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Hiwin RA610 User Manual

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Summary of Contents for Hiwin RA610

  • 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 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 4 C13UE001-1804 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 abnormal situation, please press the emergency stop button immediately and move the...
  • Page 5 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 6 C13UE001-1804 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 with high voltage, high temperature and active rotary shaft.
  • Page 7 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 8 Please contact the technician for special modification coming from production line set up. For the safety reason, any modification for HIWIN product is strictly prohibited.

  • Page 9: Table Of Contents

    C08UC001-1609 Content Transportation and Installation ................9 Transportation Installation Connection with the Controller Grounding Operating Ambient Conditions Standard and Optional Equipment List Basic Specifications ..................... 24 Description of Serial Number Labels Robot Specifications Outer Dimensions and Motion Range Wrist Load Conditions Equipment Mounting Surface and Interface ............
  • Page 10 C13UE001-1804 5.2.1 Backup Batteries Replacement 5.2.2 Timing Belt Replacement (Please contact HIWIN) 5.2.3 Grease Replenishment (Please contact HIWIN)

  • Page 11: Transportation And Installation

    C13UE001-1804 1. Transportation and Installation 1.1 Transportation Lifting tackle or forklift truck can be used to transport the robot. The transportation procedure is as follows: STEP 1. Move the robot into its transport position and the angle of each joint is shown in the table of Figure 1-1.
  • Page 12 C13UE001-1804 Transport position RA610-1355-GA RA610-1476-GA RA610-1672-GA RA610-1869-GA 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 effector which changes the center of gravity.
  • Page 13 C13UE001-1804 Center of gravity Center of gravity Figure 1-2(a) RA610-1355-GA Transport dimensions Center of gravity Center of gravity Figure 1-2(b) RA610-1476-GA Transport dimensions...
  • Page 14 C13UE001-1804 Figure 1-2(c) RA610-1672-GA Transport dimensions Figure 1-2(d) RA610-1869-GA Transport dimensions...
  • Page 15 C13UE001-1804 Transport by forklift truck Transport by bridge crane tackle Figure 1-3(a) RA610-1355-GA Transportation Transport by forklift truck Transport by bridge crane tackle Figure 1-3(b) RA610-1476-GA Transportation...
  • Page 16 C13UE001-1804 Transport by forklift truck Transport by bridge crane tackle Figure 1-3(c) RA610-1672-GA Transportation Transport by forklift truck Transport by bridge crane tackle Figure 1-3(d) RA610-1869-GA Transportation...
  • Page 17 C13UE001-1804 Figure 1-4(a) RA610-1355-GA Transportation Figure 1-4(b) RA610-1476-GA Transportation...
  • Page 18 C13UE001-1804 Figure 1-4(c) RA610-1672-GA Transportation Figure 1-4(d) RA610-1869-GA Transportation...
  • Page 19 C13UE001-1804 Figure 1-4(e) Eye bolt securement...

  • Page 20: Installation

    C13UE001-1804 1.2 Installation Figure 1-5 shows the installation dimensions of the robot. According to the dimensions, fix the robot with installation bolt (M14x30L Tensile Strength>1200N/mm2) 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 21 C13UE001-1804 Table1-1 Value of forces and moments acting on the installation surface (All type) Vertical moment Vertical force Horizontal moment Horizontal force (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 recommended to be 6.3a or less for the roughness.

  • Page 22: Connection With The Controller

    C13UE001-1804 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. A robot system comprises the robot, the controller, CN2 connecting cable, and the teach pendant. The connection for the motor and air in/out are located at the rear of J1, as shown in Figure 1-9.
  • Page 23 C13UE001-1804 Figure 1-9 Interface at the rear of J1 Table 1-2 Pin assignment of the CN2 When connecting the cable, be sure to turn off power supply first.

  • Page 24: Grounding

    C13UE001-1804 1.4 Grounding A grounding cable (AWG#11, 4.2 mm ) is used to connect the robot and the grounding area by the screws (M5x0.8Px12L) and the washers as shown in Figure 1-10. Figure 1-10 Connecting the grounding wire 1.5 Operating Ambient Conditions The robot operating ambient conditions is shown in Table 1-3.

  • Page 25: Standard And Optional Equipment List

    C13UE001-1804 1.6 Standard and Optional Equipment List Standard and optional equipment list is shown in Table 1-4 and 1-5. Table 1-4 Standard equipment list HIWIN Item Remark Part Number Calibration tool set (PIN) 4C200ZV1 Refer to section 4.1 Calibration tool set (key) 4C200ZW1 Refer to section 4.1...

  • Page 26: Basic Specifications

    C13UE001-1804 2. Basic Specifications 2.1 Description of Serial Number The robot has a serial number on the rear of J1, and the explanation of serial number is shown in Figure 2-1. Figure 2-1 Description of serial number 2.2 Labels The labels on the robot is shown in Table 2-1. Table 2-1 Labels description Labels Name...
  • Page 27 C13UE001-1804 Be aware of transport position when transporting robot, please Transport 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 28: Robot Specifications

    C13UE001-1804 2.3 Robot Specifications The robot specifications are as shown in Table 2-2 Table 2-2 Robot specifications Item Specification Model No. RA610-1355-GA RA610-1476-GA RA610-1672-GA RA610-1869-GA Degrees of Freedom Floor slope Installation (wall mounting, ceiling mounting) [ Note 1] Load Capacity[ Note 2]...
  • Page 29 For details about load capacity, please refer to section 2.5. [ Note 3] The cycle time is the time that the RA610-1476-GA is loaded at 10kg to forward and backward move in the vertical height 25mm and the horizontal distance 300mm, as shown in Figure 2-2.

