Hiwin SCARA Robot RS405-LU User Manual Download Page 117

Page: 117 / 125

C21UE001-2008

116

J2 reducer disassembly

Step1.

Turn off the power of the controller.

Step2.

Remove the M3 bolts from the bolt cover.

Step3.

Remove the bolt cover on the A-arm.

Step4.

Remove the A-arm M8 bolts.

Step5.

Remove the B-arm.

Step6.

Remove the reducer flange M5 bolts.

Step7.

Remove the reducer body vertically upwards.

Step8.

Remove the M3 bolt from the motor and wave generator.

Step9.

Remove the wave generator vertically upwards.

M3 Bolt

Bolt cover

M8 Bolt

A-arm

M5 Bolt

Reducer

M3 Bolt

Wave

generator

B-arm

Summary of Contents for SCARA Robot RS405-LU

Page 1: ...C21UE001 2008 0...

Page 2: ...unauthorized staff 5 Installing non genuine HIWIN products The following conditions are not covered by the warranty 1 Product serial number or date of manufacture month and year cannot be verified 2...

Page 3: ...end effector or the cable for devices should be installed and designed by a professional staff to avoid damaging the robot and robot malfunction Please contact the technical stuff for special modific...

Page 4: ...CS should conform to the requirement of performance level d and category 3 according to ISO 13849 1 6 The installation for emergency functions shall be defined by the system integrator in accordance...

Page 5: ...ontent description otherwise it will cause serious casualties Users must strictly abide by the content instructions otherwise it may cause minor injuries or equipment damage User must strictly abide b...

Page 6: ...ent according to safety regulations and puts it into operation The system integrator is responsible for the following tasks Install industrial robot arm Industrial machinery arm related equipment conn...

Page 7: ...uthority Mechanical arm maintenance work Operator Safety Precautions The manner and scale of the work and the possible hazards must be explained to the relevant personnel before work and relevant trai...

Page 8: ...hat is protected by a safe guard device Please ensure the protective area includes working area of the robot A safety related part of control system SRP CS should conform to the requirement of perform...

Page 9: ...C21UE001 2008 8 Must EMO Emergency stop EN 60947 5 1 positive opening with safety module to meet ISO 13849 1 PL d Interlock switch...

Page 10: ...g etc When performing manual operation pay attention to the followings All actions must be operated within the protection area Do not damage or potentially damage the relevant equipment due to operate...

Page 11: ...ences can be used during system installation and can be set according to ISO 10218 2 regulations Stop Functions Emergency Stop Description Emergency stop related precautions Confirm that the function...

Page 12: ...appropriate safety device to stop the unauthorized personnel from access 6 While installing or removing mechanical components be aware of a falling piece which may cause injury to operator 7 Ensure th...

Page 13: ...e the controller while it is operating due to its high temperature 18 Be sure power is disconnected prior to repair and maintenance and ensure to operate under the condition of no electrical shock ris...

Page 14: ...ely 11 Do not frequently switch ON OFF the power switch and the control button 12 Please ensure that the robot the emergency stop switch and the controller are functioning properly before performing a...

Page 15: ...of the robot or other unexpected danger 4 Prior to repair and maintenance please switch off power supply 5 Maintenance and repair should be performed by a qualified operator with a complete understand...

Page 16: ...otential dangers or abnormal situations exist when using end effector the associated hazards must be handled by the system integrator in accordance with the related standards Precautions for using Hyd...

Page 17: ...the emergency stop switch 3 Emergency stop is immediate stop Immediately stop the movement of the robot arm and cut off the power of the drive 4 The emergency stop switch is for emergency stop only 5...

Page 18: ...tallation Environment 28 1 5 1 Operation Environment 28 1 5 2 Operating Environment of Controller 29 1 5 3 Storage Environment 30 1 6 Standard and Optional Equipment 31 1 6 1 RS405 LU 31 1 6 2 RS410 L...

Page 19: ...3 Device Installation 85 3 1 End effector installation 85 3 1 1 End Flange 86 3 2 Interface 87 3 2 1 Pneumatic interface 87 3 2 2 Signal Interface 89 3 2 3 Equipment installation 93 3 3 Inertia 95 3 3...

Page 20: ...ogram and action are not suspended If you want to stop the robot in normal use and working path please follow the instructions in the software manual 0 1 1 Free Running Distance In Emergency The robot...

Page 21: ...RS405 Turn push the ball spline by hand the ball spline will move up down at the same time RS410 Press and hold the brake release switch and turn push the ball spline by hand the ball spline will move...

Page 22: ...is as shown below Specification Robot Weight Maximum Reach mm 400 500 600 700 800 RS405 LU kg 22 23 RS410 LU kg 30 31 32 Robot arm transporting posture Do not pull squash or bend the corrugated hose a...

