ROKAE xMate CR7-C Assembly instructions

xMate CR7-C
Hardware Installation Manual
A Partner You can Rely on in Production

xMate CR7-C
Hardware Installation Manual
Document ID: DOC- 00001751
Version: A
Copyright © ROKAE 2015-2024. 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.
No part of this manual may be reproduced in any form.
If you find the contents of this manual wrong or in need of improvement or supplement,
please contact us for correction.
This manual is originally written in Simplified Chinese, and other language versions are
translated.
Copyright © ROKAE 2015-2024. All rights reserved.
Rokae (Shandong) Intelligent Technology Co., Ltd.
Shandong, China

DOC- 00001751/A Contents
xMate CR7-C Hardware Installation Manual I
Contents
1 Manual Overview ........................................................................................................1
1.1 About this manual.....................................................................................................................1
1.2 Target group.............................................................................................................................. 1
1.3 How to read this manual ...........................................................................................................1
1.4 Illustrations in this manual........................................................................................................1
1.5 Related product documents.......................................................................................................1
1.6 Contact......................................................................................................................................1
2 Safety ............................................................................................................................ 2
2.1 Introduction...............................................................................................................................2
2.1.1 Safety responsibilities........................................................................................................................... 2
2.1.2 Intended use...........................................................................................................................................2
2.2 Safety notice............................................................................................................................. 3
2.3 Safety protection device............................................................................................................3
2.3.1 Emergency stop.....................................................................................................................................3
2.3.2 Enabling device .....................................................................................................................................3
2.4 Safety precautions.....................................................................................................................4
2.4.1 Operator safety...................................................................................................................................... 4
2.4.2 Safety precautions for operating the Teach Pendant.............................................................................5
2.4.3 Recovering from emergency stops........................................................................................................5
2.4.4 Safety precautions in Manual mode......................................................................................................6
2.4.5 Safety precautions in Automatic mode................................................................................................. 6
2.4.6 Safe handling of fire accidents..............................................................................................................7
2.4.7 Safe handling of electric shock accidents.............................................................................................7
2.5 Personnel and work requirements.............................................................................................8
2.5.1 Definition of personnel......................................................................................................................... 8
2.5.2 Personnel requirements .........................................................................................................................8
2.5.3 Work requirements ................................................................................................................................ 9
2.6 Safety training.........................................................................................................................10

Contents DOC- 00001751/A
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2.6.1 Overview ............................................................................................................................................. 10
2.6.2 Personnel safety ...................................................................................................................................10
2.7 Pre-use assessment..................................................................................................................11
3 Product Overview......................................................................................................12
3.1 System structure......................................................................................................................12
3.2 Manipulator.............................................................................................................................12
3.3 Teach Pendant......................................................................................................................... 13
3.3.1 Teach Pendant overview......................................................................................................................13
3.3.2 Teach Pendant structure...................................................................................................................... 14
3.3.3 Holding of the Teach Pendant .............................................................................................................14
3.4 Control cab..............................................................................................................................14
3.4.1 Control cab overview .......................................................................................................................... 14
3.4.2 Control cab structure...........................................................................................................................15
3.5 Symbols and labels................................................................................................................. 15
4 Technical Specifications ............................................................................................16
4.1 Manipulator.............................................................................................................................16
4.1.1 Basic parameters................................................................................................................................. 16
4.1.2 Working space..................................................................................................................................... 17
4.1.3 Allowable load .....................................................................................................................................18
4.2 Teach Pendant......................................................................................................................... 19
4.3 Control cab..............................................................................................................................20
5 Unpacking and Installation ......................................................................................21
5.1 Installation flow chart............................................................................................................. 21
5.2 Environmental conditions.......................................................................................................21
5.3 Unpacking...............................................................................................................................22
5.4 Transportation and handling................................................................................................... 23
5.4.1 Robot angle and force application points during transportation ........................................................ 23
5.4.2 Handling ..............................................................................................................................................24
5.5 Installation.............................................................................................................................. 25

