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Summary of Contents for Hiwin RS403
- Page 1 SCARA Robot - RS403 User Manual 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 •...
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Page 3: C07Ue001
Copyright: The contents in this manual are used for the authorized customers and suppliers. This manual should not be copied, reproduced, transmitted in any form or distributed on Internet without HIWIN’s authorization. All Rights Reserved © HIWIN Technologies Corp. All rights reserved... - Page 4 C07UE001-1804 Revision History Version Date Remark Ver1.0 2017/08 First issuance Ver1.1 2017/11 Added the Ball Screw /Spline lubrication Ver1.2 2018/04 Added End-extending load...
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Page 5: Table Of Contents
C07UE001-1804 Table of Content Table of Content ....................... IV Foreword ........................6 About Manual ......................6 Warranty ........................7 Notice Symbol ......................8 Contact ........................9 Customer Service ....................... 9 About Safety ......................10 1 About Safety ......................11 1-1 Operation ..................... 11 1-2 Safety Symbol .................... - Page 6 C07UE001-1804 3-2 Disassemble Package and Transport ............24 4 Install End Effector ....................25 4-1 Installation Notice ..................25 4-2 Overview for Calculating Static Torque and Rotation Inertia ..... 26 4-2-1 Calculate Static Torque ................26 4-2-1Calculate Rotation Inertia................ 29 Maintenance ......................
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Page 7: Foreword
About Manual This manual describes the SCARA Robot developed by HIWIN, whose structure includes the body, the control panel, the Teaching Pendant (optional), the connection cable and the software. A user who purchases the robot can operate and maintain the robot via this manual. -
Page 8: Warranty
C07UE001-1804 Warranty The SCARA Robot is strictly tested and examined, and delivered to a customer after its performance meets our requirements. Warranty Period: The product provides one-year warranty period from the day since it is delivered. For the detailed terms and clauses of maintenance and repair, please contact the agent. Warranty Content: ... -
Page 9: Notice Symbol
C07UE001-1804 Notice Symbol The symbols and warnings on the robot represent the danger in different extents to remind a user of the safety concern during the operation, described as follows. ※DANGER symbol: represents an urgent danger. If it can’t be stopped and avoided in time, the death or serious injury could take place. -
Page 10: Contact
Contact For the maintenance/examination/adjustment on the SCARA Robot, please contact customer service. Please prepare the following information when you contact us: System name/series number Software name/version Issue on the system Customer Service Customer hotline: +866-4-23594510 E-mail: business@hiwin.tw... -
Page 11: About Safety
C07UE001-1804 About Safety... -
Page 12: About Safety
C07UE001-1804 1 About Safety This chapter mainly describes the operation regulations about the SCARA Robot, which not only provide the detailed operation information for a user and explain the meaning for each alert symbol one by one, but also inform a user of the risk and the emergency response during the operation. -
Page 13: Safety Symbol
C07UE001-1804 1-2 Safety Symbol Each type of warning label is stuck on the robot and the control panel to remind a user of operational safety. If the labels are stained or fallen, they must be indeed cleaned or replaced. Table 1-1 Safety Symbol Sticking Label pattern Remark... - Page 14 C07UE001-1804 RS403-400-150-N Figure 1-1 Illustration for Safety Symbol Don’t remove the safety symbol. If it is lost, please contact us or the agent.
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Page 15: Operation Notice
C07UE001-1804 1-3 Operation Notice 1-3-1 Run Alert Area The robot is a machine operating at high speed, whose maximum revolution radius depends on the fixture size installed on the end. Before you operate the robot, please ensure there is no any obstacle within the motion range, and indeed perform the calibration to avoid collision and damage. -
Page 16: Humidity Error
C07UE001-1804 1-3-4 Humidity Error Electronic components in the robot and the control panel are made of metal materials, which are more sensitive to the relative humidity of the operating environment. Higher humidity will accelerate to oxidize the contacts of metal part and electronic component, and loosen the assembly structure and cause poor contact;... - Page 17 C07UE001-1804 The EMERGENCY STOP button is pressed in the urgent condition, not for pause/run. If you want to stop the robot in the normal operation and the working path, please operate it according to the software manual. 1-4-1 Robot Operation in Emergency Stop When you press the EMERGENCY STOP button, please move the robot according to the following methods.
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Page 18: Specifications
The SCARA Robot, suitable for the ambient environment, can be applied for delivering and assembling the components, such as electronic parts. The maximum permissible inertia can reach 0.05 kg-m 2-2 Model Name RS403-400-150-N Model ：HIWIN J4-axis stroke 150 ：150 mm Arm length ：400 mm... -
Page 19: Part Name And Dimensions
C07UE001-1804 2-3 Part Name and Dimensions RS403-400-150-N BRAKE RELEASE Status button Indicator ψ4 pneumatic connector ψ6 pneumatic connector Ball screw spline View from Direction A Base Arm A Arm B Figure 2-1 Part Names on Robot ψ4 pneumatic connector power/signal line socket ψ6 pneumatic connector... - Page 20 C07UE001-1804 RS403-400-150-N Figure 2-3 Part Dimensions for Robot This dimension diagram is used for the reference, based on the approved ones or the actual ones.
