ROKAE xMate ER7 Pro Hardware Installation Manual

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Page 1 ER7 Pro Hardware Installation Manual...
Page 4 This manual is originally written in Simplified Chinese. Other language versions are translated. Copyright © ROKAE 2015-2022. All rights reserved. ROKAE (Shandong) Intelligent Technology Co., Ltd. Shandong, China...
Page 5: Table Of Contents
202208081959/V0.1 错误！未指定样式名称。 Contents 1 Manual Overview ........................3 1.1 About this manual ............................3 1.2 Target group ..............................3 1.3 How to read the product manual ......................3 1.4 Illustrations in this manual ......................... 3 1.5 Related product documents ........................3 1.6 Contact ................................
Page 6 202208081959/V0.1 错误！未指定样式名称。 4.2.1 Model ............................. 14 4.2.2 Nameplate ............................ 14 4.3 Specifications .............................. 14 4.3.1 Data sheet ............................. 14 4.4 Working space ............................. 16 5 Unpacking and Installation ....................17 5.1 Introduction ..............................17 5.2 Installation flow chart ..........................17 5.3 Environmental conditions ........................
Page 7 202208081959/V0.1 错误！未指定样式名称。 7.2 Maintenance safety ............................ 40 7.3 Maintenance outline ..........................40 7.3.1 Battery replacement ........................40 7.4 Maintenance schedule ..........................43 7.5 Check ................................43 7.6 Cleaning ............................... 43 8 Zero Calibration ........................45 8.1 Introduction ..............................45 8.1.1 Overview ............................45 8.1.2 What is a mechanical zero? ......................
Page 9 1 Manual Overview 202208081959/V0.1 xMate ER7 ProHardware Installation Manual...
Page 11: 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 ER7 Pro 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 ER7 Pro robots. Robot integrators must read and understand the information listed here before powering on the robot for the first time.
Page 13: Safety Notice
Any personal or device safety issues caused by the lack of safety features in the external controller are not covered by robot safety management. If you are unsure about the risks during the use of the robot, please contact ROKAE ...
Page 14: Enabling Switch
2 Safety 202208081959/V0.1 Emergency stop button 2.3.2 Enabling switch 2.3.2.1 Enabling device The enabling device is a special switch with two contacts and three positions, and is also called a three-position enabling switch (hereinafter referred to as "enabling switch"). It is used to power on/off the joints in Manual mode to enable robot motions.
Page 15: Emergency Stop
STOP1: The robot comes to a controlled stop. Then the motor power is switched off  and brakes are engaged. For the xMate ER7 Pro robots, STOP0 is used for collision detection in the case of external control with RCI and handheld emergency stop signal processing. 2.5 Safety precautions 2.5.1 Operating safety...
Page 16: Safety Precautions In Automatic Mode
2 Safety 202208081959/V0.1 The Manual mode is used during programming, debugging, and commissioning of the workstation. 2.5.3.2 Speed limit in Manual mode In Manual mode, the speed of the robot's end effector is limited to 250 mm/s. This means that the maximum speed of the robot will not exceed 250 mm/s whether you jog the robot or execute a program, regardless of the speed set in the program.
Page 17 2 Safety 202208081959/V0.1 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: Test that the emergency stop button on the handheld emergency stop and enabling ...
Page 18: Product Overview
3 Product Overview 202208081959/V0.1 3 Product Overview 3.1 Introduction xMate ER7 Pro 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 ER7 Pro:...
Page 19: Definitions Of Rotation Directions And Coordinate Systems
3 Product Overview 202208081959/V0.1 Name xMate ER7 Pro robot system Handheld safety protection device Power adapter and cables Other interfaces and 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).
Page 20: Symbols And Labels
3 Product Overview 202208081959/V0.1 法兰坐标系基坐标系 Figure 4. Definitions of robot rotation directions and coordinate systems 3.3 Symbols and labels xMate ER7 ProHardware Installation Manual...
Page 21 3 Product Overview 202208081959/V0.1 Figure 5. 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 ER7 ProHardware Installation Manual...
Page 22: Technical Specifications
4 Technical Specifications 202208081959/V0.1 4 Technical Specifications 4.1 Introduction This section describes the performance parameters of the xMate ER7 Pro flexible collaborative robot. 4.2 Model and nameplate 4.2.1 Model Figure 6. Model description 4.2.2 Nameplate Figure 7. Nameplate 4.3 Specifications 4.3.1 Data sheet...
