Hiwin RA620-1621, User Manual

Page 1: ...www hiwin tw User Manual Articulated Robot RA620 Original Instruction...

Page 2: ...n Semiconductor Medical Ball Type HG EG WE MG CG Quiet Type QH QE QW QR Other RG E2 PG SE RC Bearing Machine Tools Robot Crossed Roller Bearing Ballscrew Bearing Linear Bearing Support Unit DATORKER R...

Page 3: ...g working environment or improper transfer after being installed by the professional installer Product or peripheral equipment damaged due to collision or accident caused by improper operation or inst...

Page 4: ...wards warranty terms and conditions please contact the technical stuff or the dealer who you purchased with Improper modification or disassemble the robot might reduce the robot function stability or...

Page 5: ...y safety problems This machine is defined as a partly completed machinery the associated hazards must be handled by system integrator in accordance with ISO 102018 1 2 A safety related part of control...

Page 6: ...ernal emergency stop switch must be pressed before turning off the power and then switch off the power switch While connecting to the external I O or the signal please operate in the condition that th...

Page 7: ...uctions Failure to follow instructions with this symbol may result in personal injury or product damage Please be sure to comply with these instructions Failure to follow instructions with this symbol...

Page 8: ...t be trained for proper robot operation 3 Precautions 3 1 Common Safety Issues All operating procedures should be assessed by professional and in compliance with related industrial safety regulations...

Page 9: ...rized personnel from access While installing or removing mechanical components be aware of a falling piece which may cause injury to operator Ensure the weight of workpiece does not exceed the rated l...

Page 10: ...of the controller while it is connecting to the power or during operating Do not touch the heat sink regenerative resistance the power supply or the computer inside the controller while it is operatin...

Page 11: ...viation or malfunction 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 poo...

Page 12: ...ed when the machine does not operate in a long time Do not turn off the power of the controller when modifying the program or parameter Otherwise the data stored in the controller will be damaged Afte...

Page 13: ...f 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 affec...

Page 14: ...uipped with high voltage high temperature and active rotary shaft Special attention should be paid to the operating safety The end effector should be mounted firmly on the robot to avoid workpiece fal...

Page 15: ...lve so that it can be applied in an emergency More attention should be paid to the pressure remained in the pneumatic systems after the power is disconnected The internal pressure must be released bef...

Page 16: ...e control system will be disconnected to stop all actions during the emergency stop If you want to restart the procedures you should reset the emergency stop switch Emergency stop established an immed...

Page 17: ...fety issue 4 Intended use HIWIN robots are industrial robots and intended for pick and place handling assembling deburring grinding and polishing Use is only permitted under the specified environment...

Page 18: ...pecifications 28 2 1 Description of Model Name 28 2 2 Labels 29 2 3 Robot Specifications 31 2 4 Outer Dimensions and Motion Range 33 2 5 Wrist Load conditions 35 3 Equipment Mounting Surface and Inter...

Page 19: ...17 11 14 RA620 First edition C08UE001 1801 2018 01 30 RA620 Modify manipulator operation range expression C08UE001 1803 2018 03 15 RA620 Add J6 calibration method origin angle C08UE001 1808 2018 08 22...

Page 20: ...hown in Figure 1 1 When carrying the robot with lifting tackle four M8 1 25P eye bolt M8 nuts and M8 washers should be mounted on the suspension frame Step3 Move the robot to the desired position by l...

Page 21: ...to avoid the robot and the installation surface collision After removing the suspension frame please maintain it properly for re transportation Before operation remove the suspension frame to avoid d...

Page 22: ...ade 12 9 on the installation surface Figure 1 5 and Table 1 1 show the forces and moments acting on the installation surface The installation surface must have sufficient strength to withstand the dyn...

Page 23: ...on the installation surface Table 1 1 Value of forces and moments acting on the installation surface Vertical moment MV Nm Vertical force FV N Horizontal moment MH Nm Horizontal force FH N Stop 1550 2...

Page 24: ...e 6 3a or less If the installation surface is rough the robot could produce the position shift during the operation Ensure the position of the installation surface for the robot will not shift owing t...

