Delta Robot

- RD403-GB
Series
User Manual

Original Instruction

www.hiwin.tw
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 C19UE002-2108

Warranty Terms and Conditions

The period of warranty shall commence at the received date of HIWIN product
(hereafter called “product”) and shall cover a period of 12 months. The warranty does not
cover any of the damage and failure resulting from:

 The damage caused by using with the production line or the peripheral
equipment not constructed by HIWIN.
 Operating method, environment and storage specifications not specifically
recommended in the product manual.
 The damage caused by changing installation place, changing working
environment, or improper transfer after being installed by the professional
installer.
 Product or peripheral equipment damaged due to collision or accident
caused by improper operation or installation by the unauthorized staff.
 Installing non-genuine HIWIN products.

The following conditions are not covered by the warranty:

 Product serial number or date of manufacture (month and year) cannot be
verified.
 Using non-genuine HIWIN products.
 Adding or removing any components into/out the product without
authorized.
 Any modification of the wiring and the cable of the product.
 Any modification of the appearance of the product; removal of the
components inside the product. e.g., remove the outer cover, product
drilling or cutting.
 Damage caused by any natural disaster. i.e., fire, earthquake, tsunami,
lightning, windstorms and floods, tornado, typhoon, hurricane etc.

HIWIN does not provide any warranty or compensation to all the damage caused by
above-mentioned circumstances unless the user can prove that the product is defective.

For more information towards warranty terms and conditions, please contact the
technical stuff or the dealer who you purchased with.

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 Improper modification or disassemble the robot might reduce

the robot function, stability or lifespan.
 The end-effector or the cable for devices should be installed
and designed by a professional staff to avoid damaging the
robot and robot malfunction.
 Please contact the technical stuff for special modification
coming from production line set up.
 For the safety reason, any modification for HIWIN product is
strictly prohibited.

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Safety Precautions
1. Safety Information
 Safety Responsibility and Effect
 This chapter explains how to use the robot safely. Be sure to read this chapter
carefully before using the robot.
 The user of the HIWIN industrial robot has responsibility to design and
install the safety device meeting the industrial safety regulations in order to
ensure personal safety.
 In compliance with the safety information on industrial robot described in
this manual can’t guarantee that HIWIN robot will not occur any safety
problems.
 This machine is defined as a partly completed machinery, the associated
hazards must be handled by system integrator in accordance

 Safety Operation Principle

 Before connecting the power supply for HIWIN industrial robot startup
assembly procedure, check whether the specification of factory output
voltage matches the specification of input voltage of the product. If it does
not match, ensure to use the corresponding transformer (HIWIN optional
transformer is recommended).
 Emergency Stop button (on Teach Pendant or from external emergency stop
switch) must be pressed before turning off the power, and then switch off the
power switch.
 While connecting to the external I/O or the signal, please operate in the
condition that the power switch is turned off to prevent from a shortcut
caused by mistaken touch in the process, and resulting in damage.

2. Description Related to Safety

I. Safety Symbols
 Carefully read the instructions in the user manual prior to robot use. The
following shows the safety symbols used in this user manual.

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Symbol Description
Failure to follow instructions with this symbol may result
in serious hazard or personal injury. Please be sure to
comply with these instructions.
Failure to follow instructions with this symbol may result
in personal injury or product damage. Please be sure to
comply with these instructions.
Failure to follow instructions with this symbol may result
in poor product performance. Please be sure to comply
with these instructions.

II. Working Person

 The personnel can be classified as follows
 Operator:
 Turns robot controller ON/OFF
 Starts robot program from operator’s panel
 Reset system alarm
 Programmer or teaching operator:
Turns robot controller ON/OFF
Starts robot program from operator’s panel
Reset system alarm
Teaches robot
 Maintenance engineer:
Turns robot controller ON/OFF
Starts robot program from operator’s panel
Reset system alarm
Teaches robot
Does maintenance, adjustment, replacement

 Programmer and the maintenance engineer must be trained for proper robot
operation.

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III. Robotic Arm Working Range Definition

 Working area
The working area of the robot is defined as the area of motion under motion
constraints, and the working area must be limited to the minimum required.
 Protective area
Operation must be carried out outside the protected area.
A protected area is an area of the working area that is protected by a safe guard
device. Please ensure the protective area includes working area of the robot. A
safety-related part of control system (SRP/CS) should conform to the requirement of
performance level (PL)= d and category 3 according to ISO 13849-

 Please ensure the emergency stop switch is in reset status before the robot
functions.
 The external device connected to the emergency stop switch circuit should be dry
contact (uncharged) switch. It is forbidden to use a live circuit to connect to the
controller emergency stop switch circuit.

