1. Manuals
  2. Brands
  3. Hiwin Manuals
  4. Robotics
  5. RT605 Series
  6. User manual

Hiwin RT605 Series User Manual

Articulated robot
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 RT605 Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Hiwin RT605 Series

Summary of Contents for Hiwin RT605 Series

  • 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 Damage caused by any natural disaster. i.e., fire, earthquake, tsunami, lightning, 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.
  • 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 C18UE001-1804 Turns robot controller ON/OFF Starts robot program from operator’s panel Reset system alarm Programmer or teaching operator: Operates the robot Teaches robot inside the safety fence Maintenance engineer: Operates the robot Teaches robot inside the safety fence Does maintenance, adjustment, replacement Programmer and the maintenance engineer must be trained for proper robot operation.
  • Page 6 Please contact us if the procedure not specified by 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...
  • Page 7 C18UE001-1804 Prior to repair and maintenance, please turn off power supply. Maintenance and repair should be performed by a qualified operator with a complete understanding of the entire system to avoid risk of robot damage and personal injury. When replacing the components, avoid foreign material going into the robot.
  • Page 8 C18UE001-1804 servo motor will be cut, and all movements will be stopped. And the control system will be shut down. Emergency stop should be reset if the restoration of operating procedure is wanted. Avoid using emergency stop to replace a normal stop procedure.

  • Page 9: Table Of Contents

    C18UE001-1804 Content 1.Transportation and Installation Transportation Installation Connection with the Controller Grounding Operating Ambient Conditions Standard and Optional Equipment List 2.Basic Specifications Description of Serial Number Labels Robot Specifications Outer Dimensions and Motion Range Wrist Moment Conditions 3.Equipment Mounting Surface and Interface Mounting Surface for End Effector Pneumatic Interface I/O Interface...
  • Page 10 C18UE001-1804 Version Date Product Note RT605-710-GB 1.0.0 2017.12.18 First edition RT605-710-GB Manual specification updated 2.0.0 2018.01.08 RT605-909-GB RT605-909-GB...

  • Page 11: Transportation And Installation

    C18UE001-1804 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 12 C18UE001-1804 RT605-710-GB Transport posture 0° 45° -55° 0° -80° 0° RT605-909-GB Transport posture 0° 30° -55° 0° -65° 0° Figure 1-1 Transport posture 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 vibration or shock during transportation.
  • Page 13 C18UE001-1804 Center of gravity Hexagon socket cap screw M8x1.25Px12L Suspension plate Center of gravity Center of gravity Hexagon socket cap screw M8x1.25Px12L Suspension plate Center of gravity...
  • Page 14 C18UE001-1804...

  • Page 15: Installation

    C18UE001-1804 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. Figure 1-5, table 1-1 and table 1-2 show the forces and moments acting on the installation surface during operation. The strength of surface must be considered when installing the robot.
  • Page 16 C18UE001-1804 Table 1-1 RT605-710-GB Value of forces and moments acting on the installation surface Vertical moment Vertical force Horizontal moment Horizontal force Mv (Nm) Fv (N) (Nm) Stop Acceleration 1009 /Deceleration Power cut stop 1199 Table 1-2 RT605-909-GB Value of forces and moments acting on the installation surface Vertical moment Vertical force Horizontal moment...

  • Page 17: Connection With The Controller

    C18UE001-1804 1.3 Connection with the Controller Figure 1-6 shows the structure drawing of the robot. Figure 1-7 shows the connection between robot, controller, teach pendant and power source. Figure 1-8and Figure 1-9 show the interface of J1 and the pin assignment of CN2 connector. Joint 4 Joint 5 Joint 6...
  • Page 18 C18UE001-1804 Battery box Power/signal socket Air out socket Air in socket Figure 1-8 Interface at the rear of J1 Figure 1-9 Pin assignment of CN2 connector When connecting the cable, be sure to turn off power supply first.

  • Page 19: Grounding

    C18UE001-1804 1.4 Grounding Figure 1-10 shows the grounding connection of the robot with the screw (M5×0.8P×8L). 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 Ambient temperature 0~45...

  • Page 20: Standard And Optional Equipment List

    C18UE001-1804 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 RT605-710-GB RT605-909-GB Item Standard Remark Part No. Optional Optional Teach pendant AH301401 Calibration tool set...

  • Page 21: Basic Specifications

    C18UE001-1804 2. Basic Specifications 2.1 Description of Serial Number There is a serial number on the specification label of each robot. The explanation of serial number and model name are shown in Figure 2-1. Figure 2-1 Description of serial number 2.2 Labels The labels on the robot are shown in Table 2-1.
  • Page 22 C18UE001-1804 Be aware of transport posture Transport when transporting robot, please posture refer to section 1.1 for detailed information. Robot specification and serial Specification number. The connection port of air tube for Air in air input. The connection port of air tube for Air out air output.

