Hyundai Robot

Hyundai Robot HX165060301MME2
Manipulator Maintenance Manual
- HX130
- HX165 / HX165S
- HX200 / HX200S
The information presented in the manual is the property of HHI.
Any copy or even partial is not allowed without prior written authorization from
HHI.
It may not be provided to the third party, nor used for any other purposes.
HHI reserves the right to modify without prior notification.
Printed in Korea - Oct. 2005. 1st Edition

Copyright ⓒ 2005 by Hyundai Heavy Industries Co., Ltd.
Contents
1. Safety
1. Safety ........................................................................................... 1-1
1.1. Introduction ............................................................................................ 1-2
1.2. Relevant Safety Regulations ................................................................. 1-4
1.3. Safety Training....................................................................................... 1-4
1.4. Safety Related Nameplate..................................................................... 1-5
1.4.1. Safety Marking.................................................................................... 1-5
1.4.2. Safety Nameplate ...............................................................................1-6
1.5. Definition of Safety Functions ................................................................ 1-7
1.6. Installation ............................................................................................. 1-8
1.6.1. Safety Fence....................................................................................... 1-8
1.6.2. Placement of Robot & Peripheral Equipment.................................... 1-10
1.6.3. Installing the Robot ........................................................................... 1-12
1.6.4. Space for Robot Installation .............................................................. 1-14
1.7. Safety Operation for Robot Handling ................................................... 1-15
1.7.1. Safety Precautions for Robot Handling............................................. 1-15
1.7.2. Safety Precautions for Operating Test.............................................. 1-18
1.7.3. Safety Precautions for Automatic Operation..................................... 1-19
1.8. Safety Precautions for Access to Safety Fence ................................... 1-20
1.9. Safety Precautions for Maintenance and Repair.................................. 1-21
1.9.1. Safety Precautions for Hi4/Hi4a Controller Maintenance and Repair1-21
1.9.2. Safety Precautions for Robot System & Manipulator Maintenanace. 1-22
1.9.3. Necessary Actions after Maintenance and Repair ............................ 1-23
1.10. Safety Functions ................................................................................ 1-24
1.10.1. Operating a Safety Circuit............................................................... 1-24
1.10.2. Emergency stop.............................................................................. 1-26
1.10.3. Operating Speed............................................................................. 1-29
1.10.4. Connecting the Safety Devices....................................................... 1-29
1.10.5. Restricting the working Envelope.................................................... 1-30
1.10.6. Monitoring Function ........................................................................ 1-30
1.11. Safety Related to End Effectors......................................................... 1-31
1.11.1. Gripper ............................................................................................ 1-31
1.11.2. Tool / Workpiece..............................................................................1-32
1.11.3. Pneumatic and Hydraulic Systems ................................................. 1-32
1.12. Liabilities ............................................................................................ 1-33
2. Specificatons
2. Specifications.............................................................................. 2-1
2.1. Robot Machinery Part ............................................................................ 2-2
2.2. Location of Robot Identification Plate .................................................... 2-3
2.3. Basic Specifications............................................................................... 2-4
i
Contents
2.4. Robot Dimension and Working Envelope .............................................. 2-6

