Hiwin RA605-GB User manual

www.hiwin.tw
User Manual
Articulated Robot
- RA605-GB,
RT605-GB
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
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, D2T/D2T-LM, E1
• Motors--50W~2000W
Medical Equipment
Hospital / Rehabilitation Centers /
Nursing Homes
• Robotic Gait Training 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--
TM-2/IM-2, TMRW Series
Inspection / Testing Equipment / Robot
• Direct Drive Motor--
DMS, DMY, DMN Series

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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:
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 installation 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.
Using 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., remove the outer cover, product drilling or cutting.
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.

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
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.

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Safety Precautions
1. Safety Information
Safety Responsibility and Effect
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.
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.
This machine is defined as a partly completed machinery, the associated hazards must be
handled by system integrator in accordance with ISO 10218-1/-2.
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.
The installation for emergency functions shall be defined by the system integrator in
accordance with ISO 10218-1/-2.
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 switch off the power switch.
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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2. Description Related to Safety
I. Safety Symbols
Carefully read the instructions in the user manual prior to robot use. The following shows the
safety symbols used in this user manual.
Symbol Description
Failure to follow instructions with this symbol may result
in serious hazard or personal injury. Please be sure to
comply with these instructions.
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 may result
in poor product performance. Please be sure to comply
with these instructions.
II. Working Person
The personnel can be classified as follows
Operator:
Turns robot controller ON/OFF
Starts robot program from operator’s panel
Reset system alarm
Programmer or teaching operator:
Turns robot controller ON/OFF
Starts robot program from operator’s panel
Reset system alarm
Teaches robot
Maintenance engineer:
Turns robot controller ON/OFF
Starts robot program from operator’s panel
Reset system alarm
Teaches robot
Does maintenance, adjustment, replacement
Programmer and the maintenance engineer must be trained for proper robot operation.

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3. Precautions
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 workwear for working environment,
safety shoes and helmets.

When encountering danger or other emergency or
abnormal situation, please press the emergency stop
button immediately. After danger is eliminated, move the
robot away with low speed in manual mode.
When considering safety of the robot, the robot and the
system must be considered at the same time. Be sure to
install safety fence or other safety equipment and the
operator must stand outside the safety fence while
operating the robot.
A safety zone should be established around the robot with
an appropriate sa
fety device to stop the unauthorized
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 load or allowable load moment at wrist. Exceeding
these values could lead to the driver alarm or malfunction
of the robot.
Do not climb on manipulator.

Do not store the machine in the environment with
corrosion and flammable gas or close to the flammable
object.
Do not operate t
he 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.

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
Do not operate the machine in potentially explosive
environment.
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 repair and
maintenance, and ensure to operate under the condition
of no electrical shock risk.
Do not disassembly the controller without permission. If
there’s any issues, please contact our engineers.

The personnel installing robot should be trained and
licensed.
To ensure personal safety, robot installation must comply
with this manual and related industrial safety regulations.

The control cabinet should not be placed near high
voltage or machines that generate electromagnetic fields
to prevent interference that could cause the robot to
deviation 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 poor circuit contact
or unexpected damage.
Do not stand on the controller or put heavy objects on it.
Do not block the vent or put foreign objects into the
controller.
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 ON/OFF 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.

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
Do not shutdown 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.
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.
After the brake of a servo motor is released, the robot will
be moved due to gravity and it may injured the operator.
The in
dustrial robots can be applied for the different
industrial environments, but the applicable environment
should be determined by professionals.
When the operating
procedures are interrupted, the
special attention should be paid during the
troubleshooting.

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3.2 Operation
 Teaching, jogging or programming should be done
outside of the safety fence. If it is inevitable to
enter the safety fence, press the emergency stop
button before entrance. Operation should be
restricted at low speed and beware of surrounding
safety.
All operations shall be executed by trained staff.
3.3 Maintenance
 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.
Prior to repair and maintenance, please switch off
power supply.
Maintenance and repair should be performed by a
qualified operator with a complete understanding
of the entire system to avoid risk of robot damage
and personal injury.

When replacing the components, avoid foreign
object going into the robot.

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3.4 End Effector
The end effector can be classified as two types:
A. Gripper: Used to load and unload, such as pneumatic gripper, electric gripper and vacuum
sucker.
B. Tool: Used to process, such as welding, cutting and surface treatment.
 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 fall
ing or
damage.
The tool-type end effector is usually equipped 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 fall during operation
which may cause personal injury or hazard.

The end effector may be equipped with its own
control unit. During installation, pay attention to
installed location. Ensure that the control unit does
not interfere with robot operation.
The gripper-type end effector should prevent the
workpiece from dropping or damaging when the
robot experiences a power error or other errors. If
potential dangers or abnormal situations exist
when using end effector, the associated hazards
must
be handled by the system integrator in
accordance with the related standards.0
3.5 Pneumatic, Hydraulic System
When using the pneumatic or hydraulic system, the
gripped workpiece may fall due to insufficient
pressure or gravity.
The pneumatic or hydraul
ic system must be
equipped with the relief valve, so that it can be
applied in an emergency.

