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ROKAE xMate CR12 Hardware Installation Manual

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Hardware Installation Manual

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Summary of Contents for ROKAE xMate CR12

  • Page 1 CR12 Hardware Installation Manual...
  • Page 3 CR12 Hardware Installation Manual Document number: DOC-00001599 Version: D Copyright © ROKAE 2015-2023. All rights reserved.
  • Page 4 This manual is originally written in Simplified Chinese. Other language versions are translated. Copyright © ROKAE 2015-2023. All rights reserved. ROKAE (Shandong) Intelligent Technology Co., Ltd. Shandong, China...

  • Page 5: Table Of Contents

    DOC-00001599/D Contents 1 Manual Overview ..........................5 1.1 About this manual 1.2 Target group 1.3 How to read the product manual 1.4 Illustrations in this manual 1.5 Related product documents 1.6 Contact 2 Safety ............................... 6 2.1 Introduction 2.1.1 Safety responsibilities 2.1.2 Intended use 2.2 Safety notice 2.2.1 Instructions...
  • Page 6 DOC-00001599/D 3.2.1 Overview 3.2.2 Robot system 3.2.3 Definitions of rotation directions and coordinate systems 3.3 Robot Teach Pendant overview 3.3.1 Teach Pendant overview 3.3.2 Teach Pendant components 3.4 Symbols and labels 4 Technical Specifications ......................... 22 4.1 Introduction 4.2 Specifications 4.2.1 Data sheet 4.2.2 Teach Pendant specifications 4.3 Working space...
  • Page 7 DOC-00001599/D 6.2.6 Extended EtherNet interface 6.2.7 EtherCAT servo drive debug interface 6.2.8 Function buttons on the wrist 6.2.9 Tool interface 6.3 Power adapter 6.3.1 Power-on button of the power adapter 6.3.2 Power input 6.3.3 Power output 6.4 Teach Pendant 6.4.1 Teach Pendant buttons 6.4.2 How to hold the Teach Pendant 7 Maintenance ............................

  • Page 9: Manual Overview

    Also, figures of other models may be used to describe some general information. 1.5 Related product documents This document is the product manual for the xMate CR12 robot and is intended to be used with the following documents: xCore Control System User Manual ⚫...

  • Page 10: Safety

    This section describes the principles and procedures that must be followed to ensure the safe use of the xMate CR12 robots. xMate CR12 robot integrators must read and understand the information listed here before powering on the robot for the first time.

  • Page 11: 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 12: Emergency Stop Types

    ⚫ STOP1: The robot comes to a controlled stop. Then the motor power is switched off and brakes are engaged. For xMate CR12 robots, STOP0 is used for handheld emergency stop signal processing. 2.5 Safety precautions xMate CR12Hardware Installation Manual...

  • Page 13: Operator Safety

    2 Safety DOC-00001599/D 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 14: Recovering From Emergency Stops

    2 Safety DOC-00001599/D 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. 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 emergencies.

  • Page 15: Safe Handling Of Fire Accidents

    2 Safety DOC-00001599/D 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. 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 16: Safe Handling Of Electric Shock Accidents

    2 Safety DOC-00001599/D 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 17: Personnel Requirements

    2 Safety DOC-00001599/D 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 18 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 19: Safety Training

    2 Safety DOC-00001599/D 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 20 2 Safety DOC-00001599/D 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 21: Pre-Use Assessment

    2 Safety DOC-00001599/D ⚫ 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 22: Product Overview

    3 Product Overview DOC-00001599/D 3 Product Overview 3.1 Introduction xMate CR12 is a new generation of flexible collaborative robot 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 CR12:...

  • Page 23: Definitions Of Rotation Directions And Coordinate Systems

    3 Product Overview DOC-00001599/D accessories 3.2.3 Definitions of rotation directions and coordinate systems The flexible collaborative robot features 6 degrees of freedom, or 6 joints or axes (see Figure 4 for details). The definitions of axis rotation directions and coordinate systems are described below.

