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UIrobot UI-SR Series User Manual

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User Manual
UI-SR Series
SCARA Robot
V1.2

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Summary of Contents for UIrobot UI-SR Series

  • Page 1 User Manual UI-SR Series SCARA Robot V1.2...
  • Page 2 • UIROBOT will only work with the customer who respects the Intellectual Property (IP) protection. • Attempts to break UIROBOT’s IP protection feature may be a violation of the local Copyright Acts. If such acts lead to unauthorized access to UIROBOT’s IP work, UIROBOT has a right to sue for relief under that Act.

  • Page 3: Table Of Contents

    Operation Safety ..........................8 Emergency Stop ..........................9 Emergency Movement Without Drive Power ..................10 Labels ..............................11 Specification ............................12 Features of UI-SR series ........................12 Model Number ..........................13 Part Names and Outer Dimensions....................14 Specifications ...........................16 2.5 Recommendations for Users ........................18 2.6 How to Set the Model ..........................19 Environments and Installation ......................20...
  • Page 4 UIROBOT SCARA Robot Robot Setting .............................53 2.6.1 Reset Setting ......................53 2.6.2 Password Setting ....................54 2.6.3 Network Setting ..................... 54 2.6.4 Time Setting ......................55 Close Robot ............................56 About ..............................56 MAINTENANCE..............................57 Safety of Maintenance ........................58 Maintenance Summary ........................59 Check Schedule ..........................59 Check Contents ..........................60...

  • Page 5: Basic Technic

    UI – SR Series User Manual BASIC TECHNIC This volume contains information for setup and operation of UI-SR series robots. Please read this volume thoroughly before setting up and operating the robot. UI Robot Technology Co. Ltd. M4220161122CN Page 5...

  • Page 6: Safety

    UIROBOT SCARA Robot 1.0 SAFETY Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. Please read this manual and other related manuals before installing the robot system.

  • Page 7: Design And Installation Safety

    UI – SR Series User Manual Design and Installation Safety Only trained personnel should design and install the robot system. Trained personnel are defined as those who have taken robot system training and maintenance training classed held by the manufacture, dealer or local representative company, or those who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses.

  • Page 8: Operation Safety

    UIROBOT SCARA Robot Operation Safety The following items are safety precautions for qualified Operator personnel: ★ Do not enter the operating area of the robot while the power is ON.Entering the operating area with the power ON is extremely hazardous and may cause serious safety problems as the robot may move even if it seems to be stopped.

  • Page 9: Emergency Stop

    UI – SR Series User Manual Emergency Stop If the robot moves abnormally during operation, press the emergency stop immediately. Stops the power supply to the motor, the arm stops in the shortest distance. However, avoid pressing the emergency stop switch unnecessarily while the robot is running normally.

  • Page 10: Emergency Movement Without Drive Power

    UIROBOT SCARA Robot Emergency Movement Without Drive Power When the system is placed in emergency mode, push the arm or joint by hand gently as shown below: Joint #1：Push the arm by hand. Joint #2：Push the arm by hand. Joint #3：Rotate the shaft by hand.

  • Page 11: Labels

    UI – SR Series User Manual Labels The following labels are attached near the location of robot where specific dangers exits. Be sure to comply with descriptions and warnings on the labels to operate and maintain the robot safely. To operate and maintain the robot system, please comply with notice and waring contents recording in warning labels.

  • Page 12: Specification

    UIROBOT SCARA Robot 2.0 SPECIFICATION Features of UI-SR series UI-SR series robot is an high performance robot with high speed and cost performance. The features of UI-SR series robot are as follows: No Electric Cabinet All joint motors use drive control integrated machine which can result in simple wiring.

  • Page 13: Model Number

    UI – SR Series User Manual Model Number UI - Payload L：1kg H：3kg Joint #3 Stroke 120：120mm 150：150mm 170：170mm 200：200mm Arm Length 4：400mm 6：600mm SCARA Robot UIRobot For details on the specifications, refer to 2.4 Specifications. UI Robot Technology Co. Ltd. M4220161122CN Page 13...

