ROKAE xMate CR18 Assembly instructions

xMate CR18
Hardware Installation Manual

xMate CR18
Hardware Installation Manual
[备注]
Version C

Contents
1 MANUAL OVERVIEW...................................................................................................................................................7
1.1 ABOUT THIS MANUAL ...................................................................................................................................................................7
1.2 TARGET GROUP...............................................................................................................................................................................7
1.3 HOW TO READ THE PRODUCT MANUAL ...................................................................................................................................7
1.4 ILLUSTRATIONS IN THIS MANUAL ...............................................................................................................................................7
1.5 RELATED PRODUCT DOCUMENTS ...............................................................................................................................................7
1.6 CONTACT .........................................................................................................................................................................................7
2 SAFETY...............................................................................................................................................................................8
2.1 INTRODUCTION ..............................................................................................................................................................................8
2.1.1 Safety responsibilities...................................................................................................................................................8
2.1.2 Intended use......................................................................................................................................................................8
2.2 SAFETY NOTICE...............................................................................................................................................................................9
2.2.1 Instructions.........................................................................................................................................................................9
2.3 SAFETY PROTECTION DEVICES .....................................................................................................................................................9
2.3.1 Emergency stop...............................................................................................................................................................9
2.3.2 Enabling switch................................................................................................................................................................9
2.4 EMERGENCY STOP TYPES ...........................................................................................................................................................10
2.4.1 Emergency stop............................................................................................................................................................10
2.5 SAFETY PRECAUTIONS................................................................................................................................................................ 11
2.5.1 Operator safety.............................................................................................................................................................11

2.5.2 Safety precautions for operating the Teach Pendant ............................................................................. 11
2.5.3 Recovering from emergency stops ................................................................................................................... 12
2.5.4 Safety precautions in Manual mode................................................................................................................. 12
2.5.5 Safety precautions in Automatic mode.......................................................................................................... 12
2.5.6 Safe handling of fire accidents............................................................................................................................ 13
2.5.7 Safe handling of electric shock accidents................................................................................................................ 14
2.6 PERSONNEL AND WORK CONTENT REQUIREMENTS..................................................................................................................... 14
2.6.1 Definition of personnel................................................................................................................................................... 14
2.6.2 Personnel requirements ................................................................................................................................................. 15
2.6.3 Work content requirements.......................................................................................................................................... 15
2.7 SAFETY TRAINING ........................................................................................................................................................................... 17
2.7.1 Overview.............................................................................................................................................................................. 17
2.7.2 Personnel safety................................................................................................................................................................ 17
2.8 PRE-USE ASSESSMENT............................................................................................................................................................... 19
3 PRODUCT OVERVIEW .............................................................................................................................................. 20
3.1 INTRODUCTION........................................................................................................................................................................... 20
3.2 ROBOT........................................................................................................................................................................................... 20
3.2.1 Overview .......................................................................................................................................................................... 20
3.2.2 Robot system................................................................................................................................................................. 20
3.2.3 Definitions of rotation directions and frames............................................................................................. 20
3.3 ROBOT TEACH PENDANT OVERVIEW ............................................................................................................................................ 21
3.3.1 Teach Pendant overview................................................................................................................................................ 21
3.3.2 Teach Pendant components......................................................................................................................................... 22
3.4 SYMBOLS AND LABELS............................................................................................................................................................... 23
4 TECHNICAL SPECIFICATIONS ............................................................................................................................... 24
4.1 INTRODUCTION........................................................................................................................................................................... 24
4.2 NAMEPLATE ................................................................................................................................................错误!未定义书签。

