1 Delta robot 3 axes + 1 rot Delta robot 3 axes + 1 rot The fastest picking system integrated in the Sysmac Platform • Robot control integrated in the NJ robotics controller • Control of up to 8 robots by one controller • Degrees of freedom: 3 + 1 (rotational axis optional) • Up to 200 cycle per minute • Models from 500 to 1,600 mm working range • Payload range: 1 to 8 kg • Different types of Delta robot arms • IP class range: IP65, IP67, IP69K • Anti-collision detection option Note: Servo motors included in the Delta robot. System configuration NJ Robotics Machine automation controller Sysmac Studio MX2 inverter FQ-M vision Accurax G5 servo drive Delta robot 3 axes + 1 rot Rotational axis 4 (optional) Arm 3 Arm 2 Arm 1 2 4 NX-series I/O 3 1
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Delta robot 3 axes + 1 rot · 2019-11-02 · Delta robot 3 axes + 1 rot 3 IP65 protection class models Model CR_UGD4_XXLH CR_UGD4_XXL1300H With rotational axis Without rotational
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1Delta robot 3 axes + 1 rot
Delta robot 3 axes + 1 rotThe fastest picking system integrated in the Sysmac Platform
• Robot control integrated in the NJ robotics controller• Control of up to 8 robots by one controller• Degrees of freedom: 3 + 1 (rotational axis optional)• Up to 200 cycle per minute• Models from 500 to 1,600 mm working range• Payload range: 1 to 8 kg• Different types of Delta robot arms• IP class range: IP65, IP67, IP69K• Anti-collision detection option
Note: Servo motors included in the Delta robot.
System configuration
NJ RoboticsMachine automation controller
Sysmac Studio
MX2 inverterFQ-Mvision
Accurax G5servo drive
ADR ADR ADR ADR
Delta robot 3 axes + 1 rot
Rotational axis 4(optional)
Arm 3
Arm 2
Arm 1
2
4
NX-series I/O
31
2 Robot
Delta robot 3 axes + 1 rot series
IP69K protection class models
IP67 protection class models
Specifications
Model CR_UGD4_XL_HD@ CR_UGD4_HD@ CR_UGD4_XS_HD@With rotational axis
Without rotational axis
With rotational axis
Without rotational axis
With rotational axis
Without rotational axis
Working volume X, Y axis (stroke) Ø 1,300 mm Ø 1,100 mm Ø 650 mmZ axis (stroke)*1
*1. For further details please check the dimensional drawing in the next section.
250 mm (maximum Ø 1,300 mm)400 mm (center Ø 870 mm)
250 mm (maximum Ø 1,100 mm)400 mm (center Ø 670 mm)
200 mm (maximum Ø 650 mm)270 mm (center Ø 407.5 mm)
θ axis (rotation angle) ±180 deg (default setting, it can be changed)
- ±180 deg (default setting, it can be changed)
- ±180 deg (default setting, it can be changed)
-
Servo motor Arm 1, 2, 3 Model R88M-K1K030T-BS2-V2Capacity 1,000 W
Rotational axis 4
Model R88M-K75030T-BS2
- R88M-K75030T-BS2
- R88M-K75030T-BS2
-
Capacity 750 W - 750 W - 750 W -Repeatability*2
*2. This is the value at a constant ambient temperature.
X, Y, Z axis ±0.2 mmθ axis ±0.3 deg - ±0.3 deg - ±0.3 deg -
Maximum payload 2 kgMaximum through-put*3
*3. With 0.1 kg payload. When reciprocating 305 mm in horizontal and 25 mm in vertical directions.
120 CPM*4 150 CPM*4
*4. CPM: Cycle per minutes. Check the note 3 for the cycle definition.
170 CPM*4
Gear box ratio X, Y, Z axis 1:31θ axis 1:10 - 1:10 - 1:10 -
θ axis torque limitation 16 Nm - 16 Nm - 16 Nm -Travel limit 1. Soft limit, 2. Mechanical stopper (X, Y, Z axis)Noise level < 68 dB (A)Ambient temperature Operating: 5ºC to 45ºC
Storage: -25ºC to 60ºCRelative humidity Max. 90%Protection class IP69KWeight 100 kg
Model R6Y3@110@03067NJ5 R6Y3@065@02067NJ5With high inertia rotational axis
With low inertia rotational axis
Without rotational axis
With high inertia rotational axis
With low inertia rotational axis
Without rotational axis
Working volume X, Y axis (stroke) Ø 1,100 mm Ø 650 mmZ axis (stroke)*1
*1. For further details please check the dimensional drawing in the next section.