- Page 21 C07UE001-1804 RS403-400-150-N Figure 2-4 Motion Range for Robot All motion ranges in this diagram is used for the reference. The dimensions are based on the approved diagrams or the delivered machines. The working range in this diagram doesn’t include the...
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Page 22: Specification Table
C07UE001-1804 2-4 Specification Table This manual takes RS403-400-150-N for example, and describes the performance and the specification of the robot, as shown in the following table. Table 2-1 Specification Table for RS403-400-150-N Specification Table Model Number RS403-400-150-N Degree of Freedom... -
Page 23: Operating Environment
C07UE001-1804 3 Operating Environment Before you operate the robot, you must ensure the operating environment can meet the related requirements to maintain the stability and lifetime. Table 3-1 Operating Environment Environmental Operating environment Storage environment condition Temperature 5℃~40℃ 5℃~40℃ Relative humidity Less than 50% Less than 50% Assembly platform... -
Page 24: Install Robot
C07UE001-1804 3-1 Install Robot When you install the robot, please lock with M8 bolts. The bolt specifications need to meet ISO898-1:10.9 or 12.9. The base is installed on the lock surface. It is recommended the thickness be 20mm or more, and be made of the steel material to reduce the operating vibration. -
Page 25: Disassemble Package And Transport
C07UE001-1804 3-2 Disassemble Package and Transport The robot must be installed by the authorized engineer, and complied with the national regulations. After you remove the package and take out the robot with a protective bag, please transport it to the installation position by appropriate facilities. The robot must be properly fixed during the transportation. -
Page 26: Install End Effector
C07UE001-1804 4 Install End Effector 4-1 Installation Notice When you install the end effector, please obey the following items. 1. Don’t remove or change any mechanical stopper on the robot by yourself. 2. When you install the end effector on ball screw spline, please install it at 30mm on the lower end of ball screw spline and fix with the threaded structure over M4. -
Page 27: Overview For Calculating Static Torque And Rotation Inertia
C07UE001-1804 4-2 Overview for Calculating Static Torque and Rotation Inertia 4-2-1 Calculate Static Torque The permissible static torque for this robot is 90N.m, determined by M (torque) = F (force) × L (end fixture/effector overhang plus total arm length), and must be less than 90N.m. -
Page 28: 4-2-1Calculate Rotation Inertia
C07UE001-1804 Calculate Rotation Inertia Rotation inertia is quantity used to indicate a force is against the rotation of an object. When a fixture/an end effector are installed on the end of ball screw spline, rotation inertia for the loaded device must be taken into account. Rotation axis of ball screw spline Fixture/end effector Workpiece b... - Page 29 C07UE001-1804 The methods to calculate rotation inertia of an object are as shown in (a), (b) and (c). Please refer to the methods to calculate rotation inertia for the basic shape, and determine rotation inertia of the object. (a) Rotation inertia of rectangle Rotation axis Center-of-gravity Offset distance...
- Page 30 The calculation of the end-extending load will vary depending on the shape of the load. It is recommended that the actual calculation of the inertia be done. Load center distance Figure 4-3、 RS403-400-150-N arm end extension load diagram Figure 4-4、 Load center of gravity and motor speed for 1KG load, spline length 330mm...
- Page 31 C07UE001-1804 Figure 4-5、 Load center of gravity and motor speed for 3KG load, spline length 330mm...
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Page 32: Maintenance
C07UE001-1804 Maintenance... -
Page 33: Robot Maintenance
C07UE001-1804 5 Robot Maintenance In order to ensure the robot can efficiently operate and protect the operator safety, please periodically maintain the robot according to the following sections. Don’t disassemble the motor, decelerator and ball screw spline for the maintenance by yourself to influence the accuracy of the robot. -
Page 34: Disassemble Cover
C07UE001-1804 5-1-1 Disassemble Cover Don’t force to disassemble the cover. Otherwise, it could cause poor cable contact or damage as well as electric shock or robot failure. Don’t remove the cable sleeve when you disassemble the cover, and avoid excessively pulling it so that the circuit drops or breaks to cause the robot failure. -
Page 35: Install Cover
C07UE001-1804 5-1-2 Install Cover Note that the internal circuits are excessively bent when you install the cover. Otherwise, it could cause poor cable contact or damage. Note that ball screw spline is interfered with the cover when you install the cover, and the screws are fastened to complete the installation. -
Page 36: J3 & J4 Axes
C07UE001-1804 5-2 J3 & J4 Axes J3 & J4 axes employ 100W servo motors. With the link of the belt wheel and the belt, the rotational and linear motions of ball screw spline are controlled. A user can remove the cover to check there is any failure inside the Arm B. ... -
Page 37: Check J3 & J4 Belts
C07UE001-1804 5-2-1 Check J3 & J4 Belts There are three drive belts, 2 for J3 axis and one for J4 axis, installed in the robot, which are used to link the servo motor and ball screw spline. A user must periodically check the belts are worn, and confirm the belt tension meets the requirements to ensure the robot can efficiently run. - Page 38 Step 08. Check the motors of J3 and J4 axes as well as screws for middle wheel. Step 09. Turn off the power on the control panel. Step 10. Install the robot cover. RS403-400-150-N Belt Tension Adjustment Direction to adjust Direction to adjust...
