Hiwin RA605-GC User Manual
  1. Manuals
  2. Brands
  3. Hiwin Manuals
  4. Robotics
  5. RA605-GC
  6. User manual

Hiwin RA605-GC User Manual

Articulated robot
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Articulated Robot
- RA605-GC
User Manual
Original Instruction
www.hiwin.tw

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the RA605-GC and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Hiwin RA605-GC

Summary of Contents for Hiwin RA605-GC

  • Page 1 Articulated Robot - RA605-GC 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  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 C22UE001-2004 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 C22UE001-2004 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 C22UE001-2004 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 C22UE001-2004 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

    C22UE001-2004 Content Transportation and Installation ........... 15 Transportation ....................15 Installation ......................19 Connection with the Controller ................ 22 Grounding ......................24 Environmental Conditions ................25 Standard and Optional Equipment List ............26 Basic Specifications ..............27 Description of Model Name ................27 Labels .......................
  • Page 15 C22UE001-2004 6.2.2 Timing Belt Replacement ................58 Safety Certification ..............66 Appendix ..................67 Version Date Product Note 1.0.0 2020.04.15 RA605-GC First edition...

  • Page 16: Transportation And Installation

    C22UE001-2004 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 C22UE001-2004 Transport Posture Degree RA605-710-GC RA605-909-GC 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 C22UE001-2004 Center of Hexagon socket cap screw Gravity M8x1.25Px12L Suspension Plate Center of Gravity Figure 1-2(b) RA605-909-GC Transport dimensions Figure 1-3(a) Crane lifting transportation RA605-710-GC Transport method...
  • Page 19 C22UE001-2004 Figure 1-3(b) Crane lifting transportation RA605-909-GC 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. If the robot is directly suspended without using the ...

  • Page 20: Installation

    C22UE001-2004 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 21 C22UE001-2004 Figure 1-6 Forces and moments acting on the installation surface Table 1-1 RA605-710-GC 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 22 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 23: Connection With The Controller

    C22UE001-2004 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 24 C22UE001-2004 Code RA605-GC Air in/out socket Air in/out socket Battery box Power/signal socket Figure 1-9 Interface at the rear of J1 Figure 1-10 Pin assignment of the Power/Signal socket...

  • Page 25: Grounding

    C22UE001-2004 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 diameter of a grounding cable should not be larger than  14AWG. The grounding cable of the robot should be connected directly ...

  • Page 26: Environmental Conditions

    C22UE001-2004 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 27: Standard And Optional Equipment List

    C22UE001-2004 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 Optional Optional HIWIN Item Standard Remark RA605- RA605- Part No. 710-GC 909-GC Including calibration tool Manipulator accessory kit RA605Z541-1 set and End-effector I/O ●...

  • Page 28: Basic Specifications

    C22UE001-2004 2. Basic Specifications 2.1 Description of Model Name There is a model name on the specification label of RA605-GC. The explanation of model name is shown below. Model example RA605 – 710 – GC Figure 2-1 Model Diagram...

  • Page 29: Labels

    C22UE001-2004 2.2 Labels The labels on the robot are shown in Table 2-1. Table 2-1 Labels description Labels Name Description Keep safety distance from robot system, and prevent Collision colliding to operator during operation. Make sure grounding is Grounding completed, or it will cause electric shock.
  • Page 30 C22UE001-2004 The connection port of air Air In/Out tube for air input/output. Grease in The hole for grease in. Grease out The hole for grease out. CN2 power & signal cable End effector I/O input and R-I/O output connector...

