Hiwin RA610-GC Скачать руководство пользователя страница 33

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C23UE004-2109

1.6

Standard and Optional Equipment List

Standard and optional equipment list is shown in Table 1-5.

Table 1-5 Standard and optional equipment list

Item

HIWIN

Part No.

Standard Optional

Remark

Robot accessory kit

RA610Z231-1

●

○

Contains suspension plate
set, calibration tool set
and end-effector I/O Cable

Suspension plate set

RA610Z231-2

●

○

Refer to section 1.1

Calibration tool set

RA610Z231-3

●

○

Refer to section 4.1

End-effector I/O Cable

RA610Z231-4

●

○

Refer to section 3.4

End-effector I/O water-proof
cover

RA610Z231-5

●

○

J5, J6 belt

RA610Z231-6

○

Refer to section 6.2.2

J5, J6 belt (for RA610-1151-
GC)

RA610Z231-11

○

Refer to section 6.2.2

J1~J3 Grease

RA610Z231-7

○

Refer to section 6.2.3

Encoder battery

RA610Z231-8

○

Refer to section 6.2.1

Manual brake release device

RA610Z231-9

○

Refer to section 5

J1 adjustable mechanical stop
set

RA610Z231-10

○

Teach Pendant

RC600Z001-1

●

○

Refer to RCA-GC User
manual CH 4

Teach Pendant Shortcut
Connector

RC600Z001-2

●

○

Refer to RCA-GC User
manual CH 4

CN1, Main Power Cable 3M

RC600Z001-3

●

○

Refer to RCA-GC User
manual CH 2.3

CN2, Power Signal Cable 3M

RC600Z001-10

●

○

Refer to RCA-GC User
manual CH 2.5

CN2, Power Signal Cable 5M

RC600Z001-11

○

Refer to RCA-GC User
manual CH 2.5

Содержание RA610-GC

Страница 1: ...www hiwin tw User Manual Articulated Robot RA610 GC Original Instruction ...

Страница 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...

Страница 3: ...ON RANGE 39 2 5 WRIST LOAD CONDITIONS 44 3 EQUIPMENT MOUNTING INTERFACE 49 3 1 END EFFECTOR INTERFACE 49 3 2 MOUNTING SURFACE ON THE ROBOT 50 3 3 PNEUMATIC INTERFACE 53 3 4 R I O INTERFACE 55 4 CALIBRATION 59 4 1 ZERO POSITION SETTING 59 5 MANUAL BRAKE RELEASE DEVICE OPTIONAL 64 5 1 SAFETY PRECAUTIONS 64 5 2 CONFIRMATION BEFORE USING 64 5 3 OPERATION 66 6 MAINTENANCE AND INSPECTION 68 6 1 MAINTENA...

Страница 4: ...by 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 appearanc...

Страница 5: ...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 technician for special modification coming from production line set up For the safety reason any modification for HIWIN product is strictly prohibited ...

Страница 6: ...wing shows the safety symbols used in this user manual Symbol Description Failure to follow instructions with this symbol may result in serious hazard or personal injury Please be sure to comply with these instructions Failure to follow instructions with this symbol may result in personal injury or product damage Please be sure to comply with these instructions Failure to follow instructions with ...

Страница 7: ...eaches robot inside the safety fence Maintenance engineer Operates the robot Teaches robot inside the safety fence Does maintenance adjustment replacement Programmer and the maintenance engineer must be trained for proper robot operation ...

Страница 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 performance level PL d and category 3 according to ISO 13849 Please ensure the emergency stop switch is in reset status before the robot functions The external device connected to the emergency stop switch c...

Страница 9: ...7 C23UE004 2109 It must use EMO Emergency stop EN 60947 5 1 positive opening with safety module to meet ISO 13849 1 performance level PL d Interlock ...

Страница 10: ... 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 the tolerable torque Exceeding these values cou...