2.5. Axis Identification................................................................................... 2-9
2.6. Details of Wrist Axis Attachment Surface ............................................ 2-11
2.7. Details of Upper 1st ARM Attachment Surface..................................... 2-12
2.8. Application Wiring and Inspection Wiring Diagram .............................. 2-13
2.8.1. Details of Customer Application Connectors..................................... 2-14
2.9. Restricting the Working Envelope........................................................ 2-15
2.9.1. Axis 1(Axis S).................................................................................... 2-15
3. Instructions
3. Instructions ................................................................................. 3-1
3.1. Robot Component Name ....................................................................... 3-2
3.2. Location of Safety Nameplate................................................................ 3-4
3.3. How to operate ...................................................................................... 3-6
3.3.1. Using Crane........................................................................................ 3-6
3.4. How to Install ......................................................................................... 3-8
3.4.1. Operating Conditions .......................................................................... 3-8
3.4.2. Installating the Robot Manipulator ...................................................... 3-9
3.4.3. Accuracy of Installation Surface........................................................ 3-10
3.4.4. Dimension of Installation Surface ..................................................... 3-11
3.5. Allowable Load of Wrist Axis................................................................ 3-12
3.5.1. Permitted load torque estimation ...................................................... 3-12
3.5.2. Permitted inertia moment estimation ................................................ 3-15
3.5.3. Example of permitted torque and inertia moment calculation ........... 3-17
3.6. Recommended Standy Posture ........................................................... 3-22
4. Inspection
4. Inspection .................................................................................... 4-1
4.1. Inspection Item and Period .................................................................... 4-2
4.2. Inspection Item and Period .................................................................... 4-3
4.3. Inspection of Main External Bolts........................................................... 4-5
4.4. Inspection of Wrist Backlash.................................................................. 4-8
4.5. Inspection Internal Wiring ...................................................................... 4-9
4.5.1. The Conditions of Safety Inspection ................................................... 4-9
4.5.2. Inspection Part.................................................................................. 4-10
5. Maintenance
5. Maintenance ................................................................................ 5-1
5.1. Grease Replenishment/Replacement .................................................... 5-2
5.1.1. S-Axis Reduction Gear ....................................................................... 5-3
5.1.2. H-Axis Reduction Gear ....................................................................... 5-5
5.1.3. V-Axis Reduction Gear ....................................................................... 5-7
5.1.4. R2-Axis Reduction Gear ..................................................................... 5-9
ii
5.1.5. B-Axis Reduction Gear ..................................................................... 5-11
5.1.6. R1-Axis Reduction Gear ................................................................... 5-13
5.1.7. Bearing Joint Parts ........................................................................... 5-14
5.1.8. A1 Frame - Gear Box........................................................................ 5-15
5.1.9. Wrist - Gear Box ............................................................................... 5-16
5.2. Battery Replacement ........................................................................... 5-17
5.2.1. Instructions for Battery Storage......................................................... 5-19
5.3. Internal Wiring...................................................................................... 5-20
5.3.1. Wiring Connection Diagram .............................................................. 5-21
6. Trobleshooting
6. Trobleshooting ............................................................................ 6-1
6.1. Troubleshooting Procedure ................................................................... 6-2
6.2. Trouble Symptoms and Possible Causes .............................................. 6-3
6.3. Diagnostics and Resolutions for Major Parts Failure ............................. 6-4
6.3.1. Fulcrum Bearings................................................................................6-4
6.3.2. Reduction Gear................................................................................... 6-5
6.3.3. Brakes ................................................................................................ 6-7
6.3.4. Motor .................................................................................................. 6-8
6.3.5. Encoder .............................................................................................. 6-9
6.4. Motor Replacement ............................................................................. 6-10
6.4.1. Necessary Tools and Parts ............................................................... 6-13
6.4.2. How to Replace Motor ...................................................................... 6-14
6.5. Encoder Zero Setting........................................................................... 6-17
6.5.1. Zero Setting ...................................................................................... 6-18
6.5.2. Encoder Reset .................................................................................. 6-19
6.5.3. Confirming the Reset ........................................................................ 6-21
6.5.4. Encoder Calibration(Data input) and Selection ................................. 6-22
7. Recommended
7. Recommended Spare
Spare PartsParts
........................................................ 7-1
8. Internal
8. Internal Wiring
Wiring Diagram
Diagram.............................................................. 8-1
8.1. Manipulator Configuration...................................................................... 8-2
8.2. Wiring Diagram ...................................................................................... 8-3
9. Decommissioning
9. Decommissioning ....................................................................... 9-1
iii
Contents
ListList of Figures
of Figures
Fig 1.1 Recommended Size for Fence and Gate Hole (Square Gate)......... 1-8
Fig 1.2 Recommended Size for Fence and Gate Hole (Slot Gate) .............. 1-8
Fig 1.3 Placement of Peripheral Equipment and Operator ........................ 1-10
Fig 1.4 Space for robot installation............................................................. 1-14
Fig 1.5 Robot’s Safety Circuit .................................................................... 1-24
Fig 1.6 Emergency Stop ............................................................................ 1-27
Fig 1.7 Emergency Stop Connection of External System .......................... 1-28
FIg 2.1 Robot Machinery Part ...................................................................... 2-2
Fig 2.2 The location of identification plate.................................................... 2-3
Fig 2.3 Robot Dimension and Working Envelope : [HX200] ........................ 2-6
Fig 2.4 Robot Dimension and Working Envelope : [HX130/165].................. 2-7
Fig 2.5 Robot Dimension and Working Envelope : [165S/200S].................. 2-8
Fig 2.6 Robot Dimension and Axis [HX130/165/200] ................................... 2-9
Fig 2.7 Robot Dimension and Axis [165S/200S] ........................................ 2-10
Fig 2.8 Details of Wrist Axis Attachment Surface : [HX200/200S]...............2-11
Fig 2.9 Details of Wrist Axis Attachment Surface : [HX130/165/165S]........2-11
FIg 2.10 Details of Upper 1st ARM Attachment Surface ............................ 2-12
Fig 2.11 Application Wiring and Inspection Wiring Diagram....................... 2-13
Fig 2.12 Details of Application Connector .................................................. 2-14
Fig 3.1 Name of Robot Components: [HX130/165/200]............................... 3-2
Fig 3.2 Name of Robot Components : [HX165S/200S]................................ 3-3
Fig 3.3 Location of Safety Nameplate: [HX130/165/200] ............................. 3-4
Fig 3.4 Location of Safety Nameplate: [HX165S/200S] ............................... 3-5
Fig 3.5 How to Transport: Using crane [HX130/165/200]............................. 3-6
Fig 3.6 How to Transport : Using crane [HX165S/200S].............................. 3-7
Fig 3.7 Accuracy of Installation surface ..................................................... 3-10
Fig 3.8 Dimension of Robot Installation ......................................................3-11
Fig 3.9 Wrist Axis Torque Mapping : [HX165-04] ....................................... 3-13
Fig 3.10 Wrist Axis Torque Mapping:[HX200]............................................. 3-13
Fig 3.11 Wrist Axis Load Condition:[HX165-04] ......................................... 3-15
Fig 3.12 HX165-04 2-D load model ........................................................... 3-17
Fig 3.13 HX165-04 3-D load model 2-D shape.......................................... 3-19
Fig 3.14 HX165-04 3-D load model 3-D shape.......................................... 3-20
Fig 3.15 Recommended Standby Posture ................................................. 3-22
Fig 4.1 Inspection Part for Main Bolts [HX130/165/200] .............................. 4-6
FIg 4.2 Inspection Parts of Main Bolts [HX165S] ......................................... 4-7
Fig 4.3 Abnormal Backlash Inspecting Directions ........................................ 4-8
Fig 4.4 Cable Inspection Parts................................................................... 4-10
Fig 5.1 Explains of internal wiring .............................................................. 5-21
Fig 5.2 Wiring connection diagram ............................................................ 5-22
Fig 6.1 How to prevent dropping of ARM Axis H & V : (HX130/165/200) ....6-11
iv
Fig 6.2 How to prevent dropping of ARM Axis H & V : (HX165S/200S) ..... 6-12
Fig 6.3 Axis S motor assembly .................................................................. 6-15
Fig 6.4 Axis H & V motor assembly............................................................ 6-16
Fig 6.5 Wrist axis motor assembly ............................................................. 6-16
Fig 6.6 Encoder Reset Connector.............................................................. 6-20
Fig 8.1 Manipulator Configuration................................................................ 8-2
Fig 8.2 Motor and Brake wiring connection No.1 ......................................... 8-3
Fig 8.3 Motor and Brake wiring connection No.2 ......................................... 8-4
Fig 8.4 Encoder wiring Connection No.1 ..................................................... 8-5
Fig 8.5 Encoder Wiring Connection No.2..................................................... 8-6
Fig 8.6 Encoder Wiring Connection No.3..................................................... 8-7
Fig 8.7 Application Wiring Connection No.1................................................. 8-8
Fig 8.8 Application Wiring Connection No.2................................................. 8-9
Fig 8.9 Application Wiring Connection No.3............................................... 8-10
ListList of Tables
of Tables
Table 1-1 Safety marking ............................................................................. 1-5
Table 1-2 State of robot stop...................................................................... 1-17
Table 2-1 Basic Specifications for Models.................................................... 2-4
Table 3-1 Allowable Load Torque ............................................................... 3-14
Table 3-2 Allowable Moment of Inertia ....................................................... 3-16
Table 4-1 Inspection Schedule..................................................................... 4-2
Table 4-2 Inspection Items and Periods....................................................... 4-3
Table 4-3 Inspection part for main bolts ....................................................... 4-5
Table 6-1 Trouble phenomenon and cause.................................................. 6-3
Table 6-2 Motor Weight.............................................................................. 6-10
Table 6-3 Necessary Tools......................................................................... 6-13
Table 6-4 Necessary parts ......................................................................... 6-13
Table 6-5 Reset connectors corresponding to axes ................................... 6-19
Table 6-6 Data range after resetting .......................................................... 6-22
Table 7-1 Spare Parts ListⅠ ........................................................................ 7-2
Table 7-2 Spare Parts ListⅡ ........................................................................ 7-4
Table 7-3 Spare Parts List Ⅲ ...................................................................... 7-5
Table 7-4 Spare Parts List Ⅳ ...................................................................... 7-6
Table 7-5 Spare Parts List Ⅴ ...................................................................... 7-7
Table 9-1 Materials of each part................................................................... 9-2
v
1. Safety
1. Safety
1
Safety
1-1
1. Safety HX130/HX165/HX165S/HX200/HX200S
1.1. Introduction
The main purpose of this chapter is to describe the safety precautions for users and
operators who repair and manipulate the industrial robot.
This manual describes safety precautions for robot manipulator and controller, in
comply with the requirement of ANSI/RIA R15.06-1999, Standard for Safety,
Industrial Robots, and qualified with safety regulations. The technical description and
installation method of robot system is presented in detail at the specifications
regarding installation of robot manipulator and controller.
Every operator, who installs, replaces, adjusts, manipulates, maintains, and repairs,
must read thoroughly and fully understand the manipulation and maintenance
manual, in particular, the special attention must be paid to the WARNING symbol, the
most important marking related to the safety.
Installation, replacement, adjustment, manipulation, maintenance, and repair of robot

