Omron CR-UGD4MINI Series User manual

ZX-T Series
Cat. No. I198E-EN-02
CR_UGD4MINI Series
USER´S MANUAL
Delta 3+1 Robot
IP65 protection class

CONTENTS CR_UGD4MINI
User's Manual
T- 1
Safety Instructions
1. Attention S-1
2. Explanation of warnings and notes S-1
3. Safety information S-2
3.1 General S-2
3.2 Qualiedpersonnel S-2
3.3 Liability S-2
3.4 Installation and operating conditions S-2
3.5 Residual risks S-2
3.5.1 Release device S-3
3.5.2 Transport S-3
3.5.3 Assembly and start-up S-3
3.5.4 Maintenance and repair S-3
3.5.5 System integrator S-4
Chapter 1 Introduction
1. Introduction 1-1
1.1 Description of the robot 1-1
1.2 Type code explanation 1-1
2. Identication 1-1
3. Part names 1-2
Chapter 2 Model overview
1. Overview 2-1
Chapter 3 Installation
1. Unpacking 3-1
1.1 Unpacking the shipping box 3-1
1.2 Check the damage 3-1
1.3 Lifting and transportation 3-1
2. Mounting the robot 3-3
3.
Mounting the motors and cabling 3-4
3.1 Mounting the motors 3-4
3.2 Connecting the cables 3-4

CONTENTS CR_UGD4MINI
User's Manual
T- 2
3.3 Mounting the motor covers 3-5
3.4 Mounting the rotation motor or gearbox with his adaptor ring 3-6
4. Assembling the secondary arms 3-7
4.1 Make an assembly 3-7
4.2 Mount the arm assembly on the robot 3-8
5. Mounting the rotational axis on the motor/gearbox shaft 3-9
6. Calibration 3-10
7. Gripper interface 3-11
Chapter 4 Maintenance
1. Periodic maintenance 4-1
1.1 Springs 4-1
1.2 Ball bearing cups 4-2
1.3 Rotational axis 4-2
2. Cleaning the robot 4-4
3. Spare parts 4-4
Chapter 5 Robot settings
1. Kinematics 5-1
2. Workspace 5-2
3. Software limits 5-3
Chapter 6 Specications
1. Basicspecications 6-1
1.1 Cycle time 6-2
2. External view and dimensions 6-3
3. External view and dimensions (Robots with serial number 1784 or lower) 6-4
4. Designspecications 6-5
4.1 Occupation area of robot 6-5
4.2 Software design 6-6
4.2.1 Dimensions and limits 6-7

Contents
1. Attention S-1
2. Explanation of warnings and notes S-1
3. Safety information S-2
3.1 General S-2
3.2 Qualified personnel S-2
3.3 Liability S-2
3.4 Installation and operating conditions S-2
3.5 Residual risks S-2
3.5.1 Release device S-3
3.5.2 Transport S-3
3.5.3 Assembly and start-up S-3
3.5.4 Maintenance and repair S-3
3.5.5 System integrator S-4
Safety Instructions

Safety Instructions
S-1
1. 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.
No part of this manual and added documentation may be copied, reproduced or translated into another language without
prior written approval.
Read and understand the material contained in this user's manual before you work on the CR_UGD4MINI robot for
the first time. This user's manual is supposed to help you use the capabilities of the CR_UGD4MINI robot safely and
properly.
2. Explanation of warnings and notes
This manual uses the following safety alert symbols and signal words to provide safety instructions that must be
observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure you understand
the meaning of each symbol and signal word and then read this manual.
DANGER
THIS INDICATES AN IMMEDIATELY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, WILL RESULT IN DEATH OR
SERIOUS INJURY.
WARNING
THIS INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, COULD RESULT IN DEATH OR
SERIOUS INJURY.
NOTE
Explains the key point in the operation in a simple and clear manner.

Safety Instructions
S-2
3. Safety information
3.1 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.
3.2 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.
3.3 Liability
The CR_UGD4MINI robot is build using state-of-the-art technology and in accordance with the recognized safety
rules. Nevertheless, misuse of the CR_UGD4MINI robot may constitute a risk to life and limb or cause damage to the
CR_UGD4MINI robot and to other material property.
3.4 Installation and operating conditions
You may only use the components in accordance with the installation and operating conditions described in the
documentation. The operating conditions at the installation location must be checked and maintained in accordance
with the required technical data. Within the meaning of the Machinery Directive the CR_UGD4MINI robot is an
incomplete machine. Commissioning is prohibited until the usable machine or system in which the CR_UGD4MINI
robot is installed meets all requirements of the Machine directive 2006/42/EC.
For the CR_UGD4MINI robot you have to observe the following standards, directives and regulations:
• EN ISO 10218-1:2011 Robots and robotic devices - Safety requirements for industrial robots - Part 1: Robots.
• EN ISO 10218-1:2011 Robots and robotic devices - Safety requirements for industrial robots - Part 2: Robot systems
and integration.
3.5 Residual risks
Safety and health risks arising from the robot mechanics have been reduced by means of safety technology and design
engineering. However a residual risk remains, since the robot mechanics will be move by an automated control system.
The following are typical warnings concerning residual risks which cannot be assigned to a specific action. The
expression of safety labels is identical to the safety information.

