UIrobot UI-SR Series User manual

User Manual
UI-SR Series
SCARA Robot
V1.2

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M4220161122CN
UI Robot Technology Co. Ltd.
UIROBOT SCARA Robot
Please pay attention to the following before using the UIROBOT products:
•UIROBOT products meet the specification contained in their particular Data Sheet.
•UIROBOT will only work with the customer who respects the Intellectual Property (IP) protection.
•Attempts to break UIROBOT’s IP protection feature may be a violation of the local Copyright Acts. If such acts lead to unauthorized
access to UIROBOT’s IP work, UIROBOT has a right to sue for relief under that Act.
Information contained in this publication regarding controller applications and the like is provided only for your convenience and may be
superseded by updates. It is your responsibility to ensure that your application meets with your specifications. UIROBOT MAKES NO
REPRESENTATIONS OR WARRANTIES OF ANY KIND WHETHER EXPRESS OR IMPLIED, WRITTEN OR ORAL, STATUTORY OR OTHERWISE,
RELATED TO THE INFORMATION, INCLUDING BUT NOT LIMITED TO ITS CONDITION, QUALITY, PERFORMANCE, MERCHANTABILITY OR
FITNESS FOR PURPOSE. UIROBOT disclaims all liability arising from this information and its use. Use of UIROBOT products in li fe support
and/or safety applications is entirely at the buyer’s risk, and the buyer agrees to defend, indemnify and hold harmless UIROBOT from any
and all damages, claims, suits, or expenses resulting from such use. No licenses are conveyed, implicitly or otherwise, under any UIROBOT
intellectual property rights.
[Trade Mark/ Layout-design/Patent]
The UIROBOT name and logo are registered trademarks of UIROBOT Ltd. in the P.R. China and other countries.
UIROBOT’s UIM62HXX series Step Motor Controllers, UIM25XX series CAN-RS232 Converter and their layout designs are patent
protected.
[Contact]
SHANGHAI UNITED INTELLIGENCE ROBOTICS INC.
ADD : Rm 202-203, Building Y2, No, 112 Liang Xiu Rd, Zhangjiang Innopark,Shanghai,China
Z I P : 201203
T E L :021 – 61182435(sales,Marketing)
F A X:021 – 61182431
N E T:www.uirobot.com
Email:[email protected]
【Revision Record】
Version
Date
Change
V1.2
November 22, 2016
Revise the pin number functions of X4
Multi-function Interface in “4.2
Wiring Table” of MAINTENANCE
V1.1
October 21, 2016
First Edition

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M4220161122CN
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UI –SR Series User Manual
CONTENTS
CONTENTS........................................................................................................................................................ 3
Basic Technic.................................................................................................................................................... 5
1.0 Safety................................................................................................................................................ 6
1.1 Conventions ...................................................................................................................................... 6
1.2 Design and Installation Safety ............................................................................................................ 7
1.3 Operation Safety................................................................................................................................ 8
1.4 Emergency Stop................................................................................................................................ 9
1.5 Emergency Movement Without Drive Power ......................................................................................10
1.6 Labels ..............................................................................................................................................11
2.0 Specification....................................................................................................................................12
2.1 Features of UI-SR series...................................................................................................................12
2.2 Model Number..................................................................................................................................13
2.3 Part Names and Outer Dimensions....................................................................................................14
2.4 Specifications ...................................................................................................................................16
2.5 Recommendations for Users ..................................................................................................................18
2.6 How to Set the Model.............................................................................................................................19
3.0 Environments and Installation.........................................................................................................20
3.1 Environmental Conditions..................................................................................................................20
3.2 Base Table.......................................................................................................................................21
3.3 Mounting Dimensions........................................................................................................................22
3.4 Unpacking and Transportation...........................................................................................................23
3.5 Installation Procedure .......................................................................................................................24
3.6 Connecting the cables.......................................................................................................................25
3.7 Relocation and Storage.....................................................................................................................26
3.7.1 Precautions of relocation and storage...................................................................26
3.7.2 Relocation............................................................................................................26
4.0 Setting of end effectors...................................................................................................................27
5.0 Motion range....................................................................................................................................28
5.1 Motion Range Setting by Pulse Range...............................................................................................28
5.1.1 Max. Pulse Range of Joint #1 ...............................................................................29
5.1.2 Max. Pulse Range of Joint #2 ...............................................................................29
5.1.3 Max. Pulse Range of Joint #3 ...............................................................................30
5.1.4 Max. Pulse Range of Joint #4 ...............................................................................30
5.2 Motion Range Setting by Mechanical Stop.........................................................................................31
SPECIFIC OPERATION.....................................................................................................................................33
1.0 Installation and Uninstall of SCARA Software ................................................................................34
1.1 Installation of SCARA Software..........................................................................................................34
1.2 Uninstall of SCARA Software .............................................................................................................37
2.0 SCARA Software Operattion............................................................................................................38
2.1 Start Program....................................................................................................................................38
2.2 Login In.............................................................................................................................................39
2.3 Main Menu.........................................................................................................................................40
2.4 Running Program...............................................................................................................................41
2.5 Robot Programming...........................................................................................................................42
2.5.1 Program ................................................................................................................42
2.5.2 Install.....................................................................................................................50
2.5.3 Move.....................................................................................................................51
2.5.4 I/O.........................................................................................................................52
2.5.5 Camera Mode........................................................................................................52
2.5.6 Log........................................................................................................................52

