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Hiwin RA605-GB User Manual

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Articulated Robot
- RA605-GB,
RT605-GB
User Manual
Original Instruction
www.hiwin.tw

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  • Page 1 Articulated Robot - RA605-GB, RT605-GB User Manual Original Instruction www.hiwin.tw...
  • Page 2 INDUSTRIE 4.0 Best Partner Multi-Axis Robot Pick-and-place / Assembly / Array and packaging / Semiconductor / Electro-Optical industry / Automotive industry / Food industry • Articulated Robot • Delta Robot • SCARA Robot • Wafer Robot • Electric Gripper • Integrated Electric Gripper •...

  • Page 3: C01Ue001

     windstorms and floods, tornado, typhoon, hurricane etc. HIWIN does not provide any warranty or compensation to all the damage caused by above- mentioned circumstances unless the user can prove that the product is defective. For more information towards warranty terms and conditions, please contact the technical stuff...
  • Page 4 Please contact the technical stuff for special modification  coming from production line set up. For the safety reason, any modification for HIWIN product is  strictly prohibited.
  • Page 5 This chapter explains how to use the robot safely. Be sure to read this chapter carefully  before using the robot. The user of the HIWIN industrial robot has responsibility to design and install the safety  device meeting the industrial safety regulations in order to ensure personal safety.
  • Page 6 C01UE001-1811 2. Description Related to Safety Safety Symbols Carefully read the instructions in the user manual prior to robot use. The following 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.
  • Page 7 C01UE001-1811 Precautions 3.1 Common Safety Issues All operating procedures should be assessed by  professional and in compliance with related industrial safety regulations. When operating robot, operator needs to wear  safety equipment, such as workwear for working environment, safety shoes and helmets. When encountering danger or other emergency or ...
  • Page 8 Using non-HIWIN spare parts to repair may cause  robot damage or malfunction. Beware of the heat generated by the controller and ...
  • Page 9 C01UE001-1811 Do not pull the connector violently or twist the  electric wires excessively. Do not frequently switch ON/OFF the power  switch and the control button. Please ensure that the robot, the emergency stop  switch and the controller are functioning properly before performing any work.
  • Page 10  HIWIN is needed. Please contact us if the replacement of the  component not specified by HIWIN is needed. Be sure to carry out regular maintenance, otherwise  it will affect the service life of the robot or other unexpected danger.
  • Page 11 C01UE001-1811 3.4 End Effector The end effector can be classified as two types: A. Gripper: Used to load and unload, such as pneumatic gripper, electric gripper and vacuum sucker. B. Tool: Used to process, such as welding, cutting and surface treatment. More attention must be paid to the design of the end ...
  • Page 12 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.
  • Page 13 Use in potentially explosive environments  Use without performing risk assessments  Transportation of people and animals  Operation outside the allowed operating parameters  Disposal The disposal of HIWIN robot shall be in accordance with the local environmental regulations.

  • Page 14: Table Of Contents

    C01UE001-1811 Content Transportation and Installation ……………………………………………….15 Transportation ....................15 Installation ......................20 Connection with the Controller ................ 23 Grounding ......................25 Environmental Conditions ................26 Standard and Optional Equipment List ............27 Basic Specifications …………………………………………………………28 Description of Model Name ................28 Labels .......................
  • Page 15 6.2.2 Timing Belt Replacement …………………………………………………...60 6.2.3 Grease Replenishment ………………………………………………………………………….……67 Safety Certification ………………………………………………………...69 Appendix …………………………………………………………………...70 Version Date Product Note 1.0.0 2018.03.20 RA605-710-GB First edition RA605、RT605 manual RA605-GB 2.0.0 2018.06.30 RT605-GB merge Added Chp.5 Manual RA605-GB 2.1.0 2018.08.30 break release device, RT605-GB Chp.7 Safety certification RA605-GB Modified Chp.1.3 direction...

