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9 Decommissioning

 

202206261124/V0.1

 

 

48

 

  xMate CR12Hardware Installation Manual

 

9

 

Decommissioning

 

9.1

 

Robot decommissioning

 

The decommissioning, storage and disposal of the robot must be performed in compliance 

with relevant national laws, regulations, and standards.

 

9.2

 

Recycling

 

Contact us for the recycling of batteries.

 

Summary of Contents for xMate CR12

Page 1: ...xMate CR12 Hardware Installation Manual...

Page 2: ......

Page 3: ...xMate CR12 Hardware Installation Manual Hardware version D Document ID 202206261124 Document Version V0 1 Copyright ROKAE 2015 2022 All rights reserved...

Page 4: ...ers and consequences Therefore this manual cannot warn the user of all possible hazards Unauthorized copying or reprinting of some or all contents of this manual is prohibited If you find the contents...

Page 5: ...rotection devices 7 2 3 1 Emergency stop 7 2 3 2 Enabling switch 8 2 4 Emergency stop types 8 2 4 1 Emergency stop 8 2 5 Safety precautions 9 2 5 1 Operating safety 9 2 5 2 Recovering from emergency s...

Page 6: ...ite installation 23 5 5 1 Transportation 23 5 5 2 Robot installation 24 5 5 3 Flange 25 5 5 4 Power adapter 25 6 Electrical Connections 27 6 1 Electrical layout 27 6 2 Robot base 27 6 2 1 Robot power...

Page 7: ...heck 42 7 5 Cleaning 43 8 Zero Calibration 45 8 1 Introduction 45 8 1 1 Overview 45 8 1 2 What is a mechanical zero 45 8 1 3 What is zero calibration 45 8 1 4 When is zero calibration required 45 8 2...

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Page 9: ...and have received our training 1 3 How to read the product manual This manual includes a separate safety section that must be read through before proceeding with any installation or maintenance proced...

Page 10: ...ng the robots in compliance with instructions also means observing the instructions in the product manual of each component including the operation installation and maintenance instructions The follow...

Page 11: ...ct ROKAE Technical Support Problems arising from non intended use are not covered by our support 2 3 Safety protection devices 2 3 1 Emergency stop 2 3 1 1 Definition of emergency stop Emergency stop...

Page 12: ...ling switch is pressed and held in the middle position in Manual mode the robot will be powered on the system will enter the Motor On state and you can jog the robot or execute a program The robot wil...

Page 13: ...cts 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 manne...

Page 14: ...ty 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 5 4 3 Safe troubleshooting in production In most cases...

Page 15: ...handheld emergency stop and enabling device can stop the robot and engage brakes Test that the robot can switch between Manual and Automatic mode Test that the 3 position handheld emergency stop and e...

Page 16: ...3 2 Robot 3 2 1 Overview The basic configuration of xMate CR12 Product name Maximum payload Maximum reach Weight xMate CR12 12 kg 1300 mm About 43 kg 3 2 2 Robot system The new generation flexible co...

Page 17: ...tem The X axis points in the outgoing cable direction of the base and the Z axis in a direction perpendicular to the mounting surface The Y axis is determined by the right hand rule Flange coordinate...

Page 18: ...3 Product Overview 202206261124 V0 1 14 xMate CR12Hardware Installation Manual Figure 4 Definitions of robot rotation directions and coordinate systems 3 3 Symbols and labels...

Page 19: ...al 15 Figure 5 Symbols and labels Position Label type Remarks 1 Arm body logo 2 Product nameplate Indicates product model and other product information 3 Electrical hazard symbol Do not touch the elec...

Page 20: ...nical Specifications 4 1 Introduction This section describes the performance parameters of the xMate CR12 flexible collaborative robot 4 2 Model and nameplate 4 2 1 Model Figure 6 Model description 4...

Page 21: ...kg Range of motion Axis 1 175 Axis 2 170 Axis 3 175 Axis 4 175 Axis 5 175 Axis 6 175 Maximum speed Axis 1 120 s Axis 2 120 s Axis 3 180 s Axis 4 234 s Axis 5 240 s Axis 6 240 s Operating temperature 0...

Page 22: ...echnical Specifications 202206261124 V0 1 18 xMate CR12Hardware Installation Manual 4 4 Working space The working space of xMate CR12 is shown in the figure below Figure 8 The working space of xMate C...

Page 23: ...tallation environment Installation foundation Support pillar 2 Installation dimensions 3 Unpacking and handling Unpack Check the packing list Transport 4 Installing the robot body Install the robot in...

Page 24: ...Warning Never place or use the robot in any explosive environment Notes At low ambient temperature 10 C the grease or lubricating oil inside the reducer or gearbox has a high viscosity and may cause t...

Page 25: ...3 Protective gloves 1 Unpacking procedures Step 1 Open the packaging box Wear protective gloves and cut open the sealed package with scissors or a utility knife You will find the following items in t...