  • Page 14: Part Names And Outer Dimensions

    UIROBOT SCARA Robot Part Names and Outer Dimensions UI-SR 4150LS LED Lamp Upper Outer Cover Base Lower Outer Cover Master Arm Deputy Arm Lead Screw Fan Hole Label Box Multifunction LED Lamp I/O Port X4 Output Port X3 Network Port X2 Power Port X1 While the LED lamp is on, the current is being applied to the robot.
  • Page 15 UI – SR Series User Manual UI-SR 4150LS Standard-Model Unit：mm UI Robot Technology Co. Ltd. M4220161122CN Page 15...

  • Page 16: Specifications

    UIROBOT SCARA Robot Specifications Item SR4150LS 400 mm Arm Length Arm #1,#2 Arm #1 222 mm Arm #2 178 mm Max. Operating Joint #1,#2 4000 mm / s Speed Joint #3 800 mm / s Joint #4 360 deg / s ±0.05 mm...
  • Page 17 UI – SR Series User Manual SR 4150L Item ± 135 deg Max. Joint #1 ± 135 deg motion Joint #2 150 mm range Joint #3 ± 180 deg Joint #4 ±38250pulse Max. Joint #1 ±38250 pulse pulse Joint #2 range ±25000 pulse Joint #3...

  • Page 18: Recommendations For Users

    UIROBOT SCARA Robot 2.5 Recommendations for Users UI SCARA robot has better performance in the following conditions: Range of main arm: the angle difference between starting and end points is less than 50 degree; Maximum distance of SR 4150L tool side: 450mm；...

  • Page 19: How To Set The Model

    UI – SR Series User Manual 2.6 How to Set the Model The robot model for your system has been set before shipment from the factory. It is normally not required to change the model when you receive your system. ★...

  • Page 20: Environments And Installation

    UIROBOT SCARA Robot 3.0 ENVIRONMENTS AND INSTALLATION Environmental Conditions A suitable environment is necessary for the robot system to function properly and safely. Be sure to install the robot system in an environment that meets the following conditions: Item Conditions -20～60℃...

  • Page 21: Base Table

    UI – SR Series User Manual Base Table A base table for anchoring the robot is not supplied. Please make or obtain the base table for your robot. The shaped and sized of the base table differs depending on the use of the robot system.

  • Page 22: Mounting Dimensions

    UIROBOT SCARA Robot Mounting Dimensions The maximum space described in figures shows that the radius of the end effector is 60mm or less. If the radius of the end effector exceeds 60mm, define the radius as the the distance to the outer edge of maximum space.

  • Page 23: Unpacking And Transportation

    UI – SR Series User Manual Unpacking and Transportation The installation should be preformed by qualified installation personnel and should conform to all national and local codes. ★ Using a cart or similar equipment, transport the robot in the same manner as it was delivered.

  • Page 24: Installation Procedure

    UIROBOT SCARA Robot Installation Procedure ★ The robot system must be installed to avoid interference with buildings, structures, utilities, other machines and equipment that may creat a Caution trapping hazard or pinch points. ★ Install the robot with two or more people. Be careful not to get hands,...

  • Page 25: Connecting The Cables

    UI – SR Series User Manual Connecting the cables ★ To shut off power to the robot system, pull out the power plug from the power source. Be sure to connect the AC power cable to a power receptacle. Do not connect it directly to a factory power area. ★...

  • Page 26: Relocation And Storage

    UIROBOT SCARA Robot Relocation and Storage 3.7.1 Precautions of relocation and storage Observe the following when relocating , storing and transporting the robot. The installation should be preformed by qualified installation personnel and should conform to all national and local codes.

