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C19UE101-1804

Content

1. Specifications

1.1 Standard Specification

1.2 Standard and Optional Equipment

1.3 Serial Specification

1.4 Appearance Dimensions

1.5 Appearance Component

1.6 Operating Environment

1.7 Sticker and Label

2. Installation

2.1 Installation Dimensions

2.2 Multifunctional Installation Frame

2.3 Basic Connection Structure

2.4 Instruction of Controller ON/OFF Procedure

2.5 Motor Cable Connection (CN2)

2.6 Emergency Stop Switch Connection (CN3)

3. External Input/ Output

3.1 Function I/O

3.2 Digital I/O

3.3 Example of Connection

3.4 Encoder Capture Module (CN5)

3.5 RS-232 Port

4. Teach Pendant

5. Maintenance

5.1 Lead-Acid Battery

5.2 Fan Cotton Filter

5.3 Fuse

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Содержание RCD403-GB

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Страница 2: ...ideway Automation Semiconductor Medical Ball Type HG EG WE MG CG Quiet Type QH QE QW QR Other RG E2 PG SE RC Medical Equipment Hospital Rehabilitation centers Nursing homes Robotic Gait Training Syste...

Страница 3: ...from external emergency stop switch must be pressed before turning off the power and then disconnect the power switch After turning off the power switch the operator must wait for green indicator PC i...

Страница 4: ...The following are the safety symbol used in this manual Symbol Description DANGER Failure to follow the description of this symbol will cause serious personal injury Please make sure to follow those r...

Страница 5: ...r is grounded Keep hands away from the inner part of the controller while it is connecting to the power or during operating Do not touch the heat sink regenerative resistance the power supply or the c...

Страница 6: ...open modify disassemble and maintain the machine without permission The power must be disconnected when the machine does not operate in a long time CAUTION All operations must be executed by the trai...

Страница 7: ...g without permission After the brake of a servo motor is released the robot will move due to the gravity and it may injure the operator When installing or disassembling any mechanical parts be aware o...

Страница 8: ...f valve so that the operator can be applied in an emergency WARNING More attention should be paid to the pressure in the pneumatic and hydraulic systems which are usually several times more than the a...

Страница 9: ...e emergency stop instead of the normal stop procedure to shut down the robot system Otherwise it may cause unnecessary damage to the robot system Emergency Stop Switch The HIWIN robot is equipped with...

Страница 10: ...ler Product or peripheral equipment damaged due to collision or accident caused by improper operation or test by the unauthorized staff Installing non genuine HIWIN products The following conditions a...

Страница 11: ...r the dealer who you purchased with WARNING Improper modification or disassemble the robot might reduce the robot function stability or lifespan The end effector or the cable for devices should be ins...

Страница 12: ...ation 2 1 Installation Dimensions 2 2 Multifunctional Installation Frame 2 3 Basic Connection Structure 2 4 Instruction of Controller ON OFF Procedure 2 5 Motor Cable Connection CN2 2 6 Emergency Stop...

Страница 13: ...804 Version Update Version Date Applicable Scope Note 1 0 0 2018 01 08 RCD403 GB First release 1 0 1 2018 03 05 RCD403 GB 1 Add leakage current mark 2 Modify 3 4 Encoder Capture Module 3 Add 2 6 3 war...

Страница 14: ...RSS Memory capacity Fixed point 5000 Step number 10000 Teaching method Teach pendant Communication interface RS232 1 Ethernet 2 USB 2 External I O Emergency stop input Input 1 Function I O Input 8 Out...

Страница 15: ...Signal Cable 5M AH301A01 Refer to CH2 5 Connector Accessory Kit 4C201M91 Refer to CH 2 6 and CH3 The following table shows the items of robot controller optional equipment Item HIWIN Part No Remark T...

Страница 16: ...C19UE101 1804 1 3 Serial Specification Serial Number Model Number...

Страница 17: ...4 Appearance Dimensions The following show the appearance dimensions of the robot controller unit mm CAUTION As a complete installation dimension some space needs to be reserved for the cables Please...

Страница 18: ...C19UE101 1804 1 5 Appearance Component The function of each connector outside the controller...

Страница 19: ...Power Indicator Green Light Display ON OFF status 11 Encoder Capture Connector CN5 Capture external encoder value 1 6 Operating Environment The robot controller employs the IEC protection rating as I...

Страница 20: ...C19UE101 1804 1 7 Sticker and Label The following shows the appearance stickers and labels on the robot controller...

Страница 21: ...C19UE101 1804 No Illustration Description 1 Controller specification 2 Beware of electric shock 3 Grounding 4 Transport by multiple people 5 Danger authorized professionals only...

Страница 22: ...some space for the connecting wires to avoid interference as they bend unit mm CAUTION Controller should keep upright while installing as the illustration shows Flipping it 90 degrees on the side and...

Страница 23: ...led on the controller with the handle used for transportation Or the controller can be fixed on other machines to use The assembly method of the fixing frame and the handle is shown below The specific...

Страница 24: ...led under the controller The assembly drawing is shown below The specification of the screws is M6X1PX8L This configuration is convenient for the operator to fix the controller on other machines The c...

Страница 25: ...separated from main power breaker Do not connect the ground by devices or system ground the best way is to connect to power ground directly and high quality wires which diameters are 14AWG or more sh...