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 It must use EMO-Emergency stop (EN 60947-5-1 positive opening) with safety
module to meet ISO 13849-1 performance level (PL)= d

Interlock

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3. Precautions
3.1 Common Safety Issues
 All operating procedures should be assessed by
professional and in compliance with related
industrial safety regulations.
 When operating robot, operator needs to wear
safety equipment, such as workwear for working
environment, safety shoes and helmets.
 When encountering danger or other emergency or
abnormal situation, please press the emergency
stop button immediately. After danger is
eliminated, move the robot away with low speed in
manual mode.
 When considering safety of the robot, the robot
and the system must be considered at the same
time. Be sure to install safety fence or other safety
equipment and the operator must stand outside the
safety fence while operating the robot.
 A safety zone should be established around the
robot with an appropriate safety device to stop the
unauthorized personnel from access.
 While installing or removing mechanical
components, be aware of a falling piece which
may cause injury to operator.
 Ensure the weight of workpiece does not exceed
the rated load or allowable load moment at wrist.
Exceeding these values could lead to the driver
alarm or malfunction of the robot.
 Do not climb on manipulator.
 Do not store the machine in the environment with
corrosion and flammable gas or close to the
flammable object.
 Do not operate the machine in the environment
with moisture, water or grease.
 Do not operate the machine at the place where

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vibration or the strong impact occurs.

 Do not immerse the electric wires into grease or
water.
 Do not connect or operate the machine with wet
hands.
 Do not operate the machine in potentially
explosive environment.
 Please ensure the controller is grounded.
 Keep hands away from the inner part of the
controller while it is connecting to the power or
during operating.
 Do not touch the heat sink, regenerative resistance,
the power supply or the computer inside the
controller while it is operating due to its high
temperature.
 Be sure power is disconnected prior to repair and
maintenance, and ensure to operate under the
condition of no electrical shock risk.
 Do not disassembly the controller without
permission. If there’s any issues, please contact
our engineers.
 The personnel installing robot should be trained
and licensed.
 To ensure personal safety, robot installation must
comply with this manual and related industrial
safety regulations.
 The control cabinet should not be placed near high
voltage or machines that generate electromagnetic
fields to prevent interference that could cause the
robot to deviation or malfunction.
 Using non-HIWIN spare parts to repair may cause
robot damage or malfunction.
 Beware of the heat generated by the controller and
servo motor.
 Do not overbend the cable to avoid poor circuit

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contact or unexpected damage.

 Do not stand on the controller or put heavy objects
on it.
 Do not block the vent or put foreign objects into
the controller.
 Please ensure the controller is fixed on the base.
 Do not pull the connector violently or twist the
electric wires excessively.
 Do not frequently switch ON/OFF the power
switch and the control button.
 Please ensure that the robot, the emergency stop
switch and the controller are functioning properly
before performing any work.
 Do not shutdown the power switch during the
operation.
 Do not open, modify, disassemble and maintain the
machine without permission.
 The power must be disconnected when the
machine does not operate in a long time.
 Do not turn off the power of the controller when
modifying the program or parameter. Otherwise,
the data stored in the controller will be damaged.
 After the brake of a servo motor is released, the
robot will be moved due to gravity and it may
injured the operator.
 The industrial robots can be applied for the
different industrial environments.
 When the operating procedures are interrupted, the
special attention should be paid during the
troubleshooting.

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3.2 Operation
 Teaching, jogging or programming should be done
outside of the safety fence. If it is inevitable to
enter the safety fence, press the emergency stop
button before entrance. Operation should be
restricted at low speed and beware of surrounding
safety.
 All operations shall be executed by trained staff.
3.3 Maintenance
 Please contact us if the procedure not specified by
HIWIN is needed.
 Please contact us if the replacement of the
component not specified by HIWIN is needed.
 Be sure to carry out regular maintenance,
otherwise it will affect the service life of the robot
or other unexpected danger.
 Prior to repair and maintenance, please switch off
power supply.
 Maintenance and repair should be performed by a
qualified operator with a complete understanding
of the entire system to avoid risk of robot damage
and personal injury.
 When replacing the components, avoid foreign
object going into the robot.

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3.4 End Effector

The end effector can be classified as two types:
A. Gripper: Used to load and unload, such as pneumatic gripper, electric
gripper and vacuum sucker.
B. Tool: Used to process, such as welding, cutting and surface treatment.

 More attention must be paid to the design of the

end effector to prevent power loss or any other
errors that could lead to workpiece falling or
damage.
 The tool-type end effector is usually equipped with
high voltage, high temperature and active rotary
shaft. Special attention should be paid to the
operating safety.
 The end effector should be mounted firmly on the
robot to avoid workpiece fall during operation
which may cause personal injury or hazard.
 The end effector may be equipped with its own
control unit. During installation, pay attention to
installed location. Ensure that the control unit does
not interfere with robot operation.
 The gripper-type end effector should prevent the
workpiece from dropping or damaging when the
robot experiences a power error or other errors. If
potential dangers or abnormal situations exist
when using end effector, the associated hazards
must be handled by the system integrator in
accordance with the related standards.0
3.5 Pneumatic, Hydraulic System
 When using the pneumatic or hydraulic system,
the gripped workpiece may fall due to insufficient
pressure or gravity.
 The pneumatic or hydraulic system must be
equipped with the relief valve, so that it can be
applied in an emergency.