  • Page 24: Robot Teach Pendant Overview

    3 Product Overview DOC-00001599/D 3.3 Robot Teach Pendant overview 3.3.1 Teach Pendant overview The Teach Pendant is an embedded handheld device integrated with complete 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.
  • Page 25 3 Product Overview DOC-00001599/D 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. xMate CR12Hardware Installation Manual...

  • Page 26: Technical Specifications

    4 Technical Specifications DOC-00001599/D 4 Technical Specifications 4.1 Introduction This section describes the performance parameters of the xMate CR12 flexible collaborative robot. 4.2 Specifications 4.2.1 Data sheet xMate CR12 xMate CR12-H xMate CR12-P Product name Number of axes Maximum reach...

  • Page 27: Working Space

    ≤ 90%, non-condensing, non-frost operation/storage 4.3 Working space The working space of xMate CR12 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: xMate CR12Hardware Installation Manual...

  • Page 28: Allowable Load

    4 Technical Specifications DOC-00001599/D Figure 4-1. The working space of xMate CR12 4.4 Allowable load Warning It is very important to always define the correct actual load data and calibrate the payload of the robot. Incorrectly defined load data may result in robot overload.

  • Page 29: Allowable Wrist Torque And Inertia

    4 Technical Specifications DOC-00001599/D Warning All loads installed on the robot, including the total weight of the end tooling 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.

  • Page 30: Calculation Of Load Inertia

    See 4.5.1 for the maximum allowable inertia of the xMate CR12 robots. Calculate the rotational inertia of the load before use and ensure that it is within the allowable range.

  • Page 31: Unpacking And Installation

    DOC-00001599/D 5 Unpacking and Installation 5.1 Introduction This section contains instructions for unpacking and installing the xMate CR12 flexible collaborative robot. 5.2 Installation flow chart The installation flow chart is used to check the robot installation progress. Put a check mark in the "Completed"...
  • Page 32 5 Unpacking and Installation DOC-00001599/D 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 temperature (< 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 33: Unpacking And Hardware Installation

    5 Unpacking and Installation DOC-00001599/D 5.4 Unpacking and hardware installation 5.4.1 Unpack Preparation for unpacking Prepare necessary tools for unpacking according to the table below. Tool Quantity Utility knife/scissors M10 hex wrench Protective gloves Unpacking procedures: ① Step 1: Open the packaging box Wear protective gloves and cut open the sealed package with scissors or a utility knife.

  • Page 34: Robot Angle And Force Application Points During Transportation

    5 Unpacking and Installation DOC-00001599/D USB flash drive Rokae 32G/PD095 Mechanical zero LS28-A0-101 xMate CR7/xMate calibration block CR12/xMate CR18 xMate CR12 Hardware Electronic Installation Manual documents are stored on a USB xCore Control System User Manual flash drive Top liners xMate CR12...

  • Page 35: Check Before Installation

    5 Unpacking and Installation DOC-00001599/D Figure 4. Robot pose and suggested points of force application during packing and transportation 90° 0° 175° 0° 0° 0° Warning The arrows in the figure indicate the suggested locations and directions of force application on the robot during packaging and transportation. It is strongly NOT recommended to apply force to other parts of the robot during transportation.

  • Page 36: Transportation

    5 Unpacking and Installation DOC-00001599/D 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. In this case, the robot is unstable and moving the arms may displace or tilt the center of gravity, and even cause the robot to tip over.
  • Page 37 5 Unpacking and Installation DOC-00001599/D Here is the specific fixing method: Use pins in the reserved cylindrical pin holes for accurate positioning. Then use four M12x35 socket head cap bolts (strength grade 12.9) to fix the robot's base to the bracket. Warning Please note that the bolts of the base must be tightened with a torque of 150 Nm to ensure that the robot is properly secured in place.

