Related Manuals for Omron CR-UGD4MINI Series
Summary of Contents for Omron CR-UGD4MINI Series
- Page 1 Cat. No. I198E-EN-02 Delta 3+1 Robot ZX-T Series IP65 protection class CR_UGD4MINI Series USER´S MANUAL...
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Page 3: Table Of Contents
CONTENTS CR_UGD4MINI User's Manual Safety Instructions 1. Attention 2. Explanation of warnings and notes 3. Safety information 3.1 General 3.2 Qualified personnel 3.3 Liability 3.4 Installation and operating conditions 3.5 Residual risks 3.5.1 Release device 3.5.2 Transport 3.5.3 Assembly and start-up 3.5.4 Maintenance and repair 3.5.5... - Page 4 CONTENTS CR_UGD4MINI User's Manual 3.3 Mounting the motor covers 3.4 Mounting the rotation motor or gearbox with his adaptor ring 4. Assembling the secondary arms 4.1 Make an assembly 4.2 Mount the arm assembly on the robot 5. Mounting the rotational axis on the motor/gearbox shaft 6.
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Page 5: Safety Instructions
Safety Instructions Contents Attention Explanation of warnings and notes Safety information General Qualified personnel Liability Installation and operating conditions Residual risks 3.5.1 Release device 3.5.2 Transport 3.5.3 Assembly and start-up 3.5.4 Maintenance and repair 3.5.5 System integrator... -
Page 7: Attention
Information in this document can change without prior notice. OMRON EUROPE B.V. cannot be hold responsible for any damage to the environment, to the machine or to the functioning of the machine occurred by errors or missing data in the illustrations, drawing or specifications. -
Page 8: Safety Information
Safety information General This ´3. Safety information´ subchapter contains information regarding working with the CR_UGD4MINI robot. Qualified personnel working with the CR_UGD4MINI robot must have read and understood the CR_UGD4MINI robot documentation, including the safety information chapter. Qualified personnel These are people who, due there specialist training, knowledge and experience, and their familiarization with the relevant standards, are able to assess the work to be carried out and detect any potential hazards. -
Page 9: Release Device
3.5.1 Release device The robot mechanics are not supplied with an release switch to control the brakes of the motors. WARNING • MOUNT A RELEASE SWITCH ON THE MACHINE SO THE ARMS (MOTOR) OF THE ROBOT COULD BE MANUALLY MOVED. •... -
Page 10: System Integrator
3.5.5 System integrator The robot is safely integrated into a complete system by the system integrator. The system integrator is responsible for the following tasks: • Installing the robot • Performing risk assessment • Implementing the required safety functions and safequards •... -
Page 11: Introduction
Chapter 1 Introduction Contents Introduction Description of the robot Type code explanation Identification Part names... -
Page 13: Description Of The Robot
Introduction Congratulations with the purchase of your high speed Delta robot. This is a high speed pick and place robot which uses state-of-the-art carbon composite materials and the latest servo drive technology to be put in use in the most demanding pick and place applications. -
Page 14: Part Names
Part names CR_UGD4MINI Rotary servo motor Primary arm Cable entry plate Motor cover Rotational axis Secondary arm TCP (Tool Center Point) The CR_UGD4MINI robot consists of three radially placed axis which give the TCP freedom to move in three directions, X, Y and Z. An optional fourth axis can take care of the rotation, Rz, of the TCP. Optionally the robot is equipped with an extra servo motor for the rotational axis. -
Page 15: Chapter 2 Model Overview
Chapter 2 Model overview Contents Overview... -
Page 17: Overview
Overview The CR_UGD4MINI has a working range of 500 mm. The specifications are given in the below figure, if specifications differ for models, for instance with- or without rotation axis, it is indicated in the specification list. The Mini Delta robot models are delivered standard with sanitary secondary arms, this means they are fully closed to prevent any contamination on the inside of the secondary arms. -
Page 19: Chapter 3 Installation
Chapter 3 Installation Contents Unpacking Unpacking the shipping box Check the damage Lifting and transportation Mounting the robot Mounting the motors and cabling Mounting the motors Connecting the cables Mounting the motor covers Mounting the rotation motor or gearbox with his adaptor ring Assembling the secondary arms Make an assembly Mount the arm assembly on the robot... -
Page 21: Unpacking
Unpacking Unpacking the shipping box The robot comes in a special shipping box. The following step must be carried out to remove the cover from the box: • Unscrew the screws from the cover of the wooden box • Now remove the cover Check the damage First take out the individual components from the package and check that everything is complete according to the following list:... - Page 22 WARNING • THE ROBOT MAY TILT DURING TRANSPORTATION. • ADDITIONAL SAFEGUARDING MEASURE MUST BE TAKEN. • WEAR SUITABLE PROTECTIVE CLOTHING IF NECESSARY. • WHEN USING A FORKLIFT TRUCK, DRIVE EXTREMELY SLOWLY AND CAREFULLY. Description Lifting tackle 2 x lifting straps 2 x eyebolts...
