Hiwin RS403 User manual

www.hiwin.tw
User Manual
SCARA Robot
- RS403

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
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• Integrated Electric Gripper
• Rotary Joint
Single Axis Robot
Precision / Semiconductor /
Medical / FPD
• KK, SK
• KS, KA
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Direct Drive
Rotary Table
Aerospace / Medical / Automotive industry /
Machine tools / Machinery industry
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• 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 (C1)
• 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
Medical Equipment
Hospital / Rehabilitation centers /
Nursing homes
• Robotic Gait Training System
• Hygiene System
• Robotic Endoscope Holder
Bearing
Machine tools / Robot
• Crossed Roller Bearings
• Ball Screw Bearings
• Linear Bearing
• Support Unit
AC Servo Motor & Drive
Semiconductor / Packaging machine
/SMT / Food industry / LCD
• Drives-D1, D1-N, D2
• Motors-50W~2000W
Driven Tool Holders
All kinds of turret
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Radial Series, Axial Series, MT
• BMT Systems
DS, NM, GW, FO, MT, OM, MS
Linear Motor
Automated transport / AOI application
/ Precision / Semiconductor
• Iron-core Linear Motor
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• Linear Turbo Motor LMT
• Planar Servo Motor
• Air Bearing Platform
• X-Y Stage
• Gantry Systems
Torque Motor
(Direct Drive Motor)
Inspection / Testing equipment /
Machine tools / Robot
• Rotary Tables-TMS,TMY,TMN
• TMRW Series
• TMRI Series

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C07UE001-1804
Company: HIWIN Technologies Corp.
Address: No.7, Jingke Road, Taichung Precision Machinery Park,
Taichung 40852, Taiwan
Date: November 2017
Version: 2.0
Tel: [phone]
Fax: [phone]
E-mail: [e-mail]
Website: http://www.hiwin.tw
Copyright: The contents in this manual are used for the authorized customers and
suppliers. This manual should not be copied, reproduced, transmitted in any form or
distributed on Internet without HIWIN’s authorization.
All Rights Reserved
© HIWIN Technologies Corp. All rights reserved

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Revision History
Version
Date
Remark
Ver1.0
2017/08
First issuance
Ver1.1
2017/11
Added the Ball Screw /Spline
lubrication
Ver1.2
2018/04
Added End-extending load

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C07UE001-1804
Table of Content
Table of Content.......................................................................................................IV
Foreword....................................................................................................................6
About Manual ............................................................................................................6
Warranty.....................................................................................................................7
Notice Symbol ...........................................................................................................8
Contact.......................................................................................................................9
Customer Service.......................................................................................................9
About Safety ............................................................................................................10
1 About Safety.........................................................................................................11
1-1 Operation .....................................................................................................11
1-2 Safety Symbol..............................................................................................12
1-3 Operation Notice..........................................................................................14
1-3-1 Run Alert Area........................................................................................14
1-3-2 Temperature Error ..................................................................................14
1-3-3 Flammability Alert..................................................................................14
1-3-4 Humidity Error .......................................................................................15
1-3-5 High Voltage...........................................................................................15
1-4 Emergency Stop...........................................................................................15
1-4-1 Robot Operation in Emergency Stop......................................................15
2 Specifications........................................................................................................17
2-1 Features ......................................................................................................17
2-2 Model Name ................................................................................................17
2-3 Part Name and Dimensions..........................................................................18
2-4 Specification Table.......................................................................................21
3 Operating Environment ........................................................................................22
3-1 Install Robot.................................................................................................23