  • Page 16: Transportation And Installation

    C01UE001-1811 1. Transportation and Installation 1.1 Transportation Sling can be used to transport the robot. The transportation procedure is as follows: Step1. Move the robot into its transport posture and the angle of each joint is shown in the table of Figure 1-1.
  • Page 17 C01UE001-1811 Transport Posture Degree RA605-710-GB RT605-909-GB RT605-710-GB 0° 0° 45° 30° -55° -55° 0° 0° -80° -65° 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 ...
  • Page 18 C01UE001-1811 Center of Hexagon socket cap screw Gravity M8x1.25Px12L Suspension Plate Center of Gravity Figure 1-2(a) RA605-710-GB Transport dimensions Center of Hexagon socket cap screw Gravity M8x1.25Px12L Suspension Plate Center of Gravity Figure 1-2(b) RT605-710-GB Transport dimensions...
  • Page 19 C01UE001-1811 Center of Hexagon socket cap screw Gravity M8x1.25Px12L Suspension Plate Center of Gravity Figure 1-2(c) RT605-909-GB Transport dimensions Figure 1-3(a) Crane lifting transportation RA605-710-GB Transport method RT605-710-GB Transport method...
  • Page 20 C01UE001-1811 Figure 1-3(b) Crane lifting transportation RA605-909-GB Transport method After removing the suspension plate, please keep it  properly for re-transportation. Please always follow the above instructions and  method to transport the robot for subsequent transportation. The angle of the suspended robot; J1 is for 0°, J2 is for 45°, J3 is for -55°, J4 is for 0°, J5 is for -80°, J6 is for 0°.

  • Page 21: Installation

    C01UE001-1811 1.2 Installation Figure 1-4 shows the installation dimensions of the robot. According to the dimensions, fix the robot on the installation surface with M10 screws, spring washer and flat washer shown as Figure 1-5. Figure 1-6 and table 1-1 show the forces and moments acting on the installation surface during operation.
  • Page 22 C01UE001-1811 Figure 1-6 Forces and moments acting on the installation surface Table 1-1 (RA/RT)605-710-GB Value of forces and moments acting on the installation surface Horizontal Vertical moment Vertical force Horizontal force moment Mv (Nm) Fv (N) (Nm) Stop Acceleration 1009 /Deceleration Power cut stop 1199...
  • Page 23 If the temperature on the cover is too high, it may cause poor performance. When the robot is installed on the ceiling or the wall, the  parameters must be changed. If you have any inquiry, please contact HIWIN.

  • Page 24: Connection With The Controller

    C01UE001-1811 1.3 Connection with the Controller Figure 1-7 shows the structure drawing of the robot.；Figure 1-8 shows the connection between robot, controller, teach pendant and power source. Figure 1-9 and Figure 1-10 show the interface of J1 and the pin assignment of CN2 connector. Joint 4 Joint 5 Joint 6...
  • Page 25 C01UE001-1811 Code RA605-GB RT605-GB Air in/out Air out socket socket Air in/out Air in socket socket Battery box Battery box Power/signal Power/signal socket socket Figure 1-9 Interface at the rear of J1 When connecting the cable, be sure to turn off power supply ...

  • Page 26: Grounding

    C01UE001-1811 1.4 Grounding Figure 1-11 shows the grounding connection of the robot with the screw (M5×0.8P×8L). Grounding wire Washer Screw Figure 1-11 Grounding method The length of a grounding cable should not be too long.  The grounding cable of the robot should be separated from ...

  • Page 27: Environmental Conditions

    C01UE001-1811 1.5 Environmental Conditions Environment condition is shown in Table 1-3. Table 1-3 Environmental conditions Installation/Storage/Transportation Environment Ambient temperature 0~45 ℃ [Note 1] Under 75% R.H. Ambient relative humidity No condensation permissible Allowable altitude Up to 1000 m above mean sea level [Note 2] Allowable vibration Under 0.5G Do not use under corrosive environment...

  • Page 28: Standard And Optional Equipment List

    C01UE001-1811 1.6 Standard and Optional Equipment List Standard and optional equipment list is shown in Table 1-4. Optional Optional Optional HIWIN Item Standard Remark RA605- RT605- RT605- Part No. 710-GB 710-GB 909-GB Include calibration tool Manipulator accessory kit 4C2016Z2 ●...

  • Page 29: Basic Specifications

    C01UE001-1811 2. Basic Specifications 2.1 Description of Model Name There is a model name on the specification label of RA605-GB and RT605-GB. The explanation of model name is shown below. Model example RA605 – 710 – GB...

