User Manual
UI-SR Series
SCARA Robot
V1.2
Page 2
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 convenienc e 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superseded by updates.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 IMPL IED, 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:info@uirobot.com
【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
UI Robot Technology Co. Ltd.
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
UI Robot Technology Co. Ltd.
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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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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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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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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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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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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.
UI Robot Technology Co. Ltd.
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UI – SR Series User Manual
2.2 Model Number
UI -
SCR
4
150
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 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
L
Aeq
= 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:
θ
1
θ
2
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
450
mm
UI Robot Technology Co. Ltd.
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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.
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UI – SR Series User Manual
3.2 Base Table
A base table for anchoring the robot is not supplied. Please make or obtain the base table for
your robot. The shaped and sized of the base table differs depending on the use of the robot
system. For your reference, we list some robot table requirements here.
The torque and reaction force produced by the movement of the robot are as follows:
SR 4150LS
Max. Reaction torque on the horizontal plate
50 Nm
Max.Horizontal reaction force
300 N
Max.Vertical reaction force
300 N
The threaded holes required for mounting the robot base are M8. Use mounting bolts with
specifications conforming to ISO898-1 property class: 10.9 or 12.9.
For dimensions, refer to : Mounting Dimensions.
The plate for the robot mounting face should be 20mm thick or more and made of steel to
reduce vibration. The surface roughness of the steel plate should be 25μm or less.
The table must be secured on the floor or wall to prevent it from moving.
The robot must be installed horizontally.
When using a leveler to adjust the height of the the base table, use a screw with M16 diameter
or more.
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3.3 Mounting Dimensions
The maximum space described in figures shows that the radius of the end effector is 60mm or
less. If the radius of the end effector exceeds 60mm, define the radius as the the distance to
the outer edge of maximum space.
If a camera or solenoid valve extends outside of the arm,set the maximum range including the
space that they may reach.
Be sure to allow for the following extra spaces in addition to the space required for mounting
the robot and peripheral equipment.
Space for teaching
Space for maintenance and inspection
Space for cables
The minimum bend radius of the power cable is 90mm. When installing the cable, be sure to
maintain sufficient distance from obstacles. In addition, leave enough space for other cables so
that they are not bent forcibly.
Ensure distance to the safeguard from the maximum motion range is more than 100mm.
Standard-Model：SR 4150LS
Centre of Joint #3
Motion Range
Maximum Space
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UI – SR Series User Manual
3.4 Unpacking and Transportation
The installation should be preformed by qualified installation personnel and should conform to
all national and local codes.
Caution
★ Using a cart or similar equipment, transport the robot in the same
manner as it was delivered.
★ After removing the bolts securing the robot to the delivery equipment,
the robot may fall. Be careful not to get hands or fingers caught.
★ To carry the robot, have two or more people to work on it and secure
the robot to the delivery equipment or hold the areas indicated in gray
in the figure (bottom of Arm#1 and bottom of the base) by hand.When
holding the bottom of the base by hand, be very careful not to get your
hands or fingers caught.
★ When transpoting the robot for a long distance, secure it to the delivery
equipment directly so that the robot never falls. If necessary, pack the
robot in the same style as it was delivered.
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3.5 Installation Procedure
Caution
★ The robot system must be installed to avoid interference with buildings,
structures, utilities, other machines and equipment that may creat a
trapping hazard or pinch points.
Caution
★ Install the robot with two or more people. Be careful not to get hands,
fingers or feet caught and/or have equipment damaged by a fall of the
robot.
Secure the base to the base table with six bolts.
Use the bolts with specifications conforming to
ISO898-1 property class 10.9 or 12.9
4 – M8×25
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3.6 Connecting the cables
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 area.
★ Before performing any replacement procedure, turn off the controller
and related equipment, and the 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/or
malfunction of the robot system.
★ Be sure to connect the cables properly. Do not allow unnecessary strain
on the cables.The unnecessary strain on the cables may result in
damage to the cables, disconnection, and/or contact failure.
★ Grounding the robot is done by connecting with the controller. Ensure
that the controller is grounded and the cables are correctly connected.If
the ground wire is improperly connected to ground, it may result in the
fire or electric shock.
Caution
★ When connecting the robot to the controller, make sure that the serial
numbers on each equipment match.Improper connection between the
robot and controller may not only cause improper function of the robot
but also serious safety problems.The connection method varies with the
controller used.
Cable Connections
Signal Connector
Power Connector
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UIROBOT SCARA Robot
3.7 Relocation and Storage
3.7.1 Precautions of relocation and storage
Observe the following when relocating , storing and transporting the robot.
The installation should be preformed by qualified installation personnel and should conform to
all national and local codes.
Caution
★ Before relocating the robot, fold the arm and secure it tightly with a wire
tie to prevent hands or fingers from being caught in the robot.
★ When removing the anchor bolts, support the robot to prevent falling.
Removing the anchor bolts without support may result in fall of the
robot, and then get hands, fingers, or feet caught.
★ To carry the robot, have two or more people to work on it and secure
the robot to the delivery equipment or hold the bottom of Arm #1, the
bottom of the main cable fitting,and the bottom of the base by hand.
When holding the bottom of the base by hand, be very careful not to
get hands or fingers caught.
★ Stabilize the robot with your hands when hoisting it. Unstable hoisting
is extremely hazardous and may result in fall of the robot.
When transporting the robot for a long distance, secure it to the delivery equipment so that the
robot can not fall.
If necessary, pack the robot in the same way as it was delivered.
When the robot is used for the robot system again after long-term storage, perform a test run
to verify that it works properly, and then operate it thoroughly.
Transport and store the robot in the range of -25°C to +55°C. Humidity within 10% to 90% is
recommended.
When condensation occurs on the robot during transport or storage, turn on the power only
after the condensation dries.
Do not shock or shake the robot during transport.
3.7.2 Relocation
Caution
★ Install or relocate the robot with two or more people. Be careful not to
get hands, ingers, or feet caught and/or have equipment damage by a fall
of the robot.
(1) Turn off the power on all devices and unplug the cables.
Remove the mechanical stops if using them to limit the motion range of Joint #1 and #2.
For the details on the motion range, refer to 5.2 Motion Range Setting By Mechanical Stops.
(2) Support the bottom of Arm #1 to avoid the falling of the robot, then remove the setting
screw, the robot can be removed from the base table.
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4.0 SETTING OF END EFFECTORS
Users are responsible fore making their own end effectors. Before attaching an end effector,
observe these guidelines.
Caution
★ If you use an end effector equipped with a gripper or chuck, connect
wires and/or pneumatic tube properly so that the gripper does not
release the work piece when the power to the robot system is turned off.
Improper connection of the wires and/or pneumatic tubes may damage
the robot system and/or work piece as the work piece is released when
the Emergency Stop switch is pressed. I/O outputs are configured at the
factory so that they are automatically shut off by power disconnection,
the emergency stop switch, or the safety features of the robot system.
Shaft
- Attach an end effector to the lower end of shaft.
For the shaft dimensions, and the overall dimensions of the robot, refer to 2.0 Specification.
- Use a split muff coupling with an M4 bolt or large to attach the end effectors to the shaft.
Layout
- When you operate the robot with an end
effector, the end effector may interfere with the
robot because of the outer diameter of the end
effector, the size of the work piece, or the
position of the arms. When designing your
system layout, pay attention to the interference
area of the end effector.
The shaft may be lowered by
the weight of the end effector.
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5.0 MOTION RANGE
Caution
★ When setting up the motion range for safety, both the pulse range and
mechanical stops must always be set at the same time.
The motion range is preset at the factory.
There are three methods for setting the motions range described as follows:
1. Setting by pulse range(for all joints)
2. Setting by mechanical stops(for Joint #1 to #3)
3. Setting the rectangular range in the X,Y coordinate system of the robot(for
Joint #1 and #2).
When the motion range is changed due to layout efficiency or safety, follow the descriptions in
5.1 to 5.2 to set the range.
