ROKAE xMate CR12 Assembly instructions

xMate CR12
Hardware Installation Manual

xMate CR12
Hardware Installation Manual
Document number: DOC-00001599
Version: D
Copyright © ROKAE 2015-2023. All rights reserved.

Contents in this manual are subject to change without notice.
We assume no responsibility for any errors that may appear in
this manual.
Please understand that in no event shall we be liable for
incidental or consequential damages arising from the use of this
manual and the products described herein.
We cannot foresee all possible dangers and consequences.
Therefore, this manual cannot warn the user of all possible
hazards.
Unauthorized copying or reprinting of some or all contents of
this manual is prohibited.
If you find the contents of this manual wrong or in need of
improvement or supplement, please do not hesitate to point
them out so that they can be corrected.
This manual is originally written in Simplified Chinese. Other
language versions are translated.
Copyright © ROKAE 2015-2023. All rights reserved.
ROKAE (Shandong) Intelligent Technology Co., Ltd.
Shandong, China

DOC-00001599/D
xMate CR12Hardware Installation Manual I
Contents
1 Manual Overview................................................................................................................................ 5
1.1 About this manual
1.2 Target group
1.3 How to read the product manual
1.4 Illustrations in this manual
1.5 Related product documents
1.6 Contact
2 Safety....................................................................................................................................................... 6
2.1 Introduction
2.1.1 Safety responsibilities
2.1.2 Intended use
2.2 Safety notice
2.2.1 Instructions
2.3 Safety protection devices
2.3.1 Emergency stop
2.3.2 Enabling switch
2.4 Emergency stop types
2.4.1 Emergency stop
2.5 Safety precautions
2.5.1 Operator safety
2.5.2 Safety precautions for operating the Teach Pendant
2.5.3 Recovering from emergency stops
2.5.4 Safety precautions in Manual mode
2.5.5 Safety precautions in Automatic mode
2.5.6 Safe handling of fire accidents
2.5.7 Safe handling of electric shock accidents
2.6 Personnel and work content requirements
2.6.1 Definition of personnel
2.6.2 Personnel requirements
2.6.3 Work content requirements
2.7 Safety training
2.7.1 Overview
2.7.2 Personnel safety
2.8 Pre-use assessment
3 Product Overview..............................................................................................................................18
3.1 Introduction
3.2 Robot

DOC-00001599/D
II xMate CR12Hardware Installation Manual
3.2.1 Overview
3.2.2 Robot system
3.2.3 Definitions of rotation directions and coordinate systems
3.3 Robot Teach Pendant overview
3.3.1 Teach Pendant overview
3.3.2 Teach Pendant components
3.4 Symbols and labels
4 Technical Specifications .................................................................................................................22
4.1 Introduction
4.2 Specifications
4.2.1 Data sheet
4.2.2 Teach Pendant specifications
4.3 Working space
4.4 Allowable load
4.4.1 Allowable wrist torque and inertia
4.4.2 Maximum payload diagram
4.4.3 Calculation of load inertia
4.4.4 Joint torque limit
5 Unpacking and Installation...........................................................................................................27
5.1 Introduction
5.2 Installation flow chart
5.3 Environmental conditions
5.4 Unpacking and hardware installation
5.4.1 Unpack
5.4.2 Robot angle and force application points during transportation
5.4.3 Check before installation
5.5 On-site installation
5.5.1 Transportation
5.5.2 Robot installation
5.5.3 Flange
5.5.4 Power adapter
6 Electrical Connections.....................................................................................................................37
6.1 Electrical layout
6.2 Robot base
6.2.1 Robot power supply
6.2.2 Powering on the robot
6.2.3 Handheld emergency stop and enabling device interface
6.2.4 General-purpose DIDO
6.2.5 Safety DIO

