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Summary of Contents for ROKAE XB4 Series
- Page 1 XB4 Series Product Ma nual...
- Page 3 XB4 Series Product Manual Document No.:DOC-00001163 Version: D © 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.
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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 XB4 Series Product Manual... - Page 6 5.4 Unpacking ..............................34 5.4.1 Unpacking ........................... 34 5.4.2 Robot transportation angle ...................... 37 5.4.3 Inspection before the transportation ..................37 5.5 On-site installation ........................... 37 5.5.1 Handling ............................37 5.5.2 Installing the robot ........................40 XB4 Series Product Manual...
- Page 7 7.4 Cleaning ..............................64 7.5 Confirmation after maintenance ......................64 7.6 Maintenance Part List ..........................65 8 Common Failures ......................67 8.1 Introduction ............................... 67 8.2 Analysis of the failure causes and countermeasures ................67 Revision ........................... 71 XB4 Series Product Manual...
- Page 8 Contents XB4 Series Product Manual...
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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 XB4 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. XB4 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 XB4 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. XB4 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. XB4 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. XB4 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 XB4 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 XB4 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: XB4 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 XB4 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. XB4 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 XB4 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. XB4 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. XB4 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. XB4 Series Product Manual...
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Page 27: Product Overview
3 Product Overview 3.1 Introduction 3.1.1 Overview XB4 series industrial robots are the models of compact robots. Their flexible and compact configuration makes them suitable for working in a narrow space. 3.1.2 IP67 rating The XB4 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
Axis 1 motor. 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 XB4 Series Product Manual... -
Page 29: Symbols And Labels
Safety alert Do not enter into ！ symbol the working area while the robot is on, since the robot may collide and cause severe accidents. XB4 Series Product Manual... -
Page 31: Technical Specifications
Maximum 440° /s 440° /s velocity 355° /s 355° /s 440° /s 440° /s 490° /s 490° /s 450° /s 450° /s 720° /s 900° /s Operating temperature 0° C ~+40° C 0° C ~+40° C XB4 Series Product Manual... -
Page 32: Allowable Wrist Payload
4.4.2 Center of gravity of the load The position of the center of gravity of the load is determined by the distance between the XB4 Series Product Manual... - Page 33 4 Technical Specifications 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 XB4 Series Product Manual...
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Page 34: Load Diagram
4 Technical Specifications 4.4.3 Load diagram Fig. 7 Load diagram for XB4 Fig. 8 Load diagram for XB4h XB4 Series Product Manual... -
Page 35: Calculating The Inertia Moment
The allowable inertia moment of XB4 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 36: Working Space
4 Technical Specifications 4.5 Working space The XB4 working space is shown in the figure below: Fig. 9 XB4 working space XB4 Series Product Manual... - Page 37 4 Technical Specifications The XB4h working space is shown in the figure below: Fig. 10 XB4h working space XB4 Series Product Manual...
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Page 38: Overall Dimensions And Mechanical Interfaces
The overall dimensions and external interface dimensions of XB4 are shown in the figure below: (431.5) 198.5 6-M4 6 2-M8 16 2-M4 8 266.3 4-M5 10 Fig. 11 Overall dimensions and mechanical interfaces of XB4 XB4 Series Product Manual... -
Page 39: Mounting Flange
Pay attention to the interference zone at the end of the fixture during design. The mounting flange of XB4 robots is shown in the figure below: XB4 Series Product Manual... - Page 40 4 Technical Specifications Fig. 13 Mounting flange The mounting flange of XB4h robots is shown in the figure below: Fig. 14 Hollow wrist mounting flange XB4 Series Product Manual...
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Page 41: 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 XB4 Series Product Manual... -
Page 42: 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 XB4 Series Product Manual... - Page 43 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 Foam XB4 Series Product Manual...
- Page 44 Handle the robot arm body carefully after removing the bolts. XB4 Series Product Manual...
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Page 45: 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 5.5 On-site installation 5.5.1 Handling XB4 Series Product Manual... - Page 46 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 XB4 series Model...
- Page 47 Be careful not to tilt during the handling and transport slowly. XB4 Series Product Manual...