system must be performed by the personnel who was duly trained for these purposes,
following the indicated operating procedure.
This company is planning and carrying out the relevant training such as maintenance,
repair, and manipulation for the above operations, so robot users make sure that
robot operators should get the relevant training. And make sure that the robot
handling work should be carried out only by the operators who completed this
training course.
The Users of HR and HX industrial robots have a responsibility under the safety
relavant regulations valid in the country where the robot is installed, and a
responsibility to properly design, install, and operate the safety devices to protect
workers.
The dangerous zone of robot system, that is the working range in which the robot,
tool, and peripheral equipment are operated, must be safeguarded to prevent
workers or objects from entering the zone. If a person or object should nevertheless
enters the dangerous zone, make sure that the robot system is immediately shut
down by emergency stop system. The operators of robot system have a
responsibility to take all necessary steps to make correct installation, examination
and operation of the relevant safety devices.
This manual is provided for the utilization of HR and HX Series Manipulator models
and Hi4/Hi4a controller.
Valid application and invalid environment of HR and HX Series robots are as follows.
1-2
1. Safety
Application
It is applied to the 6-axis industrial robot used by installing on the surface of wall or
plane (axes addable). It is also appropriate for controlling operation in the dotted
section or consecutive section.
Major application is
Spot welding
Handling
Assembly
Application such as Sealing
MIG/MAG welding
Palletizing
Grinding
For the other use than the above emergency application, make a contact with our
company to consult on the robot use and possible applications.
Invalid environment
Our robot must not be used in a highly explosive environment and the areas
contaminated by oil, flammable materials or chemical materials. (Prohibited to be
installed and manipulated.)
1-3
HX130/HX165/HX165S/HX200/HX200S
1.2. Relevant Safety Regulations

The robot is designed as per ISO10218.Jan. 1992 , safety standards for industrial
robots, and furthermore in comply with ANSI/RIA 15.06-1999 regulations.
1.3. Safety Training

All the personnel who intend to teach, operate or inspect the robot must be trained in
an approved robotic operation and safety training course before start-up. The safety
training course includes the following details:
Purpose and functions of safety devices

Safety procedure to handle the robot
Performance of robot or the robot system and possible hazards
Tasks associated with any specific robot applications
Safety concepts, etc.
1-4
1. Safety
1.4. Safety Related Nameplate

1.4.1. Safety Marking
For the purpose of effective safety instructions, the following safety symbols are used
in this manual.
Table 1-1 Safety marking
Symbols Descrptions
Indicate a potentially hazardous situation which, if not

avoided, could result in death or serious injury to
Warning
personnel and damage to equipment. The special
attention must be paid to the operation and handling.
Indicate the compulsory measures that should be

Mandatory
performed.
Indicate the prohibited actions and/or operations that

Prohibited
should not be performed.
1-5
HX130/HX165/HX165S/HX200/HX200S
1.4.2. Safety Nameplate

Identification plates, warning label and safety symbols are attached to the robot and
to the inside and outside of control panel. The designation labels and cable Mark for
wire harness between the robot and control panel, and the cables inside/outside of
control panel are provided.
All of these plates, labels, symbols and marks constitute safety-relevant parts of the
robot and the control panel. They must remain attached to the robot manipulator and
control panel at their clearly visible positions all the time for the safety and their full
performance.
The painted markings on the floor and signs indicating dangerous zones must be
clearly distinguished in form, color, and style from other markings on the machine
near the robot system or inside the plant facilities where the robot system is installed.
It is forbidden to remove, cover, or paint over by way of spoiling the

clearly visible identification plates, warning labels, safety symbols,
designation labels and cable marks.
1-6
1. Safety
1.5. Definition of Safety Functions

Emergency Stop Function - IEC 204-1,10,7
There is one emergency stop button on the controller and teaching pendant
respectively. If necessary, additional emergency buttons should be able to connected
to the robot's safety chain circuit. The emergency stop function, which overrides all
other robot controls, stops all moving parts by disconnecting power supply, and
removes drive power to prevent the use of other dangerous functions controlled by
the robot.
Safety Stop Function - ISO 10218(EN 775),6.4.3

When a safety stop circuit is provided, each robot must be delivered with the
necessary connections for the safeguards and interlocks associated with this circuit.
The robot should have a number of electrical input signals which can be used to
connect external safety devices, such as safety gates, safety pads, and safety lamps.
These signals allow the robot's safety functions to be activated by all equipment,
including peripheral equipment and the robot itself.
Speed Limiation Function - ISO 10218(EN 775),3.2.17

In a manual mode, the speed of robot is strictly limited to 250 mm per second as
maximum.
The speed limitation applies not only to the TCT(Tool Coordinate Time), but to all
parts of manual mode robot. The speed of equipment mounted on the robot should
be possibly monitored.
Restricting working Envelope - ANSI/RIA R15.06-1999

