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Hiwin RA610-GB Series User Manual

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Articulated Robot
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RA610-GB
RT610-GB
User Manual
Original Instruction
www.hiwin.tw

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  • Page 1 Articulated Robot RA610-GB RT610-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 C13UE001-1903 Warranty Terms and Conditions The period of warranty shall commence at the received date of HIWIN product (hereafter called “product”) and shall cover a period of 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 ...
  • Page 4 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 5 C13UE001-1903 Failure to follow instructions with this symbol may result in poor product performance. Please be sure to comply with these instructions. Working Person The personnel can be classified as follows  Operator:  Turns robot controller ON/OFF  Starts robot program from operator’s panel ...
  • Page 6 C13UE001-1903 Warning 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 smock for working environment, safety shoes and helmets. When encountering danger or other emergency or ...
  • Page 7  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 8 C13UE001-1903 3.4 End Effector More attention must be paid to the design of the  end effector to prevent power loss or any other errors that could lead to workpiece falling or damage. The tool-type end effector is usually equipped ...
  • Page 9 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 10: Table Of Contents

    C13UE001-1902 Content TRANSPORTATION AND INSTALLATION ................10 ........................10 RANSPORTATION ..........................19 NSTALLATION ..................21 ONNECTION WITH THE ONTROLLER ..........................23 ROUNDING ....................23 PERATING MBIENT ONDITIONS ................24 TANDARD AND PTIONAL QUIPMENT BASIC SPECIFICATIONS ......................25 ....................25 ESCRIPTION OF ODEL ............................
  • Page 11 C13UE001-1903 Edition Date Robot type Remark RA610-GB 1.0.0 2018.05.25 First edition released RT610-GB Added new chapter 5 manual brake RA610-GB 1.0.1 2019.01.03 RT610-GB release device RA610-GB 1.0.2 2019.02.19 Modified chapter 2.2 labels RT610-GB...

  • Page 12: Transportation And Installation

    C13UE001-1903 1. Transportation and Installation 1.1 Transportation Sling, crane or forklift truck can be used to transport the robot. The transportation procedure is as follows: Transport by forklift truck: Step1. Move the robot into its transport position and the angle of each joint is shown in the table of Figure 1-1.
  • Page 13 C13UE001-1903 Transport position RA610-1355-GB RA610-1476-GB RA610-1672-GB RA610-1869-GB RT610-1355-GB RT610-1476-GB RT610-1672-GB RT610-1869-GB 0˚ 0˚ 0˚ 0˚ 45˚ 55˚ 45˚ 35˚ -75˚ -75˚ -80˚ -80˚ 0˚ 0˚ 0˚ 0˚ -60˚ -70˚ -55˚ -45˚ 0˚ 0˚ 0˚ 0˚ Figure 1-1 Transport position Before carrying the robot, be sure to remove the end ...
  • Page 14 C13UE001-1903 Center of gravity Center of gravity Figure 1-2(a) RA610-1355-GB Transport dimensions RT610 -1355-GB Transport dimensions Center of gravity Center of gravity Figure 1-2(b) RA610-1476-GB Transport dimensions RT610-1476-GB Transport dimensions...
  • Page 15 C13UE001-1903 Center of gravity Center of gravity Figure 1-2(c) RA610-1672-GB Transport dimensions RT610-1672-GB Transport dimensions Center of gravity Center of gravity Figure 1-2(d) RA610-1869-GB Transport dimensions RT610-1869-GB Transport dimensions...
  • Page 16 C13UE001-1903 Direction for forklift Suspension plate Screw: 4-M8x1.25Px20L Washer: 4-M8 Figure 1-3(a) RA610-1355-GB Transport by forklift truck RT610-1355-GB Transport by forklift truck Direction for forklift Suspension plate Screw: 4-M8x1.25Px20L Washer: 4-M8 Figure 1-3(b) RA610-1476-GB Transport by forklift truck RT610-1476-GB Transport by forklift truck...
  • Page 17 C13UE001-1903 Direction for forklift Suspension plate Screw: 4-M8x1.25Px20L Washer: 4-M8 Figure 1-3(c) RA610-1672-GB Transport by forklift truck RT610-1672-GB Transport by forklift truck Direction for forklift Suspension plate Screw: 4-M8x1.25Px20L Washer: 4-M8 Figure 1-3(d) RA610-1869-GB Transport by forklift truck RT610-1869-GB Transport by forklift truck...
  • Page 18 C13UE001-1903 Center of gravity Figure 1-4(a) RA610-1355-GB Transport by sling RT610-1355-GB Transport by sling Center of gravity Figure 1-4(b) RA610-1476-GB Transport by sling RT610-1476-GB Transport by sling...
  • Page 19 C13UE001-1903 Center of gravity Figure 1-4(c) RA610-1672-GB Transport by sling RT610-1672-GB Transport by sling Center of gravity Figure 1-4(d) RA610-1869-GB Transport by sling RT610-1869-GB Transport by sling...
  • Page 20 C13UE001-1903 Sling installation position 2-M12 Eyebolt Figure 1-4(e) Eye bolt securement...