DOC- 00001751/A Contents
xMate CR7-C Hardware Installation Manual III
5.5.1 Inspection before installation ..............................................................................................................25
5.5.2 Installation of robot and control cab................................................................................................... 26
5.5.3 Flange ..................................................................................................................................................28
6 Electrical connection .................................................................................................29
6.1 Control cab port...................................................................................................................... 29
6.1.1 Panel port.............................................................................................................................................29
6.1.2 External port........................................................................................................................................30
6.2 Description of EOAT I/O ports...............................................................................................37
6.2.1 Special-purpose EOAT I/O ................................................................................................................. 38
6.2.2 EOAT power output............................................................................................................................ 38
6.2.3 EOAT digital outputs...........................................................................................................................38
6.2.4 EOAT digital inputs.............................................................................................................................40
6.2.5 EOAT analog inputs............................................................................................................................ 40
6.2.6 EOAT communication .........................................................................................................................41
6.3 Connection system..................................................................................................................42
6.3.1 Connection of the Teach Pendant........................................................................................................43
6.3.2 Connection of the manipulator ............................................................................................................43
6.3.3 Connection of the control cab power supply...................................................................................... 44
6.3.4 Custom wiring .....................................................................................................................................44
6.3.5 Grounding instructions ........................................................................................................................45
7 Quick Operation........................................................................................................46
7.1 Power on ................................................................................................................................. 46
7.2 Confirmation of the emergency stop...................................................................................... 46
7.3 Programming and usage..........................................................................................................46
8 Maintenance ...............................................................................................................47
8.1 Introduction.............................................................................................................................47
8.2 Maintenance safety................................................................................................................. 47
8.3 Maintenance schedule.............................................................................................................47
8.4 Inspection................................................................................................................................47

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8.5 Cleaning..................................................................................................................................48
9 Zero Calibration ........................................................................................................49
9.1 What is a mechanical zero? .................................................................................................... 49
9.2 What is zero calibration? ........................................................................................................ 49
9.3 When is zero calibration required?......................................................................................... 49
9.4 Zero calibration procedures .................................................................................................... 49
10 Decommissioning .....................................................................................................51
10.1 Robot decommissioning....................................................................................................... 51
10.2 Recycling .............................................................................................................................. 51
11 Revision History ...................................................................................................... 52

DOC- 00001751/A 1 Manual Overview
xMate CR7-C Hardware Installation Manual 1
1 Manual Overview
1.1 About this manual
Thank you for choosing ROKAE robot system.
This manual contains the following instructions for the 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 this 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 this manual may differ from the
actual product. However, the operating procedures are correct.
Also, figures from other models may be used to describe some general information.
1.5 Related product documents
This document is the manual for the xMate CR7-C robot and is intended to be used with
the following documents:
xCore Robot 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 dealer.
Get the following information ready before contacting us:
Robot model/serial number;
Software name/version;
Problems with the system.

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2 Safety
2.1 Introduction
This section describes the principles and procedures that must be followed to ensure the
safe use of xMate CR7-C robots. 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 CR7-C robots will not
cause any personal injury or property damage.
In addition to the safety section, this manual contains further safety instructions.
2.1.2 Intended use
xMate CR7-C robots shall be used in accordance with local laws and regulations, and
shall 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 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
Use underground
xMate CR7-C robots are flexible collaborative robots intended to handle EOAT/end
effectors and fixtures or to process or transfer components or products. xMate CR7-C
robots have 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 EOAT/end effectors, workpieces, obstacles, and other
machines, has no any significant hazards according to the risk assessment of the specific
application.
Any purpose deviating from the intended use is deemed to be impermissible misuse,
including but not limited to:
Use in potentially explosive environments
Use in medical and life-critical applications
Use without a risk assessment
Use outside the stated specifications
Use as a climbing aid
Use outside the permissible operating parameters

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2.2 Safety notice
A risk assessment must be conducted before operating or controlling the robot, and the
robot must be used according to the safety instructions described in this manual.
If you are unsure about the risks during the use of the robot, please contact ROKAE
Technical Support. However, problems arising from non-intended use are not covered
by our support.
2.3 Safety protection device
2.3.1 Emergency stop
Emergency stop is given the highest priority in the robot system. Pressing the emergency
stop button will trigger the emergency stop. Then, all the functions will be frozen
immediately, the robot will stop running, and the power of each joint will be cut off. The
control system will be switched into the emergency stop state, which will be maintained
before releasing the emergency stop button manually.
To resume the operation, it is required to release the emergency stop button first and then
press the reset button on HMI for the motor of each joint to execute the power-on
command.
The emergency stop button is located in the upper right corner of the Teach Pendant, as
shown in 3.3.2.
Notes
Emergency stop should not be used for normal stops. Otherwise, it may cause extra and
unnecessary wear to the brake and transmission system, which will eventually reduce
the robot's lifespan.
There are two types of stops for robots according to ISO 13850 and IEC 60204 safety
standards:
STOP0: The motor power is switched off and the brakes are engaged;
STOP1: The robot comes to a controlled stop. Then the motor power is switched off
and the brakes are engaged.
After the emergency stop button on the Teach Pendant is pressed, the stop is enabled in
type of STOP0.
2.3.2 Enabling device
The enabling device is a special switch with two contacts and three positions, so it is also
called a three-position enabling switch (hereinafter referred to as "enabling switch"). It is
used to power on/off the joints in Manual mode to enable robot motions.
The motor power is switched on only when the enabling switch is pressed and kept in the
middle so that the robot is in a state ready for motion.