Page 23: ...arm Avoid maintaining the same posture for a long time Any static posture is maintained for a period of time The muscles in this part are likely to cause fatigue If the posture is incorrect it may ca...

Page 24: ...g manual and install them with appropriate tools to avoid injury or machine damage caused by improper operation 1 2 1 Base The base of the fixed robot arm is not provided Customers need to make their...

Page 25: ...nsport the robot arm as much as possible When carrying by hand two or more operators are required to transport the robot arm and support the base A arm or B arm and other structural parts with both ha...

Page 26: ...follow the instructions in the operating manual and install them with appropriate tools to avoid injury or machine damage caused by improper operation Ensure to install the robot by two or more peopl...

Page 27: ...atches Improper connection between the robot arm and the controller will not only cause the robot arm system to burn down but also may cause serious safety problems The connection method of the robot...

Page 28: ...ge and removing the robot arm covered with the protective bag transport the robot arm to the installation position with appropriate handling aids After the installation and locking is completed ground...

Page 29: ...nment humidity 20 75 R H No condensation Installation method Upright Input power Single phase 50 60Hz 200 240VAC Allowable height Altitude 1 000m below Note 2 Allow vibration 0 5G 4 9m s2 below other...

Page 30: ...rating Environment of Controller The design of this product is based on the use of indoor environment If it does not meet the requirements of the operating environment it may cause the product life to...

Page 31: ...y or dealer If the temperature and humidity change greatly the inside of the controller may be exposed to damage For food related occasions you need to confirm whether the controller has the possibili...

Page 32: ...er to the chapter 5 2 2 Timing belt J4M RS405Z031 8 1 Please refer to the chapter 5 2 2 Timing belt J4S RS405Z031 9 1 Please refer to the chapter 5 2 2 Ball spline grease 1kg G04 RS405Z031 10 1 Please...

Page 33: ...r 5 2 2 Timing belt J4M RS410071 8 1 Please refer to the chapter 5 2 2 Timing belt J4S RS410071 9 1 Please refer to the chapter 5 2 2 Ball spline grease 1kg G04 RS410071 10 1 Please refer to the chapt...

Page 34: ...LU series naming principles and models are shown below RS405 500 200 LU Model name RS405 5kg Maximum payload RS410 10kg Maximum payload Maximum reach 400 400mm 500 500mm 600 600mm 700 700mm 800 800mm...

Page 35: ...ric shock Pay more attention that the robot may have a risk of electric shock D Grip hazard The robot arm must be kept at a safe distance during operation to avoid pinching E Specification Robot speci...

Page 36: ...C21UE001 2008 35 Sticker position description Do not remove the safety label If there is any loss please contact our company or dealer C A B F J1 F J4 F J3 D F J2 H E G...

Page 37: ...J4 0 01 o Arm length J1 J2 400 mm 500 mm J1 225 mm 325 mm J2 175 mm 175 mm Maximum reach J1 130 o J2 130 o J3 Note 3 200 mm 400 mm 200 mm 400 mm J4 360 o J4 allowable moment of inertia Rated 0 01 Kg...

Page 38: ...ciency of the robot arm Note 2 The cycle time is the operating time under certain conditions When the load is 2kg the arc shaped reciprocating motion of 25mm vertical and 100mm horizontal is not achie...

Page 39: ...2 600 mm 700 mm J1 325 mm 425 mm J2 275 mm 275 mm Maximum reach J1 130 o J2 150 o J3 Note 3 200 mm 400 mm 200 mm 400 mm J4 360 o J4 allowable moment of inertia Rated 0 02 Kg m2 Maximum 0 25 Kg m2 Ball...

Page 40: ...t arm Note 2 The cycle time is the operating time under certain conditions When the load is 2kg the arc shaped reciprocating motion of 25mm vertical and 300mm horizontal is not achieved by any path an...

Page 41: ...ch J1 130 o J2 150 o J3 Note 3 200 mm 400 mm J4 360 o J4 allowable moment of inertia Rated 0 02 Kg m2 Maximum 0 25 Kg m2 Ball spline Shaft diameter 20 mm Through hole 14 mm Mounting holes Demension 15...

Page 42: ...is the operating time under certain conditions When the load is 2kg the arc shaped reciprocating motion of 25mm vertical and 300mm horizontal is not achieved by any path and load and it cannot be con...

Page 43: ...05 LU Interface 6 Pneumatic tube connector D SUB connector Power cable Signal cable Brake release switch Lamp D SUB connector 4 Pneumatic tube connector 6 Pneumatic tube connector 6 Pneumatic tube con...

Page 44: ...43 RS410 LU Interface Brake release switch D SUB connector Lamp 6 Pneumatic tube connector D SUB connector Power cable Signal cable 6 Pneumatic tube connector 6 Pneumatic tube connector 6 Pneumatic t...