5.1 Motion Range Setting by Pulse Range
Pulses are the basic unit of robot motion. The motion range of the robot is controlled by the
pulse range between the pulse lower limit and upper limit of each joint. Pulse values are read
from the encoder output of the motor.
For the maximum pulse range, refer to the following sections. The pulse range must be set
inside of the mechanical stop range.
5.1.1 Max. Pulse Range of Joint #1
5.1.2 Max. Pulse Range of Joint #2
5.1.3 Max. Pulse Range of Joint #3
5.1.4 Max. Pulse Range of Joint #4
Once the robot receives an operating command, it checks whether the target position specified
by the command is within the pulse range before operating. If the target position is out of the
set pulse range, an error occurs and the robot does not move.
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5.1.1 Max. Pulse Range of Joint #1
The 0 pulse position of Joint #1 is the position where Arm #1 faces towards the positive direction
on the X-coordinate axis.
When the 0 pulse is starting point, the anticlockwise pulse value is defined as the positive(+)
and the clockwise pulse value is defined as the negative(-).
A: Max.Motion Range
B: Max.Pulse Range
SR 4150LS
±135 deg.
±38250pulse
5.1.2 Max. Pulse Range of Joint #2
The 0 pulse position of Joint #2 is the position where Arm #2 is in-line with Arm #1. With the 0
pulse as a starting point, the anticlockwise pulse value is defined as the positive(+) and the
clockwise pulse value is defined as the negative(-).
A: Max.Motion Range
B: Max.Pulse Range
SR 4150LS
±135deg.
±38250 pulse
0 Pulse
0 Pulse
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5.1.3 Max. Pulse Range of Joint #3
The 0 pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse
value is always negative because Joint #3 always moves lower than the 0 pulse position.
Joint #3 Stroke
Lower Limit Pulse
SR 4150LS
150mm
±25000 pulse
5.1.4 Max. Pulse Range of Joint #4
The 0 pulse position of Joint #4 is the position where the flat near the end of the shaft faces
towards the end of the Arm #2. With the 0 pulse as a starting point, the anticlockwise pulse
value is defined as the positive(+) and the clockwise pulse value is defined as the negative(-).
+Y + anticlockwise
SR XXX0L:+X 0 pulse ±4000 pulse
-clockwise
0 Pulse
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5.2 Motion Range Setting by Mechanical Stop
Mechanical stops physically limit the absolute area that the robot can move.
Both Joint #1 and #2 have threaded holes in the positions corresponding to the angle for the
mechanical stop settings. Install the bolts in the holes corresponding to the angle that you want
to set.
Joint #3 can be set to any length less than the maximum stroke.
Mechanical Stop of Joint #3
（Lower limit）
Mechanical Stop of
Joint #3（
Upper
limit）
Mechanical Stop of Joint #2
Mechanical Stop of Joint #2
Mechanical Stop of Joint #1
Mechanical Stop of Joint #1
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Both Joint #1 and #2 have threaded holes in the positions corresponding to the angle for the
mechanical stop settings. Install the bolts in the holes corresponding to the angle that you want
to set.
Install the bolts for the mechanical stop to the following position.
Mechanical Stops of Joint #1
Views from the bottom of Arm #1.
Setting Value
SR 4150L
Setting Angle
135 deg.
Pulse Value
38250pulse
Mechanical Stops of Joint #2
Views from the bottom of Arm #1.
Setting Value
SR 4150L
Setting Angle
135deg.
Pulse Value
38250pulse
Joint #1 Mechanical stops
Joint #2 Mechanical stops
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SPECIFIC OPERATION
Steps and precautions during using UI-SR series robots.
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1.0 INSTALLATION AND UNINSTALL
OF SCARA SOFTWARE
1.1 Installation of SCARA Software
Copy the installation file “SCARASetup.exe” to your computer’s hard drive and double click the
file to install. The computer screen will appear the installation interface with words of “welcome
to use ‘SCARA 1.0’” .
Click the “NEXT” button to select the installation location of SCARA software.
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If you want to modify the installation directory, click the “BROWSE” button, if not, just click the
“INSTALL” button.
It starts to install the software, waiting for the installation to be completed.
After the installation, appears a interface with words of “SCARA 1.0 have been installed”, click
the “FINISH” button.
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After the installation according to the default directory, 8 folders will appear in the installation
directory:
DLL The folder includs SDK calling dynamic library;
Include The folder includes head file to call SDK dynamic library;
LIB The folder includes files required for SDK static calling;
ExampleCode The folder includes source codes to call SDK dynamic library examples;
UIRobotWebsite Listing to UIROBOT company, welcome to adcive if you need help;
SCARA.exe Start program of SCARA;
Uninst.exe Uninstall program of SCARA;
libUIScara.dll，UIRobotSdkFunc.dll All files required for program running;
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1.2 Uninstall of SCARA Software
Double click the “uninst.exe” file in the installation directory to uninstall the software, as shown
in the following figure:
Click the “YES” button, all the files in the installation directory will be cleared. The
uninstallationis completed.
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2.0 SCARA SOFTWARE OPERATTION
SCARA software is a kind of graphical user interface, which can be used by users to
operate robots, run the existing robot program or to easily creat new program.
2.1 Start Program
After the success of SCARA software SCARA installation, double click the SCARA icon, then enter
the login screen:
There are 3 kinds of mode for users to login:
Offlin mode --- not communicate with robot but can write and modify robot program;
Bluetooth connection mode --- communicate with robot through Bluetooth;
Network connection mode --- communicate with robot through network.
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2.2 Login In
Bluetooth connection: Select serial number of bluetooth device that have communicated with
robot in the serial numbers drop-down menu. Click the “open serial
port” button to establish the communication , then enter main menu
interface.
Network connection: Import IP address and correct password, then click the “sure” button.
The communication is established and enter main menu interface. The
IP address of testing robot is 192.168.1.6, and the password of that is
1234.
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2.3 Main Menu
Users interface of SCARA ：the lower status bar of the screen shows the feedback information
from robot after the execution of instructions; the left middle
lower part of the screen shows the current running state of robot;
on the right side of the screen are function buttons, including
“running program”, “robot programming”, “robot setup”, “close
robot” and “about”, click on any button you can enter the
corresponding interface.
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2.4 Running Program
Click the “running program” button in the main menu screen, then enter running program
interface.
Through the running program interface, the function of simulation, simulation running and
running for users program can be achieved; through the program list, can check or delete
the internal program list in robot.
Operation description: select one program within the program list, then
Click “simulation” button, the left 3D demonstration box will display the simulation of
programs users programming;
Click “simulation running” button, robot will run in 30% speed set by user’s program;
Click “running” button, robot run the users program;
Click “stop” button, stop the user’s program;
Click “set as default” button, robot runs with the default program;
Click “clear default” button, default programs are cleared;
Click “delete” button, delete the user’s program;
Click “return” button, switch back to main menu interface.
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2.5 Robot Programming
Click the “robot programming” button on the main menu, enter robot programming
interface, which contains six parts: program, install, move, I/O, camera mode and log.
2.5.1 Program
Click “program” button, enter programming interface, and can achieve functions as: “new
program”, “loading program from local”, “loading program to robot” and “download
program from robot”.
New Program
Click “new program” button, enter simple programmer interface, in which users can write
programs.
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The left of the simple programmer interface is a programming window, and the right of that
contains a simulation window, tool and function buttons.
Tool buttons contain “up”, “down”, “copy”, “delete” and “simulation” buttons.
Select one program from program editing window, click “up” button, move up the selected
program.
Select one program from program editing window, click “down” button, move down the
selected program.
Select one program from program editing window, click “copy” button, copy the selected
program.
Select one program from program editing window, click “delete” button, delete the
selected program.
Click “simulation” button, simulate the programs that users write and display in the
simulation window.
Function buttons: “While”, “linear motion”, “set up”, “assignment”, “If…else”, “curvilinear
motion”, “waiting”, “camera”, “load point”, “new variable”, “save”.
While
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Click “While” button, program editing window display while loop statement:
While（loop judge condition）｛
Execute code；
Condition of jumping out of the loop；｝
Double click while statement in program editing window, automatically eject loop judge
condition input interface. Constants, variables, port input are available to be taken as loop
judge condition to constraint program.
