www.hiwin.tw
User Manual
SCARA Robot
- RS403
INDUSTRIE 4.0 Best Partner
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• Ball Type--HG, EG, WE, MG, CG
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Hospital / Rehabilitation centers /
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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: +886-4-23594510
Fax: +886-4-23594420
E-mail: business@hiwin.tw
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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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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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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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. A user 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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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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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: +866-4-23594510
E-mail: business@hiwin.tw
System name/series number
Software name/version
Issue on the system
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About Safety
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1 About Safety
This chapter mainly describes the operation regulations about the SCARA Robot,
which not only provide the detailed operation information for a user and explain the
meaning for each alert symbol one by one, but also inform a user of the risk and the
emergency response during the operation.
1-1 Operation
For the sake of human body, the following regulations must be obeyed:
The robot can be operated or maintained by the trained and qualified operators.
Please carefully read the description in this manual, so that can efficiently and
safely operate the robot.
The operators must be familiar with the position, the function and operation for
safety switches.
Please ensure there are no obstacles stacked around the robot prior to the
operation.
Don’t open or remove the shelter on the robot.
Please ensure the circuit systems have been indeed grounded prior to the
operation.
Before you replace any circuit, all power must be disconnected to avoid electric
shock.
Please immediately disconnect the main switch during the power failure or
disconnection.
Don’t stain, scratch or move the warning label and product nameplate.
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1-2 Safety Symbol
Each type of warning label is stuck on the robot and the control panel to remind a
user of operational safety. If the labels are stained or fallen, they must be indeed
cleaned or replaced.
Table 1-1 Safety Symbol
Sticking
position
Label pattern
Remark
A
The pinch label is stuck on the SCARA Robot. There are many
articulated joints on the robot. Please pay attention to your safety
during the operation and avoid pinch by accident.
B
There is a hit label on the SCARA Robot. Don’t enter the
operating area to avoid damage or injury when the robot is
operated.
C
There is a high voltage label on the SCARA Robot. Permissible
voltage and the maximum current for the robot are 1P
200~240VAC and 10A. A user needs to note the circuit has been
indeed grounded or there is any damage. When the robot is
removed or any pipe is replaced, please disconnect the power and
unplug the power connector to avoid electric shock.
D
Robot record. When the robot fails, you can provide the
information for the supplier.
E
If you have any problems on the robot, please carefully
read the Maintenance Manual, Software Manual or
contact our customer service. If the property loss and
life safety are caused by the personal factors, a user
must take responsibility.
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RS403-400-150-N
Figure 1-1 Illustration for Safety Symbol
Don’t remove the safety symbol. If it is lost, please contact
us or the agent.
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1-3 Operation Notice
1-3-1 Run Alert Area
The robot is a machine operating at high speed, whose maximum revolution radius
depends on the fixture size installed on the end. Before you operate the robot, please
ensure there is no any obstacle within the motion range, and indeed perform the
calibration to avoid collision and damage. When the robot is operated, the operator
should pay attention to the motion range for damage.
1-3-2 Temperature Error
When the robot is operated, the heat source comes from the electronic parts in the
control panel. There are the cooling fans on two side of the panel. The operator should
note the cooling fans normally run to prevent shutdown from overheating.
1-3-3 Flammability Alert
If you wipe the robot with volatile detergent or volatile chemicals are used in the
process, please ensure the temperature and the fan condition at any time to avoid a fire.
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1-3-4 Humidity Error
Electronic components in the robot and the control panel are made of metal materials,
which are more sensitive to the relative humidity of the operating environment.
Higher humidity will accelerate to oxidize the contacts of metal part and electronic
component, and loosen the assembly structure and cause poor contact; lower humidity
will easily generate static electricity and damage electronic components. It is
recommended the relative humidity in the ambient environment should be less than
50%.
1-3-5 High Voltage
1P 200~240VAC is supplied to the robot. Once electric leakage or touch by accident
takes place, it will cause serious injury or death. When you install the robot, you need
to check each connector is indeed connected, and ensure all circuits are not
excessively bent, even broken or damaged.
1-4 Emergency Stop
If you feel the robot failed during the operation, please immediately press the
EMERGENCY STOP button. When you press the EMERGENCY STOP button, the
arm will stop in the shortest distance by the controller and the motor brake.