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The enabling switch is located on the back of the Teach Pendant, as shown in 3.3.2.
Notes
When the enabling switch is pressed and held in the middle position in Manual mode,
the robot will be powered on and enabled, the system will enter the Motor On state, and
you can jog the robot or execute a program. The robot will be powered off, and the
system will return to the Motor Off state when the switch is released or pressed all the
way down.
To ensure the safe use of the robot, the following requirements must be observed:
The enabling switch shall function properly in any circumstances.
The enabling switch shall be released immediately when no robot motion is required
during programming or debugging.
Any person who enters the robot's working space must carry a handheld enabling device
to prevent others from starting the robot without the knowledge of the involved
personnel.
Warning
It is strictly prohibited to use external devices to hold the enabling switch in the middle
position.
2.4 Safety precautions
2.4.1 Operator safety
A few simple principles shall be followed in order to operate the robot safely:
Always operate the robot in Manual mode if personnel are inside the safeguarded
space.
Always bring the handheld emergency stop device along when you enter the
safeguarded space so that robot control is in your hands.
Watch out for rotating or moving tools installed on the robot. Make sure those tools are
stopped before you approach the robot.
Watch out for grippers and objects gripped. If the gripper is opened, the workpiece
could fall and cause personal injury or equipment damage. The gripper can be very
powerful and can also cause injuries if not operated in a safe manner.
Position 1
Position 2
Position 3
Press softly
Release
Press tightly
Release

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2.4.2 Safety precautions for operating the Teach Pendant
2.4.2.1 Safe storage of the Teach Pendant
The Teach Pendant no longer used shall be properly stored in a place where is far away
from the robot workstation, so as to prevent the operator from mistakenly believing that
this Teach Pendant is still connected to the robot and attempting to use it to stop the robot
in case of danger.
2.4.2.2 Teach pendant cable
The Teach Pendant and control cab are connected through a Teach Pendant cable. The
following provisions shall be observed when using the Teach Pendant in order to avoid
personal injury or equipment damage:
Make sure that the working personnel does not stumble over the Teach Pendant cable
so as to avoid dropping the Teach Pendant or making personnel fall.
Don’t squeeze the Teach Pendant cable, otherwise, its internal cores may be damaged.
Don’t put the Teach Pendant cable on the edge of the sharp objects, otherwise, the
cable sheath may be damaged.
Make sure that the bending radius of the Teach Pendant cable is greater than 100 mm,
otherwise, the cable may be damaged.
2.4.2.3 Permission of using the Teach Pendant
Generally, only those who have completed safety training and basic operation training can
have permission to use the Teach Pendant. The user permissions for operating the Teach
Pendant interface shall also be distinguished to ensure that the debugging personnel and
maintenance personnel can use the Teach Pendant correctly and reasonably according to
their work.
The control system is built-in with three user levels, namely Operator, Admin, and God,
with the operation permissions ranking from low to high. Switching from a low-privileged
user to a high-privileged user requires a password. Conversely, it is not required. A
high-privileged user can modify the password of a same- or lower-privileged user. The
password of an Operator-level user cannot be modified.
2.4.2.4 No Teach Pendant mode
When the No Teach Pendant mode is selected for the control system, special attention
must be paid to safety during debugging and programming. An emergency stop button
must be installed or placed within the reach of the operator and the signal of the
emergency stop button must be routed into the safe I/O port of the robot system so that the
person can protect the safety of himself/herself and the equipment by pressing the
emergency stop button promptly in case of emergencies.
2.4.3 Recovering from emergency stops
2.4.3.1 Description
In case of an emergency stop, a reset is required to return to normal operation. The reset
procedure is simple but important. It ensures that the robot system is prevented from
returning to production in a hazardous condition.
2.4.3.2 Emergency stop button and reset
The emergency stop button is located in the upper right corner of the Teach Pendant. It has
a latching feature that must be manually released in order to remove the emergency stop
condition of the robot. This can be done by rotating the button as marked.

