Hiwin RA605-GC User manual

www.hiwin.tw
User Manual
Articulated Robot
- RA605-GC
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
• 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

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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 102018-1/-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 safety 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 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.

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Do not connect or operate the mach
ine with wet
hands.
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 com
puter inside the
controller w
hile it is operating due to its high
temperature.

Be sure power is disconnected prior to repair and
mainten
ance, 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 cabl
e 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.

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
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.
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 industrial robots can be applied for the different
industrial environments.
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 co
mponents, 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 falling or damage.
The tool-type end effector is usually equipped with
high voltage, high temperature and active rotary
shaft. S
pecial 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 uni
t. 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 hydraulic 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 can

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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 2.5 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.

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Content
1. Transportation and Installation...................................................15
1.1 Transportation ..................................................................................................15
1.2 Installation........................................................................................................19
1.3 Connection with the Controller........................................................................22
1.4 Grounding ........................................................................................................24
1.5 Environmental Conditions ...............................................................................25
1.6 Standard and Optional Equipment List............................................................26
2. Basic Specifications ......................................................................27
2.1 Description of Model Name.............................................................................27
2.2 Labels ...............................................................................................................28
2.3 Robot Specifications ........................................................................................30
2.4 Outer Dimensions and Motion Range..............................................................32
2.5 Wrist Moment Diagram ...................................................................................34
2.6 Mechanical Stopper..........................................................................................35
3. Equipment Mounting Surface and Interface ............................ 38
3.1 Mounting Surface for End Effector .................................................................38
3.2 Pneumatic Interface..........................................................................................38
3.3 R-I/O Interface .................................................................................................39
4. Calibration ....................................................................................43
4.1 Zero Position Setting........................................................................................43
5. Manual Brake Release Device (optional)...................................48
5.1 Safety Precautions............................................................................................48
5.2 Confirmation before Using ..............................................................................48
5.3 Operation..........................................................................................................50
6. Maintenance and Inspection .......................................................52
6.1 Maintenance Items ...........................................................................................52
6.2 Maintenance Methods ......................................................................................57
6.2.1 Backup Batteries Replacement ...................................................................57

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6.2.2 Timing Belt Replacement............................................................................58
7. Safety Certification ......................................................................66
8. Appendix .......................................................................................67
Version Date Product Note
1.0.0 2020.04.15 RA605-GC First edition

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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 (RA605Z541-13) is an optional part. Please refer to
appendix for the dimensions.
Figure 1-1 Transport posture
RA605-710-GC
RA605-909-GC

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Figure 1-2(a) RA605-710-GC Transport dimensions
Transport Posture Degree
RA605-710-GC RA605-909-GC
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) RA605-909-GC Transport dimensions
Figure 1-3(a) Crane lifting transportation
RA605-710-GC Transport method
Center of
Gravity
Center of
Gravity
Hexagon socket cap screw
M8x1.25Px12L
Suspension Plate

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Figure 1-3(b) Crane lifting transportation
RA605-909-GC Transport method
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.
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.

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1.2 Installation
Figure 1-4 shows the installation dimensions of the robot. According to the dimensions, fix
the robot on the installation surface with M10 screws, spring washer and flat washer shown as
Figure 1-5. Figure 1-6 and table 1-1 show the forces and moments acting on the installation
surface during operation. The strength of surface must be considered when installing the robot.
It is recommended to use screws bigger than M10X20L.
Figure 1-4 Base dimensions
Figure 1-5 Installation diagram
M10 screw
Spring washer
Flat washer
Installation hole
Robot direction