If…else statement
if（expression）statement1 else statement2
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Users can write statements throught loop judge condition input interface and assignment
interface.
New variable
Click “new variable” button in simple programmer interface, enter new variable interface
in which users can customize, add, delete integer variable.
Assignment
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After new-built a variable in “new variable”, click “assignment” button in simple
programmer interface, then users can write loop condition.
Linear motion
Click “linear motion” button in simple programmer interface, users can write linear motion.
Default linear motion from user program generally have two groups of points, each group
has four values. If user need more points, can select one group of poits and click “copy”
button on the right side to add a group of points.
Curvilinear motion
Click “curvilinear motion ” button in simple programmer interface, user can write
curvilinear motion.
The default linear motion in user program generally has three group of points, each group
has four values. If user need more points, can select one group of points and click “copy”
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on the right side to add a group of points.
Points
Select one internal point in linear motion or curvilinear motion, double click that point or
click “point” button, enter point editing interface. In point editing interface, user can
coordinate robot to fast and easily pick up robot coordinate point through three kinds of
ways that are dimensional coordinate, axis rotation angle and manual control.
Long press “teach” button, robot is in offline state, user can manually control robot
coordinates. If this is set, click “read” button, then get the robot coordinates.
Notice: teching requires two persons to operate, one often press “teach” button, another
one manually coordinate robot’s points.
Set up
Click “set up” button in simple progrsmmer interface, enter programing intetface, in which
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user can set up high and low output of 8 output ports according to actual needs.
Waiting
Click “waiting” button in simple programmer interface, enter programming waiting
interface in which user can set up time waiting or IO input waiting according to demand.
Save
Click “save” button in simple programmer interface, user can save edited program.
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Load program from local
Click “load program from local” button in robot programming interface, eject file location
selection dialog. User can open and edit program in the computer.
Load program to robot
Click “load program tp robot” in robot programming interface, eject file location selection dialog.
User can load robot program from computer to robot, and can run the loaded program in
program running interface.
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Dowload program from robot
Click “download program from robot” button, eject robot program list. User select the
program need to download, click “OK”, the program is downloaded to computer.
2.5.2 Install
Click “install” button in main menu, enter robot tool center point setting interface.
When the center point of user installation tool does not coincide with the center point of robot
itself, the corresponding data can be input X,Y and Z after the offset distance is measured.
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2.5.3 Move
Click “move” button in the main menu, enter robot movement interface.
Tool position: Set up the coordinate parameter of X, Y, Z and RZ axis to adjust robot position.
Movement joint：Set up the angle of big arm, small arm, tool and wrist to adjust robot
position.
3D display：After the tool coordinates are setted or the joint coordinates are moved, the
3D demon interface will follow the simulation result for customer
observation.
Speed button：The scope is 0-100% of original speed. If set to 30%, the interface
simulation and actual robot movement will run in 30% original speed.
Tech: Press “teaching” button, robot is in offline state, user can manually adjust robot
position to read the coordinate point.
Notice: teaching requires two persons, one often press “teaching” button, another
one manually adjust robot point.
Clear : Click “clear” button, tool position and data of movement joint are overall cleared.
Confirm: After the setting of tool position and movement joint position, click “ok”, the
robot move to the setting position.
Emergency stop: Click “emergency stop”, robot will stop the running motion.
Movement tool: Long press direction arrow button, robot will move according to the
arrow direction not stop until to the limit position. Put the mouse into
the arrow, ther will display arrow running direction.
Up and down movement of the third joint.
Combined movement of first and second joints, in which the
up and down arrows indicate Y direction, the left and right
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arrow indicate X direction.
Combined movement of third and forth joints, the shaft rotates
up and down.
2.5.4 I/O
Click “I/O” button in the main menu, enter robot I/O interface.
SCARA robot have 8 input ports, 16 output ports. In the interface user can query the state of
each port.
2.5.5 Camera Mode
Click “camera mode” button in robot programming interface, enter robot camera
modeinterface.
2.5.6 Log
Click “Log” button in the main menu, enter robot log interface.
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Log interface: Detailed record the feedback information after sending instructions to robot.
User can query the robot running state in real time.
2.6 Robot Setting
Click “robot setting” button in user interface to enter robot setup interface.
2.6.1 Reset Setting
Click “reset setting” button, then enter reset setting interface.
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Click “reset” button, the robot automatically returns to the original point.
2.6.2 Password Setting
Click “password setting” button, enter login password setting interface.
In password setting interface, the default original password is 1234, user can customize
new password according to demand, click “OK” to complete password setting. Re-login
the software after password setting, the password can take effect.
2.6.3 Network Setting
Click “network setting” button, enter robot network setting interface.
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In network setting interface, user can change robot’s intenal IP through setting of IP
address, subnet mask and default gateway for easy network communication.
2.6.4 Time Setting
Click “time setting” button, enter robot time setting interface.
In the time setting interface, user can set up time for robot .。
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2.7 Close Robot
Click “close robot” button, pop-up a dialog box “confirm to close robot” , click “YES” to
close the robot.
2.8 About
Click “about” button, the screen will pop-up the current version number information of
robot.
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MAINTENANCE
Steps and Precautions During Maintanance of UI-SR series
robots.
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1.0 SAFETY OF MAINTENANCE
Perior to maintenance, please read carefully “safety of maintanance”, this manual and related
manauals, and be familiar with maintenance methods.
The robot system should be maintained by trained personnel.
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.
Training personnel refers to whose who have been trained by safety training which is regulated
by laws and regulations of each country in order to train workers engaged in industrial robotsrelated business. The safety training contains knowledge of industrial robots, knowledge of
operation and teaching, knowledge of business operation such as inspection and related law
and regulations. Our company’s training personnel is whose who have completed introduction
training and maintenance.
警 告
★ Do not disassemble the parts that are not disclosed in this manual.
It is not recommended to carry out maintenance in a different way
from the public. Failure to perform proper disassembly or
maintenance may result in serious safety problems.
★ Untrained personnel should not close to powered robot, all
personnel are prohibited from entering action area of powered
robot. Even if the robot seems to stop, but the powered robot may
be an accident, protentially cause a serious safety problem.
★ Please check the robot actions after changing parts outside the
safety guard. Failure to do so may result in serious safety problem
due to unexpected actions by robot before the action is confirmed.
★ Before formal operation, make sure the emergency stop switch and
safety door switch are in normal state. If the switches do not
operate normally, the safety function can not be performed in
emergency event, which may result in serious injury or serious
damage.
警 告
★ Unplug the power plug to ensure that the power supply is locked.
Be sure to connect the AC power cable to the power plug, not
directly to the factory power supply and so on.
★ Be sure to do replacement operation after powering off the robot
and related equipments and unplugging the power plug. If you
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operate the robot while the power is on, it may cause electric shock
or malfunction.
警 告
★ Please connect the cable reliably. In addition, do not place heavy
object on the cable, do not extremely bend, forcibly pull or nip the
cable, otherwise it may cause damage, disconnection or poor
contact of cable, malfunction of the system, or electric shock.
2.0 MAINTENANCE SUMMARY
In order to prevent malfunction and ensure safety, it is required to reliably carry out inspection
operation. Check schedule and contents are as follows.
Please follow thw schedule to check.
2.1 Check Schedule
Check items are divided into 5 stages of daily, 1 month, 3 months, 6 months and 12 months,
and add the item by stage. If the operation time is longer than 250 hours in 1 month, add check
items by 250 hours, 750 hours, 1,500 hours and 3,000 hours.
Check Item
Daily
1 month
3 months
6 months
12 months
1 month(250h)
√
2 months(500h)
√
3 months(750h)
√ √
4 months (1000h)
√
5 months (1250h)
√
6 months (1500h)
√ √ √
7 months (1750h)
√
8 months (2000h)
√
9 months (2250h)
√ √
10months(2500h)
√
11 months (2750h)
√
12 months (3000h)
√ √ √ √ √
13 months (3250h)
.
