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ROKAE NB80 Series Product Manual

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NB80 Series
Prod uc t Man ual

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Summary of Contents for ROKAE NB80 Series

  • Page 1 NB80 Series Prod uc t Man ual...
  • Page 3 NB80 Series Product Manual Document ID: DOC-00001522 Document Version: A Copyright © ROKAE 2015. All rights reserved.
  • Page 4 Do not copy or reprint part or all of this manual without the consent of ROKAE. ROKAE has proofread the contents of this manual. However, the possibility of errors or inconsistencies cannot be ruled out, and ROKAE shall not be held liable for any errors or inconsistencies.

  • Page 5: Table Of Contents

    Contents Contents 1 Manual Overview ......................... 1 1.1 About this manual ..........................1 1.2 Target group ............................1 1.3 How to read the product manual ......................1 1.4 Illustrations in this manual ........................1 1.5 Contact ..............................1 2 Safety ........................... 3 2.1 Introduction .............................3 2.1.1 Safety responsibility description ....................
  • Page 6 Contents 4.5 Working space ............................24 4.6 Overall dimensions and mechanical interfaces ................25 4.7 Mounting flange ........................... 28 5 Environment and Installation ................... 29 5.1 Introduction ............................29 5.2 Installation flow chart .......................... 29 5.3 Environmental conditions ........................29 5.4 Unpacking ............................. 30 5.4.1 Unpacking ..........................

  • Page 7: 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  NB80 Series Product Manual...

  • Page 9: 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 10: Safety Features

    2 Safety 2.2.2.1 Hazards Icon Name Description There may be an injury to the operators and maintenance Squeezing personnel who enter into the motion range of the robot during debugging, repair, overhaul and tool installation. There may be a risk of hand pinching when the maintenance Hand personnel approach the belt drive parts or other moving parts pinching...

  • Page 11: Motion Enabling And Safe Stop

    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. STOP 2  NB80 Series Product Manual...

  • Page 12: Safety Devices

    2 Safety Once STOP 2 is triggered, the control system immediately executes deceleration along the programmed path until the robot stops completely. The power source of the motors is maintained and the band-type brakes are still disengaged, while the robot stays in the current position.

  • Page 13: Safety Precautions

    2.3.3.2 Teach Pendant cable The Teach Pendant and control cabinet are connected through a Teach Pendant cable. Please comply with the following requirements when using the Teach Pendant in order to avoid personal injury or equipment damage: NB80 Series Product Manual...

  • Page 14: Safety Precautions For Using The Control Cabinet

    2 Safety Make sure that the personnel do not stumble over the Teach Pendant cable so as to  avoid falling of the Teach Pendant or personnel. Do not squeeze the Teach Pendant cable, otherwise, its internal cores may be ...

  • Page 15: Resetting The Emergency Stop

    In case of emergency, you can move the robot arm body by manually releasing the band-type brake. A band-type bake release button is installed on the standard control cabinet. When this NB80 Series Product Manual...

  • Page 16: Safety Precautions In Manual Mode

    2 Safety function is not used, keep the protective cover of this button in place so as to prevent this function from being triggered mistakenly. The band-type brake release button is also installed on some models of robot arm bodies. The method for triggering this function is different based on the models.

  • Page 17: Safe Handling Of Fire 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 NB80 Series Product Manual...

  • Page 18: Personnel Requirements

    2 Safety programs through the Teach Pendant or other interfaces, but may not enter into the safety zone. Debugging personnel  The debugging personnel can conduct robot operations, enter into the safety zone and perform operations such as setting, teaching and programming on the robot. Maintenance personnel ...

  • Page 19: Safety Training

    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 20 2 Safety The emergency stop button should be set up within reach of the operating personnel.  2.5.2.2 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 the debugging.

  • Page 21: Product Overview

    3.1 Introduction 3.1.1 Overview The NB80 series industrial robots prioritize high-takt-time production with compromising payload, basic performance, and stability comparable to other robots in the same class. Robots with different reach and payloads can be produced based on this platform.

