Hiwin RC4 User Manual
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Hiwin RC4 User Manual

Robot controller
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Robot Controller
RC4
User Manual
Original Instruction
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Summary of Contents for Hiwin RC4

  • Page 1 Robot Controller 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 C21UE101-2001 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 equipment not constructed by HIWIN.
  • Page 4  The end-effector or the cable for devices should be installed and designed by a professional staff to avoid damaging the robot and robot malfunction.  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. 2. 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 C21UE101-2001 Safety Precautions i.General All personnel involved in the use or setup of the industrial robot arm must read the safety related literature for the robot arm and instruction manual in detail and operate it in accordance with the specifications. Safety Symbol Users must strictly abide by the content description, otherwise it will cause ...
  • Page 7 C21UE101-2001 ii.Relevant Personnel Electrical or mechanical work on industrial robot arms is only permitted by professionals. All personnel working on industrial robotic arms must read and understand the  manual containing the safety section of the system of the robotic arm. System Integrator Refers to the person who integrates the industrial robot arm into a set of equipment according to safety regulations and puts it into operation.
  • Page 8 C21UE101-2001 User Users must be professionally trained, have the knowledge and experience in this area, and be familiar with the prescribed standards, and thus be able to make a correct judgment of the work to be performed and identify potential hazards. Users can be defined into three categories based on operational permissions: 1.
  • Page 9 C21UE101-2001 iii.Robotic Arm Working Range Definition Working area  The working area of the robot is defined as the area of motion under motion constraints, and the working area must be limited to the minimum required. Collaboration area  The area in which the operator and the robot arm may work together in the protection zone.
  • Page 10 C21UE101-2001 iv.Description of Safety Functions Industrial robotic arms must have the following safety features: Selection of operating mode of the robot arm  Safe guard devices  Emergency stop device  Teach pendant enable switch  The safety function of the robot arm system is to prevent loss of personnel or property.
  • Page 11 C21UE101-2001 Safe Guard Devices Description The safe guard device must use the components approved by the safety regulations and set and plan according to the relevant regulations. The robotic arm system must be automatically activated to receive the safety signal. In the event of a connection failure during automatic mode operation, an emergency stop must be triggered.
  • Page 12 C21UE101-2001 v.Warnings and Precautions General considerations 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 abnormal situation, please press the emergency stop button immediately.
  • Page 13 C21UE101-2001 18. Be sure power is disconnected prior to repair and maintenance, and ensure to operate under the condition of no electrical shock risk. 19. Do not disassembly the controller without permission. If there’s any issues, please contact our engineers.
  • Page 14 Using non-HIWIN spare parts to repair may cause robot damage or malfunction. Beware of the heat generated by the controller and servo motor. Do not overbend the cable to avoid poor circuit contact or unexpected damage.
  • Page 15 Maintenance Precautions 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 unexpected danger.
  • Page 16 C21UE101-2001 The end effector should be mounted firmly on the robot to avoid workpiece fall during operation which may cause personal injury or hazard. The end effector may be equipped with its own control unit. During installation, pay attention to installed location. Ensure that the control unit does not interfere with robot operation.
  • Page 17 The emergency stop switch is for emergency stop only. HIWIN's industrial robot arm has two emergency stop switches, one of which is located on the teach pendant and the other is automatically connected to the controller via a dedicated cable.

  • Page 18: Table Of Contents

    C21UE101-2001 CONTENTS Specification ....................18 Standard Specification ................18 Standard and Optional Equipment ............19 Appearance Dimensions ................21 Appearance Component ................22 Operating Environment ................23 Sticker and Label ..................24 Installation ....................26 Installation Dimensions ................26 Multifunctional Installation Handler ............30 Basic Architecture ..................
  • Page 19 C21UE101-2001 Version Update Edition Date Applicable Range Remark 1.0.0 2019.06.05 Preliminary edition 1.0.1 2019.08.05 Modified chapter 1.2 standard and optional table 1.0.2 2019.09.05 Modified chapter 3.6 1.0.3 2019.10.17 Modified chapter 1.2 standard and optional table 1.0.4 2020.01.03 Modified chapter 3.6...

  • Page 20: Specification

    C21UE101-2001 1 Specification 1.1 Standard Specification Item RC4 Controller Model Controllable robot type RS405-LU Series PTP (point-to-point) Positioning control CP (continuous path) Joint control AC servo Operating system Caterpillar Point data 5000 Memory capacity Step number 10000 Teaching method Remote...