.
√
.
.
.
.
.
.
.
.
.
.
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2.2 Check Contents
2.2.1 Check When Power is Off (No Operation)
Please pay attention to the following conditions when transferring/storing/transporting.
Check Item
Check Position
Daily
1
month
3
months
6
months
12
months
Confirm whether bolts
are loose/shaking, if
there are, then
tightening ( please
refer to “2.4 Fastening
of Hexagon Socket
Head Bolts” for
fastening torque )
Mounting bolts at the
end of clamps
√ √ √ √ √
Setting bolts for robot
√ √ √ √ √
joints
√ √ √ √ √
Bolts around the shaft
√
Confirm whether the
connector is loose, if
so, press in
External side of robot
(connector board, ect.)
√ √ √ √ √
Cable unit
√ √ √ √
Scar check car check
remove attached dust
and so on
Overall
√ √ √ √ √
External cables
√ √ √ √
Correction of
deformation and
position offset
Safety guards
√ √ √ √
Make sure the belt has
no slack, if so, re-
tension
Inside jib
√ √
Status of grease
Please refer to “2.3 grease filling”
2.2.2 Check When Power is ON (during operation)
Please pay attention to the following conditions when transferring/storing/transporting.
Check Item
Check Position
daily
1
month
3
months
6
months
12
months
Confirm operation
area
Joints
√
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Gently shake the
cable by hand to
confirm whether
there is
disconnection
External cable(including
cable units of robot)
√ √
Press each arm by
hand in power-on
state to confirm
whether there is
rocking
Joints
√
Check for abnormal
sound and vibration
Overall
√ √ √ √ √
use gauge to
measure
repeatability
Overall
√
2.3 Grease Filling
Ball screw splines require periodic greasing. Be sure to use the specified grease.
注 意
★ Please pay attention to avoid grease running out. If the grease is used
up, the sliding part may cause scratches and the like, and not only can
it not perform well, but the repair will take a lot of time and expense.
Part
Period
Grease
Method of grease filling
The third
joint
Ball
screw
splines
shaft
After moving 50km
for the first time,
then move each
100km
LUBE
6.0 ball screw splines unit
注 意
★ Once grease into eyes, mouth or adhension to skin, please carry out
the following treatment.
Into eyes: Please wash your eyes thoroughly with water, and then go
to see a doctor.
Into mouth: Do not force vomiting when swallowing, should
immediately go to see a doctor
When mouth is greased, please rinse your mouth
thoroughly with water.
Adhenring to the skin: please wash with water and soap.
2.4 Fastening of hexagon socket head bolts
Use the hexagon socket head bolts (hereinafter simply “bolts” for short) where mechanical
strength is required. When assembling, tighten the bolts follow the tightening torques shown
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in the table below.
When re-tightening these bolts in the work described in this manual, use a torque wrench or
the like to tighten to the torque values shown in the table below, unless otherwise specified.
Bolts
Tighten Torque Value
M3
245
N cm
(25 kgf cm)
M4
490
N cm
(50 kgf cm)
M5
980
N cm
(100 kgf cm)
M6
1,760
N cm
(180 kgf cm)
M8
3,720
N cm
(380 kgf cm)
M10
7,350
N cm
(750 kgf cm)
M12
12,740
N cm
(1,300 kgf cm)
For locking screws, refer to the following.为
Locking
Screw
Tighten Torque Value
M4
245 N cm
(25 kgf cm)
M5
392 N cm
(40 kgf cm)
As shown in the figure, bolts arranged on the
circumference are fixed in diagonal order.
Do not fasten the bolts once, but fasten them with a
hexagonal wrench in two or three turns, and then use a
torque wrench or the like to fasten them follow the
torque as shown in the table.
2.5 Origin Position
If the integrated machine, belt, ect. are replaced, deviration occurs between origin stored in
robot and the origin stored in controller, and the robot can not be controlled correctly.
Therefore, after the replacement origin adjustment (calibration) is required, so that the two
origin points are the same.
2.6 Configuration of Maintenance Components
螺栓孔
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3.0 ENCLOSER
The general encloser removal/mounting methods of each part are described in the
following section.
警 告
★ Do not load and unload the motor connector while the power is on,
otherwise it may cause abnormal action, which is very dangerous. In
addition, when the power is on, the operation of robot may result in
electric shock or malfunction.
★ Unplug the power plug to ensure that the power supply is locked. Be
sure to connect the AC power cable to the power plug, not directly to
the factory power supply and so on.
★ Be sure to do replacement operation after powering off the robot and
related equipments and unplugging the power plug. If you operate the
robot while the power is on, it may cause electric shock or
malfunction.
★ Do not allow foreign matter into robot internal and connect terminal.
Integrated speed reducer
for the first joint
Integrated speed reducer
for the second joint
Integrated Speed reducer
for the third joint
Integrated speed reducer
for the fourth joint
lithium battery
Ball screw spline unit
U2 belt
U1 belt
Fan
Upper cover
Under cover
Interface
board
Cable unit
User board
Control
box
Main arm
jib
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If the robot is turned on with a foreign matter entered, it may lead to
electric shock or malfunction, which is very dangerous.
3.1 User Board
Disassembly of user board
Upper encloser
Under encloser
Base tube
Interface board
User board
Base board
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Tighten the fixing bolts (6 in total) for user
board, and unplug the internal wire connector
to remove the user board.
Installation of user board
Connect the internal wire connector, insert the
user board into the upper enclose, align the
screw holes, and then secure with fixing screws.
3.2 Upper Encloser
注 意
★ Do not pull the upper encloser firmly, otherwise it may cause damage,
disconnection or poor contact of cables, malfunction of the system, or
electric shock.
★ Do not nip the cable or force it to bend during the installation of upper
encloser, otherwise it may casue damage, disconnection or poor
contact of cables, malfunction of the system, or electric shock. When
removing the cables, please check the cable configuration and return
to normal wiring while the cover is disassembled.
Disassembly of upper encloser
Unscrew the fixing bolts in upper encloser, and
remove the cover.
During the disassembly, please pay attention to
the user wiring and piping.
Installation of Upper Encloser
6 -M2.5×6
Cross head screws
4 –M3×10
Hexagon Socket-
Head Cap Screws
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Attach the encloser to the robot arm, and secure it with fixing bolts.
After the upper encloser is secured, please make sure the lower mechanical block does not
interfere the cylindrical part of the upper encloser.
3.3 Under Encloser
Disassemble the fixing bolts of under cover, and
remove the encloser downwards.
If the clamp tip is fitted, it may not be possible to
remove the under encloser from the shaft.
If you want to replace ball screw spline unit, please
disassemble the clamp tip and then completely
remove the under enclose.
When it not need to be disassembled, please put the
shaft down to lower limit position, and then remove
the under encloser for maintenance and inspection.
3.4 Interface Board
注 意
★ Do not pull the interface board hard, otherwise it may cause damage,
disconnection or poor contact of the cables, malfunction of the
system, or electric shock.
★ Do not nip the cable or force it to bend, otherwise it may cause
damage, disconnection or poor contact of cables, malfunction of the
system, or electric shock. When removing the cables, please check the
cable configuration and return to normal wiring while the interface
board is disassembled.
6 –M3×10
Hexagon Socket-Head Cap Screws
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Unscrew the fixing bolts of interface board then
open the it.
Notice: There is electrical interface on the inner
side of interface board, please slowly open the
interface board from up to down to avoid cable
damage caused by forcible pulling .
6 –M2.5×6
Cross head
screws
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4.0 CABLE
警 告
★ Do not load and unload the motor connector while the power is on,
otherwise it may cause abnormal action, which is very dangerous. In
addition, when the power is on, the operation of robot may result in
electric shock or malfunction.
★ Unplug the power plug to ensure that the power supply is locked. Be
sure to connect the AC power cable to the power plug, not directly to
the factory power supply and so on.
★ Be sure to do replacement operation after powering off the controller
and related equipments and unplugging the power plug. If you operate
the robot while the power is on, it may cause electric shock or
malfunction.