300 mm (maximum Ø 1,100 mm)450 mm (center Ø 580 mm)
150 mm (maximum Ø 650 mm)250 mm (center Ø 480 mm)
θ axis (rotation angle) ±180 deg(default setting, it can be changed)
- ±180 deg(default setting, it can be changed)
-
Servo motor Arm 1, 2, 3 Model R88M-K1K030T-BS2 R88M-K40030T-BS2Capacity 1,000 W 400 W
Rotational axis 4
Model R88M-K10030T-S2 R88M-K05030T-S2 - R88M-K10030T-S2 R88M-K05030T-S2 -Capacity 100 W 50 W - 100 W 50 W -
Repeatability*2
*2. This is the value at a constant ambient temperature.
X, Y, Z axis ±0.2 mm ±0.1 mmθ axis ±0.1 deg - ±0.1 deg -
Maximum payload 3 kg 2 kgMaximum through-put*3
*3. With 0.1 kg payload. When reciprocating 305 mm in horizontal and 25 mm in vertical directions.
150 CPM*4
*4. CPM: Cycle per minutes. Check the note 3 for the cycle definition.
200 CPM*4
θ axis tolerable moment of inertia*5
*5. There are limits to acceleration coefficient settings.
0.035 kgm2 0.01 kgm2 - 0.035 kgm2 0.01 kgm2 -User tubing (outer diameter) Ø 6Travel limit 1. Soft limit, 2. Mechanical stopper (X, Y, Z axis)Noise level < 73.7 dB (A) < 64.5 dB (A)Ambient temperature 0ºC to 45ºCRelative humidity Max. 85%Protection class IP67Weight 75 kg 32 kg
Delta robot 3 axes + 1 rot 3
IP65 protection class models
Model CR_UGD4_XXLH CR_UGD4_XXL1300HWith rotational axis Without rotational axis With rotational axis Without rotational axis
Working volume X, Y axis (stroke) Ø 1,600 mm Ø 1,300 mmZ axis (stroke)*1
*1. For further details please check the dimensional drawing in the next section.
350 mm (maximum Ø 1,600 mm)550 mm (center Ø 814 mm)
300 mm (maximum Ø 1,300 mm)450 mm (center Ø 780 mm)
θ axis (rotation angle) ±180 deg (default setting, it can be changed)
- ±180 deg (default setting, it can be changed)
-
Servo motor Arm 1, 2, 3 Model R88M-K3K030C-BS2Capacity 3,000 W
Rotational axis 4
Model R88M-K1K030C-BS2 - R88M-K1K030C-BS2 -Capacity 1,000 W - 1,000 W -
Repeatability*2
*2. This is the value at a constant ambient temperature.
X, Y, Z axis ±1 mmθ axis ±0.3 deg - ±0.3 deg -
Maximum payload 8 kgMaximum through-put*3
*3. With 0.1 kg payload. When reciprocating 305 mm in horizontal and 25 mm in vertical directions.
80 CPM*4
*4. CPM: Cycle per minutes. Check the note 3 for the cycle definition.
90 CPM*4
Gear box ratio X, Y, Z axis 1:38,5θ axis 1:20 - 1:20 -
*5. Only for the air suctioning. The air injection is not allowed.
Travel limit 1. Soft limit, 2. Mechanical stopper (X, Y, Z axis)Noise level < 70 dB (A) < 68 dB (A)Ambient temperature 5ºC to 45ºCRelative humidity Max. 90%Protection class IP65Weight 115 kg 90 kg
Model CR_UGD4_XL CR_UGD4With rotational axis Without rotational axis With rotational axis Without rotational axis
Working volume X, Y axis (stroke) Ø 1,300 mm Ø 1,100 mmZ axis (stroke)*1
*1. For further details please check the dimensional drawing in the next section.
250 mm (maximum Ø 1,300 mm)400 mm (center Ø 870 mm)
250 mm (maximum Ø 1,100 mm)400 mm (center Ø 670 mm)
θ axis (rotation angle) ±180 deg (default setting, it can be changed)
- ±180 deg (default setting, it can be changed)
-
Servo motor Arm 1, 2, 3 Model R88M-K1K030T-BS2Capacity 1,000 W
Rotational axis 4
Model R88M-K1K030T-BS2 - R88M-K1K030T-BS2 -Capacity 1,000 W - 1,000 W -
Repeatability*2
*2. This is the value at a constant ambient temperature.
X, Y, Z axis ±0.2 mm ±0.3 mmθ axis ±0.3 deg - ±0.4 deg -
Maximum payload 2 kgMaximum through-put*3
*3. With 0.1 kg payload. When reciprocating 305 mm in horizontal and 25 mm in vertical directions.
120 CPM*4
*4. CPM: Cycle per minutes. Check the note 3 for the cycle definition.
150 CPM*4
Gear box ratio X, Y, Z axis 1:31θ axis 1:10 - 1:10 -
*5. Only for the air suctioning. The air injection is not allowed.