  • Page 21: Standard And Optional Equipment

    C21UE101-2001 1.2 Standard and Optional Equipment Standard and optional equipment for RC4 controller. Item Standard Optional Remark Power Cable RC400C001-1 Refer to CH 2.3 ● ○ Accessory Kit RC400C001-2 Refer to table 1 ● ○ I/O Wiring Set Refer to table 2 ○...
  • Page 22 C21UE101-2001 Table 3: Expansion content: Item Remark 2KVA Transformer Box RC400C001-12 Refer to CH 2.3.2 Transformer Power Cable RC400C001-13 Emergency Stop Switch Unit 5M RC400C001-14 Refer to CH 2.6 CC-Link Expansion Module RC400C001-15 Refer to CH 3.6.1 PROFINET Expansion Module RC400C001-16 Refer to CH 3.6.2 Encoder data capture module...

  • Page 23: Appearance Dimensions

    C21UE101-2001 1.3 Appearance Dimensions The following below shows appearance dimensions of RC4. (Unit: mm) As a complete installation dimension, some space needs to be reserved for the  cables. Please refer to CH2.1.

  • Page 24: Appearance Component

    C21UE101-2001 1.4 Appearance Component The function of each connector outside the RC4 controller. Item Description Power Switch Switch power ON/OFF Main Power Source Inlet single phase AC220V Signal Connector Cable Connect controller to the robot (Motor Signal) manipulator Power Connector Cable...

  • Page 25: Operating Environment

    C21UE101-2001 1.5 Operating Environment The robot controller employs the IEC protection rating as IP20 (open). In addition, IP20 indicates the protection rating for the solid, not for grease and water. The controller should not be placed at the environment with moisture, with ...

  • Page 26: Sticker And Label

    C21UE101-2001 1.6 Sticker and Label The following shows the appearance stickers and labels of RC4 controller.
  • Page 27 C21UE101-2001 Illustration Description Controller specification Beware of electric shock Grounding Transport by multiple people Danger: authorized proffesionals only Tamper seal sticker...

  • Page 28: Installation

    C21UE101-2001 2 Installation 2.1 Installation Dimensions The controller can be set to "planar" and "upright". For ease of maintenance and ventilation around the controller, please set it as shown. Planar It is recommended to reserve 150mm outlet space in front of the controller panel. (Unit: mm)
  • Page 29 C21UE101-2001 Upright (Unit: mm) Refer to the above method for controller placement. Do not reverse the 180  degree and ensure the installation pitch.
  • Page 30 C21UE101-2001 Description: Place the controller upright, you must remove a fixed sheet metal part and replace the plastic foot from the bottom of the controller to the original side fixing point, as shown below. The plastic foot bolt is M4X0.7PX10L.
  • Page 31 C21UE101-2001 Controller heat dissipation The temperature of the air vent of the controller is high. Do not install a heat-  resistant device at the air vent.

  • Page 32: Multifunctional Installation Handler

    C21UE101-2001 2.2 Multifunctional Installation Handler The controller has two sets of multi-function holders. The fix sheet metal can be assembled above the controller and used as a handle sheet metal for transportation purposes. The installation method is shown in the figure below.
  • Page 33 C21UE101-2001 Corresponding size of multi-function handler. (Unit:mm) In order to fix to the gantry, thread the hole according to the size shown. ...

  • Page 34: Basic Architecture

    C21UE101-2001 2.3 Basic Architecture 2.3.1 Connection Method The picture below is an example of basic connection architecture for RS405. RS405 controller needs to be supplied with single-phase AC200-240V and the ground connection should be separated from main power breaker. Instead of connecting the ground by devices or system ground, the correct way ...
  • Page 35 C21UE101-2001 Description: The controller power cable is 3m long and it is connected to the controller as follows: (1) Remove prodective cover. Ground (2) Connect the power cable. L(Red) N(White) (Green) (3) Use retaining strap to hold the wire. (4) Cover the proective cover and lock it.

  • Page 36: Transformer Installation (Optional)

    C21UE101-2001 2.3.2 Transformer Installation (Optional) The transformer is an optional item for this product. The input voltage specification of the controller is single-phase 220V. If the power supply voltage specifications of the client are different, the transformer can be used in series. The installation can refer to the dimensions below.
  • Page 37 C21UE101-2001 RC4 controller input voltage specification is single phase 220V. If the power supply specifications of the client are different, the transformer must be connected in series. Before running for a test, please make sure that the manipulator is securely ...