Страница 11: ...operate under the condition of no electrical shock risk Do not disassembly the controller without permission If there s any issues please contact our engineers The personnel operating robot should be trained and licensed To ensure personal safety robot installation must comply with this manual and related industrial safety regulations The control cabinet should not be placed near high voltage or m...

Страница 12: ...t open modify disassemble 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 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...

Страница 13: ... 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 turn off power supply Maintenance and repair should be performed by a qualified operator with a complete understanding of the entire system to avoid risk of ...

Страница 14: ...e personal injury or hazard The end effector may be equipped with its own control unit Be sure 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 potential dangers or abnormal situations exist when using end effector the associated hazards must be h...

Страница 15: ...ncy stop established an immediate stop Immediately stop the robot system and disconnect the driver power The emergency stop switch is used for emergency stop only The HIWIN robot is equipped with two emergency stop switches where one is installed on the teach pendant and the other is directly connected to the controller via a cable If additional emergency stop switches are required other connectin...

Страница 16: ...t 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 animals Operation outside the allowed operating parameters VI Disposal The disposal of HIWIN robot shall be in accordance with the local environmental regula...

Страница 17: ...screw as shown in Figure 1 3 a e Step3 Move the robot to the desired position by forklift truck Step4 Remove the suspension plate and firmly secure the robot Transport by sling and crane Step1 Move the robot into its transport position and the angle of each joint is shown in the table of Figure 1 1 Transport dimensions are shown in Figure 1 2 a e Step2 Secure two M12x1 75Px22L eye bolts to the rob...

Страница 18: ...5 60 70 55 45 90 J6 0 0 0 0 0 Before carrying the robot be sure to remove the end effector which changes 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 ...

Страница 19: ...17 C23UE004 2109 Figure 1 2 a RA610 1355 GC Transport dimensions Figure 1 2 b RA610 1476 GC Transport dimensions Center of gravity Center of gravity Center of gravity Center of gravity ...

Страница 20: ...18 C23UE004 2109 Figure 1 2 c RA610 1672 GC Transport dimensions Figure 1 2 d RA610 1869 GC Transport dimensions Center of gravity Center of gravity Center of gravity Center of gravity ...

Страница 21: ...109 Figure 1 2 e RA610 1151 GC Transport dimensions Figure 1 3 a RA610 1355 GC Transport by forklift truck Suspension plate Screw 4 M8x1 25Px20L Washer 4 M8 Direction for forklift Center of gravity Center of gravity ...

Страница 22: ... 1476 GC Transport by forklift truck Figure 1 3 c RA610 1672 GC Transport by forklift truck Suspension plate Screw 4 M8x1 25Px20L Washer 4 M8 Direction for forklift Suspension plate Screw 4 M8x1 25Px20L Washer 4 M8 Direction for forklift ...

Страница 23: ...21 C23UE004 2109 Figure 1 3 d RA610 1869 GC Transport by forklift truck Figure 1 3 e RA610 151 GC Transport by forklift truck Screw 4 M8x1 25Px20L Washer 4 M8 Direction for forklift Suspension plate ...

Страница 24: ...22 C23UE004 2109 Figure 1 4 a RA610 1355 GC Transport by sling Figure 1 4 b RA610 1476 GC Transport by sling Center of gravity Center of gravity ...

Страница 25: ...23 C23UE004 2109 Figure 1 4 c RA610 1672 GC Transport by sling Figure 1 4 d RA610 1869 GC Transport by sling Center of gravity Center of gravity ...

Страница 26: ...24 C23UE004 2109 Figure 1 4 e RA610 1151 GC Transport by sling Figure 1 4 f Eye bolt securement Sling installation position 2 M12 Eyebolt ...

Страница 27: ...n the installation surface Figure 1 6 Table 1 2 and Table 1 3 show the forces and moments acting on the installation surface of 610 series The installation surface must have sufficient strength to withstand the dynamic movement of the robot when operating at maximum speed Figure 1 5 Base dimension Figure 1 6 Forces and moments acting on the installation surface ...