  • Page 31: Robot Specifications

    C22UE001-2004 2.3 Robot Specifications The robot specifications are shown in Table 2-2. Table 2-2 Robot specification Item RA605-GC Maximum Reach Radius(mm) Degrees of Freedom Floor、slope、wall mounting、ceiling mounting Installation [Note 1] Nominal Load Capacity(kg) 5 [Note 2] Maximum Load Capacity(kg) Cycle time(sec) [Note 3] Position Repeatability(mm) ±0.02...
  • Page 32 C22UE001-2004 [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 33: Outer Dimensions And Motion Range

    C22UE001-2004 2.4 Outer Dimensions and Motion Range The motion range is shown in Figure 2-3(a)~(b). Figure 2-3(a) RA605-710-GC Motion range...
  • Page 34 C22UE001-2004 Figure 2-3(b) RA605-909-GC Motion range...

  • Page 35: Wrist Moment Diagram

    C22UE001-2004 2.5 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 2-4 shows allowable center of gravity of the load when the robot is loaded 1~5kg.

  • Page 36: Mechanical Stopper

    C22UE001-2004 2.6 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 2-5 to Figure 2-9. Table 2-3 Description of mechanical stoppers Illustration Axis applied Motion range limited -170°～+170°...
  • Page 37 C22UE001-2004 Secure screw M10X30L Mechanical stopper A view Figure 2-5 J1-axis positive/negative direction limit Secure flat head screw M4X16L Mechanical stopper B view Figure 2-6 J2-axis negative direction limit...
  • Page 38 C22UE001-2004 Mechanical stopper Secure flat head screw M4X16L C view Figure 2-7 J2-axis positive direction limit Mechanical stopper Secure flat head screw M4X16L E view Figure 2-8 J3-axis negative direction limit Secure flat head screw M4X16L Figure 2-9 J3-axis positive direction limit...

  • Page 39: Equipment Mounting Surface And Interface

    The pneumatic holes (AIR IN & AIR OUT) are installed on the rear of J1 as shown in Figure 3-2, and the outer diameter of the air tube in the robot is ψ4mm. The secure holes for the nozzle are M5×0.8P. Code Name Label Air in/out socket Air in/out socket Figure 3-2 RA605-GC Pneumatic interface...

  • Page 40: R-I/O Interface

    C22UE001-2004 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 3-3. Figure 3-4 to Figure 3-7 show the wiring diagram of I/O interface. Figure 3-8 show the two-wire proximity switches connecting method for customers. RI[4] RI[5] RI[6]...
  • Page 41 C22UE001-2004 Figure 3-4 Wiring diagram of input (Standard: Sinking type) Figure 3-5 Wiring diagram of input (Optional: Sourcing type)
  • Page 42 C22UE001-2004 Figure 3-6 Wiring diagram of output (Standard: Sinking type) Figure 3-7 Wiring diagram of output (Optional: Sourcing type)
  • Page 43 C22UE001-2004 Two-wire proximity switch Negative input Internal circuit Two-wire proximity switch Positive input Internal circuit Figure 3-8 Two-wire proximity switch wiring diagram Pin 1 and pin 9 are used for 24V/1A signal, not for power  input of end effector. The maximum output current at each pin is 100mA.

  • Page 44: Calibration

    4. Calibration 4.1 Zero Position Setting The calibration tools (HIWIN part no.: RA605Z541-2) 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 45 C22UE001-2004  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. Step4.
  • Page 46 C22UE001-2004  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. (hexagon socket cap screw can be screwed first in calibration tool) Step3.
  • Page 47 C22UE001-2004  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 (A) to the keyway to calibrate Zero-position. Step3. Finish the calibration and remove the calibration tool. Step4.
  • Page 48 C22UE001-2004  Clear encoder by HRSS Step1. Select the “JOINT” as the coordinate system. Step2. Move the robot to the Zero-position. Step3. Click Main Menu>>Start-up>>Master>> Zero Position. Step4. Double click the axis to clear encoder. (As shown in Figure 4-8) Figure 4-8 Clear encoder by HRSS...

