
X-Delta 3+1
El sistema de pick & place más rápido integrado en la plataforma Sysmac
- Control robótico integrado en el controlador de máquina NJ
- Control de hasta 8 robots por un controlador
- Grados de libertad: 3 + 1 (eje de rotación opcional)
- Hasta 200 ciclos por minuto
- Modelos con un rango de trabajo de 500 a 1.600 mm
- Rango de carga útil: 1 a 8 kg
- Diferentes tipos de brazos robotizados Delta
- Rango de clase IP: IP65, IP67, IP69K
- Opción de detección anticolisión
Especificaciones y modelos disponibles
Ordering information

Servo motors included in the Delta robot.
Delta robot 3 axes + 1 rot series
IP69K protection class models
|
Max. payload | Working range | Description
2
The models with IP69K protection
class include the encoder, power and brake cables. |
Axis |
|
Cable length | Order code |
---|---|---|---|---|---|---|---|
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2 kg | Ø 1,300 × 250 mm (Max. 400) |
3 + 1 axes Hygienic Design |
Arm 1 | R88D-KN15H-ECT | 3 m 5 m 10 m 15 m 20 m |
CR_UGD4_XL_R_HD3 CR_UGD4_XL_R_HD5 CR_UGD4_XL_R_HD10 CR_UGD4_XL_R_HD15 CR_UGD4_XL_R_HD20 |
Arm 2 | R88D-KN15H-ECT | ||||||
Arm 3 | R88D-KN15H-ECT | ||||||
Rotational 4 | R88D-KN08H-ECT | ||||||
3 axes Hygienic Design |
Arm 1 | R88D-KN15H-ECT | 3 m 5 m 10 m 15 m 20 m |
CR_UGD4_XL_NR_HD3 CR_UGD4_XL_NR_HD5 CR_UGD4_XL_NR_HD10 CR_UGD4_XL_NR_HD15 CR_UGD4_XL_NR_HD20 |
|||
Arm 2 | R88D-KN15H-ECT | ||||||
Arm 3 | R88D-KN15H-ECT | ||||||
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Ø 1,100 × 250 mm (Max. 400) |
3 + 1 axes Hygienic Design |
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 |
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 | ||||||
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Ø 650 × 200 mm (Max. 270) |
3 + 1 axes Hygienic Design |
Arm 1 | R88D-KN15H-ECT | 3 m 5 m 10 m 15 m 20 m |
CR_UGD4_XS_R_HD3 CR_UGD4_XS_R_HD5 CR_UGD4_XS_R_HD10 CR_UGD4_XS_R_HD15 CR_UGD4_XS_R_HD20 |
|
Arm 2 | R88D-KN15H-ECT | ||||||
Arm 3 | R88D-KN15H-ECT | ||||||
Rotational 4 | R88D-KN08H-ECT | ||||||
3 axes Hygienic Design |
Arm 1 | R88D-KN15H-ECT | 3 m 5 m 10 m 15 m 20 m |
CR_UGD4_XS_NR_HD3 CR_UGD4_XS_NR_HD5 CR_UGD4_XS_NR_HD10 CR_UGD4_XS_NR_HD15 CR_UGD4_XS_NR_HD20 |
|||
Arm 2 | R88D-KN15H-ECT | ||||||
Arm 3 | R88D-KN15H-ECT |
IP67 protection class models
① Symbol | Max. payload | Working range | Description | Axis | ② Applicable servo drive | Order code |
---|---|---|---|---|---|---|
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3 kg | Ø 1,100 × 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 | |||||
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2 kg | Ø 650 × 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 |
IP65 protection class models
① Symbol | Max. payload | Working range | Description | Axis | ② Applicable servo drive | Order code |
---|---|---|---|---|---|---|
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10 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 | |||||
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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 | |||||
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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 | |||||
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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 | |||||
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1 kg | Ø 500 x 130 mm (Max. 175) |
3 + 1 axes | Arm 1 | R88D-KN04H-ECT | CR_UGD4MINI_R CR_UGD4MINI_R_TS
2
The CR_UGD4MINI_ |
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 CR_UGD4MINI_NR_TS
2
The CR_UGD4MINI_ |
||
Arm 2 | R88D-KN04H-ECT | |||||
Arm 3 | R88D-KN04H-ECT |
Encoder cables
Symbol | Appearance | Applicable Delta robots | Cable length | Order code |
---|---|---|---|---|
![]() |
CR_UGD4_XL_
2
The models with IP69K protection class include the encoder cables. CR_UGD4_
2
The models with IP69K protection class include the encoder cables. CR_UGD4_XS_
2
The models with IP69K protection class include the encoder cables. R6Y3 CR_UGD4_XXLH CR_UGD4_XXL1300H CR_UGD4_XL CR_UGD4 R6Y3 |
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_XL_
2
The models with IP69K protection class include the encoder cables. CR_UGD4_
2
The models with IP69K protection class include the encoder cables. CR_UGD4_XS_
2
The models with IP69K protection class include the encoder cables. R6Y3 CR_UGD4MINI_ 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_XL_
2
The models with IP69K protection class include the power and brake cables. CR_UGD4_
2
The models with IP69K protection class include the power and brake cables. CR_UGD4_XS_
2
The models with IP69K protection class include the power and brake cables. |
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 | |||||
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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 | |||||
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R6Y3 |
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 | |||||
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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 | |||||
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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 | |||||
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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 | |||||
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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 | |||||
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R6Y3 |
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 | |||||
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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 | |||||
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CR_UGD4MINI_ 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 | |
---|---|---|---|
|
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 | |
---|---|---|---|---|---|
|
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 R6Y3 |
Connectors mounted between the TCP flange and the arms | R6YACAD01 |
Computer software
Specifications | Order code |
---|---|
Sysmac Studio version 1.03 or higher | SYSMAC-SE2
2
Refer
to the Sysmac Studio datasheet (Cat. No. SysCat_I181E) for detailed
information or contact your OMRON representative |
Dimensions
IP69K protection class models
CR_UGD4_XL_⬜ R_HD⬜