Page 23 4 Technical Specifications 202208081959/V0.1 Axis 4 ±120° Axis 5 ±170° Axis 6 ±120° Axis 7 ±360° Axis 1 180°/s Axis 2 180°/s Maximum Axis 3 180°/s speed Axis 4 180°/s Axis 5 180°/s Axis 6 180°/s Axis 7 180°/s Operating temperature 0°C to +40°C Storage temperature -10°C to +55°C...
Page 24: Working Space
4 Technical Specifications 202208081959/V0.1 4.4 Working space The working space of xMate ER7 Pro is shown in the figure below. Figure 8. The working space of xMate ER7 Pro xMate ER7 ProHardware Installation Manual...
Page 25: Unpacking And Installation
202208081959/V0.1 5 Unpacking and Installation 5.1 Introduction This section contains instructions for unpacking and installing the xMate ER7 Pro 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 26 5 Unpacking and Installation 202208081959/V0.1 Avoid exposure to sunlight. Keep away from dust, soot, salt, iron chips, etc. Keep away from flammable and corrosive liquids and gases. Do not bring into contact with water. Protect from shock and vibration. Keep away from sources of electrical interference. Warning Never place or use the robot in any explosive environment! Notes...
Page 27: Unpacking And Hardware Installation
DC 48V 5M Servo debug cable LS18E2-A01-225 USB drive Rokae 32G Mechanical zero xMate ER7 Pro calibration block calibration block Interface adapter 9992250008 M8 With wrist flange interface xMate ER7 Pro Hardware Electronic Installation Manual documents are xMate ER7 ProHardware Installation Manual...
Page 28: Robot Angle And Force Application Points During Transportation
User Manual flash drive RCI User Manual Top liners TY0180101 Power adapter xMate-PW1000-01 xMate ER7 Pro Handheld emergency With cables stop & enabling device Bottom liners TY0180102 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.
Page 29: Check Before Installation
5 Unpacking and Installation 202208081959/V0.1 recommended to apply force to other parts of the robot during transportation. Improper operations and force application points may damage the robot. 5.4.3 Check before installation Personnel who install and operate the robot must have the necessary knowledge for installation, maintenance, and repair of mechanical and electronic equipment, and must comply with all the relevant national and local regulations.
Page 30 5 Unpacking and Installation 202208081959/V0.1 Part name Description Bracket Foundation installation installation ✔ ✔ Socket head cap screw 4-M10x25 (Grade 12.9) ✔ Expansion bolt 4-M20 (Grade 4.8 or (chemical bolt) higher) ✔ Robot fixing plate Thickness: At least 15 ✔ Mounting seat Mounting plate thickness: At least 15...
Page 31 □280 □230 Figure 13. Reference foundation fixing method Description Robot fixing plate xMate ER7 Pro base Expansion bolt (chemical bolt) 4-M20 Concrete foundation Socket head cap screw 4-M10 xMate ER7 ProHardware Installation Manual...
Page 32: Flange
The location must meet the following conditions: With good ventilation and heat dissipation conditions; Outside the range of motions of xMate ER7 Pro; The power switch is easy to access for operators. xMate ER7 ProHardware Installation Manual...
Page 33: 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 ER7 Pro software installed for control and debugging of the robot.
Page 34: Robot Base
202208081959/V0.1 enabling device Notes For information on how to control and use the xMate ER7 Pro robot, see the user manual of the robot software. 6.2 Robot base This section describes all the inbound and outbound interfaces on the robot base.
Page 35: Robot Power Supply
The robot's power supply interface is an M23 special-purpose socket (pin-type). It works with the xMate ER7 Pro 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 36: General-Purpose Dido
Figure 18. Handheld emergency stops and enabling device interface 6.2.4 General-purpose DIDO xMate ER7 Pro provides 4 digital input and 4 digital output channels on terminal connector J8. 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 37 6 Electrical Connections 202208081959/V0.1 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 The electrical principles in the two modes are shown below. PNP input ...
Page 38 6 Electrical Connections 202208081959/V0.1 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 39: Safety Dio
Figure 23. PNP output wiring diagram 6.2.5 Safety DIO xMate ER7 Pro 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 J7. 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 40 6 Electrical Connections 202208081959/V0.1 EX-STOP+ 外部急停机器⼈端 External Robot emergency VCC24 VCC24 EXSTOP1 EXSTOP2 Figure 24. External emergency stop interface S-GATE+ 安全⻔机器⼈端 Safety gate Robot VCC24 VCC24 SGATE1 SGATE2 Figure 25. Safety gate interface External emergency stop Safeguard stop (safety gate) Applicatio For emergency stop...
