Delta robot 5 axes. System configuration. The innovative concept of 2 parallel axes results in the most robust Delta Pick&Place robot

Transcription

1 Delta robot 5 axes The innovative concept of parallel axes results in the most robust Delta Pick&Place robot Robot control integrated in the NJ robotics controller Control of up to 8 robots by one controller Degrees of freedom: 5 Up to 150 cycle per minute Models from 650 to 1,00 mm working range 1 kg max. payload IP65 protection class Low maintenance, easy access to components System configuration Sysmac Studio NJ Robotics Machine automation controller FQ-M vision Accurax G5 servo drive NX-series I/O MX inverter Delta robot 5 axes 4 5 Arm 1 1 Rotational axis 4 Tilt axis 5 Note: Servo motors included in the Delta robot. Delta robot 5 axes 195

2 Specifications Delta robot 5 axes series Model CR_UGD5_XL CR_UGD5 CR_UGD5_XS Working volume X, Y axis (stroke) Ø 1,00 mm Ø 1,100 mm Ø 650 mm Z axis (stroke) *1 50 mm (maximum Ø 1,00 mm) / 50 mm (maximum Ø 1,100 mm) / 00 mm (maximum Ø 650 mm) / 400 mm (center Ø 870 mm) 400 mm (center Ø 670 mm) 70 mm (center Ø mm) RZ axis (rotation angle) ±1 deg (default setting, it can be changed) RY axis (tilt angle) Mechanically limited Servo motor Arm 1,, Model R88M-K1K00T-BS Capacity 1000 W Rotational Model R88M-K7500T-BS axis 4 Capacity 750 W Tilt axis 5 Model R88M-K7500T-BS Capacity 750 W Repeatability * X, Y, Z axis ±0. mm RY, RZ axis ±0. deg Maximum payload 1 kg Maximum through-put * 10 CPM *4 15 CPM *4 150 CPM *4 Gear box ratio X, Y, Z axis 1:1 RY, RZ axis 1:10 *5 Torque limitation RZ axis 16 Nm RY axis 1.5 Nm Travel limit 1. Soft limit,. Mechanical stopper (X, Y, Z axis) Noise level < 68 db (A) Ambient temperature Operating: 5 C to 45 C / Storage: -15 C to 60 C Relative humidity Max. 90% Protection class IP65 Weight (kg) 70 kg 65 kg *1 For further details please check the dimensional drawing in the next section. * This is the value at a constant ambient temperature. * With 0.1 kg payload. When reciprocating 05 mm in horizontal and 5 mm in vertical directions. *4 CPM: Cycle per minutes. Check the note for the cycle definition. *5 Ratio between rotational axis 1 and yaw rotation of the wrist (rotation around RZ) is 1:. Ratio between rotational axis and pitch rotation of the swing arm (rotation around RY) is 1:. 196 Robot

3 Dimensions CR_UGD5_XL 740 5º º 68, M16 (5x) 9,5 50, º º M5, (4x) 40 45º 5H7 STC 1, º H7 Gripper dimensions 7,5 74,9 Delta robot 5 axes 197

4 CR_UGD5 5º º 50 68, M16 (5x) 9,5 50, º º 90º M5, (4x) 40 45º 5H7 STC 1, H7 74,9 Gripper dimensions 7,5 198 Robot

5 CR_UGD5_XS 5º º 00 68, M16 (5x) 9,5 50,5 90º M5, (4x) 40 45º 5H7 STC 1, º ,9 0H7 7,5 Gripper dimensions Delta robot 5 axes 199

6 Ordering information Sysmac Studio G Machine controller B Accurax G5 servo drive F FQ-M vision MX inverter NX-series I/O A Delta robot 5 axes D Extension cable for absolute encoder (with battery holder) Arm E Power cable C Encoder cable Rotational axis 4 Tilt axis 5 Note: Servo motors included in the Delta robot. 00 Robot

7 Delta robot 5 axes series Symbol Model Max. payload Working range Description Axis Applicable servo drive B A CR_UGD5_XL 1 kg Ø 1,00 x 50 mm (Max. 400) 5 axes Arm 1 Rotational 4 Tilt 5 A CR_UGD5 Ø 1,100 x 50 mm (Max. 400) Arm 1 Rotational 4 Tilt 5 A CR_UGD5_XS Ø 650 x 00 mm (Max. 70) Arm 1 Rotational 4 Tilt 5 Encoder cables Symbol Applicable Delta robots Model Appearance C CR_UGD5_XL (Arm 1,, ) 1.5 m R88A-CRKC001-5NR-E CR_UGD5 (Arm 1,, ) m R88A-CRKC00NR-E CR_UGD5_XS (Arm 1,, ) 5 m R88A-CRKC005NR-E 10 m R88A-CRKC010NR-E 15 m R88A-CRKC015NR-E 0 m R88A-CRKC00NR-E CR_UGD5_XL (Rotational axis 4, Tilt axis 5) CR_UGD5 (Rotational axis 4, Tilt axis 5) CR_UGD5_XS (Rotational axis 4, Tilt axis 5) 1.5 m R88A-CRKA001-5CR-E m R88A-CRKA00CR-E 5 m R88A-CRKA005CR-E 10 m R88A-CRKA010CR-E 15 m R88A-CRKA015CR-E 0 m R88A-CRKA00CR-E Absolute encoder battery cable (encoder extension cable only) Symbol Specifications Model Appearance D Absolute encoder battery Battery not included 0. m R88A-CRGD0RC-E cable Battery included 0. m R88A-CRGD0RC-BS-E Absolute encoder backup battery.000 ma.h,.6 V R88A-BAT01G Battery holder Delta robot 5 axes 01

8 Power and brake cables Symbol Applicable Delta robots Model Appearance E CR_UGD5_XL Arm 1,, Power 1.5 m R88A-CAGB001-5BR-E CR_UGD5 cable with m R88A-CAGB00BR-E CR_UGD5_XS brake 5 m R88A-CAGB005BR-E 10 m R88A-CAGB010BR-E 15 m R88A-CAGB015BR-E 0 m R88A-CAGB00BR-E Vision Machine controller Rotational axis 4, Tilt axis 5 Power cable without brake Brake cable 1.5 m R88A-CAKA001-5SR-E m R88A-CAKA00SR-E 5 m R88A-CAKA005SR-E 10 m R88A-CAKA010SR-E 15 m R88A-CAKA015SR-E 0 m R88A-CAKA00SR-E 1.5 m R88A-CAKA001-5BR-E m R88A-CAKA00BR-E 5 m R88A-CAKA005BR-E 10 m R88A-CAKA010BR-E 15 m R88A-CAKA015BR-E 0 m R88A-CAKA00BR-E Name Type Model F FQ-M series Color NPN FQ-MS10-ECT PNP FQ-MS15-ECT Monochrome NPN FQ-MS10-M-ECT PNP FQ-MS15-M-ECT Name Functions Delta robot control Axes Model G NJ Robotics CPU unit Logic sequence, motion, Control of up to 8 Delta robot 16 NJ robotics and database connection depending on the number of axes supported by the CPU Power supply unit Logic sequence, motion and robotics 64 NJ NJ NJ Control of one Delta robot 16 NJ NJ-PA001 (0 VAC) NJ-PD001 (4 VDC) Computer software Specifications Sysmac Studio version 1.0 or higher Model SYSMAC-SE@@@ ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by Cat.No.SysCat_I04E-EN-0A In the interest of product improvement, specifications are subject to change without notice. 0 Robot