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UIROBOT SCARA Robot
2.6 Robot Setting.....................................................................................................................................53
2.6.1 Reset Setting.........................................................................................................53
2.6.2 Password Setting...................................................................................................54
2.6.3 Network Setting.....................................................................................................54
2.6.4 Time Setting..........................................................................................................55
2.7 Close Robot.......................................................................................................................................56
2.8 About ................................................................................................................................................56
MAINTENANCE.................................................................................................................................................57
1.0 Safety of Maintenance .....................................................................................................................58
2.0 Maintenance Summary....................................................................................................................59
2.1 Check Schedule................................................................................................................................59
2.2 Check Contents................................................................................................................................60
2.2.1 Check When Power is Off (No Operation)..............................................................60
2.2.2 Check When Power is ON (during operation).........................................................60
2.3 Grease Filling ...................................................................................................................................61
2.4 Fastening of hexagon socket head bolts............................................................................................61
2.5 Origin Position..................................................................................................................................62
2.6 Configuration of Maintenance Components........................................................................................62
3.0 Encloser...........................................................................................................................................63
3.1 User Board.......................................................................................................................................64
3.2 Upper Encloser.................................................................................................................................65
3.3 Under Encloser.................................................................................................................................66
3.4 Interface Board.................................................................................................................................66
4.0 Cable................................................................................................................................................68
4.1 Replacement of Cable Unit................................................................................................................68
4.2 Wiring Table.....................................................................................................................................72
5.0 Disassembly and Installation of joints ............................................................................................76
5.1 The First Joint...................................................................................................................................77
5.2 The Second Joint...................................................................................................................................81
5.3 The Fourth Joint................................................................................................................................84
5.4 The Third Joint..................................................................................................................................88
6.0 Ball Screw Spline Unit .....................................................................................................................91
6.1 Grease Filling of Ball Screw Spline Unit.............................................................................................91
6.2 Replacement of Ball Screw Spline Unit..............................................................................................92
7.0 Battery..............................................................................................................................................95
8.0 Origin Adjustment............................................................................................................................97
8.1 What Is Origin Adjustment.................................................................................................................97
8.2 The Origin Adjustment Procedure of the First Joint Integrated Reducer...............................................98
8.3 The Origin Adjustment Procedure of the Second Joint Integrated Reducer..........................................99
8.4 The Origin Adjustment Procedure of the Third Joint Integrated Reducer ...........................................100
8.5 The Origin Adjustment Procedure of the fourth Joint Integrated Reducer ..........................................101
9.0 Maintenance Components Table..................................................................................................103

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UI –SR Series User Manual
BASIC TECHNIC
This volume contains information for setup and operation of
UI-SR series robots.
Please read this volume thoroughly before setting up and
operating the robot.