Don’t press the EMERGENCY STOP button when the arm normally operates. If
you press EMERGENCY STOP button during the operation, it could hit the
peripherals and internal hardware to cause damage.
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The EMERGENCY STOP button is pressed in the urgent condition, not for
pause/run. If you want to stop the robot in the normal operation and the working path,
please operate it according to the software manual.
1-4-1 Robot Operation in Emergency Stop
When you press the EMERGENCY STOP button, please move the robot
according to the following methods. When you perform the operations abovementioned, please ensure the EMERGENCY STOP button on the robot is pressed and
indicated in flash.
Figure 1-2 Illustration for Robot Axes
J1 axis: Move Arm A after you press the BRAKE RELEASE button.
J2 axis: Move Arm B after you press the BRAKE RELEASE button.
J3 axis: Rotate ball screw spline after you press the BRAKE RELEASE button.
J4 axis: Pull ball screw spline after you press the BRAKE RELEASE button.
Don’t apply excessive force to move the robot or quickly
rotate the parts after you press the EMERGENCY STOP
button. This condition could damage the robot.
Press the BRAKE RELEASE button after you press the
EMERGENCY STOP button to simultaneously release the
brake for four axes. Note that the object loaded on the end
could drop and cause injury or death owing to its weight.
J2 axis
BRAKE RELEASE button
Ball screw spline
J4 axis
J3 axis
Arm A
Arm B
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2 Specifications
2-1 Features
The SCARA Robot, suitable for the ambient environment, can be applied for
delivering and assembling the components, such as electronic parts. The maximum
permissible inertia can reach 0.05 kg-m2.
2-2 Model Name
RS403-400-150-N
The robot is operated in the standard environment. The
accessories with additional coating are installed on the
robot to prevent dust accumulation, which can be used
for food industry.
Model
：HIWIN
J4-axis stroke
150
：150 mm
Arm length
：400 mm
03
Maximum load
：3 kg
N
400
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2-3 Part Name and Dimensions
RS403-400-150-N
Figure 2-1 Part Names on Robot
Figure 2-2 Illustration from the Direction A of Figure 2-1
Arm A
Arm B
BRAKE
RELEASE
button
Status
Indicator
ψ4 pneumatic connector
ψ6 pneumatic connector
Ball screw spline
View from
Direction A
Base
ψ4 pneumatic connector
ψ6 pneumatic connector
power/signal line socket
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RS403-400-150-N
Figure 2-3 Part Dimensions for Robot
This dimension diagram is used for the reference, based
on the approved ones or the actual ones.
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RS403-400-150-N
Figure 2-4 Motion Range for Robot
All motion ranges in this diagram is used for the
reference. The dimensions are based on the approved
diagrams or the delivered machines.
The working range in this diagram doesn’t include the
end effector.
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2-4 Specification Table
This manual takes RS403-400-150-N for example, and describes the
performance and the specification of the robot, as shown in the following table.
Table 2-1 Specification Table for RS403-400-150-N
Specification Table
Model Number
RS403-400-150-N
Degree of Freedom
4
Payload
Rated
kg
1
Maximum
3
Maximum arm length
(Arm A, and Arm B)
mm
400
Maximum motion
range
J1
deg
±128
J2
deg
±130
J3
deg
±360
J4
mm
150
Cycle time
sec
0.42
Repeatability
J1+J2
mm
±0.01
J3
deg
±0.01
J4
mm
±0.01
Maximum axial speed
J1
deg/sec
600
J2
600
J3
2000
J4
mm/sec
890
Permissible rotation inertia
Rated
kg-m2
0.005
Maximum
0.05
Arm I/O
3 Output Point
3 Input Point
Pneumatic connector quantity/dimension
Ø 4 x 2
Ø 6 x 1
Arm weight (not including the control
panel)
kg
17
Input power
V/A
AC 220V
1P 50 / 60 Hz
Maximum pneumatic
input
Input pressure
kg / cm2
7
Vacuum pressure
1
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3 Operating Environment
Before you operate the robot, you must ensure the operating environment can
meet the related requirements to maintain the stability and lifetime.
Table 3-1 Operating Environment
Environmental
condition
Operating environment
Storage environment
Temperature
5℃~40℃
5℃~40℃
Relative humidity
Less than 50%
Less than 50%
Assembly platform
Table
None
Power system
1P 200~240VAC
None
Notice
Install indoors to keep away from direct sunlight.