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 More attention should be paid to the pressure

remained in the pneumatic systems after the power
is disconnected.
 The internal pressure must be released before the
pneumatic systems are maintained.
 More attention should be paid to the pressure in
the pneumatic system as it is several times more
than the atmosphere pressure.
3.6 Emergency Stop Switch
 The robot or other control component should have
at least one device for immediate halt, such as an
emergency stop switch.
 The emergency stop button must be installed in an
easily accessible location for quick stop.
 While executing an emergency stop, power to the
servo motor will be cut, and all movements will be
stopped. And the control system will be shut down.
Emergency stop should be reset if the restoration
of operating procedure is wanted.
 Avoid using emergency stop to replace a normal
stop procedure. This could reduce the lifespan of
the robot.
 The drive power and the control system will be
disconnected to stop all actions during the
emergency stop.
 If you want to restart the procedures, you should
reset the emergency stop switch.
 Emergency stop established an immediate stop:
Immediately stop the robot system, and disconnect
the driver power.
 The emergency stop switch is used for emergency
stop only.
 The HIWIN robot is equipped with two emergency
stop switches, where one is installed on the teach
pendant and the other is directly connected to the

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controller via a cable. If additional emergency stop

switches are required, other connecting method
can be applied for the same purpose.
 Based on the relevant industrial safety regulations,
the emergency stop switch is directly connected to
the controller of the robot via the physical wires.
 If the version of the braking is not applied to the
whole axis, once the emergency stop is executed
and the heavy objects are loaded on the robot end,
the axis without brake will move due to gravity.
This attention must be paid for safety issue.

4. Intended use
HIWIN robots are industrial robots and intended for pick-and-place, handling,
assembling, deburring, grinding and polishing. Use is only permitted under the specified
environment, for more detailed information please see section 2.5 environmental
conditions.
Use is not permitted under the following conditions:

 Use in potentially explosive environments

 Use without performing risk assessments

 Transportation of people and animals

 Operation outside the allowed operating parameters

5. Disposal
The disposal of HIWIN robot shall be in accordance with the local environmental
regulations.

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Content
1. Introduction .......................................................................................................... 16
1.1 Serial Number and Model Name............................................................................................ 16

1.2 Product Specifications ............................................................................................................ 17

1.3 Appearance Dimension/Motion Range.................................................................................. 17

1.4 Allowable Load of 4th Axis ................................................................................................... 20

1.5 Robot and Accessories ........................................................................................................... 22

1.6 Nameplates and Labels .......................................................................................................... 24

2. Transportation and Installation ............................................................................ 26

2.1 Frame...................................................................................................................................... 26

2.2 Installation .............................................................................................................................. 27

2.2.1 Robot Installation Process ............................................................................................... 27

2.2.2 Hang Posture for Robot ................................................................................................... 28

2.3 Transportation........................................................................................................................ 33

2.4 Environmental Conditions ...................................................................................................... 34

3. Maintenance and Inspection ................................................................................ 35

3.1 Maintenance and Inspection Interval .................................................................................... 36

3.2 Maintenance .......................................................................................................................... 40

3.2.1 Robot Upper Arm ............................................................................................................ 42

3.2.2 Robot Lower Arm ............................................................................................................ 43

3.2.3 Hook and Spring Unit ...................................................................................................... 48

3.2.4 4th Axis Cable Connection ................................................................................................ 51

3.2.5 Replacement of Backup Battery ...................................................................................... 54

3.3 Cleaning .................................................................................................................................. 54

3.3.1 Cleaning of Robot ............................................................................................................ 55

3.3.2 Particular Clean Area ....................................................................................................... 56

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3.4 Home Calibration ............................................................................................................... 57

4. Safety Certification ……………………………………………………………………………..………….60

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1. Introduction

1.1 Serial Number and Model Name

Explanation of model name is shown in the figure below.

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1.2 Product Specifications

The product specifications are shown in Table 1-1.

Table 1-1 Product specifications

Model Name. Unit RD403-1100-GB RD403-1100-PR-GB
Degrees of Freedom 4
Maximum Load Capacity kg 3
Horizontal Ø1100
Motion Range mm
Vertical 300
Cycle Time* sec. 0.3
Repeatability mm ±0.1
Power Supply V 3φ , 200 - 240
Power Frequency Hz 50/60 (+/-1%)
Total Current A Max 4.5
Weight kg 95(not including controller)
Protection Rating IP 65

*The cycle time is based on back-and-forth movement over a vertical distance of

25mm and horizontal distance of 300mm with 0.1 kg load.

Figure 1-2 Cycle Time trajectory.

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1.3 Appearance Dimension/Motion Range

The appearance dimensions and motion range of RD403-1100-GB are shown

in Figure 1-3.