Страница 28: ...nt MV Nm Vertical force FV N Horizontal moment MH Nm Horizontal force FH N Stop 933 1622 0 0 Acceleration Deceleration 2642 2569 978 971 Power cuts Stop 9475 6359 4891 4856 Applicable model RA610 1151 GC Ensure the installation surface is smooth plane which is recommended to be 6 3a or less for the roughness If the installation surface is rough the robot could produce the position shift during the...

Страница 29: ...connecting cable and the teach pendant The J1 interface and the pin assignment of the power supply and signal connector are shown in Figure 1 9 and Figure 1 10 Figure 1 7 Drawing of robot structure Figure 1 8 Robot and controller connection Joint 1 J3 motor J4 motor Joint 4 J1 motor J2 motor Joint 2 Joint 3 Joint 6 Joint 5 J5 motor J6 motor J5 extension arm Controller Teach pendant Power source ...

Страница 30: ... Interface at the rear of J1 Figure 1 10 Pin assignment of the Power Signal socket Code RA610 GC A Air in out socket B Air in out socket C Battery box D Power Signal socket When connecting the cable be sure to turn off power supply first ...

Страница 31: ...bot with the screw M5 0 8P 12L 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 ...

Страница 32: ... 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...

Страница 33: ...water proof cover RA610Z231 5 J5 J6 belt RA610Z231 6 Refer to section 6 2 2 J5 J6 belt for RA610 1151 GC RA610Z231 11 Refer to section 6 2 2 J1 J3 Grease RA610Z231 7 Refer to section 6 2 3 Encoder battery RA610Z231 8 Refer to section 6 2 1 Manual brake release device RA610Z231 9 Refer to section 5 J1 adjustable mechanical stop set RA610Z231 10 Teach Pendant RC600Z001 1 Refer to RCA GC User manual ...

Страница 34: ...to RCA GC User manual CH 5 2 Fuse 5A Fuse4 RC600Z001 19 2 Refer to RCA GC User manual CH 5 2 Fuse 2A Fuse5 RC600Z001 20 2 Refer to RCA GC User manual CH 5 2 CN3 Emergency Stop Switch Unit 5M RC600Z001 21 Refer to RCA GC User manual CH 2 6 GC Controller Accessory Kit RC600Z001 12 Refer to RCA GC User manual Table 1 External I O Expansion Module Note 1 Note 1 RC600Z001 22 Refer to RCA GC User manual...

Страница 35: ...te 37P Terminal Block RC600Z001 24 2 Refer to RCA GC User manual CH 3 4 37P cable with D Sub connector 6M RC600Z001 25 2 Refer to RCA GC User manual CH 3 4 Table 4 Encoder Expansion Module contents Note2 If some standard and optional equipment needs to be assembled in the controller before shipment please inform sales representative when purchasing Item HIWIN Part No Quantity Note Encoder Capture ...

Страница 36: ... C23UE004 2109 2 Basic Specifications 2 1 Description of Model Name There is a model name on the specification label of RA610 GC The explanation of model name is shown Figure 2 1 Figure 2 1 Model Diagram ...

Страница 37: ... prevent colliding to operator during operation Grounding Make sure grounding is completed or it will cause electric shock Read manual Read user manual before operating manipulator Electric shock Pay more attention that the robot may have a risk of electric shock Transport Be aware of transport position when transporting robot please refer to section 1 1 for detailed information ...

Страница 38: ...tion Robot specification and serial number Air in out The connection port of air tube for air input and output Grease in The hole for grease in Grease out The hole for grease out CN2 CN2 power signal socket R I O R I O connector ...

Страница 39: ...otion range J1 170 J2 85 150 95 150 J3 185 85 J4 190 J5 130 135 J6 360 Maximum speed J1 115 s 192 s J2 110 s 206 s J3 110 s 219 s J4 120 s 450 s J5 120 s 450 s J6 180 s 720 s Allowable load moment at wrist J4 32 2 N m 16 9 N m J5 69 9 N m 16 9 N m J6 44 6 N m 10 98 N m Allowable load inertia at wrist J4 14 4 kg m2 1 07 kg m2 J5 27 3 kg m2 1 07 kg m2 J6 11 7 kg m2 0 49 kg m2 Manipulator Weight kg 1...