4.2.1 Robot body nameplate ...............................................................................................................错误!未定义书签。
4.3 SPECIFICATIONS........................................................................................................................................................................... 24
4.3.1 Robot specifications...................................................................................................................................................24
4.3.2 Teach Pendant specifications ....................................................................................................................................... 24
4.4 WORKING SPACE.........................................................................................................................................................................26
4.5 ALLOWABLE LOAD .......................................................................................................................................................................... 26
4.5.1 Allowable wrist torque and inertia..............................................................................................................................27
4.5.2 Maximum payload diagram...................................................................................................................................27
4.5.3 Calculation of load inertia.......................................................................................................................................28
4.5.4 Joint torque limit..........................................................................................................................................................28
5 UNPACKING AND INSTALLATION...................................................................................................................... 29
5.1 INTRODUCTION ...........................................................................................................................................................................29
5.2 INSTALLATION FLOW CHART .....................................................................................................................................................29
5.3 ENVIRONMENTAL CONDITIONS ...............................................................................................................................................29
5.4 UNPACKING AND HARDWARE INSTALLATION.......................................................................................................................30
5.4.1 Unpacking........................................................................................................................................................................30
5.4.2 Robot angle and force application points during transportation.................................................... 32
5.4.3 Check before installation......................................................................................................................................... 32
5.5 ON-SITE INSTALLATION .............................................................................................................................................................33
5.5.1 Transportation...............................................................................................................................................................33
5.5.2 Robot installation ........................................................................................................................................................ 33
5.5.3 Flange................................................................................................................................................................................. 35
5.5.4 Power adapter............................................................................................................................................................... 36

6 ELECTRICAL CONNECTIONS ................................................................................................................................. 37
6.1 ELECTRICAL LAYOUT ................................................................................................................................................................... 37
6.2 ROBOT BASE................................................................................................................................................................................. 37
6.2.1 Robot power supply .................................................................................................................................................. 38
6.2.2 Powering on the robot............................................................................................................................................. 39
6.2.3 Handheld emergency stop and enabling device interface.................................................................. 39
6.2.4 General-purpose DIO................................................................................................................................................ 39
6.2.5 Safety DIO ....................................................................................................................................................................... 42
6.2.6 Extended EtherNet interface................................................................................................................................. 44
6.2.7 EtherCAT servo drive debug interface............................................................................................................. 44
6.2.8 Function buttons on the end-effector............................................................................................................. 45
6.2.9 Tool DIO interface....................................................................................................................................................... 45
6.3 POWER ADAPTER ........................................................................................................................................................................ 48
6.3.1 Power-on button of the power adapter ......................................................................................................... 48
6.3.2 Power input..................................................................................................................................................................... 49
6.3.3 Power output................................................................................................................................................................. 50
6.4 TEACH PENDANT............................................................................................................................................................................ 50
6.4.1 Teach Pendant buttons .................................................................................................................................................. 50
6.4.2 How to hold the Teach Pendant................................................................................................................................. 50
7 MAINTENANCE........................................................................................................................................................... 52
7.1 INTRODUCTION........................................................................................................................................................................... 52
7.2 MAINTENANCE SAFETY ............................................................................................................................................................. 52
7.3 MAINTENANCE SCHEDULE ....................................................................................................................................................... 52

7.4 CHECK............................................................................................................................................................................................52
7.5 CLEANING.....................................................................................................................................................................................53
8 ZERO CALIBRATION.................................................................................................................................................. 55
8.1 INTRODUCTION ...........................................................................................................................................................................55
8.1.1 Overview...........................................................................................................................................................................55
8.1.2 What is a mechanical zero?.................................................................................................................................... 55
8.1.3 What is zero calibration?.........................................................................................................................................55
8.1.4 When is zero calibration required?....................................................................................................................55
8.2 CALIBRATION METHOD..............................................................................................................................................................55
8.2.1 Mechanical calibration..............................................................................................................................................55
9 DECOMMISSIONING................................................................................................................................................ 59
9.1 ROBOT DECOMMISSIONING ..................................................................................................................................................... 59
9.2 RECYCLING.................................................................................................................................................................................... 59
REVISION HISTORY....................................................................................................................................................... 60