  • Page 23: Robot Specifications

    C18UE001-1804 2.3 Robot Specifications The robot specifications are shown in Table 2-2. Table 2-2 Robot specification Item Specification Model name RT605-710-GB RT605-909-GB Degrees of freedom Floor slope (wall mounting, ceiling mounting) [Note 1] Installation Load capacity 5kg [Note 2] 5kg [Note 2] Maximum reach radius 710 mm 909 mm...
  • Page 24 C18UE001-1804 [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 25: Outer Dimensions And Motion Range

    C18UE001-1804 2.4 Outer Dimensions and Motion Range The motion range is shown in Figure 2-3 and Figure 2-4. Figure 2-3 RT605-710-GB Motion range...
  • Page 26 C18UE001-1804 Figure 2-4 RT605-909-GB Motion range...

  • Page 27: Wrist Moment Conditions

    C18UE001-1804 2.5 Wrist Moment Conditions 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 2-5 shows allowable center of gravity of the load when the robot is loaded 1~5kg.

  • Page 28: Equipment Mounting Surface And Interface

    C18UE001-1804 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 Pneumatic Interface Pneumatic holes (AIR IN & AIR OUT) are installed on the rear of J1 as shown in Figure 3-2.

  • Page 29: I/O Interface

    C18UE001-1804 3.3 I/O Interface I/O interface for end effector on J5 and the pin assignment of I/O connector are shown in Figure 3-3. Figure 3-4 to Figure 3-7 show the wiring diagram of I/O interface. A side view Figure 3-3 Pin assignment of the I/O connector (Power output: 24V/1A) Figure3-4 Wiring diagram of input (Standard: Sinking type)
  • Page 30 C18UE001-1804 Figure 3-5 Wiring diagram of input (Optional: Sourcing type) Figure 3-6 Wiring diagram of output (Standard: Sinking type)
  • Page 31 C18UE001-1804 Figure 3-7 Wiring diagram of output (Optional: Sourcing type) Pin 1 and pin 9, which are 24V/1A, are used for signal, not for power input of end effector. The maximum output current at each pin is 100mA.

  • Page 32: Zero-Position

    C18UE001-1804 4. Zero-Position 4.1 Zero Position Setting The calibration tools 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 below.
  • Page 33 C18UE001-1804 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 34 C18UE001-1804 J4-axis Zero-position setting RT605-710-GB 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. Step3. Finish the calibration and remove the calibration tool. Step4.
  • Page 35 C18UE001-1804 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 36 C18UE001-1804 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 37: Maintenance And Inspection

    C18UE001-1804 5. 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 38 (Refer to section 5.2.3) 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. (Refer to section 4.1)
  • Page 39 C18UE001-1804 Replace the backup battery. Refer to section 1 Replace the backup battery in the robot. 5.2.1 Inspection item E (3years/11520hours) 1 Change the lubrication grease of the reducer. Change the grease. Refer to section 5.2.3. It is normal that the belt produces debris during operation, but if it happens right after cleaning the belt, it is recommended to replace the belt.

  • Page 40: Repair

    C18UE001-1804 5.2 Repair 5.2.1 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 41: Timing Belt Replacement

    C18UE001-1804 5.2.2 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 42 Axis Model name Belt type Width(mm) Span(mm) Tension(N) RT605-710-GB 365-5GT-9 117.5 RT605-909-GB 375-5GT-9 116.9 RT605-710-GB 440-5GT-9 154.9 RT605-909-GB 635-5GT-9 254.9 Common 285-3GT-6 100.3 Common 285-3GT-6 100.3 If the belt of J1 and J4 need to be replaced, please contact HIWIN.
  • Page 43 C18UE001-1804 Cover removal Before replacing the belt, remove the cover of J3 and J5 as shown in Figure 5-3. Figure 5-3 Cover removal diagram Inspection, maintenance and replacement of timing belt in J2-axis. Figure 5-4 shows the structure of J2-axis. Tension adjusting nut Screws for motor flange Tension adjusting screw...
  • Page 44 C18UE001-1804 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 45 C18UE001-1804 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 46 C18UE001-1804 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 47 C18UE001-1804 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 48: Grease Replenishment

    C18UE001-1804 5.2.3 Grease Replenishment The grease inlets and the air vents are shown in Figure 5-8. Bevel gear air outlet J6-axis air outlet J5-axis air outlet J4-axis air outlet J3-axis air outlet J3-axis grease inlet J2-axis air outlet J2-axis grease inlet J1-axis air outlet J1-axis grease inlet J6-axis grease inlet...
  • Page 49 C18UE001-1804 Grease specification Table 5-5 shows the specification of grease. Table 5-5 Grease specification Grease Lubrication Part Lubrication grease Quantity nipple 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 SK-1A...

This manual is also suitable for:

Rt605-710-gbRt605-909-gb

Table of Contents