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UI Robot Technology Co. Ltd.
UIROBOT SCARA Robot
1.0 SAFETY
Installation and transportation of robots and robotic equipment shall be performed by
qualified personnel and should conform to all national and local codes. Please read this
manual and other related manuals before installing the robot system.
Keep this manual handy for easy access at all time.
1.1 Conventions
Important safety considerations are indicated throughout the manual by the following
symbols.Be sure to read the descriptions shown with each symbol.
Warning
★This symbol indicates that a danger of possible serious injury
or death exists if user not follow the associated instructions.
Warning
★This symbol indicates that a danger of possible serious injury
or death caused by electric shock exists if user not follow the
associated instructions.
Caution
★This symbol indicates that a danger of possible harm to
people or physical damage to equipment and facilities exists
if user not follow the associated instructions.

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UI –SR Series User Manual
1.2 Design and Installation Safety
Only trained personnel should design and install the robot system. Trained personnel
are defined as those who have taken robot system training and maintenance training
classed held by the manufacture, dealer or local representative company, or those who
understand the manuals thoroughly and have the same knowledge and skill level as
those who have completed the training courses.
To ensure safety, a safeguard must be installed for the robot system.
The following items are safety precautions for design personnel:
Warning
★The robot and controller must be used within the environmental
conditions described in their respective manuals. This product has
been designed and manufactured strictly in a normal indoor
environment. Using the product in an environment that exceeds the
specified environmental conditions may not only shorten the life
cycle of the product but may also cause serious safety problems.
★The robot system must be used within the installation requirements
described in the manuals. Using the robot system outside of the
installation requirements may not only shorten the life cycle of the
product but also cause serious safety problems.

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UIROBOT SCARA Robot
1.3 Operation Safety
The following items are safety precautions for qualified Operator personnel:
Warning
★Do not enter the operating area of the robot while the power is
ON.Entering the operating area with the power ON is extremely
hazardous and may cause serious safety problems as the robot
may move even if it seems to be stopped.
★Before operating the robot system, make sure that no one is
inside the safeguarded area. The robot system can be operated
in the mode for teaching even when someone is inside the
safeguarded area. The motion of the robot is always in
restricted (low speeds and low power) status to secure the
safety of an operator. However, operating the robot system
while someone is inside the safeguarded area is extremely
hazardous and may result in serious safety problems in case
that the robot moves unexpectedly.
Warning
★To shut off power to the robot system, pull out the power plug
from the power source. Be sure to connect the AC power cable
to a power receptacle. Do not connect it directly to a factory
power source.
★Before performing any replacement procedure, turn off the
controller and related equipment, and then pull out the power
plug from the power source. Performing any replacement
procedure with the power ON is extremely hazardous and may
result in electric shock and malfunction of the robot system.
★Do not pull out the motor connectors while the power is ON.
Pulling out the connectors while the power ON is extremely
hazardous and may result in serious bodily injury as the robot
may move abnormally, and also may result in electric shock and
malfunction of the robot system.
Caution
★Whenever possible, only one person should operate the robot
system. If it is necessary to operate the robot system with more
than one person, ensure that all people involved communicate
with each other as to what they are doing and take all necessary
safety precautions.

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UI –SR Series User Manual
1.4 Emergency Stop
If the robot moves abnormally during operation, press the emergency stop immediately.
Stops the power supply to the motor, the arm stops in the shortest distance.
However, avoid pressing the emergency stop switch unnecessarily while the robot is
running normally. Otherwise, the robot may hit theperiphery equipment and the track
may be different from that in nomal operation.It may also reduce the life of the robot
system.
To place the system in emergency mode during normal operation, press the emergency
stop switch when the robot is not moving.
Do not press the emergency stop switch unnecessarily while the robot is operating.
Do not turn off the controller when the robot is running.
If user stop the robot by turning off the controller, be aware of the following:
It may reduce the life of robot and damage reduction gear;
It may results in gaps between joint.
The robot is forced to stop when it is running because the power to controller is off, user
need to check the following after the power is on:
Whether the joint is in the right place.
Before using the emergency stop switch, be aware of the following:
The emergency stop switch should be used to stop the robot only in case of
emergency.
To stop the robot operating the program except in emergency, use stop commands.
For safeguard system, do not use the circuit of emergency stop.