Travel limit 1. Soft limit, 2. Mechanical stopper (X, Y, Z axis)Noise level < 68 dB (A)Ambient temperature 5ºC to 45ºCRelative humidity Max. 90%Protection class IP65Weight 65 kg
4 Robot
Model CR_UGD4MINIWith rotational axis Without rotational axis
Working volume X, Y axis (stroke) Ø 500 mmZ axis (stroke)*1 130 mm (maximum Ø 500 mm) 155 mm (maximum Ø 500 mm)θ axis (rotation angle) ±180 deg (default setting, it can be changed) -
Servo motor Arm 1, 2, 3 Model R88M-K40030T-BS2Capacity 400 W
Rotational axis 4
Model R88M-K40030T-BS2 -Capacity 400 W -
Repeatability*2 X, Y, Z axis ±0.2 mmθ axis ±0.3 deg -
Maximum payload 1 kgMaximum through-put*3 200 CPM*4
Travel limit 1. Soft limit, 2. Mechanical stopper (X, Y, Z axis)Noise level < 68 dB (A)Ambient temperature 5ºC to 45ºCRelative humidity Max. 90%Protection class IP65*6
Weight 25 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.*5. Only for the air suctioning. The air injection is not allowed.*6. The CR_UGD4MINI_@_TS models are delivered standard with stainless steel + titanium secondary arms.
Delta robot 3 axes + 1 rot 5
IP69K protection class models
CR_UGD4_XL_@R_HD@
Dimensions
Gripper dimensions
120º120º
680
16,53 x
716
270
44,5
200
250
80
635
1300
30º
635
40
200
250
1030
,515
025
0
55°
20 H7
31,5
40
5H7 THRU
4,2 THRU4 ×M5-6H THRU
6 Robot
CR_UGD4_@R_HD@
Gripper dimensions
680
120º
120º
16,53 x
125
535
180
60
30º
1100
535
30
180
125
616
270
44,5
930,
525
015
0
55°
20 H7
31,5
40
5H7 THRU
4,2 THRU4 ×M5-6H THRU
Delta robot 3 axes + 1 rot 7
CR_UGD4_XS_@R_HD@
Gripper dimensions
680
120º
120º
16,53 x
435
50
300
100
300
100
100
435
650
30º
60º
7020
074
8,5
with
rota
tiona
l axi
s71
7,5
with
out r
otat
iona
l axi
s
38,5 with rotational axis7,5 without rotational axis
440
270
20 H7
31,5
40
5H7 THRU
4,2 THRU4 ×M5-6H THRU
8 Robot
IP67 protection class models
R6Y3@110@03067NJ5
Note: The three areas of the robot base are available for mounting. Leave other area unoccupied for other needs (e.g. wiring). Also note the locations of the eyebolts when designing a mounting frame. Any part of end-effector should not stick out above the surface of B.
4579
9(4
6)
22
(1067)
25
42
120
(673
)
65
3-Eyebolts
B (note)
A
155
120°
120°
Do not attach any tube to robot cable.
P.C.D.31.5
50
30°45
°
45°
15.7
50.
02
4-M5 × 0.8 Depth 8
20 Depth 3
5 H7 + 0.0120 Depth 10
User tubing (Ø6)
Rc1/8
View of A
P.C.D.400
20°10° 10°
10°
20°
20°
20°
20°
30°
20°
20°
20
3030
6- 16 Depth 25 6-M12 × 1.75 Depth 25
45°
45°
15°
15°30°
220
R23
0
30°
30
M4 ground terminal
MOUNTING SURFACE DETAIL
150
5801100
300
Arm rotation
Tool working envelope
650
120
200
1100
74
Ø 1100: Tool working envelope
Robot wiring interference area
Ø 1200: Arm rotation
(80)
(350)
M4 × 0.7 Depth 8(For securing cable)
3 shaded areas,available for mounting
Locations of eyebolts (Ø50)for lifting to be taken into account for mounting area
Delta robot 3 axes + 1 rot 9
R6Y3@065@02067NJ5
Note: Mounting area should be smaller than 180 mm diameter to avoid collision with robot cable. Frame of base should not be in the arm moving area. Any part of end-effector should not stick out above the surface of B.
User tubing (Ø6)
View of A
Rc1/8 B.C.D. 31.5
45°
15.7
50.
02
50
20 Depth 35 H7 + 0.0120 Depth 10
4-M5x0.8 Depth 8
(729)3-Eyebolts
(27)
2090
490.