★ Do not allow foreign matter into robot internal and connect terminal.
If the robot is turned on with a foreign matter entered, it may lead to
electric shock or malfunction, which is very dangerous.
注 意
★ Please connect the cable reliably. In addition, do not place heavy
object on the cable, do not extremely bend, forcibly pull or nip the
cable, otherwise it may cause damage, disconnection or poor contact
of cable, malfunction of the system, or electric shock.
4.1 Replacement of Cable Unit
Because each motor is powered by a backup battery, the position data will be maintained evenif
the controller is powered off. The position data will disappear if the signal connector of internal
cables is removed. When turning the controller power again, error information of encoder
alarm will be displayed.
After the cable is replaced, do the origin point adjustment. Details are described in “8.0 Origin
Adjustment”
Name
Quality
Remarks
Maintenance
components
Cable unit
1 Lithium battery
4
ER3V
Tools
Hexagonal wrench
(double-sided width
is 2.5mm)
1
For M3 screw
Cross screwdriver
1 Torque wrench
1 Nipper
1
For cutting ties
Materials
Tie -
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注 意
★ To replace the cable unit, if the interface board has been
disassembled, please refer to wiring table amd reconnect properly; if
the connection is made incorrectly, the system may not be able to
operate normally.
★ To install the cover, do not nip the cable or forcibly bend it, otherwise
it may cause damage, disconnection or discontact of the cable,
malfunction of the system, or electric shock. When removing the
cables, please check the cable configuration and return to correct
wiring while the cover is removed.。
★ Please connect the cable reliably. In addition, do not place heavy
object on the cable, do not extremely bend, forcibly pull or nip the
cable, otherwise it may cause damage, disconnection or poor contact
of cable, malfunction of the system, or electric shock.
Before the operation, please refer to disassembly steps, and put down the shaft to the lower
limit position beforehand.
Disassembly of cable unit
（1） Press the emergency switch, make sure the clamp tip does not interfere the peripheral
devices, and put down the shaft to the lower limit position.
（2） Unscrew the fixing screws of the interface board.
Cable unit
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（3）Slowly open the interface board from up to down, unplug the network connector of
controller inside the base, interface X3 and interface X4. Refer to “4.2 wiring table” for
details about interface.
（4）Use a flat-blade screwdriver to unscrew the two groups of wires (8 in total) under the
interface board. The color of each group of wires is red, black, white and blue respectively.
One group from the controller and the other from Bellows. Disassemble the wiring, you
can remove the interface board.
（5）Disassemble the fixing bolts of the user board and gently pull out the user board.
Details are described in “3.1 user board”.
（6）Unplug the MT2, MT3, MT4 interface on the inner side of user board and you can remove
the user board.
Please check the cable configuration to ready for reconnection after replacement.
6 –M2.5×6
Cross head
screws
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interface board user board
Installation of cable unit
（1） Corresponding connect cable of each integrated machine inside the jib to interface MT2,
MT3 and MT4 respectively.
（2） Put the user board on the encloser, align screw holes and secure it by fixing bolts.
（3） Place the two sets of wires in the connectors on the interface board, and use a flat-blade
screwdriver to tighten the cables.
Notice: 48V: red, 0V: black, CH: white, CL: blue.
（4） Connect the network connector of interface board, interface X3 and interface X4 to
controller inside the base respectively.
Refer to “4.2 wiring table” for details about interface.
（5） Close the interface board, align screw holes and secure the interface board.
（6） Release the emergency switch.
（7） If the lithium battery connector is unplugged, you need to do origin adjustment for the
corresponding joint.
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4.2 Wiring Table
Power supply conditions of UI-SR series robot body :
Voltage：48VDC±1%； Power：≥1500VA
Power supply conditions of UI-SR series robot power module :
Voltage：180～264VAC（47～63Hz）or 254～370VDC；Power：≥1500VA
The UI-SR series robot electrical terminal have two parts: the top of the jib and the side of the
pedestal.
Top of Jib Side of Pedestal
Output Port（X3，X5）：
Multi-function input and output ports（X4）：
1
14
25
13
Internal Ports：
G0
o2
o1
o4
o3
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Detailed description for each port：
X1 Power Interface
Pin Number
Name
Function
1
+48V
Positive Input of Power
2
+48V
Positive Input of Power
3
GND
Ground Input of Power
4
GND
Ground Input of Power
X3 Output Interface
Pin Number
Name
Function
1
G0
Signal Ground
2
O1
Collector Open-Drain Output of Signal 1
3
O2
Collector Open-Drain Output of Signal 2
4
O3
Collector Open-Drain Output of Signal 3
5
O4
Collector Open-Drain Output of Signal 4
Notice : The output of switch value signal is the collector open-drain output, the maximum on-off voltage is
50V, the maximum on-off current is 500mA.
X4 Multi-function Interface
Pin Number
Name
Function
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1
PI1
Switch Value Input Signal (Active Low)
2
PI2
Switch Value Input Signal (Active Low)
3
PI3
Switch Value Input Signal (Active Low)
4
PI4
Switch Value Input Signal (Active Low)
5
PI5
Switch Value Input Signal (Active Low)
6
PI6
Switch Value Input Signal (Active Low)
7
PI7
Switch Value Input Signal (Active Low)
8
PI8
Switch Value Input Signal (Active Low)
9
PO9
Switch Value Output Signal (Collector Open-Drain
Output)
10
PO10
Switch Value Output Signal (Collector Open-Drain
Output)
11
PO11
Switch Value Output Signal (Collector Open-Drain
Output)
12
PO12
Switch Value Output Signal (Collector Open-Drain
Output)
13
PO13
Switch Value Output Signal (Collector Open-Drain
Output)
14
PO14
Switch Value Output Signal (Collector Open-Drain
Output)
15
PO15
Switch Value Output Signal (Collector Open-Drain
Output)
16
PO16
Switch Value Output Signal (Collector Open-Drain
Output)
17、18、23
AGND
AGND
19、20
VCC
External Power Supply
21
Reserved
22
Reserved
24
CH
CAN Signal : CANH
25
CL
CAN Signal : CANL
Notice :
1. The maximum input voltage of switch value input signal is 30V.
2. Switch value output signal has been connected with series 499Ω resistor, the maximum on-off voltage
is 30V, the maximum on-off current is 50mA.
X5 Output Port
Pin Number
Name
Function
1
G0
Signal Ground
2
O1
Collector Open-Drain Output of Signal 1
3
O2
Collector Open-Drain Output of Signal 2
4
O3
Collector Open-Drain Output of Signal 3
5
O4
Collector Open-Drain Output of Signal 4
Notice :
The output of switch value signal is the collector open-drain output, the maximum on-off voltage is 50V,
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the maximum on-off current is 500mA.
Wiring Diagram：
Wiring Diagram of Output Port (X3 or X5)：
Figure 1 Figure 2
Wiring Diagram of Multi-Function Interface (X4):
Pl1
PO9
Pl2
Pl3
Pl8
PO10
PO11
PO16
AGND AGND
RST
CH CL
CANL
CANH
24V
Sensor
+ -
X4 Multi-Function
Interface
Sensor
+-
Sensor
+-
Sensor
+-
Sensor
+-
User Selects the
Power Supply Method
for Input Signal
Sensor
+ -
Sensor
+ -
Sensor
+ -
Output
Equivalent
Circuit
Input
Equivalent
Circuit
Reset
Figure 3
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5.0 DISASSEMBLY AND INSTALLATI
ON OF JOINTS
警 告
★ Do not load and unload the motor connector while the power is on,
otherwise it may cause abnormal action, which is very dangerous. In
addition, when the power is on, the operation of robot may result in
electric shock or malfunction.
★ Unplug the power plug to ensure that the power supply is locked. Be
sure to connect the AC power cable to the power plug, not directly to
the factory power supply and so on.
★ Be sure to do replacement operation after powering off the controller
and related equipments and unplugging the power plug. If you operate
the robot while the power is on, it may cause electric shock or
malfunction.