  • Page 27: Setting Of End Effectors

    UI – SR Series User Manual 4.0 SETTING OF END EFFECTORS Users are responsible fore making their own end effectors. Before attaching an end effector, observe these guidelines. ★ If you use an end effector equipped with a gripper or chuck, connect wires and/or pneumatic tube properly so that the gripper does not Caution release the work piece when the power to the robot system is turned off.

  • Page 28: Motion Range

    UIROBOT SCARA Robot 5.0 MOTION RANGE ★ When setting up the motion range for safety, both the pulse range and mechanical stops must always be set at the same time. Caution The motion range is preset at the factory. There are three methods for setting the motions range described as follows: 1.

  • Page 29: Max. Pulse Range Of Joint #1

    UI – SR Series User Manual 5.1.1 Max. Pulse Range of Joint #1 The 0 pulse position of Joint #1 is the position where Arm #1 faces towards the positive direction on the X-coordinate axis. When the 0 pulse is starting point, the anticlockwise pulse value is defined as the positive(+) and the clockwise pulse value is defined as the negative(-).

  • Page 30: Max. Pulse Range Of Joint #3

    UIROBOT SCARA Robot 5.1.3 Max. Pulse Range of Joint #3 The 0 pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse value is always negative because Joint #3 always moves lower than the 0 pulse position.

  • Page 31: Motion Range Setting By Mechanical Stop

    UI – SR Series User Manual Motion Range Setting by Mechanical Stop Mechanical stops physically limit the absolute area that the robot can move. Both Joint #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings.
  • Page 32 UIROBOT SCARA Robot Both Joint #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings. Install the bolts in the holes corresponding to the angle that you want to set. Install the bolts for the mechanical stop to the following position.

  • Page 33: Specific Operation

    UI – SR Series User Manual SPECIFIC OPERATION Steps and precautions during using UI-SR series robots. UI Robot Technology Co. Ltd. M4220161122CN Page 33...

  • Page 34: Installation And Uninstall Of Scara Software

    UIROBOT SCARA Robot INSTALLATION AND UNINSTALL OF SCARA SOFTWARE Installation of SCARA Software Copy the installation file “SCARASetup.exe” to your computer’s hard drive and double click the file to install. The computer screen will appear the installation interface with words of “welcome to use ‘SCARA 1.0’”...
  • Page 35 UI – SR Series User Manual If you want to modify the installation directory, click the “BROWSE” button, if not, just click the “INSTALL” button. It starts to install the software, waiting for the installation to be completed. After the installation, appears a interface with words of “SCARA 1.0 have been installed”, click the “FINISH”...
  • Page 36 The folder includes files required for SDK static calling; ExampleCode The folder includes source codes to call SDK dynamic library examples; UIRobotWebsite Listing to UIROBOT company, welcome to adcive if you need help; SCARA.exe Start program of SCARA; Uninst.exe Uninstall program of SCARA;...

  • Page 37: Uninstall Of Scara Software

    UI – SR Series User Manual Uninstall of SCARA Software Double click the “uninst.exe” file in the installation directory to uninstall the software, as shown in the following figure: Click the “YES” button, all the files in the installation directory will be cleared. The uninstallationis completed.

  • Page 38: Scara Software Operattion

    UIROBOT SCARA Robot SCARA SOFTWARE OPERATTION SCARA software is a kind of graphical user interface, which can be used by users to operate robots, run the existing robot program or to easily creat new program. Start Program After the success of SCARA software SCARA installation, double click the SCARA icon, then enter...

  • Page 39: Login In

    UI – SR Series User Manual Login In Bluetooth connection: Select serial number of bluetooth device that have communicated with robot in the serial numbers drop-down menu. Click the “open serial port” button to establish the communication , then enter main menu interface.

  • Page 40: Main Menu

    UIROBOT SCARA Robot Main Menu Users interface of SCARA ：the lower status bar of the screen shows the feedback information from robot after the execution of instructions; the left middle lower part of the screen shows the current running state of robot;...

