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 System configuration Sysmac Studio NJ Robotics Machine automation controller FQ-M Accurax G5 vision MX2 inverter NX-series I/O servo drive ADR ADR ADR ADR Delta robot 3 axes + 1 rot 1 3 Arm 1 2 Arm 2 Arm 3 4 Rotational axis 4 (optional) Note: Servo motors included in the Delta robot. Delta robot 3 axes + 1 rot 1Specifications Delta robot 3 axes + 1 rot series IP69K protection class models Model CR UGD4 XL HD CR UGD4 HD CR UGD4 XS HD With rotational Without With rotational Without With rotational Without axis rotational axis axis rotational axis axis rotational axis Working volume X, Y axis (stroke) 1,300 mm 1,100 mm 650 mm *1 Z axis (stroke) 250 mm (maximum 1,300 mm) 250 mm (maximum 1,100 mm) 200 mm (maximum 650 mm) 400 mm (center 870 mm) 400 mm (center 670 mm) 270 mm (center 407.5 mm) axis (rotation angle) 180 deg (default - 180 deg (default - 180 deg (default - setting, it can be setting, it can be setting, it can be changed) changed) changed) Servo motor Arm 1, 2, 3 Model R88M-K1K030T-BS2-V2 Capacity 1,000 W Rotational axis Model R88M-K75030T- - R88M-K75030T- - R88M-K75030T- - 4 BS2 BS2 BS2 Capacity 750 W - 750 W - 750 W - *2 Repeatability X, Y, Z axis 0.2 mm axis 0.3 deg - 0.3 deg - 0.3 deg - Maximum payload 2 kg *3 *4 *4 *4 Maximum through-put 120 CPM 150 CPM 170 CPM Gear box ratio X, Y, Z axis 1:31 axis 1:10 - 1:10 - 1:10 - 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: 5C to 45C Storage: -25C to 60C Relative humidity Max. 90% Protection class IP69K Weight 100 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. IP67 protection class models Model R6Y3 110 03067NJ5 R6Y3 065 02067NJ5 With high inertia With low inertia Without With high inertia With low inertia Without rotational axis rotational axis rotational axis rotational axis rotational axis rotational axis Working volume X, Y axis (stroke) 1,100 mm 650 mm *1 Z axis (stroke) 300 mm (maximum 1,100 mm) 150 mm (maximum 650 mm) 450 mm (center 580 mm) 250 mm (center 480 mm) axis (rotation angle) 180 deg - 180 deg - (default setting, it can be changed) (default setting, it can be changed) Servo motor Arm 1, 2, 3 Model R88M-K1K030T-BS2 R88M-K40030T-BS2 Capacity 1,000 W 400 W Rotational axis Model R88M-K10030T-S2 R88M-K05030T-S2 - R88M-K10030T-S2 R88M-K05030T-S2 - 4 Capacity 100 W 50 W - 100 W 50 W - *2 Repeatability X, Y, Z axis 0.2 mm 0.1 mm axis 0.1 deg - 0.1 deg - Maximum payload 3 kg 2 kg *3 *4 *4 Maximum through-put 150 CPM 200 CPM *5 2 2 2 2 axis tolerable moment of inertia 0.035 kgm 0.01 kgm - 0.035 kgm 0.01 kgm - User tubing (outer diameter) 6 Travel limit 1. Soft limit, 2. Mechanical stopper (X, Y, Z axis) Noise level < 73.7 dB (A) < 64.5 dB (A) Ambient temperature 0C to 45C Relative humidity Max. 85% Protection class IP67 Weight 75 kg 32 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. There are limits to acceleration coefficient settings. 2 Robot