Safety Instructions
S-3
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.
• MOVING AN AXIS WITH AN IMPROPERLY WORKING RELEASE SWITCH CAN DAMAGE THE MOTOR BRAKE. THIS
CAN RESULT IN PERSONAL INJURY AND MATERIAL DAMAGE.
• BEFORE RELEASING THE BRAKE, YOU HAVE TO BE SURE THAT NO ONE IS IN THE HAZARD AREA OF THE ROBOT.
3.5.2 Transport
The prescribed transport position of the robot must be observed. Transportation must be carried out in accordance with
the transportation instructions or assembly instructions of the robot.
WARNING
• ONLY USE AUTHORIZED HANDLING EQUIPMENT WITH A SUFFICIENT LOAD-BEARING CAPACITY TO TRANSPORT
THE ROBOT.
• WEAR SUITABLE PROTECTIVE CLOTHING IF NECESSARY.
3.5.3 Assembly and start-up
Before starting up systems and devices for the first time, a check must be carried out to ensure that the system and
devices are completed and operational, that they can be operated safely and that any damage is detected.
The valid national or regional work safety regulations must be observed for this check. The correct functioning of all
safety circuits must also be tested.
The following tests must be carried out before start-up and recommissioning. It must be ensured that:
• The robot is correctly installed and fastened in accordance with the specifications in the assembly instructions.
• There are no foreign bodies or loose parts on the robot.
• All required safety equipment is correctly installed and operational.
WARNING
• A WRONG INSTALLED ROBOT MAY THROW OFF HIS ARMS.
• WEAR SUITABLE PROTECTIVE CLOTHING IF NECESSARY.
3.5.4 Maintenance and repair
After maintenance and repair work, checks must be carried out to ensure the required safety level. The valid national
or regional work safety regulations must be observed for this check. The correct functioning of all safety circuits must
also be tested.
The purpose of maintenance and repair work is to ensure that the system is kept original or, in the event of a fault, to
return the system to an operational state. Repair work includes troubleshooting in addition to the actual repair itself.
The following safety measures must be carried out when working on the robot:
• Switch of the machine (system) where the robot is built-in (e.g. with a padlock) to prevent it from being switched on
again
• Label the machine (system) with a sign indication that work is in progress. This sign must remain in place, even
during temporary interruptions to the work.
• The emergency stop from the machine (system) must remain active. If safety functions or safeguards are deactivated
during maintenance or repair work, they must be reactivated immediately after the work is completed.

Safety Instructions
S-4
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
• Issuing the declaration of conformity
• Attaching the CE mark
• Creating the operating instructions for the complete system

Chapter 1 Introduction
Contents
1. Introduction 1-1
1.1 Description of the robot 1-1
1.2 Type code explanation 1-1
2. Identification 1-1
3. Part names 1-2

1-1
1
Introduction
1. 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.
This manual should be read before the commissioning of the robot. By mechanical engineers in the design phase during
the integration of the robot in the machine and by software engineers to check the performance envelope of the robot.
This manual describes the main versions of the CR_UGD4MINI robot, and all options. Where applicable check the
appropriate data for your robot type, the type can be found on the identification tag of the robot.
CR_UGD4MINI CR_UGD4MINI_TS
(stainless steel + titanium secondary arms)
1.1 Description of the robot
The CR_UGD4MINI Delta robot 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. The
robot is designed as a 3-axis (optional 4th rotational axis) Delta kinematic system.
Characteristics of the robot:
• Requires very low maintenance
• 3 + 1 (rotational axis optional) degrees of freedom
• Compact design for mounting in a machine
• Low noise level < 68 dB (A)
1.2 Type code explanation
Standard models
CR_UGD4MINI_R: 3 + 1 axes (with rotational axis), 500 mm working range, max. payload: 1 kg
CR_UGD4MINI_NR: 3 axes (without rotational axis), 500 mm working range, max. payload: 1 kg
Models with stainless steel + titanium secondary arms
CR_UGD4MINI_R_TS: 3 + 1 axes (with rotational axis), 500 mm working range, max. payload: 1 kg
CR_UGD4MINI_NR_TS: 3 axes (without rotational axis), 500 mm working range, max. payload: 1 kg
NOTE
Robotswithserialnumber1784orlowerhavedierentworkingrange.Referto"3.Externalviewanddimensions(Robotswithserial
number1784orlower)"inChapter6formoredetailedinformationaboutdimensions.
2. Identification
On the robot base plate an identification tag is mounted, important data on this plate:
• Robot type
• Total weight of the robot
• Year of production
• Serial number, important for ordering spareparts

1-2
Introduction
1
3. Part names
CR_UGD4MINI
Primary arm
TCP (Tool Center Point)
Rotary servo motor
Motor cover
Secondary arm Rotational axis
Cable entry plate
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.

Chapter 2 Model overview
Contents
1. Overview 2-1

2
Model overview
2-1
1. 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.
CR_UGD4MINI (500 mm)
467,5130
45
442,5155
45
with rotation
without rotation
500
265,5 with rotational axis
344 without rotational axis
NOTE
Note that the rotation servo motor, on the top of the robot, is optional.
NOTE
Robotswithserialnumber1784orlowerhavedierentdimensions.Referto"3.Externalviewanddimensions(Robotswithserial
number1784orlower)"inChapter6formoredetailedinformationaboutdimensions.

Chapter 3 Installation
Contents
1. Unpacking 3-1
1.1 Unpacking the shipping box 3-1
1.2 Check the damage 3-1
1.3 Lifting and transportation 3-1
2. Mounting the robot 3-3
3. Mounting the motors and cabling 3-4
3.1 Mounting the motors 3-4
3.2 Connecting the cables 3-4
3.3 Mounting the motor covers 3-5
3.4 Mounting the rotation motor or gearbox with his adaptor ring 3-6
4. Assembling the secondary arms 3-7
4.1 Make an assembly 3-7
4.2 Mount the arm assembly on the robot 3-8
5. Mounting the rotational axis on the motor/gearbox shaft 3-9
6. Calibration 3-10
7. Gripper interface 3-11