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Page 48: 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. XB4 Series Product Manual... -
Page 49: Fixing The Required Parts
When the bracket installation method is selected, see the figure below for the reference bracket size for the XB4/XB4h base bracket installation: Fig. 22 Bracket fixing method Description Socket head cap bolt M10X35 Steel-structure support Cylindrical pin XB4 Series Product Manual... -
Page 50: Foundation Installation
For the torque and supporting reaction force generated by the robot, refer to "5.5.6 Supporting reaction force of the robot"; No insulating layer material is allowed between the adaptation plate and the ⚫ XB4 Series Product Manual... -
Page 51: Supporting Reaction Force Of The Robot
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 XB4 Series Product Manual... -
Page 52: 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. 25 Definition of the robot arm body side ports XB4 Series Product Manual... -
Page 53: Definition Of The Control Cabinet Side Ports
A6-VCC Reserv Reser A2-GND A6-GND Reserv Reser Reserv A1-ES- A2-ES- A3-ES- A4-ES- A5-ES- A6-ES- 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 XB4 Series Product Manual... -
Page 54: Definition Of The Io Fitting Pins
Connection instructions on the 12pinIO fitting at the top of the upper arm: Pins 1-8 are directly connected internal pins. The user can customize the pin function; Pins 9-12 are void and are not connected during use. XB4 Series Product Manual... -
Page 55: Cabinet Cable Length And Wiring Method
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. XB4 Series Product Manual... - Page 56 It is recommended to use a 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. XB4 Series Product Manual...
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Page 57: 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. XB4 Series Product Manual... -
Page 58: 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. 30 Calibration method Position Axis A1 calibration position XB4 Series Product Manual... -
Page 59: Mechanical Calibration
"Calibrate" button for the button of the next joint. corresponding joint on the HMI and The joints with coupling relationship complete the calibration of that need to be calibrated simultaneously. joint. After this, you can continue to XB4 Series Product Manual... -
Page 60: 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 XB4 Series Product Manual... -
Page 61: Zero Check
(The robot can be moved to zero position quickly by using the HMI, see Fig. 34). If the robot cannot return to the correct zero position, please contact us. Fig. 33 Zero position of the robot XB4 Series Product Manual... - Page 62 6 Zero calibration Fig. 34 How to move to zero position XB4 Series Product Manual...
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Page 63: 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 XB4 Series Product Manual... - Page 64 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 XB4 Series Product Manual...
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Page 65: Lubrication
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. Fig. 35 Grease refill XB4 Series Product Manual... -
Page 66: Fastening Of Socket Head Cap Screws
Unless otherwise specified, when tightening the screws again in the operations described in this manual, use a torque wrench based on the tightening torques that are shown in the table below. Socket head cap screw Torque (Nm) XB4 Series Product Manual... -
Page 67: Battery Replacement
For disposal of abandoned battery, refer to the relevant laws and regulations of your country/region, or consult a professional company for disposal. Note that even used XB4 Series Product Manual... - Page 68 Fig. 38 Replacing the battery Name Specification Quantity Socket head cap screw M4X16 Electrical installation board Step 3: Cut off the ties that fix the old battery pack; Step 4: Bundle the new battery onto the cable board with ties; XB4 Series Product Manual...
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Page 69: 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 2, 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 70 20± 2N. If the measurement result is beyond this range, adjust it by following the steps below: Loosen the flange fixing screws (a total of three, loosen them to an extent to which the ⚫ XB4 Series Product Manual...
- Page 71 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. The pulleys of Axis 5 and Axis 6 have the same structure, so perform the Axis 5 pulley maintenance by referring to that of Axis 6. XB4 Series Product Manual...
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Page 72: Cleaning
Estimate whether the working environment has an impact on the robot's working space Whether the robot is at zero Only switch on the power supply of the robot when all the basic items above are inspected XB4 Series Product Manual... -
Page 73: Maintenance Part List
B=9mm 7.3.5.1 belt 14040300012 B=9mm 7.3.5.2 14040300013 B=6mm 7.3.5.3 A5/A6 14040300014 B=4mm 7.3.5.4 Battery Base electrical 15020301005/15 Battery pack / 7.3.4 installation Encoder battery pack 070401332 board component Grease Wrist 19010100009 96 grease 7.3.2 (appropriate amount) XB4 Series Product Manual... -
Page 75: 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 76 May be caused by wear of oil seal lip by impurities in extreme conditions; May be caused by improper sealing XB4 Series Product Manual...
- Page 77 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. XB4 Series Product Manual...
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Page 79: Revision
Revision Revision Version Date Content 2021/10/22 Initial version 2021/12/16 Add chamber airtight test plug 2022/9/16 Update of IO fitting pins definition diagram 2022/11/10 Update of bracket fixing pin XB4 Series Product Manual... - Page 81 [Back cover page]...
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