Hiwin RA605-GB User Manual Download

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www.hiwin.tw

User Manual

Articulated Robot

- RA605-GB,

RT605-GB

Original Instruction

Summary of Contents for RA605-GB

Page 1: ...www hiwin tw User Manual Articulated Robot RA605 GB RT605 GB Original Instruction ...

Page 2: ...n Semiconductor Medical Ball Type HG EG WE MG CG Quiet Type QH QE QW QR Other RG E2 PG SE RC Bearing Machine Tools Robot Crossed Roller Bearing Ballscrew Bearing Linear Bearing Support Unit DATORKER Robot Reducer Robot Automation Equipment Semiconductor Equipment Machine Tools WUT PO Type WUI CO Type WTI PH Type WTI AH Type AC Servo Motor Drive Semiconductor Packaging Machine SMT Food Industry LCD...

Page 3: ... the unauthorized staff Installing non genuine HIWIN products The following conditions are not covered by the warranty Product serial number or date of manufacture month and year cannot be verified Using non genuine HIWIN products Adding or removing any components into out the product without authorized Any modification of the wiring and the cable of the product Any modification of the appearance ...

Page 4: ...e 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 modification coming from production line set up For the safety reason any modification for HIWIN product is strictly prohibited ...

Page 5: ...completed machinery the associated hazards must be handled by system integrator in accordance with ISO 10218 1 2 A safety related part of control system SRP CS should conform to the requirement of performance level d and category 3 according to ISO 13849 1 The installation for emergency functions shall be defined by the system integrator in accordance with ISO 10218 1 2 Safety Operation Principle ...

Page 6: ...nstructions Failure to follow instructions with this symbol may result in poor product performance Please be sure to comply with these instructions II Working Person The personnel can be classified as follows Operator Turns robot controller ON OFF Starts robot program from operator s panel Reset system alarm Programmer or teaching operator Turns robot controller ON OFF Starts robot program from op...

Page 7: ...outside the safety fence while operating the robot A safety zone should be established around the robot with an appropriate safety device to stop the unauthorized personnel from access While installing or removing mechanical components be aware of a falling piece which may cause injury to operator Ensure the weight of workpiece does not exceed the rated load or allowable load moment at wrist Excee...

Page 8: ...ation must comply with this manual and related industrial safety regulations The control cabinet should not be placed near high voltage or machines that generate electromagnetic fields to prevent interference that could cause the robot to deviation or malfunction Using non HIWIN spare parts to repair may cause robot damage or malfunction Beware of the heat generated by the controller and servo mot...

Page 9: ...hen modifying the program or parameter Otherwise the data stored in the controller will be damaged After the brake of a servo motor is released the robot will be moved due to gravity and it may injured the operator The industrial robots can be applied for the different industrial environments but the applicable environment should be determined by professionals When the operating procedures are int...

Page 10: ...if the procedure not specified by HIWIN is needed Please contact us if the replacement of the component not specified by HIWIN is needed Be sure to carry out regular maintenance otherwise it will affect the service life of the robot or other unexpected danger Prior to repair and maintenance please switch off power supply Maintenance and repair should be performed by a qualified operator with a com...

Page 11: ...e fall during operation which may cause personal injury or hazard The end effector may be equipped with its own control unit During installation pay attention to installed location Ensure that the control unit does not interfere with robot operation The gripper type end effector should prevent the workpiece from dropping or damaging when the robot experiences a power error or other errors If poten...

Page 12: ... movements will be stopped And the control system will be shut down Emergency stop should be reset if the restoration of operating procedure is wanted Avoid using emergency stop to replace a normal stop procedure This could reduce the lifespan of the robot The drive power and the control system will be disconnected to stop all actions during the emergency stop If you want to restart the procedures...

Page 13: ...ndustrial robots and intended for pick and place handling assembling deburring grinding and polishing Use is only permitted under the specified environment for more detailed information please see section 1 5 environmental conditions Use is not permitted under the following conditions Use in potentially explosive environments Use without performing risk assessments Transportation of people and ani...