Figure 1-3 Appearance dimensions and motion range of RD403-1100-GB

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Appearance dimensions and motion range of RD403-1100-PR-GB are shown

in Figure 1-4.

Figure 1-4 Appearance dimensions and motion range of RD403-1100-PR-GB

 Please note that unproper setting can cause

over-current and decomposition when setting

motion parameter command (programmed by

keyboard). Please adjust the motion parameter in

accordance with the payload to ensure personal

safety and to prevent device damaged. Motion

parameter contains SET_ACC, SET_SPEED etc.

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1.4 Allowable Load of 4th Axis

Inertia from the size and weight of end effector and workpiece will affect robot
performance. Please refer to the following table when designing end effector or
evaluating clamped object.

Table 1-2 RD403-1100-GB Allowable 4th Axis load

3kg

2kg

1kg

Figure 1-5 Offset Distance and Allowable 4th Axis Load

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Table 1-3 RD403-1100-PR-GB Allowable 4th Axis load

3kg

2kg

1kg

Figure 1-6 Offset Distance and Allowable 4th Axis Load

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1.5 Robot and Accessories

The robot and its accessories are shown in Table 1-4, Table 1-5, Table 1-6,

Table 1-7 and Table 1-8.

Table 1-4 Robot and Accessory kit

No. Item Model Name Quantity Remark

RD403-1100-GB
1 Manipulator 1
RD403-1100-PR-GB
2 Mounting accessory kit 1 Please refer to 1-5
3 Power cable CN2 1

Table 1- 5 Mounting accessory kit

No. Item Model Name Quantity Remark
1 Calibration Set RD403-CALI-SET I 1
2 Calibration Set RD403-CALI-SET II 1
3 Cable ties 12
4 Push-mount cable ties 4
5 Captive screws 1

Table 1- 6 Optional List

No. Item Model Name Part Number Quantity Remark
1 Encoder battery pack 4C7014L3 1
2 Limit accessory kit 4C201HM1 1 Please refer to 1-7
3 Consumable accessory kit 4C201HK1 1 Please refer to 1-8
4 Conveyor Tacking Encoder 462B00C7 1
5 RD403-1100 frame 4C201B32 1

Table 1- 7 Limit accessory kit

No. Item Model Name Quantity Remark
1 Hex head screw M5x0.8Px20L SUS304 6
2 Pin D=5, L=10, R=0.8 12
3 Mechanical stopper 6

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Table 1- 8 Consumables accessory kit

No. Item Model Name Quantity Remark
1 Plastic Washer 12
2 Bushing 24
3 Spring 12
4 Button dust cover 3

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1.6 Nameplates and Labels

The position and description of nameplates and labels are shown in Figure

1-7 and Table 1-9.

They must not be removed or rendered illegally.

1 6

3 7 4

7
7

Figure 1-7 Nameplates and labels position

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Table 1-9 Nameplates and labels description

No. Nameplates and labels Name Description

Operator should keep a

safe distance from robot
1 Collision
system toprevent collision
during operation.

Please be aware of electric

shock while installing or
2 Electrical shock
removing mechanical
parts.

Robot specification and

3 Specification
serial number.

Read manual before

4 Read manual
operating the robot

Direction of motion for

5 Direction of motion
individual axes.

Break release buttons

Axis Break Release
6 locate at each axis for
Button
calibration or emergency.

7 Hoisting point Robot hoisting point

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2. Transportation and Installation

2.1 Frame

The robot does not include optional frame.

The manipulator has three mounting points. The rated load capacity of each

mounting point on the Z-axis of the RD403 Series is 343N.

When the manipulator is installed, it must be moved to the bottom of the frame.

When designing the frame, please leave space for the manipulator to move.

Figure 2- 1 Dimensional Drawing of Recommended RD403 Series Frame

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2.2 Installation

2.2.1 Robot Installation Process

Item
Process Remark
No.
1 Confirm robustness and load capacity of frame. Please refer to page 23
Prepare the necessary parts and tools for installation.
2
E.g. sling, mounting bolts.
Leave some space around installation area for peripheral
3
equipments.
4 Confirm if the arm posture will interfere with the frame Please refer to page 25
Use lifting equipment to assemble the robot arm to the
5 Please refer to page 27
frame.
M12×1.75P×35L*6pcs
6 Lock the mounting bolts to six fixing places on the base.
Tightening Torque 62N-m
7 Place Controller.
8 Connect Robot to Controller .
9 Connect Teach Pendant to Controller.

 Please check and install the robot in accordance with

the installation process.

 When installing robot, please avoid using only

manpower.

 Before transportation, please confirm that the

capacity of the crane should be greater than 150 kg.

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2.2.2 Hang Posture for Robot

The swing angle of the upper arm and the overall motion range must be

considered when establishing the installation space.

Please refer to chapter 1.2 for dimenrsions and motion range.

Figure 2-2 schematic diagram shows the upper mechanical limiting of the arm.