Page 45: ...C21UE001 2008 44 2 4 1 RS405 400 200 LU Note1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note1...

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Page 47: ...C21UE001 2008 46 2 4 2 RS405 400 400 LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 49: ...C21UE001 2008 48 2 4 3 RS405 500 200 LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 51: ...C21UE001 2008 50 2 4 4 RS405 500 400 LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 53: ...C21UE001 2008 52 2 4 5 RS410 600 200 LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 55: ...C21UE001 2008 54 2 4 6 RS410 600 400 LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 57: ...C21UE001 2008 56 2 4 7 RS410 700 200 LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 59: ...C21UE001 2008 58 2 4 8 RS410 700 400 LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 61: ...C21UE001 2008 60 2 4 9 RS410 800 200 LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 63: ...C21UE001 2008 62 2 4 10 RS410 800 400 LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 65: ...C21UE001 2008 64 2 4 11 RS405 400 20P LU Note1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note1...

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Page 67: ...C21UE001 2008 66 2 4 12 RS405 400 40P LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 69: ...C21UE001 2008 68 2 4 13 RS405 500 20P LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 71: ...C21UE001 2008 70 2 4 14 RS405 500 40P LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 73: ...C21UE001 2008 72 2 4 15 RS410 600 20P LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 75: ...C21UE001 2008 74 2 4 16 RS410 600 40P LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 77: ...C21UE001 2008 76 2 4 17 RS410 700 20P LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

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Page 79: ...C21UE001 2008 78 2 4 18 RS410 700 40P LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

Page 80: ...C21UE001 2008 79...

Page 81: ...C21UE001 2008 80 2 4 19 RS410 800 20P LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

Page 82: ...C21UE001 2008 81...

Page 83: ...C21UE001 2008 82 2 4 20 RS410 800 40P LU Note 1 Cable bending radius of at least 150mm please reserve space to deploy the cable Note 1...

Page 84: ...C21UE001 2008 83...

Page 85: ...5 Mechanical shaft hardware limit The mechanical stop of each arm of the robot arm is installed on J1 J2 and J3 to limit the range of motion of each axis to the minimum Mechanical stop Mechanical sto...

Page 86: ...lange at the lower end of the ball spline 30mm And install the end effector with bolts to fix on the end flange 3 When installing the end effector please pay attention to whether the weight static tor...

Page 87: ...effectors Installation steps Step1 Insert the center hole of the end flange with the ball spline Step2 Align the radial bolt hole with the center of the cutting plane of the ball spline and install th...

Page 88: ...he top panel of the B arm through the arm body Please refer to the following figure The maximum working pressure of the air source is 8 kgf cm2 RS405 LU Interface No Description outer diameter inner d...

Page 89: ...10 LU Interface No Description outer diameter inner diameter Collar color A E Suitable for 6mm 4mm pneumatic pipe Red B F Suitable for 6mm 4mm pneumatic pipe Green C G Suitable for 6mm 4mm pneumatic p...

Page 90: ...ace The back panel of the arm has a D Sub connector and cables pass through the arm body The B arm top panel D Sub connector is shown below The maximum current per cable is 1A RS405 LU Interface No De...

Page 91: ...C21UE001 2008 90 D H 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15...

Page 92: ...C21UE001 2008 91 RS410 LU Interface No Description D H D Sub 25Pin connector D H...

Page 93: ...C21UE001 2008 92 D H 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25...

Page 94: ...3 Equipment installation There are multiple sets of threaded holes under the B arm and on the side You can use the bolt holes to install cameras solenoid valves etc please refer to the following figur...

Page 95: ...C21UE001 2008 94 RS410 LU Interface...

Page 96: ...ce must be considered Ball spline Total moment of inertia End effector moment of inertia Workpiece A Moment of inertia Workpiece B Moment of inertia Ensure to calculate the total moment of inertia at...

Page 97: ...r to the following calculation method of the moment of inertia of the basic shape to determine the moment of inertia of the object a Moment of inertia of a rectangular object b Moment of inertia of a...

Page 98: ...C21UE001 2008 97 c Moment of inertia of a sphere m 2 5 Rotation axis Offset distance Mass Center of mass...

Page 99: ...or extension load The end extension load calculation is shown in the figure and will vary depending on the shape of the load object It is recommended to calculate the inertia actually End extension of...

Page 100: ...or the set position Calibration tool J1 axis calibration sequence is as follows Step1 Press the emergency stop button and push the A arm with your hand until the A arm matches the calibration hole of...

Page 101: ...r hand until the B arm matches the correction hole of the A arm Step2 Insert the calibration hole from bottom to top using the calibration tool Step3 Select the second axis through the software and se...