  • Page 38: Controller Boot/Shutdown Program Description

    C21UE101-2001 2.4 Controller Boot/Shutdown Program Description Boot  Power on by flipping up the power switch. Shutdown  Procedure for shutting down are as follows: Step1. Stop the motion of the robot manipulator. Step2. Press the emergency stop button, then wait 5 seconds. Step3.

  • Page 39: Power And Signal Cable Connection

    C21UE101-2001 2.5 Power and Signal Cable Connection Description: The power and signal cable of the manipulator are connected to the controller as follows. Connection Method: Disassemble the protective cover. The power supply cable is a 20P double-row rectangular connector. Pay attention to the connector label when connecting.
  • Page 40 C21UE101-2001 Insert the connector in parallel with the pin to avoid the internal pin insertion,  resulting in bending deformation. Depending on the state of use of the robot, the temperature of the cable will  rise slightly. Remove the external protective plastic sleeve before connecting. When disassembling and handling, please avoid the connector being severely ...

  • Page 41: Emergency Stop Switch Connection (E-Stop) (Optional)

    C21UE101-2001 2.6 Emergency Stop Switch Connection (E-STOP) (optional) Description: The connector is a female D-SUB 15P 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. D-SUB 15P soldering connector is included in the connector kit.
  • Page 42 C21UE101-2001 Connection Method: The emergency stop of the robot arm needs to be connected to the E-STOP interface of the controller panel. (The E-STOP interface is a D-SUB 15P connector.) Connect the D-SUB connector to the E-STOP interface and securely lock the connector to the panel.

  • Page 43: External Input / Output

    C21UE101-2001 3 External Input / Output Description: The external input/output consists of a D-SUB 44P and contains 8FI/8FO, 16DI/8DO. An external I/O wiring set (optional equipment) can be used to include the cable and terminal block. The connector accessary kit contains the D-SUB 44P solder connector.

  • Page 44: Function I/O

    C21UE101-2001 3.1 Function I/O Description: Standard equipment has function I/O of 8IN/8OUT, which are all in the D-SUB 44P 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...

  • Page 45: Digital I/O

    C21UE101-2001 3.2 Digital I/O Description: Standard equipment has 16IN/8OUT digital I/O, distributed in D-SUB 44P connector. Digital I/O List D-SUB 44P Parameter Parameter DI[1] DI[11] DI[2] DI[12] DI[3] DI[13] DI[4] DI[14] DI[5] DI[15] DI[6] DI[16] DI[7] DO[3] DI[8] DO[4] DO[1] DO[5] DO[2] DO[6]...

  • Page 46: Example Of Connection

    C21UE101-2001 3.3 Example of Connection (1) Digital INPUT can be an NPN or PNP, adjusted by pin 1 (FI COM) and pin 16 (DI COM), supplied by an external power supply. COM→24V: NPN COM→0V: PNP (2) Digital OUTPUT can be an NPN or PNP, adjusted by pin 15 (FO COM) and pin 30 (DO COM), supplied by an external power supply.
  • Page 47 C21UE101-2001 D-SUB 44P INPUT: NPN OUTPUT: NPN...
  • Page 48 C21UE101-2001 D-SUB 44P INPUT: PNP OUTPUT: PNP...
  • Page 49 C21UE101-2001 Connection method: The I/O connector of the controller. The connector has directionality. If it cannot be inserted, please convert the angle and insert it again. Plug in the connector and secure the screw indeed. No signal or power supply should be close to or in contact with any metal case. ...

  • Page 50: Rs-232 Port

    C21UE101-2001 3.4 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. Controller External Device...
  • Page 51 C21UE101-2001 Connection method: I/O connector RS-232 of the controller. The connector has directionality. If it cannot be inserted, please flip it and insert 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 52: Rs-485 Port

    C21UE101-2001 3.5 RS-485 Port Description: The following figure shows the pin assignment of RS-485 controller. Description Data- Data+ The following figure shows the connection method with external device. Controller External Device...
  • Page 53 C21UE101-2001 Connection method: I/O connector RS-485 of the controller. The connector has directionality. If it cannot be inserted, please flip it and insert 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 54: External I/O Expansion Interface (Optional)

    C21UE101-2001 3.6 External I/O expansion interface (optional) CC-Link connector PROFINET connector Install cable grommet and ethernet cable. Expansion module: □32 channel DO module □32 channel DI module □16DI & 16DO module □Encoder data acquisition module...

