ROKAE XMate CR12-C Instructions de montage

xMate CR12-C

Hardware Installation Manual

A Partner You can Rely on in Production

xMate CR12-C

Hardware Installation Manual

Document ID: DOC -00001752

Version: A

Contents in this manual are subject to change without notice. We assume no responsibility

for any errors that may appear in this manual.

Please understand that in no event shall we be liable for incidental or consequential

damages arising from the use of this manual and the products described herein.

We cannot foresee all possible dangers and consequences. Therefore, this manual cannot

warn the user of all possible hazards.

No part of this manual may be reproduced in any form.

If you find the contents of this manual wrong or in need of improvement or supplement,

please contact us for correction.

This manual is originally written in Simplified Chinese, and other language versions are

translated.

Rokae (Shandong) Intelligent Technology Co., Ltd.

Shandong, China

DOC -00001752/A Contents

xMate CR12-C Hardware Installation Manual I

Contents

1 Manual Overview ........................................................................................................1

1.1 About this manual.....................................................................................................................1

1.2 Target group..............................................................................................................................1

1.3 How to read this manual........................................................................................................... 1

1.4 Illustrations in this manual........................................................................................................1

1.5 Related product documents.......................................................................................................1

1.6 Contact......................................................................................................................................1

2 Safety ............................................................................................................................ 2

2.1 Introduction...............................................................................................................................2

2.1.1 Safety responsibilities ........................................................................................................................... 2

2.1.2 Intended use...........................................................................................................................................2

2.2 Safety notice............................................................................................................................. 3

2.3 Safety protection device............................................................................................................3

2.3.1 Emergency stop.....................................................................................................................................3

2.3.2 Enabling device .....................................................................................................................................3

2.4 Safety precautions.....................................................................................................................4

2.4.1 Operator safety ...................................................................................................................................... 4

2.4.2 Safety precautions for operating the Teach Pendant.............................................................................5

2.4.3 Recovering from emergency stops........................................................................................................5

2.4.4 Safety precautions in Manual mode......................................................................................................6

2.4.5 Safety precautions in Automatic mode................................................................................................. 6

2.4.6 Safe handling of fire accidents..............................................................................................................7

2.4.7 Safe handling of electric shock accidents.............................................................................................7

2.5 Personnel and work requirements.............................................................................................8

2.5.1 Definition of personnel......................................................................................................................... 8

2.5.2 Personnel requirements .........................................................................................................................8

2.5.3 Work requirements ................................................................................................................................ 9

2.6 Safety training.........................................................................................................................10

Contents DOC -00001752/A

II xMate CR12-C Hardware Installation Manual

2.6.1 Overview ............................................................................................................................................. 10

2.6.2 Personnel safety ...................................................................................................................................10

2.7 Pre-use assessment..................................................................................................................11

3 Product Overview......................................................................................................12

3.1 System structure......................................................................................................................12

3.2 Manipulator.............................................................................................................................12

3.3 Teach Pendant......................................................................................................................... 13

3.3.1 Teach Pendant overview......................................................................................................................13

3.3.2 Teach Pendant structure...................................................................................................................... 14

3.3.3 Holding of the Teach Pendant .............................................................................................................14

3.4 Control cab..............................................................................................................................14

3.4.1 Control cab overview .......................................................................................................................... 14

3.4.2 Control cab structure...........................................................................................................................15

3.5 Symbols and labels................................................................................................................. 15

4 Technical Specifications ............................................................................................16

4.1 Manipulator.............................................................................................................................16

4.1.1 Basic parameters................................................................................................................................. 16

4.1.2 Working space ..................................................................................................................................... 17

4.1.3 Allowable load .....................................................................................................................................18

4.2 Teach Pendant......................................................................................................................... 19

4.3 Control cab..............................................................................................................................20

5 Unpacking and Installation ......................................................................................21

5.1 Installation flow chart............................................................................................................. 21

5.2 Environmental conditions.......................................................................................................21

5.3 Unpacking...............................................................................................................................22

5.4 Transportation and handling ................................................................................................... 23

5.4.1 Robot angle and force application points during transportation ........................................................ 23

5.4.2 Handling ..............................................................................................................................................24

5.5 Installation.............................................................................................................................. 25

DOC -00001752/A Contents

xMate CR12-C Hardware Installation Manual III

5.5.1 Inspection before installation ..............................................................................................................25

5.5.2 Installation of robot and control cab ................................................................................................... 26

5.5.3 Flange ..................................................................................................................................................28

6 Electrical connection .................................................................................................29

6.1 Control cab port ...................................................................................................................... 29

6.1.1 Panel port.............................................................................................................................................29

6.1.2 External port........................................................................................................................................30

6.2 Description of EOAT I/O ports ...............................................................................................37

6.2.1 Special-purpose EOAT I/O ................................................................................................................. 38

6.2.2 EOAT power output............................................................................................................................ 38