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xMate CR12Hardware Installation Manual III
6.2.6 Extended EtherNet interface
6.2.7 EtherCAT servo drive debug interface
6.2.8 Function buttons on the wrist
6.2.9 Tool interface
6.3 Power adapter
6.3.1 Power-on button of the power adapter
6.3.2 Power input
6.3.3 Power output
6.4 Teach Pendant
6.4.1 Teach Pendant buttons
6.4.2 How to hold the Teach Pendant
7 Maintenance.......................................................................................................................................52
7.1 Introduction
7.2 Maintenance safety
7.3 Maintenance schedule
7.4 Check
7.5 Cleaning
8 Zero Calibration.................................................................................................................................55
8.1 Introduction
8.1.1 Overview
8.1.2 What is a mechanical zero?
8.1.3 What is zero calibration?
8.1.4 When is zero calibration required?
8.2 Calibration method
8.2.1 Mechanical calibration
9 Decommissioning.............................................................................................................................58
9.1 Robot decommissioning
9.2 Recycling
10 Revision History..............................................................................................................................59

DOC-00001599/D 1 Manual Overview
xMate CR12Hardware Installation Manual 5
1Manual Overview
1.1 About this manual
Thank you for choosing ROKAE robot system.
This manual contains the following instructions for correct installation and use of the
robot:
⚫Mechanical and electrical installation of the robot
⚫Maintenance and calibration of the robot
Please read this manual and other related manuals carefully before installing and using
the robot system.
After reading, keep it properly for future reference.
1.2 Target group
This manual is intended for:
⚫Installation personnel
⚫Maintenance personnel
Please ensure that the above personnel have the necessary knowledge of mechanical
and electrical installation and maintenance, and have received our training.
1.3 How to read the product manual
This manual includes a separate safety section that must be read through before
proceeding with any installation or maintenance procedures.
1.4 Illustrations in this manual
Due to product upgrades or other reasons, some figures in the product manual may
differ from the actual product. However, the operating procedures are correct.
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 CR12 robot and is intended to be
used with the following documents:
⚫xCore Control System User Manual
1.6 Contact
For information about the maintenance and repair of the robot, please contact our
after-sales department or the local reseller.
Get the following information ready before contacting us:
⚫Robot model/serial number
⚫Software name/version
⚫Problems with the system

2 Safety DOC-00001599/D
6 xMate CR12Hardware Installation Manual
2Safety
2.1 Introduction
This section describes the principles and procedures that must be followed to ensure
the safe use of the xMate CR12 robots. xMate CR12 robot integrators must read and
understand the information listed here before powering on the robot for the first time.
The contents related to the design and installation of the external safety protection
devices of the robot are not covered in this section. Please contact your system
integrator to obtain such information.
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 CR12 will not
cause any personal injury or property damage.
In addition to the safety section, this document contains further safety instructions.
2.1.2 Intended use
The xMate CR12 robots should be used in accordance with local laws and regulations,
and must not be used for any purpose that violates such laws and regulations.
Using the robots in compliance with instructions also means observing the instructions
in the product manual of each component, including the operation, installation, and
maintenance instructions.
The following uses that go against the instructions are prohibited:
⚫Use in human and animal transportation
⚫Use in potentially explosive environments
⚫Use in flammable environments
⚫Use outside the permissible limits
⚫Downhole use
xMate CR12 robots are flexible cobots intended to handle tools/end effectors and
fixtures or to process or transfer components or products. xMate CR12 robots are
equipped with special safety-related features, which are purposely designed to enable
collaborative operation, where the robot system operates without fences and/or
together with a human.
Collaborative operation is only intended for non-hazardous applications, where the
complete application, including the tools/end effectors, workpieces, obstacles, and
other machines, is without any significant hazards according to the risk assessment of
the specific application.
Any use or application deviating from the intended use is deemed to be impermissible
misuse.
This includes, but is not limited to:
⚫Use in potentially explosive environments
⚫Use in medical and life-critical applications
⚫Use before performing a risk assessment
⚫Use outside of stated specifications
⚫Use as a climbing aid