  • Page 21: Installation

    C13UE001-1903 1.2 Installation Figure 1-5 shows the installation dimensions of the robot. According to the dimensions, fix the robot with M14 installation bolt on the installation surface. Figure 1-6 and Table 1-1 show the forces and moments acting on the installation surface. The installation surface must have sufficient strength to withstand the dynamic movement of the robot when operating at maximum speed.
  • Page 22 C13UE001-1903 Table 1-1 Value of forces and moments acting on the installation surface (All type) Horizontal Vertical moment Vertical force Horizontal force moment (Nm) (Nm) Stop 1422 Acceleration 2201 2308 1021 /Deceleration Power cuts Stop 12129 6903 6985 5433 Ensure the installation surface is smooth plane which is ...

  • Page 23: Connection With The Controller

    C13UE001-1903 1.3 Connection with the Controller Figure 1-7 shows the structure drawing of the robot. Figure 1-8 shows overview of the robot system which comprises the robot, the controller, CN2 connecting cable, and the teach pendant. The J1 interface and the pin assignment of the power supply and signal connector are shown in Figure 1-9 and Table 1-2.
  • Page 24 C13UE001-1903 Code RA610-GB RT610-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 Table 1-2 Pin 0assignment of CN2 connector When connecting the cable, be sure to turn off power ...

  • Page 25: Grounding

    C13UE001-1903 1.4 Grounding Figure 1-1 shows the grounding connection of the robot with the screw (M5×0.8P×12L). Grounding wire Washer Screw Figure 1-10 Grounding method 1.5 Operating Ambient Conditions The robot operating ambient conditions is shown in Table 1-3. Table 1-3 Ambient conditions Ambient conditions 0~45 ℃[Note 1] Ambient temperature...

  • Page 26: Standard And Optional Equipment List

    It is recommended to warm up the robot at low speed for a few minutes. 1.6 Standard and Optional Equipment List Standard and optional equipment list is shown in Table 1-4 Table 1-4 Standard and optional equipment list HIWIN Item Standard Optional Remark Part No.

  • Page 27: Basic Specifications

    C13UE001-1903 2. Basic Specifications 2.1 Description of Model Name There is a model name on the specification label of RA610-GB and RT610-GB. The explanation of model name is shown below.

  • Page 28: Labels

    C13UE001-1903 2.2 Labels The labels on the robot are shown in Table 2-2. Table2-2 Labels description Labels Name Description Keep safety distance from robot system, and Collision prevent colliding to operator during operation. Make sure grounding is Grounding completed, or it will cause electric shock.
  • Page 29 C13UE001-1903 Robot specification and Specification serial number The connection port of Air in air tube for air input of RA610-GB. The connection port of Air out air tube for air output of RA610-GB. The connection port of Air in/out air tube for air input and output of RT610-GB.

  • Page 30: Robot Specifications

    C13UE001-1903 2.3 Robot Specifications The robot specifications are as shown in Table 2-3. Table 2-3 Robot specifications Item Specification Model name RA610-GB RT610-GB Maximum reach radius 1355 1476 1672 1869 1355 1476 1672 1869 (mm) Degrees of freedom Floor、slope (wall mounting, ceiling mounting) [Note 1] Installation Load capacity [Note 2] 12 kg...
  • Page 31 Less than 75 dB [Note 6] [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 32: Outer Dimensions And Motion Range

    C13UE001-1903 2.4 Outer Dimensions and Motion Range The outer dimensions and motion range are shown in Figure 2-3(a)~(d). Figure 2-3(a) RA610-1355-GB Outer dimension and motion range RT610-1355-GB Outer dimension and motion range...
  • Page 33 C13UE001-1903 Figure 2-3(b) RA610-1476-GB Outer dimension and motion range RT610-1476-GB Outer dimension and motion range...
  • Page 34 C13UE001-1903 Figure 2-3(c) RA610-1672-GB Outer dimension and motion range RT610-1672-GB Outer dimension and motion range...
  • Page 35 C13UE001-1903 Figure 2-3(d) RA610-1869-GB Outer dimension and motion range RT610-1869-GB Outer dimension and motion range...

