Hiwin RCD403-GB User manual


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1.HIWIN is the registered trademark of HIWIN Technologies Corp.. For your protection; To avoid
counterfeit products, be certain you are buying genuine HIWIN products before purchase.
2.Actual products may be different from the specifications and photos in this catalog. The differences
in appearances or specifications may be caused by, among other things, product improvements.
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
authorities in accordance with relevant laws, and shall not be used to manufacture or develop
nuclear, biochemical, missile and other military weapons.
4. HIWIN website for patented product directory: http://www.hiwin.tw/Products/Products_patents.aspx
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Print DateǺKbovbsz!3128-!4se!fejujpo
Linear Guideway Technical Information
Copyright © HIWIN Technologies Corp.

C19UE101-1804
Safety and Notice
1. Safety Information
Safety Responsibility and Effect
This safety information neither contains how to design, install and
run a complete workstation or production line, nor ensure the whole
system safety. In order to guarantee personal safety, all machines
must be designed and installed according to the industrial safety
regulations.
sers of HIWIN robot have the responsibility to design and install
the safety devices in compliance with the industrial safety
regulations, used to protect personal safety.
In compliance with the safety information on industrial robot
HIWIN robot will not
occur any safety accident.
Safety Operation Principle
Emergency Stop button (on Teach Pendant or from external
emergency stop switch) must be pressed before turning off the
power, and then disconnect the power switch.
After turning off the power switch, the operator must wait for green
indicator (PC indicator) to disappear then remove or turn off the
main power.
After turning off the power switch, do not restart it immediately.
Please wait for 30 seconds to restart.
The controller contains lead-acid battery. It may cause the lack of
electricity by natural wearing and will not be able to be turned on
successfully. If it is idle for a long time, please maintain the power
transmission at least every 3 months and keep it on lasting for 24
hours. Or take out the battery and keep the voltage of the battery
over 13V.
When the voltage of the battery is too low causing failure to turn on
the controller, please take out the battery and charge it with the
external power source until the voltage is over 13V. Or replace the

C19UE101-1804
battery with a new one and then try to turn it on again.
Flipping it 90 degrees on the side or turning it over 180 degrees are
forbidden while installing the controller. This is to protect the
internal battery component.
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.
2. Description Related to Safety
I. Safety Symbol
Please carefully read and make sure to follow this manual before
operating the robot. The following are the safety symbol used in this
manual.
Symbol Description
DANGER
Failure to follow the description of this symbol will cause
serious personal injury. Please make sure to follow those
requirements to ensure safety.
WARNING
Failure to follow the description of this symbol will cause
personal injury or product damage. In order to guarantee
the safe use of this product, please follow this regulation
strictly.
CAUTION
Failure to follow the description of this symbol will result
in improper operation. In order to guarantee the safe use
of this product, please make sure to follow this regulation.
II. Safety Grade
The following symbols are frequently used for safety notice. Please
carefully read the following notices and always follow them before
operating the robot.

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DANGER
Do not operate the machine in potentially explosive
environment.
Do not store the machine in the environment with
corrosive gas, with flammable gas or close to the
flammable object.
Do not operate the machine in the environment with
moisture, water or grease.
Do not operate the machine at the place where
vibration or the strong impact occurs.
Do not immerse the electric wires into grease or
water.
Do not connect or operate the machine with wet
hands.
Please ensure the controller is grounded.
Keep hands away from the inner part 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 operating due to its high
temperature.
Be sure power is disconnected prior to move, connect,
check and maintain the controller, and ensure to
operate under the condition of no electrical shock risk.
The emergency stop switch must be installed in an
appropriate location where it can be operated easily.
When the robot acts abnormally, it could immediately
stop the robot from causing serious safety accident.
Do not open the controller cover without permission.

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WARNING
Do not stand on the product or put heavy objects on
it.
Do not block the vent or put foreign objects into it.
Please ensure the controller is fixed on the base.
Do not pull the connector violently or twist the
electric wires excessively.
Do not frequently switch the power switch and the
control button.
Please ensure that the robot, the emergency stop
switch and the controller are functioning properly
before performing any work.
Do not turn off the power switch during the
operation.
Do not open, modify, disassemble and maintain the
machine without permission.
The power must be disconnected when the machine
does not operate in a long time.
CAUTION
All operations must be executed by the trained staff.
The controller must be kept away from high voltage
or components that may generate electromagnetic
field which will lead to robot malfunction or damage.
When the robot is used to demonstrate, the operation
speed should keep low and always keep an eye on the
operating condition to prevent the workpiece from
dropping or causing danger to operator.
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 or lost.