Mounting Surface

Figure 2- 2 Upper limits of the arm

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End effector must always be in the center of the motion range when shipping.
Figure 2-3 shows the robot transport posture with an upper arm swing angle of -7.8
degrees.

Figure 2- 3 Robot transport posture

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To take the robot out from the box, please use a sling which is attached to the

rings on the base to lift the robot.

Move the arm under the frame, and attach the sling to the rings, as shown in

Figure 2-4.

Lift the robot, as shown in Figure 2-5. After moving the arm to the frame, use

the attached M12x1.75Px35L bolts to lock it to the frame.

Figure 2-4 Hanging Schematic Diagram of Delta Robot

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Figure 2-5 Hanging Schematic Diagram of Delta Robot

 Please always maintain stable conditions and avoid

excessive vibration or shock during transportation.

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Recommended installation direction for arm relative to conveyor is shown

in the figure below.

J1

J2

J3

Figure 2-6 Recommended Installation Direction for Arm Relative to Conveyor of

Delta Robot

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2.3 Transportation

If transportation is required, please read the following notice carefully.

 Please check safety mounting points prior to transport.

 Please confirm that the capacity of the crane should be greater than 150 kg.

 During the transportation, do not remove the cover or reverse the robot.

 Personnel transporting the robot must have appropriate training and license

 When transporting by air, the robot must be under stable pressure.

 When transporting by sea, be aware of the sealability to protect electronic

components from moisture.

 When transportation is required, please confirm that the robot is at the

original transport posture, refer to chapter 2.2.

 Please transport in the correct transport posture to

avoid damage to robot.

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2.4 Environmental Conditions

Environmental Conditions is shown in Table 2-1.

Table 2-1 Environmental Conditions

Installation/Storage/Transportation Environment
Ambient
5~50 ℃
temperature
Ambient
20-75% R.H. (No dew, nor frost allowed)
humidity
Allowable
Under 1000 m sea level
altitude
 Do not use under corrosive environment
 Do not use under flammable environment
Other
 Do not use under explosive environment
 Do not use under radiative environment

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3. Maintenance and Inspection

This chapter will introduce methods and the steps to maintain the robot,

including cover removal, installation, maintenance, battery replacement and

calibration under normal conditions.

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3.1 Maintenance and Inspection Interval

Maintenance and inspection can be classified as daily inspection and periodic

inspection. Items in the daily inspection include power on/off and operation.

Inspection items before power on/off and programming are respectively shown in

Table 3-1. Items in the periodic inspection include those for routine check A, B, C,

D and E. The inspection contents are shown in Table 3-2. The timetable can be

scheduled according to the periodic inspection, as shown in Figure 3-1.

Successfully completing the inspection items ensures product safety during

expected product life and helps avoid risk of product malfunction.

Table 3- 1 Daily Inspection Items

Inspection items Remedies

Inspection Before Turing the Power ON

1 Are any of the robot frame screws loose? Check the screw tightening torque value

(62 N-m).

2 Is the power cable securely connected? Securely connect.

3 Check the wear degree of plastic washer. Replace it if damaged.

If needed, replace damaged parts as

described in chapter 3.2.2

4 Check the wear degree of bushing. Replace it if damaged.

If needed, replace damaged parts as

described in chapter 3.2.2

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5 Check the spring and hook integrity. Replace it if damaged.

If needed, replace damaged parts as

described in chapter 3.2.3

6 Check the wear degree of J4-axis cable. Check for damages.

If a damage is discovered, please contact

HIWIN directly.

7 Check the connecting cable betweenmanipulator, Check for damages and wear.

controller and teach pendant. If it is damaged, please contact HIWIN

directly.

Inspection items Remedies

Inspection After Turning the Power ON

1. It is likely that the robot installation
1 Is there any unusual motion or noise when
screws are not securely fastened to the
power is turned ON? installation surface. Securely fasten the
screws to the appropriate torque
(62 N-m).
2. It is likely that a foreign material is
between the robot and the installation
surface. Please remove it.
3. If the above possibilities have been
eliminated, it is likely that the rolling
surface of the bearing or the gear tooth
surface of reducer has been damaged.
For this situation, please contact HIWIN
directly.

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Table 3- 2 Periodic inspection items

Inspection items Remedies

Monthly Inspection Items (A)

1 Are any of the screws on the manipulator Securely tighten the screws.

loose?

2 Are any of the connector screws loose? Securely tighten the screws.

3 Check the wear degree of bushing. If there is wear, please replace.

4 Check damages on spring and hook. If there is wear, please replace.

5 Check the end effector. Please refer to end effector manual.

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 C19UE002-2108

Inspection items Remedies

Quarterly Inspection Items (B)

1 Replacement of plastic washer depends on the Replace it if damaged.

distance between two ball joints, shown as the If needed, replace damaged parts as

figure below. described in chapter 3.2.2

When the distance between two ball joints

is less than 100mm, it is recommended to

replace the plastic washer.