  • Page 49: Manual Brake Release Device (Optional)

    C22UE001-2004 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. This device can only be executed by trained staff.  When the manual brake release device is executed, J4- ...
  • Page 50 C22UE001-2004 Specifications: Item HIWIN Manual Brake Release Device RA605-710-GC Model name RA605-909-GC Input voltage (VAC) Single phase, 100-240 Output voltage (VDC) Power Voltage frequency (Hz) 50/60 Max. rated current (A) Dimension 140x170x95 mm Weight 1.74kg Protection rating IP20 Ambient temperature (...

  • Page 51: Operation

    C22UE001-2004 5.3 Operation Name descriptions of the manual brake release device and their functions.
  • Page 52 C22UE001-2004 Description: Item Description Green-light indicator Power ON/OFF. Toggle upward and downward of any switch and the Three-stage revertible toggle robot will release the brake of corresponding axis. switch When the switch is released to the middle position, (Note 1) the brake will be executed.

  • Page 53: Maintenance And Inspection

    RA605-GC robot series are designed with lifetime lubrication technology, and never needs a change of lubricant in the reducer unit. The robust and sealed design makes sure the stability of lubrication inside the robot.
  • Page 54 Drain the drainage system and replace the any air leak, drain clogging or hose damage? leaking component. If needed, please contact Is the air source normal? HIWIN directly. Depending on the motion condition and surrounding environment, there might be a few grease permeating through the outside Wipe it off when there is any grease permeating of the rotatory oil seal of each axis.
  • Page 55 7. 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 56 C22UE001-2004 3. The Robot J1 base retaining bolt might loosen. Please apply LOCTITE and tighten it to the appropriate torque. 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.
  • Page 57 J1~J3. Inspection item E (3years/11520hours) 1 Change the cables inside the robot. Please contact HIWIN directly. 2 Change the timing belt of J1 and J4. Please contact HIWIN directly. It is normal that the belt produces debris during operation, ...

  • Page 58: Maintenance Methods

    C22UE001-2004 6.2 Maintenance Methods 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 59 C22UE001-2004 Rubber seal Battery cover Cover screw Figure 6-1 The backup batteries replacement 6.2.2 Timing Belt Replacement The timing belt is used in the robot for the driver system of the J2, J3, 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 60 C22UE001-2004 Belt Tension  It is very important to keep proper belt tension. The belt tooth jumping will happen if the belt tension is too loose. If the belt tension is too tight, it will cause damage to the motor or bearing. Measuring methods of the belt by using fingers or tools are shown in Figure 6-2.
  • Page 61 Tension(N) RA605-710-GC 365-5GT-9 117.5 55~61 RA605-909-GC 375-5GT-9 116.9 RA605-710-GC 440-5GT-9 154.9 55~6155~61 RA605-909-GC 635-5GT-9 254.9 All models 285-3GT-6 100.3 29~32 All models 285-3GT-6 100.3 29~32 If the belt of J1 and J4 need to be replaced, please contact  HIWIN.
  • Page 62 C22UE001-2004 Cover removal  Before replacing the belt, remove the cover of J3 and J5 as shown in Figure 6-3. Screw Model Screw Type Specification RA605-710-GC Captive screw M3x0.5Px10L RA605-909-GC Captive screw M3x0.5Px10L Figure 6-3 Cover removal diagram Inspection, maintenance and replacement of timing belt in J2-axis. ...
  • Page 63 C22UE001-2004  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 64 C22UE001-2004  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 65 C22UE001-2004  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 66 C22UE001-2004  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 67 C22UE001-2004 7. Safety Certification RA605-GC achieves 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...
  • Page 68 C22UE001-2004 8. Appendix Suspension plate (refer to section 1.1)
  • Page 69 3. HIWIN website for patented product directory: http://www.hiwin.tw/Products/Products_patents.aspx 4. 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. ©2020 FORM C22UE001-2004 The specifications in this catalog are subject to change without notification. (PRINTED IN TAIWAN)

This manual is also suitable for:

Ra605-710-gcRa605-909-gc

Table of Contents