Delta robot 2 axes + 1 rot
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- Osborn Davis
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1 Delta robot 2 axes + 1 rot The design concept with a minimum of mechanical components results in a high quality robot Robot control integrated in the NJ robotics controller Control of up to 8 robots by one controller Degrees of freedom: (rotational axis optional) Up to 200 cycle per minute Models from 800 to 1,500 mm working range Payload range: 3 to 35 kg IP65 protection class ISO mount gripper interface Low maintenance, easy access to components System configuration Sysmac Studio NJ Robotics Machine automation controller FQ-M vision Accurax G5 servo drive ADR ADR NX-series I/O MX2 inverter ADR Delta robot 2 axes + 1 rot 3 Arm Rotational axis 3 Note: Servo motors included in the Delta robot. Delta robot 2 axes + 1 rot 195
2 Specifications Delta robot XXL Model CR_UGD21500_R CR_UGD21500_NR Working volume X axis (stroke) 1,500 mm Z axis (stroke) *1 347 mm (maximum 1,500 mm) axis (rotation angle) ±180 deg (default setting, it can be changed) - Servo motor Arm 1, 2 Model R88M-K3K030C-BS2 Capacity 3000 W Rotational Model R88M-K40030T-BS2 - axis 3 Capacity 400 W - Repeatability *2 X, Z axis ±0.4 mm axis ±0.2 deg - Maximum payload 35 kg Maximum through-put *3 45 CPM *4 axis maximum torque According to the servo motor - Travel limit 1. Soft limit, 2. Mechanical stopper (X, Y, Z axis) Noise level < 70 db (A) Ambient temperature Operating: 5 C to 45 C / Storage: -25 C to 60 C Relative humidity Max. 90% Protection class IP65 Weight (kg) 80 kg *1 For further details please check the dimensional drawing in the next section. *2 This is the value at a constant ambient temperature. *3 With 5 kg payload. When reciprocating 500 mm in vertical, 300 mm in horizontal and 100 mm in vertical directions. *4 CPM: Cycle per minutes. Check the note 3 for the cycle definition. Delta robot XL Model CR_UGD21000_R CR_UGD21000_NR Working volume X axis (stroke) 1,000 mm Z axis (stroke) *1 342 mm (maximum 1,000 mm) axis (rotation angle) ±180 deg (default setting, it can be changed) - Servo motor Arm 1, 2 Model R88M-K2K030C-BS2 Capacity 2000 W Rotational Model R88M-K40030T-BS2 - axis 3 Capacity 400 W - Repeatability *2 X, Z axis ±0.4 mm axis ±0.2 deg - Maximum payload 30 kg Maximum through-put *3 50 CPM *4 axis maximum torque According to the servo motor - Travel limit 1. Soft limit, 2. Mechanical stopper (X, Y, Z axis) Noise level < 70 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) 75 kg *1 For further details please check the dimensional drawing in the next section. *2 This is the value at a constant ambient temperature. *3 With 5 kg payload. When reciprocating 500 mm in vertical, 300 mm in horizontal and 100 mm in vertical directions. *4 CPM: Cycle per minutes. Check the note 3 for the cycle definition. 196 Robot
3 Delta robot Model CR_UGD2800_R CR_UGD2800_NR Working volume X axis (stroke) 800 mm Z axis (stroke) *1 209 mm (maximum 800 mm) 265 mm (maximum 800 mm) axis (rotation angle) ±180 deg (default setting, it can be changed) - Servo motor Arm 1, 2 Model R88M-K1K030T-BS2 Capacity 1000 W Rotational Model R88M-K40030T-BS2 - axis 3 Capacity 400 W - Repeatability *2 X, Z axis ±0.3 mm axis ±0.2 deg - Maximum payload 3 kg Maximum through-put *3 200 CPM *4 axis maximum torque According to the servo motor - Travel limit 1. Soft limit, 2. Mechanical stopper (X, Y, Z axis) Noise level < 70 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) 40 kg *1 For further details please check the dimensional drawing in the next section. *2 This is the value at a constant ambient temperature. *3 With 0.1 kg payload. When reciprocating 305 mm in horizontal and 25 mm in vertical directions. *4 CPM: Cycle per minutes. Check the note 3 for the cycle definition. Delta robot 2 axes + 1 rot 197
4 Dimensions Delta robot XXL x M With rotational axis 252 5H x M5 THRU ALL STC 31,5 87,5 69,5 50 Without rotational axis 87,5 8 x M5 20H7 5 20H7 4 STC 31,5 Gripper dimensions Robot
5 Delta robot XL 150 (space between gearboxes) ,5 5H x M x 20 6 x 13, With rotational axis STC 31,5 85 Without rotational axis 8 x M H7 5 21H7 4 STC 31,5 Gripper dimensions 8 x M4 65 Delta robot 2 axes + 1 rot 199