The working envelope of robot axes should be restricted using software limits.
Axis 1,2, and 3 can also be restricted by means of mechanical stopper.
Operation Mode Selection - ANSI/RIA R15.06-1999

The robot must be operated either manually or automatically. In a manual mode, the
robot must be operated only by using the teach pendant..
1-7
HX130/HX165/HX165S/HX200/HX200S
1.6. Installation
1.6.1. Safety Fence
Install safety fence against the possible collision between the robot and workers, so
that no worker may approach the robot .When operators or other personnel enter the
robot's working envelope by accident, it may cause an accident. Install the safety
fence to stop the robot when one, who intends to replace for TIP DRESSING or TIP
replacement, or to inspect welding equipment, opens the fence gate and approaches
the equipment during operation.
1.5m (60") Min
0.3m (12") Max
4.9cm(1.875") Max 4.9cm(1.875") Max
Fig 1.1 Recommended Size for Fence and Gate Hole (Square Gate)
1.5m (60") Min
0.3m (12") Max
4.9cm(1.875") Max
Fig 1.2 Recommended Size for Fence and Gate Hole (Slot Gate)
① Install the safety fence to cover the robot’s working envelope and to secure
enough space for teaching and maintenance working. The safety fence
should also be firmly installed so that it is hardly accessible and removable.
1-8
1. Safety
② The safety fence should be a fixed type in principle, using harmless materials
that do not have any broken surface or projecting part.
③ Install the safety fence with an entrance gate, and register the safety plug at
the gate so that it does not open unless pulling the plug out. Interlock the
robot to be MOTORS OFF when the safety plug is pulled out., or wire the
robot to be MOTORS OFF when the safety fence is open. (Refer to “11.
Various Signal Connections”, Hi4/Hi4a Controller Manual)
④ When intending to operate the robot with the safety plug pulled out, wire the
robot as a low-speed play mode. (Refer to “11. Various Signal Connections”,
Hi4/Hi4a Controller Manual)
⑤ For immediate emergency stop, install emergency stop button wihin

operator’s easily accessible distance.
⑥ If the safety fence is not installed, install other devices substituting for the
safety plug in the whole place within the robot’s working envelope, such as
photoelectric switch and mat switch. These devices may stop the robot
automatically when a person enters the working envelope.
⑦ The robot’s working envelope(dangerous zone) should be distinguished from

other zones by painting its floor.
1-9
HX130/HX165/HX165S/HX200/HX200S
1.6.2. Placement of Robot & Peripheral Equipment
(1) Make sure that the power supply is off before operating, when connecting the
primary power of controller or peripheral equipment. There is a possible
danger of electric shock because the high voltage such as 220V and 440V is
used as its primary power.
(2) Post a sign [No enter during operation] up the safety fence gate, and inform
the operators of its purport.
in
11
)M
0
4"
cm
(4
(4
cm
4"
0
)
11
M
in
110 cm(44") Min
Operator
Controller
Interlocked Barrier Guard
Restricted Maximum Safeguarded

space space space
Fig 1.3 Placement of Peripheral Equipment and Operator
(3) Arrange such devices as controller, interlock panel, and other manipulation
panels to be handled outside of the safety fence.
(4) When installing operation stand, install the emergency stop button on the
stand. Make sure that the stand stops in an emergency wherever the robot is
handled.
1-10
1. Safety
(5) Make sure that the robot manipulator and the wiring and piping of controller,
interlock panel, and timer should not be placed in the way of operator's
working range so that they would not be directly stepped on by FORK and
LIFT. There is a possible danger of accident if the workers are affected by
electricity or the wiring is down.
(6) Place the controller, interlock panel, and handling stand within the sight of
robotic performance. It may cause a serious accident to operate the robot
while the operator is working, or the robot is malfunctioning in an invisible
sight.
(7) Restrict the robot's working envelope by using soft limits and mechanical
stopper if the necessary working envelope is narrower than the holding
workable envelope. It is possible to stop the robot in advance when it moves
beyond its normal working envelope due to an abnormal condition. (Refer to
the 『Robot Manipulator Maintenance Manual』.)
(8) Welding spatters directly on the operator or around him may cause burning or
fire. Install such devices as a glare shield or a cover in the full sight of
robot's working envelope.
(9) Make sure that the device indicating the robot's running condition whether
automatic or manual mode must be noticeable even in the far distance. In the
case of automatic start-up, warning with a buzzer or warning lamp is also
valid.
(10) Make sure that there is no projecting part in the robot's peripheral equipment.
Cover it, if necessary. It usually may cause an accident if the operator comes
in touch with it. And it may lead a serious accident if the operator is
astonished at the sudden movement of robot, and conducts it.
(11) Don't make the system designed to allow the workers to carry the Work in
and out using their hands through the safety fence. It could be a cause of
accident associated with compressing or amputating.
1-11
HX130/HX165/HX165S/HX200/HX200S
1.6.3. Installing the Robot

Install the robot as per the planning and layout which has been previously reviewed
and studied for its optimized performance and functionality. In case of poor
conditions for robot installation, the serious problems can take place, including error
of relative position between robot and workpiece during operation, bad performance
quality of robot caused by vibration, shortening lifetime, and cause of serious
accidents. Thus, pay attention to the following precautions when installing the robot.
General Safety Precautions
(1) Design and install the robot system properly in compliance with laws,
regulations, and safety requirements valid in the country where the robot
system is installed.
(2) All the workers for the robot system must have the complete knowledge on
the information specified in the application and supplementary manual, and
proficiently operate and handle the industrial robot.
(3) Installation workers of robot must follow the safety instructions and apply
them to the installation when they face any safety problems.
(4) System provider must ensure that all the circuits utilizing safety functions
perfectly perform in a safe way.
(5) Install main power supply to be disconnected from outside of the robot’s
working envelope.
(6) System provider must ensure that all the circuits utilizing emergency stop
function perfectly perform in a safe way.
(7) For the immediate emergency stop, install emergency stop button within the
accessible distance for the operator.
Technical Safety Precautions
(1) Eliminate any interference with peripheral equipment considering the

