Hiwin RC4 User manual

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

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
Precision / Semiconductor /
Medical / FPD
• KK, SK
• KS, KA
• KU, KE, KC
Torque Motor
Rotary Table
Aerospace / Medical / Automotive Industry /
Machine Tools / Machinery Industry
• RAB Series
• RAS Series
• RCV Series
• RCH Series
Ballscrew
Precision Ground / Rolled
• Super S Series
• Super T Series
• Mini Roller
• Ecological & Economical
Lubrication Module E2
• Rotating Nut (R1)
• Energy-Saving & Thermal-
Controlling (Cool Type)
• Heavy Load Series (RD)
• Ball Spline
Linear Guideway
Automation / 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®Robot Reducer
Robot / Automation Equipment /
Semiconductor Equipment / Machine Tools
• WUT-PO Type
• WUI-CO Type
• WTI-PH Type
• WTI-AH Type
AC Servo Motor & Drive
Semiconductor / Packaging Machine
/ SMT / Food Industry / LCD
• Drives--D1, D1-N, D2T/D2T-LM
• Motors--50W~2000W
Medical Equipment
Hospital / Rehabilitation Centers /
Nursing Homes
• Robotic Gait Training System
• Hygiene System
• Robotic Endoscope Holder
Linear Motor
Automated Transport /
AOI Application / Precision /
Semiconductor
• Iron-core Linear Motor
• Coreless Linear Motor
• Linear Turbo Motor LMT
• Planar Servo Motor
• Air Bearing Platform
• X-Y Stage
• Gantry Systems
Torque Motor &
Direct Drive Motor
Machine Tools
• Torque Motor--
TMRW Series
Inspection / Testing Equipment / Robot
• Direct Drive Motor--
DMS, DMY, DMN Series

C21UE101-2001
1
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 stuff or the dealer who you purchased with.

C21UE101-2001
2
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 stuff for special modification coming from
production line set up.
For the safety reason, any modification for HIWIN product is strictly prohibited.

C21UE101-2001
3
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 102018-1/ ISO
102018-2.
5. A safety-related part of control system (SRP/CS) should conform to the
requirement of performance level 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 Principle
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.

C21UE101-2001
4
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.

C21UE101-2001
5
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 is only
permitted for specially trained personnel in accordance with the operating
instructions for the components of the industrial robot arm.

C21UE101-2001
6
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.

C21UE101-2001
7
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. The collaboration area includes the working area and the
stopping distance of the robotic arm and the additional axis (optional). The area
can be protected by an isolation device.
Note: Stop distance = reaction distance (time to get the message) + braking
distance (time to receive the message)
Protective area
A protected area is an area of the working area that is protected by a safe
guard device. The area must include working areas and collaboration areas,
and the safety areas ensure safety in the working area.
Illustration of axis J1
1. Working area
2. Robot
3. Collaboration area
4. Protective area
1
2
4
3

C21UE101-2001
8
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. If the function is not complete or in failure state, the industrial robot arm
must be prohibited from operating.
Manual Operation Mode
The manual operation mode is used for program design, program operation
check or teaching, etc. When performing manual operation, pay attention to the
followings:
All actions must be operated within the protection area.
Do not damage or potentially damage the relevant equipment due to
operates the robotic arm.
Operation must be carried out outside the protected area as much as
possible.
Both manual and automatic modes of operation in the protected area are not
permitted unless the arm is equipped with a certified speed monitoring accessory
from the manufacture.
Automatic Mode
The automatic mode startup should include the following conditions:
The safe guard devices have been set up and confirmed that their
functions are working properly.
All suspended security should restore its full functionality.
Confirm that there are no people in the protected area.
Relevant workflow rules are complied.
To enter the protection area in this mode, the emergency stop function must be
activated before entering.