2 Check the outer surface of upper arm for If there is damage, please contact HIWIN

cracks. directly.

3 Check the surface of ball joint for cracks. If there is damage, please contact HIWIN

directly.

Semi-annual Inspection Items (C)

1 Check if the outer surface of movable plate If there is damage, please contact HIWIN

has a crack. directly.

2 Check the sealability of waterproof connector. If there is any damage, please contact

HIWIN directly.

3 Check the wear degree of 4th cable. If there is any damage, please contact

HIWIN directly.

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 C19UE002-2108

Inspection items Remedies

Annual Inspection Items (D)

1 Replace the encoder battery in the Please refer to chapter 3.2.5 for backup

manipulator. battery replacement.

Figure 3- 1 Inspection schedule

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 C19UE002-2108

3.2 Maintenance

Maintenance, cleaning and battery replacement will be introduced in this

section. Please carefully read the contents, and operate according to the description.

If needed, please contact HIWIN.

 Do not remove any part not described in this

manual without permission.
 When performing maintenance and repair, the
home position will be shifted, making it
nessesary to recalibrate the robot.
 Maintenance must be conducted by trained
personnel

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3.2.1 Robot Upper Arm

No. Item Quantity

1 Upper Arm 1
2 Ball Joint 2
3 Seal Cover 1

 Prior to maintenance, power, pneumatic and

Danger hydraulic systems should be stopped and all
safety precautions should be taken.

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3.2.2 Robot Lower Arm

No. Item Quantity

1 Lower Arm 6
2 Plastic Washer 12
3 Bushing 24

 Prior to maintenance, power, pneumatic, and

hydraulic systems should be stopped and all
Danger safety precautions should be taken.
 Disassembly of lower arm should follow the
figure as shown to avoid damaging parts.

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 C19UE002-2108

Plastic Washer replacement method：

1. Insert a flathead screwdriver that has a tip less than 7mm into the hollow space

of the plastic washer. Press the flathead screwdriver down toward the carbon

fiber tube (the plastic washer should pop out from the slot) and remove the

plastic washer, as shown in Figure 3-2.

2. Insert a new plastic washer into the slot. Use a rubber mallet to knock in the

plastic washer. Make sure the flat surface of the plastic washer is on the same

level as the flat surface of the lower arm, as shown in Figure 3-3.

Press the flathead screwdriver down

Figure 3- 2 Plastic washer replacement

Surface should be on the same level

Figure 3- 3 Plastic washer installation

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 C19UE002-2108

 When replacing the plastic washer, use a protective

cushion between the flathead screwdriver and the

lower arm surface to avoid paint damage on the

lower arm.

 When replacing the plastic washer, use rubber

mallet to avoid damage to the lower arm.

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 C19UE002-2108

Bushing replacement method：

1. Push the hook to untighten the bushings. Remove the hook and the bushings, as

shown in Figure 3-4.

2. Assemble bushings on both ends. Fasten the hook until the “click” sound

appears. Make sure the hook and the bushings are completely tightened, as

shown in Figure 3-5.

Figure 3- 4 Bushing replacement

Figure 3- 5 Bushings installation

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 C19UE002-2108

 Make sure the hook and bushings are completely

tightened to avoid disintegration and damage

during operation.

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 C19UE002-2108

3.2.3 Hook and Spring Unit

No. Item Quantity

1 Hook 12
2 Spring 12

 Prior to maintenance, power, pneumatic and

Danger hydraulic systems should be stopped and all
safety precautions should be taken.

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 C19UE002-2108

Hook and spring replacement method：

1. Push the two lower arms toward the middle and push the hook firmly to

remove it, as shown in Figure 3-6.

2. Attach the new spring with the hook first. Insert the spring into the long hole of

the hook, and turn the spring into the groove clockwise to complete the

installation of the spring and hook, as shown in Figure 3-7.

3. Fasten the new hook and spring to the bushing, and make sure trhere is a

"click" sound to confirm that the hook and bushing are actually engaged, as

shown in Figure 3-8.

Figure 3- 6 Hook and spring replacement

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 C19UE002-2108

Figure 3- 7 Hook and spring installation

Figure 3- 8 Hook and bushing installation

 Make sure the spring is completely tightened to

avoid disintegration and damage during arm

operation.

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 C19UE002-2108

3.2.4 4th Axis Cable Connection

 Please start fixing the cable from the platform and set
cable ties at the marks.
 The bending angle shall be reserved at the joint of 4th
axis cable, and shall hold the position of the cable.
 When installing the 4th axis cable, the cable should be
Caution closely fitted to the lower arm and fixed. Please, do not
allow the cable to wind to avoid damaging it and
reducing the product life.
 After installation of 4th axis cable, please operate
manually at the lowest speed (T1 mode) to ensure no
winding of 4th axis cable. For software instructions,
please refer to HIWIN Robot System Software.