dimension and working envelope.
(2) Avoid such places for installing which is directly exposed to the sun,
extremely humid, contaminated by oil or chemicals, and containing a large
amount of metal powder and explosive gas.
1-12
1. Safety
(3) Install at the ambient temperature ranged 0~45℃.
(4) Secure sufficient space for the easier disassembly and maintenance.
(5) Install safety fence with a gate, and prohibit any person from entering the
robot's working envelope.
(6) Remove any obstacles out of the robot’s working envelope.
(7) Take a special measure, considering thermodynamics of controller, if the

robot is installed near the heating elements or places exposed directly to the
sun.
(8) Take a special measure if the robot is installed in a place of abundant dust
such as metal powder in the air.
(9) Install the robot not to transmit welding electric current. (In other word,
insulate SPOT GUN with/from the robot’s wrist.)
(10) Grounding is very critical in preventing electric shock and malfunction caused
by noise, and thus install as following instructions.
① Install an exclusive grounding terminal using class 3 or higher. (For the
input voltage of 400V of higher, use special class 3 or higher.)
② Connect grounding line into the grounding bus-bar inside of the control
panel.
③ In case of direct grounding on the floor by anchoring, two-point grounding
both by robot manipulator and by controller can produce a “ground loop”
and contrariwise cause abnormal operation. In this case, connect the
grounding line to the base of robot manipulator and disconnect the
second grounding point to the controller. If the robot vibrates even after
stopping, double-check the grounding status because the possible main
causes could be an incomplete grounding or “ground loop” .
④ In the use of internal transgun(GUN), there is a possible danger of
dropping because the primary power cable is directly connected to the
spot gun. In this case, directly connect the grounding line to the base of
robot manipulator in order to prevent any electric shock and protect the
control panel, but do not connect it to the controller.
1-13
HX130/HX165/HX165S/HX200/HX200S
1.6.4. Space for Robot Installation

Install robot after securing sufficient space for maintaining the robot manipulator,
Hi4/Hi4a controller, and other peripheral equipment. Install the robot manipulator and
controller, securing space for installation as per the guideline as described in the
figure below. Install Hi4/Hi4a controller outside of the safety fence in order to monitor
the robot manipulator and to operate in a safe way.
L IFTING
Eyebolts ( M16)
W ri eRope
Uset hetw oEyebolts on the

cabinet when fitl n
i g thecontr ole
l r.
T e
h Wei ght foH 4
i (approx.)
Model Appr ox. wei ght(k g)
Hi4- 000
0 260kg
Hi4- 0000-CP 17
0 kg
Hi4- 000
2 200kg
Hi4- 000
3 260kg
Hi4- 000
4 200kg
Hi4- 000
5 17
0 kg
Hi4- 000
6 260kg
WARNING
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Fig 1.4 Space for robot installation
When installing, be sure to make it easier to perform the maintenance when opening
the Hi4/Hi4a Controller door. Secure the available space. The controller power in the
above Figure could change depending on the kind of controller.
1-14
1. Safety
1.7. Safety Operation for Robot Handling

Follow the safety instructions to prevent any accidents. Don't modify nor ignore safety
devices or circuits at any time, and be careful of electric shock.
All the normal operations in an automatic mode must be performed outside of the
safety fence. Check the robot's working envelope if anyone is inside before
operating.
1.7.1. Safety Precautions for Robot Handling
(1) Do not handle the robot other than such personnel as operators handling the
robot and other possible operators and supervisors who were designated as
whom duly trained in an approved robotic training course and become familiar
enough with the proper operation of the safety and robotic functions.
(2) Be sure to wear helmets, goggles, and safety shoes.
(3) Perform the work in pairs. One person must be ready to press the emergency
stop button in an emergency while the other must perform his work quickly
but carefully within the robot’s working envelope. Always check the escape
route before working.
(4) Make sure that there is no one in the working envelope when the power
source is on.
(5) Operations such as teaching must be performed outside of the robot's

working envelope. However, if the operation is performed within the working
envelope after stopping the robot, enter the envelope with safety plug or key
switch for converting to automatic mode. Make sure that other operators do
not change it into automatic mode by accident. Also, pay close attention to the
specific direction of robotic movement in case of abnormal operation and
malfunction.
(6) Supervisors should follow the instructions below.

① Be located at a place where you could take an entire view of robot, and
commit yourself to monitoring.
② Press the emergency stop button immediately when abnormality is found.
③ Anyone is forbidden to be near the operating area other than those who
are engaged in the operation.
(7) In a manual mode, the speed of teaching is limited to 250mm/sec
(8) In teaching, post a sign [Under Teaching].
1-15
HX130/HX165/HX165S/HX200/HX200S
(9) Operators must pull the safety plug out, and enter the safety fence with the
plug.
(10) Do not use any devices causing noise in and around the teaching area.
(11) Handle the teaching pendant button, while checking the teaching point with
your naked eyes, and do not handle it just relying on your sense.
(12) Do not work with your back against the robot, and always pay attention to the
robot's movement.
(13) In teaching, check and examine carefully under your feet. In particular, in
high teaching for more than 2M, secure a safe zone on which you may step
before teaching.
(14) Instructions for any abnormal operations.

① Press immediately the emergency stop button when any abnormal
operations are found.
② Be sure to check if the relevant equipment is stopped when checking the
abnormality in an emergency stop.
③ In case that the robot stops automatically due to power failure, investigate
possible causes and take actions after confirming that the robot
completely stops.
④ In case of malfunction of emergency stop devices, immediately
disconnect the main power and investigate possible causes to take
necessary actions.
⑤ Investigation of the failure must be conducted only by a designated
person. For the re-operation after emergency stop, operators must
clarify the cause of failure and take necessary actions, and then operate
the robot again following the proper procedure.
(15) Write out the operating rules proper to working details and installing location
regarding the operation and handling method for the robot, and the
necessary actions for robot's any failure. In addition, it is recommended to
operate the robot in accordance with the operating rules.
(16) Instructions when the robot stops

