Omron Delta 5 Manual de usuario

ZX-T Series

Cat. No. I205E-EN-03A

CR_UGD5 Series

USER´S MANUAL

Delta 5 Robot

IP65 protection class

CONTENTS Delta Robot 5 Axes

User's Manual

T- 1

Safety Instructions

1. Attention S-1

2. Explanation of warnings and notes S-1

3. Safety information S-2

3.1 General S-2

3.2 Qualiedpersonnel S-2

3.3 Liability S-2

3.4 Installationandoperatingconditions S-2

3.5 Residualrisks S-2

3.5.1 Release device S-3

3.5.2 Transport S-3

3.5.3 Assembly and start-up S-3

3.5.4 Maintenance and repair S-3

3.5.5 System integrator S-4

Chapter 1 Introduction

1. Introduction 1-1

1.1 Descriptionoftherobot 1-1

1.2 Typecodeexplanation 1-1

2.Identication 1-1

3. Part names 1-2

Chapter 2 Model overview

1. Overview 2-1

CONTENTS Delta Robot 5 Axes

User's Manual

T- 2

Chapter 3 Installation

1. Unpacking 3-1

1.1 Unpackingtheshippingbox 3-1

1.2 Checkthedamage 3-1

1.3 Liftingandtransportation 3-1

2. Mounting the robot 3-3

3. Mounting the motors and cabling 3-4

3.1 Mountingthemotors 3-4

3.2 Connectingthecables 3-4

3.3 Mountingthemotorcovers 3-5

3.4 Mountingtherotationalandtiltgearboxwiththeiradaptorplate 3-6

4. Assembling the secondary arms 3-7

4.1 Makeanassembly 3-7

4.2 Mountthearmassemblyontherobot 3-8

5. Mounting the rotational and tilt axis on the gearbox shafts 3-9

6. Calibration 3-10

7. Gripper interface 3-13

Chapter 4 Maintenance

1. Periodic maintenance 4-1

1.1 Springs 4-1

1.2 Ballbearingcups 4-2

1.3 Rotationalandtiltaxis 4-2

2. Cleaning the robot 4-4

3. Spare parts 4-4

Chapter 5 Robot settings

1. Kinematics 5-1

2. Workspace 5-2

3. Software limits 5-3

CONTENTS Delta Robot 5 Axes

User's Manual

T- 3

Chapter6 Specications

1. Basicspecications 6-1

1.1 Cycletime 6-1

2. External view and dimensions 6-2

2.1 CR_UGD5_XL 6-2

2.2 CR_UGD5 6-3

2.3 CR_UGD5_XS 6-4

3. Designspecications 6-5

3.1 Occupationareaofrobot 6-5

3.2 Softwaredesign 6-6

3.2.1 Dimensions and limits 6-7

3.2.2 Gear ratio 6-7

3.3 Recommendedrobotposition 6-8

Contents

1. Attention S-1

2. Explanation of warnings and notes S-1

3. Safety information S-2

3.1 General S-2

3.2 Qualified personnel S-2

3.3 Liability S-2

3.4 Installation and operating conditions S-2

3.5 Residual risks S-2

3.5.1 Release device S-3

3.5.2 Transport S-3

3.5.3 Assembly and start-up S-3

3.5.4 Maintenance and repair S-3

3.5.5 System integrator S-4

Safety Instructions

S-1

1. Attention

Information in this document can change without prior notice.

OMRON EUROPE B.V. cannot be hold responsible for any damage to the environment, to the machine or to the

functioning of the machine occurred by errors or missing data in the illustrations, drawing or specifications.

No part of this manual and added documentation may be copied, reproduced or translated into another language without

prior written approval.

Read and understand the material contained in this user's manual before you work on the CR_UGD5 robot for the first

time. This user's manual is supposed to help you use the capabilities of the CR_UGD5 robot safely and properly.

2. Explanation of warnings and notes

This manual uses the following safety alert symbols and signal words to provide safety instructions that must be

observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure you understand

the meaning of each symbol and signal word and then read this manual.

DANGER

THIS INDICATES AN IMMEDIATELY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, WILL RESULT IN DEATH OR

SERIOUS INJURY.

WARNING

THIS INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, COULD RESULT IN DEATH OR

SERIOUS INJURY.

NOTE

Explains the key point in the operation in a simple and clear manner.

Safety Instructions

S-2

3. Safety information

3.1 General

This ´3. Safety information´ subchapter contains information regarding working with the CR_UGD5 robot. Qualified

personnel working with the CR_UGD5 robot must have read and understood the CR_UGD5 robot documentation,

including the safety information chapter.

3.2 Qualified personnel

These are people who, due there specialist training, knowledge and experience, and their familiarization with the

relevant standards, are able to assess the work to be carried out and detect any potential hazards.

3.3 Liability

The CR_UGD5 robot is build using state-of-the-art technology and in accordance with the recognized safety rules.

Nevertheless, misuse of the CR_UGD5 robot may constitute a risk to life and limb or cause damage to the CR_UGD5

robot and to other material property.

3.4 Installation and operating conditions

You may only use the components in accordance with the installation and operating conditions described in the

documentation. The operating conditions at the installation location must be checked and maintained in accordance

with the required technical data. Within the meaning of the Machinery Directive the CR_UGD5 robot is an incomplete

machine. Commissioning is prohibited until the usable machine or system in which the CR_UGD5 robot is installed

meets all requirements of the Machine directive 2006/42/EC.

For the CR_UGD5 robot you have to observe the following standards, directives and regulations:

• EN ISO 10218-1:2011 Robots and robotic devices - Safety requirements for industrial robots - Part 1: Robots.

• EN ISO 10218-2:2011 Robots and robotic devices - Safety requirements for industrial robots - Part 2: Robot systems

and integration.

3.5 Residual risks

Safety and health risks arising from the robot mechanics have been reduced by means of safety technology and design

engineering. However a residual risk remains, since the robot mechanics will be move by an automated control system.

The following are typical warnings concerning residual risks which cannot be assigned to a specific action. The

expression of safety labels is identical to the safety information.

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