Page 14: ...er 36 3 Equipment Mounting Surface and Interface 39 3 1 Mounting Surface for End Effector 39 3 2 Pneumatic Interface 39 3 3 R I O Interface 41 4 Calibration 45 4 1 Zero Position Setting 45 5 Manual Brake Release Device optional 51 5 1 Safety Precautions 51 5 2 Confirmation before Using 51 5 3 Operation 53 6 Maintenance and Inspection 55 6 1 Maintenance Items 55 6 2 Maintenance Methods 59 6 2 1 Bac...

Page 15: ...14 C01UE002 2109 ...

Page 16: ... 1 25P 12L screws as shown in Figure 1 2 Make the sling go through the suspension plate to keep the center of gravity under the hanging point shown as Figure 1 3 Please ensure the robot is in stable condition to avoid overturning Step3 Move the robot to the desired position by using sling Step4 Remove the suspension plate Note The transport suspension plate 4C201E41 is an optional part Please refe...

Page 17: ...hanges the center of gravity Please keep stable slow down and avoid excessive vibration or shock during transportation While placing the robot be sure to avoid the robot and the installation surface collision After removing the suspension plate please maintain it properly for re transportation Before operation remove the suspension plate to avoid danger Center of Gravity Center of Gravity Hexagon ...

Page 18: ...ansport dimensions Figure 1 2 c RT605 909 GB Transport dimensions Center of Gravity Center of Gravity Hexagon socket cap screw M8x1 25Px12L Suspension Plate Center of Gravity Center of Gravity Hexagon socket cap screw M8x1 25Px12L Suspension Plate ...

Page 19: ...18 C01UE002 2109 Figure 1 3 a Crane lifting transportation RA605 710 GB Transport method RT605 710 GB Transport method Figure 1 3 b Crane lifting transportation RA605 909 GB Transport method ...

Page 20: ... subsequent transportation The angle of the suspended robot J1 is for 0 J2 is for 45 J3 is for 55 J4 is for 0 J5 is for 80 J6 is for 0 If the robot is directly suspended without using the specified suspension plate it will cause danger due to an incorrect center of gravity position Please always stay in stable condition and avoid excessive vibration or shock during transportation ...

Page 21: ...r and flat washer shown as Figure 1 5 Figure 1 6 and table 1 1 show the forces and moments acting on the installation surface during operation The strength of surface must be considered when installing the robot It is recommended to use screws bigger than M10X20L Figure 1 4 Base dimensions Figure 1 5 Installation diagram M10 screw Spring washer Flat washer Installation hole Robot direction ...

Page 22: ... Fv N Horizontal moment MH Nm Horizontal force FH N Stop 144 441 0 0 Acceleration Deceleration 382 1009 149 456 Power cut stop 462 1199 248 760 Table 1 2 RT605 909 GB Value of forces and moments acting on the installation surface Vertical moment Mv Nm Vertical force Fv N Horizontal moment MH Nm Horizontal force FH N Stop 160 490 0 0 Acceleration Deceleration 526 1205 244 748 Power cut stop 660 146...

Page 23: ... the installation surface for the robot will not shift while in operation Ensure the strength of the installation surface for the robot will not be damaged due to the movement Do not install the robot at the place with direct sunlight or light If the temperature on the cover is too high it may cause poor performance When the robot is installed on the ceiling or the wall the parameters must be chan...

Page 24: ... between robot controller teach pendant and power source Figure 1 9 and Figure 1 10 show the interface of J1 and the pin assignment of CN2 connector Figure 1 7 Drawing of robot structure Figure 1 8 Robot and controller connection Joint 1 Joint 2 Joint 3 Joint 6 Joint 5 Joint 4 J1 J2 J3 J4 J5 J6 CN2 Controller Teach pendant Power source ...

