Hiwin SCARA Robot RS405-LU Скачать руководство пользователя страница 42

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C21UE001-2008

Applicable controller

RC4

Power signal cable

[Note 4]

2 m

[Note 5.]

The installation of the horizontal platform will result in reduced efficiency

of the robot arm.

[Note 6.]

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 and load, and it cannot be

continuously operated.

[Note 7.]

If you have any special needs, please contact HIWIN.

[Note 8.]

The power signal cable must have a bend radius of at least 150 mm and is

not allowed for use with the drag chain.

Содержание SCARA Robot RS405-LU

Страница 1: ...C21UE001 2008 0...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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 perform...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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Страница 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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Страница 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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Страница 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...

Страница 52: ...C21UE001 2008 51...

Страница 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...

Страница 54: ...C21UE001 2008 53...

Страница 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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Страница 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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Страница 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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Страница 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...

Страница 62: ...C21UE001 2008 61...

Страница 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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Страница 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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Страница 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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Страница 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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Страница 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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Страница 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...

Страница 74: ...C21UE001 2008 73...

Страница 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...

Страница 76: ...C21UE001 2008 75...

Страница 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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Страница 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...

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Страница 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...

Страница 82: ...C21UE001 2008 81...

Страница 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...

Страница 84: ...C21UE001 2008 83...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 125: ...C21UE001 2008 124...

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