ROKAE xMate CR18 Hardware Installation Manual
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ROKAE xMate CR18 Hardware Installation Manual

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xMate CR18
Hardware Installation Manual

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Summary of Contents for ROKAE xMate CR18

  • Page 1 CR18 Hardware Installation Manual...
  • Page 3 CR18 Hardware Installation Manual [备注] Version C...

  • Page 5: Table Of Contents

    Contents 1 MANUAL OVERVIEW..............................7 1.1 A BOUT THIS MANUAL ...................................7 1.2 T ARGET GROUP ....................................7 1.3 H OW TO READ THE PRODUCT MANUAL ...........................7 1.4 I LLUSTRATIONS IN THIS MANUAL ...............................7 1.5 R ELATED PRODUCT DOCUMENTS ...............................7 1.6 C ONTACT ......................................7 2 SAFETY....................................
  • Page 6 2.5.2 Safety precautions for operating the Teach Pendant ................11 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 ........................
  • Page 7 4.2.1 Robot body nameplate .......................错误!未定义书签。 4.3 S PECIFICATIONS ................................... 24 4.3.1 Robot specifications ..............................24 4.3.2 Teach Pendant specifications ............................24 4.4 W ORKING SPACE ..................................26 4.5 A ..................................26 LLOWABLE LOAD 4.5.1 Allowable wrist torque and inertia ..........................27 4.5.2 Maximum payload diagram ...........................
  • Page 8 6 ELECTRICAL CONNECTIONS ..........................37 6.1 E LECTRICAL LAYOUT ................................... 37 6.2 R OBOT BASE ....................................37 6.2.1 Robot power supply ..............................38 6.2.2 Powering on the robot ............................. 39 6.2.3 Handheld emergency stop and enabling device interface ..............39 6.2.4 General-purpose DIO ..............................
  • Page 9 7.4 C HECK ......................................52 7.5 C LEANING ..................................... 53 8 ZERO CALIBRATION ..............................55 8.1 I NTRODUCTION ................................... 55 8.1.1 Overview ................................... 55 8.1.2 What is a mechanical zero?............................ 55 8.1.3 What is zero calibration? ............................55 8.1.4 When is zero calibration required? ........................55 8.2 C ALIBRATION METHOD ................................

  • 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 CR18 robot and is intended to be used with the following documents: ⚫ xCore Control System User Manual 1.6 Contact...

  • Page 12: Safety

    This section describes the principles and procedures that must be followed to ensure the safe use of the xMate CR18 robots. xMate CR18 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.

  • 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 CR18 robots, STOP0 is used for handheld emergency stop signal processing.

  • Page 15: Safety Precautions

    2.5 Safety precautions 2.5.1 Operator 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

    required. A user of a higher permission level can modify the password of a same- or lower-level user. The password of an Operator-level user cannot be modified. 2.5.2.4 No Teach Pendant mode When the No Teach Pendant mode is selected for the control system, special attention must be paid to safety during debugging and programming.

  • Page 17: Safe Handling Of Fire Accidents

    In Automatic mode, the enabling switch will be bypassed so that the robot can run automatically without manual intervention. DANGER In Automatic mode, the robot moves at the speed set in the program, which is up to 3 m/s for the end effector. In this mode, personnel must not enter the working space of the robot to avoid personal injury.

  • Page 18: Safe Handling Of Electric Shock Accidents

    immediately. Put out the fire using clothes or other suitable items and methods. 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.

  • Page 19: Personnel Requirements

    The maintenance personnel can conduct robot operations, enter the safeguarded 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.
  • 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.

  • Page 21: Safety Training

    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. Operating, debugging, or maintaining robots by non-professional personnel or personnel who failed during the training is prohibited in order to avoid severe personal injury and damage to the robot equipment.
  • Page 22 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. ⚫ Check the position and status of the safety devices (such as the emergency stop button) ⚫...

  • Page 23: Pre-Use Assessment

    2.8 Pre-use assessment The following tests must be conducted before using the robot for the first time or after making any modifications. Verify that all safety inputs and outputs are correct and properly connected. Test that all connected safety inputs and outputs are functioning. To do this, you must: ⚫...

  • Page 24: Product Overview

    3 Product Overview 3.1 Introduction xMate CR18 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 CR18: Product name Maximum payload...

  • Page 25: Robot Teach Pendant Overview

    Definitions of robot rotation directions and coordinate systems). 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. The Y axis is determined by the right-hand rule.

  • Page 26: Teach Pendant Components

    hardware and software. It can be used to perform all robot-related functions, including programming and debugging, viewing system status, and setting system parameters. The robot system is equipped with a Teach Pendant called xPad2, which is well- designed, reliable, and easy to use. Skilled use of xPad2 will greatly improve the efficiency of the robot.

  • Page 27: Symbols And Labels

    3.4 Symbols and labels Figure 3-4 Symbols and labels Position Label type Remarks Arm body logo Product nameplate Indicates product model and other product information. Electrical hazard Do not touch the electrical symbol components inside a live robot to avoid the risk of electric shock.

  • Page 28: Technical Specifications

    4 Technical Specifications 4.1 Introduction This section describes the specifications of the xMate CR18 flexible cobot 4.2 Specifications 4.2.1 Robot specifications Product name xMate CR18 Number of axes Maximum reach 1062 mm Repeatability ±0.03 mm Maximum payload 18 kg Axis 1 ±175°...
  • Page 29 Storage temperature -25℃ to +55℃ Maximum humidity for ≤ 90%, non-condensing, non-frost operation/storage...