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2.4.4 Safety precautions in Manual mode
2.4.4.1 About the Manual mode
In Manual mode, the robot's movement is under manual control. You can jog the robot or
execute a program only when the enabling switch is held in the middle position. The
enabling switch is located on the handle of the Teach Pendant.
The Manual mode is used during programming and debugging of the robot, as well as
commissioning of the workstation.
2.4.4.2 Speed limit in Manual mode
In Manual mode, the speed of the robot's end effector is limited to below 250 mm/s, that is,
the maximum speed of the robot will not exceed 250 mm/s whether you jog the robot or
execute a program, regardless of the speed set in the program.
2.4.4.3 Bypassing external safety signals
In Manual mode, signals of external safety devices such as the safety gate and safety
grating will be bypassed. This means that the emergency stop will not be triggered in
Manual mode even if the safety gate is open, which facilitates the debugging.
2.4.5 Safety precautions in Automatic mode
2.4.5.1 About the Automatic mode
The Automatic mode is used for running the robot program in production.
In Automatic mode, the enabling switch will be bypassed so that the robot can run
automatically without manual intervention.
Danger
In Automatic mode, the robot moves at the speed set in the program, which is up to 3.2
m/s for the end effector. In this mode, personnel must not enter the working space of the
robot to avoid personal injury.
2.4.5.2 Enabling external safety signals
External safety devices such as the safety gate and safety grating will be enabled in
Automatic mode. Opening the safety gate will trigger an emergency stop.
2.4.5.3 Safe troubleshooting in production
In most cases, the robot is part of the production line. Therefore, the impact of a robot fault
may go beyond the workstation itself. Likewise, problems with other parts of the
production line may also impact the workstation. For this reason, a remedy plan shall be
prepared by personnel who are familiar with the entire production line to improve safety.
Pay attention to other running devices around the robot
For example, a robot on the production line grabs workpieces from the conveyor belt.
When the robot has a fault, the robot maintenance personnel shall consider additional
safety measures for working beside the moving conveyor belt to ensure uninterrupted
production while the robot is under repair.
Pay attention to other devices that interact with the robot
For another example, when removing a welding robot from the production line for routine
maintenance, the robot supplying materials to it must also be stopped to avoid personal
injury.

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2.4.6 Safe handling of fire accidents
2.4.6.1 Handling of mild fires
It is required to keep calm when a fire hazard is imminent or has not yet begun to spread.
You can use on-site fire-extinguishing devices to put out the flame. It is strictly prohibited
to use water to put out a fire caused by short circuits.
Warning
The fire-extinguishing device on the working space of the robot shall be supplied by the
user, and the user shall choose an appropriate fire-extinguishing device according to the
actual situations. For fire with the controller, a carbon dioxide (CO2) fire extinguisher is
required.
2.4.6.2 Handling of severe fires
If the fire has spread beyond control, the workers on site shall notify other workers
immediately to give up their personal belongings and evacuate immediately through
emergency exits rather than try to put out the fire. Do not use an elevator, and inform the
fire department during evacuation.
If a person's clothing catches fire, prevent him/her from running but let him/her lie flat on
the ground immediately. Put out the fire using clothes or other suitable items and methods.
2.4.7 Safe handling of electric shock accidents
2.4.7.1 Handling of electric shocks
When someone gets an electric shock, it is required to keep calm and cut off the power
supply immediately. Appropriate methods and measures shall be adopted without
hesitation according to the site conditions:
If the power switch or button is very near to the location of the electric shock, switch it
off to cut off the power supply.
If the power switch or button is far away from the location of the electric shock, use
insulated pliers or ax, knife, and shovel with dry wooden handles to cut off live wires
on the mains' side (power supply), and keep the separated wire from contacting with
the human body.
If the conducting wire is over or under the body of the injured, use a dry stick, board,
bamboo pole, or other tools with insulated handles (by gripping the insulated handle)
to remove the wire. Do not use metal bar or wet object to avoid the rescuer from also
getting an electric shock.
Warning
The rescuer shall not be in direct contact with the electrically shocked person.
Otherwise, they may also get an electric shock.
2.4.7.2 Treatment of the injured after being separated from the power source
If the injured is conscious, make him/her lie on the back and watch him/her out to
prevent from standing or walking for the time being.
If the injured is unconscious, make him/her lie on the back to keep the airway open.
Call the injured or pat him/her on the shoulder at an interval of 5s to judge if he/she
lose consciousness. Do not call the injured by shaking his/her head. Meanwhile,
contact the hospital as soon as possible.

