Hiwin RS403, SCARA 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

• Electric Gripper

• Integrated Electric Gripper

• Rotary Joint

Single Axis Robot

Precision / Semiconductor /
Medical / FPD

• KK, SK

• KS, KA

• KU, KE, KC

Direct Drive
Rotary Table

Aerospace / Medical / Automotive industry /
Machine tools / Machinery industry

• RAB Series

• RAS Series

• RCV Series

• RCH Series

Ballscrew

Precision Ground / Rolled

• Super S series

• Super T series

• Mini Roller

• Ecological & Economical

lubrication Module E2

• Rotating Nut (R1)

• Energy-Saving & Thermal-

Controlling (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

• VDI Systems

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

• Coreless Linear Motor

• 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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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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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: [phone]
E-mail: [e-mail]

 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.