  • Page 22: Robot Body

    3 Product Overview 3.2.3 Robot body Among the NB80 series, NB80-80/2.2 and NB80-50/2.6 have 6 DOF. The number of DOF is equal to the number of axes and joints. Each joint motor is equipped with a brake. The robot body consists of the following parts: Wrist - The wrist has three degrees of freedom at the output end of the robot, driven ...

  • Page 23: Symbols And Labels

    3 Product Overview 3.3 Symbols and labels Figure 4 Symbols and labels Positi Label type Note Legend Arm body logo Indicates product model Product and other product nameplate information. Do not touch the electrical components Electrical inside a live robot to hazard avoid the risk of electric symbol...

  • Page 25: Technical Specifications

    4 Technical Specifications 4 Technical Specifications 4.1 Introduction This section mainly describes the various performance parameters of the NB80 robot series. 4.2 Model Figure 5 Model description 4.3 Specifications Product Name NB80-80/2.2 NB80-50/2.6 Drive mode AC servo AC servo Reach 2200 mm 2598 mm Repeatability...

  • Page 26: Allowable Wrist Load

    4 Technical Specifications Product Name NB80-80/2.2 NB80-50/2.6 Overall: IP65, Overall: IP65, Protection level wrist: IP67 wrist: IP67 Mounting method Floor mounted Floor mounted Noise level ≤90 dB(A) ≤90 dB(A) Weight Approx. 635 kg Approx.645 kg 2*φ12 air pipe (8 2*φ12 air pipe bar) (8 bar) 24-way signal...
  • Page 27 4 Technical Specifications Figure 6 Center of gravity of the load Parameter Description Center of gravity of the load Distance between the center of gravity of the load and axis A6 Distance between the center of gravity of the load and the flange mounting surface NB80 SeriesProduct Manual...

  • Page 28: Wrist Load Diagram

    4 Technical Specifications 4.4.3 Wrist load diagram Wrist load diagram Figure 7 NB80-80/2.2 wrist load diagram Wrist load diagram Figure 8 NB80-50/2.6 wrist load diagram NB80 SeriesProduct Manual...

  • Page 29: Calculation Of Load Inertia

    4 Technical Specifications 4.4.4 Calculation of load inertia In order to achieve optimal robot performance, you must clearly confirm that the load (the weight of the end effector and work object) and the load inertia are within the maximum allowable value of the robot. When installing the effector at the robot end, take the moment of inertia of the effector into consideration.

  • Page 30: Working Space

    4 Technical Specifications 4.5 Working space The working space of the NB80-80/2.2 robot is shown below: 692±1 1016 172.5 654.94 543.84 1800.12 2200.12 Figure 9 Working space of the NB80-80/2.2 robot NB80 SeriesProduct Manual...

  • Page 31: Overall Dimensions And Mechanical Interfaces

    4 Technical Specifications 1216 172.5 750.64 600.21 853.08 578.7 2197.71 2597.94 Figure 10 Working space of the NB80-50/2.6 robot 4.6 Overall dimensions and mechanical interfaces To ensure the service life of the threads, do not remove the interface mounting screws frequently.
  • Page 32 4 Technical Specifications 2-M6 depth 12 2-M12 depth 24 2-M12 depth 24 3-M8 depth 20 3-M8 depth 20 3-M8 depth 17 Figure 11 Overall dimensions and external interface dimensions of NB80-80/2.2 NB80 SeriesProduct Manual...
  • Page 33 4 Technical Specifications 2-M6 depth 12 2-M12 through 2-M12 through 3-M8 depth 17 3-M8 depth 20 3-M8 depth 20 Figure 12 Overall dimensions and external interface dimensions of NB80-50/2.6 NB80 SeriesProduct Manual...

  • Page 34: Mounting Flange

    4 Technical Specifications 4.7 Mounting flange The user should fabricate a robot end fixture according to actual needs and connect it to the wrist mounting flange. The dimensions of the mounting flange are shown in the figure below. The hexagon screw has a fixing strength of 12.9. The shape and size of the mounting fixture on the mounting flange may affect the rotation range of the robot axis.

