Hiwin RC4 Operation instructions

www.hiwin.tw
User Manual
Robot Controller
RC4 Series
Original Instruction

INDUSTRIE 4.0 Best Partner
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CONTENTS
0. Safety Precautions ...................................................................................4
1. Specification ..........................................................................................17
1.1. Standard Specification.............................................................................................17
1.2. Standard and Optional Equipment...........................................................................19
1.3. Appearance Dimensions..........................................................................................23
1.4. Appearance Component..........................................................................................25
1.5. Indicator light Signal................................................................................................27
1.6. Operating Environment ...........................................................................................28
1.7. Sticker and Label .....................................................................................................29
2. Installation.............................................................................................33
2.1. Installation Dimensions...........................................................................................33
2.2. Multifunctional Installation Handler........................................................................39
2.3. Basic Architecture ...................................................................................................42
2.3.1. Connection Method .....................................................................................................................42
2.3.2. Transformer Installation (Optional) .............................................................................................45
2.4. Controller Boot/Shutdown Program Description......................................................47
2.5. Power and Signal Cable Connection.........................................................................48
2.6. Emergency Stop Switch Connection (E-STOP) (optional) ...........................................51
2.7. Remote Control Connect Description.......................................................................56
3. External Input / Output .........................................................................58
3.1. Function I/O............................................................................................................59
3.2. Digital I/O ...............................................................................................................60
3.3. Example of Connection............................................................................................61
3.4. RS-232 Port .............................................................................................................65
3.5. RS-485 Port .............................................................................................................67
3.6. External I/O expansion interface (optional) .............................................................69
3.6.1. CC-LINK Interface (optional) ........................................................................................................70
3.6.2. PROFINET IO Interface (optional).................................................................................................71
3.6.3. Encoder data acquisition module (optional)................................................................................72
3.6.4. I/O Module with 32CH Digital Outputs (optional) .......................................................................74

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3.6.5. I/O Module with 32CH Digital Inputs (optional) ..........................................................................76
3.6.6. I/O Module with 16CH DO and 16CH DI (optional)......................................................................79
4. Teach Pendant .......................................................................................82
4.1. Teach Pendant Description ......................................................................................82
4.2. Teach Pendant Connector Description .....................................................................85
4.3. Teach Pendant Shortcut Connector ..........................................................................86
5. Maintenance and Inspection..................................................................87
5.1. Periodic Maintenance..............................................................................................87
5.2. Fan Filter.................................................................................................................89
5.3. Confirmation of Robot System Operation ................................................................90
5.4. Fuse ........................................................................................................................91
5.5. Description of abnormal Industrial Computer System ..............................................93
5.6. Robot/Controller Requirements Questionnaire........................................................94

C21UE102-2110
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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:
1. The damage caused by using with the production line or the peripheral equipment not
constructed by HIWIN.
2. Operating method, environment and storage specifications not specifically recommended in
the product manual.
3. The damage caused by changing installation place, changing working environment, or
improper transfer after being installed by the professional installer.
4. Product or peripheral equipment damaged due to collision or accident caused by improper
operation or installation by the unauthorized staff.
5. Installing non-genuine HIWIN products.
The following conditions are not covered by the warranty:
1. Product serial number or date of manufacture (month and year) cannot be verified.
2. Using non-genuine HIWIN products.
3. Adding or removing any components into/out the product without authorized.
4. Any modification of the wiring and the cable of the product.
5. Any modification of the appearance of the product; removal of the components inside the
product. e.g., remove the outer cover, product drilling or cutting.
6. 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.
For more information towards warranty terms and conditions, please contact the technical staff or the
dealer who you purchased with.
Improper modification or disassemble the robot might reduce the robot function, stability or lifespan.
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 staff for special modification coming from production line set up.
For the safety reason, any modification for HIWIN product is strictly prohibited.

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0. Safety Precautions
Safety Information
Safety Responsibility and Effect
1. 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.
3. In compliance with the safety information on industrial robot described in this manual can’t guarantee
that HIWIN robot will not occur any safety problems.
4. This machine is defined as a partly completed machinery, the associated hazards must be handled by
system integrator in accordance with ISO 10218-1/ ISO 10218-2.
5. A safety-related part of control system (SRP/CS) should conform to the requirement of performance
level (PL=) d and category 3 according to ISO 13849-1.
6. The installation for emergency functions shall be defined by the system integrator in accordance with
ISO 10218-1/ ISO 10218-2.
Safety Operation Principles
1. Before connecting the power supply for HIWIN industrial robot startup assembly procedure, check
whether the specification of factory output voltage matches the specification of input voltage of the
product. If it does not match, ensure to use the corresponding transformer (HIWIN optional
transformer is recommended).
2. Emergency Stop button (on Teach Pendant or from external emergency stop switch) must be pressed
before turning off the power, and then switch off the power switch.
3. While connecting to the external I/O or the signal, please operate in the condition that the power
switch is turned off to prevent from a shortcut caused by mistaken touch in the process, and resulting in
damage.

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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 serious casualties.
Users must strictly abide by the content instructions, otherwise it may cause minor injuries or
equipment damage.
User must strictly abide by the content description, otherwise it may cause poor product
performance.
Use Limit
Robotic arm is prohibited for use in the following environments and uses
Personnel carrying purposes
Explosive environment
Environment without safety precautions
Outdoor environment
Environment affected by oil, water, dust, etc.

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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.
The system integrator is responsible for the following tasks:
Install industrial robot arm.
Industrial machinery arm related equipment connection work.
Risk assessment of the overall system.
Use safe guard devices.
Confirm that the components used by the safe guard devices are in compliance with regulations.
Placement, replacement, setup, operation, maintenance and repair work are only permitted for
specially trained personnel in accordance with the operating instructions for the components of the
industrial robot arm.

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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. Operator
System startup and shutdown
Power on and off
Alarm system status recovery
2. Engineer
Operating personnel usage authority
Programming and changing
Arm teaching operation
3. Expert
Engineer usage authority
Mechanical arm maintenance work
Operator Safety Precautions
The manner and scale of the work and the possible hazards must be explained to the relevant
personnel before work, and relevant training courses must be carried out on a regular basis. In the event of
an accident or technical correction, a training course must be re-run.
System Set Up Safety Precautions
The system set up only allows specially trained personnel to perform and work in accordance with the
installation, setup, operation and other relevant documents provided by the original manufacturer.
Maintenance Personnel’s Precautions
Maintenance should only be carried out by specially trained personnel in accordance with the
instructions and operating instructions.

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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.
Protective area
Operation must be carried out outside the protected area.
A protected area is an area of the working area that is protected by a safe guard device. Please
ensure the protective area includes working area of the robot. A safety-related part of control system
(SRP/CS) should conform to the requirement of Performance Level (PL)= d and category 3 according
to ISO 13849-1.
Please ensure the emergency stop switch is in reset status before the robot functions.
The external device connected to the emergency stop switch circuit should be dry contact (uncharged)
switch. It is forbidden to use a live circuit to connect to the controller emergency stop switch circuit.