1. Manuals
  2. Brands
  3. Hiwin Manuals
  4. Controller
  5. RCD403-GB
  6. User manual

Hiwin RCD403-GB User Manual

Delta robot controller
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the RCD403-GB and is the answer not in the manual?

Questions and answers

Related Manuals for Hiwin RCD403-GB

Summary of Contents for Hiwin RCD403-GB

  • 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 Rotary Joint Single Axis Robot Direct Drive Rotary Table...
  • Page 3 In order to guarantee personal safety, all machines must be designed and installed according to the industrial safety regulations. Users of HIWIN robot have the responsibility to design and install the safety devices in compliance with the industrial safety regulations, used to protect personal safety.
  • Page 4 C19UE101-1804 battery with a new one and then try to turn it on again. Flipping it 90 degrees on the side or turning it over 180 degrees are forbidden while installing the controller. This is to protect the internal battery component. While connecting to the external I/O or the signal, please operate in the condition that the power switch is turned off to prevent from a shortcut caused by mistaken touch in the process, and resulting in...
  • Page 5 C19UE101-1804 Do not operate the machine in potentially explosive environment. Do not store the machine in the environment with corrosive gas, with flammable gas or close to the flammable object. Do not operate the machine in the environment with moisture, water or grease. Do not operate the machine at the place where vibration or the strong impact occurs.
  • Page 6 C19UE101-1804 Do not stand on the product or put heavy objects on Do not block the vent or put foreign objects into it. Please ensure the controller is fixed on the base. Do not pull the connector violently or twist the electric wires excessively.
  • Page 7 C19UE101-1804 Safety Notice Safety Risk Installation Ordinary Risk The installation procedures must follow this manual. The emergency stop switch must be installed in an appropriate location where it can be operated easily, so that the operator can immediately stop the robot system in an emergency. The person who installs the robot must be trained and authorized.
  • Page 8 C19UE101-1804 position must be noted to avoid the robot interference when the end effector is installed. The tool-type end effector is usually equipped with high voltage, high temperature or active shaft. Special attention should be paid during the WARNING operation. iii.
  • Page 9 Emergency Stop Switch 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 the cable. If additional emergency stop switches are required, other connection can be applied for the same purpose.
  • Page 10 12 months. The warranty does not cover any of the damage and failure resulting from: The damage caused by using with the production line or the peripheral equipment not constructed by HIWIN. Operating method, environment and storage specifications not specifically recommended in the product manual.
  • Page 11 C19UE101-1804 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 technician or the dealer who you purchased with.

  • Page 12: Table Of Contents

    C19UE101-1804 Content 1. Specifications 1.1 Standard Specification 1.2 Standard and Optional Equipment 1.3 Serial Specification 1.4 Appearance Dimensions 1.5 Appearance Component 1.6 Operating Environment 1.7 Sticker and Label 2. Installation 2.1 Installation Dimensions 2.2 Multifunctional Installation Frame 2.3 Basic Connection Structure 2.4 Instruction of Controller ON/OFF Procedure 2.5 Motor Cable Connection (CN2) 2.6 Emergency Stop Switch Connection (CN3)
  • Page 13 C19UE101-1804 Version Update Version Date Applicable Scope Note 1.0.0 2018.01.08 RCD403-GB First release Add leakage current mark Modify 3.4 1.0.1 2018.03.05 RCD403-GB Encoder Capture Module Add 2.6 & 3 warning sign...

  • Page 14: Specifications

    C19UE101-1804 1. Specifications 1.1 Standard Specification The following table shows the standard specifications of the robot controller. Item HIWIN Robot Controller RCD403-1100-PR- Model No. RCD403-1100-GB RD403-1100-PR- Controlled Manipulator RD403-1100-GB PTP (point-to-point) Positioning control CP (continuous path) Joint control AC servo control...

  • Page 15: Standard And Optional Equipment

    C19UE101-1804 1.2 Standard and Optional Equipment The following table shows the items of the standard equipment for the robot controller. Item HIWIN Part No. Remark CN1, Main Power Cable 4C7018Y1 Refer to CH2.3 CN2, Motor Power Signal Cable 5M AH301A01 Refer to CH2.5...

  • Page 16: Serial Specification

    C19UE101-1804 1.3 Serial Specification Serial Number: Model Number:...

  • Page 17: Appearance Dimensions

    C19UE101-1804 1.4 Appearance Dimensions The following show the appearance dimensions of the robot controller (unit: mm). As a complete installation dimension, some space needs to be reserved for the cables. Please refer to CAUTION CH2.1.

  • Page 18: Appearance Component

    C19UE101-1804 1.5 Appearance Component The function of each connector outside the controller...