Страница 40: ...etails about load capacity please refer to section 2 5 Note 3 The cycle time is the time that the RA610 1476 GC is loaded at 10kg to forward and backward move in the vertical height 25mm and the horizontal distance 300mm as shown in Figure 1 1 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 a...

Страница 41: ...39 C23UE004 2109 2 4 Outer Dimensions and Motion Range The outer dimensions and motion range are shown in Figure 2 3 a e Figure 2 3 a RA610 1151 GC Outer dimension and motion range ...

Страница 42: ...40 C23UE004 2109 Figure 2 3 b RA610 1355 GC Outer dimension and motion range ...

Страница 43: ...41 C23UE004 2109 Figure 2 3 c RA610 1476 GC Outer dimension and motion range ...

Страница 44: ...42 C23UE004 2109 Figure 2 3 d RA610 1672 GC Outer dimension and motion range ...

Страница 45: ...43 C23UE004 2109 Figure 2 3 e RA610 1869 GC Outer dimension and motion range ...

Страница 46: ...f the robot is not only limited by the weight of the load but also limited by the position of load s center of gravity Figure 2 4 a e shows the allowable position of load s center of gravity when the robot is loaded Figure 2 4 a RA610 1355 GC Wrist moment diagram ...

Страница 47: ...45 C23UE004 2109 Figure 2 4 b RA610 1476 GC Wrist moment diagram ...

Страница 48: ...46 C23UE004 2109 Figure 2 4 c RA610 1672 GC Wrist moment diagram ...

Страница 49: ...47 C23UE004 2109 Figure 2 4 d RA610 1869 GC Wrist moment diagram ...

Страница 50: ...48 C23UE004 2109 Figure 2 4 e RA610 1151 GC Wrist moment diagram mm mm ...

Страница 51: ...d effector Interface The end effector interface is shown in Figure 3 1 for RA610 1355 1476 1672 1869 GC and Figure 3 2 for RA610 1151 GC Figure 3 1 End effector interface for RA610 1355 1476 1672 1869 GC Figure 3 2 End effector interface for RA610 1151 GC ...

Страница 52: ...the peripheral equipment are shown in Figure 3 3 a f Figure 3 3 a Mounting surfaces on the robot Figure 3 3 b RA610 1355 GC Mounting surfaces on the robot 2 M8 1 25P 15DP Two sides J1 rotation center J2 rotation center J2 rotation center J5 rotation center J3 rotation center ...

Страница 53: ...e 3 3 c RA610 1476 GC Mounting surfaces on the robot Figure 3 3 d RA610 1672 GC Mounting surfaces on the robot J2 rotation center J3 rotation center J5 rotation center J2 rotation center J5 rotation center J3 rotation center ...

Страница 54: ...Figure 3 3 f RA610 1151 GC Mounting surfaces on the robot When other equipment is installed on the robot be aware of the interference between robot and motor cable J2 rotation center J5 rotation center J3 rotation center J5 rotation center J3 rotation center J1 rotation center ...

Страница 55: ...1672 1869 GC are installed on the rear of J1 as shown in Figure 3 4 and the outer diameter of the air tube in the robot is ψ4mm The secure holes for the nozzle are M5 0 8P 8DP Figure 3 4 The interface for air supply of RA610 1355 1476 1672 1869 GC Code Description Label A Air In Out B Air In Out ...

Страница 56: ...e are two 5 2 way solenoid power valves on the upper side of the 5th arm and the pneumatic circuit diagram of the arm air pressure is shown in Figure 3 6 Figure 3 5 The interface of RA610 1151 GC for air supply Figure 3 6 Pneumatic circuit diagram of RA610 1151 GC type MVSY 156 4E2 Operating pressure range 0 15 0 7 MPa Proof pressure 1 MPa Effective orifice 11 mm2 Response time 19 ms ...