Page 25: ...n assignment of the Power Signal socket Code RA605 GB RT605 GB A Air out socket Air in out socket B Air in socket Air in out socket C Battery box Battery box D Power signal socket Power signal socket When connecting the cable be sure to turn off power supply first C D B A ...

Page 26: ...bot with the screw M5 0 8P 8L Figure 1 11 Grounding method The diameter of a grounding cable should not be larger than 14AWG The grounding cable of the robot should be connected directly to the main system grounding not to the grounding for other equipment Grounding wire Washer Screw ...

Page 27: ... to warm up the robot at low speed for a few minutes Note 2 The performance level will be de rated around 10 at an altitude over 1000m Installation Storage Transportation Environment Ambient temperature 0 45 Note 1 Ambient relative humidity Under 75 R H No condensation permissible Allowable altitude Up to 1000 m above mean sea level Note 2 Allowable vibration Under 0 5G Others Do not use under cor...

Page 28: ...ool set 4C201EK2 Refer to section 4 1 End effector I O connector 4CA30008 Refer to section 3 3 R I O water proof cover 46170099 J2 belt 45310141 Refer to section 6 2 2 J2 belt 453100X8 Refer to section 6 2 2 J3 belt 453100QN Refer to section 6 2 2 J3 belt 453100X9 Refer to section 6 2 2 J5 J6 belt 453100MY Refer to section 6 2 2 Sealants 47300061 Refer to section 6 2 2 Encoder battery 462600LN Ref...

Page 29: ...Basic Specifications 2 1 Description of Model Name There is a model name on the specification label of RA605 GB and RT605 GB The explanation of model name is shown below Figure 2 1 Model Diagram Model example RA605 710 GB ...

Page 30: ...Make sure grounding is completed or it will cause electric shock Read manual Read manual before operating the robot Electric shock Pay more attention that the robot may have a risk of electric shock Transport position Be aware of transport position when transporting robot please refer to section 1 1 for detailed information Specification Robot specification and serial number Air In The connection ...

Page 31: ...f air tube for RA605 GB air output Air In Out The connection port of air tube for RT605 GB air input output Grease in The hole for grease in Grease out The hole for grease out CN2 CN2 power signal cable R I O End effector control input output cable ...

Page 32: ... Position Repeatability mm 0 02 0 03 0 04 Motion Range J1 165 J2 85 125 J3 185 55 J4 190 J5 115 J6 360 Maximum Speed J1 360 s 250 s J2 288 s 200 s J3 420 s 300 s J4 444 s 444 s J5 450 s 450 s J6 720 s 720 s Allowable Load Moment at Wrist J4 8 40 N m J5 8 40 N m J6 5 56 N m Allowable Load Inertia at Wrist J4 0 36 kg m2 J5 0 36 kg m2 J6 0 13 kg m2 Manipulator Weight kg 40 45 Integrated signal power ...

Page 33: ... For details about load capacity please refer to section 2 5 Note 3 The cycle time is the time that the robot moves forward and backward in the vertical height 25mm and the horizontal distance 300mm with 1 kg load as shown in Figure 2 2 Figure 2 2 Cycle time trajectory Note 4 Apply with M5 thread Ø4 air caliber connector Note 5 The noise level is measured at maximum speed and maximum load accordin...

Page 34: ...33 C01UE002 2109 2 4 Outer Dimensions and Motion Range The motion range is shown in Figure 2 3 a b Figure 2 3 a RA605 710 GB Motion range RT605 710 GB Motion range ...

Page 35: ...34 C01UE002 2109 Figure 2 3 b RA605 710 GB Motion range RT605 909 GB Motion range ...

Page 36: ... limited by the center of gravity of the load Figure 2 4 shows allowable center of gravity of the load when the robot is loaded 1 5kg The transportable load weight will be greatly related to the motion posture and speed of the robot Therefore over current could happen even if the load is under the allowable 1kg 2kg 3kg 4kg 5kg ...