  • Page 30: Working Space

    4.3 Working space The working space of xMate CR18 which mean the space skimmed by the wrist reference point (the intersection of the 4-axis and the 5-axis axis) is shown in the figure below: Figure 4-3 Working space of xMate CR18 4.4 Allowable load...

  • Page 31: Allowable Wrist Torque And Inertia

    fixture and workpiece, should be less than the maximum payload of the robot. Robots operating with incorrect load data and/or loads other than those specified in the load diagram shall not be covered by the robot warranty. 4.4.1 Allowable wrist torque and inertia Axis Allowable Torque (Unit: Nm) Allowable Inertia (Unit: kg·m2)

  • Page 32: Calculation Of Load Inertia

    See 4.5.1 for the maximum allowable inertia of the xMate CR18 robots. Calculate the rotational inertia of the load before use and ensure that it is within the allowable range.

  • Page 33: Unpacking And Installation

    5 Unpacking and Installation 5.1 Introduction This section contains instructions for unpacking and installing the xMate CR18 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

    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 Pendant interface on the base USB flash drive Rokae 32G/PD095 Mechanical zero LS28-A0-101 xMate CR7/xMate calibration block CR12/xMate CR18 xMate CR18 Hardware Electronic Installation Manual documents are stored on a USB xCore Control System flash drive User Manual Top liners xMate CR18...

  • Page 36: Robot Angle And Force Application Points During Transportation

    Power adapter Bottom liners ② Step 2: Take out the parts from the box in order Keep the above parts and accessories properly and handle items such as power adapters and cables with care. Warning Always transport the robot together with the top and bottom liners after it is unpacked and before it is installed in place.

  • Page 37: On-Site Installation

    Personnel who install and operate the robot must have the necessary knowledge for the installation, maintenance, and repair of mechanical and electronic equipment, and must comply with all the relevant national and local regulations. Check the prerequisites for installation: Operation Visually inspect the robot to make sure that it is not damaged.
  • Page 38 5.5.2.1 Parts required for fixing Part name Description Bracket installation Socket head cap 4-M12x35 (Grade screw 12.9) Mounting seat Mounting plate thickness: At least 30 Notes: No insulating layer is allowed between the fixing plate/mounting seat and the manipulator/concrete. " "...

  • Page 39: Flange

    Fz/N Force in the Z-plane Bending torque along any Mxy/Nm direction in the XY-plane Mz/Nm Bending torque in the Z-plane Max. Value for Force CR18 Fxy/N 1600 Fz/N 2168 Mxy/Nm 1337 Mz/Nm 1206 Notes The above force and torque data are the limit values that may appear during the motion of the robot.

  • Page 40: Power Adapter

    The location must meet the following conditions: With good ventilation and heat dissipation conditions; Outside the range of motions of xMate CR18 robot body; The power switch is easy to access for operators.

  • Page 41: 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 CR18 software installed for the control and debugging of the robot.

  • Page 42: Robot Power Supply

    The robot's power supply interface is an M23 special-purpose socket (pin-type). It works with the xMate CR18 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 43: Powering On The Robot

    Interface for handheld emergency stop and enabling device 6.2.4 General-purpose DIO xMate CR18 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 function.
  • Page 44 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 range...
  • Page 45 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 range Continuous — load current If the continuous load current exceeds the limit, an additional relay will be required to drive the system.

  • Page 46: Safety Dio

    Figure 6-9 PNP output wiring diagram 6.2.5 Safety DIO xMate CR18 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 47 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 Safeguard stop stop (safety gate) Application For emergency stop For other safety equipment only protection equipment Robot Stopped...

  • Page 48: 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 CR18 to a network device that has the xMate CR18 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 49: 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 CR18 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 50 Note: The analog input and RS485 need to be configured before use, and only one function can be selected at one time. 6.2.9.1 Special-purpose tool DIO xMate CR18 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 51 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. The electrical principles and specifications of the tool digital output load to the user side are shown below.

  • Page 52: Power Adapter

    Figure 6-19 End-effector input interface 6.3 Power adapter The power adapter is an optional part of the xMate CR18 robot. It converts the mains to the DC power usable by the xMate CR18 robot and provides a power supply indicator.

  • Page 53: Power Input

    Rotary switch (self- Indicator status Adapter status locking) Not 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...

  • Page 54: 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 CR18 robot. It works with the xMate CR18 power cord that has a special-purpose plug (pin-type) to supply power to the robot.
  • Page 55 The Teach Pendant is usually used for handheld operation. Right-hand users need to hold the Teach Pendant with left hand and operate the buttons and touch screen with right hand. It is recommended to hold the Teach Pendant in the way shown in the figure below: Fig 6-25 How to hold the Teach Pendant...

  • Page 56: Maintenance

    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 57: Cleaning

    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 59: Zero Calibration

    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 60 CR18 robot. Only one axis can be calibrated at a time, and the specific operation process is as follows. Step 1: calibrate the first axis When the calibration pin is aligned with the calibration slot, the special calibration tool is used to try to insert the keyway into the keyway according to the graphic direction.
  • Page 61 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 63: Decommissioning

    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.

  • Page 64: Revision History

    Revision History Version Date Revision 2022/5/1 Initial version 2022/9/1 Updated the CE nameplate in 4.2.2 Nameplate, the connector model and interface definition in 6.2.9 Tool DIO Interfaces, minimum screw depth in 5.5.2.2 Bracket Installation, and flange dimensions in 5.5.3 Flange; Added 4.5 Maximum Payload Diagram and 5.5.2.3 Robot Supporting Reaction Force.

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