Page 25: ...t the controller CN2 connecting cable and the teach pendant The connection for the motor and air in out are located at the rear of the J1 base as shown in Figure 1 8 The pin assignment of the connecti...

Page 26: ...1912 Figure 1 8 Interface at the rear of J1 base Table 1 2 Pin assignment of the CN2 When connecting the cable be sure to turn off power supply first Air in socket Air out socket Power signal socket B...

Page 27: ...nt Conditions The robot operating ambient conditions is shown in Table 1 3 Table 1 3 Ambient conditions Ambient conditions Ambient temperature Operation 0 45 Note1 No condensation permissible Ambient...

Page 28: ...ent list is shown in Table 1 4 Table 1 4 Standard equipment list Item HIWIN Part No Standard Optional Remark RA620 Calibration tool set 4C201K01 Refer to section 4 1 Suspension frame set 4C300TR1 Refe...

Page 29: ...ption of Model Name There is a model name on the specification label of RA620 The explanation of model name is shown below Maximum Reach Radius 1621 1621 mm 1739 1739 mm Series RA620 RA620 Series arti...

Page 30: ...rator during operation Grounding Make sure grounding is completed or it will cause electric shock Read manual Read user manual before operating manipulator Electric shock Pay more attention that the r...

Page 31: ...for air input Air out The connection port of air tube for air output Air in out The connection port of air tube for air input and output Grease in The hole for grease in Grease out The hole for greas...

Page 32: ...RA620 1739 RA620 1621 Degrees of Freedom 6 Installation Floor wall mounting ceiling mounting 1 Load capacity 20kg 2 30kg 2 Maximum reach radius 1739 mm 1621mm Cycle time 0 9 s 3 Position Repeatabilit...

Page 33: ...arm motion range shall be defined when used by mounting on the wall So that the end effector does not interfere with the rear side of robot arm when mounting on the wall Note 2 When installing the en...

Page 34: ...33 C08UE001 1912 2 4 Outer Dimensions and Motion Range The outer dimensions and motion range are shown in Figure 2 2 and 2 3 Figure 2 2 Outer dimension and motion range RA620 1739 J1 0 deg...

Page 35: ...34 C08UE001 1912 Figure 2 3 Outer dimension and motion range RA620 1621 J1 0 deg...

Page 36: ...ated load of the robot end is not only limited by the weight but also limited by the position of the center of gravity of the load where Figure 2 4 and 2 5 show the allowed position of the center of g...

Page 37: ...36 C08UE001 1912 Figure 2 5 Wrist load diagram RA620 1621...

Page 38: ...ounting 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 arm Mounting surfaces for the peripheral equipme...

Page 39: ...bot arm RA620 1739 Figure 3 4 Mounting surfaces on the robot arm RA620 1621 When other equipment is installed on the robot be aware of the interface between robot and motor cable J3 rotation center J5...

Page 40: ...air tube in the robot is 6mm The robot has three 5 2 way solenoid valves for end effector in the J5 base and the schematic diagram for the values is shown in Figure 3 6 Figure 3 5 The interface for ai...

Page 41: ...e pin assignment of R I O connector for user is shown in Figure 3 8 Figure 3 9 3 12 shows the wiring diagram of R I O interface Figure 3 13 show the two wire proximity switches connecting method for c...

Page 42: ...41 C08UE001 1912 Figure 3 9 Wiring diagram of input Standard Sinking type Figure 3 10 Wiring diagram of input Optional Sourcing type...

Page 43: ...42 C08UE001 1912 Figure 3 11 Wiring diagram of input Standard Sinking type Figure 3 12 Wiring diagram of output Optional Sourcing type...

Page 44: ...each pin is 100mA Two wire proximity switch may cause Robot Input error action occur due to residual voltage Therefore if you want to use two wire proximity switch you should connect it according to...

Page 45: ...on tool to set up the original position The procedure of resetting zero position with the calibration tools is shown in Figure 4 1 below 4 1 a 4 1 b 4 1 c 4 1 d J1 3 J4 J5 J6 Figure 4 1 The calibratio...