  • Page 41: Running Program

    UI – SR Series User Manual Running Program Click the “running program” button in the main menu screen, then enter running program interface. Through the running program interface, the function of simulation, simulation running and running for users program can be achieved; through the program list, can check or delete the internal program list in robot.

  • Page 42: Robot Programming

    UIROBOT SCARA Robot Robot Programming Click the “robot programming” button on the main menu, enter robot programming interface, which contains six parts: program, install, move, I/O, camera mode and log. 2.5.1 Program Click “program” button, enter programming interface, and can achieve functions as: “new program”, “loading program from local”, “loading program to robot”...
  • Page 43 UI – SR Series User Manual The left of the simple programmer interface is a programming window, and the right of that contains a simulation window, tool and function buttons. Tool buttons contain “up”, “down”, “copy”, “delete” and “simulation” buttons. Select one program from program editing window, click “up”...
  • Page 44 UIROBOT SCARA Robot Click “While” button, program editing window display while loop statement: While（loop judge condition） ｛ Execute code； Condition of jumping out of the loop； ｝ Double click while statement in program editing window, automatically eject loop judge condition input interface. Constants, variables, port input are available to be taken as loop judge condition to constraint program.
  • Page 45 UI – SR Series User Manual Users can write statements throught loop judge condition input interface and assignment interface. New variable Click “new variable” button in simple programmer interface, enter new variable interface in which users can customize, add, delete integer variable. Assignment UI Robot Technology Co.
  • Page 46 UIROBOT SCARA Robot After new-built a variable in “new variable”, click “assignment” button in simple programmer interface, then users can write loop condition. Linear motion Click “linear motion” button in simple programmer interface, users can write linear motion. Default linear motion from user program generally have two groups of points, each group has four values.
  • Page 47 UI – SR Series User Manual on the right side to add a group of points. Points Select one internal point in linear motion or curvilinear motion, double click that point or click “point” button, enter point editing interface. In point editing interface, user can coordinate robot to fast and easily pick up robot coordinate point through three kinds of ways that are dimensional coordinate, axis rotation angle and manual control.
  • Page 48 UIROBOT SCARA Robot user can set up high and low output of 8 output ports according to actual needs. Waiting Click “waiting” button in simple programmer interface, enter programming waiting interface in which user can set up time waiting or IO input waiting according to demand.
  • Page 49 UI – SR Series User Manual Load program from local Click “load program from local” button in robot programming interface, eject file location selection dialog. User can open and edit program in the computer. Load program to robot Click “load program tp robot” in robot programming interface, eject file location selection dialog. User can load robot program from computer to robot, and can run the loaded program in program running interface.

  • Page 50: Install

    UIROBOT SCARA Robot Dowload program from robot Click “download program from robot” button, eject robot program list. User select the program need to download, click “OK”, the program is downloaded to computer. 2.5.2 Install Click “install” button in main menu, enter robot tool center point setting interface.

  • Page 51: Move

    UI – SR Series User Manual 2.5.3 Move Click “move” button in the main menu, enter robot movement interface. Tool position: Set up the coordinate parameter of X, Y, Z and RZ axis to adjust robot position. Movement joint：Set up the angle of big arm, small arm, tool and wrist to adjust robot position.

  • Page 52: I/O

    UIROBOT SCARA Robot arrow indicate X direction. Combined movement of third and forth joints, the shaft rotates up and down. 2.5.4 I/O Click “I/O” button in the main menu, enter robot I/O interface. SCARA robot have 8 input ports, 16 output ports. In the interface user can query the state of each port.

  • Page 53: Robot Setting

    UI – SR Series User Manual Log interface: Detailed record the feedback information after sending instructions to robot. User can query the robot running state in real time. Robot Setting Click “robot setting” button in user interface to enter robot setup interface. 2.6.1 Reset Setting Click “reset setting”...

