Force CR20 Fxy/N 1750 Fz/N 2329 Mxy/Nm Mz/Nm Notes The above force and torque data are the limit values that may appear during the motion of the robot. The limit values seldom occur and cannot be reached at the same time.

  • Page 41: Power Adapter

    The location must meet the following conditions: With good ventilation and heat dissipation conditions; Outside the range of motions of xMate CR20; The power switch is easy to access for operators.

  • Page 43: Electrical Connections

    The network interfaces are used to connect the robot to an external network or to a pad or PC that has the xMate CR20 software installed for the control and debugging of the robot.

  • Page 44: Robot Power Supply

    The robot's power supply interface is an M23 special-purpose socket (pin-type). It works with the xMate CR20 power cord that has a special-purpose plug (hole-type) to supply power to the robot. The electrical specifications of the power supply of the robot are shown below.

  • Page 45: Powering On The Robot

    Interface for handheld emergency stop and enabling device 6.2.4 General-purpose DIO xMate CR20 provides four digital input and 4 digital output channels on terminal connector J7. Users must connect to the corresponding channel using a cable with the E0308 pin-type cold-pressed terminal in order to use the general-purpose DIO...
  • Page 46 2022xxxxxxxx Figure 6-5 General-purpose DIDO Interface J7 Point position Definition 24V+ DI_COM DO_COM DI_00 DO_00 DI_01 DO_01 DI_02 DO_02 DI_03 DO_03 6.2.4.1 General-purpose DI Digital inputs can be configured as PNP or NPN inputs. The user-input electrical specifications supported in the two modes are listed below. Typical Unit Input voltage...
  • Page 47 2022xxxxxxxx See the following figure for details on an NPN configuration. Figure 6-7 NPN input wiring diagram 6.2.4.2 General-purpose DO Digital outputs can be configured as PNP or NPN outputs. The user-output electrical parameter specifications supported in the two modes are listed below. Typical Unit Load voltage...

  • Page 48: Safety Dio

    Figure 6-9 PNP output wiring diagram 6.2.5 Safety DIO xMate CR20 robot supports dedicated safety inputs such as external emergency stop and safeguard stop (for example, the safety gate), and dedicated safety outputs such as safety status feedback. The channels are located on terminal connector J6.
  • Page 49 2022xxxxxxxx STOP_STATE_01_A STOP_STATE_01_B 6.2.5.1 Safety DI The electrical principles and specifications of the safety DI interface are shown below. Figure 6-11 External emergency stop interface Figure 6-12 Safety gate interface External emergency stop Safeguard stop (safety gate) Application For emergency stop For other safety protection equipment only equipment...

  • Page 50: Extended Ethernet Interface

    J1 is a standard RJ45 interface that can be connected by a standard network cable. They support Ethernet communication with a maximum communication speed of 100 Mbps. You can connect the xMate CR20 robot to a network device that has the xMate CR20 software installed. 6.2.7 EtherCAT servo drive debug interface M8 is a round connector that can be connected by a dedicated extension cable.

  • Page 51: Function Buttons On The End-Effector

    Adjacent to the tool flange on the robot wrist, there is a round connector that provides an extended electrical interface for the robot end effector. A special- purpose gripper of the xMate CR20 robot can be used as the end effector in this interface. It can be used with the M8-FS-8CON-PVC-2.0 industrial cable.
  • Page 52 6.2.9.1 Special-purpose tool DIO The xMate CR20 robot supports the use of a special-purpose gripper as the end effector. The electrical and special-purpose communication interfaces of the gripper are integrated into this connector.
  • Page 53 2022xxxxxxxx to 1 second. Tool digital outputs: The robot provides two channels of tool digital inputs and outputs. The output can be configured to NPN or PNP using HMI. Input only supports NPN. The digital outputs, once activated, provide 24V power to the user side using the internal 24V power supply.

  • Page 54: Power Adapter

    Figure 6-19 End-effector input interface 6.3 Power adapter The power adapter is an optional part of the xMate CR20robot. It converts the mains to the DC power usable by the xMate CR20 robot and provides a power supply indicator.

  • Page 55: Power-On Button Of The Power Adapter

    Indicator Adapter locking) status status powered on Steady red Powered on The electrical specifications of the input power are listed below. ROKAE power adapter DC voltage 48 V Rated current 42 A Output Ripple and noise 150 mVp-p Voltage range...

  • Page 56: Power Output

    The power output interface of the adapter is an M23 special-purpose socket (hole- type) that outputs the 48V DC voltage usable by the xMate CR20 robot. It works with the xMate CR20 power cord that has a special-purpose plug (pin-type) to supply power to the robot.

  • Page 57: How To Hold The Teach Pendant

    2022xxxxxxxx Fig 6-23 Teach Pendant buttons Description Emergency stop button: used to trigger an emergency stop in case of danger Jog buttons: 12 buttons in 6 groups corresponding to the robot's 6 joints or 6 DOF in Cartesian space Three-position enabling switch: used to enable robot motion in the manual mode Function buttons: used to scroll between functions displayed on the touch screen...

  • Page 58: Maintenance

    2022xxxxxxxx 7 Maintenance 7.1 Introduction Please read the "Maintenance Safety" section, this manual, and other related documents carefully before maintenance. Perform the maintenance after you have gained a full understanding of the safe maintenance methods. 7.2 Maintenance safety Warning Strictly follow the maintenance procedures. Do not disassemble any part of ⚫...

  • Page 59: Cleaning

    2022xxxxxxxx connectors for any loose 7.5 Cleaning Warning Improper use of liquid detergents or incorrect disconnection of the power supply may cause electric shock and result in serious injury or death. Warning Perform cleaning only after the robot is completely powered off. Do not clean the robot with liquid detergents.

  • Page 61: Zero Calibration

    2022xxxxxxxx 8 Zero Calibration 8.1 Introduction 8.1.1 Overview This section describes the zero calibration. Use the calibration tools described in this section during calibration. 8.1.2 What is a mechanical zero? The robot is pre-defined with an initial orientation during its design, in which the angle of each joint is zero.
  • Page 62 2022xxxxxxxx The keyway calibration method is adopted from the first axis to the sixth axis of the xMate CR20 robot. Only one axis can be calibrated at a time, and the specific operation process is as follows. Step 1: calibrate the first axis...
  • Page 63 2022xxxxxxxx Figure 8-2 Step 3 Definition Calibration slot Special calibration tool Warning Note that after the mechanical zero calibration is finished, the special calibration tool must be removed from the corresponding calibration keyway. After the mechanical calibration process is over, be sure to check the robot body status to prevent accidents.

  • Page 64: Decommissioning

    2022xxxxxxxx 9 Decommissioning 9.1 Robot decommissioning The decommissioning, storage and disposal of the robot must be performed in compliance with relevant national laws, regulations, and standards. 9.2 Recycling Contact us for the recycling of batteries. Revision History Version Revision V0.1 Initial version 2022.12 Updated "4.2 Nameplate", "6.4 Teach Pendant", and "8.2 Calibration...

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