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C22UE001-2004



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 (B) 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 cap
screw.

Step4.

Clear encoder by HRSS.

Step5.

Zero-position setting of J4-axis is completed.

Figure 4-5(a)

Illustration of J4-axis Zero-position setting



RA605-909-GC 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 (B) 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 cap
screw.

Step4.

Clear encoder by HRSS.

Step5.

Zero-position setting of J4-axis is completed.

Figure 4-5(b)

Illustration of RA605-909-GC J4-axis Zero-position

Calibration tool(B)

Keyway

Hexagon socket cap screw

M3x0.5Px8L (black paint)

Calibration tool(B)

Keyway

Hexagon socket cap screw

M3x0.5Px8L (black paint)

Содержание RA605-710-GC

Страница 1: ...www hiwin tw User Manual Articulated Robot RA605 GC Original Instruction...

Страница 2: ...utomation 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 DA...

Страница 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 Usi...

Страница 4: ...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...

Страница 5: ...mpleted machinery the associated hazards must be handled by system integrator in accordance with ISO 102018 1 2 A safety related part of control system SRP CS should conform to the requirement of perf...

Страница 6: ...structions 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...

Страница 7: ...d the operator must stand 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 f...

Страница 8: ...ermission If there s any issues please contact our engineers The personnel installing robot should be trained and licensed To ensure personal safety robot installation must comply with this manual and...

Страница 9: ...and maintain the machine without permission The power must be disconnected when the machine does not operate in a long time Do not turn off the power of the controller when modifying the program or p...

Страница 10: ...f 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 affec...

Страница 11: ...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 cont...

Страница 12: ...vements 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...

Страница 13: ...t be paid for safety issue 4 Intended use HIWIN robots are industrial robots and intended for pick and place handling assembling deburring grinding and polishing Use is only permitted under the specif...

Страница 14: ...tions 30 2 4 Outer Dimensions and Motion Range 32 2 5 Wrist Moment Diagram 34 2 6 Mechanical Stopper 35 3 Equipment Mounting Surface and Interface 38 3 1 Mounting Surface for End Effector 38 3 2 Pneum...

Страница 15: ...14 C22UE001 2004 6 2 2 Timing Belt Replacement 58 7 Safety Certification 66 8 Appendix 67 Version Date Product Note 1 0 0 2020 04 15 RA605 GC First edition...

Страница 16: ...obot with four M8 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 rob...

Страница 17: ...he 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...

Страница 18: ...004 Figure 1 2 b RA605 909 GC Transport dimensions Figure 1 3 a Crane lifting transportation RA605 710 GC Transport method Center of Gravity Center of Gravity Hexagon socket cap screw M8x1 25Px12L Sus...

Страница 19: ...rtation Please always follow the above instructions and method to transport the robot for subsequent transportation If the robot is directly suspended without using the specified suspension plate it w...

Страница 20: ...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...

Страница 21: ...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 RA605 909 GC Value of forces and moments acting o...

Страница 22: ...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...

Страница 23: ...tion 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 Robot structure Figure 1 8 Robot and...

Страница 24: ...22UE001 2004 Figure 1 9 Interface at the rear of J1 Figure 1 10 Pin assignment of the Power Signal socket Code RA605 GC A Air in out socket B Air in out socket C Battery box D Power signal socket C D...

Страница 25: ...ure 1 11 Grounding method When connecting the cable be sure to turn off power supply first The diameter of a grounding cable should not be larger than 14AWG The grounding cable of the robot should be...

Страница 26: ...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 temperatur...

Страница 27: ...ction 4 1 End effector I O Cable RA605Z541 3 Refer to section 3 3 R I O water proof cover RA605Z541 4 J2 belt RA605Z541 5 Refer to section 6 2 2 J2 belt RA605Z541 6 Refer to section 6 2 2 J3 belt RA60...

Страница 28: ...4 2 Basic Specifications 2 1 Description of Model Name There is a model name on the specification label of RA605 GC The explanation of model name is shown below Figure 2 1 Model Diagram RA605 710 GC M...

Страница 29: ...or during operation Grounding 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 h...

Страница 30: ...004 Air In Out The connection port of air tube for 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 I O input and outp...

Страница 31: ...Position Repeatability mm 0 02 0 03 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...

Страница 32: ...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 w...

Страница 33: ...32 C22UE001 2004 2 4 Outer Dimensions and Motion Range The motion range is shown in Figure 2 3 a b Figure 2 3 a RA605 710 GC Motion range...

Страница 34: ...33 C22UE001 2004 Figure 2 3 b RA605 909 GC Motion range...

Страница 35: ...shows allowable center of gravity of the load when the robot is loaded 1 5kg Figure 2 4 Wrist moment diagram The transportable load weight will be greatly related to the motion posture and speed of th...

Страница 36: ...e installed at J1 axis 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 app...

