ROKAE xMate ER3 Pro Assembly instructions

xMate ER3 Pro
Hardware Installation
Manual

xMate ER3 Pro
Hardware Installation Manual

󶜀󶛾󶜀󶜀󶛾7272114
󶛾󶛿
󶜀󶛾󶛿󶜃󶜀󶛾󶜀󶜀
















󶜀󶛾󶛿󶜃󶜀󶛾󶜀󶜀



󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿
󶜁 
Contents
1 Manual Overview...........................................................................................................3
󶛿󶛿 ...................................................................................................................................... 󶜁
󶛿󶜀.................................................................................................................................................󶜁
󶛿󶜁 ............................................................................................................. 󶜁
󶛿󶜂........................................................................................................................󶜁
󶛿󶜃 .....................................................................................................................󶜁
󶛿󶜄 .........................................................................................................................................................󶜁
2 Safety .............................................................................................................................4
󶜀󶛿.................................................................................................................................................󶜂
󶜀󶛿󶛿..................................................................................................................󶜂
󶜀󶛿󶜀 ................................................................................................................................. 󶜂
󶜀󶜀 ................................................................................................................................................󶜃
󶜀󶜀󶛿....................................................................................................................................󶜃
󶜀󶜁 ..........................................................................................................................󶜃
󶜀󶜁󶛿 ............................................................................................................................󶜃
󶜀󶜁󶜀.............................................................................................................................󶜄
󶜀󶜂 ................................................................................................................................󶜄
󶜀󶜂󶛿 ............................................................................................................................󶜅
󶜀󶜃......................................................................................................................................󶜅
󶜀󶜃󶛿............................................................................................................................ 󶜅
󶜀󶜃󶜀 ............................................................................................󶜅
󶜀󶜃󶜁..........................................................................................󶜅
󶜀󶜃󶜂.....................................................................................󶜆
󶜀󶜄....................................................................................................................................󶜆
3 Product Overview........................................................................................................10
󶜁󶛿...............................................................................................................................................󶛿󶛾
󶜁󶜀 ..........................................................................................................................................................󶛿󶛾
󶜁󶜀󶛿 ......................................................................................................................................󶛿󶛾
󶜁󶜀󶜀...............................................................................................................................󶛿󶛾
󶜁󶜀󶜁 ..................................................󶛿󶛿
󶜁󶜁 ..................................................................................................................................󶛿󶜀
4 Technical Specifications..............................................................................................14
󶜂󶛿...............................................................................................................................................󶛿󶜂
󶜂󶜀 ..............................................................................................................................󶛿󶜂

󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿
  󶜁
󶜂󶜀󶛿 ........................................................................................................................................... 󶛿󶜂
󶜂󶜀󶜀................................................................................................................................... 󶛿󶜂
󶜂󶜁............................................................................................................................................ 󶛿󶜂
󶜂󶜁󶛿.................................................................................................................................... 󶛿󶜂
󶜂󶜂........................................................................................................................................... 󶛿󶜄
5 Unpacking and Installation ........................................................................................ 17
󶜃󶛿 .............................................................................................................................................. 󶛿󶜅
󶜃󶜀 .............................................................................................................................. 󶛿󶜅
󶜃󶜁....................................................................................................................... 󶛿󶜅
󶜃󶜂 ................................................................................................... 󶛿󶜇
󶜃󶜂󶛿......................................................................................................................................... 󶛿󶜇
󶜃󶜂󶜀....................................... 󶜀󶛾
󶜃󶜂󶜁 .......................................................................................................... 󶜀󶛿
󶜃󶜃 ................................................................................................................................... 󶜀󶛿
󶜃󶜃󶛿............................................................................................................................ 󶜀󶛿
󶜃󶜃󶜀....................................................................................................................... 󶜀󶛿
󶜃󶜃󶜁 .......................................................................................................................................... 󶜀󶜂
󶜃󶜃󶜂 ............................................................................................................................ 󶜀󶜂
6 Electrical Connections................................................................................................ 25
󶜄󶛿 ........................................................................................................................................ 󶜀󶜃
󶜄󶜀................................................................................................................................................. 󶜀󶜄
󶜄󶜀󶛿................................................................................................................... 󶜀󶜅
󶜄󶜀󶜀............................................................................................................... 󶜀󶜅
󶜄󶜀󶜁 .................................................. 󶜀󶜅
󶜄󶜀󶜂 .............................................................................................................. 󶜀󶜆
󶜄󶜀󶜃.................................................................................................................................... 󶜁󶛿
󶜄󶜀󶜄..................................................................................................... 󶜁󶜁
󶜄󶜀󶜅..................................................................................... 󶜁󶜂
󶜄󶜀󶜆 .................................................................................................. 󶜁󶜂
󶜄󶜀󶜇 .............................................................................................................................. 󶜁󶜃
󶜄󶜁........................................................................................................................................... 󶜁󶜅
󶜄󶜁󶛿 .................................................................................. 󶜁󶜅
󶜄󶜁󶜀................................................................................................................................. 󶜁󶜆
󶜄󶜁󶜁 .............................................................................................................................. 󶜁󶜇
7 Maintenance ............................................................................................................... 40
󶜅󶛿 .............................................................................................................................................. 󶜂󶛾

󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿
󶜁 
󶜅󶜀...................................................................................................................................󶜂󶛾
󶜅󶜁.................................................................................................................................󶜂󶛾
󶜅󶜁󶛿 ..................................................................................................................󶜂󶛾
󶜅󶜂 .............................................................................................................................󶜂󶜁
󶜅󶜃 ..........................................................................................................................................................󶜂󶜁
󶜅󶜄 .....................................................................................................................................................󶜂󶜁
8 Zero Calibration...........................................................................................................45
󶜆󶛿...............................................................................................................................................󶜂󶜃
󶜆󶛿󶛿 ......................................................................................................................................󶜂󶜃
󶜆󶛿󶜀.......................................................................................................󶜂󶜃
󶜆󶛿󶜁............................................................................................................󶜂󶜃
󶜆󶛿󶜂 ..........................................................................................󶜂󶜃
󶜆󶜀 ..................................................................................................................................󶜂󶜄
󶜆󶜀󶛿............................................................................................................................󶜂󶜄
󶜆󶜀󶜀...............................................................................................................󶜂󶜄
9 Decommissioning........................................................................................................49
󶜇󶛿..........................................................................................................................󶜂󶜇
󶜇󶜀 ........................................................................................................................................................󶜂󶜇
󶜇󶜁 ....................................................................................................................................................󶜂󶜇
Revision History .............................................................................................................51

󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿 󶛿
󶜁 

󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿 󶛿
󶜁 
1Manual Overview
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



⚫
⚫
⚫

󶜀 󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿
 󶜁
2Safety
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
2.3.1.1 Definition of emergency stop











Figure 1. Emergency stop button on the handheld emergency stop and enabling device
No.
Name
1
Emergency stop
1

󶜀 󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿
 󶜁
button
2.3.2 Enabling switch
2.3.2.1 Enabling device

  




P o sition 1
P o sition 2
P o sition 3
OFF
OFF
ON
P ress lig htly R elease
P ress tigh tly
R elease
Figure 2. Positions of the enabling switch






⚫Make sure the enabling switch functions properly in any circumstances.
⚫Release the enabling switch 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.



2.4 Emergency stop types
Position 1

󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿 󶜀
󶜁 
2.4.1 Emergency stop
           󶛿󶜁󶜆󶜃󶛾   󶜄󶛾󶜀󶛾󶜂 

⚫󶛾
⚫󶛿

󶜁󶛾

2.5 Safety precautions
2.5.1 Operating safety
2.5.1.1 General principles

⚫            

⚫           

⚫

⚫


2.5.2 Recovering from emergency stops
2.5.2.1 Instructions

               

2.5.2.2 Emergency stop button and reset

               

2.5.3 Safety precautions in Manual mode
2.5.3.1 About the Manual mode


           

󶜀 󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿
 󶜁

2.5.3.2 Speed limit in Manual mode
󶜀󶜃󶛾
󶜀󶜃󶛾

2.5.3.3 Bypassing external safety signals



2.5.4 Safety precautions in Automatic mode
2.5.4.1 About the Automatic mode

              


󶜀


2.5.4.2 Enabling external safety signals


2.5.4.3 Safe troubleshooting in production


             



           


 

2.6 Pre-use assessment
               


󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿 󶜀
󶜁 


⚫

⚫
⚫   󶜁        



󶜁 󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿
  󶜁
3Product Overview
3.1 Introduction
 󶜁            

3.2 Robot
3.2.1 Overview
󶜁




󶜁
󶜁
󶜅󶜄󶛾
󶜀󶜀
3.2.2 Robot system
  󶜁   
 
󶜁
Figure 3. Robot system
1
2
3
4

󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿 󶜁
󶜁 
No.
Name
1
󶜁 robot
system
2
Handheld safety
protection device
3
Power adapter and
cables
4
Other interfaces and
accessories
3.2.3 Definitions of rotation directions and coordinate systems
󶜄󶜄
󶜂




                


󶛿󶜂󶜄
󶜀󶜁󶜃


󶜁 󶜀󶛾󶜀󶜀󶛾󶜅󶜀󶜅󶜀󶛿󶛿󶜂󶛾󶛿
  󶜁
Figure 4. Definitions of robot rotation directions and coordinate systems
3.3 Symbols and labels
A1+
A3+
A5+
A7+
A6+
A4+
A2+
法兰坐标系
基坐标系
x
z
x
z