Страница 57: ... interface Figure 3 12 show the two wire proximity switches connecting method for customers Figure 3 7 Pin assignment of the I O connector Power output 24V 1A 1 9 2 10 8 3 11 12 7 4 5 6 RO 2 RO 3 RO 4 RI 1 RI 2 RI 3 24V 0V RI 4 RI 5 RI 6 RO 1 1 9 2 10 8 3 11 12 7 4 5 6 White Blue Pink Blue Orange Blue Pink Blue Yellow Blue Gray Red Orange Red Orange Blue Yellow Red Orange Red Gray Blue White Red ...

Страница 58: ...56 C23UE004 2109 Figure 3 8 Wiring diagram of input Standard Sinking type Figure 3 9 Wiring diagram of input Optional Sourcing type ...

Страница 59: ...57 C23UE004 2109 Figure 3 10 Wiring diagram of output Standard Sinking type Figure 3 11 Wiring diagram of output Optional Sourcing type ...

Страница 60: ...nt at each pin is 100mA The two wire proximity switch might have residual voltage which can cause robot input error So it is suggested to choose a proper resistance and connect it by parallel connection as shown in Figure 3 12 while using two wire proximity switch Negative input 2 wire proximity switch 2 wire proximity switch Positive input Internal circuit Internal circuit ...

Страница 61: ...n tools is shown in Figure 4 2 to Figure 4 7 below Calibration tool A Calibration tool B Figure 4 1 The calibration tool set J1 axis Zero position setting please refer to the Figure 4 2 Step1 Operate J1 at low speed to align the pinhole of J2 with the pinhole of J1 Step2 Insert the calibration tool A to the pinhole to calibrate Zero position Step3 Finish calibration and remove the calibration tool...

Страница 62: ...g of J2 axis is completed Figure 4 3 Illustration of J2 axis Zero position setting J3 axis Zero position setting please refer to the Figure 4 4 Step1 Operate J3 at low speed to align the pinhole of J4 with the pinhole of J3 Step2 Insert the calibration tool A to the pinhole to calibrate Zero position Step3 Finish calibration and remove the calibration tool A Step4 Clear encoder by HRSS Step5 Zero ...

Страница 63: ...HRSS Step5 Zero position setting of J4 axis is completed Figure 4 5 Illustration of J4 axis Zero position setting J5 axis Zero position setting please refer to the Figure 4 6 Step1 Operate J5 at low speed to align the pinhole of J6 with the pinhole of J5 Step2 Insert the calibration tool A to the pinhole to calibrate Zero position Step3 Finish calibration and remove the calibration tool A Step4 Cl...

Страница 64: ...d remove the calibration tool B by using the hexagon socket screw Step4 Clear encoder by HRSS Step5 Zero position setting of J6 axis is completed Figure 4 7 Illustration of J6 axis Zero position setting Clear encoder by HRSS Refer to HRSS Software Manual 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 Ste...

Страница 65: ...63 C23UE004 2109 Figure 4 8 Clear encoder by HRSS ...

Страница 66: ... 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 detail specifications referring to the Table 1 1 corresponding connector referring to the Figure 5 1 1 Please make sure CN2 connector is matched...

Страница 67: ...e device Item with HIWIN Manual Brake Release Device Specification Model name RA610 XXX 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 temperature oC 0 45 Relative humidity RH 50 75 non condensing ...

Страница 68: ...66 C23UE004 2109 5 3 Operation Name descriptions of the manual brake release device and their functions refer to Figure 5 2 Table 5 2 Figure 5 2 the manual brake release device ...

Страница 69: ... corresponding axis WARNING Please 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 Th...

Страница 70: ...in Table 6 1 Table 6 1 Daily Inspection Items No Inspection item Remedy Before turning power ON 1 any of the robot installation screws cover installation screws and end effector installation screws loose Securely tighten the screws 2 Are all the cables securely connected Such as the power and signal cable grounding cable the cable for teach pendant and the cable connected the robot and other equip...