  • Page 30: Labels

    Robot specification and serial Specification number. The connection port of air tube for Air In RA605-GB air input. The connection port of air tube for Air Out RA605-GB air output. The connection port of air tube for Air In/Out...
  • Page 31 C01UE001-1811 Grease in The hole for grease in. Grease out The hole for grease out. CN2 power & signal cable End effector control input/output R-I/O cable...

  • Page 32: Robot Specifications

    C01UE001-1811 2.3 Robot Specifications The robot specifications are shown in Table 2-2. Table 2-2 Robot specification Specification Item RA605-GB RT605-GB Model Name RA605-710-GB RT605-710-GB RT605-909-GB Optional EU CE Certification ● Degrees of Freedom Floor、slope (wall mounting, ceiling mounting) [Note 1]...
  • Page 33 Less than 75 dB [Note 4] [Note 1]: Compared to mounting on the ground, the performance of the robot may be different when mounting on the wall or ceiling. Please contact HIWIN if there’s any demand for this application. [Note 2]: For details about load capacity, please refer to section 2.5.

  • Page 34: Outer Dimensions And Motion Range

    C01UE001-1811 2.4 Outer Dimensions and Motion Range The motion range is shown in Figure 2-2(a)~(b). Figure 2-2(a) RA605-710-GB Motion range RT605-710-GB Motion range...
  • Page 35 C01UE001-1811 Figure 2-2(b) RA605-909-GB Motion range...

  • Page 36: Mechanical Stopper

    C01UE001-1811 2.5 Mechanical Stopper Mechanical stoppers are installed at J1-axis to J3-axis to limit the motion range to a minimum value. Please refer to Table 2-3 and Figure 2-3 to Figure 2-7. Table 2-3 Description of mechanical stoppers Illustration Axis applied Motion range limited -170°～+170°...
  • Page 37 C01UE001-1811 Secure screw M10X30L Mechanical stopper A view Figure 2-3 J1-axis positive/negative limit Secure flat head screw M4X16L Mechanical stopper B view Figure 2-4 J2-axis negative limit...
  • Page 38 C01UE001-1811 Mechanical stopper Secure flat head screw M4X16L C view Figure 2-5 J2-axis positive limit Mechanical stopper Secure flat head screw M4X16L E view Figure 2-6 J3-axis negative limit Mechanical stopper Secure flat head screw M4X16L D view Figure 2-7 J3-axis positive limit...

  • Page 39: Wrist Moment Diagram

    C01UE001-1811 2.6 Wrist Moment Diagram The load capacity of the robot is not only limited by the weight of the load, but also limited by the center of gravity of the load. Figure 2-8 shows allowable center of gravity of the load when the robot is loaded 1~5kg.

  • Page 40: Equipment Mounting Surface And Interface

    J5 and the secure holes for the nozzle are M5×0.8P. The schematic diagram of pneumatic circuit is shown in Figure 3-2(b). Type Operating pressure range 2~7kgf/cm (0.2~0.7MPa) Proof pressure 10kgf/cm (1MPa) Effective cross-sectional area Response time 12ms Figure 3-2(a) RA605-GB Pneumatic interface...
  • Page 41 C01UE001-1811 Figure 3-2(a) RA605-GB Pneumatic circuit diagram Pneumatic holes (AIR IN & AIR OUT) of RT605-GB are installed on the rear of J1 as shown in Figure 3-3, and the outer diameter of the air tube in the robot is ψ4mm. The secure holes for the nozzle are M5×0.8P.

  • Page 42: R-I/O Interface

    C01UE001-1811 3.3 R-I/O Interface R-I/O interface for end effector on J5 and the pin assignment of I/O connector are shown in Figure 3-4. Figure 3-5 to Figure 3-8 show the wiring diagram of I/O interface. Figure 3-9 show the two-wire proximity switches connecting method for customers. A side view Figure 3-4 Pin assignment of the I/O connector (Power output: 24V/1A) Figure 3-5 Wiring diagram of input (Standard: Sinking type)
  • Page 43 C01UE001-1811 Figure 3-6 Wiring diagram of input (Optional: Sourcing type) Figure 3-7 Wiring diagram of output (Standard: Sinking type)
  • Page 44 C01UE001-1811 Figure 3-8 Wiring diagram of output (Optional: Sourcing type) Two-wire proximity switch Negative input Internal circuit Two-wire proximity switch Positive input Internal circuit Figure 3-9 Two-wire proximity switch wiring diagram...
  • Page 45 C01UE001-1811 Pin 1 and pin 9 are used for signal, not for power input  of end effector. The maximum output current at each pin is 100mA.  Two-wire proximity switch may cause Robot Input  error action occur due to residual voltage. Therefore, if you want to use two-wire proximity switch, you should connect it according to Figure 3-9 and select the matching R value.