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
More attention should be paid to the pressure
remained in the pneumatic systems after the
power is disconnected.
The internal pressure must be released before the
pneumatic systems are maintained.
More attention should be paid to the pressure in
the pneumatic system as it is several times more
than the atmosphere pressure.
3.6 Emergency Stop Switch
 The robot or other control component should have
at least one device for immediate halt, such as an
emergency stop switch.
The emergency stop button must be installed in an
easily accessible location for quick stop.
While executing an emergency stop, power to the
servo motor will be cut, and all movements will be
stopped. And the control system will be shut down.
Emergency stop should be reset if the restoration
of operating procedure is wanted.

Avoid using emergency stop to replace a normal
stop procedure. This could reduce the lifespan of
the robot.

The drive power and the 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 immediate stop:
Immediately stop the robot system, and disconnect
the driver power.
The emergency stop switch is used for emergency
stop only.
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 a cable. If additional emergency stop
switches are required, other connecting method

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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.
If the version of the braking is not applied to the
whole axis, once the emergency stop is executed
and the heavy objects are loaded on the robot end,
the axis without brake will move due to gravity. This
attention must be paid for safety 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, for more detailed
information please see section 1.5 environmental conditions.
Use is not permitted under the following conditions:
Use in potentially explosive environments
Use without performing risk assessments
Transportation of people and animals
Operation outside the allowed operating parameters
5. Disposal
The disposal of HIWIN robot shall be in accordance with the local environmental regulations.
Content
1. Transportation and Installation ..........................................................................15
1.1 Transportation............................................................................................................................... 15
1.2 Installation .................................................................................................................................... 20
1.3 Connection with the Controller .................................................................................................... 23

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1.4 Grounding ..................................................................................................................................... 25
1.5 Environmental Conditions ............................................................................................................ 26
1.6 Standard and Optional Equipment List......................................................................................... 27
2. Basic Specifications...........................................................................................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 Moment Diagram ................................................................................................................ 35
2.6 Mechanical Stopper ...................................................................................................................... 36
3. Equipment Mounting Surface and Interface ......................................................39
3.1 Mounting Surface for End Effector............................................................................................... 39
3.2 Pneumatic Interface...................................................................................................................... 39
3.3 R-I/O Interface............................................................................................................................... 41
4. Calibration ........................................................................................................45
4.1 Zero Position Setting ..................................................................................................................... 45
5. Manual Brake Release Device (optional) ...........................................................51
5.1 Safety Precautions......................................................................................................................... 51
5.2 Confirmation before Using............................................................................................................ 51
5.3 Operation ...................................................................................................................................... 53
6. Maintenance and Inspection.............................................................................55
6.1 Maintenance Items....................................................................................................................... 55
6.2 Maintenance Methods.................................................................................................................. 59
6.2.1 Backup Batteries Replacement ........................................................................................................ 59
6.2.2 Timing Belt Replacement................................................................................................................. 60
7. Safety Certification ...........................................................................................68
8. Appendix ..........................................................................................................68

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1. Transportation and Installation
1.1 Transportation
Sling can be used to transport the robot. The transportation procedure is as follows:
Step1. Move the robot into its transport posture and the angle of each joint is shown in the table of
Figure 1-1.
Step2. Secure the suspension plate to the robot with four M8×1.25P×12L screws as shown in Figure 1-2.
Make the sling go through the suspension plate to keep the center of gravity under the hanging
point shown as Figure 1-3.，Please ensure the robot is in stable condition to avoid overturning.
Step3. Move the robot to the desired position by using sling.
Step4. Remove the suspension plate.
[Note] The transport suspension plate (4C201E41) is an optional part. Please refer to appendix
for the dimensions.
Figure 1-1 Transport posture
RT605-909-GB
RA605-710-GB
RT605-710-GB
RA605-710-GB
RT605-710-GB

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Figure 1-2(a) RA605-710-GB Transport dimensions
Transport Posture Degree
RA605-710-GB
RT605-710-GB RT605-909-GB
J1
0°
0°
J2 45° 30°
J3 -55° -55°
J4 0° 0°
J5 -80° -65°
J6
0°
0°
 Before carrying the robot, be sure to remove the end
effector which changes the center of gravity.
Please keep stable, slow down and avoid excessive
vibration or shock during transportation.
While placing the robot be sure to avoid the robot and the
installation surface collision.
After removing the suspension plate, please maintain it
properly for re-transportation.

Before operation, remove the suspension plate to avoid
danger.
Center of
Gravity
Center of
Gravity
Hexagon socket cap screw
M8x1.25Px12L
Suspension Plate

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Figure 1-2(b) RT605-710-GB Transport dimensions
Figure 1-2(c) RT605-909-GB Transport dimensions
Center of
Gravity
Center of
Gravity
Hexagon socket cap screw
M8x1.25Px12L
Suspension Plate
Center of
Gravity
Center of
Gravity
Hexagon socket cap screw
M8x1.25Px12L
Suspension Plate

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Figure 1-3(a) Crane lifting transportation
RA605-710-GB Transport method
RT605-710-GB Transport method
Figure 1-3(b) Crane lifting transportation
RA605-909-GB Transport method

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After removing the suspension plate, please keep
it properly for re-transportation.

Please always follow the above instructions and
method to transport the robot for subsequent
transportation. The angle of the suspended robot;
J1 is for 0°, J2 is for 45°, J3 is for -55°, J4 is for 0°, J5
is for -80°, J6 is for 0°.
If the robot is directly suspended without using the
specified suspension plate, it will cause danger due
to an incorrect center of gravity position.

Please always stay in stable condition and avoid
excessive vibration or shock during transportation.