Page 37: ...to J3 axis to limit the motion range to a minimum value Please refer to Table 2 3 and Figure 2 5 to Figure 2 9 Table 2 3 Description of mechanical stoppers Illustration Axis applied Motion range limited J1 170 170 J2 126 J2 86 J3 56 J3 186 range When this situation occurs the posture and speed of robot must be changed ...

Page 38: ...37 C01UE002 2109 Figure 2 5 J1 axis positive negative limit Secure screw M10X30L Mechanical stopper A view Mechanical stopper Secure flat head screw M4X16L B view ...

Page 39: ...2 axis negative limit Figure 2 7 J2 axis positive limit Figure 2 8 J3 axis negative limit Mechanical stopper Secure flat head screw M4X16L C view Mechanical stopper Secure flat head screw M4X16L E view Secure flat head screw M4X16L ...

Page 40: ...605 710 GB the pneumatic holes AIR IN AIR OUT are installed on the rear of J1 as shown in Figure 3 2 a and the outer diameter of the air tube in the robot is ψ4mm The robot has three 5 2 way solenoid valves for end effector on J5 and the secure holes for the nozzle are M5 0 8P The schematic diagram of pneumatic circuit is shown in Figure 3 2 b Type 5 2 Operating pressure range 2 7kgf cm2 0 2 0 7MP...

Page 41: ... GB Pneumatic circuit diagram Pneumatic holes AIR IN AIR OUT of RT605 GB are installed on the rear of J1 as shown in Figure 3 3 and the outer diameter of the air tube in the robot is ψ4mm The secure holes for the nozzle are M5 0 8P Code Name Label A Air in out socket B Air in out socket ...

Page 42: ...ffector on J5 and the pin assignment of I O connector are shown in Figure 3 4 Figure 3 5 to Figure 3 8 show the wiring diagram of I O interface Figure 3 9 show the two wire proximity switches connecting method for customers Figure 3 4 Pin assignment of the I O connector Power output 24V 1A A A side view ...

Page 43: ...42 C01UE002 2109 Figure 3 5 Wiring diagram of input Standard Sinking type Figure 3 6 Wiring diagram of input Optional Sourcing type ...

Page 44: ...3 7 Wiring diagram of output Standard Sinking type Figure 3 8 Wiring diagram of output Optional Sourcing type Two wire proximity switch Two wire proximity switch Internal circuit Internal circuit Positive input Negative input ...

Page 45: ...not for power input of end effector The maximum output current at each pin is 100mA Two wire proximity switch may cause Robot Input error action occur due to residual voltage Therefore if you want to use two wire proximity switch you should connect it according to Figure 3 9 and select the matching R value ...

Page 46: ...on with the calibration tools is shown in Figure 4 2 to Figure 4 7 below Figure 4 1 a 4 1 b 4 1 c Calibration tool A Calibration tool B Calibration tool C Figure 4 1 Calibration tool set J1 axis Zero position setting Step1 Secure the calibration tool A on J1 axis by using positioning pin and screws Step2 Operate J1 at low speed to align the positioning surface of J2 with the calibration tool A Ste...

Page 47: ...h the pinhole of J2 Step2 Insert the calibration tool B to the pinhole to calibrate Zero position Step3 Finish calibration and remove the calibration tool Step4 Clear encoder by HRSS Step5 Zero position setting of J2 axis is completed Hexagon socket cap screw M5x0 8Px6L Nickel plated Positioning pin Calibration tool A Positioning surface Calibration tool B Pinhole ...

Page 48: ...completed Figure 4 4 Illustration of J3 axis Zero position setting J4 axis Zero position setting Step1 Operate J4 at low speed to align the keyway of J5 with the keyway of J4 Step2 Insert the calibration tool C to the keyway to calibrate Zero position hexagon socket cap screw can be screwed first in calibration tool Step3 Finish the calibration and remove the calibration tool using hexagon socket ...