  • Page 19: Operating Environment

    C19UE101-1804 Item Description Power Switch Switch power ON/OFF Main Power Source Inlet three phase AC220V Motor Connector (CN2) Connect robot controller to the robot manipulator Teach Pendant Connector Teach pendant signal transmission (CN4) Emergency Stop Connector Connect to external emergency stop device (CN3) Network Connector Ethernet signal transmission...

  • Page 20: Sticker And Label

    C19UE101-1804 1.7 Sticker and Label The following shows the appearance stickers and labels on the robot controller.
  • Page 21 C19UE101-1804 Illustration Description Controller specification Beware of electric shock Grounding Transport by multiple people Danger: authorized professionals only...

  • Page 22: Installation

    C19UE101-1804 2. Installation 2.1 Installation Dimensions The following shows the connector installation space. Please reserve some space for the connecting wires to avoid interference as they bend. ( unit: mm) Controller should keep upright while installing as the illustration shows. Flipping it 90 degrees on the CAUTION side and turning it over 180 degrees are forbidden while installing the controller.

  • Page 23: Multifunctional Installation Frame

    C19UE101-1804 2.2 Multifunctional Installation Frame This controller is attached with two groups of multifunctional fixing frame while delivering (as shown below). The fixing frame can be installed on the controller with the handle, used for transportation. Or the controller can be fixed on other machines to use.
  • Page 24 C19UE101-1804 Multifunctional fixing frame can be installed under the controller. The assembly drawing is shown below. The specification of the screws is M6X1PX8L. This configuration is convenient for the operator to fix the controller on other machines. The corresponding dimensions of multifunctional fixing frame...

  • Page 25: Basic Connection Structure

    C19UE101-1804 2.3 Basic Connection Structure The picture below is an example of basic connection structure. This controller needs to be supplied with single-phase AC200-240V, and the ground connection should be separated from main power breaker. Do not connect the ground by devices or system ground, the best way is to connect to power ground directly, and high-quality wires which diameters are 14AWG or more should be used.

  • Page 26: Instruction Of Controller On/Off Procedure

    C19UE101-1804 Do not connect any switch and breaker to the ground wire. Please ensure the robot is firmly installed before CAUTION starting the operation test to prevent the robot topples during the test. 2.4 Instruction of Controller ON/OFF Procedure Item Illustration Instruction Controller ON:...

  • Page 27: Motor Cable Connection (Cn2)

    C19UE101-1804 2.5 Motor Cable Connection (CN2) Description: The motor cable connects the robot and the controller with a 5m cable. Connection method: The motor connection port on the controller is CN2 connector which is designed mistake- proofing. If it cannot be plugged in, please rotate and connect it again.

  • Page 28: Emergency Stop Switch Connection (Cn3)

    C19UE101-1804 2.6 Emergency Stop Switch Connection (CN3) Description: Connector CN3 is a female DSUB-15 connector for emergency stop. Emergency stop switch (optional equipment) is a button box with a 5m wire. It should be placed at the position, which is easy to reach.
  • Page 29 C19UE101-1804 Connection Method: The connector of emergency stop device on controller is CN3 which is designed mistake-proofing. If it cannot be plugged in, please rotate and connect it again. Plug the connector into CN3 and secure the screws indeed. Please ensure this emergency stop switch and the emergency stop on the teach pendant are all reset before the robot functions.

  • Page 30: External Input/ Output

    C19UE101-1804 3. External Input/ Output Description: External Input/ Output consists of two DSUB-37, including FI8/FO8 and DI24/DO24. An external I/O wiring kit (optional equipment) contains connecting wire and terminal block. Connector kit contains DSUB-37 soldering connector. External I/O expansion module (optional equipment) can be expanded 16 more input and 16 more output.

  • Page 31: Function I/O

    C19UE101-1804 3.1 Function I/O Description: Standard equipment has function I/O of 8IN/8OUT, which are all in the D37PIN-1 connector. Function I/O List INPUT Parameter Function START Execute program HOLD Pause program STOP Stop program ENBL Enable Function I/O RSR1/PNS1 Robot service request 1 / program selection 1 RSR2/PNS2 Robot service request 2 / program selection 2 RSR3/PNS3...

  • Page 32: Digital I/O

    C19UE101-1804 3.2 Digital I/O Description: Standard equipment has 24IN/24OUT digital I/O, distributed in D37PIN-1 and D37PIN-2 connectors. Digital I/O List D37PIN-1 D37PIN-2 Parameter Parameter Parameter Parameter DI[1] DO[1] DI[9] DO[9] DI[2] DO[2] DI[10] DO[10] DI[3] DO[3] DI[11] DO[11] DI[4] DO[4] DI[12] DO[12] DI[5]...