Make sure not to approach the robot even when it seems to be stopped. Most
accidents occur from a sudden movement of robot which seemed to be
stopped when one approaches it. The conditions that the robot stops is as
follows.
1-16
1. Safety
Table 1-2 State of robot stop
No. State of Robot Drive Power Access
Pause
1 ON X
(Minor failure, Pause switch)
Emergency stop
2 (Major failure, Emergency stop switch, Safety OFF O
gate)
Input signal standby of peripheral equipment
3 ON X
(START INTERLOCK)
4 Playback Completion ON X
5 Standby ON X
Even in the accessible state of robot, be watchful against any possible

sudden movement of robot. Make sure to avoid approaching the robot
without precautions for emergency under all circumstances.
Though the access during a pause is shown in the table as『×』, allow
the access to robot with the same precautions as teaching work if the
entrance is open to take actions for minor failures(i.e. malfunction
caused by failure in arc, nozzle contact and weldment detection).
(17) Clean up any split oil, tools, and impurities in the safety fence after
completing robotic operation. Accidents such as conduction may occur in the
working envelope contaminated by oil, or scattered tools on its floor. Make a
habit of organizing and cleaning things up.
1-17
HX130/HX165/HX165S/HX200/HX200S
1.7.2. Safety Precautions for Operating Test

In case of operating test, errors in design or teaching and inferiority in manufacturing
are possibly seen in the entire system such as teaching program, jig, and sequence.
Thus, be more careful and safe in case of operating test. Accidents may occur by
these combined causes.
(1) Before handling, check the stop buttons and signal functions to stop the robot
such as emergency stop button or stop button. And then, check the
abnormality - detective movements. Above all, it is the most critical to check
all the stop signals. It would be the most important to stop the robot when any
possible accidents are predicted.
(2) In case of operating test, start the robot at low speed(approximately

20%~30%) in the variable speed function, and repeat it more than one cycle
to check the movements. If any errors are found, immediately correct them.
After then, increase in speed (50% → 75% → 100%) gradually, and repeat
more than one cycle respectively to check the movements. Operating at high
speed from the very beginning may cause a serious accident.
(3) In case of operating test, it is hard to predict what problems would happen.
Do not enter the safety fence during operating test. Unexpected accidents are
likely to occur because of its low reliability.
1-18
1. Safety
1.7.3. Safety Precautions for Automatic Operation

(1) While posting a sign [Do Not Enter During Operation] up the safety fence gate,
ask the operators not to enter during operation. If the robot stops, you may
enter the safety fence under your full understanding of the situation.
(2) Be sure to check if any operators are inside of the safety fence when starting
the automatic operation. Operating without checking the presence of
operators may cause a personal injury.
(3) Before starting the automatic operation, check and confirm that the program
number, step number, mode, and starting selection are in the possible state
for automatic operation. If starting with the other programs or steps selected,
the robot could move in an unpredicted way, and lead to an accident.
(4) Before starting the automatic operation, check if the robot is properly located
to get started. Check whether the program number or step number is identical
with the location of robot. Even if it's all identical, accidents are still possible to
occur due to an abnormal movement when the robot is differently located..
(5) Be prepared to immediately press the emergency stop button when starting
the automatic operation. Immediately press the emergency stop button in
case of robot's unexpected movements or emergency.
(6) Be sure to detect any abnormalities by checking the route, condition, or

sound of robot movement. Sometimes the robot may be abnormally operated
including a sudden break down. However, it will show(give) a certain
indication before the break down. Understand the robot's normal condition
well in order to catch the symptom in advance.
(7) When any abnormality is detected from the robot, immediately stop and take
proper actions on it. Using the robot before any proper actions taken may
cause an interruption of produce as well as serious failure leading to a very
serious personal injury.
(8) When checking the robot’s movement after the proper actions taken for the
abnormality, do not operate the robot with operators inside of the safety fence.
Unexpected accidents are possibly to occur because its low reliability may
cause another abnormality.
1-19
HX130/HX165/HX165S/HX200/HX200S
1.8. Safety Precautions for Access to Safety Fence

Robots are very powerful and heavy even at its low speed. When entering the safety
fence, one must observe the relevant safety regulations of its pertinent country.
The operators always must be aware of the unexpected movements of robot. Robots
are able to move fast shortly after being stopped. The operators should know that the
robot is able to move in a different route, without any notice, by means of external
signals. Thus, when trying to stop the robot during teaching or operating test, one
should be able to stop the robot with a teaching pendant or control panel.
When entering the working envelope through the safety gate, take the teaching
pendant with you so that other people may not operate the robot. Make sure to post
up the control panel a sign indicating the state of robot handling.
Read carefully and be aware of the follows when entering the working envelope.
(1) Do not enter the working envelope other than teaching person.
(2) Be sure to set the ‘handling setting’ on teaching pendant to TEACHING

LOCK.
(3) Operation set-up mode of controller must be a manual mode in the control
panel.
(4) Always wear the approved working suite.(Do not wear a loose clothes as
you please)
(5) Do not wear gloves when handling Hi4/Hi4a contoller.
(6) Do not leave innerwear such as underwear, shirts, or necktie out of the
working suite.
(7) Do not wear personal accessories such as big earrings, rings, or necklaces.
(8) Make sure to wear safety shoes, helmet, and goggles and if necessary, wear
other self-protective outfit such as safety gloves.
(9) Make sure that the emergency stop circuit is working correctly and in its
proper function, turns MOTORS OFF when pressing the emergency stop
button in the control panel and teaching pendant before handling the robot.
(10) Make your posture face-to-face with the robot manipulator when performing
your work.
(11) Follow the predetermined working procedure.
(12) Be prepared for emergency exit or safe place considering that the robot may
unexpectedly rush at you.
1-20
1. Safety
1.9. Safety Precautions for Maintenance and Repair

1.9.1. Safety Precautions for Hi4/Hi4a Controller Maintenance and
Repair
(1) Maintenance and repair of the robot must be performed by the personnel who
was duly trained in the special maintenance training course and has a good
knowledge of maintenance.
(2) Perform your work following the maintenance procedures for controller.
(3) Perform your maintenance and repair in a safe way by securing emergency
exit or safe place.
(4) Before the daily maintenance, repair, or changing parts, be sure to power
down. In addition, post a warning sign [Do Not Input Power] up the primary
power so that other operators may not input power by accident..
(5) When changing parts, be sure to use the specified ones.
(6) Be sure to power down when opening the Hi4/Hi4a controller door.
(7) Before performing, wait for three minutes after power down.
(8) Do not touch the heat sink and regeneration resistor of servo amp because
they generate an intense heat.
(9) After completing maintenance, Be sure to close the door completely after
checking if tools or other things are still remained in the Hi4/Hi4a controller.
1-21
HX130/HX165/HX165S/HX200/HX200S
1.9.2. Safety Precautions for Robot System & Manipulator