注 意
★ Be careful not to apply excessive shock to the motor shaft during the
replacement operation, otherwise it may result in a short service life or
damage of the motor or encoder.
★ Do not disassemble the integrated machine. If it is disassembled, there
will be a dislocation and it can not be used.
If the robot components (integrated machine, synchronous belt, ball screw spline, etc. ) are
replaced, there will be deviation between the origin stored in integrated machine and the origin
stored in controller , and it is unable to control correctly.
Therefore, after the components replaced, it is necessary to carry out the operation of aligning
the two origin points.
The operation of aligning the two origin points is called "origin adjustment (calibration)".
After the replacement, please refer to “8.0 Origin Adjustment” to perform the origin adjustment.
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5.1 The First Joint
Name
Quality
Remarks
Maintenance
components
Integrated speed reducer of the first
joint
1
UIM62H08A-8678X
Grease
-
NS2
Tools
Hexagonal wrench (double-sided
width is 2.5mm)
1
For M3 screws
Hexagonal wrench (double-sided
width is 3mm)
1
For M4 screws
Torgue wrench
1
Rag
1
For grease wiping
Integrated speed reducer
of the first joint
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Disassembly of the Integrated Speed Reducer of the First Joint
（1） Turn off the power.
（2） Unscrew the interface of bellows at the
cylindrical pedestal.
（3） Remove the bellows cover plate, and unscrew
the fixing screws of the arm under the bellows
cover plate.
（4） Remove the outer ring screws at the cover plate
of cylindrical pedestal and take out integrated
speed reducer from the cylinder.
10 – M4×12
Hexagon socket-head cap screws
2 – M4×16
Hexagon Socket-
Head Cap Screws
12 – M4×25
Hexagon
Socket-Head
Cap Screws
3 – M3×6
Hexagon Socket-Head Cap Screws
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（5） Remove the inner ring screws at the cover
plate of cylindrical pedestal to complete the
disassembly of integrated speed reducer.
9 – M4×30
Hexagon
Socket-Head
Cap Screws
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Installation of integrated speed reducer of the first joint
（1） Place the cylindrical pedestal cover plate on the
integrated speed reducer of the first joint, align
the holes, and then tighten the fixing bolts.
（2） Place the assembled integrated speed reducer
and the cover plate into the cylindrical pedestal,
align the screw holes, and screw the
corresponding screws.
（3） Place the arm on the top of the cylindrical
pedestal, align the screw holes, and tighten the
corresponding screws.
9 – M4×30
Hexagon
Socket-Head
Cap Screws
10 – M4×12
Hexagon Socket-Head Cap Screws
2 – M4×16
Hexagon
Socket-Head
Cap Screws
12 – M4×25
Hexagon
Socket-Head
Cap Screws
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（4） Cover the bellows cover, align the screw holes,
and tighten the corresponding screws. The free
end of the bellows rotatably screw on the
interface of the cylindrical pedestal.
5.2 The Second Joint
Name
Quality
Remarks
Maintenance
components
Integrated speed reducer of the
second joint
1
UIM62H08A-5776X
Grease
-
FS2
Hexagonal wrench (doublesided width is 2.5mm)
1
For M3 screws
Integrated speed reducer
of the second joint
3 – M3×6
薄头内六角
第 82 页
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Torgue wrench
1
Rag 1 For grease wiping
Before any operation, please refer to disassembly steps, and put the shaft down to the lower
limit position.
Disassembly of Integrated Speed Reducer of the Second Joint
（1） Turn off the power.
（2） Remove the user board.
The details are described in “3.1 User Board”
（3） Remove the upper cover.
The details are described in “3.2 Upper Encloser”.
（4） Unscrew the main arm fixing bolts (M3×18),
which is used to secure jib on the main arm. After
all the bolts unscrewed, you can remove the jib.
Notice : The number of bolts in that ring is 16, just
12 of them need to be removed, the rest 4 are not
used to secure the jib.
（5） Unscrew the fixing bolts (M3×30) under the jib
used to secure the integrated speed reducer of
the second joint.
12 – M3×18
Hexagon Socket-Head Cap Screws
9 – M3×30
Hexagon Socket-Head Cap Screws
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Installation of Integrated Speed Reducer of the
SecondJoint
（1） Place the integrated speed reducer of the
second joint on the jib, align screw holes, tighten
all the bolts (M3×30).
During the installation, please make the end
surface of integrated reducer andthat of jib
maintain consistency, and take care not to cause
damage.
（2） Place the jib on the main arm, align screw holes,
and tighten all the bolts (M3×18).
During the installation, please make the end
surface of jib and that of main arm maintain
consistency, and take care not to cause damage.
（3） Install the upper enclose.
Details are described in “3.2 Upper Encloser”.
（4） Install the user board.
Details are described in “3.1 User Board”.
（5） Power on, and adjust the origin point of the second joint.
12 – M3×18
Hexagon Socket-Head Cap Screws
9 – M3×30
Hexagon Socket-Head Cap Screws
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5.3 The Fourth Joint
Name
Quality
Remarks
Maintenance
components
Integrated speed reducer of the
fourth joint
1
UIM62C04A-5742
Tools
Hexagonal wrench (double-sided
width is 2mm)
1
For M2.5 screws
Hexagonal wrench (double-sided
width is 2.5mm)
1
For M3 screws
Hexagonal wrench (double-sided
width is 3mm)
1
For M4 screws
Hexagonal wrench (double-sided
width is 3.5mm)
1
For M5 screws
Hexagonal wrench (double-sided
width is 4mm)
1
For M6 screws
Torgue wrench
1
Integrated speed reducer
of the fourth joint
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Disassembly of integrated reducer of the fourth Joint
and the U2 synchronous belt
（1） Turn off the power.
（2） Remove the user board.
Detailes described in “3.1 User Board”
（3） Remove the upper enclose.
Details described in “3.2 Upper Encloser”
（4） Remove the lithium battery plate of the 4th
joint integrated reducer, beside the spline
screw and loosen the fixing bolts (M2.5 × 10).
（5） Unscrew the fixing bolts (M4×10) of the Z-shaft
base.
This positon, the Z-shaft is secured at the top
the jib.
（6） Unscrew the retainer ring at the lower part of
the spline screw, remove the Z-shaft from the
jib.
（7） Remove the ball plunger of the Z-shaft base,
and you can move the U2 belt.
（8） Unscrew the fixing bolts (M4×14) at the retainer
ring of the U2 belt.
2 – M2.5×10
Cross Head Screws
6 – M4×10
Hexagon Socket-
Head Cap Screws
1– M5×12
Hexagonal Socket
4– M4×14
Flat-Head
Hexagonal Socket
screws
1– M6×12
Ball Plunger
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（9） After the belt is removed, start to disassemble
the integrated reducer of the 4th joint. Unscrew
the fixing bolts (M4×10) for integrated reducer,
and remove the integrated reducer and
synchronous wheel from the Z-shaft base.
installation of integrated reducer of the fourth Joint
and the U2 synchronous belt
（1） Place the 4th joint integrated reducer and
synchronous wheel on the base of Z-shaft , align
screw holes, tighten all the bolts (M4×10).
（2） Place U2 belt on the synchronous wheel of
integrated reducer and spline screw, put the
retaining ring on the belt, tighten the retaining
ring by bolts (M4×14).
（3） After the alignment of belt, synchronous wheel
and gear, install the ball head
Plunger (M6 x 12) to fasten the belt.
The standard is that the motor can be moved by
hand without being tilted. Extreme Loosening
or tightening will not apply proper tension to
the belt.
4 – M4×10
Hexagon
Socket-Head
Cap Screws
4 – M4×10
Hexagon
Socket-Head
Cap Screws
4– M4×14
Flat-Head
Hexagonal
Socket screws
1– M6×12
Ball Head Pluger
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（4） Place base of Z-shaft on jib, align the screw
holes, tighten the bolts (M4×10) .
（5） Install the retaining ring for the spline screw
with bolts (M5×12).
（6） Place the lithium battery plate on the 4th joint
integrated reducer, align the screw holes,
tighten with bolts (M2.5 × 10).