  • Page 46: Zero-Position

    4. Zero-Position 4.1 Zero Position Setting The calibration tools (HIWIN part no.: 4C201EK2) for setting Zero-position are shown in Figure 4- 1. The robot is adjusted to the minimum speed during the calibration, and aligns the pinhole with the calibration tool to set up the Zero-position. The procedure of resetting Zero-position with the calibration tools is shown in Figure 4-2 to Figure 4-7 below.
  • Page 47 C01UE001-1811  J2-axis Zero-position setting Step1. Operate J2 at low speed to align the pinhole of J3 with the pinhole of J2. Step2. Insert the calibration tool (B) to the pinhole to calibrate Zero-position. Step3. Finish calibration and remove the calibration tool. Step4.
  • Page 48 C01UE001-1811  J4-axis Zero-position setting Step1. Operate J4 at low speed to align the keyway of J5 with the keyway of J4. Step2. Insert the calibration tool (C) to the keyway to calibrate Zero-position. (hexagon socket cap screw can be screwed first in calibration tool) Step3.
  • Page 49 C01UE001-1811  J5-axis Zero-position setting Step1. Operate J5 at low speed to align the pinhole of J6 with the pinhole of J5. Step2. Insert the calibration tool (B) to the keyway to calibrate Zero-position. Step3. Finish the calibration and remove the calibration tool. Step4.
  • Page 50 C01UE001-1811  Clear encoder by HRSS Step1. Select the “JOINT” as the coordinate system. Step2. Move the robot to the Zero-position. (Refer to section 4.1) Step3. Click Main Menu>>Start-up>>Master>>Clear Encoder. (As shown in Figure 4-8) Step4. Double click the axis to clear encoder. (As shown in Figure 4-8) Figure 4-8 Clear encoder by HRSS...

  • Page 51: Manual Brake Release Device (Optional)

    C01UE001-1811 5. Manual Brake Release Device (optional) 5.1 Safety Precautions Description: In accordance with ISO 10218-1, the manual brake release device is a user-safety equipment for changing robot posture temporarily. If necessary, please purchase this device to comply with CE. This device can only be executed by trained staff.

  • Page 52: Confirmation Before Using

    Please make sure the voltage of power source and the voltage requirement of the device are the same before connecting this device to the power. Connecting wrong voltage to the device will result in device damage. Specifications: Item HIWIN Manual Brake Release Device RA605-XXX-(CE)-GB Model name RT605-XXX-(CE)-GB Input voltage (VAC)
  • Page 53 C01UE001-1811 Corresponding manipulator model name: 1. RA605-XXX-(CE)-GB 、 RT605-XXX-(CE)-GB: 2. RA610-XXXX-GB 、 RT610-XXXX-GB...

  • Page 54: Operation

    C01UE001-1811 5.3 Operation Name descriptions of the manual brake release device and their functions.
  • Page 55 C01UE001-1811 Description: Item Description Green-light indicator Power ON/OFF. Three-stage revertible toggle switch Toggle upward and downward of any (Note switch and the robot will release the brake of corresponding axis. When the switch is released to the middle position, the brake will be executed. CN1, cable with an European-type plug 1.5M CN2, Power cable...

  • Page 56: Maintenance And Inspection

    If needed, please contact Is the air source normal? HIWIN directly. After turning power ON 1. The robot installation screws might not be Is there any unusual motion or unusual noise securely tightened to the installation surface.
  • Page 57 8. If the above situations has been excluded, it is likely that the rolling surface of bearing or the gear tooth surface of reducer has been damaged. Please contact HIWIN directly. 1. The Zero-position of the robot might be rewritten. Please set the Zero-position. (Refer to section 4.1)。...
  • Page 58 C01UE001-1811 The project and time of periodic inspection refer to Table 6-2. Table 6-2 Periodic inspection items Inspection item Remedies Inspection item A (1 month / 320 hours) Check if there are any cracks and flows on Clean and check each part of the robot. the robot.
  • Page 59 C01UE001-1811 Table 6-3 Inspection schedule...