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If the injured loses consciousness, confirm his/her respiratory conditions and heartbeat
within 10s. If neither breath nor arterial pulse is sensed, the injured may have a cardiac
arrest. Then, give him/her immediate first aid treatment by cardiopulmonary
resuscitation.
2.5 Personnel and work requirements
2.5.1 Definition of personnel
There are three types of personnel:
Operators
The operators can switch on/off the robot power supply and start robot programs through
the Teach Pendant or other interfaces.
Debugging personnel
The debugging personnel can conduct robot operations, enter into the safeguarded space,
and perform operations such as setting, teaching, and programming on the robot.
Maintenance personnel
The maintenance personnel can conduct robot operations, enter the safeguarded space,
perform operations such as setting and teaching on the robot, as well as adjust and repair
the robot.
Warning
The debugging and maintenance personnel who can enter the safeguarded space must
accept and pass professional robot training in advance.
Warning
When performing robot operations, programming, and maintenance, personnel must
pay attention to safety and wear necessary protective equipment, including work
clothes, safety shoes, and safety helmets suitable for the work according to the actual
conditions.
2.5.2 Personnel requirements
2.5.2.1 Operator requirements
The operator shall meet the following requirements:
The age of the operator shall fall within the age range specified in local employment
laws.
The operator shall be in good physical condition. A good physical condition means
good vision (glasses and contact lenses are allowed), good hearing, and good
coordination ability. The operator may not intake substances that may reduce their
mental level (such as medicines, alcohol, and drugs) during work.
The operator shall understand applicable local safety regulations, such as the work
safety and health regulations and the industrial accident prevention regulations.
2.5.2.2 Debugging personnel requirements
The debugging personnel shall meet the criteria of operating personnel. In addition, the
debugging personnel shall also meet the following conditions:
The debugging personnel shall have basic technical knowledge, understand the

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technical documents and drawings related to the robot, and be able to complete their
tasks according to relevant documents.
The debugging personnel must be very familiar with the robot system and be able to
reasonably achieve the purpose by operating the robot according to actual needs.
2.5.2.3 Maintenance personnel requirements
In addition to compliance with the operator requirements, the maintenance personnel shall
also have some other expertise (such as electrical, mechanical, and pneumatic) and be able
to complete their tasks according to relevant documents.
2.5.3 Work requirements
2.5.3.1 Safety requirements for installation and operation
Handle and install the robot equipment through the methods described in our manual.
Otherwise, the robot may fall due to misoperation, thus leading to personal injury and
death or equipment damage.
When the robot equipment is put into use for the first time after installation, run it at
low velocity first and then gradually increase the velocity rather than running at high
velocity from the start.
Note that by default, program and system information (including variables) is stored in
the storage device at control cab. In order to prevent data loss caused by accidents, it is
recommended that the user make data backups regularly.
2.5.3.2 Safety requirements for debugging
Debugging shall be carried out outside the safeguarded space as much as possible. When
debugging must be carried out inside the safeguarded space, special attention shall be
given to the following:
Carefully check the condition of the safeguarded space and enter into it only after
confirming no danger exists.
Confirm the positions of all debugging personnel inside the safeguarded space.
Confirm the status of the entire system before proceeding with the work.
Make sure that the emergency stop button can be pressed whenever necessary.
Run the robot at low velocity.
When debugging is finished, the debugging personnel must stay outside the safeguarded
space.
2.5.3.3 Safety requirements for maintenance
Carefully check the condition of the safeguarded space and enter into it only after
confirming no danger exists.
Confirm the positions of all maintenance personnel inside the safeguarded space.
When the power supply is switched on, some maintenance operations may pose the
danger of electric shock. Therefore, switch off the power supply of the robot
equipment and system before carrying out the maintenance.
During the maintenance, prevent other personnel from switching on the power supply
accidentally.
To avoid unnecessary personal injury or adverse impact on the equipment, do not place
any part of your body on any position of the robot equipment during the operation.
Provide appropriate lighting during the maintenance.
In case of part replacement, make sure to use a part specified by ROKAE. Otherwise,

