Hiwin RCD403-GB User Manual
INDUSTRIE 4.0 Best Partner
Multi Axis Robot
Pick-and-place / Assembly /
Array and packaging / Semiconductor /
Electro-Optical industry /
Automotive industry / Food industry
ßArticulated Robot
ßDelta Robot
ßSCARA Robot
ßWafer Robot
ßElectric Gripper
ßIntegrated Electric Gripper
ßRotary Joint
Single Axis Robot
Precision / Semiconductor /
Medical / FPD
ßKK, SK
ßKS, KA
ßKU, KE, KC
Ballscrew
Precision Ground / Rolled
ßSuper S series
ßSuper T series
ßMini Roller
ßEcological & Economical
lubrication Module E2
ßRotating Nut (R1)
ßEnergy-Saving & Thermal-
Controlling (C1)
ßHeavy Load Series (RD)
ßBall Spline
Medical Equipment
Hospital / Rehabilitation centers /
Nursing homes
ßRobotic Gait Training System
ßHygiene System
ßRobotic Endoscope Holder
Direct Drive
Rotary Table
Aerospace / Medical / Automotive industry /
Machine tools / Machinery industry
ßRAB Series
ßRAS Series
ßRCV Series
ßRCH Series
Linear Guideway
Automation / Semiconductor / Medical
ßBall Type--HG, EG, WE, MG, CG
ßQuiet Type--QH, QE, QW, QR
ßOther--RG, E2, PG, SE, RC
Bearing
Machine tools / Robot
ßCrossed Roller Bearings
ßBall Screw Bearings
ßLinear Bearing
ßSupport Unit
AC Servo Motor & Drive
Semiconductor / Packaging machine
/SMT / Food industry / LCD
ßDrives-D1, D1-N, D2T
ßMotors-50W~2000W
Linear Motor
Automated transport / AOI application
/ Precision / Semiconductor
ßIron-core Linear Motor
ßCoreless Linear Motor
ßLinear Turbo Motor LMT
ßPlanar Servo Motor
ßAir Bearing Platform
ßX-Y Stage
ßGantry Systems
Driven Tool Holders
All kinds of turret
ßVDI Systems
Radial Series, Axial Series, MT
ßBMT Systems
DS, NM, GW, FO, MT, OM, MS
Torque Motor
(Direct Drive Motor)
Inspection / Testing equipment /
Machine tools / Robot
ßRotary Tables-TMS,TMY,TMN
ßTMRW Series
ßTMRI Series
C19UE101-1804
1.
Safety Information
Safety Responsibility and Effect
This safety information neither contains how to design, install and
Users of HIWIN robot have the responsibility to design and install
In compliance with the safety information on industrial robot
Safety and Notice
run a complete workstation or production line, nor ensure the whole
system safety. In order to guarantee personal safety, all machines
must be designed and installed according to the industrial safety
regulations.
the safety devices in compliance with the industrial safety
regulations, used to protect personal safety.
HIWIN robot will not
occur any safety accident.
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 disconnect the power switch.
After turning off the power switch, the operator must wait for green
indicator (PC indicator) to disappear then remove or turn off the
main power.
After turning off the power switch, do not restart it immediately.
Please wait for 30 seconds to restart.
The controller contains lead-acid battery. It may cause the lack of
electricity by natural wearing and will not be able to be turned on
successfully. If it is idle for a long time, please maintain the power
transmission at least every 3 months and keep it on lasting for 24
hours. Or take out the battery and keep the voltage of the battery
over 13V.
When the voltage of the battery is too low causing failure to turn on
the controller, please take out the battery and charge it with the
external power source until the voltage is over 13V. Or replace the
battery with a new one and then try to turn it on again.
Flipping it 90 degrees on the side or turning it over 180 degrees are
forbidden while installing the controller. This is to protect the
internal battery component.
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.
2. Description Related to Safety
I. Safety Symbol
Please carefully read and make sure to follow this manual before
operating the robot. The following are the safety symbol used in this
manual.