  • Page 54: Password Setting

    UIROBOT SCARA Robot Click “reset” button, the robot automatically returns to the original point. 2.6.2 Password Setting Click “password setting” button, enter login password setting interface. In password setting interface, the default original password is 1234, user can customize new password according to demand, click “OK” to complete password setting. Re-login the software after password setting, the password can take effect.

  • Page 55: Time Setting

    UI – SR Series User Manual In network setting interface, user can change robot’s intenal IP through setting of IP address, subnet mask and default gateway for easy network communication. 2.6.4 Time Setting Click “time setting” button, enter robot time setting interface. In the time setting interface, user can set up time for robot .。...

  • Page 56: Close Robot

    UIROBOT SCARA Robot Close Robot Click “close robot” button, pop-up a dialog box “confirm to close robot” , click “YES” to close the robot. About Click “about” button, the screen will pop-up the current version number information of robot. Page 56 M4220161122CN UI Robot Technology Co.

  • Page 57: Maintenance

    UI – SR Series User Manual MAINTENANCE Steps and Precautions During Maintanance of UI-SR series robots. UI Robot Technology Co. Ltd. M4220161122CN Page 57...

  • Page 58: Safety Of Maintenance

    UIROBOT SCARA Robot 1.0 SAFETY OF MAINTENANCE Perior to maintenance, please read carefully “safety of maintanance”, this manual and related manauals, and be familiar with maintenance methods. The robot system should be maintained by trained personnel. Trained personnel are defined as those who have taken robot system training and maintenance...

  • Page 59: Maintenance Summary

    UI – SR Series User Manual operate the robot while the power is on, it may cause electric shock or malfunction. ★ Please connect the cable reliably. In addition, do not place heavy object on the cable, do not extremely bend, forcibly pull or nip the cable, otherwise it may cause damage, disconnection or poor 警...

  • Page 60: Check Contents

    UIROBOT SCARA Robot Check Contents 2.2.1 Check When Power is Off (No Operation) Please pay attention to the following conditions when transferring/storing/transporting. Check Item Check Position Daily month months months months Confirm whether bolts Mounting bolts at the √ √...

  • Page 61: Grease Filling

    UI – SR Series User Manual Gently shake the cable by hand to External cable(including √ √ confirm whether cable units of robot) there is disconnection Press each arm by hand in power-on state to confirm Joints √ whether there is rocking Check for abnormal Overall...

  • Page 62: Origin Position

    UIROBOT SCARA Robot in the table below. When re-tightening these bolts in the work described in this manual, use a torque wrench or the like to tighten to the torque values shown in the table below, unless otherwise specified. For locking screws, refer to the following.为...

  • Page 63: Encloser

    UI – SR Series User Manual Integrated speed reducer Integrated speed reducer for the second joint for the fourth joint User board Cable unit Ball screw spline unit Upper cover U2 belt U1 belt Under cover Integrated Speed reducer for the third joint Main arm Interface board...

  • Page 64: User Board

    UIROBOT SCARA Robot If the robot is turned on with a foreign matter entered, it may lead to electric shock or malfunction, which is very dangerous. User board Upper encloser Base tube Interface board Under encloser Base board User Board Disassembly of user board 第...

  • Page 65: Upper Encloser

    UI – SR Series User Manual Tighten the fixing bolts (6 in total) for user board, and unplug the internal wire connector 6 -M2.5×6 to remove the user board. Cross head screws Installation of user board Connect the internal wire connector, insert the user board into the upper enclose, align the screw holes, and then secure with fixing screws.

  • Page 66: Under Encloser

    UIROBOT SCARA Robot Attach the encloser to the robot arm, and secure it with fixing bolts. After the upper encloser is secured, please make sure the lower mechanical block does not interfere the cylindrical part of the upper encloser. Under Encloser Disassemble the fixing bolts of under cover, and remove the encloser downwards.
  • Page 67 UI – SR Series User Manual Unscrew the fixing bolts of interface board then open the it. Notice: There is electrical interface on the inner side of interface board, please slowly open the interface board from up to down to avoid cable damage caused by forcible pulling .