Keep away from dust, mist, salt, metal powder or other
pollutants.
Keep away from flammable or corrosive solution and gas.
Keep away from the environment with water and high
moisture.
Keep away from impact or vibration.
Keep away from a source of electromagnetic interference.
The robot is not suitable in the coating environment. If it is
operated at the place where doesn’t meet the conditions
above-mentioned, please contact us or the agent.
The robot is operated only under the ambient environment.
The surface of the robot for the special condition must be
resistant to grease. If it could be stained with special grease,
please contact us or the agent to confirm in advance.
If the robot is operated in the environment with larger
temperature and humidity change, water condensation
could take place inside. When it is used to move food,
please contact us or the agent to ensure it will not pollute
food.
The robot can’t be operated in the acid or corrosive
environment. In addition, the body could be corroded in the
salty environment.
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3-1 Install Robot
When you install the robot, please lock with M8 bolts. The bolt specifications
need to meet ISO898-1:10.9 or 12.9. The base is installed on the lock surface. It is
recommended the thickness be 20mm or more, and be made of the steel material to
reduce the operating vibration. It is suggested the surface roughness be 25µm or less
than 25µm. The other assemblies are installed with appropriate tools in accordance
with the operating manual to avoid injury or damage by the improper operation.
When you install the robot, the working range must be taken into account. If the
end effector is installed, the maximum motion range will vary (depending on the
position and overhang of the end effector). Therefore, the safety area or the safety
fence will be changed, and the operators should not enter the area to avoid injury or
death when the robot operates.
Figure 3-1 Working Range for Robot
When you install the robot, please consider the motion
range (including the distance of end effector), and set up the
warning or safety fence.
The operators should not enter the area to avoid injury or
death when the robot operates.
Maximum motion range
(including the overhang distance of end effector)
Arm operating range
(not including end effector)
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3-2 Disassemble Package and Transport
The robot must be installed by the authorized engineer, and complied with the
national regulations. After you remove the package and take out the robot with a
protective bag, please transport it to the installation position by appropriate facilities.
The robot must be properly fixed during the transportation. The operator must note
the personal safety to prevent pinch or hurt from strong vibration or object.
The authorized staff can operate crane or forklift only.
When those without authorization perform the
operations above-mentioned, the surrounding operators
could be injured or the robot could be damaged.
Transport the robot with a cart.
The robot must be delivered by two operators or more
when transported with bard hands. The base, Arm A or
Arm B are held with two hands. Don’t pull black flexible
conduit or any connector.
When you adjust the position to install the robot, please
hold it with two hands so that it drops to pinch the
operator.
The robot must be indeed fixed on the transportation
facility to avoid collision, falling and damage when
transported in long distance.
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4 Install End Effector
4-1 Installation Notice
When you install the end effector, please obey the following items.
Figure 4-1 Recommended Installation Illustration for Ball End Effector
1. Don’t remove or change any mechanical stopper on the robot by yourself.
2. When you install the end effector on ball screw spline, please install it at
30mm on the lower end of ball screw spline and fix with the threaded
structure over M4.
3. When you install the end effector, please note weight, static torque and
rotation inertia are in the motion range. For the method to calculate static
torque and rotation inertia, please refer to 4-2 Overview for Calculating
Static Torque and Rotation Inertia.
If there are some doubts on weight, static torque and
rotation inertia, please contact us or the agent.
(30 mm End
effector clamp)
(Threaded structure)
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4-2 Overview for Calculating Static
Torque and Rotation Inertia
4-2-1 Calculate Static Torque
The permissible static torque for this robot is 90N.m, determined by M (torque)
= F (force) × L (end fixture/effector overhang plus total arm length), and must be less
than 90N.m. Please obey the operating condition. If the torque exceeds this value, the
performance and lifetime will be reduced.
Formula to calculate static torque:
M (torque) = F (force) × L (overhang plus total arm length)
Figure 4-2 Illustration for Calculating Static Torque of Robot End
Please calculate if permissible static torque is greater than
90N.m prior to the operation.
If the torque is greater than this value, the performance and
lifetime will be reduced.
Overhang
Total arm length
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Calculate Rotation Inertia
Rotation inertia is quantity used to indicate a force is against the rotation of an
object. When a fixture/an end effector are installed on the end of ball screw spline,
rotation inertia for the loaded device must be taken into account.