  • Page 60: Repair

    C01UE001-1811 6.2 Repair 6.2.1 Backup Batteries Replacement The absolute encoder of the motor is used to record the position of the robot. When the controller power is turned off, the position data of each -axis is preserved by the backup batteries. The batteries are installed when the robot is delivered from the factory.

  • Page 61: Timing Belt Replacement

    The belt tension might be lower than the standard after operating for a long time. The timing belt should be periodically checked, maintained and replaced. (RA605-GB, RT605-GB replacement of the timing belt are similar, take RA605-GB as an example) Timing Belt replacement period ...
  • Page 62 Belt type Width(mm) Span(mm) Tension(N) RA605-710-GB 365-5GT-9 117.5 RT605-710-GB RT605-909-GB 375-5GT-9 116.9 RA605-710-GB 440-5GT-9 154.9 RT605-710-GB RT605-909-GB 635-5GT-9 254.9 Share 285-3GT-6 100.3 Share 285-3GT-6 100.3 If the belt of J1 and J4 need to be replaced, please contact  HIWIN.
  • Page 63 C01UE001-1811 Cover removal  Before replacing the belt, remove the cover of J3 and J5 as shown in Figure 6-3. (RA605-710- GB has protection rating of IP65, sealing gasket is provided inside the cover. When removing the cover, if the gasket is peeled off, sealant can be used to re-tighten the seal on the cover.) Screw Model Screw Type...
  • Page 64 C01UE001-1811  Inspect J2-axis timing belt Step1. Ensure the power of controller is switched off. Step2. Remove the cover of J3. 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.
  • Page 65 C01UE001-1811  Inspect J3-axis timing belt Step1. Ensure the power of controller is switched off. Step2. Remove the cover of J3. 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.
  • Page 66 C01UE001-1811  Inspect J5-axis timing belt 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.
  • Page 67 C01UE001-1811  Inspect J6-axis timing belt 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.

  • Page 68: Grease Replenishment

    C01UE001-1811 6.2.3 Grease Replenishment  The grease inlets and outlet are shown in Figure 6-8. Bevel gear grease outlet J6-axis grease outlet J5-axis grease outlet J4-axis grease outlet J3-axis grease outlet J3-axis grease inlet J2-axis grease outlet J2-axis grease inlet J1-axis grease J1-axis grease inlet outlet...
  • Page 69 C01UE001-1811  Grease specification Table 6-5 shows the specification of grease. Table 6-5 Grease specification Grease Lubricatio Part Lubrication grease Quantity nipple n interval J1 reduction gear SK-1A 93.3 ml J2 reduction gear SK-1A 66.6 ml J3 reduction gear SK-1A 33.3 ml 3Year J4 reduction gear...

  • Page 70: Safety Certification

    C01UE001-1811 7. Safety Certification RA605 achieve CE certification. CE Compliance Machinery Directives 2006/42/EC Low Voltage Directives (LVD) 2014/35/EU Robots for Industrial Environment EN ISO 10218-1:2011 EN ISO 12100:2010 Safety of Machinery EN ISO 13849-1:2015 EN 60204-1:2006+AC:2010 Electromagnetic Compatibility EN 61000-6-2:2005 Directives (EMC) EN 61000-6-4:2007+A1:2011...

  • Page 71: Appendix

    C01UE001-1811 8. Appendix Suspension plate (refer to section 1.1)
  • Page 72 3. 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.
  • Page 73 Mega-Fabs Motion System, Ltd. CHICAGO, U.S.A. SINGAPORE HAIFA, ISRAEL www.hiwin.com www.hiwin.sg www.mega-fabs.com info@hiwin.com info@hiwin.sg info@mega-fabs.com HIWIN Srl BRUGHERIO, ITALY www.hiwin.it info@hiwin.it Copyright © HIWIN Technologies Corp. ©2018 FORM C01UE001-1811 The specifications in this catalog are subject to change without notification. (PRINTED IN TAIWAN)

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