X-Delta

Kenmerken

Het snelste picking-systeem geïntegreerd in het Sysmac-platform

De Delta-oplossing is geschikt voor maximaal 200 cycli per minuut en is synchroniseerbaar met meerdere transportbanden om direct pick-and-place-activiteiten uit te voeren. De NJ-controller heeft een reactietijd van 2 ms bij het aansturen van acht Delta-robots of 1 ms bij het aansturen van vier robots.

  • Aansturing van maximaal acht robots door één controller
  • Vrijheidsgraden: 3+1 (rotatieas optioneel)
  • Maximaal 200 cycli per minuut
  • Modellenreeks met een werkbereik van 500 tot 1600 mm
  • Verschillende typen Delta-robotarmen
  • Draagkrachtbereik: 1 tot 8 kg
  • IP-klassen: IP65, IP67, IP69K
  • Nieuwe antibotsingsdetectie: met deze optionele functie kunt u de veiligheid op uw machine vergroten door gevaarlijke en onverwachte schokken op de robot-gripper te detecteren.
Delta-robotseries

Washdown Delta-robot

Washdown Delta robot IP69K.jpg

Delta-robot IP69K

  • Nominaal werkbereik: ø 1100 x 250 mm (Max. 400)
  • Max. draagkracht: 2 kg
  • Cyclustijd 25/305/25 mm (0,1 kg): tot 150 cycli/min.
  • Beschermingsklasse: IP69K
Washdown Delta robot.jpg

Delta-robot IP67

  • Nominaal werkbereik: ø 1100 x 300 mm (Max. 450)
  • Max. draagkracht: 3 kg
  • Cyclustijd 25/305/25 mm (0,1 kg): tot 150 cycli/min.
  • Beschermingsklasse: IP67
Washdown MiniDelta IP67.jpg

Mini-Delta-robot IP67

  • Nominaal werkbereik: ø 650 x 150 mm (Max. 250)
  • Max. draagkracht: 2 kg
  • Cyclustijd 25/305/25 mm (0,1 kg): tot 200 cycli/min.
  • Beschermingsklasse: IP67
Washdown Mini Delta robot.jpg

Mini-Delta-robot IP65

  • Nominaal werkbereik: ø 500 x 155 mm / ø 500 x 130 mm (met rotatieas)
  • Max. draagkracht: 1 kg
  • Cyclustijd 25/305/25 mm (0,1 kg): tot 200 cycli/min.
  • Beschermingsklasse: IP65

Delta-robot

Delta robot XXL.jpg

Delta-robot XXL (1600)

  • Nominaal werkbereik: ø 1600 x 350 mm (Max. 550)
  • Max. draagkracht: 8 kg
  • Cyclustijd 25/300/25 mm (8 kg): tot 60 cycli/min.
  • Cyclustijd 200/1000/200 mm (8 kg): tot 35 cycli/min.
  • Beschermingsklasse: IP65
Delta Robot XXL (1300).jpg

Delta-robot XXL (1300)

  • Nominaal werkbereik: ø 1300 x 300 mm (Max. 450)
  • Max. draagkracht: 8 kg
  • Cyclustijd 25/300/25 mm (8 kg): tot 65 cycli/min.
  • Cyclustijd 200/1000/200 mm (8 kg): tot 40 cycli/min.
  • Beschermingsklasse: IP65
Delta robot XL.jpg

Delta-robot XL

  • Nominaal werkbereik: ø 1300 x 250 mm (Max. 400)
  • Max. draagkracht: 2 kg
  • Cyclustijd 25/305/25 mm (0,1 kg): tot 120 cycli/min.
  • Beschermingsklasse: IP65
Delta robot.jpg

Delta-Robot

  • Nominaal werkbereik: ø 1100 x 250 mm (Max. 400)
  • Max. draagkracht: 2 kg
  • Cyclustijd 25/305/25 mm (0,1 kg): tot 150 cycli/min.
  • Beschermingsklasse: IP65
Mini Delta Opaco.jpg

Mini Delta-Robot

  • Nominaal werkbereik: ø 500 x 155 mm / ø 500 x 130 mm (met rotatieas)
  • Max. draagkracht: 1 kg
  • Cyclustijd 25/305/25 mm (0,1 kg): tot 200 cycli/min.
  • Beschermingsklasse: IP65
Specificaties & bestelinfo

Ordering information

Note: Servo motors included in the Delta robot.

