ROKAE XMate SR3 Istruzioni per il montaggio

xMate SR3

Hardware Installation Manual

A Partner You Can Rely on in Production

xMate SR3

Hardware Installation Manual

Documet number: DOC-00001607

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-00001607DContents 
 
xMate SR3 Hardware Installation Manual I 
Contents 
Manual Overview................................................................................................................................ 3 
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....................................................................................................................................................... 4 
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..............................................................................................................................16 
1 Introduction 

Contents DOC-00001607/D 
II xMate SR3 Hardware Installation Manual 
2 Robot 
2.1 Overview 
2.2 Robot system 
2.3 Definitions of rotation directions and coordinate systems 
3 Symbols and labels 
Technical Specifications .................................................................................................................20 
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...........................................................................................................26 
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.....................................................................................................................35 
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 
2.6 Extended EtherNet interface 
2.7 100-megabit Ethernet port on the base 

DOC-00001607DContents 
 
xMate SR3 Hardware Installation Manual III 
2.8 EtherCAT servo drive debug interface 
2.9 Function buttons and interfaces on the wrist 
3 Power adapter 
3.1 Power-on button of the power adapter 
3.2 Power input 
3.3 Power output 
4 Teach Pendant(Optional accessories) 
4.1 Teach Pendant buttons 
4.2 How to hold the Teach Pendant 
Maintenance.......................................................................................................................................50 
1 Introduction 
2 Maintenance safety 
3 Maintenance schedule 
4 Check 
5 Cleaning 
Zero Calibration.................................................................................................................................53 
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.............................................................................................................................55 
1 Robot decommissioning 
2 Recycling 
Revision History .................................................................................................................................... 57 
 
 