  • Page 68: Cable

    UIROBOT SCARA Robot 4.0 CABLE ★ Do not load and unload the motor connector while the power is on, otherwise it may cause abnormal action, which is very dangerous. In addition, when the power is on, the operation of robot may result in electric shock or malfunction.
  • Page 69 UI – SR Series User Manual Cable unit ★ To replace the cable unit, if the interface board has been disassembled, please refer to wiring table amd reconnect properly; if the connection is made incorrectly, the system may not be able to operate normally.
  • Page 70 UIROBOT SCARA Robot 6 –M2.5×6 Cross head screws （3）Slowly open the interface board from up to down, unplug the network connector of controller inside the base, interface X3 and interface X4. Refer to “4.2 wiring table” for details about interface.
  • Page 71 UI – SR Series User Manual interface board user board Installation of cable unit （1） Corresponding connect cable of each integrated machine inside the jib to interface MT2, MT3 and MT4 respectively. （2） Put the user board on the encloser, align screw holes and secure it by fixing bolts. （3）...

  • Page 72: Wiring Table

    Voltage：48VDC±1%； Power：≥1500VA Power supply conditions of UI-SR series robot power module : Voltage：180～264VAC（47～63Hz）or 254～370VDC；Power：≥1500VA The UI-SR series robot electrical terminal have two parts: the top of the jib and the side of the pedestal. Top of Jib Side of Pedestal Multi-function input and output ports（X4）...
  • Page 73 UI – SR Series User Manual Detailed description for each port： X1 Power Interface Pin Number Name Function +48V Positive Input of Power +48V Positive Input of Power Ground Input of Power Ground Input of Power X3 Output Interface Pin Number Name Function Signal Ground...
  • Page 74 UIROBOT SCARA Robot Switch Value Input Signal (Active Low) Switch Value Input Signal (Active Low) Switch Value Input Signal (Active Low) Switch Value Input Signal (Active Low) Switch Value Input Signal (Active Low) Switch Value Input Signal (Active Low) Switch Value Input Signal (Active Low)
  • Page 75 UI – SR Series User Manual the maximum on-off current is 500mA. Wiring Diagram： Wiring Diagram of Output Port (X3 or X5)： Figure 1 Figure 2 Wiring Diagram of Multi-Function Interface (X4): User Selects the Power Supply Method for Input Signal Sensor Sensor Sensor...

  • Page 76: Disassembly And Installation Of Joints

    UIROBOT SCARA Robot 5.0 DISASSEMBLY AND INSTALLATI ON OF JOINTS ★ Do not load and unload the motor connector while the power is on, otherwise it may cause abnormal action, which is very dangerous. In addition, when the power is on, the operation of robot may result in electric shock or malfunction.

  • Page 77: The First Joint

    UI – SR Series User Manual The First Joint Integrated speed reducer of the first joint Name Quality Remarks Integrated speed reducer of the first UIM62H08A-8678X Maintenance joint components Grease Hexagonal wrench (double-sided For M3 screws width is 2.5mm) Hexagonal wrench (double-sided For M4 screws Tools width is 3mm)
  • Page 78 UIROBOT SCARA Robot Disassembly of the Integrated Speed Reducer of the First Joint （1） Turn off the power. 3 – M3×6 Hexagon Socket-Head Cap Screws （2） Unscrew the interface of bellows at the cylindrical pedestal. （3） Remove the bellows cover plate, and unscrew 12 –...
  • Page 79 UI – SR Series User Manual （5） Remove the inner ring screws at the cover 9 – M4×30 plate of cylindrical pedestal to complete the Hexagon disassembly of integrated speed reducer. Socket-Head Cap Screws 第 79 页 UI Robot Technology Co. Ltd. M4220160506CN...
  • Page 80 UIROBOT SCARA Robot Installation of integrated speed reducer of the first joint （1） Place the cylindrical pedestal cover plate on the integrated speed reducer of the first joint, align 9 – M4×30 Hexagon the holes, and then tighten the fixing bolts.