Delta robot 3 axes + 1 rot series

Washdown Delta robot series

Symbol

Max. payload

Working range

Description

Axis

Applicable servo drive

Cable length

Order code

Delta robot IP69K

2 kg

Ø 1,100 x 250 mm

(Max. 400)

3 + 1 axes

Hygienic Design

(only this robot includes the cables)

Arm 1

R88D-KN15H-ECT

3 m

5 m

10 m

15 m

20 m

CR_UGD4_R_HD3

CR_UGD4_R_HD5

CR_UGD4_R_HD10

CR_UGD4_R_HD15

CR_UGD4_R_HD20

Arm 2

R88D-KN15H-ECT

Arm 3

R88D-KN15H-ECT

Rotational 4

R88D-KN08H-ECT

3 axes

Hygienic Design

(only this robot includes the cables)

Arm 1

R88D-KN15H-ECT

3 m

5 m

10 m

15 m

20 m

CR_UGD4_NR_HD3

CR_UGD4_NR_HD5

CR_UGD4_NR_HD10

CR_UGD4_NR_HD15

CR_UGD4_NR_HD20

Arm 2

R88D-KN15H-ECT

Arm 3

R88D-KN15H-ECT

Delta robot IP67

3 kg

Ø 1,100 x 300 mm

(Max. 450)

3 + 1 axes

(high inertia rotational axis)

Arm 1

R88D-KN15H-ECT

R6Y31110H03067NJ5

Arm 2

R88D-KN15H-ECT

Arm 3

R88D-KN15H-ECT

Rotational 4

R88D-KN01H-ECT

3 + 1 axes

(low inertia rotational axis)

Arm 1

R88D-KN15H-ECT

R6Y31110L03067NJ5

Arm 2

R88D-KN15H-ECT

Arm 3

R88D-KN15H-ECT

Rotational 4

R88D-KN01H-ECT

3 axes

Arm 1

R88D-KN15H-ECT

R6Y30110S03067NJ5

Arm 2

R88D-KN15H-ECT

Arm 3

R88D-KN15H-ECT

Mini Delta robot IP67

2 kg

Ø 650 x 150 mm

(Max. 250)

3 + 1 axes

(high inertia rotational axis)

Arm 1

R88D-KN04H-ECT

R6Y31065H02067NJ5

Arm 2

R88D-KN04H-ECT

Arm 3

R88D-KN04H-ECT

Rotational 4

R88D-KN01H-ECT

3 + 1 axes

(low inertia rotational axis)

Arm 1

R88D-KN04H-ECT

R6Y31065L02067NJ5

Arm 2

R88D-KN04H-ECT

Arm 3

R88D-KN04H-ECT

Rotational 4

R88D-KN01H-ECT

3 axes

Arm 1

R88D-KN04H-ECT

R6Y30065S02067NJ5

Arm 2

R88D-KN04H-ECT

Arm 3

R88D-KN04H-ECT

Mini Delta robot IP65

1 kg

Ø 500 x 130 mm

(Max. 175)

3 + 1 axes

Arm 1

R88D-KN04H-ECT

CR_UGD4MINI_R_TS

Arm 2

R88D-KN04H-ECT

Arm 3

R88D-KN04H-ECT

Rotational 4

R88D-KN04H-ECT

Ø 500 x 155 mm

(Max. 200)

3 axes

Arm 1

R88D-KN04H-ECT

CR_UGD4MINI_NR_TS

Arm 2

R88D-KN04H-ECT

Arm 3

R88D-KN04H-ECT

Delta robot series

Symbol

Max. payload

Working range

Description

Axis

Applicable servo drive

Order code

Delta robot XXL (1,600)

8 kg

Ø 1,600 x 350 mm

(Max. 550)

3 + 1 axes

Arm 1

R88D-KN30F-ECT

CR_UGD4_XXLH_R

Arm 2

R88D-KN30F-ECT

Arm 3

R88D-KN30F-ECT

Rotational 4

R88D-KN15F-ECT

3 axes

Arm 1

R88D-KN30F-ECT

CR_UGD4_XXLH_NR

Arm 2

R88D-KN30F-ECT

Arm 3

R88D-KN30F-ECT

Delta robot XXL (1,300)

8 kg

Ø 1,300 x 300 mm

(Max. 450)

3 + 1 axes

Arm 1

R88D-KN30F-ECT

CR_UGD4_XXL1300H_R

Arm 2

R88D-KN30F-ECT

Arm 3

R88D-KN30F-ECT

Rotational 4

R88D-KN15F-ECT

3 axes

Arm 1

R88D-KN30F-ECT

CR_UGD4_XXL1300H_NR

Arm 2

R88D-KN30F-ECT

Arm 3

R88D-KN30F-ECT

Delta robot XL

2 kg

Ø 1,300 x 250 mm

(Max. 400)

3 + 1 axes

Arm 1

R88D-KN15H-ECT

CR_UGD4_XL_R

Arm 2

R88D-KN15H-ECT

Arm 3

R88D-KN15H-ECT

Rotational 4

R88D-KN15H-ECT

3 axes

Arm 1

R88D-KN15H-ECT

CR_UGD4_XL_NR

Arm 2

R88D-KN15H-ECT

Arm 3

R88D-KN15H-ECT

Delta robot

2 kg

Ø 1,100 x 250 mm

(Max. 400)

