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Summary of Contents for ROKAE xMate CR7-C
- Page 1 CR7-C Hardware Installation Manual A Partner You can Rely on in Production...
- Page 3 CR7-C Hardware Installation Manual Document ID: DOC- 00001751 Version: A Copyright © ROKAE 2015-2024. All rights reserved.
- Page 4 If you find the contents of this manual wrong or in need of improvement or supplement, please contact us for correction. This manual is originally written in Simplified Chinese, and other language versions are translated. Copyright © ROKAE 2015-2024. All rights reserved. Rokae (Shandong) Intelligent Technology Co., Ltd. Shandong, China...
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Page 5: Table Of Contents
2.4.7 Safe handling of electric shock accidents ..................... 7 2.5 Personnel and work requirements .....................8 2.5.1 Definition of personnel ......................... 8 2.5.2 Personnel requirements ......................... 8 2.5.3 Work requirements ..........................9 2.6 Safety training .........................10 xMate CR7-C Hardware Installation Manual... - Page 6 5.1 Installation flow chart ......................21 5.2 Environmental conditions ....................... 21 5.3 Unpacking ..........................22 5.4 Transportation and handling ....................23 5.4.1 Robot angle and force application points during transportation ............23 5.4.2 Handling .............................. 24 5.5 Installation ..........................25 xMate CR7-C Hardware Installation Manual...
- Page 7 7.1 Power on ..........................46 7.2 Confirmation of the emergency stop ..................46 7.3 Programming and usage ......................46 8 Maintenance .......................47 8.1 Introduction ..........................47 8.2 Maintenance safety ......................... 47 8.3 Maintenance schedule ......................47 8.4 Inspection ..........................47 xMate CR7-C Hardware Installation Manual...
- Page 8 9.2 What is zero calibration? ......................49 9.3 When is zero calibration required? ..................49 9.4 Zero calibration procedures ....................49 10 Decommissioning .....................51 10.1 Robot decommissioning ....................... 51 10.2 Recycling ..........................51 11 Revision History ...................... 52 xMate CR7-C Hardware Installation Manual...
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Page 9: Manual Overview
Also, figures from other models may be used to describe some general information. 1.5 Related product documents This document is the manual for the xMate CR7-C robot and is intended to be used with the following documents: xCore Robot Control System User Manual 1.6 Contact... -
Page 10: Safety
2.1.1 Safety responsibilities ROKAE is dedicated to but not liable for providing reliable safety information. Even if all safety instructions are followed, there is no guarantee that xMate CR7-C robots will not cause any personal injury or property damage. -
Page 11: Safety Notice
If you are unsure about the risks during the use of the robot, please contact ROKAE Technical Support. However, problems arising from non-intended use are not covered by our support. -
Page 12: Safety Precautions
Watch out for grippers and objects gripped. If the gripper is opened, the workpiece could fall and cause personal injury or equipment damage. The gripper can be very powerful and can also cause injuries if not operated in a safe manner. xMate CR7-C Hardware Installation Manual... -
Page 13: Safety Precautions For Operating The Teach Pendant
The emergency stop button is located in the upper right corner of the Teach Pendant. It has a latching feature that must be manually released in order to remove the emergency stop condition of the robot. This can be done by rotating the button as marked. xMate CR7-C Hardware Installation Manual... -
Page 14: Safety Precautions In Manual Mode
Pay attention to other devices that interact with the robot For another example, when removing a welding robot from the production line for routine maintenance, the robot supplying materials to it must also be stopped to avoid personal injury. xMate CR7-C Hardware Installation Manual... -
Page 15: Safe Handling Of Fire Accidents
Call the injured or pat him/her on the shoulder at an interval of 5s to judge if he/she lose consciousness. Do not call the injured by shaking his/her head. Meanwhile, contact the hospital as soon as possible. xMate CR7-C Hardware Installation Manual... -
Page 16: Personnel And Work Requirements
2.5.2.2 Debugging personnel requirements The debugging personnel shall meet the criteria of operating personnel. In addition, the debugging personnel shall also meet the following conditions: The debugging personnel shall have basic technical knowledge, understand the xMate CR7-C Hardware Installation Manual... -
Page 17: Work Requirements
Provide appropriate lighting during the maintenance. In case of part replacement, make sure to use a part specified by ROKAE. Otherwise, xMate CR7-C Hardware Installation Manual... -
Page 18: Safety Training
Check the position and status of the safety devices (such as the emergency stop button) in advance. Prevent other personnel from entering the working range of the robot. Before starting the robot, make sure that there is no personnel in the working range of xMate CR7-C Hardware Installation Manual... -