  • Page 81: The Second Joint

    UI – SR Series User Manual （4） Cover the bellows cover, align the screw holes, 3 – M3×6 and tighten the corresponding screws. The free 薄头内六角 end of the bellows rotatably screw on the interface of the cylindrical pedestal. 5.2 The Second Joint Integrated speed reducer of the second joint Name...
  • Page 82 UIROBOT SCARA Robot Torgue wrench For grease wiping Before any operation, please refer to disassembly steps, and put the shaft down to the lower limit position. Disassembly of Integrated Speed Reducer of the Second Joint （1） Turn off the power.
  • Page 83 UI – SR Series User Manual Installation of Integrated Speed Reducer of the SecondJoint （1） Place the integrated speed reducer of the second joint on the jib, align screw holes, tighten all the bolts (M3×30). During the installation, please make the end surface of integrated reducer andthat of jib maintain consistency, and take care not to cause damage.

  • Page 84: The Fourth Joint

    UIROBOT SCARA Robot The Fourth Joint Integrated speed reducer of the fourth joint Name Quality Remarks Maintenance Integrated speed reducer of the UIM62C04A-5742 components fourth joint Hexagonal wrench (double-sided For M2.5 screws width is 2mm) Hexagonal wrench (double-sided For M3 screws width is 2.5mm)
  • Page 85 UI – SR Series User Manual Disassembly of integrated reducer of the fourth Joint and the U2 synchronous belt （1） Turn off the power. （2） Remove the user board. Detailes described in “3.1 User Board” （3） Remove the upper enclose. Details described in “3.2 Upper Encloser”...
  • Page 86 UIROBOT SCARA Robot （9） After the belt is removed, start to disassemble the integrated reducer of the 4 joint. Unscrew 4 – M4×10 the fixing bolts (M4×10) for integrated reducer, Hexagon and remove the integrated reducer and Socket-Head Cap Screws synchronous wheel from the Z-shaft base.
  • Page 87 UI – SR Series User Manual （4） Place base of Z-shaft on jib, align the screw holes, tighten the bolts (M4×10) . 6 – M4×10 Hexagon Socket-Head Cap Screws （5） Install the retaining ring for the spline screw with bolts (M5×12). 1–...

  • Page 88: The Third Joint

    UIROBOT SCARA Robot The Third Joint Integrated reducer of the third joint Name Quality Remarks Maintenance Integrated speed reducer of the third UIM62C04A-5742 components joint Hexagonal wrench (double-sided For M2.5 screws width is 2mm) Hexagonal wrench (double-sided For M3 screws width is 2.5mm)
  • Page 89 UI – SR Series User Manual Disassembly of integrated reducer of the third Joint and the U1 synchronous belt （1） Turn off the power. （2） Remove the user board. Details described in “3.1 User Board”. （3） Remove the upeer enclose. Details described in “3.2 Upper Encloser”.
  • Page 90 UIROBOT SCARA Robot Installation of Integrated Reducer of the Third Joint and the U1 Synchronous Belt 4– M4×12 Hexagon （1） Place the U1 belt into thejib and align the gears. Socket-Head Cap Screws （2） Install the ball plunger (M6×12) at the jib to tighten the belt.

  • Page 91: Ball Screw Spline Unit

    UI – SR Series User Manual 6.0 BALL SCREW SPLINE UNIT ★ Do not load and unload the motor connector while the power is on, otherwise it may cause abnormal action, which is very dangerous. In addition, when the power is on, the operation of robot may result in electric shock or malfunction.