3 + 1 axes

Arm 1

R88D-KN15H-ECT

CR_UGD4_R

Arm 2

R88D-KN15H-ECT

Arm 3

R88D-KN15H-ECT

Rotational 4

R88D-KN15H-ECT

3 axes

Arm 1

R88D-KN15H-ECT

CR_UGD4_NR

Arm 2

R88D-KN15H-ECT

Arm 3

R88D-KN15H-ECT

Mini Delta robot

1 kg

Ø 500 x 130 mm

(Max. 175)

3 + 1 axes

Arm 1

R88D-KN04H-ECT

CR_UGD4MINI_R

Arm 2

R88D-KN04H-ECT

Arm 3

R88D-KN04H-ECT

Rotational 4

R88D-KN04H-ECT

Ø 500 x 155 mm

(Max. 200)

3 axes

Arm 1

R88D-KN04H-ECT

CR_UGD4MINI_NR

Arm 2

R88D-KN04H-ECT

Arm 3

R88D-KN04H-ECT

Encoder cables

Symbol

Appearance

Applicable Delta robots

Cable length

Order code

 

CR_UGD4_ _HD (Arm 1, 2, 3)1

R6Y3 110 03067NJ5

CR_UGD4_XXLH

CR_UGD4_XXL1300H

CR_UGD4_XL

CR_UGD4

R6Y3 065 02067NJ5 (Rotational axis 4)

1.5 m

R88A-CRKC001-5NR-E

3 m

R88A-CRKC003NR-E

5 m

R88A-CRKC005NR-E

10 m

R88A-CRKC010NR-E

15 m

R88A-CRKC015NR-E

20 m

R88A-CRKC020NR-E

 

CR_UGD4_ _HD (Rotational axis 4)1

R6Y3 065 02067NJ5 (Arm 1, 2, 3)

CR_UGD4MINI_ _TS

CR_UGD4MINI

1.5 m

R88A-CRKA001-5CR-E

3 m

R88A-CRKA003CR-E

5 m

R88A-CRKA005CR-E

10 m

R88A-CRKA010CR-E

15 m

R88A-CRKA015CR-E

20 m

R88A-CRKA020CR-E

Absolute encoder battery cable (encoder extension cable only)

Symbol

Appearance

Specifications

Cable length

Order code

 

Absolute encoder battery cable

Battery not included

0.3 m

R88A-CRGD0R3C-E

Battery included

0.3 m

R88A-CRGD0R3C-BS-E

 

Absolute encoder backup battery

2,000 mA, 3.6 V

R88A-BAT01G

Power and brake cables

Symbol

Appearance

Applicable Delta robots

Cable length

Order code

 

CR_UGD4_ _HD 2

Arm 1, 2, 3

Power cable with brake

1.5 m

R88A-CAGB001-5BR-E

3 m

R88A-CAGB003BR-E

5 m

R88A-CAGB005BR-E

10 m

R88A-CAGB010BR-E

15 m

R88A-CAGB015BR-E

20 m

R88A-CAGB020BR-E

 

Rotational axis 4

Power cable without brake

1.5 m

R88A-CAKA001-5SR-E

3 m

R88A-CAKA003SR-E

5 m

R88A-CAKA005SR-E

10 m

R88A-CAKA010SR-E

15 m

R88A-CAKA015SR-E

20 m

R88A-CAKA020SR-E

 

Brake cable

1.5 m

R88A-CAKA001-5BR-E

3 m

R88A-CAKA003BR-E

5 m

R88A-CAKA005BR-E

10 m

R88A-CAKA010BR-E

15 m

R88A-CAKA015BR-E

20 m

R88A-CAKA020BR-E

 

R6Y3 110 03067NJ5

Arm 1, 2, 3

Power cable with brake

1.5 m

R88A-CAGB001-5BR-E

3 m

R88A-CAGB003BR-E

5 m

R88A-CAGB005BR-E

10 m

R88A-CAGB010BR-E

15 m

R88A-CAGB015BR-E

20 m

R88A-CAGB020BR-E

 

Rotational axis 4

Power cable without brake

1.5 m

R88A-CAGB001-5SR-E

3 m

R88A-CAGB003SR-E

5 m

R88A-CAGB005SR-E

10 m

R88A-CAGB010SR-E

15 m

R88A-CAGB015SR-E

20 m

R88A-CAGB020SR-E

 

CR_UGD4_XXLH

CR_UGD4_XXL1300H

Arm 1, 2, 3

Power cable with brake

1.5 m

R88A-CAGD001-5BR-E

3 m

R88A-CAGD003BR-E

5 m

R88A-CAGD005BR-E

10 m

R88A-CAGD010BR-E

15 m

R88A-CAGD015BR-E

20 m

R88A-CAGD020BR-E

 