  • Page 38: Flange

    5 Unpacking and Installation DOC-00001599/D Fig 5-5. Supporting reaction force of the robot Force Max. Value for CR12 Fxy/N 1600 Fz/N 2139 Mxy/Nm 1307 Mz/Nm 1206 Notes The above force and torque data are the limit values that may appear during the motion of the robot.

  • Page 39: Power Adapter

    The location must meet the following conditions: With good ventilation and heat dissipation conditions; Outside the range of motions of xMate CR12; The power switch is easy to access for operators. xMate CR12Hardware Installation Manual...

  • 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 CR12 software installed for control and debugging of the robot.

  • Page 42: Robot Base

    The robot's power supply interface is an M23 special-purpose socket (pin-type). It works with the xMate CR12 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

    Figure 6-4. Handheld emergency stops and enabling device interface 6.2.4 General-purpose DIDO xMate CR12 provides 4 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 DIO function.
  • Page 44 6 Electrical Connections DOC-00001599/D Figure 6-5. General-purpose DIO interface J8 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.
  • Page 45 6 Electrical Connections DOC-00001599/D See Figure 21 for details on an NPN configuration. User Robot 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 46: Safety Dio

    Figure 6-9. NPN output wiring diagram 6.2.5 Safety DIO xMate CR12 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. Users must connect to the corresponding channel using a cable with the E0308 pin-type cold- pressed terminal in order to use this safety DIO function.
  • Page 47 6 Electrical Connections DOC-00001599/D 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. External Robot emergency stop Figure 10. External emergency stop interface Safety gate Robot Figure 6-12. Safety gate interface External emergency Safeguard stop (safety stop...

  • Page 48: Extended Ethernet Interface

    J1 is standard RJ45 interfaces that can be connected by a standard network cable. They support EtherNet and Modbus TCP/IP communication protocols, with a maximum communication speed of 100 Mbps. You can connect the xMate CR12 robot to a network device that has the xMate CR12 software installed.

  • Page 49: Function Buttons On The Wrist

    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 CR12 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 6.2.9.1 Special-purpose tool IO The xMate CR12 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 6 Electrical Connections DOC-00001599/D 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

    6 Electrical Connections DOC-00001599/D The digital outputs in the tool are not current-limited. Overriding the specifications can cause permanent damage. Tool digital input: The robot provides two channels of tool digital inputs. With 24V pull-up resistors, the floating digital inputs always read as high. The electrical principles of the user side connected to a simple button are shown below.

  • Page 53: Power Input

    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 54: Teach Pendant

    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 CR12 robot. It works with the xMate CR12 power cord that has a special-purpose plug (pin-type) to supply power to the robot.

  • Page 55: How To Hold The Teach Pendant

    6 Electrical Connections DOC-00001599/D 6.4.2 How to hold the Teach Pendant 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 6-24 How to hold the Teach Pendant xMate CR12Hardware Installation Manual...

  • Page 56: Maintenance

    7 Maintenance DOC-00001599/D 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.

  • Page 57: Cleaning

    7 Maintenance DOC-00001599/D connectors for any loose connection. 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 DOC-00001599/D 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 pose during its design, in which the angle of each joint is zero.
  • Page 60 8 Zero Calibration DOC-00001599/D xMate CR12 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 8 Zero Calibration DOC-00001599/D Figure 38.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 62: Decommissioning

    9 Decommissioning DOC-00001599/D 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. xMate CR12Hardware Installation Manual...

  • Page 63: Revision History

    10 Revision History DOC-00001599/D 10 Revision History Version Date Revision 2022/11/22 Initial version 2023/05/23 1. Delete 4.2 2. Modify the range information 2023/08/22 Update chapter 2 Modify Robot system figure of 3.2.2 Add 3.3 Robot Teach Pendant overvie Modify Symbols and labels figure of 3.4 Modify4.2.1Data sheet Add 4.2.2 Modify 4.3 working space...
  • Page 64 10 Revision History DOC-00001599/D xMate CR12Hardware Installation Manual...

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