Page 46: ...gn the pinhole of J3 base with the pinhole of J1 base Step2 Insert the calibration tool for J1 3 to the pinhole to calibrate zero position Step3 Complete the calibration and remove the calibration too...

Page 47: ...Step5 Resetting zero position of J3 axis is completed Figure 4 4 Illustration of J3 axis zero position setting J4 axis zero position setting Step1 Operate J4 at low speed to align the keyway of J5 bas...

Page 48: ...Illustration of J5 axis zero position setting J6 axis zero position setting Step1 Operate J6 at low speed to align the keyway of EE with the keyway of J6 base Step2 Insert the calibration tool for J6...

Page 49: ...s the coordinate system Step2 Move the robot to the zero position Refer to section 4 1 Step3 Click Main Menu Start up Master Zero Position As shown in Figure 4 8 Step4 Double click the axis to clear e...

Page 50: ...tion to the difference between the actual operating time and 3840 hours per year 5 1 Maintenance Items The daily inspection items before the robot operation are shown in Table 5 1 Table 5 1 Daily Insp...

Page 51: ...1 The robot installation screws might not be securely fastened to the installation surface Securely tighten the screws 2 If the roughness of the installation surface is uneven modify the installation...

Page 52: ...e gear tooth surface Please contact HIWIN directly 2 The repeatability is not within the tolerance 1 The Zero position of the robot might be rewritten Please set the Zero position Refer to section 4 1...

Page 53: ...hether the timing belt is abnormal Adjust the tension of the timing belt If the friction at the timing belt is severe replace it Refer to section 5 2 2 Inspection item D 1 year 3840 hours 1 Replace th...

Page 54: ...53 C08UE001 1912 Table 5 3 Inspection schedule...

Page 55: ...periodically The procedure for replacing the batteries of the robot is shown in Figure 5 1 The procedures are described as below Step1 Ensure the robot and controller are connected with the cables Ste...

Page 56: ...eriodically checked maintained and replaced Timing Belt replacement period Check the timing belt for about 6 months The timing belt must be replaced if the belt teeth is found cracks wear to approxima...

Page 57: ...4 Figure 5 2 Measure belt tension Table 5 4 Belt specifications When replacing the belt the robot system origin may deviate In this case the position data must be rechecked if the origin is offset Pl...

Page 58: ...the cover of the J5 base The M4 0 7P 15L screws are used as shown in Figure 5 3 Figure 5 3 Remove the cover Inspection maintenance and replacement of timing belt in J5 axis Figure 5 4 J5 axis structu...

Page 59: ...mal refer to the following paragraph to replace the timing belt Step5 If the belt tension is lower than the standard refer the following paragraph to adjust the belt tension Adjust J5 axis timing belt...

Page 60: ...ing the belt refer to the paragraph Adjusting J5 axis timing belt above to adjust the tension of the belt Inspection maintenance and replacement of J6 axis timing belt Figure 5 6 J6 axis structure dia...

Page 61: ...dard refer the following paragraph to adjust the belt tension Adjusting J6 axis timing belt Step1 Loose the two motor plate fixing screws so that the motor can be moved Step2 Refer to Table 5 4 turn t...

Page 62: ...ication Part name Grease nipple Lubrication grease Quantity Lubrication interval J1 reduction gear M8 J1 J4 GREASE 1405 ml 3 Years 11520Hr J2 reduction gear M8 J1 J4 GREASE 745 ml J3 reduction gear M8...

Page 63: ...ments 3 HIWIN will not sell or export those techniques and products restricted under the Foreign Trade Act and relevant regulations Any export of restricted products should be approved by competent au...

Page 64: ...HIWIN CHINA SUZHOU CHINA www hiwin cn info hiwin cn Mega Fabs Motion Systems Ltd HAIFA ISRAEL www mega fabs com info mega fabs com HIWIN GmbH OFFENBURG GERMANY www hiwin de www hiwin eu info hiwin de...