Page 19: Pre-Use Assessment
Test whether the robot can be switched between Manual and Automatic modes. Test whether the motion can be enabled in Manual mode only with enabling switch pressed and the robot is under deceleration control. xMate CR7-C Hardware Installation Manual... -
Page 20: Product Overview
Power relay cable Control cab power cable 3.2 Manipulator The xMate CR7-C flexible collaborative robot manipulator features 6 degrees of freedom, that is, 6 joints or axes. The definitions of axis rotation directions and coordinate systems are described below. Base coordinate system: The -X axis refers to the outgoing cable direction of the base, and the +Z axis refers to an upward direction perpendicular to the mounting surface. -
Page 21: Teach Pendant
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. xMate CR7-C Hardware Installation Manual... -
Page 22: Teach Pendant Structure
3.4 Control cab 3.4.1 Control cab overview The main components of the robot control system are installed in a xMate control cab (MCC), as shown in the figure below: xMate CR7-C Hardware Installation Manual... -
Page 23: Control Cab Structure
The MCC is designed to accommodate all the necessary components for controlling the robot's movements, as shown in 6.1. 3.5 Symbols and labels Item Manipulator logo Manipulator nameplate Control cab logo Control cab nameplate Electrical hazard symbol xMate CR7-C Hardware Installation Manual... -
Page 24: Technical Specifications
4 Technical Specifications DOC- 00001751/A 4 Technical Specifications This section describes the specifications of xMate CR7-C flexible collaborative robots. 4.1 Manipulator 4.1.1 Basic parameters Item Parameter Product Name xMate CR7-C Number of axes Maximum reach 988mm Repeatability ±0.02mm Maximum payload Axis 1 ±360°... -
Page 25: Working Space
4.1.2 Working space xMate CR7-C workspace diagram – the space went by the wrist reference point (the intersection of axes 4 and 5), as shown in the figure below. xMate CR7-C Hardware Installation Manual... -
Page 26: Allowable Load
Robots operating with incorrect load and/or load other than those specified in the load diagram will not be covered by the robot warranty. 4.1.3.1 Allowable wrist torque and inertia The allowable torque and inertia of xMate CR7-C robots are shown in the table below: Axis Allowable Torque (N.m) Allowable Inertia (kg·m... -
Page 27: Teach Pendant
Otherwise, the robot may be damaged due to overload. Axis Joint Torque Limit (N.m) 4.2 Teach Pendant Item Parameter Product Name xPad2 xMate CR7-C Hardware Installation Manual... -
Page 28: Control Cab
Fieldbus EtherCAT ×1 CC-Link communication module Optional extended General-purpose digital I/O module support Analog voltage/current I/O module Incremental encoder signal acquisition module Voltage: 24 V DC DC output power Maximum current: 2A Short-circuit protection provided xMate CR7-C Hardware Installation Manual... -
Page 29: Unpacking And Installation
DOC- 00001751/A 5 Unpacking and Installation 5 Unpacking and Installation This section contains instructions for unpacking and installing the xMate CR7-C flexible collaborative robot. 5.1 Installation flow chart The installation flow chart is used to check the robot installation progress. Put a check mark in the "Completed"... -
Page 30: Unpacking
Item Model Quantity Remark ROKAE USB flash drive 32G/PD095 Mechanical zero LS28-A0-101 calibration block Used for Hexagon socket head cap M8x30 (Grade manipulator screw 12.9) installation xMate CR7-C Hardware Stored on a USB xMate CR7-C Hardware Installation Manual... -
Page 31: Transportation And Handling
5.4.1 Robot angle and force application points during transportation During transportation, the robot shall be at the posture shown in the following figure and shall be carried at the point indicated by the arrow in the following figure. xMate CR7-C Hardware Installation Manual... -
Page 32: Handling
When the robot is standing still without being fastened to the foundation, the robot shall be enclosed in the bottom liners. In this case, the robot is unstable, and any movements may displace or tilt the center of gravity, and even cause the robot to tip over. xMate CR7-C Hardware Installation Manual... -
Page 33: Installation
Make sure that the installation conditions comply with the requirements. Make sure that the storage conditions comply with the requirements if the robot is not installed immediately. When these prerequisites are met, install the robot as described in the next section. xMate CR7-C Hardware Installation Manual... -
Page 34: Installation Of Robot And Control Cab
"√" indicates that the item is required for the installation. The fixing rigidity of the mounting bracket shall not be lower than that of the robot fixing plate and the foundation. The robot fixing modes and parameters are shown in the figure below: xMate CR7-C Hardware Installation Manual... - Page 35 After the robot is installed, its mounting base will generate a large support reaction force due to the static force and dynamic force of the robot, as shown in the figure below. Therefore, the robot base must be able to bear this force. xMate CR7-C Hardware Installation Manual...