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Page 39: Grease Lubrication
The bearing in the nut needs to be periodically greased with HIWIN (G04), and the external grooves of ball screw spline must be kept clean. It is recommended ball screw spline be cleaned and maintained every three months to keep smoothly running. -
Page 40: Lubrication Of Ball Screw Spline
C07UE001-1804 Illustration for RS403-400-150-N Lubrication of Ball Screw Spline 4-M3 flat washer 4-M4 flat washer Lubricate the surface of ball screw spline Roller screw nut and the grooves with Filler HIWIN (G04) Grease HIWIN (G04) Straight screw nut Filler Grease HIWIN (G04) - Page 41 C07UE001-1804 Table 5-3 Lubrication of Ball Screw Splin Lubrication Item Check Operation part Roller Fill new lubricant into the nut opening (Ø 1.5), Check once per spline and remove old grease.Recommended fill: 2c.c. three month bearing when the Flat spline Fill new lubricant into the nut opening (Ø...
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Page 42: Decelerator Lubrication
C07UE001-1804 5-3-2 Decelerator Lubrication The base, the Arm A and the Arm B of the robot are linked by the decelerator to provide the rotation motion for J1 and J2 axes. Because the lubricant is fully covered in the decelerator, the insufficient lubrication will not take place. However, the tear and wear of the mechanical structure could make noise from the decelerator, even poor position accuracy, please contact the agent as soon as possible. - Page 43 A (reference dimension) L (reference dimension) 38~41 38~41 Description to disassemble RS403-400-150-N decelerator Steps to disassemble the decelerator Step 01. Turn off the power on the control panel. Step 02. Remove the screws on the Arm A. Step 03. Remove the M6 screws and washer for Arm A.
- Page 44 C07UE001-1804 Disassemble the decelerator for Arm B Step 01. Turn off the power on the control panel. Step 02. Remove the screw cover on the Arm A. Step 03. Remove M6 screws on the bottom of Arm A. Step 04. Remove the Arm B. Step 05.
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Page 45: Wiring Panel
C07UE001-1804 5-4 Wiring Panel There are the communication cables, pneumatic pipes and driver batteries in the wiring panel. A user can replace the batteries by removing the cover, so that can maintain the memory of the robot coordinate. 5-4-1 Replace Battery The batteries, located on the internal side of the wiring panel, are used to record the value of the driver at each axis after power failure takes place. - Page 46 C07UE001-1804 Step 01. Remove the wiring panel. Step 02. Turn on the power on the control panel, and press the Emergency Stop button. Step 03. Take out 4 batteries in order. Step 04. Install new batteries in order (primary lithium battery 3.6V/2.4AH for TADIRAN No.
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Page 47: Maintenance Period
C07UE001-1804 5-5 Maintenance Period Contents related to service and maintenance Check Item Part Name ˅ ˅ ˅ ˅ ˅ Base bolts Check the ˅ screws/bolts are Robot bolts loose. ˅ Bots for ball screw spline Check ˅ ˅ ˅ ˅ ˅... -
Page 48: Troubleshooting
C07UE001-1804 6 Troubleshooting 6-1 Offset Upon the position is offset when the robot operates, please immediately stop all operations and execute the home command, so that the robot can read the relative position at each station. If the condition for the serious position offset can’t be modified by resetting the home, please contact customer service for calibration. -
Page 49: Jog Vibration
C07UE001-1804 6-4 Jog Vibration When you evaluate to operate the robot, please carefully read the specifications. The efficiency of the robot depends on the fixtures or objects loaded on ball screw spline. If the loads exceed the requirements, a user can maintain the normal operation of the robot by changing the system setting or seek the assistance from customer service. -
Page 50: Opinion Response
C07UE001-1804 Opinion Response Issue Actual condition Use Advice: E-mail: business@hiwin.tw Customer hotline: +866-4-23594510... - Page 51 3. HIWIN will not sell or export those techniques and products restricted under the "Foreign Trade Act" and relevant regulations. Any export of restricted products should be approved by competent authorities in accordance with relevant laws, and shall not be used to manufacture or develop nuclear, biochemical, missile and other military weapons.
- Page 52 CHICAGO‧SILICON VALLEY, 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 C07UE001-1804 The specifications in this catalog are subject to change without notification. (PRINTED IN TAIWAN)
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