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
Note:
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 |
|---|---|---|---|---|---|---|---|
 |
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 | ||||||
 |
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 | ||||||
 |
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 |
|---|---|---|---|---|---|---|
 |
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 | |||||
 |
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 |
|---|---|---|---|---|---|---|
 |
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 | |||||
 |
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 | |||||
 |
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 | |||||
 |
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 | |||||
 |
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 | |||||
 |
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 |
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 |
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_ 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
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.
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.
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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Presupuesto para X-Delta 3+1
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Serie 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
Descargas
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