  • Page 30: Outer Dimensions And Motion Range

    C13UE001-1804 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-GA Outer dimension and motion range...
  • Page 31 C13UE001-1804 Figure 2-3(b) RA610-1476-GA Outer dimension and motion range...
  • Page 32 C13UE001-1804 Figure 2-3(c) RA610-1672-GA Outer dimension and motion range...
  • Page 33 C13UE001-1804 Figure 2-3(d) RA610-1869-GA Outer dimension and motion range...

  • Page 34: Wrist Load 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 2-4(a)~(d) shows allowable center of gravity of the load. Figure 2-4(a) RA610-1355-GA Wrist moment diagram...
  • Page 35 C13UE001-1804 Figure 2-4(b) RA610-1476-GA Wrist moment diagram...
  • Page 36 C13UE001-1804 Figure 2-4(c) RA610-1672-GA Wrist moment diagram...
  • Page 37 C13UE001-1804 Figure 2-4(d) RA610-1869-GA Wrist moment diagram...

  • Page 38: Equipment Mounting Surface And Interface

    C13UE001-1804 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 Mounting Surface on the Robot Mounting surfaces for the peripheral equipment are shown in Figure 3-2(a)~(e).
  • Page 39 C13UE001-1804 Figure 3-2(b) RA610-1355-GA Mounting surfaces on the robot Figure 3-2(c) RA610-1476-GA Mounting surfaces on the robot...
  • Page 40 C13UE001-1804 Figure 3-2(d) RA610-1672-GA Mounting surfaces on the robot Figure 3-2(e) RA610-1869-GA Mounting surfaces on the robot When other equipment is installed on the robot, be aware of the interference between robot and motor cable.

  • Page 41: Interface Of Air Supply

    C13UE001-1804 3.3 Interface of Air Supply Air supply holes (AIR IN & AIR OUT) are installed on the rear of J1 as shown in Figure 3-3, and the outer diameter of the air tube in the robot is 4mm. The robot has two 5/2-way solenoid valves for end effector on J5, and the schematic diagram of pressure circuit is shown in Figure 3-4.

  • Page 42: I/O Interface

    C13UE001-1804 3.4 I/O Interface I/O interface for end effector is on J5 as shown in Figure 3-5, and the pin assignment of I/O connector is shown in Figure 3-6. Figure 3-7 to Figure 3-10 shows the wiring diagram of I/O interface.
  • Page 43 C13UE001-1804 Figure 3-7 Wiring diagram of input (Standard: Sinking type) Figure 3-8 Wiring diagram of input (Optional: Sourcing type)
  • Page 44 C13UE001-1804 Figure 3-9 Wiring diagram of output (Standard: Sinking type) Figure 3-10 Wiring diagram of output (Optional: Sourcing type) Pin 1 and pin 9 are used for signal, not for power input of end effector. The maximum output current at each pin is 100mA.

  • Page 45: Zero-Position

    C13UE001-1804 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 in Figure 4-1 below.
  • Page 46 C13UE001-1804 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(A) to the pinhole to calibrate Zero-position. Step3 Finish calibration and remove the calibration tool. Step4 Clear encoder by HRSS.
  • Page 47 C13UE001-1804 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 pinhole to calibrate Zero-position. Step3 Finish the calibration and remove the calibration tool. Step4 Clear encoder by HRSS.
  • Page 48 C13UE001-1804 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 pinhole to calibrate Zero-position. Step3 Finish calibration and remove the calibration tool. Step4 Clear encoder by HRSS. (Refer to page 46) Step5 Zero position setting of J6-axis is completed.

  • Page 49: Maintenance And Check

    C13UE001-1804 5. Maintenance and Check 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 50 (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.
  • Page 51 C13UE001-1804 Replace the backup battery in the Replace the backup battery. Refer to section robot. 5.2.1 Inspection item E (3years/11520hours) Change the lubrication grease of the Change the grease. Refer to section 5.2.3. reducer. 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 52: Maintenance

    C13UE001-1804 Table 5-3 Inspection schedule 5.2 Maintenance 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 53 C13UE001-1804 Figure 5-1 The backup batteries replacement 5.2.2 Timing Belt Replacement (Please contact HIWIN) 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 54 C13UE001-1804 Belt width Span Sonic tension meter Figure 5-2 Measure belt tension Table 5-4 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 M3x0.5Px15L screws are used, as shown in Figure 5-3.
  • Page 55 C13UE001-1804 Inspection, maintenance and replacement of timing belt in J5 -axis. Figure 5-4 J5 -axis structure diagram 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 56 C13UE001-1804 Inspection, maintenance and replacement of J6 -axis timing belt Figure 5-5 J6 -axis structure diagram Inspect J6 -axis timing belt Step1 Ensure the power of controller is switched off. Step2 Remove the cover of J6. 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 57 C13UE001-1804 5.2.3 Grease Replenishment (Please contact HIWIN) The grease inlets and the air vents are shown in Figure 5-6. Figure 5-6 Lubrication and air inlet/outlet positions Grease specification Table 5-5 Grease specification Grease Lubrication Part name Lubrication grease Quantity nipple...
  • Page 58 C13UE001-1804 Procedure of grease replenishment Step1 The grease inlets and the air vents of the robot are shown in Figure 5-7. Step2 Remove the screw of the grease inlet, and install the grease nipple. Step3 Remove the screw of the air vent. Step4 Replenish the grease from the grease inlet by the grease gun.

This manual is also suitable for:

Ra610-1355-gaRa610-1476-gaRa610-1672-gaRa610-1869-ga

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