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UI Robot Technology Co. Ltd.
UIROBOT SCARA Robot
1.5 Emergency Movement Without Drive Power
When the system is placed in emergency mode, push the arm or joint by hand gently
as shown below:
Joint #1：Push the arm by hand.
Joint #2：Push the arm by hand.
Joint #3：Rotate the shaft by hand.
Joint #4：Rotate the shaft by hand.
Joint #2（Rotating）
Arm #1
Joint #3（up and down）
Joint #4（Rotating）
Joint #1（Rotating）
Arm #2

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M4220161122CN
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UI –SR Series User Manual
1.6 Labels
The following labels are attached near the location of robot where specific dangers exits.
Be sure to comply with descriptions and warnings on the labels to operate and maintain the
robot safely.
To operate and maintain the robot system, please comply with notice and waring contents
recording in warning labels. Do not tear, damage, or remove the labels.
Labels
NOTE
A
Before loosening the base mounting screws,
hold the arm and secure it tightly with a band
to prevent hands or fingers from being caught
in the robot.
B
Do not enter the operation area while the robot
is moving, or robot arm may collide against the
operator. This is extremely hazardous and may
result in serious safety problems.
C
To avoid electric shock, do not touch any
internal electric parts when the power is on.
D
User may catch their hands or fingers between
the shaft and cover when bringing their hands
close to moving parts.

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UIROBOT SCARA Robot
2.0 SPECIFICATION
2.1 Features of UI-SR series
UI-SR series robot is an high performance robot with high speed and cost performance.
The features of UI-SR series robot are as follows:
No Electric Cabinet
All joint motors use drive control integrated machine which can result in simple wiring.
Large Capacity
It supports the U-axis allowable moment up to 0.05 kg·m2 (SR XXX0L).
It stably handles large loads by optimized control based on the each load.
Tact Time Improment by High-speed Motion
It improves the tact time of long-range movements by readjusting the highest speed.

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UI –SR Series User Manual
2.2 Model Number
UI - SCR 4150 L
L：1kg
H：3kg
120：120mm
150：150mm
170：170mm
200：200mm
4：400mm
6：600mm
SCARA Robot
UIRobot
Payload
Joint #3 Stroke
Arm Length
For details on the specifications, refer to 2.4 Specifications.

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UIROBOT SCARA Robot
2.3 Part Names and Outer Dimensions
UI-SR 4150LS
While the LED lamp is on, the current is being applied to the robot. Performing any
work with the power ON is extremely hazardous and it may result in electric shock
and/or inproper function of the robot system. Make sure to turn OFF the controller
power before the maintenance work.
Master Arm
Lead Screw
Base
Deputy Arm
Upper Outer Cover
Lower Outer Cover
LED Lamp
Network Port X2
Fan Hole
LED Lamp
Power Port X1
Multifunction
I/O Port X4
Output Port X3
Label Box

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UI –SR Series User Manual
UI-SR 4150LS Standard-Model
Unit：mm

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UIROBOT SCARA Robot
2.4 Specifications
Item
SR4150LS
Arm Length
Arm #1,#2
400 mm
Arm #1
222 mm
Arm #2
178 mm
Max. Operating
Speed
Joint #1,#2
4000 mm / s
Joint #3
800 mm / s
Joint #4
360 deg / s
Repeatability
Joint #1,#2
±0.05 mm
Joint #3
±0.02 mm
Joint #4
±0.02 deg
Payload
Rated
1kg
Max.
3kg
Resolution
Joint #1
0.0036 deg / pulse
Joint #2
0.0036 deg / pulse
Joint #3
0.004 mm / pulse
Joint #4
0.045 deg / pulse
Shaft Diameter
Installing
ø 16mm
Through Hole
ø 9mm
Mounting Hole
130×120mm ；120×15mm
6-M8
Weight（cables not included）
13kg
Standard Cycle (300mm*25mm)Time
No-load : 105 times/min; 1kg : 90 times/min
Driving Method
All Joints
Integrated close-loop stepper servo system
Motor Energy
Consumption
Joint #1
200W
Joint #2
150W
Joint #3
60W
Joint #4
60W
Joint #3 Down Force
100N
Environmental
Requirements
Ambient Temp.
5 ～ 40 ℃（with minimum temperature
variation）
Ambient relative
humidity
10 ～ 80%（no condensation）
Noise Level *1
LAeq = 70 dB (A)
MTBF
2 years