Страница 37: ...001 2004 Figure 2 5 J1 axis positive negative direction limit Figure 2 6 J2 axis negative direction limit Secure screw M10X30L Mechanical stopper A view Mechanical stopper Secure flat head screw M4X16...

Страница 38: ...direction limit Figure 2 8 J3 axis negative direction limit Figure 2 9 J3 axis positive direction limit Mechanical stopper Secure flat head screw M4X16L C view Mechanical stopper Secure flat head scre...

Страница 39: ...Figure 3 1 Figure 3 1 End effector Interface 3 2 Pneumatic Interface The pneumatic holes AIR IN AIR OUT are installed on the rear of J1 as shown in Figure 3 2 and the outer diameter of the air tube in...

Страница 40: ...interface Figure 3 8 show the two wire proximity switches connecting method for customers Figure 3 3 Pin assignment of the I O connector Power output 24V 1A 1 9 2 10 8 3 11 12 7 4 5 6 White Blue Pink...

Страница 41: ...40 C22UE001 2004 Figure 3 4 Wiring diagram of input Standard Sinking type Figure 3 5 Wiring diagram of input Optional Sourcing type...

Страница 42: ...41 C22UE001 2004 Figure 3 6 Wiring diagram of output Standard Sinking type Figure 3 7 Wiring diagram of output Optional Sourcing type...

Страница 43: ...urrent 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 acco...

Страница 44: ...ration tools is shown in Figure 4 2 to Figure 4 7 below Figure 4 1 a 4 1 b Calibration tool A Calibration tool B Figure 4 1 Calibration tool set J1 axis Zero position setting Step1 Operate J1 at low s...

Страница 45: ...of J2 axis is completed Figure 4 3 Illustration of J2 axis Zero position setting J3 axis Zero position setting Step1 Operate J3 at low speed to align the pinhole of J4 with the pinhole of J3 Step2 In...

Страница 46: ...xis Zero position setting RA605 909 GC 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 B to the keyway to...

Страница 47: ...ation tool Step4 Clear encoder by HRSS Step5 Zero position setting of J5 axis is completed Figure 4 6 Illustration of J5 axis Zero position setting J6 axis Zero position setting Step1 Operate J6 at lo...

Страница 48: ...ep1 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 Fig...

Страница 49: ...mooth 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...

Страница 50: ...9 GC 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 temperatu...

Страница 51: ...50 C22UE001 2004 5 3 Operation Name descriptions of the manual brake release device and their functions...

Страница 52: ...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 t...

Страница 53: ...e robot beyond this operating time correct the maintenance frequencies shown in this chapter by calculation in proportion to the difference between the actual operating time and 3840 hours per year 6...

Страница 54: ...clogging or hose damage Is the air source normal Drain the drainage system and replace the leaking component If needed please contact HIWIN directly 4 Depending on the motion condition and surrounding...

Страница 55: ...t 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 t...

Страница 56: ...nnector fixing screws or terminal block terminal screws loosen Securely tighten the screws Inspection item B 3 months 960 hours 1 Check the ventilation system of the controller If it is dusty turn off...

Страница 57: ...w types of mechanical stoppers of J1 J3 Inspection item E 3years 11520hours 1 Change the cables inside the robot Please contact HIWIN directly 2 Change the timing belt of J1 and J4 Please contact HIWI...

Страница 58: ...ies of the robot is shown in Figure 6 1 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 wi...

Страница 59: ...odically checked maintained and replaced Timing Belt replacement period When the maintenance time is up to six month check the belt tension If the tension is insufficient adjust the belt tension If th...

Страница 60: ...belt is excessively worn The sonic tension meter is used to measure the belt tension The specifications and standard tension of belt are shown in Table 6 4 Figure 6 2 Belt tension measurement It is no...

Страница 61: ...mm Tension N J2 RA605 710 GC 365 5GT 9 9 117 5 55 61 RA605 909 GC 375 5GT 9 116 9 J3 RA605 710 GC 440 5GT 9 9 154 9 55 6155 61 RA605 909 GC 635 5GT 9 254 9 J5 All models 285 3GT 6 6 100 3 29 32 J6 All...

Страница 62: ...belt remove the cover of J3 and J5 as shown in Figure 6 3 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 F...

Страница 63: ...eed 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 7 2N m Replac...

Страница 64: ...e 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 Screw pounds 7...

Страница 65: ...e 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 Screw pounds 2...

Страница 66: ...t 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 adjusti...

Страница 67: ...hinery Directives 2006 42 EC Low Voltage Directives LVD 2014 35 EU Robots for Industrial Environment EN ISO 10218 1 2011 Safety of Machinery EN ISO 12100 2010 EN ISO 13849 1 2015 EN 60204 1 2006 AC 20...

Страница 68: ...67 C22UE001 2004 8 Appendix Suspension plate refer to section 1 1...

Страница 69: ...ite for 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...

Страница 70: ...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...

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