Page 26: ...parts and accessories properly and handle items such as power adapters and cables with care Warning Always transport the robot together with the top and bottom liners after it is unpacked and before...

Page 27: ...s Check the prerequisites for installation No Operation 1 Visually inspect the robot to make sure that it is not damaged 2 Make sure that the expected operating environment of the robot conforms to th...

Page 28: ...crete 2 indicates that the item is required for the installation 3 The fixing strength of the mounting bracket should not be lower than that of the robot fixing plate and the foundation in the foundat...

Page 29: ...ust be tightened with a torque of 15 Nm See the figure below for the detailed dimensions Figure 13 Tool flange installation Warning Make sure the tools are properly secured in place Check if the tool...

Page 30: ...o additional mechanical interface for installation It can be put in a designated location as needed at the site The location must meet the following conditions 1 With good ventilation and heat dissipa...

Page 31: ...t integrates an optional power adapter to supply power to the robot The network interfaces are used to connect the robot to an external network or to a pad or PC that has the xMate CR12 software insta...

Page 32: ...interface 1 J4 Power on button and indication interface 4 J5 EtherCAT servo drive debug interface 5 J6 Safety DIO 6 J7 General purpose DIO 7 6 2 1 Robot power supply The robot s power supply interfac...

Page 33: ...ht is always on Powered on 6 2 3 Handheld emergency stop and enabling device interface The M9 round connector marked with J3 on the robot base is the interface for the handheld emergency stop and enab...

Page 34: ...DO_00 7 DI_01 8 DO_01 9 DI_02 10 DO_02 11 DI_03 12 DO_03 6 2 4 1 General purpose DI Digital inputs can be configured as PNP or NPN inputs The user input electrical specifications supported in the two...

Page 35: ...r specifications supported in the two modes are listed below Min Typical Max Unit Load voltage range 12 24 30 V Continuous load current 0 300 mA If the continuous load current exceeds the limit an add...

Page 36: ...safeguard stop for example the safety gate and dedicated safety outputs such as safety status feedback The channels are located on terminal connector J6 Users must connect to the corresponding channel...

Page 37: ...tion 1 VCC24 2 SGATE1 3 VCC24 4 SGATE2 5 VCC24 6 EXSTOP1 7 VCC24 8 EXSTOP2 9 STOP_STATE_00_A 10 STOP_STATE_00_B 11 STOP_STATE_01_A 12 STOP_STATE_01_B 6 2 5 1 Safety DI The electrical principles and sp...

Page 38: ...related I Os are constructed redundantly two independent channels Keep the two channels separate so that a fault on one channel will not cause the failure of the safety function Be sure to check the s...

Page 39: ...safety input status of external emergency stop devices When an external emergency stop or handheld emergency stop occurs the feedback loop between A and B of both two channels is disconnected When no...

Page 40: ...ntrol etc under safe conditions as shown in the figure below Figure 27 The wrist buttons No Definition 1 Update the teaching point with the current position and start stop continuous track recording 2...

Page 41: ...st round connector interface No Definition 1 0V 12V 24V 2 GND 3 DI_0 4 DI_1 5 DO_0 6 DO_1 7 AI_0 RS485A 8 AI_1 RS485B 6 2 9 1 Special purpose tool IO The xMate CR12 robot supports the use of a special...

Page 42: ...al outputs The digital outputs once activated provide 24V power to the user side using the internal 24V power supply The electrical principles and specifications of the tool digital output load to the...

Page 43: ...power adapter is an optional part of the xMate CR12 robot It converts the mains power to the DC power usable by the robot and provides a power supply indicator Figure 31 Power adapter interface No Me...

Page 44: ...Rotary switch self locking Indicator status Adapter status OFF Off Not powered on ON Steady red Powered on The electrical specifications of the input power are listed below ROKAE power adapter Output...

Page 45: ...6 3 3 Power output The power output interface of the adapter is an M23 special purpose socket hole type that outputs the 48V DC voltage usable by the xMate CR12 robot It works with the xMate CR12 powe...

Page 46: ...ems Be sure to confirm the action of the robot after replacing the parts outside the safety fence Otherwise the robot may perform unexpected actions and cause serious safety problems Before entering n...

Page 47: ...an the robot with liquid detergents Do not power on the robot when it is wet Observe the following instructions when cleaning the robot Cleaning should only be performed by trained users Do not clean...

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Page 49: ...ference for the robot coordinate system It is required for the robot to determine its own position To maximize the absolute positioning accuracy and allow the link system to properly respond to the po...

Page 50: ...libration slot the special calibration tool is used to try to insert the keyway into the keyway according to the graphic direction if the keyway of the upper and lower connecting rod is not inserted a...

Page 51: ...ation slot 2 Special calibration tool Warning Note that after the mechanical zero calibration is finished the special calibration tool must be removed from the corresponding calibration keyway After t...

Page 52: ...nstallation Manual 9 Decommissioning 9 1 Robot decommissioning The decommissioning storage and disposal of the robot must be performed in compliance with relevant national laws regulations and standar...

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