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 C19UE002-2108

Recommended wiring installation mode:

External pneumatic / electrical components can be attached to holes provided

on the robot base. The cable ties included in the mounting accessory kit can be used

to attach the cables. It is recommended that the user install the plug-type cable ties

to the holes on J1 or J3 upper arm to avoid all cables being attached on the same

arm or overlapping with the fourth axis motor cables attached to the J2 upper arm.

Special attention must be paid to the reserved cable length at rotational axes to

avoid cable damage due to arm swinging up and down.

Pneumatic components

J2

J1

Figure 3- 9 Recommended installation of Delta robot wiring

52
 C19UE002-2108

Installation hole for External

Components

Please note the interference

between fixing components and
basement during installation

Figure 3- 10 Installation hole for External Components

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3.2.5 Replacement of Backup Battery

Absolute encoders are used to record position. When power is disconnected,

power from the lithium battery (3.6V) backup battery will be employed to record

the current position in the encoders.

The battery installed on the robot has a service life of roughly 1 year. Actual life

will depend on operating conditions. When battery power is low, the customer

should replace during maintenance. Figure 3-11 shows the method to replace

battery.

Procedures of battery replacement are described below.

1. Ensure the power is disconnected to the manipulator.

2. Remove the cover over the base.

3. Remove the old battery after connecting the new battery. If all batteries are

removed, the encoder absolute data will be lost and the a calibration must be

performed.

4. After the battery is replaced, please install the over the base.

Figure 3- 11 Battery replacement

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 C19UE002-2108

3.3 Cleaning

3.3.1 Cleaning of Robot

The RD403 series robots are designed to meet IP65 specifications.

The robot arm should meet the following conditions

 Dust can not enter. Prevent contact.

 Nozzle out of the water column is 6.3mm.

 Housing equipment should have no negative effect with water spray from any

angle.

The RD403 series robots are designed to be compatible with neutral detergent

commonly used in the cleaning of food processing equipment. All robot

components are designed to handle daily exposure to cleaning agents. Exposure

may result in some discoloration of the materials, but no significant coating or

material removal.

The remaining parts of the robot can be cleaned according to instructions for

washing down.

 Sprinkle water cleaning

Neutral detergent can be used to clean the robot arm with water.

The smooth design of the RD403 series robots eliminates the possibility of

contaminants or wateraccumulation.

 Wipe cleaning

A wipe with a 70-75% alcohol by volume can be used to clean the robot arm.

 Before cleaning the robot, stop the power,

Danger pneumatic and hydraulic systems and take all

safety precautions.

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 C19UE002-2108

3.3.2 Particular Clean Area

Some particular areas in RD403 series robot, such as the rotational parts and

the gaps, can easily accumulate dirt in it. Please pay additional attention on the

areas mentioned above while cleaning. A small brush and air duster gun can be used

to remove the dirt. Then, rinse the components to ensure the good hygiene in

production line.

Figure 3- 12 Schematic of rotational part and gap

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 C19UE002-2108

3.4 Home Calibration

There are jig tools for home calibration in the accessory kit, which are used for

the calibration of the first to fourth axis. When performing calibration, the servo

motor brake should be released manually.

 Calibration Timing

1. Change of Absolute Encoder Value: When replacing a transmission part

(servo motor, reducer or upper arm), the absolute encoder value will be

changed. It is required to perform a calibration in accordance with standard

procedures.

2. Disappearance of Absolute Encoder Value: If the absolute encoder value

disappears, it is required to perform a calibration in accordance with the

standard procedures.

Reasons for disappearance of absolute encoder value are listed as follows:

1. Insufficient power of battery.

2. Encoder error.

3. Abnormal connection between encoder and encoder battery

4. When crash occurs to the robot.

When the 1st, 2nd and 3rd axis of RD403-1100-GB is located at the calibration

position, it is at the angle of -11.47º ; When the 4th axis of RD403-1100-GB is

located at the calibration position, it is at the angle of 0º.

 Pay attention when manually releasing the

brakes. The robot will move due to gravity or

external force.

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 C19UE002-2108

(1) Calibration of first to third-axis

Lock the calibration block(RD403-CALI-SET I) to the base to set the home

position. Release the servo motor brake manually with the release button

labeled BR1, BR2, and BR3. Move the arm to the calibration fixture, as shown

in Figure 3-12.

Figure 3- 12 Illustration of first to third-axis home calibration

 Prior to performing calibration, the work

process should be stopped and all safety
precautions should be taken.
Caution  When releasing the brake manually, the robot
will move due to the influence of gravity or
external force. Special attention is required for
this operation.

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 C19UE002-2108

 Calibration Standard Procedures

Item No. Item
1 Press the emergency stop button.
Calibration is performed by using a calibration tool set
2
(RD403-CALI-SET I) that is locked to the base.
3 Release the emergency stop button, and clear the software error.
Pressing the brake release button to release the brake and always
4
release one axis a time.
5 Adjust the axis to the calibration position.
6 Release the brake release button to restore the brake.
7 Clear the absolute encoder value.
8 Restore the axis to a horizontal position.
9 Repeat step 2~8 in sequence for the other axes.
Determine the angle position of each axis in the software .
10
(please refer to page No.51 Calibration for the angle value)
11 Remove the calibration tool set (RD403-CALI-SET I).
12 Complete calibration.

