ROKAE xMate CR7, Hardware Installation Manual

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202206291217/V0.1
II xMate CR7Hardware Installation Manual
4.2.1 Model ........................................................................................................................................... 16
4.2.2 Nameplate ................................................................................................................................... 16
4.3 Specifications ............................................................................................................................................ 16
4.3.1 Data sheet .................................................................................................................................... 16
4.4 Working space ........................................................................................................................................... 18
5 Unpacking and Installation ........................................................................................ 19
5.1 Introduction .............................................................................................................................................. 19
5.2 Installation flow chart .............................................................................................................................. 19
5.3 Environmental conditions ....................................................................................................................... 19
5.4 Unpacking and hardware installation ................................................................................................... 21
5.4.1 Unpack ......................................................................................................................................... 21
5.4.2 Robot angle and force application points during transportation ....................................... 22
5.4.3 Check before installation .......................................................................................................... 23
5.5 On-site 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 supply ................................................................................................................... 28
6.2.2 Powering on the robot ............................................................................................................... 29
6.2.3 Handheld emergency stop and enabling device interface .................................................. 29
6.2.4 General-purpose DIDO .............................................................................................................. 29
6.2.5 Safety DIO .................................................................................................................................... 32
6.2.6 Extended EtherNet interface ..................................................................................................... 35
6.2.7 EtherCAT servo drive debug interface ..................................................................................... 35
6.2.8 Function buttons on the wrist .................................................................................................. 36
6.2.9 Tool interface .............................................................................................................................. 37
6.3 Power adapter ........................................................................................................................................... 39
6.3.1 Power-on button of the power adapter .................................................................................. 39
6.3.2 Power input ................................................................................................................................. 40
6.3.3 Power output .............................................................................................................................. 41
7 Maintenance ............................................................................................................... 42
7.1 Introduction .............................................................................................................................................. 42