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Page 36: Flange
The length of M6 screws on the installed EOAT shall not exceed the length of thread indicated in the figure to avoid any irreparable damage. The EOAT shall operate safely without any detached parts to cause dangers. xMate CR7-C Hardware Installation Manual... -
Page 37: Electrical Connection
Control cab power switch, marked as "POWER SWITCH" ⑨ Control cab power cable port, marked as "POWER IN" ⑩ Power relay cable port, marked as "ROBOT POWER" ○ Enlarged view of port at side of the panel xMate CR7-C Hardware Installation Manual... -
Page 38: External Port
Before opening the front door of control cab for wiring, the user shall power off the control cab. After wiring, he/she shall close the front door before powering on the control cab. Live operation/hot-line job may cause damage to the components, even severe or fatal personal injuries. xMate CR7-C Hardware Installation Manual... - Page 39 Manual mode for its open circuit J9-4 Mode selection BN J9-5 External emergency stop AP External emergency stop loop 2, J9-6 External emergency stop AN short-circuited when not in use J9-7 External emergency stop BP External emergency stop loop 1, xMate CR7-C Hardware Installation Manual...
- Page 40 Total current of two external power supplies: J12-J13 External power supply less than 2A For J9, J10, and J11, we recommend using the E0308 tubular insulated terminals. For J12 and J13, we recommend using the E0508 tubular insulated terminals. xMate CR7-C Hardware Installation Manual...
- Page 41 24 VDC is generated between the SDOxP and SDOxN. Item Parameter Type Semiconductor output Voltage range High level: 20 VDC to 30 VDC; low level: -5 VDC to +5 VDC Drive current 100 mA per circuit Quantity xMate CR7-C Hardware Installation Manual...
- Page 42 Custom J2-9 Custom J2-10 Custom J3-1 Common port DI power, provided on site J3-2 Common port J3-3 Custom J3-4 Custom J3-5 DI10 Custom J3-6 DI11 Custom J3-7 DI12 Custom J3-8 DI13 Custom J3-9 DI14 Custom xMate CR7-C Hardware Installation Manual...
- Page 43 Common port 24 VDC: low input, 19 VDC to 24 VDC Input impedance 7.5 kΩ The electrical principles in the two modes are shown below. When the common port is 0 VDC, the PNP input signals are available, as shown below: xMate CR7-C Hardware Installation Manual...
- Page 44 ≤2.5 Ω Drain current Max. 5 uA The electrical principles in the two modes are shown below. When the output is active low, the DO_COM (common port) is connected to 0 VDC, as shown below. xMate CR7-C Hardware Installation Manual...