 Prior to performing calibration, the work

process should be stopped and all safety
precautions should be taken.
Caution  When releasing the brake manually, the robot
will move due to the influence of gravity or
external force. Special attention is required
for this operation.

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 C19UE002-2108

(2) Calibration of fourth-axis

For fourth-axis calibration, set the fourth-axis speed to the minimum

speed until the groove of platform matches the groove of the end flange so that

the calibration block (RD403-CALI-SET II) can be set in the two-phase

matching slot for home calibration. As shown in Figure 3-13.

Figure 3- 13 Illustration of fourth-axis home calibration

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 C19UE002-2108

 Calibration Standard Procedures

Item No. Item
1 Adjust the axis to the calibration position at the minimum speed.
Place the calibration tool set (RD403-CALI-SET II) in the
2
calibration position.
3 Clear the encoder value.
4 Remove the calibration tool set (RD403-CALI-SET II).
Determine the angle position of axis in the software .
5
(please refer to page No.51 Calibration for the angle value)
6 Complete calibration.

 Prior to performing calibration, the work

process should be stopped and all safety
precautions should be taken.
Caution  When releasing the brake manually, the robot
will move due to the influence of gravity or
external force. Special attention is required for
this operation.

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4. Safety Certification

RD403 achieve CE certification.

Certification
Electromagnetic Compatibility 2014/30/EU
Directives (EMC) EN 61000-6-2:2005
EN 61000-6-4:2007+A1:2011
Food Processing Machinery[Note1] EN1672-2:2005+A1:2009

[Note1] RD403-1100-GB FDA approval.

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 C19UE002-2108

5.Robot/Controller Requirements Questionnaire

Delta Robot Inquiry Form
Customer Name: Address:
Customer
Contact Person: Phone No.:
Information
Department/Title: E-mail:
□ Assembly (GB) □ Machine Tool (GB)
□ Electronics (GB) □ Material Handling (GB)
Application □ Food (FS) □ Packaging (GB)
□ Inspection/Testing (GB) □ Tray Loading (GB)
□ Lab Analysis/Testing (FS) □ Others:___________
Product Name: ________________________________
Product Category: _______________________________
Product
Product Material: ________________ Weight:_________(<3kg)
Specification
Dimension: L_______ (mm) x W_______ (mm) x H_______ (mm)
Load Center of Gravity: _______________________ (0~250mm)
□ Static Horizontal Motion Range: __________(<1100 mm)
Pick
Needed □ Dynamic Vertical Motion Range: ____________ (<300 mm)
Movement □ Static Repeatability: +/-_________ (mm)
Place
□ Dynamic Cycle Per Minute :____________ ( CPM)
□ Three- Phase 220 V (Standard)
Input Power
□ Three- Phase □ 380V /□ 415V /□ 480V /□ 575V (please select)
Installation Length of
Floor Cable □ 5m (Standard) □ 3m (Option) □ 10m (Option)
(CN2)
■ TCP/IP
■ Modbus-TCP ■ 8IN/8OUT Function I/O
Standard
■ 24IN/24OUT Digital I/O
■ RS-232C
Communication
Option □ CC-Link □ 16IN/16OUT Digital I/O □ PROFINET
□ Dynamic Tracking Module (Encoder, communication cable,
(1 of 4) data acquisition box…etc)
Expansion □ Emergent Stop Switch (5m)
Others Module □ D-sub Connector Wiring Set 37P (6m)
(Option)

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 C19UE002-2108

(If above column couldn’t explain customer demand, please

note here)

Special
Demand

Sales
Name: _______________ Date: _________________
Contact
Recommend □ RD403-1100-PR-GB
Model Model □ RD403-1100-FS
Specification Remark:
(by HIWIN or
distributor)

64
Delta Robot - RD403-GB Series (Original Instruction) User Manual
Publication Date：August 2021

1. HIWIN is a registered trademark of HIWIN Technologies Corp.. For your protection, avoid buying
counterfeit products from unknown sources.
2. Actual products may differ from specifications and photos provided in this catalog. These differences
may be the result of various factors including product improvements.
3. HIWIN website for patented product directory: http://www.hiwin.tw/Products/Products_patents.aspx
4. HIWIN will not sell or export products or processes restricted under the "Foreign Trade Act" or
related regulations. Export of restricted products should be approved by proper authorities in
accordance with relevant laws and shall not be used to manufacture or develop nuclear, biochemical,
missiles or other weapons.

Copyright © HIWIN Technologies Corp.

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The specifications in this catalog are subject to change without notification. ©2021 FORM C19UE002-2108 (PRINTED IN TAIWAN)