  • Page 35: Environment And Installation

    5 Environment and Installation 5 Environment and Installation 5.1 Introduction This section mainly describes the relevant information to be paid attention to during the installation of the NB80 robot series. Transportation and installation of the robot and related equipment should be carried out by qualified personnel. In addition, make sure to work in accordance with the laws and regulations in your country.

  • Page 36: Unpacking

    5 Environment and Installation Item Condition Temperature -10°C to +55°C Relative 20% to 80%, non-condensing humidity 5.4 Unpacking 5.4.1 Unpacking Prepare the necessary tools for unpacking according to the table below: Tool Quantity Crowbar Utility knife/scissors M16 external hex wrench Protective gloves Unpacking procedures: Step 1: Open the wooden packaging box...
  • Page 37 5 Environment and Installation Figure 15 Unpacking the control cabinet and the Teach Pendant cardboard box Name Teach Pendant EPE foam Robot cables Step 3: Remove the bolts that fix the robot body Use an external hex wrench to remove the four bolts that fix the robot. Unscrew them and move the robot to the designated safe position.

  • Page 38: Robot Transportation Angle

    5 Environment and Installation 5.4.2 Robot transportation angle To ensure stability during transportation, the transportation pose and angle of each axis are defined. The detailed transportation pose and angle for each model are listed below. Figure 17 Robot transportation angle Name NB80-80/2.2 0°...
  • Page 39 5 Environment and Installation 5.5.1.3 Handling dimensions Figure 14 shows the outline dimensions of the robot in the transportation pose, in which C and D indicate the robot's center of gravity. Please reference it during handling and transportation. Figure 18 Reference handling dimensions and center of gravity of the NB80 robot series Model A/mm...
  • Page 40 5 Environment and Installation 5.5.1.4 Crane In principle, a crane should be used to move and handle the robot. It is necessary to pay attention to safety and handle it gently so as not to damage the equipment or the surface of the robot.

  • Page 41: Robot Installation

    5 Environment and Installation forklift forks under the bottom pallet or baseboard, and handle them together with the robot. Be careful not to tilt during the handling and transport slowly. Figure 20 Handling the robot with forklift Definition Socket head cap screw 4-M12x25 (strength grade 12.9) Transportation brackets, 2 pcs Warning...

  • Page 42: Parts Required For Fixing

    5 Environment and Installation Warning Performing work such as installation, wiring, maintenance, and repair on the robot  equipment by non-professional and unqualified personnel is strictly prohibited; Make sure to set a safety fence at the installation position of the robot equipment ...

  • Page 43: Robot Supporting Reaction Force

    5 Environment and Installation Spring washer Flat washer Mount the adaptation plate onto the foundation with four M20 chemical bolts (expansion bolts), then fix the robot base onto the adaptation plate with 8 socket head cap bolts M20×80. Tightening torque: 670±5 Nm. Warning When the foundation installation method is adopted, make sure that the ...

  • Page 44: Electrical Connections

    5 Environment and Installation Figure 22 Supporting reaction force of the robot Maximum load Force NB80-80/2.2 NB80-50/2.6 Fxy/N 6500 5407 Fz/N 11200 9812 Mxy/Nm 13900 9894 Mz/Nm 5650 5656 Notes The above force and torque data are the limit values that may appear during the motion of the robot.

  • Page 45: Definition Of The Robot Body Side Ports

    5 Environment and Installation When connecting the robot and controller, make sure that the connection is  correct. Otherwise, the robot system may not operate properly, and safety problems may also be caused. For details, refer to the Operation Manual. The wiring work must be carried out by certified workers or qualified personnel.
  • Page 46 5 Environment and Installation Figure 24 Power and signal NB80 SeriesProduct Manual...