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UI –SR Series User Manual
Item
SR 4150L
Max.
motion
range
Joint #1
± 135 deg
Joint #2
± 135 deg
Joint #3
150 mm
Joint #4
± 180 deg
Max.
pulse
range
Joint #1
±38250pulse
Joint #2
±38250 pulse
Joint #3
±25000 pulse
Joint #4
±4000 pulse
*1：Conditions of robot during measurement as follows:
Operating conditions ：Under rated load, 4-joints simultaneous motion, maximum
speed,maximum acceleration, duty 50%.
Measurement point: In front of the robot, 1000mm apart from the motion range, 50mm
above the base-installed surface.

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UIROBOT SCARA Robot
2.5 Recommendations for Users
UI SCARA robot has better performance in the following conditions:
Range of main arm: the angle difference between starting and end points is less than 50 degree;
Maximum distance of SR 4150L tool side: 450mm；
Load range: less than 1kg(including fixture tools).
Range of main arm:
θ1
θ2
Main Arm
Vice
Arm
x
y
When selecting starting and end points of robot movement, considering the relationship
between swing angles of main arm and vice arm can achieve the best performance. Assuming
the ratio coefficient
21
/C  
,
1

and
2

are swing angles of main arm and vice arm
respectively. When 2.6<C<3.2, robot can achieve the best performance.
For example, to achieve the standard cycle 300mm movement from starting point (400,0), when
set point (235,-252) as end point, the robot has the fastest speed.
Distance of SR 4150L tool side
Selecting SR 4150L serie of UI SCARA robot, the users should take notice of the maximum
distance of robot tool side move on the countertop. We propose you to choose the robot whose
movement distance is less than 450mm that can achieve the best performance.
Movement Area
x
y
450mm

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UI –SR Series User Manual
2.6 How to Set the Model
The robot model for your system has been set before shipment from the factory. It is normally
not required to change the model when you receive your system.
Caution
★When you need to change the setting of the robot model, be sure to
set the robot model properly. Improper setting of the robot may
result in abnormal or no operation of the robot and/or cause safety
problems.
If an MT label is attached to the rear of a robot, the robot has custom specifications.
The custom specifications may require a different configuration procedure, check the
custom specifications number described on the MT label and contact us when necessary.

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UIROBOT SCARA Robot
3.0 ENVIRONMENTS AND INSTALLATION
3.1 Environmental Conditions
A suitable environment is necessary for the robot system to function properly and safely. Be
sure to install the robot system in an environment that meets the following conditions:
Item
Conditions
Ambient temperature *1
-20～60℃（with minimum temperature
variation）
Ambient relative humidity
10～80%（No Condensation）
First transient burst noise
2kV or less
Electrostatic Noise
6kV or less
Environment
-Install indoors
-Keep away from direct sunlight
-Keep away from dust,oily smoke
salinity, metal
-Keep away from flammable or
corrosive solvents and gases
-Keep away from water
-Keep away from shocks or
vibrations
-Keep away from sources of electric
noise
Robots are not suitable for operation in harsh environments such as painting areas
etc.When using robot in inadequate environments that do not meet the above
conditions, please contact us.
*1 The ambient temperature conditions are for the robots only。
Special Environmental Conditions
The surface of the robot has general oil resistance. However, if your requirements specify that
the robot must withstand certain kinds of oil, please consult your distributor.
Rapid change in temperature and humidity can cause condensation inside the robot.
If your requirements specify that the robot handles the food, please consult your distributor to
check whether the robot gives damage to the food or not.
The robot can not be used in corrosive environments where acid or alkaline is used. In a salty
environments where the rust is likely to gather, the robot is susceptible to rust.
Caution
★When cleaning the robot, do not rub is strongly with alcohol or benzene.
It may lose luster on the coated face.