Hiwin RA610-GC User manual

www.hiwin.tw
User Manual
Articulated Robot
- RA610-GC
Original Instruction

INDUSTRIE 4.0 Best Partner
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Content
1. TRANSPORTATION AND INSTALLATION ...................................................2
1.1 TRANSPORTATION ................................................................................................................ 15
1.2 INSTALLATION...................................................................................................................... 25
1.3 CONNECTION WITH THE CONTROLLER....................................................................................... 27
1.4 GROUNDING ....................................................................................................................... 29
1.5 ENVIRONMENTAL CONDITIONS................................................................................................ 30
1.6 STANDARD AND OPTIONAL EQUIPMENT LIST.............................................................................. 31
2. BASIC SPECIFICATIONS ...........................................................................34
2.1 DESCRIPTION OF MODEL NAME .............................................................................................. 34
2.2 LABELS ............................................................................................................................... 35
2.3 ROBOT SPECIFICATIONS ......................................................................................................... 37
2.4 OUTER DIMENSIONS AND MOTION RANGE ............................................................................... 39
2.5 WRIST LOAD CONDITIONS...................................................................................................... 44
3. EQUIPMENT MOUNTING INTERFACE......................................................49
3.1 END-EFFECTOR INTERFACE...................................................................................................... 49
3.2 MOUNTING SURFACE ON THE ROBOT ....................................................................................... 50
3.3 PNEUMATIC INTERFACE.......................................................................................................... 53
3.4 R-I/O INTERFACE ................................................................................................................. 55
4. CALIBRATION .........................................................................................59
4.1 ZERO-POSITION SETTING ....................................................................................................... 59
5. MANUAL BRAKE RELEASE DEVICE (OPTIONAL).......................................64
5.1 SAFETY PRECAUTIONS ........................................................................................................... 64
5.2 CONFIRMATION BEFORE USING ............................................................................................... 64
5.3 OPERATION ......................................................................................................................... 66
6. MAINTENANCE AND INSPECTION...........................................................68
6.1 MAINTENANCE ITEMS ........................................................................................................... 68
6.2 MAINTENANCE METHODS ..................................................................................................... 72
6.2.1 Backup Batteries Replacement ............................................................................................ 72
6.2.2 Timing Belt Replacement..................................................................................................... 73
6.2.3 Grease Replacement ............................................................................................................ 77
7. SAFETY CERTIFICATION ..........................................................................79

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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 technician or the
dealer who you purchased with.

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
Improper modification or disassemble the robot might reduce
the robot function, stability or life.
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 technician 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
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.
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
Restore system alarm status
Programmer or teaching operator:

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Operates the robot
Teaches robot inside the safety fence
Maintenance engineer:
Operates the robot
Teaches robot inside the safety fence
Does maintenance, adjustment, replacement
Programmer and the maintenance engineer must be trained for proper robot operation

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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-
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.

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It must use EMO-Emergency stop (EN 60947-5-1 positive opening) with safety module to meet ISO
13849-1 performance level (PL)= d
Interlock

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IV. Precautions
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 smock for working environment,
safety shoes and helmets.

When encountering danger or other emergency or
abnormal situation, please press the emergency stop
button immediately and move the arm 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
w
ith 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 the tolerable torque. Exceeding these
values could lead to the driver alarm or malfunction
of the robot.
Do not climb on robot.
The installation for emergency functions shall be
defined by the system integrator in accordance
with ISO 10218-1/-2.
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.

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
Do not immerse the electric wires into grease or
water.

Do not connect or operate the machine 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 computer inside the
cont
roller 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 operating 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 repair components 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.
Do not stand on the controller or put heavy objects
on it.

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
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.

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, 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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Operation
 Programming must be done outside of the safety
fence. If it is inevitable to enter the safety fence,
the emergency stop button must be pressed.
All operations shall be executed by trained staff.
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 mainte
nance, please turn 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
material going into the robot.

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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. Special attention should be paid to the
operating safety.
The end effector should be mounted firmly on the
robot to avoid workpiece release during operation
which may cause personal injury or hazard.
The end effector may be equi
pped with its own
control unit. Be sure 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 da
ngers or abnormal situations exist
when using end effector, the associated hazards
must be handl
ed by the system integrator in
accordance with the related standards.
Pneumatic, Hydraulic System
When using the pneumatic or hydraulic system, the
gripped workpiece may fall due to insufficient
pressure or gravity.
The pneumatic system must be equipped with
the relief valve, so that can be applied in an
emergency.
Emergency Stop Switch
The robot or other control component should have
at least
one device for immediate halt of n
function, such as an emergency stop switch.

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 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 lead to unnecessary loss
to 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 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.

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V. 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
VI. Disposal
The disposal of HIWIN robot shall be in accordance with the local environmental regulations

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1. Transportation and Installation
1.1 Transportation
Sling, crane or forklift truck can be used to transport the robot. The transportation procedure is as
follows:
Transport by forklift truck:
Step1. Move the robot into its transport position and the angle of each joint is shown in the Figure 1-1 and
Table 1-1. Transport dimensions are shown in Figure 1-2 (a)~(e).
Step2. Secure the suspension plate to the robot with four M8x1.25Px20L head screw as shown in Figure
1-3 (a)~(e).
Step3. Move the robot to the desired position by forklift truck.
Step4. Remove the suspension plate and firmly secure the robot.
Transport by sling and crane:
Step1. Move the robot into its transport position and the angle of each joint is shown in the table of Figure
1-1. Transport dimensions are shown in Figure 1-2 (a)~(e).
Step2. Secure two M12x1.75Px22L eye bolts to the robot as shown in Figure 1-4 (a)~(f).
Step3. Move the robot to the desired position by sling and crane.
Step4. Remove the eye bolts and firmly secure the robot.
Please refer to section 1.2~1.5 for robot installation and precautions.
Figure 1-1 Transport position

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Table 1-1 The transport posture angle with each axis about each model of RA610-GC
Transport position
RA610-1355-GC RA610-1476-GC RA610-1672-GC RA610-1869-GC RA610-1151-GC
J1
0˚
0˚
0˚
0˚
0˚
J2
45˚
55˚
45˚
35˚
70˚
J3
-75˚
-75˚
-80˚
-80˚
-70˚
J4
0˚
0˚
0˚
0˚
0˚
J5
-60˚
-70˚
-55˚
-45˚
-90˚
J6
0˚
0˚
0˚
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.

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Figure 1-2 (a) RA610-1355-GC Transport dimensions
Figure 1-2 (b) RA610-1476-GC Transport dimensions
Center of gravity
Center of gravity
Center of gravity
Center of gravity

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Figure 1-2 (c) RA610-1672-GC Transport dimensions
Figure 1-2 (d) RA610-1869-GC Transport dimensions
Center of gravity
Center of gravity
Center of gravity Center of gravity