Please calculate if total rotation inertia at the end of ball
screw spline is within rated/maximum permissible inertia.
If rotation inertia is greater than the value, the performance
and lifetime will be reduced.
Rotation axis of ball screw spline
Fixture/end effector
Workpiece a
Workpiece b
Total rotation inertia at
the end of ball screw
=
Rotation inertia of
fixture/end effector
+
Rotation inertia
of Workpiece a
+
Rotation inertia
of Workpiece b
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The methods to calculate rotation inertia of an object are as shown in (a), (b) and
(c). Please refer to the methods to calculate rotation inertia for the basic shape, and
determine rotation inertia of the object.
(a) Rotation inertia of rectangle
(b) Rotation inertia of cylinder
(c) Rotation inertia of sphere
Mass
Center-of-gravity
position of
Offset distance
Rotation axis
Mass
Mass
Offset distance
Rotation axis
Center-of-gravity
position of cylinder
Rotation axis
Center-of-gravity
position of sphere
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End-extending load
The calculation of the end-extending load will vary depending on the shape of the
load. It is recommended that the actual calculation of the inertia be done.
Figure 4-3、 RS403-400-150-N arm end extension load diagram
Figure 4-4、 Load center of gravity and motor speed for 1KG load, spline length
330mm
Load center distance
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Figure 4-5、 Load center of gravity and motor speed for 3KG load, spline length
330mm
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Maintenance
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5 Robot Maintenance
In order to ensure the robot can efficiently operate and protect the operator safety,
please periodically maintain the robot according to the following sections. Don’t
disassemble the motor, decelerator and ball screw spline for the maintenance by
yourself to influence the accuracy of the robot. If there is any failure, please contact
the agent.
5-1 Cover
The cover is locked on the upper side of Arm B, which includes J2, J3 and J4
motors and three drive belts. You can remove the cover to check there are foreign
objects in Arm B, ball screw spline is damage and the belts are worn.
Please disconnect the power on the control panel and
unplug the power prior to the maintenance. Don’t make
any maintenance when the robot operates, so that can
avoid electric shock or improper operation.
In the period of maintenance, the robot should not contact
any objects to prevent electronic components from short
circuit or damage ball screw spline. Otherwise, the robot
could damage when the power is distributed.
Figure 5-1 Illustration of Part Name for Robot
Ball screw spline
Cable
Cover
Communication
Arm A
Arm B
Base
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5-1-1 Disassemble Cover
Step 01. Turn off the power on the control panel.
Step 02. Remove the external M4 and M3 screws.
Step 03. Disassemble the robot cover from down to up.
Step 04. Keep the screws well to avoid missing or damage.
Figure 5-2 Illustration of Dissembling Cover for Robot
Don’t force to disassemble the cover. Otherwise, it could
cause poor cable contact or damage as well as electric
shock or robot failure.
Don’t remove the cable sleeve when you disassemble the
cover, and avoid excessively pulling it so that the circuit
drops or breaks to cause the robot failure.
Don’t continuously apply force and heavily press/push to
the cover protrusion. Otherwise, it could break or
damage.
4-M3 flat washer
4-M4 flat washer
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5-1-2 Install Cover
Note that the internal circuits are excessively bent when
you install the cover. Otherwise, it could cause poor cable
contact or damage.
Note that ball screw spline is interfered with the cover
when you install the cover, and the screws are fastened
to complete the installation.
Step 01. Turn off the power on the control panel.
Step 02. Install the robot cover from up to down.
Step 03. Ensure the cover doesn’t interfere with any parts and pipes.
Step 04. Fasten the external M4 and M3 screws.
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5-2 J3 & J4 Axes
J3 & J4 axes employ 100W servo motors. With the link of the belt wheel and the
belt, the rotational and linear motions of ball screw spline are controlled. A user can
remove the cover to check there is any failure inside the Arm B.
Please press the Emergency Stop button before the
maintenance. Don’t make any maintenance when the
robot runs, so that the operators could be hit or the
incorrect run could take place.
Don’t remove J3 & J4 motors without the authorization
to influence the running accuracy of the robot.
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5-2-1 Check J3 & J4 Belts
There are three drive belts, 2 for J3 axis and one for J4 axis, installed in the robot,
which are used to link the servo motor and ball screw spline. A user must periodically
check the belts are worn, and confirm the belt tension meets the requirements to
ensure the robot can efficiently run.