Page 102: ...the ball spline by hand until the cutting plane of the ball spline faces the front of the robot and release the brake release switch Step3 Confirm that the stop ring is in contact with the body of the...

Page 103: ...3840 hours year The cover is locked above the B arm and contains J2 J3 J4 motor and 3 transmission belts By opening the cover check whether there is any foreign matter inside the B arm whether the ba...

Page 104: ...410 LU Installing cover Step1 Turn off the power of the controller Step2 Install the arm cover from the top to bottom Step3 Confirm that the cover does not interfere with any parts and cables Step4 Lo...

Page 105: ...the internal wires are excessively bent to avoid poor contact or damage to the internal cables When installing the cover pay attention to whether the ball spline will interfere with the cover After co...

Page 106: ...damage Is the air source normal Drain the drainage system and replace the leaking component If needed please contact HIWIN directly After turning power ON Is there any unusual motion or unusual noise...

Page 107: ...or the gear tooth surface of reducer has been damaged Please contact HIWIN directly The repeatability is not within the tolerance The Zero position of the robot might be rewritten Please set the Zero...

Page 108: ...teeth is severe Check whether the tension of timing belts at each axis is abnormal or deviated If the teeth are missing or the friction at the timing belt is severe replace it Adjust the tension to t...

Page 109: ...item A 6 months Check item A Check item B Check item C 7 months Check item A 8 months Check item A 9 months Check item A Check item B 10 months Check item A 11 months Check item A 12 months Check ite...

Page 110: ...nd replace before the battery runs out The following figure shows how to replace the battery of the robot arm Step1 Confirm the wiring between the robot arm and the controller and turn on the controll...

Page 111: ...Timing Check the belt condition every six months If there is a crack in the belt tooth the belt tooth wears to about half of the tooth width or the belt breaks the belt must be replaced When replacing...

Page 112: ...50 5 Timing belt J4M 100 S2M 172 10 44 3 28 5 Timing belt J4S 150 S2M 300 15 86 3 45 5 RS410 LU Recommended tension table Belt Spec Belt width mm Belt span mm tension N Timing belt J3 150 S3M 564 15 2...

Page 113: ...ed person should not disassemble the spline screw by themselves 5 2 4 Reducer Lubrication During the operation of the reducer the mechanical structure needs to be fully lubricated to prevent wear out...

Page 114: ...he space with new grease 2 Fill the grease in space C 3 Please check the following table for the grease filling amount Grease filling amount Spec Component Unit RS405 LU RS410 LU J1 J2 J1 J2 Flexsplin...

Page 115: ...ucer disassembly Step1 Turn off the power of the controller Step2 Remove the M3 bolts from the bolt cover Step3 Remove the bolt cover on the A arm Step4 Remove the A arm M8 bolts Step5 Remove the A ar...

Page 116: ...Remove the reducer flange M5 bolts Step7 Remove the reducer body vertically upwards Step8 Remove the M4 bolt from the motor and wave generator Step9 Remove the wave generator vertically M5 Bolt Reduce...

Page 117: ...cover on the A arm Step4 Remove the A arm M8 bolts Step5 Remove the B arm Step6 Remove the reducer flange M5 bolts Step7 Remove the reducer body vertically upwards Step8 Remove the M3 bolt from the mo...

Page 118: ...cer disassembly Step1 Turn off the power of the controller Step2 Remove the M4 bolts from the bolt cover Step3 Remove the bolt cover on the A arm Step4 Remove the A arm M10 bolts Step5 Remove the A ar...

Page 119: ...C21UE001 2008 118 Step6 Remove the reducer flange M5 bolts Step7 Remove the J1 motor module vertically upwards M5 Bolt J1 Motor module...

Page 120: ...2008 119 Step8 Remove the M4 bolt from the motor and wave generator Step9 Remove the M6 bolts Step10 Separate the reducer wave generator and motor in the axial direction Reducer M4 Bolt Wave generator...

Page 121: ...er disassembly Step1 Turn off the power of the controller Step2 Remove the M4 bolts from the bolt cover Step3 Remove the bolt cover on the A arm Step4 Remove the A arm M8 bolts Step5 Remove the B arm...

Page 122: ...C21UE001 2008 121 Step6 Remove the reducer flange M8 bolts Step7 Remove the J2 motor module vertically upwards M8 Bolt J2 Motor module...

Page 123: ...bolts Step10 Separate the reducer wave generator and motor in the axial direction When tightening the reducer tighten the bolts with the torque wrench The torque setting is as follows Spec Torque N m...

Page 124: ...r type Single phase 200V 240V Other___________V Power and signal cable length 2m Other optional 5m 10m IP Protection grade IP20 Other optional IP40 Communication format Ethernet RS 232 Modbus TCP TCP...

Page 125: ...C21UE001 2008 124...

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