  • Page 36: Wrist Load Conditions

    C13UE001-1903 2.5 Wrist Load Conditions The load capacity of the robot is not only limited by the weight of the load, but also limited by the position of load’s center of gravity. Figure 2-4(a)~(d) shows the allowable position of load’s center of gravity when the robot is loaded. Figure 2-4(a) RA610-1355-GB Wrist moment diagram RT610-1355-GB Wrist moment diagram...
  • Page 37 C13UE001-1903 Figure 2-4(b) RA610-1476-GB Wrist moment diagram RT610-1476-GB Wrist moment diagram...
  • Page 38 C13UE001-1903 Figure 2-4(c) RA610-1672-GB Wrist moment diagram RT610-1672-GB Wrist moment diagram...
  • Page 39 C13UE001-1903 Figure 2-4(d) RA610-1869-GB Wrist moment diagram RT610-1869-GB Wrist moment diagram...

  • Page 40: Equipment Mounting Surface And Interface

    C13UE001-1903 3. Equipment Mounting Surface and Interface 3.1 Mounting Surface for End Effector The mounting surface for end effector on the wrist end is shown in Figure 3-1. Figure 3-1 Mounting surface for end effector 3.2 Mounting Surface on the Robot Mounting surfaces for the peripheral equipment are shown in Figure 3-2(a)~(e).
  • Page 41 C13UE001-1903 J1 rotation center J5 rotation center J3 rotation center Figure 3-2(b) RA610-1355-GB Mounting surfaces on the robot RT610-1355-GB Mounting surfaces on the robot J1 rotation center J5 rotation center J3 rotation center Figure 3-2(c) RA610-1476-GB Mounting surfaces on the robot RT610-1476-GB Mounting surfaces on the robot...
  • Page 42 C13UE001-1903 J1 rotation center J5 rotation center J3 rotation center Figure 3-2(d) RA610-1672-GB Mounting surfaces on the robot RT610-1672-GB Mounting surfaces on the robot J1 rotation center J5 rotation center J3 rotation center Figure 3-2(e) RA610-1869-GB Mounting surfaces on the robot RT610-1869-GB Mounting surfaces on the robot When other equipment is installed on the robot, be ...

  • Page 43: Interface Of Air Supply

    C13UE001-1903 3.3 Interface of Air Supply Pneumatic holes (AIR IN & AIR OUT) of RA610-GB are installed on the rear of J1 as shown in Figure 3-3(a), and the outer diameter of the air tube in the robot is ψ4mm. The secure holes for the nozzle are M5×0.8P×8DP.
  • Page 44 C13UE001-1903 Figure 3-3(b) Pneumatic circuit diagram Pneumatic holes (AIR IN & AIR OUT) of RT610-GB are installed on the rear of J1 as shown in Figure 3-4, and the outer diameter of the air tube in the robot is ψ4mm. The secure holes for the nozzle are M5×0.8P×8DP.

  • Page 45: R-I/O Interface

    C13UE001-1903 3.4 R-I/O Interface R-I/O interface for end effector is on J5 as shown in Figure 3-5, and the pin assignment of R-I/O connector is shown in Figure 3-6. Figure 3-7 to Figure 3-10 shows the wiring diagram of R-I/O interface. The connection of two-wire proximity switch used on customer side is shown in Figure 3-11.
  • Page 46 C13UE001-1903 3-7 Wiring diagram of input (Standard: Sinking type) Figure 3-8 Wiring diagram of input (Optional: Sourcing type) Figure...
  • Page 47 C13UE001-1903 3-9 Wiring diagram of output (Standard: Sinking type) Figure 3-10 Wiring diagram of output (Optional: Sourcing type) Figure...
  • Page 48 C13UE001-1903 2-wire proximity switch Negative input Internal circuit 2-wire proximity switch Positive input Internal circuit Figure 3-11 two-wire proximity switch circuit diagram Pin 1 and pin 9 are used for signal (24V/1A), not for  power input of end effector. The maximum output current at each pin is 100mA.