Table 5-1 J3 and J4 Belts
Name
Quantity
Remark
Part
J3 Belt (ball end)
Width:
15mm
1
150-S2M-300
J3 Belt (motor end)
Width:
10mm
1
100-S2M-172
J4 Belt
Width:
10mm
1
100-S3M-396
Tool
Allen wrench
1
M4 screw
(recommended torque: 55kgf-
cm)
Tension meter
1
Belt tension
J3 (motor end): 30~40N,
J3 (ball end): 45~55N,
J4: 45~55N
Parameter
J3 Belt (ball end)
M=1.3 g/m, W=15mm, S= 86 mm (Note 1)
J3 Belt (motor end)
M=1.3 g/m, W=10mm, S= 44 mm (Note 1)
J4 Belt
M=1.9 g/m, W=10mm, S=124 mm (Note 1)
Note: M (unit mass), W (belt width), and S (line length)
Step 01. Turn off the power on the control panel.
Step 02. Disassemble the robot cover (Please see 5-1-1 Disassemble Cover.).
Step 03. Press the Emergency Stop button after the power is supplied.
Step 04. Slightly release the screws for J3 and J4 plates.
Step 05. Adjust the motor plate.
Step 06. Use the tension meter to measure the belt tension
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J3 (motor end): 30N~40N, J3 (ball end): 45N~55N, J4: 45N~55N.
Step 07. Hold the Release Brake button, and push ball screw spline upwardly and
backwardly to ensure the tension in each section meets the requirement.
Step 08. Check the motors of J3 and J4 axes as well as screws for middle wheel.
Step 09. Turn off the power on the control panel.
Step 10. Install the robot cover.
RS403-400-150-N Belt Tension Adjustment
Figure 5-3 Illustrations for Adjusting Belt Tension
J4 plate
Direction to adjust belt tension
Direction to adjust
belt tension
Direction to adjust
belt tension
J3 plate
Middle wheel of
J3 plate
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5-3 Grease Lubrication
There are many movable joints and parts on the SCARA Robot. The decelerator
and ball screw spline must be periodically serviced and maintained. Because ball
screw spline is exposed in the open environment for long time to easily accumulate
dust or insufficiently lubricate, a user must pay more attention so that the robot can
efficiently operate.
5-3-1 Lubrication of Ball Screw Spline
Ball screw spline is used for the rotation (J3-axis) and linear (J4-axis) motion of
the robot, supported by two sets of nut respectively. The bearing in the nut needs to be
periodically greased with HIWIN (G04), and the external grooves of ball screw spline
must be kept clean. It is recommended ball screw spline be cleaned and maintained
every three months to keep smoothly running.
Please press the Emergency Stop button and disconnect
the power prior to the maintenance. Don’t make any
maintenance when the robot operates, so that can avoid
electric shock or improper operation.
Don’t remove ball screw spline without the authorization
to influence the running accuracy of the robot.
Table 5-2 Lubrication of Ball Screw Spline
Lubrication part
Item
Check
Operation
Roller spline
bearing
Lubrication
Check once per
three month
when the
running distance
reaches 200km.
Fill new lubricant into the nut
nozzle (M3), and remove old
grease.Recommended fill: 2c.c.
Flat spline bearing
Fill new lubricant into the nut
nozzle (M3), and remove old
grease.Recommended fill: 2c.c.
Ball screw spline
Uniformly apply grease on the
screw surface in the grooves.
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Illustration for RS403-400-150-N Lubrication of Ball Screw Spline
Figure 5-4 Illustration for Lubricating Ball Screw Spline
4-M3 flat washer
4-M4 flat washer
Lubricate the surface
of ball screw spline
and the grooves with
HIWIN (G04)
Roller screw nut
Filler
Grease HIWIN (G04)
Straight screw nut
Filler
Grease HIWIN (G04)
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Table 5-3 Lubrication of Ball Screw Splin
Figure 5-5 Illustration for Lubricating Ball Screw Spline
Lubrication
part
Item
Check
Operation
Roller
spline
bearing
Lubrication
Check once per
three month
when the
running
distance
reaches
200km.
Fill new lubricant into the nut opening (Ø 1.5),
and remove old grease.Recommended fill: 2c.c.
Flat spline
bearing
Fill new lubricant into the nut opening (Ø 1.5),
and remove old grease.Recommended fill: 2c.c.