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the robot equipment may be damaged.
Install the parts removed during the replacement (such as screws) properly to their
original positions. If you find the parts not enough or redundant, confirm again and
make sure to install them correctly.
2.6 Safety training
2.6.1 Overview
The on-site operator, debugging personnel, and maintenance personnel must accept formal
robot safety and operation training and pass the exams before they can perform operation,
debugging, and maintenance on the robot. Operating, debugging, or maintaining robots by
non-professional personnel or personnel who failed during the training is prohibited in
order to avoid severe personal injury and damage to the robot equipment.
All the personnel of the equipment shall:
Check the current condition of the equipment and ensure that no failure is present
before performing operation and debugging on the robot equipment.
Minimize life and property losses by choosing the safest method to handle emergency
incidents as they occur.
Fully understand relevant documents and work on the equipment according to the
requirements of documents.
2.6.2 Personnel safety
The following general precautions must be noted to ensure personnel safety:
When the equipment is running, even if the robot seems to have stopped, it may be
waiting for the start signal to run. At this time, the equipment shall also be deemed as
in the operating state.
All peripheral equipment shall be well grounded.
Peripheral equipment shall be installed outside the working range of the robot
The motion range of the robot equipment shall be marked by drawing lines on the floor
or other means.
2.6.2.1 Safety of operators
To ensure the safety of operators:
Operate the robot outside the safeguarded space.
Set up a protective fence or safety door in order to prevent irrelevant personnel from
entering the safeguarded space.
Switch off the power supply or press the emergency stop button in case of no operation
on the robot.
Install the emergency stop button within reach of the operator.
2.6.2.2 Safety of debugging personnel
During the debugging, you need to enter into the working range of the robot under some
circumstances. To ensure the safety of debugging personnel:
Make sure that the equipment is safe before debugging.
Check the position and status of the safety devices (such as the emergency stop button)
in advance.
Prevent other personnel from entering the working range of the robot.
Before starting the robot, make sure that there is no personnel in the working range of

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the robot.
When the debugging is finished, a test run shall be performed according to the following
procedures:
At low velocity, execute the program one step after another for at least one cycle to
confirm that everything is normal.
At low velocity, execute the program continuously for at least one cycle to confirm that
everything is normal.
At the actual running velocity, execute the program continuously for at least one cycle
to confirm that everything is normal.
2.6.2.3 Safety of maintenance personnel
To ensure the safety of maintenance personnel:
Make sure that the peripheral equipment is safe before maintenance.
Switch off the equipment power supply before maintenance. Lock the main circuit
breaker using a lock as necessary in order to prevent other personnel from switching
on the power supply accidentally.
When you have to enter into the working range of the robot while the power is on,
press the emergency stop button before entering. Put up a "Repairs in Progress" sign in
order to prevent other personnel from operating the equipment accidentally.
Do not enter into the working range of the robot while it is moving.
Do not execute the automatic running of the program when there is other personnel
within the working range of the robot.
During maintenance, assign a person who is familiar with the robot system and is able
to sense dangers near the equipment to press the emergency stop button in case of an
emergency.
During component replacement or reassembly, avoid the adhesion or inclusion of
foreign objects.
For maintaining the interior of the robot, if it is necessary to touch the power supply
unit or printed circuit board, switch off the power supply of the robot in advance to
prevent electric shock.
2.7 Pre-use assessment
The following tests must be conducted before using the robot for the first time or after
making any modifications to verify that all safety inputs and outputs are correct and
properly connected, and check whether all connected safety inputs and outputs are
functioning properly, including:
Test whether the emergency stop button on the Teach Pendant can be enabled to stop
the robot and engage the brakes.
Test whether the robot can be switched between Manual and Automatic modes.
Test whether the motion can be enabled in Manual mode only with enabling switch
pressed and the robot is under deceleration control.

3 Product Overview DOC- 00001751/A
12 xMate CR7-C Hardware Installation Manual
3 Product Overview
3.1 System structure
The xMate CR7-C robot is a new flexible collaborative robot that boosts increased
industrial productivity with highly sensitive force sensing and highly dynamic force
control. It consists of the manipulator, control cab, Teach Pendant, relay cable, power
cable, control system software, etc.
S/N
Name
1
Manipulator
2
Control cab
3
Teach Pendant
4
Signal relay cable
5
Power relay cable
6
Control cab power cable
3.2 Manipulator
The xMate CR7-C flexible collaborative robot manipulator features 6 degrees of freedom,
that is, 6 joints or axes. The definitions of axis rotation directions and coordinate systems
are described below.
Base coordinate system: The -X axis refers to the outgoing cable direction of the base, and
the +Z axis refers to an upward direction perpendicular to the mounting surface. The Y
axis is determined by the right-hand rule.
Flange coordinate system: When the robot is in the zero position, the +Z axis refers to an
outward direction perpendicular to the flange surface, and the +X axis refers to the