Maintenanace
(1) Refer to the safety precautions for Hi4/Hi4a controller maintenance and
repair.
(2) Perform your maintenance and repair for the robot system and manipulator,
following the indicated procedures.
(3) Be sure to disconnect the primary power of controller. Post the warning sign
[Do not input power] up the primary power to prevent other workers from
connecting the power.
(4) Make sure that the Arm is fixed and immovable before maintenance and
repair since dropping or moving of the robot's Arm may cause a danger
during maintenance and repair. (Refer to the 『Robot manipulator
maintenance manual』.)
1-22
1. Safety
1.9.3. Necessary Actions after Maintenance and Repair

(1) Check if the cables or parts of controller are properly connected.
(2) After maintenance is completed, carefully check that no tools are left around
or inside of the controller and manipulator. Make sure that the door is firmly
closed.
(3) Do not turn on the power if any problems or critical failures are detected.
(4) Be sure that there is no one within the working envelope, and that you are in
a safe place before turning on the power
(5) Turn on the main circuit breaker on the control panel.
(6) Check the current position and status of robot.
(7) Operate the manipulator at low speed.
1-23
HX130/HX165/HX165S/HX200/HX200S
1.10. Safety Functions

1.10.1. Operating a Safety Circuit
Contactor MSHP1 Contactor MSHP2

Drive
M
Unit
MSHP1
MSHP2
& Interlocking & Operating

Operating mode selector
mode selector
+ Man1 Man2 +
MOTOR POER ON
Auto1 Auto2
TP TP
GSG1
ASG1
GSG2
ASG2
EM2
EM1
LS2
EN1 EN2
LS1
LS Limit switch
ASG AUTO Mode Safeguard
Computer GSG General Safeguard
Commands TP EN Enabling device in T/P
EM Emergency stop switch
Fig 1.5 Robot’s Safety Circuit
The robot's safety system is based on a two-channel safety circuit that is

continuously monitored. If an error is detected, the power supply to the motors is
disconnected and the motor brake is applied. To return the robot to MOTORS ON
mode, the switches of two-channel circuit must be connected. If one of the
two-channel circuit switches shorts, the contactor of motor will be disconnected
leading to the application of brake, and finally the robot will be stopped. Furthermore,
when safety circuit is disconnected, the interrupting call will be sent automatically to
the controller to find out the possible reason for the interruption.
The safety control circuit of operation is based on dual safety electric circuit in which
the controller and MOTORS ON mode are operated inteactively. In order to be in
MOTORS ON mode, the safety circuit consisted of several swtiches must be all
connected. MOTORS ON mode indicates that drive power is supplied to the motors.
If one of the contactors is disconnected, the robot will always return to MOTORS
OFF mode.
1-24
1. Safety
MOTORS OFF mode indicates that drive power is removed from the robot's motors
and the brakes are applied. The status of the switches is displayed on the teach
pendant. (Refer to the I/O monitoring screen of "SERVICE" menu, 『Hi4/Hi4a
controller operation manual』.)
Safety circuit
The emergency stop buttons on the controller panel and on the teaching pendant and
external emergency stop buttons are included in the safety circuit of operation. Users
may install the safety devices (safety plug, safety stop device for safe place) which
are operated in the AUTO mode. In a manual mode, the signals of these safety
devices are ignored. You can connect the general safety stop devices that is active in
all operating modes. No one can enter the working envelope in an automatic
operation mode due to the unconditional operation of the safety devices (door, safety
mat, safety plug etc.). These signals are also generated in a manual mode, but the
controller will keep the robot operating while ignoring the robot's teaching. In this
case, maximum speed of robot is restricted to 250mm/s. Thus, the purpose of this
safety stop function is to secure the safe area around the manipulator while one
approaches the robot for maintenance and teaching.
When the robot is stopped by a limit switch, it can be moved from the position by
jogging it with the operation key on the teaching pendant. (Refer to “constant setting”,
『Hi4/Hi4a controller operation manual』.)
The safety circuits must never be by-passed, modified or changed in

any way.
1-25
HX130/HX165/HX165S/HX200/HX200S
1.10.2. Emergency stop

An emergency stop should be activated when people or equipment is located at the
dangerous area. The emergency stop buttons are located both on the control panel
and on the teaching pendant.
All safety control devices such as emergency stop buttons on the control panel must
be located outside the working envelope and easily accessible at any time.
Status of Emergency stop
When the button is pressed, the robot will operate as follows.

Robot stops immediately in any cases.
Disconnect the servo system power.

Motor brake is activated
Emergency stop message is displayed on screen.
For the emergency stop, the following two methods can operated simultaneously.
(Emergency stop for control panel and teach pendant is basic)
1-26
1. Safety
(1) Emergency stop for control panel and teach pendant (Basic)
The emergency stop switch is on the control panel and teach pendant of the
controller.
Emergency
stop switch
Fig 1.6 Emergency Stop
1-27
HX130/HX165/HX165S/HX200/HX200S
(2) Emergency stop of external system

External emergency stop device (button etc.) can be connected to the safety
electric circuit in accordance with applied standard for the emergency stop
circuit.
▶ Emergency stop connection of the external system

SEQUENCE BOARD(BD461)
Emergency Stop Channel 1 LED

OPERATIONAL PANEL
Emergency Stop Switch
CNOP EM_STOP1
P1(24V) EMST1A CNOP:17 EMST1A
EMST1B CNOP:18 EMST1B
EMST2A CNOP:19 EMST2A
Emergency Stop Channel 2 LED EMST2B CNOP:20 EMST2B
TEACHING PENDANT
M1(0V) Emergency Stop Switch
CNRTP
CNTPS EM_STOP2
EMST1B A1 K
EMST1C B1 L
EMST2B A2 M
EMST2C B2 N
EXTERNAL SYSTEM
※ Emergency Stop Switch
EMST1C
JP1
TBEXT:1 EMST1C
M1(0V) TBEXT:2 M1
EMST2C TBEXT:3 EMST2C
P1(24V) TBEXT:4 P1
JP2
ESOUT1 TBEXT:5
ESOUT2 TBEXT:6
ES2
ES1
RUN CHAIN
Fig 1.7 Emergency Stop Connection of External System
※ When using the emergency stop of the external system, connect the Terminal No.
1 (ES1) & No. 2 (M1,0V Common) or No. 3 (ES2) & No. 4 (P1,24V Common) of
the terminal block of BD461 to the external emergency stop line, and you must
open JP1 or JP2.
At this time, the emergency stop must be connected to be Normal On and it must
be check for proper operation during test run.
1-28
1. Safety
1.10.3. Operating Speed