Ball screw
spline
Uniformly apply grease on the screw surface in
the grooves.
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5-3-2 Decelerator Lubrication
The base, the Arm A and the Arm B of the robot are linked by the decelerator to
provide the rotation motion for J1 and J2 axes. Because the lubricant is fully covered
in the decelerator, the insufficient lubrication will not take place. However, the tear
and wear of the mechanical structure could make noise from the decelerator, even
poor position accuracy, please contact the agent as soon as possible.
The decelerator should be disassembled by he trained or
authorized engineers only to avoid the accuracy and lifetime of
the robot.
The lubricant should be replaced by the trained or authorized
engineers only to avoid the accuracy and lifetime of the robot.
Table 5-4 Decelerator Lubrication
Area to
apply
grease
Operation
Reference Diagram
Flexible
bearing
grooves
Fill the roller space with grease.
Decelerator
body
1. Remove old grease in the
wall of the flexible wheel,
and fill in new one.
2. Fill new grease in the groove
of the rigid wheel (fill via the
gear gap).
3. For grease filling, please
refer to Table 5-4.
Maintenance Item
Period
Operation
Replacement of
decelerator lubricant
Running up to 6000 hours
or per 18 months
Described as Table 5-3
Check on back
clearance of
decelerator
Per 2.5 years
New parts should be replaced
if the clearance is greater than
the permissible value.
Wheel groove
Ball groove
Inner wall of
Wheel(fill by
tandard)
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Table 5-5 Grease Fill
Specification
Grease capacity
Unit
J1
J2
Inner wall of flexible wheel
g
21~27
21~27
Groove of rigid wheel
g 6 6
A (reference dimension)
mm 3 3
L (reference dimension)
mm
38~41
38~41
Description to disassemble RS403-400-150-N decelerator
Steps to disassemble the decelerator
Step 01. Turn off the power on the control panel.
Step 02. Remove the screws on the Arm A.
Step 03. Remove the M6 screws and washer for Arm A.
Step 04. Remove the M5 screws and washer for the decelerator and the motor plate.
Step 05. Disassemble the decelerator upwardly in the vertical direction.
Figure 5-6 Illustrations of Dissembling Decelerator for Robot J1
Please keep each origin part and component when you
disassemble the decelerator. Don’t assemble the decelerator with
non-origin parts.
The decelerator should be disassembled and installed by the
trained or authorized engineer.
M3 screw
M5 screw
Arm A
Decelerator
Cover
Washer
Washer
M6 screw
M5 screw
Wave generator
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Disassemble the decelerator for Arm B
Step 01. Turn off the power on the control panel.
Step 02. Remove the screw cover on the Arm A.
Step 03. Remove M6 screws on the bottom of Arm A.
Step 04. Remove the Arm B.
Step 05. Remove the M5 screws and washer for the decelerator and the Arm B.
Step 06. Disassemble the decelerator upwardly in the vertical direction.
Figure 5-7 Illustrations of Dissembling Decelerator for Robot J2
Please keep each origin part and component when you
disassemble the decelerator. Don’t assemble the decelerator
with non-origin parts.
The decelerator should be disassembled and installed by the
trained or authorized engineer.
M5 screw
M3 screw
M6 screw
Flat washer
Decelerator
Wave generator
Screw cover
Safety washer
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5-4 Wiring Panel
There are the communication cables, pneumatic pipes and driver batteries in the
wiring panel. A user can replace the batteries by removing the cover, so that can
maintain the memory of the robot coordinate.
5-4-1 Replace Battery
The batteries, located on the internal side of the wiring panel, are used to record
the value of the driver at each axis after power failure takes place. A user must
periodically replace them to ensure the robot coordinates can be memorized.
Please press the emergency button and disconnect the
power prior to the maintenance. Don’t make any
maintenance when the robot operates, so that can avoid
hit or improper operation.
If the batteries are replaced when the power on the
control panel is not supplied, the coordinates at each axis
can’t be recorded. The robot home must be recalibrated.
The industrial lithium batteries are used for memory.
Don’t replace them with commercial alkaline or
rechargeable one.
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Step 01. Remove the wiring panel.
Step 02. Turn on the power on the control panel, and press the Emergency Stop button.
Step 03. Take out 4 batteries in order.
Step 04. Install new batteries in order (primary lithium battery 3.6V/2.4AH for
TADIRAN No. 3).