Страница 26: ...a safe posture and then stop the motion 2 Press the emergency stop button 3 Turn the power switch on the the controller starts its shut down procedure Before cutting off the power make sure the contro...

Страница 27: ...ng If it cannot be plugged in please rotate and connect it again Plug the motor cable into CN2 connector and buckle up the safety lock indeed WARNING Plug the connector in the direction parallel to th...

Страница 28: ...ng diagram Controller emergency stop connector is a dual circuit contact which should be connected with an external dual circuit emergency stop device additionally This device should be a dry contact...

Страница 29: ...e rotate and connect it again Plug the connector into CN3 and secure the screws indeed CAUTION Please ensure this emergency stop switch and the emergency stop on the teach pendant are all reset before...

Страница 30: ...al I O wiring kit optional equipment contains connecting wire and terminal block Connector kit contains DSUB 37 soldering connector External I O expansion module optional equipment can be expanded 16...

Страница 31: ...RSR2 PNS2 Robot service request 2 program selection 2 8 RSR3 PNS3 Robot service request 3 program selection 3 9 RSR4 PNS4 Robot service request 4 program selection 4 OUTPUT Pin Parameter Function 21 R...

Страница 32: ...Parameter 10 DI 1 29 DO 1 2 DI 9 21 DO 9 11 DI 2 30 DO 2 3 DI 10 22 DO 10 12 DI 3 31 DO 3 4 DI 11 23 DO 11 13 DI 4 32 DO 4 5 DI 12 24 DO 12 14 DI 5 33 DO 5 6 DI 13 25 DO 13 15 DI 6 34 DO 6 7 DI 14 26...

Страница 33: ...SUB 37 connector are the supply voltage which should be connected to the same power supply 4 Pin 18 COM and pin19 0V of INPUT in the same DSUB37 connector should be connected to the same power supply...

Страница 34: ...C19UE101 1804 D37PIN 1 INPUT NPN OUTPUT NPN...

Страница 35: ...C19UE101 1804 D37PIN 1 INPUT PNP OUTPUT NPN...

Страница 36: ...34 C19UC101 1801 D37PIN 2 INPUT NPN OUTPUT NPN...

Страница 37: ...35 C19UC101 1801 D37PIN 2 INPUT PNP OUTPUT NPN...

Страница 38: ...onnector in and secure the screw indeed DANGER No signal or power supply should be close to or in contact with any metal case Wrong method of using can cause a severe damage or loss of life and proper...

Страница 39: ...UC101 1801 3 4 Encoder Capture Module CN5 Description There are four channels in the encoder CH1 CH4 the channel Latch signals are IDI0 IDI3 IDICOM can change the input to NPN or PNP according to oper...

Страница 40: ...CH1B 22 CH1Z 4 CH1Z 23 CH2A 5 CH2A 24 CH2B 6 CH2B 25 CH2Z 7 CH2Z 26 CH3A 8 CH3A 27 CH3B 9 CH3B 28 CH3Z 10 CH3Z 29 CH4A 11 CH4A 30 CH4B 12 CH4B 31 CH4Z 13 CH4Z 32 GND 14 IDICOM 33 IDI1 15 IDI0 34 IDI3...

Страница 41: ...the encoder required extra supply of 5V CH1 as an input example Color Terminal Brown Power supply Vcc Blue 0V common Black Output phase A White Output phase B Orange Output phase Z Black red stripes O...

Страница 42: ...RS 232 Port Description The following figure shows the pin assignment of RS 232 controller The following figure shows the connection method with external device Pin Description 2 RXD Receiver 3 TXD T...

Страница 43: ...r in and secure the screw indeed DANGER No signal or power supply should be close to or in contact with any metal case Wrong method of using can cause a severe damage or loss of life and property WARN...

Страница 44: ...the high dust concentration and high grease concentration environment since its protection rating is IP20 To ensure the Teach Pendant functions normally any impact and fall are forbidden Item HIWIN R...

Страница 45: ...ifferent mode 7 Enable Switch note 1 When pressing one of the switches the robot can start to move the robot will stop directly when releasing this switch or pressing it to the end note 1 instruction...

Страница 46: ...Steps 1 Remove 11 pieces of M4X0 7PX12L Phillips screws on the cover and remove the cover 2 The battery is located on the right side in the cabinet Remove the power cable connected to the battery 3 Re...

Страница 47: ...the cabinet contains cotton filter which has the function of blocking external foreign material enhancing the air convection and promoting heat dissipation Please decide the frequency of cotton filter...

Страница 48: ...es of M4X0 7PX12L Phillips screws on the cover and remove the cover 2 Check FUSE1 FUSE2 FUSE3 on RCBCDZ023 3 Remove the protective cover of the fuse if the fuse is melted replace a new fuse 4 The spec...

Страница 49: ...r code 02 02 11 appeared during automatic running 1 Remove 11 pieces of M4X0 7PX12L Phillips screws on the cover and remove the cover 2 Check FUSE2 on RCBCDZ033 if the fuse is melted please replace a...

Страница 50: ...C101 1801 WARNING Make sure the controller is disconnected to the power supply before replacing the fuse Replacing fuses with different ampere or other conductive materials Iron wire Iron sheet are fo...

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