  • Page 47: Definition Of Ee And As Pins

    5 Environment and Installation 5.6.2 Definition of EE and AS pins Figure 25 Definition of EE and AS pins Base AS Upper:arm EE Upper arm AS Base EE Figure 26 Schematic diagram of the connection inside the robot Connection of 12-pin IO interfaces between upper arm EE and base EE, upper arm AS and base AS: Pins 1-12 are directly-connected internal pins.

  • Page 48: User Wiring/Routing

    5 Environment and Installation 5.7 User wiring/routing Warning The wiring work must be carried out by certified workers or qualified personnel. If wiring work is performed by someone who does not have the relevant knowledge, it may result in injury or malfunction. Warning The grounding terminal must be connected to the grounding electrode (it is ...

  • Page 49: Zero Calibration

    6 Zero Calibration 6 Zero Calibration 6.1 Introduction 6.1.1 Overview This section describes the zero calibration. Use the calibration tools described in this section during calibration. 6.1.2 What is a mechanical zero? The robot is pre-defined with an initial orientation during its design, in which the angle of each joint is zero (see Figure 30for details.) From a mechanical viewpoint, the zero orientation is the orientation where a certain angle is formed between adjacent links.
  • Page 50 6 Zero Calibration Figure 28 Calibration method Position Axis A1 calibration groove Axis A2 calibration groove Axis A3 calibration groove Axis A4 calibration groove Axis A5 calibration groove Axis A6 calibration groove NB80 SeriesProduct Manual...

  • Page 51: Mechanical Calibration

    6 Zero Calibration 6.2.2 Mechanical calibration Figure 29 Mechanical calibration The interface of mechanical calibration is shown in Figure 29. See the table below for detailed calibration procedures: Operation Description Log in to the system using an Zero calibration can only be performed in admin-level or above user manual mode with no program running.

  • Page 52: Zero Check

    6 Zero Calibration 6.3 Zero check The robot has completed zero calibration when it is delivered. The zero pose of the robot is shown in Figure 30. In order to ensure the accuracy of the zero point of the robot, it is recommended to check the zero point after the first startup or recalibration (the robot can be moved to the zero point using the Teach Pendant shortcut button, as shown in Figure 30) to ensure the robot moves to the correct zero point.
  • Page 53 6 Zero Calibration Socket head cap screw M4X10-A2-70-stainless 内六角圆柱头螺钉M4X10 A2-70不锈钢 steel and thread sealant, tightening torque 4.5 Nm 加螺纹胶，拧紧力矩 4.5 Nm Rear cover seal of upper arm. 小臂后盖密封垫 Rear cover of upper arm 小臂后盖 J4=0°时 If J4=0°, check if the cable is twisted 确认电缆是否扭曲...

  • Page 55: Maintenance

    7 Maintenance 7 Maintenance 7.1 Introduction Please carefully read Chapter 7.2, this manual, and other related documents before maintenance. Perform maintenance after you have fully understood the safe maintenance methods. 7.2 Maintenance safety Warning Strictly follow the maintenance procedures. Do not disassemble any part of the ...
  • Page 56 7 Maintenance 2) With the power ON (no action) Item Position Interval Daily 12 months month months months Shake the cable External ● ● gently to check for cables disconnection In the enabling Each ● state, press each link of robot with your hand to check for robot...