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Page 23: Mounting The Robot
Mounting the robot The mounting surface for the robot must be machined and of an appropriate quality. It’s also possible to use a levelling element to align the robot. Three M12 bolts are needed to mounting the robot to the frame, exact bolt length depends on frame layout. The tightening torque of a M12 6.8 bolt is 63Nm. -
Page 24: Mounting The Motors And Cabling
Mounting the motors and cabling Mounting the motors When your robot is delivered without motors, you have to mount them by yourself. First of all you have to remove the three motor covers from the robot. The following steps must be carried out to remove the motor covers from the robot. Please see also the following picture: •... -
Page 25: Mounting The Motor Covers
Description 4 x M5 Allen bolt Cable entry glands Blind thule • Insert the cables into the opening of the robot baseplate • Connect the cables • Clamp the cable entry glands around the cable and slide it back into the cable entry plate. Afterwards also slide the blind thule back into the cable entry plate •... -
Page 26: Mounting The Rotation Motor Or Gearbox With His Adaptor Ring
Mounting the rotation motor or gearbox with his adaptor ring This section is applicable only to the CR_UGD4MINI_R and CR_UGD4MINI_R_TS models (with rotational axis). Dependent on the type of rotation motor or gearbox with rotation motor, a special adaptor ring for mounting is included. -
Page 27: Assembling The Secondary Arms
Assembling the secondary arms Make an assembly Before mounting the secondary arms on the robot, we have to pre-assemble them as shown on the below figure, so that we get an arm assembly. Description Sanitary cup holder incl. ball bearing cup Spring package Secondary arm Repeat this action for the other 2 arm sets. -
Page 28: Mount The Arm Assembly On The Robot
Mount the arm assembly on the robot For mounting, pull a secondary arm with his cup holder over the ball joint of the primary arm. Now pull the arms apart against the force of the spring in order to pull the second arm over the second ball joint of the primary arm. Then repeat this action for the TCP (see below picture). -
Page 29: Mounting The Rotational Axis On The Motor/Gearbox Shaft
• Extend the rotational axis to its entire length, then retract the same and check whether it is easy to operate or whether some resistance occurs NOTE A light irregular resistance is normal and caused by the manufacturing tolerances of the tubes. The axis is run in during the first 150 hours of operation. In case of problems, please check the axis for damage or contact your OMRON representative. Description Clamping bush with bolts Rotational axis Release the two M5 Allen bolts which are mounted into the clamping bush (see above picture). -
Page 30: Calibration
Description Motor or gear shaft Top connector rotational axis Now push the top connector into the shaft until the top connector comes into its stop position on the shaft. Tighten the two M5 Allen bolts with 7 Nm. The rotational axis is now mounted. Calibration No every robot that is delivered is calibrated. -
Page 31: Gripper Interface
• Release the motor brake from the selected motor and push the upper arm with his ball joint against the calibration tool as shown above • Now fix the motor brake from the selected motor • Repeat the calibration steps for the other two primary arms •... -
Page 33: Chapter 4 Maintenance
Chapter 4 Maintenance Contents Periodic maintenance Springs Ball bearing cups Rotational axis Cleaning the robot Spare parts... -
Page 35: Periodic Maintenance
• When the robot is fall apart, check the springs on damages • Replace the springs when they are damaged • Only use springs delivered by OMRON, otherwise the guarantee will expire • Replace springs after overstretching • For spare parts, see Section 3 Spare parts in this chapter WARNING •... -
Page 36: Ball Bearing Cups
Ball bearing cups The ball bearing cups has the same lifetime as the springs. We recommend to exchange these at the same time as the springs. How to maintain the ball bearing cups: • The ball bearing cups has to be replaced every 3800 working hours or once a year •... - Page 37 Description M5 bolt with washer Plain bearing Lower rotation tube • Unscrew the M5 bolt with washer from the upper bearing block • Remove the lower rotation tube Description 2 x M5 bolt with washer Lower plain bearing • Unscrew the two M5 bolts with washer and take of the old lower and upper plain bearing blocks •...
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Page 38: Cleaning The Robot
Spare parts Robots with serial number 1785 or higher ■ Common spare parts (models with/without rotational axis) Robot part Description Quantity OMRON Part No. per robot CR_UGD4MINI_[] Robot base 1 x motor cover CR_PT-04240 Primary arm 1 x primary arm... - Page 39 Spare parts for models with rotational axis Robot part Description Quantity OMRON Part No. per robot CR_UGD4MINI_R Rotational axis 1 x mounting clamp with cardan joint CR_AS-2938 1 x gripper flange CR_AS-2934 1 x complete rotational axis CR_AS-2969 1 x upper side rotational axis...