C19UE101-1804
3.
Safety Notice
I. Safety Risk
i. Installation
Ordinary Risk
The installation procedures must follow this manual.
The emergency stop switch must be installed in an appropriate
location where it can be operated easily, so that the operator can
immediately stop the robot system in an emergency.
The person who installs the robot must be trained and
authorized.
Always follow the installation and safety requirements
described in this manual to ensure personal safety.
Risk without electric shock
A safety area must be set outside the working range of the robot,
and a safety device must be used to prevent the personnel
entering without permission.
After the brake of a servo motor is released, the robot will move
due to the gravity and it may injure the operator.
When installing or disassembling any mechanical parts, be
aware of falling parts which may injure the operator.
Be aware of high temperature produced by the controller.
Do not allow any action of climbing on the robot.
ii. End effector
The end effector can be classified as two types:
A. Gripper: sed to load and unload, such as pneumatic
gripper, electric gripper and vacuum sucker.
B. Tool: sed to process, such as welding, cutting and
surface treatment.
The gripper-type end effector should prevent the workpiece
from dropping or damaging when the robot experiences a power
error or other errors. More attention should be paid at the design
stage.
The end effector could be equipped with the control unit. The

C19UE101-1804
position must be noted to avoid the robot interference when the
end effector is installed.
iii. Pneumatic and Hydraulic Systems
More attention should be paid to the pressure remained in the
pneumatic and hydraulic systems after the power is
disconnected.
The internal pressure must be released before the pneumatic and
hydraulic systems are maintained.
When the pneumatic and hydraulic systems are operated, the
clamped workpiece could drop owing to the insufficient
pressure or gravity.
The pneumatic and hydraulic systems must be equipped with
the relief valve, so that the operator can be applied in an
emergency.
WARNING
More attention should be paid to the pressure in
the pneumatic and hydraulic systems which are
usually several times more than the atmosphere
pressure.
iv. Risk caused by the working environment
The industrial robots can be applied for the different industrial
environments.
All operating procedures must be specified by the professional
evaluation and according to the industrial safety regulations.
Maintenance must be conducted by the trained personnel who
clearly understand the procedures for the whole system and
other possible risks.
WARNING
The tool-type end effector is usually equipped
with high voltage, high temperature or active
shaft. Special attention should be paid during the
operation.

C19UE101-1804
When the operating procedures are interrupted, the special
attention should be paid during the troubleshooting.
II. Emergency Stop
Emergency Stop Definition
When the emergency stop is executed, the power supplied from
the servo driver to the motor will be disconnected and all
actions will be stopped.
If the procedures are recovered, the emergency stop switch
should be reset.
Avoid using the emergency stop instead of the normal stop
procedure to shut down the robot system. Otherwise, it may
cause unnecessary damage to the robot system.
Emergency Stop Switch
The HIWIN robot is equipped with two emergency stop
switches, where one is installed on the teach pendant and the
other is directly connected to the controller via the cable. If
additional emergency stop switches are required, other
connection can be applied for the same purpose.
Based on the relevant industrial safety regulations, the
emergency stop switch is directly connected to the controller of
the robot via the physical wires.

C19UE101-1804
4. Warranty Terms and Conditions
The period of warranty shall commence at the received date of
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.
Operating method, environment and storage specifications
not specifically recommended in the product manual.
The damage caused by changing installation place, changing
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 test by the
unauthorized staff.
Installing non-genuine HIWIN products.
The following conditions are not covered by the warranty:
Product serial number or date of manufacture (month and
year) cannot be verified.
sing non-genuine HIWIN products.
Adding or removing any components into/out the product
without authorized.
Any modification of the wiring and the cable of the product.
Any modification of the appearance of the product; removal
of the components inside the product. e.g., removal of the
cover, product drilling or cutting.
Damage caused by any natural disaster. i.e., fire, earthquake,
tsunami, lightning, windstorms, floods, tornado, typhoon and
hurricane etc.

C19UE101-1804
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 technician or the dealer who you purchased with.
WARNING
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
or robot malfunction.
Please contact the technical support for
special modification coming from production
line set up.
For the safety reason, any modification for
HIWIN product is strictly prohibited.