  • Page 33: Example Of Connection

    C19UE101-1804 3.3 Example of Connection 1. External OUTPUT are all NPN (current sinking) output and OUTPUT signal is 0V. Pin20 (0V) and pin37 (24V) are supply voltage for OUTPUT which is supplied by external power source and the power connection cannot be reversed. 2.
  • Page 34 C19UE101-1804 D37PIN-1 INPUT: NPN OUTPUT: NPN...
  • Page 35 C19UE101-1804 D37PIN-1 INPUT: PNP OUTPUT: NPN...
  • Page 36 C19UC101-1801 D37PIN-2 INPUT: NPN OUTPUT: NPN...
  • Page 37 C19UC101-1801 D37PIN-2 INPUT: PNP OUTPUT: NPN...
  • Page 38 C19UC101-1801 Connection method: There are two I/O connectors (DSUB-37) on the controller which is designed mistake-proofing. If it cannot be plugged in, please rotate and connect it again. Plug the connector in and secure the screw indeed. No signal or power supply should be close to or in contact with any metal case.

  • Page 39: Encoder Capture Module (Cn5)

    C19UC101-1801 3.4 Encoder Capture Module (CN5) Description: There are four channels in the encoder, CH1~CH4, the channel Latch signals are IDI0~IDI3. IDICOM can change the input to NPN or PNP according to operation.
  • Page 40 C19UC101-1801 Encoder List Pin Parameter Pin Parameter CH1A- CH1A+ CH1B- CH1B+ CH1Z- CH1Z+ CH2A- CH2A+ CH2B- CH2B+ CH2Z- CH2Z+ CH3A- CH3A+ CH3B- CH3B+ CH3Z- CH3Z+ CH4A- CH4A+ CH4B- CH4B+ CH4Z- CH4Z+ IDICOM IDI1 IDI0 IDI3 IDI2 The maximum current at the single output supplied is 50mA.
  • Page 41 C19UC101-1801 Actual Wiring Example Take OMRON E6B2-CWZ1X as an example, the encoder required extra supply of 5V, CH1 as an input example. Color Terminal Brown Power supply(+V Blue 0V(common) Black Output phase A White Output phase B Orange Output phase Z Black/red stripes Output phase White/red stripes...

  • Page 42: Rs-232 Port

    C19UC101-1801 3.5 RS-232 Port Description: The following figure shows the pin assignment of RS-232 controller. Description RXD-Receiver TXD-Transmit GND -Ground The following figure shows the connection method with external device.
  • Page 43 C19UC101-1801 Connection method: The I/O connector of controller is COM1, which is designed mistake- proofing. If it cannot be plugged in, please rotate and connect it again. Plug the connector in and secure the screw indeed. No signal or power supply should be close to or in contact with any metal case.

  • Page 44: Teach Pendant

    C19UC101-1801 4. Teach Pendant Description: The Teach Pendant provides the program edit, program management and motion the Emergency Stop Switch and the Enable Switch Teach Pendant Specification: Item HIWIN Robot Teach Pendant Model No. TP02 Dimensions 318x245x107 mm Weight 2.5kg...
  • Page 45 C19UC101-1801 Names and functions on Teach Pendant Button Definition: Item Function Description Emergency Stop Disable servo and directly stop the robot. Switch Mode Switch Switch mode among Manu, Auto and Lock XY-Axis T1 Key In the T1 mode, control the movement in XY-axis. Z-Axis T1 Key In the T1 mode, control the movement in Z-axis.

  • Page 46: Maintenance

    C19UC101-1801 5. Maintenance 5.1 Lead-Acid Battery -acid battery in the controller which lifespan is about 3 to 5 years. Please replace the battery when the voltage is too low to turn on or insufficient power. Battery Replacement Steps: (1) Remove 11 pieces of M4X0.7PX12L Phillips screws on the cover and remove the cover.

  • Page 47: Fan Cotton Filter

    C19UC101-1801 After replacement, please ensure the polarities of battery and power cable are connected correctly; positive (red) to positive and negative (black) to negative. CAUTION Ensure to shut down the controller before replacing the battery. 5.2 Fan Cotton Filter Every air inlet outside the cabinet contains cotton filter, which has the function of blocking external foreign material, enhancing the air convection and promoting heat dissipation.

  • Page 48: Fuse

    C19UC101-1801 5.3 Fuse If encountered the following two situations, please try to open the controller cover and check whether the internal fuse has melted: 1. If unable to start the controller, please follow the steps below to replace the fuse: 1.
  • Page 49 C19UC101-1801 RCBCDZ023 2. If abnormal sound is produced during the operation of the arm or an error code 02-02-11 appeared during automatic running 1. Remove 11 pieces of M4X0.7PX12L Phillips screws on the cover and remove the cover. 2. Check FUSE2 on RCBCDZ033, if the fuse is melted, please replace a new fuse LITTELFUSE 0297002 2A 3.
  • Page 50 C19UC101-1801 Make sure the controller is disconnected to the power supply before replacing the fuse. Replacing fuses with different ampere or other WARNING conductive materials (Iron wire, Iron sheet) are forbidden.

Table of Contents