- Page 40 1 x plain bearing CR_CP-1000 NOTE For other spare part items, please contact your Omron representative. The spare parts of robots with serial number 1784 or lower will be available up to end of 2022. Models with stainless steel + titanium secondary arms ■...
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Page 41: Chapter 5 Robot Settings
Chapter 5 Robot settings Contents Kinematics Workspace Software limits... -
Page 43: Kinematics
Kinematics The kinematics parameters for the CR_UGD4MINI robot are shown below. Set these parameters corresponding to the controller settings. WARNING IF THE KINEMATICS PARAMETERS ARE NOT SET PROPERLY, THIS MAY CAUSE THE ROBOT TO MALFUNCTION. SO, BE SURE TO SET THESE PARAMETERS CORRECTLY. ... -
Page 44: Workspace
Workspace The workspace parameters for the CR_UGD4MINI robot are shown below. Set these parameters corresponding to the controller settings. WARNING IF THE WORKSPACE PARAMETERS ARE NOT SET PROPERLY, THIS MAY CAUSE THE ROBOT TO MALFUNCTION. SO, BE SURE TO SET THESE PARAMETERS CORRECTLY. Workspace parameters Zu + offset Zu + offset:... -
Page 45: Software Limits
Software limits The software limits for the CR_UGD4MINI robot are shown below. WARNING α- β- γ- IF THE AXIS SOFT LIMIT IS SET INCORRECTLY, THE ARM MAY COLLIDE WITH THE ROBOT BASE OR BASE PREPARED BY THE USER, CAUSING BREAKAGE. SO, BE SURE TO SET THE SOFT LIMITS CORRECTLY. Minus direction soft limit [-33°... -
Page 47: Chapter 6 Specifications
Chapter 6 Specifications Contents Basic specifications Cycle time External view and dimensions External view and dimensions (Robots with serial number 1784 or lower) Design specifications Occupation area of robot Software design 4.2.1 Dimensions and limits... -
Page 49: Basic Specifications
Basic specifications CR_UDG4MINI_ CR_UDG4MINI_ CR_UDG4MINI_ CR_UDG4MINI_ Robot model R_TS NR_TS X, Y axis Stroke 500mm Ø 130mm (max. 155mm (max. 130mm (max. 155mm (max. Working volume Z axis Stroke Ø500mm) Ø500mm) Ø500mm) Ø500mm) θ axis Rotation range ±180° (default setting, it can be changed) Arm 1, 2, 3 400W Servo motor... -
Page 50: Cycle Time
Cycle time P&P path Payload Cycle time 0.1 kg 0.30 s 25 x 305 x 25 mm (Z1 x Y x Z2) 0.5 kg 0.43 s 1 kg 0.52 s... -
Page 51: External View And Dimensions
External view and dimensions... -
Page 52: External View And Dimensions (Robots With Serial Number 1784 Or Lower)
External view and dimensions (Robots with serial number 1784 or lower) 120° forbidden area 138,5 110 89 120° 109,5 forbidden area STC 337,5 17,3 3 × M12 STC 126,6 3 × M12 101,2 60,6 4 × 4,20 10 M5-6H 7 5H7 10 112,6 45,4... -
Page 53: Design Specifications
Design specifications Occupation area of robot If the robot is integrated into the machine it must be considered what the reach is of all robot parts to prevent collision with other parts in the machine. When the TCP moves to its outer positions, the primary and secondary arms can rise above the baseplate, take care that no mechanical obstructions are in the areas indicated in the below figure. -
Page 54: Software Design
Software design The arm lengths and pitch circles of the rotation points are shown in the below picture. Upper arm rotation points circle diameter 224 mm Upper arm length 150 mm Lower arm length 435 mm Lower arm rotation points circle diameter 80 mm Flange offset 44,5 mm... -
Page 55: Dimensions And Limits
4.2.1 Dimensions and limits Value Description With rotational axis Without rotational axis Negative software limit -33º -45º Positive software limit 111º Tb-z (top baseplate to zero position) 70 mm Z-tw (zero position to ball bearings) 353 mm 328 mm Flange offset 44,5 mm Neg.°... - Page 57 Revision history A manual revision code appears as a suffix to the catalog number on the front cover manual. The following table outlines the changes made to the manual during each revision. Revision code Date Description April 2016 Original production July 2016 Dimensions of models with serial number 1784 or lower were added...
- Page 58 Authorized Distributor: Cat. No. I198E-EN-02 Note: Specifications subject to change without notice. Printed in Europe...