  • Page 55: Cc-Link Interface (Optional)

    C21UE101-2001 3.6.1 CC-LINK Interface (optional) Description: The following figure shows the pin assignment of CC-LINK controller. CC-Link connector Signal Description Data A Data B Data Ground Shield Field Ground...

  • Page 56: Profinet Io Interface (Optional)

    C21UE101-2001 3.6.2 PROFINET IO Interface (optional) Description: The following figure shows the pin assignment of PROFINET controller. PROFINET connector Signal Description Transmit Data + Transmit Data - Receive Data + Term 1 Connected to each other and terminated to PE through RC circuit Term 1 Receive Data -...

  • Page 57: Encoder Data Acquisition Module (Optional)

    C21UE101-2001 3.6.3 Encoder data acquisition module (optional) Description: The encoder data acquisition module is used with the encoder, and its pin definition is shown below. Use an incremental rotary encoder with differential output signal.  Signal Description Frame Ground Power supply: Ground 0V Power supply: +24V EtherCAT signal input EtherCAT signal output...
  • Page 58 C21UE101-2001 The pin assignment of the encoder data acquisition module is shown below. Signal Description Channel Encoder input A0+ Encoder input A0- Encoder input B0+ Channel 0 Encoder input B0- 24 VDC Latch NPN out Encoder input A1+ Encoder input A1- Encoder input B1+ Channel 1 Encoder input B1-...

  • Page 59: I/O Module With 32Ch Digital Outputs (Optional)

    C21UE101-2001 3.6.4 I/O Module with 32CH Digital Outputs (optional) Description: The following figure shows the pin assignment of the I/O module with 32ch digital outputs. Signal Description Frame Ground Power supply: Ground 0V Power supply: +24V EtherCAT signal input EtherCAT signal output The number of expansion modules and the number of I/O channels can be ...
  • Page 60 C21UE101-2001...

  • Page 61: I/O Module With 32Ch Digital Inputs (Optional)

    C21UE101-2001 3.6.5 I/O Module with 32CH Digital Inputs (optional) Description: The following figure shows the pin assignment of the I/O module with 32ch digital inputs. Signal Description Frame Ground Power supply: Ground 0V Power supply: +24V EtherCAT signal input EtherCAT signal output Digital INPUT can be an NPN or PNP, adjusted by DI COM, supplied by an external power supply.
  • Page 62 C21UE101-2001...
  • Page 63 C21UE101-2001...

  • Page 64: I/O Module With 16Ch Do And 16Ch Di (Optional)

    C21UE101-2001 3.6.6 I/O Module with 16CH DO and 16CH DI (optional) Description: The following figure shows the pin assignment of the I/O module with 16ch digital inputs and 16ch digital outputs. Signal Description Frame Ground Power supply: Ground 0V Power supply: +24V EtherCAT signal input EtherCAT signal output The number of expansion modules and the number of I/O channels can be...
  • Page 65 C21UE101-2001...
  • Page 66 C21UE101-2001...

  • Page 67: Maintenance

    C21UE101-2001 4 Maintenance 4.1 Fan Filter The fan inlet hole of the controller contains filter. The filter has the effect of blocking external foreign matter and filtering the air. It needs to be checked regularly, and the frequency of replacing the filter depends on the working environment. Step1.

  • Page 68: Confirmation Of Robot System Operation

    C21UE101-2001 4.2 Confirmation of Robot System Operation The following describes how to confirm the robot system operation after maintaining the robot manipulator or controller. (1) Connect all the cables that is required, see Chapter 2 Basic Architecture. (2) After the controller power is turned ON, the fan starts to run. (3) After the controller power is turned on for about three minutes, the LED indicator status flashes.

  • Page 69: Fuse

    C21UE101-2001 4.3 Fuse If the controller fails to start, try to check if the fuse on the RC4 panel is blown: Inspection method: Step1. Turn the FUSE1, FUSE2 fuse holder cover counterclockwise. Step2. Take out the FUSE1 and FUSE2 fuses and check if the fuse is blown.

  • Page 70: Robot/Controller Requirements Questionnaire

    □Conveyor tracking module (Encoder data acquisition Expansion module (optional) module、encoder、ethernet cable) □High-speed ethernet Cable(3m) □Emergency stop button switch (5m) □Bellow Other □Ball spline grease(G04) □Reducer grease(G11) (optional) □Cable grommet □I/O connector wiring set Recommended specification： HIWIN adviser： Fields marked with * are required.
  • Page 71 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 72 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 C21UE101-2001 The specifications in this catalog are subject to change without notification. (PRINTED IN TAIWAN)

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