X-Delta 3+1

Le plus rapide système de saisie intégré dans la plateforme Sysmac

Contrôle robot intégré au contrôleur de robotique NJ
Un seul contrôleur peut contrôler jusqu’à 8 robots
Degrés de liberté: 3 + 1 (axe de rotation en option)
Jusqu’à 200 cycles par minute
Modèles avec plage de fonctionnement de 450 à 1600
Plage de charge: 1 à 8 kg
Différents types de bras robot Delta sont disponibles
Niveau de classe IP: IP65, IP67, IP69K
Détection anticollision en option

Comparer tous les modèles

Caractéristiques et références

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	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 × 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

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_⬜_TS models are delivered standard with stainless steel and titanium secondary arms.
			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_⬜_TS models are delivered standard with stainless steel and titanium secondary arms.
			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) 2 The models with IP69K protection class include the encoder cables. CR_UGD4_⬜R_HD⬜(Arm 1, 2, 3) 2 The models with IP69K protection class include the encoder cables. CR_UGD4_XS_⬜R_HD⬜(Arm 1, 2, 3) 2 The models with IP69K protection class include the encoder cables. 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) 2 The models with IP69K protection class include the encoder cables. CR_UGD4_⬜R_HD⬜(Rotational axis 4) 2 The models with IP69K protection class include the encoder cables. CR_UGD4_XS_⬜R_HD⬜(Rotational axis 4) 2 The models with IP69K protection class include the encoder cables. 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⬜ 2 The models with IP69K protection class include the power and brake cables. CR_UGD4_⬜R_HD⬜ 2 The models with IP69K protection class include the power and brake cables. CR_UGD4_XS_⬜R_HD⬜ 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⬜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⬜⬜⬜ 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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Série de robots Delta

Modèles avec classe de protection IP69K

CR_UGD4_XL_HD

Plage de fonctionnement nominale : ø 1 300 x 250 mm (Max. 400)
Charge utile max : 2 kg
Temps de cycle 25/305/25 mm (0,1 kg) : jusqu'à 120 cycles/min

CR_UGD4_HD

Plage de fonctionnement nominale : ø 1 100 x 250 mm (Max. 400)
Charge utile max : 2 kg
Temps de cycle 25/305/25 mm (0,1 kg) : jusqu'à 150 cycles/min

CR_UGD4_XS_HD

Plage de fonctionnement nominale : ø 650 x 200 mm (Max. 270)
Charge utile max : 2 kg
Temps de cycle 25/305,25 mm (0,1 kg) : jusqu'à 170 cycles/min

Remarque : les modèles bénéficiant de la protection IP69K comprennent des câbles d'alimentation et de frein.

Modèles avec classe de protection IP67

R6Y3x110x03067NJ5

Plage de fonctionnement nominale : ø 1 100 x 300 mm (Max. 450)
Charge utile max : 3 kg
Temps de cycle 25/300/25 mm (0,1 kg) : jusqu'à 150 cycles/min

R6Y3x065x02067NJ5

Plage de fonctionnement nominale : ø 650 x 150 mm (Max. 250)
Charge utile max : 2 kg
Temps de cycle 25/300/25 mm (0,1 kg) : jusqu'à 200 cycles/min

Remarque : option de détection anti-collision disponible pour les modèles disposant d'une protection IP67.

Modèles avec classe de protection IP65

Robots Delta avec charge utile élevée

CR_UGD4_XXLH

Plage de fonctionnement nominale : ø 1 600 x 350 mm (Max. 550)
Charge utile max : 10 kg
Temps de cycle 25/300/25 mm (8 kg) : jusqu'à 60 cycles/min

CR_UGD4_XXL1300H

Plage de fonctionnement nominale : ø 1 300 x 350 mm (Max. 450)
Charge utile max : 10 kg
Temps de cycle 25/300/25 mm (8 kg) : jusqu'à 65 cycles/min

Robots Delta

CR_UGD4_XL

Plage de fonctionnement nominale : ø 1 300 x 250 mm (Max. 400)
Charge utile max : 2 kg
Temps de cycle 25/300/25 mm (0,1 kg) : jusqu'à 120 cycles/min

CR_UGD4

Plage de fonctionnement nominale : ø 1 100 x 250 mm (Max. 400)
Charge utile max : 2 kg
Temps de cycle 25/300/25 mm (0,1 kg) : jusqu'à 150 cycles/min

Mini-robots Delta

CR_UGD4MINI / CR_UGD4MINI_TS

Plage de fonctionnement nominale : Ø 500 x 155 mm / Ø 500 x 130 mm (avec axe de rotation)
Charge utile max : 1 kg
Temps de cycle 25/300/25 mm (0,1 kg) : jusqu'à 200 cycles/min

Remarque : les modèles CR_UGD4MINI_[ ]_TS sont livrés par défaut avec des bras secondaires en acier inoxydable et titane.