Page 49: ...w Step4 Clear encoder by HRSS Step5 Zero position setting of J4 axis is completed Figure 4 5 b Illustration of RT605 909 GB J4 axis Zero position J5 axis Zero position setting Step1 Operate J5 at low speed to align the pinhole of J6 with the pinhole of J5 Step2 Insert the calibration tool B to the keyway to calibrate Zero position Step3 Finish the calibration and remove the calibration tool Step4 ...

Page 50: ...by HRSS Step3 Zero position setting of J6 axis is completed Figure 4 7 Illustration of J6 axis Zero position setting Clear encoder by HRSS Step1 Select the JOINT as the coordinate system Step2 Move the robot to the Zero position Step3 Click Main Menu Start up Master Zero Position Step4 Double click the axis to clear encoder As shown in Figure 4 8 Calibration mark ...

Page 51: ...50 C01UE002 2109 Figure 4 8 Clear encoder by HRSS ...

Page 52: ... floor to prevent robot tilting falling or an unexpected movement Please use the socket with grounding and ensure the grounding is firmly connected If not there would be a risk of electric shock 5 2 Confirmation before Using Please confirm the following items before using manual brake release device 1 Please make sure CN2 connector is matched with the corresponding robot by checking the model name...

Page 53: ...Power Input voltage VAC Single phase 100 240 Output voltage VDC 24 Voltage frequency Hz 50 60 Max rated current A 2 Dimension 140x170x95 mm3 Weight 1 74kg Protection rating IP20 Ambient temperature oC 0 45 Relative humidity RH 50 75 non condensing Corresponding manipulator model name RA605 710 GB RT605 710 GB RT605 909 GB ...

Page 54: ...53 C01UE002 2109 5 3 Operation Name descriptions of the manual brake release device and their functions ...

Page 55: ...e note that the axes of the switch are not in sequence due to the gravity comes from releasing particular axis brake Thus J2 and J3 are bound together to prevent the unexpected falling when releasing there axis brake simultaneously Please confirm the axes before operation to prevent a risk of unexpected motion Please follow the steps below to release the brake 1 The J4 axis of manipulator must be ...

Page 56: ...e daily inspection include the power on off and operation representing those before the power on off and programming respectively as shown in Table 6 1 The items in the periodical inspection includes those for the routine check A B C D and E The check contents are shown in Table 6 2 The timetable can be worked out according to periodical inspection as shown in Table 6 3 By well doing the inspectio...

Page 57: ...he mechanism limit Please reduce the load speed or acceleration 6 The timing belt might loosen or not be in correct position Please replace or adjust the timing belt Refer to section 6 2 2 7 If the above situations has been excluded it is likely that the rolling surface of bearing or the gear tooth surface of reducer has been damaged Please contact HIWIN directly 2 The repeatability is not within ...

Page 58: ...of the controller Inspection item C 6 months 1920 hours 1 Check whether the friction at the timing belt teeth is severe If the teeth are missing or the friction at the timing belt is severe replace it Refer to section 6 2 2 2 Check whether the tension of timing belts at each axis is abnormal or deviated Refer to 6 2 2 Adjust the tension to the standard value and avoid over tightness or looseness I...

Page 59: ...58 C01UE002 2109 Table 6 3 Inspection schedule It is normal that the belt produces debris during operation but if it happens right after cleaning the belt it is recommended to replace the belt ...

Page 60: ...and described as below Step1 Press the emergency stop button to prohibit the movement of the robot motion Step2 Ensure the robot and controller are connected with the cables Keep the power ON Step3 Please remove the battery cover The screws for battery cover are hexagon head screws M3 0 5P 6L and the four batteries are 3 6V Step4 Replace the battery one by one If all batteries are removed at the s...

Page 61: ...eplace the belt but you are required to re origin the points to correct the points Belt Tension It is very important to keep proper belt tension The belt tooth jumping will happen if the belt tension is too loose If the belt tension is too tight it will cause damage to the motor or bearing Measuring methods of the belt by using fingers or tools are shown in Figure 6 2 When the belt is adjusted to ...