（7） Install the upper enclose.
Details are described in “3.2 Upper Encloser”.
（8） Install the user board.
Details are described in “3.1 User Board”.
（9） Power on and adjust the origin point of the 4th joint.
Details are described in “8.0 Origin Adjustment”.
6 – M4×10
Hexagon
Socket-Head
Cap Screws
1– M5×12
Hexagonal
Socket screws
2 – M2.5×10
Cross Head Screws
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5.4 The Third Joint
Name
Quality
Remarks
Maintenance
components
Integrated speed reducer of the third
joint
1
UIM62C04A-5742
Tools
Hexagonal wrench (double-sided
width is 2mm)
1
For M2.5 screws
Hexagonal wrench (double-sided
width is 2.5mm)
1
For M3 screws
Hexagonal wrench (double-sided
width is 3mm)
1
For M4 screws
Hexagonal wrench (double-sided
width is 4mm)
1
For M5 screws
Hexagonal wrench (double-sided
width is 5mm)
1
For M6 screws
Torgue wrench
1
Cutting pliers
1
For cutting the ties
Integrated reducer of
the third joint
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Disassembly of integrated reducer of the third Joint
and the U1 synchronous belt
（1） Turn off the power.
（2） Remove the user board.
Details described in “3.1 User Board”.
（3） Remove the upeer enclose.
Details described in “3.2 Upper Encloser”.
（4） Remove the lithium battery plate of the third
joint integrated reducer, beside the spline
screw and loosen the fixing bolts (M2.5 × 10).
（5） Unscrew the bolts (M4×10) of Z shaft used to
secure the pedestal.
This positon, the Z-shaft is secured at the top
the jib.
（6） Unscrew the retainer ring (M5×12) under the
spline screw, remove the Z-shaft from the jib.
The base of Z-shaft contains spline screw and
the third joint integrated reducer.
Attention to extract the spline screw vertically,
so as not to affect the accuracy due to screw
damage.
（7） Remove the ball plunger of the jib to loose the
U1 belt.
（8） Unscrew the fixing bolts (M4×12) of the third
joint integrated reducer and remove the
integrated reducer and synchronous wheel.
（9） Remove the 3rd integrated reducer and
remove the jib base dust cover (green plate).
The U1 belt can be removed from the jib for
replacement
6 – M4×10
Hexagon
Socket-Head
Cap Screws
1– M5×12
Hexagonal Socket
4– M4×12
Hexagon
Socket-Head
Cap Screws
1– M6×12
Ball Plunger
2 – M2.5×10
Cross Head Screws
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UIROBOT SCARA Robot
Installation of Integrated Reducer of the Third Joint
and the U1 Synchronous Belt
（1） Place the U1 belt into thejib and align the gears.
（2） Install the ball plunger (M6×12) at the jib to
tighten the belt.
（3） Align the screw holes of jib dust cover, the 3rd
integrated reducer and the jib, secure the 3rd
integrated reducer bolts (M4×12)
（4） Insert the spline screw of the Z-shaft base into
the spline hole of the jib, fix the Z-shaft base
bolts (M4 × 10).
Notice : Spline screw to be placed vertically in
the spline hole, so as not to affect the accuracy
due to damage.
（5） Install the retaining ring (M5×12) of spling
screw.
（6） Secure the lithium battery plate of the 3rd joint
integrated reducer with bolts (M2.5× 12).
（7） Install the upper enclose.
Details are described in “3.2 Upper Encloser”.
（8） Install the user board.
Details are described in “3.1 User Board”.
（9） Power on and adjust the origin point of the 3rd
joint.
Details are described in “8.0 Origin Adjustment”.
4– M4×12
Hexagon
Socket-Head
Cap Screws
1– M6×12
Ball Plunger
6 – M4×10
Hexagon
Socket-Head
Cap Screws
1– M5×12
Hexagonal Socket
2 – M2.5×10
Cross Head Screws
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6.0 BALL SCREW SPLINE UNIT
警 告
★ Do not load and unload the motor connector while the power is on,
otherwise it may cause abnormal action, which is very dangerous. In
addition, when the power is on, the operation of robot may result in
electric shock or malfunction.
★ Unplug the power plug to ensure that the power supply is locked. Be
sure to connect the AC power cable to the power plug, not directly to
the factory power supply and so on.
★ Be sure to do replacement operation after powering off the controller
and related equipments and unplugging the power plug. If you operate
the robot while the power is on, it may cause electric shock or
malfunction.
If the robot components (integrated reducer, synchronous belt, ball screw spline, etc. ) are
replaced, there will be deviation between the origin stored in integrated machine and the origin
stored in controller , and it is unable to control correctly.
Therefore, after the components replaced, it is necessary to carry out the operation of aligning
the two origin points.
The operation of aligning the two origin points is called "origin adjustment (calibration)".
After the replacement, please refer to “8.0 Origin Adjustment” to perform the origin adjustment.
6.1 Grease Filling of Ball Screw Spline Unit
Name
Quality
Remarks
Maintenance
components
Grease for ball screw spline
Appropriate
LUBE
Tools
Rag
1
For grease wiping (spline
shaft)
Hexagonal wrench (doublesided width is 3.5mm)
1
Fro M5 screws
Please consider covering the clamp end and peripheral devices, in order to avoid grease falling.
（1）Turn on the power.
（2）Raise the spline screw to the upper limit position.
（3）Remove the old grease from the upper part of the shaft and apply new grease.
Apply directly with your fingers to completely cover the upper slot of the shaft and wipe
off any excess grease.
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UIROBOT SCARA Robot
（4）Put the spline screw down to the lower limit position.
（5）Remove the old grease from the lower part of the shaft and apply new grease.
（6）Press the up and down buttons on the SCARA software to move the shaft up and down
several times to ensure that the grease is completely even, and then wipe off any excess
grease.
Please turn off the power of the controller, and remove the upper enclose to wipe off any
excess grease of the upper part of the shaft.
Details are described in “3.2 Upper Encloser ”.
6.2 Replacement of Ball Screw Spline Unit
Name
Quality
Remarks
Maintenance
components
Ball spline screw
1
All types
AC servo motor 100W
Appropriate
R13B010228
Tools
Hexagonal wrench (doublesided width is 3mm)
1
For M4 screws
Torgue wrench
1
Cutting pliers
1
For cutting ties
Cross screwdriver
1
Limited to clean
specifications only
Rag
1
For grease wiping (spline
shaft)
Materials
Tie
-
Disassembly of Ball Screw Spline Unit
（1） Turn off the power.
（2） Remove the user board.
Details are described in “3.1 User Board”.
（3） Remove the upper encloser.
Details are described in “3.2 Upper Encloser”.
（4） Remove the lithium battery plate of the 4th joint
integrated reducer, beside the spline screw and
loosen the fixing bolts (M2.5 × 10).
2 – M2.5×10
Cross Head Screws
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（5） Unscrew the fixing bolts (M4×10) of the Z-shaft
base.
This positon, the Z-shaft is secured at the upper
part of the jib.
（6） Unscrew the retainer ring (M5×12) at the lower
part of the spline screw.
（7） Remove the upper enclose.
Details are described in “3.3 Under Encloser”.
Remove the Z-shaft from the jib base. The base
of Z-shaft contains spline screw and the 3rd
joint integrated reducer.Attention to extract the
spline screw vertically, so as not to affect the
accuracy due to screw damage.
（8） Remove the U2 belt.
Details are described in “7.0 The Fourth Joint”.
（9） Unscrew the synchronization wheel fixing bolts
(M4 × 14) on the lower screw of the Z-shaft base
and remove the synchronous wheel.
（10）Unscrew the bolts (M4 × 10) from the lower
part of the Z-shaft base and remove the screw
nut.
（11）Extract the spline screw in the direction perpendicular to the Z-shaft base and remove
the upper fixing ring bolt (M5×12) of the screw to replace the screw.
Installation of Ball Screw Spline Unit
（1） Fasten the upper retaining ring of the screw to the new ball screw spline unit and fix the
bolts (M5 × 12).
