Delta robot 2 axes + 1 rot
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- Joleen Kelly
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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 TWIN model for applications that a long gripper is required 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 2 axes + 1 rot series Standard models Model CR_UGD21500 CR_UGD21000 With rotational axis Without rotational axis With rotational axis Without rotational axis Working volume X axis (stroke) 1,500 mm 1,000 mm Z axis (stroke) *1 347 mm (maximum 1,500 mm) 342 mm (maximum 1,000 mm) axis (rotation angle) ±180 deg (default setting, it - ±180 deg (default setting, it - can be changed) can be changed) Servo motor Arm 1, 2 Model R88M-K3K030C-BS2 R88M-K2K030C-BS2 Capacity 3000 W 2000 W Rotational Model R88M-K40030T-BS2 - R88M-K40030T-BS2 - axis 3 Capacity 400 W W - Repeatability *2 X, Z axis ±0.4 mm axis ±0.2 deg - ±0.2 deg - Maximum payload 35 kg 30 kg Maximum through-put *3 45 CPM *4 50 CPM *4 Gear box ratio X, Z axis 1:35 axis 1:31-1:31 - axis torque limitation 22 Nm - 22 Nm - 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) 80 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. Model CR_UGD2800 With rotational axis Without rotational axis 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 Gear box ratio X, Z axis 1:31 axis 1:10 - axis torque limitation 16 Nm - 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. 196 Robot
3 TWIN model Model CR_UGD21000T_NR Working volume X axis (stroke) 1,000 mm Z axis (stroke) *1 342 mm (maximum 1,000 mm) Servo motor Arm 1, 2 Model R88M-K2K030C-BS2 Capacity 2000 W Repeatability *2 X, Z axis ±0.4 mm Maximum payload 30 kg Maximum through-put *3 50 CPM *4 Gear box ratio X, Z axis 1:35 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) 220 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 2 axes + 1 rot 197
4 Dimensions Standard models x M ,5 with rotational axis 884 without rotational axis With rotational axis Without rotational axis , , H7 6 87, x M5 THRU ALL 8 x M5 252 STC 31,5 20H H7 4 STC 31,5 Gripper dimensions 69,5 with rotational axis 65 without rotational axis 198 Robot
5 150 (space between gearboxes) x 20 6 x 13, ,5 with rotational axis 849 without rotational axis 597 With rotational axis Without rotational axis , H x M5 112,5 225 STC 31, x M H7 5 21H7 4 STC 31,5 Gripper dimensions 8 x M4 69,5 with rotational axis 65 without rotational axis Delta robot 2 axes + 1 rot 199
6 With rotational axis 50, (space between gearboxes) With rotational axis Without rotational axis Without rotational axis 8, , , M5 (4x) G1/8 31,5 5 H7 +0,012 ( 0 ) H7 +0,021 ( 0 ) 3 Gripper dimensions 50,5 with rotational axis 8,5 without rotational axis 200 Robot
7 TWIN model CR_UGD21000T_NR x 13,5 THRU ALL x M6 12 Gripper dimensions Delta robot 2 axes + 1 rot 201
8 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. 202 Robot
9 Delta robot 2 axes + 1 rot series Standard models 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 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 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 CR_UGD2800_NR mm (Max. 477) 2 axes Arm 1 R88D-KN15H-ECT R88D-KN15H-ECT TWIN model Symbol Model Max. payload Working range Description Axis Appli servo drive B A CR_UGD21000T_NR 30 kg 1, mm 2 axes Arm 1 R88D-KN20F-ECT (Max. 597) R88D-KN20F-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 CR_UGD21000T 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 Delta robot 2 axes + 1 rot 203
10 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 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 CR_UGD21000T Arm 1, 2 Power with 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 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 204 Robot
11 Vision 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 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 Computer software Power supply unit Specifications Sysmac Studio version 1.03 or higher Logic sequence, motion and robotics 64 NJ NJ NJ Control of one Delta robot 16 NJ NJ-PA3001 (220 VAC) NJ-PD3001 (24 VDC) 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-03B In the interest of product improvement, specifications are subject to change without notice. Delta robot 2 axes + 1 rot 205
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