ROKAE XMate CR12 Montageanleitung

xMate CR12

Hardware Installation Manual

xMate CR12

Hardware Installation Manual

Document number: DOC-00001599

Version: D

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.

Unauthorized copying or reprinting of some or all contents of

this manual is prohibited.

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

improvement or supplement, please do not hesitate to point

them out so that they can be corrected.

This manual is originally written in Simplified Chinese. Other

language versions are translated.

ROKAE (Shandong) Intelligent Technology Co., Ltd.

Shandong, China

DOC-00001599/D 
 
xMate CR12Hardware Installation Manual I 
Contents 
Manual Overview................................................................................................................................ 5 
1 About this manual 
2 Target group 
3 How to read the product manual 
4 Illustrations in this manual 
5 Related product documents 
6 Contact 
Safety....................................................................................................................................................... 6 
1 Introduction 
1.1 Safety responsibilities 
1.2 Intended use 
2 Safety notice 
2.1 Instructions 
3 Safety protection devices 
3.1 Emergency stop 
3.2 Enabling switch 
4 Emergency stop types 
4.1 Emergency stop 
5 Safety precautions 
5.1 Operator safety 
5.2 Safety precautions for operating the Teach Pendant 
5.3 Recovering from emergency stops 
5.4 Safety precautions in Manual mode 
5.5 Safety precautions in Automatic mode 
5.6 Safe handling of fire accidents 
5.7 Safe handling of electric shock accidents 
6 Personnel and work content requirements 
6.1 Definition of personnel 
6.2 Personnel requirements 
6.3 Work content requirements 
7 Safety training 
7.1 Overview 
7.2 Personnel safety 
8 Pre-use assessment 
Product Overview..............................................................................................................................18 
1 Introduction 
2 Robot 

 DOC-00001599/D 
II xMate CR12Hardware Installation Manual 
2.1 Overview 
2.2 Robot system 
2.3 Definitions of rotation directions and coordinate systems 
3 Robot Teach Pendant overview 
3.1 Teach Pendant overview 
3.2 Teach Pendant components 
4 Symbols and labels 
Technical Specifications .................................................................................................................22 
1 Introduction 
2 Specifications 
2.1 Data sheet 
2.2 Teach Pendant specifications 
3 Working space 
4 Allowable load 
4.1 Allowable wrist torque and inertia 
4.2 Maximum payload diagram 
4.3 Calculation of load inertia 
4.4 Joint torque limit 
Unpacking and Installation...........................................................................................................27 
1 Introduction 
2 Installation flow chart 
3 Environmental conditions 
4 Unpacking and hardware installation 
4.1 Unpack 
4.2 Robot angle and force application points during transportation 
4.3 Check before installation 
5 On-site installation 
5.1 Transportation 
5.2 Robot installation 
5.3 Flange 
5.4 Power adapter 
Electrical Connections.....................................................................................................................37 
1 Electrical layout 
2 Robot base 
2.1 Robot power supply 
2.2 Powering on the robot 
2.3 Handheld emergency stop and enabling device interface 
2.4 General-purpose DIDO 
2.5 Safety DIO 

DOC-00001599/D 
 
xMate CR12Hardware Installation Manual III 
2.6 Extended EtherNet interface 
2.7 EtherCAT servo drive debug interface 
2.8 Function buttons on the wrist 
2.9 Tool interface 
3 Power adapter 
3.1 Power-on button of the power adapter 
3.2 Power input 
3.3 Power output 
4 Teach Pendant 
4.1 Teach Pendant buttons 
4.2 How to hold the Teach Pendant 
Maintenance.......................................................................................................................................52 
1 Introduction 
2 Maintenance safety 
3 Maintenance schedule 
4 Check 
5 Cleaning 
Zero Calibration.................................................................................................................................55 
1 Introduction 
1.1 Overview 
1.2 What is a mechanical zero? 
1.3 What is zero calibration? 
1.4 When is zero calibration required? 
2 Calibration method 
2.1 Mechanical calibration 
Decommissioning.............................................................................................................................58 
1 Robot decommissioning 
2 Recycling 
Revision History..............................................................................................................................59 
 

DOC-00001599/D 1 Manual Overview

xMate CR12Hardware Installation Manual 5

1Manual Overview

1.1 About this manual

Thank you for choosing ROKAE robot system.

This manual contains the following instructions for 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 the product 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 the product manual may

differ from the actual product. However, the operating procedures are correct.

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

1.5 Related product documents

This document is the product manual for the xMate CR12 robot and is intended to be

used with the following documents:

⚫xCore 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 reseller.

Get the following information ready before contacting us:

⚫Robot model/serial number

⚫Software name/version

⚫Problems with the system

2 Safety DOC-00001599/D

6 xMate CR12Hardware Installation Manual

2Safety

2.1 Introduction

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

the safe use of the xMate CR12 robots. xMate CR12 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 will not

cause any personal injury or property damage.

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

2.1.2 Intended use

The xMate CR12 robots should be used in accordance with local laws and regulations,

and must 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 product 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

⚫Downhole use

xMate CR12 robots are flexible cobots intended to handle tools/end effectors and

fixtures or to process or transfer components or products. xMate CR12 robots are

equipped with 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 tools/end effectors, workpieces, obstacles, and

other machines, is without any significant hazards according to the risk assessment of

the specific application.

Any use or application deviating from the intended use is deemed to be impermissible

misuse.

This includes, but is not limited to:

⚫Use in potentially explosive environments

⚫Use in medical and life-critical applications

⚫Use before performing a risk assessment

⚫Use outside of stated specifications

⚫Use as a climbing aid

Andere Handbücher für xMate CR12

Inhaltsverzeichnis

Andere ROKAE Robotik Handbücher

Beliebte Robotik Handbücher anderer Marken

STEMCenter USA

STEMCenter USA Pi-Bot v2.00 Bedienungsanleitung

SunFounder

SunFounder PiDog Bedienungsanleitung

Universal Robots

Universal Robots UR5 Bedienungsanleitung

Universal Robots

Universal Robots E Series Bedienungsanleitung

YASKAWA

YASKAWA MOTOMAN-MPL80 II Bedienungsanleitung

EFORT

EFORT ECR5 Gebrauchsanweisung

Epson

Epson C8 Series Bedienungsanleitung

WowWee

WowWee ROBOQUAD Bedienungsanleitung

Milvus Robotics

Milvus Robotics SEIT 100 Bedienungsanleitung

RoboMaster

RoboMaster AI Robot 2020 Standard Version Bedienungsanleitung

fischertechnik

fischertechnik Mini Bots Bedienungsanleitung

YASKAWA

YASKAWA MA2010 Handbuch

Abicor Binzel

Abicor Binzel iCAT mini Bedienungsanleitung

ABB

ABB OmniCore E10 Bedienungsanleitung

YASKAWA

YASKAWA Motoman DX200 Bedienungsanleitung

pitsco

pitsco Tetrix Max Bedienungsanleitung

ECOVACS

ECOVACS DEEBOT R95 Bedienungsanleitung

Feng Yuan

Feng Yuan Interstellar Warrior Bedienungsanleitung

ROKAE xMate CR12 Montageanleitung

Beliebte Robotik Handbücher anderer Marken