  • Page 92: Replacement Of Ball Screw Spline Unit

    UIROBOT SCARA Robot （4）Put the spline screw down to the lower limit position. （5）Remove the old grease from the lower part of the shaft and apply new grease. （6）Press the up and down buttons on the SCARA software to move the shaft up and down several times to ensure that the grease is completely even, and then wipe off any excess grease.
  • Page 93 UI – SR Series User Manual （5） Unscrew the fixing bolts (M4×10) of the Z-shaft base. 6 – M4×10 Hexagon This positon, the Z-shaft is secured at the upper Socket-Head part of the jib. Cap Screws （6） Unscrew the retainer ring (M5×12) at the lower part of the spline screw.
  • Page 94 UIROBOT SCARA Robot （3） Place the screw nut in the lower part of the Z- 6 – M4×10 shaft base, align the holes, and fix it with bolts Hexagon (M4 × 10). Socket-Head （4） Place the synchronizer wheel at the lower part...

  • Page 95: Battery

    UI – SR Series User Manual 7.0 BATTERY ★ Do not load and unload the motor connector while the power is on, otherwise it may cause abnormal action, which is very dangerous. In addition, when the power is on, the operation of robot may result in electric shock or malfunction.
  • Page 96 UIROBOT SCARA Robot Interface board Hexagonal wrench (double-sided For M2.5 screws width is 2mm) Hexagonal wrench (double-sided For M3 screws width is 2.5mm) Tools Hexagonal wrench (double-sided For M4 screws width is 3mm) Torgue wrench Replacement of the battery unit (lithium battery) （1）...

  • Page 97: Origin Adjustment

    UI – SR Series User Manual 8.0 ORIGIN ADJUSTMENT What Is Origin Adjustment If the robot components (integrated reducer, synchronous belt, ball screw spline, etc.) are replaced, there will be deviation between the origin stored in integrated reducer and the origin stored in controller, and it is unable to locate correctly.

  • Page 98: The Origin Adjustment Procedure Of The First Joint Integrated Reducer

    UIROBOT SCARA Robot The Origin Adjustment Procedure of the First Joint Integrated Reducer Click on the first joint control drive in the screen of software StepEvi-X, enter its configuration interface. 1. In the PTP interface for Motion Control, click the Offline/Enable button in the lower left corner, so that the first joint integrated reducer is offline.

  • Page 99: The Origin Adjustment Procedure Of The Second Joint Integrated Reducer

    UI – SR Series User Manual the PTP interface. 4. Enter the average of the recorded position values in steps 2 and 3. On the PTP screen, enter the average value in the “desired value” of “position”, and insert “desired value” of “speed”, speed generally take 5000.

  • Page 100: The Origin Adjustment Procedure Of The Third Joint Integrated Reducer

    UIROBOT SCARA Robot 2. Drag the second joint arm to the most left and record the “actual value” of the “location” in the PTP interface. 3. Drag the second joint arm to the most right and record the “actual value” of the “location”...

  • Page 101: The Origin Adjustment Procedure Of The Fourth Joint Integrated Reducer

    UI – SR Series User Manual 2. Drag the screw lead to the top and record the “actual value” of the “location” in the PTP interface. 3. Drag the screw lead to the bottom and record the “actual value” of the “location” in the PTP interface.
  • Page 102 UIROBOT SCARA Robot left corner, so that the fourth joint integrated reducer is offline. 2. Record the position value of the fourth joint integrated reducer when the third joint integrated reducer reach its origin position, and the stepEVA-X is used to set the point as the origin of the fourth joint integrated reducer.

  • Page 103: Maintenance Components Table

    UI – SR Series User Manual 9.0 MAINTENANCE COMPONENTS TABLE Name Remarks Referred Section Cable Unit The First Joint 240W Integrated Reducer The Second Joint 210W The Third Joint 100W Integrated Machine The Fourth Joint 100W The Third Joint U1 Belt Synchronous Belt The Fourth Joint...

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