6 Delta robot (space between gearboxes) With rotational axis Without rotational axis M5 (4x) G1/8 31,5 5 H7 +0,012 ( 0 ) 49,5 With rotational axis 20 H7 +0,021 ( 0 ) 3 8,5 Without rotational axis Gripper dimensions 200 Robot
7 ADR ADR ADR Ordering information Sysmac Studio G Machine controller B Accurax G5 servo drive F FQ-M vision MX2 inverter NX-series I/O A Delta robot 2 axes + 1 rot 3 D Extension for absolute encoder (with battery holder) Arm 1 E Power 1 2 C Encoder Rotational axis 3 Note: Servo motors included in the Delta robot. Delta robot 2 axes + 1 rot 201
8 Delta robot 2 axes + 1 rot series Symbol Model Max. payload Working range Description Axis Appli servo drive B A CR_UGD21500_R 35 kg 1, mm axes Arm 1 R88D-KN30F-ECT (Max. 800) R88D-KN30F-ECT Rotational 3 R88D-KN04H-ECT Delta robot XXL CR_UGD21500_NR 2 axes Arm 1 R88D-KN30F-ECT R88D-KN30F-ECT A CR_UGD21000_R 30 kg 1, mm (Max. 597) axes Arm 1 R88D-KN20F-ECT R88D-KN20F-ECT Rotational 3 R88D-KN04H-ECT Delta robot XL CR_UGD21000_NR 2 axes Arm 1 R88D-KN20F-ECT R88D-KN20F-ECT A CR_UGD2800_R 3 kg mm (Max. 320) axes Arm 1 R88D-KN15H-ECT R88D-KN15H-ECT Rotational 3 R88D-KN04H-ECT Delta robot CR_UGD2800_NR mm (Max. 477) 2 axes Arm 1 R88D-KN15H-ECT R88D-KN15H-ECT Encoder s Symbol Appli Delta robots Model Appearance C CR_UGD21500 (Arm 1, 2) 1.5 m R88A-CRKC001-5NR-E CR_UGD21000 (Arm 1, 2) 3 m R88A-CRKC003NR-E CR_UGD2800 (Arm 1, 2) 5 m R88A-CRKC005NR-E 10 m R88A-CRKC010NR-E 15 m R88A-CRKC015NR-E 20 m R88A-CRKC020NR-E CR_UGD21500 (Rotational axis 3) CR_UGD21000 (Rotational axis 3) CR_UGD2800 (Rotational axis 3) 1.5 m R88A-CRKA001-5CR-E 3 m R88A-CRKA003CR-E 5 m R88A-CRKA005CR-E 10 m R88A-CRKA010CR-E 15 m R88A-CRKA015CR-E 20 m R88A-CRKA020CR-E Absolute encoder battery (encoder extension only) Symbol Specifications Model Appearance D Absolute encoder battery Battery not included 0.3 m R88A-CRGD0R3C-E Battery included 0.3 m R88A-CRGD0R3C-BS-E Absolute encoder backup battery ma.h, 3.6 V R88A-BAT01G Battery holder 202 Robot
9 Power and s Symbol Appli Delta robots Model Appearance E CR_UGD21500 Arm 1, 2 Power 1.5 m R88A-CAGD001-5BR-E with 3 m R88A-CAGD003BR-E 5 m R88A-CAGD005BR-E 10 m R88A-CAGD010BR-E 15 m R88A-CAGD015BR-E 20 m R88A-CAGD020BR-E Vision Rotational axis 3 Power without Brake CR_UGD21000 Arm 1, 2 Power with Rotational axis 3 Power without Brake CR_UGD2800 Arm 1, 2 Power with Rotational axis 3 Power without Brake 1.5 m R88A-CAKA001-5SR-E 3 m R88A-CAKA003SR-E 5 m R88A-CAKA005SR-E 10 m R88A-CAKA010SR-E 15 m R88A-CAKA015SR-E 20 m R88A-CAKA020SR-E 1.5 m R88A-CAKA001-5BR-E 3 m R88A-CAKA003BR-E 5 m R88A-CAKA005BR-E 10 m R88A-CAKA010BR-E 15 m R88A-CAKA015BR-E 20 m R88A-CAKA020BR-E 1.5 m R88A-CAKF001-5BR-E 3 m R88A-CAKF003BR-E 5 m R88A-CAKF005BR-E 10 m R88A-CAKF010BR-E 15 m R88A-CAKF015BR-E 20 m R88A-CAKF020BR-E 1.5 m R88A-CAKA001-5SR-E 3 m R88A-CAKA003SR-E 5 m R88A-CAKA005SR-E 10 m R88A-CAKA010SR-E 15 m R88A-CAKA015SR-E 20 m R88A-CAKA020SR-E 1.5 m R88A-CAKA001-5BR-E 3 m R88A-CAKA003BR-E 5 m R88A-CAKA005BR-E 10 m R88A-CAKA010BR-E 15 m R88A-CAKA015BR-E 20 m R88A-CAKA020BR-E 1.5 m R88A-CAGB001-5BR-E 3 m R88A-CAGB003BR-E 5 m R88A-CAGB005BR-E 10 m R88A-CAGB010BR-E 15 m R88A-CAGB015BR-E 20 m R88A-CAGB020BR-E 1.5 m R88A-CAKA001-5SR-E 3 m R88A-CAKA003SR-E 5 m R88A-CAKA005SR-E 10 m R88A-CAKA010SR-E 15 m R88A-CAKA015SR-E 20 m R88A-CAKA020SR-E 1.5 m R88A-CAKA001-5BR-E 3 m R88A-CAKA003BR-E 5 m R88A-CAKA005BR-E 10 m R88A-CAKA010BR-E 15 m R88A-CAKA015BR-E 20 m R88A-CAKA020BR-E Name Type Model F FQ-M series Color NPN FQ-MS120-ECT PNP FQ-MS125-ECT Monochrome NPN FQ-MS120-M-ECT PNP FQ-MS125-M-ECT Delta robot 2 axes + 1 rot 203
10 Machine controller 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-PA3001 (220 VAC) NJ-PD3001 (24 VDC) Computer software Specifications Sysmac Studio version 1.03 or higher Model SYSMAC-SE2@@@ ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by Cat.No.SysCat_I202E-EN-02A In the interest of product improvement, specifications are subject to change without notice. 204 Robot
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