Страница 71: ...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 grease of the reducer has not been changed for a long period Please change the grease Refer to section 6 2 3 8 If the bearing or the reducer has been damaged by the rolling surface or the gear tooth surface Please contact HIWIN directl...

Страница 72: ...ler Inspection item C 6 months 1920 hours 1 Check whether the timing belt is normal Adjust the tension of the timing belt If the friction at the timing belt is severe replace it Refer to section 6 2 2 Inspection item D 1year 3840 hours 1 Replace the backup battery in the robot Replace the backup battery Refer to section 6 2 1 Inspection item E 3years 11520hours 1 Change the lubrication grease of J...

Страница 73: ...71 C23UE004 2109 Table 6 3 Inspection schedule ...

Страница 74: ... 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 with the cables and keep the power on Step3 Please loosen the hexagon socket screws M3x0 5Px8L and remove the battery cover Step4 There are four 3 6V batteries Replace the battery one by one If all batteries ...

Страница 75: ...ked or the belt is broken replace 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 Th...

Страница 76: ...the belt remove the cover of J5 and J6 The M3x0 5Px15L captive screws are used as shown in Figure 6 3 Robot Type Axis Belt type Width mm Span mm Tension N RA610 1355 1476 1672 1869 GC 5 396 3GT 6 6 152 5 29 32 6 396 3GT 6 6 152 5 29 32 RA605 1151 GC 5 540 5GT 9 9 188 6 55 10 6 540 5GT 9 9 188 6 55 10 Sonic tension meter ...

Страница 77: ...lt Step1 Ensure the power of controller is switched off Step2 Remove the cover of J5 Step3 Check whether the timing belt is normal Step4 If the timing belt is abnormal refer to the following paragraph to replace the timing belt Step5 If the belt tension is lower than the standard refer to the following paragraph to adjust the belt tension Belt pulley Screws for motor flange Belt Belt pulley Tensio...

Страница 78: ...lt refer to the paragraph Adjust J5 axis timing belt above to adjust the tension of the belt Inspection maintenance and replacement of J6 axis timing belt Figure 6 5 shows the structure of J5 axis Figure 6 5 J6 axis structure diagram Inspect J6 axis timing belt Step1 Ensure the power of controller is switched off Step2 Remove the cover of J6 Step3 Check whether the timing belt is normal Step4 If t...

Страница 79: ...ming belt Step3 After replacing the belt refer to the paragraph Adjust J6 axis timing belt above to adjust the tension of the belt 6 2 3 Grease Replacement The J4 J6 Axes are designed with lifetime lubrication technology and never needs a change of lubricant in the reducer unit The robust and sealed design makes sure the stability of lubrication inside the robot The grease inlets and the air vents...

Страница 80: ...e grease of J1 J3 axis Note2 Please contact HIWIN directly for the grease replacement method Part Grease nipple Lubrication grease Quantity Lubrication interval J1 reduction gear M6 VIGOGREASE REO 700 ml 3Year 11520Hr J2 reduction gear M6 VIGOGREASE REO 468 ml J3 reduction gear M6 VIGOGREASE REO 241 ml ...

Страница 81: ...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 indus...

Страница 82: ...__ mm Load Center of Gravity _______________________ mm Needed Movement Horizontal Motion Range ________ mm Vertical Motion Range __________ mm Repeatability _______ mm Cycle Per Minute _______ CPM Installation Input Power Single Phase 220 V RA605 RA610 Three Phase 380V 415V 480V 575V please select Length of Floor Cable CN2 3m Standard 5m Option 10m Option Communicati on Standard TCP IP Modbus TCP...

Страница 83: ...ation by HIWIN or distributor Sales Contact Name _________________ Date _________________ Recommend Model RT605 ________ GB RA605 ________ GC RA610 ________GC Remark Note 1 For palletizing application need to provide pallet type and space planning Note 2 For polish grinding application need to provide work part or 3D model and photo of comparison before and after ...

Страница 84: ...te 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 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 Pub...

Страница 85: ...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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