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C07UE001-1804
3-2 Disassemble Package and Transport............................................................24
4 Install End Effector...............................................................................................25
4-1 Installation Notice........................................................................................25
4-2 Overview for Calculating Static Torque and Rotation Inertia .....................26
4-2-1 Calculate Static Torque...........................................................................26
4-2-1Calculate Rotation Inertia........................................................................29
Maintenance.............................................................................................................31
5 Robot Maintenance...............................................................................................32
5-1 Cover............................................................................................................32
5-1-1 Disassemble Cover.................................................................................33
5-1-2 Install Cover ...........................................................................................34
5-2 J3 & J4 Axes ................................................................................................35
5-2-1 Check J3 & J4 Belts ...............................................................................36
5-3 Grease Lubrication.......................................................................................39
5-3-1 Lubrication of Ball Screw Spline ...........................................................39
5-3-2 Decelerator Lubrication..........................................................................43
5-4 Wiring Panel ................................................................................................44
5-4-1 Replace Battery ......................................................................................44
5-5 Maintenance Period .....................................................................................46
6 Troubleshooting....................................................................................................47
6-1 Offset............................................................................................................47
6-2 Overheat 47
6-3 Noise from Machine ....................................................................................47
6-4 Jog Vibration................................................................................................47
Opinion Response....................................................................................................49

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C07UE001-1804
Foreword
Thank you for purchasing the Selective Compliance Assembly Robot Arm or
Selective Compliance Articulated Robot Arm (SCARA). This manual will provide the
method for installing and maintaining the machine, and protect a user life from
improper operation. Auser should carefully read the description prior to the operation.
If the regulations are not followed to cause the machine damage or injury, a user must
take the related responsibilities. After you read this manual, please keep it well so that
can be read any time.
About Manual
This manual describes the SCARA Robot developed by HIWIN, whose structure
includes the body, the control panel, the Teaching Pendant (optional), the connection
cable and the software. A user who purchases the robot can operate and maintain the
robot via this manual.
This manual is suitable for the SCARA Robot only, which can be operated under
the ambient environment, but is not suitable for the related equipment and the
operating environment not mentioned in this manual, such as vacuum condition and
equipment involved in personal life.

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C07UE001-1804
Warranty
The SCARA Robot is strictly tested and examined, and delivered to a customer
after its performance meets our requirements.
Warranty Period:
The product provides one-year warranty period from the day since it is delivered.
For the detailed terms and clauses of maintenance and repair, please contact the agent.
Warranty Content:
Disclaimer:
Even in the warranty period above-mentioned, the service will be charged when the
following items are met.
Guarantee the equipment delivered to customer.
In the warranty period, we provide free maintenance for failure during the
normal operation. The failure after the warranty period is expired will be
charged.
Failure and damage caused by incorrect operation different from the manual.
Reconstruct or remove the robot by yourself.
Failure and damage caused by improper adjustment/maintenance.
Failure and damage caused by act of God/fire/other factor.
If you operate the robot in the conditions or specifications beyond the manual,
we will not guarantee the basic performances.
We should not take any responsibility for human body (death or serious
injury)/damage incident/failure caused by not following “WARNINNG” and
“CAUTION” in this manual.
We can’t completely forecast all conditions for danger and failure. Such ability to
forecast shows the limit. Therefore, “WARNINNG”, “CAUTION” and other items in this
manual belong to the forecasting scopes.

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Notice Symbol
The symbols and warnings on the robot represent the danger in different extents
to remind a user of the safety concern during the operation, described as follows.
※DANGER symbol: represents an urgent danger. If it can’t be stopped and avoided
in time, the death or serious injury could take place.
※WARNING symbol: represents a potential danger condition. If it can’t be solved in
time, the injury or death could take place.
※CAUTION symbol: represents a potential danger. If it can’t be solved, the injury or
the intermediate incident will take place.
※NOTE symbol: represents a special purpose or a remark on the product, including
the mark qualified by the QC engineer.

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C07UE001-1804
Contact
For the maintenance/examination/adjustment on the SCARA Robot, please contact
customer service.
Please prepare the following information when you contact us:
Customer Service
Customer hotline: [phone]
E-mail: [email protected]
System name/series number
Software name/version
Issue on the system