Step 05. Turn off the power on the control panel.
Step 06. Install Wiring Panel (please see).
Step 07. Turn on the power on the control power to test the coordinates at each axis.
Figure 5-8 Illustration for replace batteries
3.6 V battery
M4 screw
Front cover
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5-5 Maintenance Period
Contents related to service and maintenance
Check Item
Part Name
Daily Monthly Quarterly Twice a year Yearly
Check the
screws/bolts are
loose.
Base bolts
˅ ˅ ˅ ˅ ˅
Robot bolts
˅
Bots for ball screw spline
˅
Check the
communication
cables/power
cable connectors
are loose.
Communication cable
˅ ˅ ˅ ˅ ˅
Power cable connectors
for control panel
˅ ˅ ˅ ˅
Check the
appearance is
dirty or damaged,
and clean and
wipe it.
Robot appearance
˅ ˅ ˅ ˅ ˅
Appearance of
communication cable
˅ ˅ ˅ ˅ ˅
Appearance of control
panel
˅ ˅ ˅ ˅ ˅
Check the
communication
cables/power
cables/pneumatic
pipes are
excessively bent
or broken
Communication cables
˅ ˅ ˅ ˅ ˅
Power cables on control
panel
˅ ˅ ˅ ˅ ˅
Pneumatic cables
˅ ˅
Check belt tension
J3 and J4 axes (See:5-2-
1)
˅ ˅
Grease
Lubrication
ball screw spline (See:53-1)
˅ ˅ ˅
Grease
Lubrication
Decelerator (See:5-3-2)
*1
Replace Battery
Driver battery (See:5-4-
1)
˅
*1: For the maintenance time in each item, please follow 5-3-2.
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6 Troubleshooting
6-1 Offset
Upon the position is offset when the robot operates, please immediately stop all
operations and execute the home command, so that the robot can read the relative
position at each station. If the condition for the serious position offset can’t be
modified by resetting the home, please contact customer service for calibration.
6-2 Overheat
The robot is equipped with a mechanism of temperature protection. The incorrect
working temperature will influence the operations. A user must maintain the
appropriate environment temperature. As soon as the temperature rise in the system
takes place owing to the fan failure, the robot will stop the operation. Please contact
customer to replace the fan.
The motor drivers at each axis are equipped with a protection mechanism. The
high temperature or acceleration/deceleration will stop the operation of the robot. You
must recover the system setting by restarting it. A user can keep the robot normally
operating by changing the system setting.
Lower acceleration and velocity when the robot runs.
Reduce the time when the robot continuously runs.
6-3 Noise from Machine
The robot comprises several slide and rotation parts and components. It is
recommended a user periodically lubricate each part and component, so that the robot
can smoothly operate. As soon as noise is generated when the robot operates, please
contact customer service for check and maintenance.
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6-4 Jog Vibration
When you evaluate to operate the robot, please carefully read the specifications.
The efficiency of the robot depends on the fixtures or objects loaded on ball screw
spline. If the loads exceed the requirements, a user can maintain the normal operation
of the robot by changing the system setting or seek the assistance from customer
service.
Reduce acceleration and velocity when the robot operates.
Modify the fixture dimension and weight.
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Opinion Response
Issue
Actual condition
Use Advice:
E-mail: business@hiwin.tw
Customer hotline: +866-4-23594510
1. HIWIN is the registered trademark of HIWIN Technologies Corp.. For your protection; To avoid
counterfeit products, be certain you are buying genuine HIWIN products before purchase.
2. Actual products may be different from the specifications and photos in this catalog. The differences
in appearances or specifications may be caused by, among other things, product improvements.
3. HIWIN will not sell or export those techniques and products restricted under the "Foreign Trade
Act" and relevant regulations. Any export of restricted products should be approved by competent
authorities in accordance with relevant laws, and shall not be used to manufacture or develop
nuclear, biochemical, missile and other military weapons.
4. HIWIN website for patented product directory: http://www.hiwin.tw/Products/Products_patents.aspx
Publication Date：April 2018, first edition
SCARA Robot - RS403 User Manual
Copyright © HIWIN Technologies Corp.
Copyright © HIWIN Technologies Corp.
©2018 FORM C07UE001-1804 (PRINTED IN TAIWAN)
The specifications in this catalog are subject to change without notification.
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