ROKAE xMate CR20 Assembly instructions

xMate CR20
Hardware
Installation Manual

xMate CR20
Hardware Installation Manual
Document ID: 2022xxxxxxxx
Document Version: V1.0

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 ...............................................................................................................................................10
2.5.1 Operating 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 ...................................................................................21
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 ..............................................................................................................................................22
4 TECHNICAL SPECIFICATIONS.......................................................................................................... 23
4.1 INTRODUCTION..........................................................................................................................................................23
4.2 NAMEPLATE ...............................................................................................................................................................23
4.3 SPECIFICATIONS .........................................................................................................................................................23
4.3.1 Robot specifications....................................................................................................................................23
4.3.2 Teach Pendant specifications...................................................................................................................24
4.4 WORKING SPACE .......................................................................................................................................................25
4.5 ALLOWABLE LOAD......................................................................................................................................................25
4.5.1 Allowable wrist torque and inertia ........................................................................................................26
4.5.2 Maximum payload diagram .....................................................................................................................26
4.5.3 Calculation of load inertia.........................................................................................................................27
4.5.4 Joint torque limit..........................................................................................................................................27
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..............................................33
5.4.3 Check before installation ..........................................................................................................................33

5.5 ON-SITE INSTALLATION.............................................................................................................................................34
5.5.1 Transportation...............................................................................................................................................34
5.5.2 Robot installation.........................................................................................................................................34
5.5.3 Flange............................................................................................................................................................... 36
5.5.4 Power adapter...............................................................................................................................................37
6 ELECTRICAL CONNECTIONS ........................................................................................................... 39
6.1 ELECTRICAL LAYOUT ..................................................................................................................................................39
6.2 ROBOT BASE............................................................................................................................................................... 39
6.2.1 Robot power supply....................................................................................................................................40
6.2.2 Powering on the robot............................................................................................................................... 41
6.2.3 Handheld emergency stop and enabling device interface........................................................... 41
6.2.4 General-purpose DIO.................................................................................................................................41
6.2.5 Safety DIO ...................................................................................................................................................... 44
6.2.6 Extended EtherNet interface....................................................................................................................46
6.2.7 EtherCAT servo drive debug interface.................................................................................................. 46
6.2.8 Function buttons on the end-effector.................................................................................................. 47
6.2.9 Tool interface................................................................................................................................................. 47
6.3 POWER ADAPTER.......................................................................................................................................................50
6.3.1 Power-on button of the power adapter............................................................................................... 51
6.3.2 Power input....................................................................................................................................................51
6.3.3 Power output.................................................................................................................................................52
6.4 TEACH PENDANT....................................................................................................................................................... 52

6.4.1 Teach Pendant buttons ..............................................................................................................................52
6.4.2 How to hold the Teach Pendant .............................................................................................................53
7 MAINTENANCE ................................................................................................................................ 54
7.1 INTRODUCTION..........................................................................................................................................................54
7.2 MAINTENANCE SAFETY .............................................................................................................................................54
7.3 MAINTENANCE SCHEDULE ........................................................................................................................................54
7.4 CHECK ........................................................................................................................................................................54
7.5 CLEANING ..................................................................................................................................................................55
8 ZERO CALIBRATION ......................................................................................................................... 57
8.1 INTRODUCTION..........................................................................................................................................................57
8.1.1 Overview .........................................................................................................................................................57
8.1.2 What is a mechanical zero?......................................................................................................................57
8.1.3 What is zero calibration?...........................................................................................................................57
8.1.4 When is zero calibration required?........................................................................................................57
8.2 CALIBRATION METHOD..............................................................................................................................................57
8.2.1 Mechanical calibration...............................................................................................................................57
9 DECOMMISSIONING........................................................................................................................ 60
9.1 ROBOT DECOMMISSIONING......................................................................................................................................60
9.2 RECYCLING .................................................................................................................................................................60
REVISION HISTORY ............................................................................................................................. 60