3(3
94)
45
42
A
65 B (note)
120° 120°
(150)
15.3
9043
015
015
010
0
Arm rotation
Tool working envelope
480
650
(340)
(135
)
Robot wiring interference area
780: Arm rotation
900: Maintenance
650: Tool working envelope
20º
30º
120º 120º
30
MOUNTING SURFACE DETAIL
6-M10x1.5 Depth 20
180Available for mounting
M4 ground terminal
6-M4x0.7 Depth 8for securing cable
3-M8x1.25 Depth 20Locations of eyeboltsfor lifting to be taken intoaccount for mounting area
302
150
220
10 Robot
IP65 protection class models
CR_UGD4_XXLH_@R
Gripper dimensions
50
63
31,5
22H7
5 THRU ALL8 ×M6-6H THRU ALL
400
200
150
100
500
680
1600
100
400
200
500
50
180
520 M20 (3 ×)
120º
120º
811
210
59 with rotational axis10 without rotational axis
1080
with
rota
tiona
l axi
s10
31w
ithou
t rot
atio
nal a
xis
350
200
63°
Delta robot 3 axes + 1 rot 11
CR_UGD4_XXL1300H_@R
1300
520
Mounting holes3 x M20
120º 120º
400
100
200
420
600
Gripper dimensions
50
63
31,5
22H7
5 THRU ALL8 ×M6-6H THRU ALL
731
110
59 with rotational axis10 without rotational axis
300
150
60°
900
with
rota
tiona
l axi
s85
1 w
ithou
t rot
atio
nal a
xis
12 Robot
CR_UGD4_XL_@R
20 H7 31,5STC
45°
4,20 104 ×M5-6H 7
5H7 10
8,57 22,18G1/8-6H 19,46
Gripper dimensions
1300
329,5 350,5
120°
120°
M16 (5 ×)
7405º
243
368,6
250
150
440
150
200
80
75
42
716
9044
,5
850,
525
015
0
55°
Delta robot 3 axes + 1 rot 13
CR_UGD4_@R
1100
329,5 350,5
120°
120°
M16 (5 ×)
7405º
243
368,6
350
130
150335
200
80
42
75
20 H7 31,5STC
45°
4,20 104 ×M5-6H 7
5H7 10
8,57 22,18G1/8-6H 19,46
Gripper dimensions
616
9044
,5
750,
525
015
0
55º
14 Robot
CR_UGD4MINI_@R@
20 H731,5STC
45°
4,20 104 ×M5-6H 7
5H7 10
8,57 22,18G1/8-6H 19,46
Gripper dimensions
500
273,6
123,6
80
140
40
400
77,7
100
M12 (6x)
253,2
675
353 w
ith ro
tation
al ax
is32
8 with
out r
otatio
nal a
xis70
44,5
467,
513
0
45
442,
515
5
4569°
with
rota
tion
with
out r
otat
ion
60°
Delta robot 3 axes + 1 rot 15
Selection table
CR_UGD4
IP6
5CR_UGD4_XL_xx_HD
IP6
9K
1238
500
650
1,100
1,300
1,600
Ma
x. p
ay
loa
d (
kg
)
Wo
rkin
g r
an
ge
(m
m)
CR_UGD4M
INI
IP6
5
CR_UGD4M
INI_xx_TS
IP6
5 (
Sta
inle
ss s
tee
l + T
ita
niu
m)
CR_UGD4_XXLH
IP6
5
CR_UGD4_XXL1300H
IP6
5
R6Y3x110x03067NJ5
IP6
7
R6Y3x065x02067NJ5
IP6
7CR_UGD4_xx_HD
IP6
9K
CR_UGD4_XL
IP6
5
CR_UGD4_XS_xx_HD
IP6
9K
16 Robot
Note: Servo motors included in the Delta robot.
Ordering information
Sysmac Studio
FQ-M visionF
Machine controllerG
Accurax G5 servo drive
ADR ADR ADR ADR
B
C Encoder cable
Power cableE
A Delta robot 3 axes + 1 rot
Rotational axis 4(optional)
Arm 3
Arm 2
Arm 1
1
2
3
4
D Extension cable forabsolute encoder(with battery holder)
NX-series I/O
Delta robot 3 axes + 1 rot 17
Delta robot 3 axes + 1 rot series
IP69K protection class models
IP67 protection class models
Symbol Model Cable length
Max. payload
Working range Description*1
*1. The models with IP69K protection class include the encoder, power and brake cables.
Axis BApplicable servo drive
A CR_UGD4_XL_R_HD3CR_UGD4_XL_R_HD5CR_UGD4_XL_R_HD10CR_UGD4_XL_R_HD15CR_UGD4_XL_R_HD20
3 m5 m10 m15 m20 m
2 kg Ø 1,300 x 250 mm(Max. 400)
3 + 1 axesHygienic Design
Arm 1 R88D-KN15H-ECTArm 2 R88D-KN15H-ECTArm 3 R88D-KN15H-ECTRotational 4 R88D-KN08H-ECT