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Page 45: Description Of Eoat I/O Ports
The end flange of the robot is equipped with a direct teach button and an EOAT I/O port. As shown in the figure, ① is a direct teach button, and ② is an EOAT I/O port. The Direct Teach mode can be enabled by pressing and holding the direct teach button. xMate CR7-C Hardware Installation Manual... -
Page 46: Special-Purpose Eoat I/O
In PNP mode, the EOAT power output shall be valid, and the PNP output level shall be consistent with the EOAT supply voltage. The electrical specifications of the digital output NPN mode are as follows: xMate CR7-C Hardware Installation Manual... - Page 47 User port Warning The digital outputs in the EOAT are not current-limited. Overriding the specifications can cause permanent damage. Notes We highly recommend connecting a freewheeling diode in parallel at both ends of inductive loads. xMate CR7-C Hardware Installation Manual...
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Page 48: Eoat Digital Inputs
The parameters of analog current inputs are as follows: Item Minimum Typical Maximum Unit Input current in current mode Input voltage in current mode Input resistance in current mode Ω Resolution Wiring diagram of analog current input port xMate CR7-C Hardware Installation Manual... -
Page 49: Eoat Communication
The EOAT communication port supports Modbus transparent transmission, the EtherCAT communication is adopted between the IPC and the EOAT, and the message transmission delay does not exceed 3 ms when the EOAT performs RS485 communication with the end effector. xMate CR7-C Hardware Installation Manual... -
Page 50: Connection System
6 Electrical connection DOC- 00001751/A 6.3 Connection system A complete xMate CR7-C electrical connection system is shown in the figure below: Name Manipulator Control cab Teach Pendant Signal relay cable Power relay cable Control cab power cable Personal computer with a network cable port ⑦*... -
Page 51: Connection Of The Teach Pendant
① at the manipulator base using a power relay cable, and connect the socket marked with the "ROBOT SIGNAL" on the side of the control cab with the socket marked with ② at the manipulator base using a signal relay cable. xMate CR7-C Hardware Installation Manual... -
Page 52: Connection Of The Control Cab Power Supply
Custom I/O signals (including safety I/O and general-purpose digital I/O) Custom network/communication signals Warning The wiring must be carried out by the certified workers or qualified personnel with relevant knowledge. Otherwise, it may result in personal injury or equipment malfunction. xMate CR7-C Hardware Installation Manual... -
Page 53: Grounding Instructions
(the grounding resistance shall be less than 100 Ω). The control cab can be grounded by the grounding terminal of the power cable, and the grounding position of the robot body is shown in the figure below. xMate CR7-C Hardware Installation Manual... -
Page 54: Quick Operation
After confirming the normal performance of the emergency stop, you can conduct configuration or programming on the robot. 7.3 Programming and usage For more information about the usage, programming, and parameter settings of the robot operating system, refer to the xCore Robot Control System User Manual. xMate CR7-C Hardware Installation Manual... -
Page 55: Maintenance
8.4 Inspection Interval Item Position Daily 1 month 3 months 6 months 1 year Robot Check the appearance appearance for damage External cables Check the Control cab control cab and robot connector for Manipulator looseness xMate CR7-C Hardware Installation Manual... -
Page 56: Cleaning
Do not apply excessive force to the manipulator during cleaning. Always hold the part that is manually cleaned by hands to avoid overloading the manipulator and causing any damage. Power on the robot only after all the surfaces are completely dry. Warning Improper cleaning may damage the robot. xMate CR7-C Hardware Installation Manual... -
Page 57: Zero Calibration
The robot joint is moved by external force with system powering off. 9.4 Zero calibration procedures The keyway calibration method is adopted from the axis 1 to axis 6 of xMate CR7-C robots. Only one axis can be calibrated at a time, and the specific process is as follows. - Page 58 1. Warning After the mechanical zero calibration is finished, the special calibration tool must be removed from the corresponding calibration keyway, and the manipulator status must be inspected to prevent accidents. xMate CR7-C Hardware Installation Manual...
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Page 59: Decommissioning
10 Decommissioning 10 Decommissioning 10.1 Robot decommissioning The decommissioning, storage, and disposal of the robot must be performed in compliance with relevant national laws, regulations, and standards. 10.2 Recycling Contact us for the recycling of robot. xMate CR7-C Hardware Installation Manual... -
Page 60: Revision History
11 Revision History DOC- 00001751/A 11 Revision History Version Date Revision History December 22, 2023 First release xMate CR7-C Hardware Installation Manual... - Page 62 ROKAE...
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