Page 41: Extended Ethernet Interface
6 Electrical Connections 202208081959/V0.1 Frequency Infrequent Infrequent of use Warning All safety-related I/Os are constructed redundantly (two  independent channels). Keep the two channels separate so that a fault on one channel will not cause the failure of the safety function.
Page 42: Ethercat Servo Drive Debug Interface
J1 and J2 are 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 ER7 Pro robot to a network device that has the xMate ER7 Pro software installed.
Page 43: Tool Interface
RS485A RS485B 6.2.9.1 Special-purpose tool IO The xMate ER7 Pro 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. 6.2.9.2 General-purpose tool IO...
Page 44 6 Electrical Connections 202208081959/V0.1 specific robot tool. The electrical specifications of the tool's power supply are listed below. Typical Unit Supply voltage 23.5 24.8 —— Supply current Attention 1. The maximum supply current of the tool is 2A, which lasts up to 1 second.
Page 45: Power Adapter
Figure 31. Wrist input interface 6.3 Power adapter The power adapter is an optional part of the xMate ER7 Pro robot. It converts the mains power to the DC power usable by the robot and provides a power supply indicator.
Page 46: Power Input
Indicator Adapter (self-locking) status status Not powered Steady red Powered on The electrical specifications of the input power are listed below. ROKAE power adapter DC voltage 48 V Rated current 21 A Output Ripple and noise 150 mVp-p Voltage range...
Page 47: 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 ER7 Pro robot. It works with the xMate ER7 Pro power cord that has a special-purpose plug (pin-type) to supply power to the robot.
Page 48: Maintenance
7 Maintenance 202208081959/V0.1 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 49 7 Maintenance 202208081959/V0.1 soldering battery terminals, and forced discharge. For disposal of batteries, refer to relevant national and local laws and regulations  or consult a professional company. Note that even used batteries can cause a short circuit when they come into contact with other metals or battery terminals and result in danger.
Page 50 7 Maintenance 202208081959/V0.1 Figure 35. Step 2 Step 3: Separate the rear base cover until it is as shown in Figure 36. You will find that the battery is connected to its holder with two nylon ties. Cut the nylon ties with pliers and remove the connector on the battery adapter cable to take out the battery.
Page 51: Maintenance Schedule
7 Maintenance 202208081959/V0.1 M3x10 Battery holder Nylon ties Battery Battery adapter cable 7.4 Maintenance schedule The robot must be maintained regularly to ensure high performance over a long period of time. The maintenance personnel must prepare maintenance plans and implement such plans strictly.
Page 52 7 Maintenance 202208081959/V0.1 Observe the following instructions when cleaning the robot: Cleaning should only be performed by trained users. Do not clean the robot with any chemical solvents. Use a damp cloth that has been wrung out to clean all devices. Do not apply excessive force to the manipulator during cleaning.
Page 53: Zero Calibration
8 Zero Calibration 202208081959/V0.1 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 54: Calibration Method
Figure 37. Axis 1 triangle calibration slot alignment 8.2.2 Mechanical calibration Axes 1 to 4 of xMate ER7 Pro are calibrated with a combination of calibration pins and slots, while Axes 5 to 7 with calibration slots only. You can calibrate only one axis at a time.
Page 55 8 Zero Calibration 202208081959/V0.1 Figure 38. Step 1 Figure 39. Step 2 Step 2: Remove the plastic shell at Axis 1 Remove the plastic shell at Axis 1 as shown in Figure 39 to expose the calibration pin. Step 3: Calibrate Axis 1 Slowly rotate Axis 1.
Page 56 8 Zero Calibration 202208081959/V0.1 Figure 41. Step 4 Step 4: Calibrate Axes 2 to 4 Push the plastic ring of Axes 2 to 4 onto the link in the direction shown in the figure, and calibrate them as described in Step 3. Step 5: Calibrate Axes 5 to 7 Calibrate Axes 5 to 7 as described in Step 3.
Page 57: Decommissioning
9 Decommissioning 202208081959/V0.1 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 Battery See Section 7.3.1.1 for the disposal of batteries. 9.3 Recycling Contact us for the recycling of batteries.
Page 59: Revision History
错误！未定义样式。 202208081959/V0.1 Revision History Version Content Initial version xMate ER7 ProHardware Installation Manual...

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