Page 62: ... 32 It is normal that the belt produces debris during operation but if it happens right after cleaning the belt it is recommended to replace the belt After the robot is operated about 300 hours the rubbers worn by the belt will be accumulated on the cover Those rubber come out due to the friction not the broken Please use cleaning rag to wipe them out and let the robot continue the work If the rub...

Page 63: ...ide the cover When removing the cover if the gasket is peeled off sealant can be used to re tighten the seal on the cover Figure 6 3 Cover removal diagram Inspection maintenance and replacement of timing belt in J2 axis Figure 6 4 shows the structure of J2 axis Figure 6 4 J2 axis structure diagram Model Screw Type Screw Specification RA605 710 GB Captive screw M3x0 5Px10L RT605 710 GB Hexagon sock...

Page 64: ...need to remove the screws Step2 Refer to Table 6 4 loosen or tighten the adjusting screw to adjust the tension of the belt Step3 Tighten the two fixing screws on motor flange Screw pounds 2 2N m Replace J2 axis timing belt Step1 Remove the two fixing screws on motor plate Step2 Loose the adjusting screw to replace the timing belt Step3 After replacing the belt refer to the paragraph Adjust J2 axis...

Page 65: ...motor can be move No need to remove the screws Step2 Refer to Table 6 4 loosen or tighten the adjusting screw to adjust the tension of the belt Step3 Tighten the two fixing screws on motor flange Replace J3 axis timing belt Step1 Remove the two fixing screws on motor plate Step2 Loose the adjusting screw to replace the timing belt Step3 After replacing the belt refer to the paragraph Adjust J3 axi...

Page 66: ...motor can be move No need to remove the screws Step2 Refer to Table 6 4 loosen or tighten the adjusting screw to adjust the tension of the belt Step3 Tighten the two fixing screws on motor flange Replace J5 axis timing belt Step1 Remove the two fixing screws on motor plate Step2 Loose the adjusting screw to replace the timing belt Step3 After replacing the belt refer to the paragraph Adjust J5 axi...

Page 67: ...ust the belt tension Adjust J6 axis timing belt Step1 Loose the two fixing screws on motor flange so that the motor can be move No need to remove the screws Step2 Refer to Table 6 4 loosen or tighten the adjusting screw to adjust the tension of the belt Step3 Tighten the two fixing screws on motor flange Replace J6 axis timing belt Step1 Remove the two fixing screws on motor plate Step2 Loose the ...

Page 68: ...s and robotic devices Safety requirements for industrial robots Part 1 Robots EN ISO 10218 1 2011 Low Voltage Directives LVD 2014 35 EU Safety of Machinery Electrical equipment of machines Part 1 General requirements EN 60204 1 2018 Electromagnetic Compatibility Directives EMC 2014 30 EU Generic standards Immunity for industrial environments EN 61000 6 2 Generic standards Emission standard for ind...

Page 69: ...68 C01UE002 2109 8 Appendix Suspension plate refer to section 1 1 ...

Page 70: ...r patented product directory http www hiwin tw Products Products_patents aspx 4 HIWIN will not sell or export products or processes restricted under the Foreign Trade Act or related regulations Export of restricted products should be approved by proper authorities in accordance with relevant laws and shall not be used to manufacture or develop nuclear biochemical missiles or other weapons Publicat...

Page 71: ...HIWIN CHINA SUZHOU CHINA www hiwin cn info hiwin cn Mega Fabs Motion Systems Ltd HAIFA ISRAEL www mega fabs com info mega fabs com HIWIN GmbH OFFENBURG GERMANY www hiwin de www hiwin eu info hiwin de HIWIN JAPAN KOBE TOKYO NAGOYA NAGANO TOHOKU SHIZUOKA HOKURIKU HIROSHIMA FUKUOKA KUMAMOTO JAPAN www hiwin co jp info hiwin co jp HIWIN USA CHICAGO U S A www hiwin us info hiwin com HIWIN Srl BRUGHERIO ...

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