  • Page 49: Calibration

    4. Calibration 4.1 Zero-Position Setting The calibration tools (HIWIN part No.: 4C201JM1) for setting Zero-position are shown in Figure 4-1. The robot should be 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 50 C13UE001-1903  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(A) to the pinhole to calibrate Zero-position. Step3. Finish calibration and remove the calibration tool(A). Step4.
  • Page 51 C13UE001-1903  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(B) to the keyway to calibrate Zero-position. (The hexagon socket screw can be secured to the calibration tool(B) in advance.) Step3.
  • Page 52 C13UE001-1903  J6-axis Zero-position setting Step1. Operate J6 at low speed to align the calibration mark with the keyway. Step2. Insert the calibration tool(B) to the keyway to calibrate Zero-position. (The hexagon socket screw can be secured to the calibration tool(B) in advance.) Step3.

  • Page 53: Manual Brake Release Device (Optional)

    C13UE001-1903 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 54: 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 RA610-XXX-GB Model name RT610-XXX-GB Input voltage (VAC)
  • Page 55 C13UE001-1903 Corresponding manipulator model name: 1. RA605-XXX-GB 、 RT605-XXX-GB: 2. RA610-XXXX-GB 、 RT610-XXXX-GB...

  • Page 56: Operation

    C13UE001-1903 5.3 Operation Name descriptions of the manual brake release device and their functions.
  • Page 57 C13UE001-1903 Description: Item Description Green-light indicator Power ON/OFF. Three-stage revertible Toggle upward and downward of any switch and the toggle switch robot will release the brake of corresponding axis. (Note 1) When the switch is released to the middle position, the brake will be executed.

  • Page 58: Maintenance And Inspection

    C13UE001-1903 6. Maintenance and Inspection This chapter presents the maintenance and periodical inspection procedures to maintain the robot for a reasonable service life. It includes the cover removal and installation, inspection and replacement of the timing belt, lubrication position, the procedures for replacing the battery, and other notes.
  • Page 59 (Refer to section 6.2.3) 8. If the bearing or the reducer has been damaged by the rolling surface or the gear tooth surface. Please contact HIWIN directly. 1. The Zero-position of the robot might be rewritten. Please set the Zero-position.
  • Page 60 C13UE001-1903 The project and time of periodic inspection refer to Table 6-2. Table 6-2 Periodic inspection items Inspection item Remedy Inspection item A (1 month / 320 hours) Clean and check each part of the robot. Check if there are any cracks and flows on the robot.
  • Page 61 C13UE001-1903 Table 6-3 Inspection schedule...

  • Page 62: Maintenance

    C13UE001-1903 6.2 Maintenance 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.

  • Page 63: Timing Belt Replacement

    C13UE001-1903 6.2.2 Timing Belt Replacement The timing belt is used in the robot for the driver system of the J5 and J6 -axis. Although the belt tension has been adjusted before the robot delivery, the timing belt will wear depending on the working conditions.
  • Page 64 C13UE001-1903 Width Span Sonic tension meter Figure 6-2 Measure belt tension Table 6-4 The belt specifications Axis Belt type Width (mm) Span (mm) Tension (N) 396-3GT-6 152.5 29±5 396-3GT-6 152.5 29±5 Removing the cover  Before replacing the belt, remove the cover of J5 and J6. The M3x0.5Px8L screws are used, as shown in Figure 6-3.
  • Page 65 C13UE001-1903 Inspection, maintenance and replacement of timing belt in J5-axis.  Figure 6-4 shows the structure of J5-axis. Screws for motor flange Belt pulley Tension adjusting screw Belt Belt pulley Figure 6-4 J5-axis structure diagram  Inspect J5 -axis timing belt Step1.
  • Page 66 C13UE001-1903  Inspection, maintenance and replacement of J6-axis timing belt Figure 6-5 shows the structure of J5-axis. Tension adjusting screw Belt pulley Belt pulley Belt Screws for motor flange Figure 6-5 J6-axis structure diagram  Inspect J6 -axis timing belt Step1.

  • Page 67: Grease Replenishment

    C13UE001-1903 6.2.3 Grease Replenishment  The grease inlets and the air vents are shown in Figure 6-6. J4 air outlet J6 grease inlet J2 air outlet J5 grease inlet J5 air outlet J4 grease inlet J3 air outlet J3 grease inlet J6 air outlet J2 grease inlet J1 air outlet...
  • Page 68 C13UE001-1903  Procedure of grease replenishment Step1. The grease inlets and the air vents of the robot are shown in Figure 6-7. Step2. Remove the screw of the grease inlet, and install the grease nipple. Step3. Remove the screw of the air vent. Step4.
  • Page 69 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 70 Mega-Fabs Motion Systems, 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. ©2019 FORM C13UE001-1903 The specifications in this catalog are subject to change without notification. (PRINTED IN TAIWAN)

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