（2） Insert the lead screw in the direction perpendicular to the Z-shaft base into the Z-shaft
base spline hole.
6 – M4×10
Hexagon
Socket-Head
Cap Screws
1– M5×12
Hexagonal Socket
6 – M4×10
Hexagon
Socket-Head
Cap Screws
4 – M4×14
Flat-Head
Hexagon
Socket Screws
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UIROBOT SCARA Robot
（3） Place the screw nut in the lower part of the Z-
shaft base, align the holes, and fix it with bolts
(M4 × 10).
（4） Place the synchronizer wheel at the lower part
of the Z-shaft base, align the holes, and fix with
the bolts (M4 × 14).
（5） Install the U2 belt.
Details are described in “7.0 The Fourth Joint”.
（6） Attach the Z-shaft base to the jib. The Z-axis
base here contains the spline lead screw and
the third joint integrated reducer. Take care to
keep the screw vertical while placing the spline
screw, so as not to affect the accuracy due to screw damage.
（7） Fix the Z-shaft base with bolts (M4 × 10) .Here
the bolts tighten the Z-shaft to the upper part
of the jib.
（8） Install the retaining ring (M5 x 12) to the lower
part of spline screw.
（9） Install the lithium battery plate next to the
fourth joint integrated reducer and beside the
spline screw, tighten the bolts (M2.5 × 10).
（10）Mounting clamp end and wiring / piping.
（11）Install the upper enclose.
Details are described in “3.2 Upper Encloser”.
（12）Install the user board.
Details are described in “3.1 User Board”.
（13）Power on and adjust the origin point of the 4th joint.
Details are described in “8.0 Origin Adjustment”.
6 – M4×10
Hexagon
Socket-Head
Cap Screws
4 – M4×14
Flat-Head
Hexagon
Socket Screws
6 – M4×10
Hexagon
Socket-Head
Cap Screws
1– M5×12
Hexagonal
Socket
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7.0 BATTERY
警 告
★ Do not load and unload the motor connector while the power is on,
otherwise it may cause abnormal action, which is very dangerous. In
addition, when the power is on, the operation of robot may result in
electric shock or malfunction.
★ Unplug the power plug to ensure that the power supply is locked. Be
sure to connect the AC power cable to the power plug, not directly to
the factory power supply and so on.
★ Be sure to do replacement operation after powering off the controller
and related equipments and unplugging the power plug. If you operate
the robot while the power is on, it may cause electric shock or
malfunction.
警 告
★ Please pay full attention to the use of lithium batteries. If you take the
following wrong use, it may lead to heat, leakage, rupture or fire, etc.,
which is very dangerous
In addition, it may cause security problems.
Charge Throw into fire Short circuit (+ pole, - pole)
Disassembly Forced discharge Heating (above 85 ℃)
Anti loaded Compression deformation
Welding (direct to battery terminals)
★ To dispose of the batteries, please consult with a professional handling
company, or dispose of them according to the laws and regulations of
each country or region. Before disposing of the battery, be sure to
insulate terminals even if the battery has run out. If the battery contacts
with other metal or battery terminals, a short circuit may result, which
will lead to heat, leakage, cracking, or fire.
If you power on the controller (software has been started) after the lithium battery has run out,
an error warning of low voltage will occur. If the position data of the motor disappears, the
origin adjustment is required for all the joints.
The service life of Lithium battery is 1.5 years. Please replace the lithium battery every 1.5 years
even if the robot is continuously energized.
Please to connect the battery correctly, and be sure not to mistake the polarity.
Name
Quality
Remarks
Maintenance
components
Battery
1
ER3V
Control box
1
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UIROBOT SCARA Robot
Interface board
1
Tools
Hexagonal wrench (double-sided
width is 2mm)
1
For M2.5 screws
Hexagonal wrench (double-sided
width is 2.5mm)
1
For M3 screws
Hexagonal wrench (double-sided
width is 3mm)
1
For M4 screws
Torgue wrench
1
Replacement of the battery unit (lithium battery)
（1） Remove the interface board with power
applied。
Details are described in “3.4 Interface Board”.
（2） Unplug the wiring of battery in the base cylinder,
remove the old battery and replace it with a new
one.
（3） Remove the user board.
Details are described in “3.1 User Board”.
（4） Remove the upper encloser.
Details are described in “3.2 Upper Encloser”.
（5） Unplug the battery wiring for integrated
reducers of second joint, third joint and fourth
joint respectively, then you can replace the
batteries.
Generally in the case of power-on, the replacement of the battery will not cause the loss of the
origin location data, if the origin location data is lost, the user needs to do the origin adjustment.
2 – M2.5×10
Cross Head Screws
2 – M2.5×10
Cross Head Screws
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8.0 ORIGIN ADJUSTMENT
8.1 What Is Origin Adjustment
If the robot components (integrated reducer, synchronous belt, ball screw spline, etc.) are
replaced, there will be deviation between the origin stored in integrated reducer and the origin
stored in controller, and it is unable to locate correctly. Therefore, after the components
replaced, it is necessary to carry out the operation of aligning the two origin points. The
operation of aligning the two origin points is called "origin adjustment (calibration)". The origin
adjustment is different from teaching.
Teach-in is the operation on the controller to teach the coordinate point (including the posture)
arbitrarily set in the action area of the robot.
警 告
★ Be sure to set up a safety guard on the robot system for safety.
★ Before operating the robot system, make sure that there is no one inside
the safety guard. However, the robot system can be operated in the
teaching mode even if there is a person inside the security guard.
Although the operation is always limited (low speed, low power), this
ensures the safety of the operator. However, when the robot performs
unexpected actions, it may cause serious safety problems and is very
dangerous.
You need to use the StepEva-X software provided by UI Robot company for the origin
adjustment.
The following explains how to use the calibration wizard of software StepEvi-X to do the origin
adjustment.
Before turning on the power you need to ensure that:
The installation of robot has been completed;
The robot has been connected to the PC with StepEvi-X software installed;
The wiring for robot is correct.
Power on the PC, open the software StepEvi-X. If there is no problem in the line connection you
can see four control drive in the screen, and each control drive has a corresponding ID number,
as shown below.
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8.2 The Origin Adjustment Procedure of the First Joint Integrated Reducer
Click on the first joint control drive in the screen of software StepEvi-X, enter its configuration
interface.
1. In the PTP interface for Motion Control, click the Offline/Enable button in the lower
left corner, so that the first joint integrated reducer is offline.
2. Drag the first joint arm to the most left and record the “actual value” of the “location” in
the PTP interface.
3. Drag the first joint arm to the most right and record the “actual value” of the “location” in
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the PTP interface.
4. Enter the average of the recorded position values in steps 2 and 3. On the PTP screen, enter
the average value in the “desired value” of “position”, and insert “desired value” of “speed”,
speed generally take 5000.
5. Click the button to move the robot arm slowly to the position, and then click the
button , the position is recorded as the origin of the first joint.
8.3 The Origin Adjustment Procedure of the Second Joint Integrated
Reducer
Click on the second joint control drive in the screen of software StepEvi-X, enter its configuration
interface.
1. In the PTP interface for Motion Control, click the Offline/Enable button in the lower
left corner, so that the second joint integrated reducer is offline.
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2. Drag the second joint arm to the most left and record the “actual value” of the “location” in
the PTP interface.
3. Drag the second joint arm to the most right and record the “actual value” of the “location”
in the PTP interface.
4. Enter the average of the recorded position values in steps 2 and 3. On the PTP screen, enter
the average value in the “desired value” of “position”, and insert “desired value” of “speed”,
speed generally take 5000.
5. Click the button to move the jib slowly to the position, and then click the button
, the position is recorded as the origin of the second joint.
8.4 The Origin Adjustment Procedure of the Third Joint Integrated Reducer
Click on the third joint control drive in the screen of software StepEvi-X, enter its configuration
interface.
1. In the PTP interface for Motion Control, click the Offline/Enable button in the lower
left corner, so that the third joint integrated reducer is offline.
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