CR_UGD4_⬜ R_HD⬜

CR_UGD4_XS_⬜R_HD⬜

IP67 protection class models
R6Y3⬜110⬜03067NJ5

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.
R6Y3⬜065⬜02067NJ5

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.
IP65 protection class models
CR_UGD4_XXLH_⬜R

CR_UGD4_XXL1300H_⬜R

CR_UGD4_XL_⬜R

CR_UGD4_⬜R

CR_UGD4MINI_⬜R⬜

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DownloadPresupuesto para X-Delta 3+1
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Gracias por la cotización solicitada. Le enviaremos la información solicitada lo antes posible.
Tenemos dificultades técnicas. Su formulario no ha sido enviado. Porfavor, acepte nuestras disculpas e inténtelo de nuevo más tarde.\ Detalle: [details]
DownloadSerie de robots Delta
Modelos con clase de protección IP69K

CR_UGD4_XL_HD
- Rango nominal de trabajo: Ø 1.300 x 250 mm (máx. 400)
- Carga útil máxima: 2 kg
- Tiempo de ciclo 25/305/25 mm (0,1 kg): hasta 120 ciclos/minuto
CR_UGD4_HD
- Rango nominal de trabajo: Ø 1.100 x 250 mm (máx. 400)
- Carga útil máxima: 2 kg
- Tiempo de ciclo 25/305/25 mm (0,1 kg): hasta 150 ciclos/minuto
CR_UGD4_XS_HD
- Rango nominal de trabajo: Ø 650 x 200 mm (máx. 270)
- Carga útil máxima: 2 kg
- Tiempo de ciclo 25/305,25 mm (0,1 kg): hasta 170 ciclos/minuto
Nota : los modelos con protección IP69K incluyen cables de alimentación y de freno.
Modelos con clase de protección IP67

R6Y3x110x03067NJ5
- Rango nominal de trabajo: Ø 1.100 x 300 mm (máx. 450)
- Carga útil máxima: 3 kg
- Tiempo de ciclo 25/300/25 mm (0,1 kg): hasta 150 ciclos/minuto

R6Y3x065x02067NJ5
- Rango nominal de trabajo: Ø 650 x 150 mm (máx. 250)
- Carga útil máxima: 2 kg
- Tiempo de ciclo 25/300/25 mm (0,1 kg): hasta 200 ciclos/minuto
Modelos con clase de protección IP65

Robots Delta de gran carga útil
CR_UGD4_XXLH
- Rango nominal de trabajo: Ø 1.600 x 350 mm (máx. 550)
- Carga útil máxima: 10 kg
- Tiempo de ciclo 25/300/25 mm (8 kg): hasta 60 ciclos/minuto
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CR_UGD4_XXL1300H
- Rango nominal de trabajo: Ø 1.300 x 350 mm (máx. 450)
- Carga útil máxima: 10 kg
- Tiempo de ciclo 25/300/25 mm (8 kg): hasta 65 ciclos/minuto

Robots Delta
CR_UGD4_XL
- Rango nominal de trabajo: Ø 1.300 x 250 mm (máx. 400)
- Carga útil máxima: 2 kg
- Tiempo de ciclo 25/300/25 mm (0,1 kg): hasta 120 ciclos/minuto

CR_UGD4
- Rango nominal de trabajo: Ø 1.100 x 250 mm (máx. 400)
- Carga útil máxima: 2 kg
- Tiempo de ciclo 25/300/25 mm (0,1 kg): hasta 150 ciclos/minuto

Robots Mini Delta
CR_UGD4MINI / CR_UGD4MINI_TS
- Rango nominal de trabajo: Ø 500 x 155 mm / Ø 500 x 130 mm (con eje de rotación)
- Carga útil máxima: 1 kg
- Tiempo de ciclo 25/300/25 mm (0,1 kg): hasta 200 ciclos/minuto