X-Delta 3+1

CAD -kirjasto
Delta Robot 3 axes + 1 rot Datalehti

Features

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 working range
Payload range: 1 to 8 kg
Different types of Delta robot arms
IP class range: IP65, IP67, IP69K
Anti-collision detection option

Specifications & ordering info

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	Description1	Axis	② Applicable servo drive	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

Max. payload	Working range	Description	Axis	② Applicable servo drive	Order code
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
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

IP65 protection class models

Max. payload	Working range	Description	Axis	② Applicable servo drive	Order code
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
	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_TS2
			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_TS1
			Arm 2	R88D-KN04H-ECT
			Arm 3	R88D-KN04H-ECT

Encoder cables

Symbol	Applicable Delta robots	Cable length	Order code
③	CR_UGD4_XL_ ⬜ R_HD ⬜ (Arm 1, 2, 3)3 CR_UGD4_ ⬜ R_HD ⬜ (Arm 1, 2, 3)1 CR_UGD4_XS_ ⬜ R_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_XL_ ⬜ R_HD ⬜ (Rotational axis 4)1 CR_UGD4_ ⬜ R_HD ⬜ (Rotational axis 4)1 CR_UGD4_XS_ ⬜ R_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	Specifications		Cable length	Order code
④	Absolute encoder battery cable	Battery not included	0.3 m	R88A-CRGD0R3C-E
	Absolute encoder battery cable	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	Applicable Delta robots			Cable length	Order code
⑤	CR_UGD4_XL_ ⬜ R_HD ⬜ 4 CR_UGD4_ ⬜ R_HD ⬜ 1 CR_UGD4_XS_ ⬜ R_HD ⬜ 1	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
⑤	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
⑥ FQ-M series	Color	NPN	FQ-MS120-ECT
	Color	PNP	FQ-MS125-ECT
	Monochrome	NPN	FQ-MS120-M-ECT
	Monochrome	PNP	FQ-MS125-M-ECT

Machine controller

Name		Functions	Delta robot control	Axes	Order code
⑦ 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)
	Power supply unit				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 ⬜⬜⬜ 5

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 ⬜

1. The models with IP69K protection class include the encoder, power and brake cables.

2. The CR_UGD4MINI_ ⬜ _TS models are delivered standard with stainless steel and titanium secondary arms.

3. The models with IP69K protection class include the encoder cables.

4. The models with IP69K protection class include the power and brake cables.

5. Refer to the Sysmac Studio datasheet (Cat. No. SysCat_I181E) for detailed information or contact your OMRON representative

1. The models with IP69K protection class include the encoder, power and brake cables.

2. The CR_UGD4MINI_ ⬜ _TS models are delivered standard with stainless steel and titanium secondary arms.

3. The models with IP69K protection class include the encoder cables.

4. The models with IP69K protection class include the power and brake cables.

5. Refer to the Sysmac Studio datasheet (Cat. No. SysCat_I181E) for detailed information or contact your OMRON representative

Delta Robot Series

IP69K protection class models

CR_UGD4_XL_HD

Rated working range: Ø 1,300 x 250 mm (Max. 400)
Max. Payload: 2 kg
Cycle time 25/305/25 mm (0.1 kg): Up to 120 cycle/min

CR_UGD4_HD

Rated working range: Ø 1,100 x 250 mm (Max. 400)
Max. Payload: 2 kg
Cycle time 25/305/25 mm (0.1 kg): Up to 150 cycle/min

CR_UGD4_XS_HD

Rated working range: Ø 650 x 200 mm (Max. 270)
Max. Payload: 2 kg
Cycle time 25/305.25 mm (0.1 kg): Up to 170 cycle/min

Note: The models with IP69K protection include power and brake cables.

IP67 protection class models

R6Y3x110x03067NJ5

Rated working range: Ø 1,100 x 300 mm (Max. 450)
Max. Payload: 3 kg
Cycle time 25/300/25 mm (0.1 kg): Up to 150 cycle/min

R6Y3x065x02067NJ5

Rated working range: Ø 650 x 150 mm (Max. 250)
Max. Payload: 2 kg
Cycle time 25/300/25 mm (0.1 kg): Up to 200 cycle/min

Note: Anti-collision detection option available for models with IP67 protection.

IP65 protection class models

High payload Delta robots

CR_UGD4_XXLH

Rated working range: Ø 1,600 x 350 mm (Max. 550)
Max. Payload: 8 kg
Cycle time 25/300/25 mm (8 kg): Up to 60 cycle/min

CR_UGD4_XXL1300H

Rated working range: Ø 1,300 x 350 mm (Max. 450)
Max. Payload: 8 kg
Cycle time 25/300/25 mm (8 kg): Up to 65 cycle/min

Delta robots

CR_UGD4_XL

Rated working range: Ø 1,300 x 250 mm (Max. 400)
Max. Payload: 2 kg
Cycle time 25/300/25 mm (0.1 kg): Up to 120 cycle/min

CR_UGD4

Rated working range: Ø 1,100 x 250 mm (Max. 400)
Max. Payload: 2 kg
Cycle time 25/300/25 mm (0.1 kg): Up to 150 cycle/min

Mini Delta robots

CR_UGD4MINI / CR_UGD4MINI_TS

Rated working range: Ø 500 x 155 mm / Ø 500 x 130 mm (with rotational axis)
Max. Payload: 1 kg
Cycle time 25/300/25 mm (0.1 kg): Up to 200 cycle/min

Note: The CR_UGD4MINI_[ ]_TS models are delivered standard with stainless steel + titanium secondary arms.

Downloads

Esitteet

Pick & Place Application Brochure Lehtinen

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Pick & Place solutions Esite

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Sysmac Katalogi

enPDF 43,5 MB

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Datalehdet

Delta Robot 3 axes + 1 rot Datalehti

enPDF 3,42 MB

SYSMAC-XR009 Adept Robot Control Library Datalehti

enPDF 1,38 MB

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Käyttöohjeet

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The fastest picking system integrated in the Sysmac platform

Ordering information

Delta robot 3 axes + 1 rot series

IP69K protection class models

IP67 protection class models

IP65 protection class models

Encoder cables

Absolute encoder battery cable (encoder extension cable only)

Power and brake cables

Vision

Machine controller

Accessories

Computer software

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

R6Y3 ⬜ 065 ⬜ 02067NJ5

IP65 protection class models

CR_UGD4_XXLH_ ⬜ R

CR_UGD4_XXL1300H_ ⬜ R

CR_UGD4_XL_ ⬜ R

CR_UGD4_ ⬜ R

CR_UGD4MINI_ ⬜ R ⬜

IP69K protection class models

IP67 protection class models

IP65 protection class models

High payload Delta robots

Delta robots

Mini Delta robots

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Esitteet

Datalehdet

Käyttöohjeet