C19UE101-1804
Symbol Description
DANGER
WARNING
CAUTION
II. Safety Grade
The following symbols are frequently used for safety notice. Please
Failure to follow the description of this symbol will cause
serious personal injury. Please make sure to follow those
requirements to ensure safety.
Failure to follow the description of this symbol will cause
personal injury or product damage. In order to guarantee
the safe use of this product, please follow this regulation
strictly.
Failure to follow the description of this symbol will result
in improper operation. In order to guarantee the safe use
of this product, please make sure to follow this regulation.
carefully read the following notices and always follow them before
operating the robot.
C19UE101-1804
Do not operate the machine in potentially explosive
environment.
Do not store the machine in the environment with
corrosive gas, with 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.
Do not connect or operate the machine with wet
hands.
DANGER
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 move, connect,
check and maintain the controller, and ensure to
operate under the condition of no electrical shock risk.
The emergency stop switch must be installed in an
appropriate location where it can be operated easily.
When the robot acts abnormally, it could immediately
stop the robot from causing serious safety accident.
Do not open the controller cover without permission.
Do not stand on the product or put heavy objects on
it.
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WARNING
Do not block the vent or put foreign objects into it.
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 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 turn off 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.
All operations must be executed by the trained staff.
The controller must be kept away from high voltage
When the robot is used to demonstrate, the operation
CAUTION
Do not turn off the power of the controller when
or components that may generate electromagnetic
field which will lead to robot malfunction or damage.
speed should keep low and always keep an eye on the
operating condition to prevent the workpiece from
dropping or causing danger to operator.
modifying the program or parameter. Otherwise, the
data stored in the controller will be damaged or lost.
C19UE101-1804
3.
Safety Notice
I. Safety Risk
i. Installation
Ordinary Risk
Risk without electric shock
The installation procedures must follow this manual.
The emergency stop switch must be installed in an appropriate
location where it can be operated easily, so that the operator can
immediately stop the robot system in an emergency.
The person who installs the robot must be trained and
authorized.
Always follow the installation and safety requirements
described in this manual to ensure personal safety.
A safety area must be set outside the working range of the robot,
and a safety device must be used to prevent the personnel
entering without permission.
After the brake of a servo motor is released, the robot will move
due to the gravity and it may injure the operator.
When installing or disassembling any mechanical parts, be
aware of falling parts which may injure the operator.
Be aware of high temperature produced by the controller.
Do not allow any action of climbing on the robot.
ii. End effector
The end effector can be classified as two types:
A. Gripper: Used to load and unload, such as pneumatic
B. Tool: Used to process, such as welding, cutting and
The gripper-type end effector should prevent the workpiece
from dropping or damaging when the robot experiences a power
gripper, electric gripper and vacuum sucker.
surface treatment.
error or other errors. More attention should be paid at the design
stage.
The end effector could be equipped with the control unit. The
position must be noted to avoid the robot interference when the
end effector is installed.
The tool-type end effector is usually equipped
C19UE101-1804
WARNING
iii.
Pneumatic and Hydraulic Systems
with high voltage, high temperature or active
shaft. Special attention should be paid during the
operation.
More attention should be paid to the pressure remained in the
pneumatic and hydraulic systems after the power is
disconnected.
The internal pressure must be released before the pneumatic and
hydraulic systems are maintained.
When the pneumatic and hydraulic systems are operated, the
clamped workpiece could drop owing to the insufficient
pressure or gravity.
The pneumatic and hydraulic systems must be equipped with
the relief valve, so that the operator can be applied in an
WARNING
iv.
Risk caused by the working environment
emergency.
More attention should be paid to the pressure in
the pneumatic and hydraulic systems which are
usually several times more than the atmosphere
pressure.
The industrial robots can be applied for the different industrial
environments.
All operating procedures must be specified by the professional
evaluation and according to the industrial safety regulations.
Maintenance must be conducted by the trained personnel who
clearly understand the procedures for the whole system and
other possible risks.
C19UE101-1804
When the operating procedures are interrupted, the special
attention should be paid during the troubleshooting.
II.
Emergency Stop
Emergency Stop Definition
When the emergency stop is executed, the power supplied from
the servo driver to the motor will be disconnected and all
actions will be stopped.