  • Page 57: Lubrication

    7 Maintenance 3） With the power ON (with action) Item Position Interval Daily month months months months Working space Each ● confirmation joint Check the whole Whole ● ● ● ● ● robot for abnormal robot sound and vibration Check for changes in Whole ●...
  • Page 58 7 Maintenance stop for a period of time, and wait until the outlet does not discharge any grease before continuing to refill oil. Notes Open the oil discharge outlet before injecting oil. If the speed of injecting oil is too fast, it will cause the instantaneous internal pressure of the reducer to go high, grease with high pressure may cause damage to oil seals, and grease entering the motor may cause the module to leak oil.
  • Page 59 7 Maintenance 7.3.2.2 Reducer lubrication In order to exert the performance of the robot adequately, use the specified type of grease at a certain amount at the corresponding position. Apply grease in each axis as shown in the following table: Axis no.
  • Page 60 7 Maintenance Figure 34 Axis 2 reducer grease refill Description Axis 2 oil filling port Axis 2 oil outlet Procedures for replacing the grease of the Axis 2 reducer: Adjust all axes to the zero position; Remove plugs from the oil filling port and oil outlet for Axis 2; (exchange the position of the oil filling port and oil outlet for ceiling mounting);...
  • Page 61 7 Maintenance 7.3.2.5 Axis 3 reducer lubrication Figure 35 Axis 3 reducer grease refill Description Axis 3 oil filling port Axis 3 oil outlet Procedures for replacing the grease of the Axis 3 reducer: Adjust every axis to zero position; Remove plugs from the oil filling port and oil outlet for Axis 3 (exchange the position of the oil filling port and oil outlet for ceiling mounting);...
  • Page 62 7 Maintenance Remove plugs from the oil filling port and oil outlet for Axis 4 (exchange the position of the oil filling port and oil outlet for ceiling mounting); Install the G1/8 nozzle at the oil filling port; Refill oil from the oil filling port with an oil gun. The refill speed should not exceed 300g/min.

  • Page 63: Fastening Of Socket Head Cap Screws

    7 Maintenance 7.3.3 Fastening of socket head cap screws Use socket head cap screws (herein referred to as “screws”, in Grade 12.9) at locations where connection strength shall be ensured. When assembling, tighten the screws as per the tightening torque shown below. Unless otherwise specified, when tightening the screws again in the operations described in this Manual, tighten the screws using a torque wrench based on the tightening torques that are shown in the table below.
  • Page 64 7 Maintenance Status confirmation: Only when the robot stays stationary and the power is OFF can you replace the battery. Check the status before operation. Warning A mechanical zero inspection should be performed upon the completion of battery replacement on the robot in any status. Preparation of tools: Prepare replacement tools according to the table below.

  • Page 65: Maintenance Of Timing Belts

    7 Maintenance For circumstances where the zero point is lost due to failure to follow the above procedures, refer to Chapter 6.2Zero calibration. 7.3.5 Maintenance of timing belts Warning The adjustment and maintenance of timing belts must be carried out by professionals using professional tools.

  • Page 66: Cleaning

    7 Maintenance Name Specifications Quantity 14040300248 Pulley 14040300249 Flange fixing 16010101048 screw Timing belt 14040300246 Figure 41 Maintenance of Axis 6 timing belt Name Specifications Quantity 14040300247 Pulley 14040300250 Flange fixing 16010101047 screw Timing belt 14040300245 7.4 Cleaning In order to ensure long-term stable operation of the robot, clean the robot regularly, i.e. every 960 hours or 3 months of operation (whichever comes first), by following the process below: Adjust the robot to the calibration state;...

  • Page 67: Verification After Maintenance

    7 Maintenance 7.5 Verification after maintenance Each time after performing a maintenance operation on the robot, you should always verify the robot status by following the procedures below: Item Whether the robot appearance is intact Whether the robot is fixed securely Whether the robot cable is correctly connected Estimate whether the working environment has an impact on the robot's working space...

  • Page 69: 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 70 8 Common Failures Failure Description Possible causes Solution Vibration that Motor failure Contact ROKAE for cannot be analyzed may lead to operations involving from the abnormal replacement of mechanical vibration of motors and cables. perspective the robot; The system may not be...
  • Page 71 Solution position of the repositioning by analyzing the robot and the accuracy is repositioning actual action unstable, the accuracy and offset may be contact ROKAE. inconsistent; caused by mechanical repositioning system accuracy of abnormality the robot is and screw abnormal.

  • Page 73: Revision

    Revision History Revision Version Date Content 2022/12/21 Initial version NB80 SeriesProduct Manual...

This manual is also suitable for:

Nb80-80/2.2Nb80-50/2.6

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