6.2.3 EOAT digital outputs...........................................................................................................................38

6.2.4 EOAT digital inputs.............................................................................................................................40

6.2.5 EOAT analog inputs............................................................................................................................ 40

6.2.6 EOAT communication .........................................................................................................................41

6.3 Connection system..................................................................................................................42

6.3.1 Connection of the Teach Pendant........................................................................................................43

6.3.2 Connection of the manipulator ............................................................................................................43

6.3.3 Connection of the control cab power supply...................................................................................... 44

6.3.4 Custom wiring .....................................................................................................................................44

6.3.5 Grounding instructions ........................................................................................................................45

7 Quick Operation........................................................................................................46

7.1 Power on ................................................................................................................................. 46

7.2 Confirmation of the emergency stop...................................................................................... 46

7.3 Programming and usage..........................................................................................................46

8 Maintenance ...............................................................................................................47

8.1 Introduction.............................................................................................................................47

8.2 Maintenance safety................................................................................................................. 47

8.3 Maintenance schedule.............................................................................................................47

8.4 Inspection................................................................................................................................47

Contents DOC -00001752/A

IV xMate CR12-C Hardware Installation Manual

8.5 Cleaning..................................................................................................................................48

9 Zero Calibration ........................................................................................................49

9.1 What is a mechanical zero?.................................................................................................... 49

9.2 What is zero calibration? ........................................................................................................ 49

9.3 When is zero calibration required?......................................................................................... 49

9.4 Zero calibration procedures .................................................................................................... 49

10 Decommissioning .....................................................................................................51

10.1 Robot decommissioning....................................................................................................... 51

10.2 Recycling .............................................................................................................................. 51

11 Revision History ...................................................................................................... 52

DOC -00001752/A 1 Manual Overview

xMate CR12-C Hardware Installation Manual 1

1 Manual Overview

1.1 About this manual

Thank you for choosing ROKAE robot system.

This manual contains the following instructions for the correct installation and use of the

robot:

Mechanical and electrical installation of the robot.

Maintenance and calibration of the robot.

Please read this manual and other related manuals carefully before installing and using the

robot system.

After reading, keep it properly for future reference.

1.2 Target group

This manual is intended for:

Installation personnel.

Maintenance personnel.

Please ensure that the above personnel have the necessary knowledge of mechanical and

electrical installation and maintenance, and have received our training.

1.3 How to read this manual

This manual includes a separate safety section that must be read through before

proceeding with any installation or maintenance procedures.

1.4 Illustrations in this manual

Due to product upgrades or other reasons, some figures in this manual may differ from the

actual product. However, the operating procedures are correct.

Also, figures from other models may be used to describe some general information.

1.5 Related product documents

This document is the manual for the xMate CR12-C robot and is intended to be used with

the following documents:

xCore Robot Control System User Manual

1.6 Contact

For information about the maintenance and repair of the robot, please contact our

after-sales department or the local dealer.

Get the following information ready before contacting us:

Robot model/serial number;

Software name/version;

Problems with the system.

2 Safety DOC -00001752 /A

2 xMate CR12-C Hardware Installation Manual

2 Safety

2.1 Introduction

This section describes the principles and procedures that must be followed to ensure the

safe use of xMate CR12-C robots. Robot integrators must read and understand the

information listed here before powering on the robot for the first time.

The contents related to the design and installation of the external safety protection devices

of the robot are not covered in this section. Please contact your system integrator to obtain

such information.

2.1.1 Safety responsibilities

ROKAE is dedicated to but not liable for providing reliable safety information. Even if all

safety instructions are followed, there is no guarantee that xMate CR12-C robots will not

cause any personal injury or property damage.

In addition to the safety section, this manual contains further safety instructions.

2.1.2 Intended use

xMate CR12-C robots shall be used in accordance with local laws and regulations, and

shall not be used for any purpose that violates such laws and regulations.

Using the robots in compliance with instructions also means observing the instructions in

the manual of each component, including the operation, installation, and maintenance

instructions.

The following uses that go against the instructions are prohibited:

Use in human and animal transportation

Use in potentially explosive environments

Use in flammable environments

Use outside the permissible limits

Use underground

xMate CR12-C robots are flexible collaborative robots intended to handle EOAT/end

effectors and fixtures or to process or transfer components or products. xMate CR12-C

robots have special safety-related features, which are purposely designed to enable

collaborative operation, where the robot system operates without fences and/or together

with a human.

Collaborative operation is only intended for non-hazardous applications, where the

complete application, including the EOAT/end effectors, workpieces, obstacles, and other

machines, has no any significant hazards according to the risk assessment of the specific

application.

Any purpose deviating from the intended use is deemed to be impermissible misuse,

including but not limited to:

Use in potentially explosive environments

Use in medical and life-critical applications

Use without a risk assessment

Use outside the stated specifications

Use as a climbing aid

Use outside the permissible operating parameters

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