If the procedures are recovered, the emergency stop switch
should be reset.
Avoid using the emergency stop instead of the normal stop
procedure to shut down the robot system. Otherwise, it may
cause unnecessary damage to the robot system.
Emergency Stop Switch
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 the cable. If
additional emergency stop switches are required, other
connection 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.
4. Warranty Terms and Conditions
The period of warranty shall commence at the received date of
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
C19UE101-1804
accident caused by improper operation or test 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., removal of the
cover, product drilling or cutting.
Damage caused by any natural disaster. i.e., fire, earthquake,
tsunami, lightning, windstorms, floods, tornado, typhoon and
hurricane etc.
C19UE101-1804
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.
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
or robot malfunction.
WARNING
Please contact the technical support for
special modification coming from production
line set up.
For the safety reason, any modification for
HIWIN product is strictly prohibited.
Content
1. Specifications
1.1 Standard Specification
1.2 Standard and Optional Equipment
1.3 Serial Specification
1.4 Appearance Dimensions
1.5 Appearance Component
1.6 Operating Environment
1.7 Sticker and Label
2. Installation
2.1 Installation Dimensions
2.2 Multifunctional Installation Frame
2.3 Basic Connection Structure
2.4 Instruction of Controller ON/OFF Procedure
2.5 Motor Cable Connection (CN2)
C19UE101-1804
2.6 Emergency Stop Switch Connection (CN3)
3. External Input/ Output
3.1 Function I/O
3.2 Digital I/O
3.3 Example of Connection
3.4 Encoder Capture Module (CN5)
3.5 RS-232 Port
4. Teach Pendant
5. Maintenance
5.1 Lead-Acid Battery
5.2 Fan Cotton Filter
5.3 Fuse
Version Update
Version Date Applicable Scope Note
1.0.0 2018.01.08 RCD403-GB First release
1. Add leakage
current mark
2. Modify 3.4
C19UE101-1804
1.0.1 2018.03.05 RCD403-GB
Encoder Capture
Module
3. Add 2.6 & 3
warning sign
1. Specifications
1.1 Standard Specification
The following table shows the standard specifications of the robot controller.
Item HIWIN Robot Controller
Model No. RCD403-1100-GB
Controlled Manipulator RD403-1100-GB
Positioning control
Joint control AC servo control
Operating system HRSS
Memory
capacity
Teaching method Teach pendant
Communication
interface
External I/O
Power
Weight (kg) 34
IP grade 20
Temperature range for workplaces (oC) 0~45
Relative humidity (%RH) 20~75 (non-condensing)
Grounding
Fixed point 5000
Step number 10000
RS232 1
Ethernet 2
USB 2
Emergency stop input Input : 1
Function I/O
Digital I/O
Encoder capture
module
Input power range
(VAC)
Power capacity (KVA) 1.5
Power frequency (HZ) 50/60
Voltage drop (msec) 10 or less
Rating output current
(A)
Current leakage (mA) 30
PTP (point-to-point)
CP (continuous path)
Output : 24
Three Phase AC 200-240
RCD403-1100-PR-
GB
RD403-1100-PR-
GB
Input : 8
Output : 8
Input : 24
4 Channel
4.5
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C19UE101-1804
1.2 Standard and Optional Equipment
The following table shows the items of the standard equipment for the robot
controller.
Item HIWIN Part No. Remark
CN1, Main Power Cable 4C7018Y1 Refer to CH2.3
CN2, Motor Power Signal Cable 5M AH301A01 Refer to CH2.5
Connector Accessory Kit 4C201M91
The following table shows the items of robot controller optional equipment.
Item HIWIN Part No. Remark
Teach Pendant AH301401 Refer to CH 4
CN3 Emergency Stop Switch Unit 5M 4C7013F2 Refer to CH 2.6
External I/O Wiring Kit 4C201DY1
Cotton Filter 4657003Y Refer to CH 5.2
Lead-Acid Battery 462C0097 Refer to CH 5.1
Refer to CH 2.6
and CH3
Refer to CH 3
1.3 Serial Specification
Serial Number:
C19UE101-1804
Model Number:
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