Specifications & ordering info
Ordering information
Note:
Servo motors included in the Delta robot.
Delta robot 3 axes + 1 rot series
IP69K protection class models
| ① Symbol | Max. payload | Working range | Description | 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
| 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 |
| 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 | ||
| Arm 2 | R88D-KN04H-ECT | |||||
| Arm 3 | R88D-KN04H-ECT |
Encoder cables
| Symbol | Appearance | Applicable Delta robots | Cable length | Order code |
|---|---|---|---|---|
| ③ |  | CR_UGD4_XL_⬜R_HD⬜(Arm 1, 2, 3) CR_UGD4_⬜R_HD⬜(Arm 1, 2, 3) CR_UGD4_XS_⬜R_HD⬜(Arm 1, 2, 3) 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) CR_UGD4_⬜R_HD⬜(Rotational axis 4) CR_UGD4_XS_⬜R_HD⬜(Rotational axis 4) 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 | Appearance | Specifications | Cable length | Order code | |
|---|---|---|---|---|---|
| ④ |  | 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 | ||
|---|---|---|---|---|---|---|
| ⑤ |  | CR_UGD4_XL_⬜R_HD⬜ CR_UGD4_⬜R_HD⬜ CR_UGD4_XS_⬜R_HD⬜ | 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 |
| 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 | |
|---|---|---|---|---|---|
| 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) | ||||
| 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⬜⬜⬜ |
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⬜
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
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
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