Hiwin RA620-1739 User manual

www.hiwin.tw
User Manual
Articulated Robot
-RA620
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

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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.

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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.
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
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

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transformer (HIWIN optional transformer is recommended).
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

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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.
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

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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.

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
Do not immerse the electric wires into grease or
water.
Do not connect or oper
ate 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 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.

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
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.

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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 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 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 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

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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 hyd
raulic 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.

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 th
e 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

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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 be applied for the same purpose.

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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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Table of Contents
1. Transport and Installation 19
1.1 Transport ..................................................................................................19
1.2 Installation................................................................................................21
1.3 Connection with the Controller................................................................24
1.4 Grounding ................................................................................................26
1.5 Operating Ambient 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 Load conditions..............................................................................35
3. Equipment Mounting Surface and Interface 37
3.1 Mounting surface for end effector ...........................................................37
3.2 Mounting Surface on the robot arm.........................................................37
3.3 Interface for Air supply............................................................................39
3.4 R-I/O Interface .........................................................................................40
4. Calibration 44
4.1 Zero-Position Setting ...............................................................................44
5. Maintenance and Inspection 49
5.1 Maintenance Items ...................................................................................49

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5.2 Maintenance.............................................................................................54
5.2.1 Backup Batteries Replacement ...........................................................54
5.2.2 Timing Belt Replacement ...................................................................55
5.2.3 Grease Replenishment ........................................................................61
Edition Date Model Remark
C08UE001-1711 2017.11.14 RA620 First edition
C08UE001-1801 2018.01.30 RA620
Modify manipulator operation range
expression
C08UE001-1803 2018.03.15 RA620 Add J6 calibration method, origin angle
C08UE001-1808 2018.08.22 RA620
Modify content figure, standard and
optional table, model name expression
C08UC001-1912 2019.12.16 RA620 Modified Chp.4 Calibration
Modified Chp.6 Maintenance and
Inspection

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1. Transport and Installation
1.1 Transport
The transportation of the robot can use lifting tackle or forklift truck. The transportation
procedure is as follows:
Step1. The angle of each joint is shown in the table of Figure 1-2 and 1-3.
Step2. Attach the suspension frame to the robot, as shown in Figure 1-1. When carrying the
robot with lifting tackle, four M8×1.25P eye bolt, M8 nuts and M8 washers should be
mounted on the suspension frame.
Step3. Move the robot to the desired position by lifting tackle or forklift truck.
Step4. Remove the suspension frame.
Transport by forklift truck Transport by forklift tackle
Figure 1-1 Transportation
Before carrying the robot, be sure to remove the end
effector. That will cause center of gravity changes.
Please always stay in stable condition and avoid