Rotational axis 4

Power cable with brake

1.5 m

R88A-CAKF001-5BR-E

3 m

R88A-CAKF003BR-E

5 m

R88A-CAKF005BR-E

10 m

R88A-CAKF010BR-E

15 m

R88A-CAKF015BR-E

20 m

R88A-CAKF020BR-E

 

CR_UGD4_XL

CR_UGD4

Arm 1, 2, 3 and rotational axis 4

Power cable with brake

1.5 m

R88A-CAGB001-5BR-E

3 m

R88A-CAGB003BR-E

5 m

R88A-CAGB005BR-E

10 m

R88A-CAGB010BR-E

15 m

R88A-CAGB015BR-E

20 m

R88A-CAGB020BR-E

 

R6Y3 065 02067NJ5

Arm 1, 2, 3

Power cable without brake

1.5 m

R88A-CAKA001-5SR-E

3 m

R88A-CAKA003SR-E

5 m

R88A-CAKA005SR-E

10 m

R88A-CAKA010SR-E

15 m

R88A-CAKA015SR-E

20 m

R88A-CAKA020SR-E

 

Brake cable

1.5 m

R88A-CAKA001-5BR-E

3 m

R88A-CAKA003BR-E

5 m

R88A-CAKA005BR-E

10 m

R88A-CAKA010BR-E

15 m

R88A-CAKA015BR-E

20 m

R88A-CAKA020BR-E

 

Rotational axis 4

Power cable without brake

1.5 m

R88A-CAGB001-5SR-E

3 m

R88A-CAGB003SR-E

5 m

R88A-CAGB005SR-E

10 m

R88A-CAGB010SR-E

15 m

R88A-CAGB015SR-E

20 m

R88A-CAGB020SR-E

 

CR_UGD4MINI_ _TS

CR_UGD4MINI

Arm 1, 2, 3 and rotational axis 4

Power cable without brake

1.5 m

R88A-CAKA001-5SR-E

3 m

R88A-CAKA003SR-E

5 m

R88A-CAKA005SR-E

10 m

R88A-CAKA010SR-E

15 m

R88A-CAKA015SR-E

20 m

R88A-CAKA020SR-E

 

Brake cable

1.5 m

R88A-CAKA001-5BR-E

3 m

R88A-CAKA003BR-E

5 m

R88A-CAKA005BR-E

10 m

R88A-CAKA010BR-E

15 m

R88A-CAKA015BR-E

20 m

R88A-CAKA020BR-E

Vision

Name

Type

Order code

FQ-M series

Color

NPN

FQ-MS120-ECT

PNP

FQ-MS125-ECT

Monochrome

NPN

FQ-MS120-M-ECT

PNP

FQ-MS125-M-ECT

Machine controller

Name

Functions

Delta robot control

Axes

Order code

NJ Robotics

CPU unit

Logic sequence, motion, robotics and database connection

Control of up to 8 Delta robot depending on the number of axes supported by the CPU

16

NJ501-4320

Logic sequence, motion and robotics

64

NJ501-4500

32

NJ501-4400

16

NJ501-4300

Control of one Delta robot

16

NJ501-4310

Power supply unit

NJ-PA3001 (220 VAC)

NJ-PD3001 (24 VDC)

Accessories

Name

Applicable Delta robots

Specifications

Order code

Anti-collision detection option

R6Y3 110 03067NJ5
R6Y3 065 02067NJ5

Connectors mounted between the TCP flange and the arms

R6YACAD01

Computer software

Specifications

Order code

Sysmac Studio version 1.03 or higher

SYSMAC-SE2 ⬜⬜⬜ 3

Dimensions

Washdown Delta robot IP69K

CR_UGD4_ R_HD

Washdown Delta robot IP67

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.

Washdown Mini Delta robot IP67

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.

Delta robot XXL (1,600)

CR_UGD4_XXLH_ R

Delta robot XXL (1,300)

CR_UGD4_XXL1300H_ R

Delta robot XL

CR_UGD4_XL_ R

Delta robot

CR_UGD4_ R

Washdown Mini Delta robot IP65 / Mini Delta robot

CR_UGD4MINI_ R


1. The CR_UGD4_ _HD models include the encoder cables.
2. The CR_UGD4_ _HD models include the power and brake cables.
3. Refer to the Sysmac Studio datasheet (Cat. No. SysCat_I181E) for detailed information or contact your OMRON representative
1. The CR_UGD4_ _HD models include the encoder cables.
2. The CR_UGD4_ _HD models include the power and brake cables.
3. Refer to the Sysmac Studio datasheet (Cat. No. SysCat_I181E) for detailed information or contact your OMRON representative
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