C19UE101-1804
Content
1. Specifications
1.1 Standard Specification
1.2 Standard and Optional Equipment
1.3 Serial Specification
1.4 Appearance Dimensions
1.5 Appearance Component
1.6 Operating Environment
1.7 Sticker and Label
2. Installation
2.1 Installation Dimensions
2.2 Multifunctional Installation Frame
2.3 Basic Connection Structure
2.4 Instruction of Controller ON/OFF Procedure
2.5 Motor Cable Connection (CN2)
2.6 Emergency Stop Switch Connection (CN3)
3. External Input/ Output
3.1 Function I/O
3.2 Digital I/O
3.3 Example of Connection
3.4 Encoder Capture Module (CN5)
3.5 RS-232 Port
4. Teach Pendant
5. Maintenance
5.1 Lead-Acid Battery
5.2 Fan Cotton Filter
5.3 Fuse

C19UE101-1804
Version Update
Version Date Applicable Scope Note
1.0.0 2018.01.08 RCD403-GB First release
1.0.1 2018.03.05 RCD403-GB
1. Add leakage
current mark
2. Modify 3.4
Encoder Capture
Module
3. Add 2.6 & 3
warning sign

C19UE101-1804
1. Specifications
1.1 Standard Specification
The following table shows the standard specifications of the robot controller.
Item HIWIN Robot Controller
Model No. RCD403-1100-GB RCD403-1100-PR-
GB
Controlled Manipulator RD403-1100-GB RD403-1100-PR-
GB
Positioning control PTP (point-to-point)
CP (continuous path)
Joint control AC servo control
Operating system HRSS
Memory
capacity
Fixed point 5000
Step number 10000
Teaching method Teach pendant
Communication
interface
RS232 1
Ethernet 2
SB 2
External I/O
Emergency stop input Input : 1
Function I/O Input : 8
Output : 8
Digital I/O Input : 24
Output : 24
Encoder capture
module 4 Channel
Power
Input power range
(VAC) Three Phase AC 200-240
Power capacity (KVA) 1.5
Power frequency (HZ) 50/60
Voltage drop (msec) 10 or less
Rating output current
(A) 4.5
Current leakage (mA) 30
Weight (kg) 34
IP grade 20
Temperature range for workplaces (
o
C) 0~45
Relative humidity (%RH) 20~75 (non-condensing)
Grounding

C19UE101-1804
1. Standard and Optional Equipment
The following table shows the items of the standard equipment for the robot
controller.
Item HIWIN Part No. Remark
CN1, Main Power Cable 4C7018Y1 Refer to CH2.3
CN2, Motor Power Signal Cable 5M AH301A01 Refer to CH2.5
Connector Accessory Kit 4C201M91 Refer to CH 2.6
and CH3
The following table shows the items of robot controller optional equipment.
Item HIWIN Part No. Remark
Teach Pendant AH301401 Refer to CH 4
CN3 Emergency Stop Switch nit 5M 4C7013F2 Refer to CH 2.6
External I/O Wiring Kit 4C201DY1 Refer to CH 3
Cotton Filter 4657003Y Refer to CH 5.2
Lead-Acid Battery 462C0097 Refer to CH 5.1

C19UE101-1804
1.3 Serial Specification
Serial Number:
Model Number:

C19UE101-1804
1.4 Appearance Dimensions
The following show the appearance dimensions of the robot controller (unit: mm).
CAUTION
As a complete installation dimension, some space
needs to be reserved for the cables. Please refer to
CH2.1.

C19UE101-1804
1.5 Appearance Component
The function of each connector outside the controller

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No. Item Description
1 Power Switch Switch power ON/OFF
2 Main Power Source Inlet three phase AC220V
3 Motor Connector (CN2) Connect robot controller to the robot
manipulator
4 Teach Pendant Connector
(CN4)
Teach pendant signal transmission
5 Emergency Stop Connector
(CN3)
Connect to external emergency stop device
6 Network Connector Ethernet signal transmission
7 SB Connector SB signal transmission
8 RS232 Connector RS232 signal transmission
9 I/O Connector I/O signal transmission
10 Controller Power Indicator
Green Light
Display ON/OFF status
11. Encoder Capture Connector
(CN5)
Capture external encoder value
1.6 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.
WARNING
The controller should not be placed at the
environment with moisture, with high
temperature, under direct sunlight or potentially
explosive environment.
Please keep the controller away from the strong
electric field or the magnetic field.
Because the vents are set on the right side of the
controller, please ensure a space of 50mm from
the right.
Please place the controller at flat surface, and
avoid shaking.

C19UE101-1804
1.7 Sticker and Label
The following shows the appearance stickers and labels on the robot controller.
Table of contents
Other Hiwin Controllers manuals