To teach the robot, the operating mode switch must be in a MANUAL mode. Then the
maximum speed of robot is limited to 250mm/s..
1.10.4. Connecting the Safety Devices
External safety devices such as light beams, light curtains, safety plug, and safety
mats which can be adapted by the system builder execute interlocking the controller
by way of connecting with safety circuit within the controller. These devices are used
for safety device during execution of normal program in an automatic mode.
1-29
HX130/HX165/HX165S/HX200/HX200S
1.10.5. Restricting the working Envelope

When the robot is not necessary to reach certain area for specific applications,
working envelope of the robot can be limited to secure the sufficient safety working
area. This will reduce the damage or loss in case of robot's collision with external
safety devices such as safety fence, etc.. The movement of axes 1,2, and 3 of HR,
HX can be limited by means of mechanical stopper or electrical limit switches. In this
case, the corresponding software limitation parameters must be also changed. The
movement of the three wrist axes, if necessary, can be also limited by the Main CPU.
Limitation of working envelope for all the axes could be carried out by the user. The
robot is delivered to customer as the status of full working envelope setting.
Manual mode: Maximum speed is 250mm/s..

In a manual mode, by means of worker’s selection, workers may enter the
safeguared area.
Auto mode: The robot can be operated via remote controller.

All safety devices such as safety door, safety mats, etc. are activated.
No one may enter the safety device area of rotbot.
1.10.6. Monitoring Function
(1) Motor monitoring function

Motors are protected against overload by means of onboard sensors.
(2) Volatge Monitoring Function

For the protection of, the servo amp module turns off the power switch when
the voltage is too low or too high.
1-30
1. Safety
1.11. Safety Related to End Effectors

1.11.1. Gripper
(1) When a gripper is used to grip a workpiece, there should be safety
precautions for unexpected dropping of the loaded workpiece.
(2) When any end effectors or devices are installed on the robot arm, use the
required size and piece of bolt, and securely fasten as per the required torque
using torque wrench. Do not use the bolt which has rust or dirt on its
surface..
(3) End effector must be designed and manufactured not to exceed the maximum
allowable load at the wrist of robot. Even though power or air supply stops,
the gripped workpiece must not be dropped from the gripper. In order to
remove any risks and problems which may cause personal injury and/or
physical damage, the sharp edge and projecting part of end effector must be
made dull and smooth.
1-31
HX130/HX165/HX165S/HX200/HX200S
1.11.2. Tool / Workpiece
(1) It must be possible to replace tools such as milling cutters in a safe manner.
Make sure that safety devices are working correctly until the cutters stop
rotating.
(2) Grippers must be designed to keep in gripping workpiece securely even

though a power failure or a control failure takes place. It must be possible to
release workpiece from the gripper in a manual mode.
1.11.3. Pneumatic and Hydraulic Systems

(1) The special safety regulations will apply to pneumatic and hydraulic
systems. .
(2) Since residual energy of pneumatic and hydraulic systems can be still
remaining even after the robot stops, particular care and attention must be
paid by users. Internal pressure of equipment must be removed whenever
starting the repair work for pneumatic and hydraulic systems.
1-32
1. Safety
1.12. Liabilities
The robot system has been built in accordance with the latest technical standards
and approved safety rules. Nevertheless, the serious accidents such as death or
personal injury still may take place due to the collision between the robot system and
peripheral equipment.
The robot system must be used by operator who has a full technical knowledge on its
designated use and also pay his close attention to the possible dangers and risks
involved in its operation. The use of robot system is subject to compliance with these
operating instructions and the operation and maintenance manual supplied together
with the robot system. The safety related functions of robot system must not be used
for any purposes other than safety.
When you use the robot system for any other or additional purposes than its
designated usage, you must review whether it is valid in accordance with design
criteria. The manufacturers cannot take any responsibility for any damage or loss
which resulted from such misuse or improper use. The users shall have the full
responsibility for the risks caused by such misuse or improper use. When you use
and operate the robot system for its designated use, you must have a good
command of all the information contained at these operating instructions as well as
the maintenance manual.
The robot system may not be put into operation until it is ensured that the functional
machine or plant) into which the robot system has been integrated conforms to the
specifications of the EC directives 89/392 EWG dated 14 June 1989 and 91/368
EWG dated 20 June 1991.
The following harmonized standards in particular were taken into account with regard
to the safety of the robot system.
IEC 204-1,10.7
ISO 11161,3.4
ISO 10218(EN 775),6.4.3
ISO 10218(EN 775),3.2.17
ISO 10218(EN 775),3.2.8
ISO 10218(EN 775),3.2.7
Users must take the full responsibility for any accident caused by their negligence or
non-observance of these instructions. The manufacturer will not take any liabilities
and responsibilities for any damages or losses caused by the misuse or malfunction
of such equipment which is not included in the contract between manufacturer and
user and provided by user, or such equipment which is installed around the robot
system arbitrarily by the user. User must take the full liabilities and responsibilities for
any risks and damages caused by such equipment.
1-33
2. Specifications
2. Specifications
2
Specifications
2-1
2. Specifications HX130/HX165/HX165S/HX200/HX200S
2.1. Robot Machinery Part
HX165 * - *
Specification No.
Robot TYPE
Rated Payload
Series Name
FIg 2.1 Robot Machinery Part
2-2
2. Specifications
2.2. Location of Robot Identification Plate

The model name, serial number, and manufacturing date of robot are written down in
the name plate.
The name plate is located in the rear of axis H in the ARM.
Product Name : Robot Mnipulator

Model Name :
Serial Number :
Year of Manufacture :
Weight(Net) : Kg
Manufactured by
Hyundai Heavy Industries Co., Ltd.
1, CHEONHA-DONG, DONG-KU, ULSAN CITY, 682-792, KOREA
Tel : 82-52-230-7901 Home page : www.hhi.co.kr
Fax : 82-52-230-7920 Made in Korea
Fig 2.2 The location of identification plate
2-3
HX130/HX165/HX165S/HX200/HX200S
2.3. Basic Specifications

Table 2-1 Basic Specifications for Models
Item Specification
Model HX130 HX165 HX165S HX200 HX200S
Construction Articulated
Degree of freedom 6
Drive system AC servo system
S Swivel ±3.142 rad (±180°)
Arm H For/Backward +1.48 ~ -1.13 rad (+85°~ -65°)
Up/
V +1.05~-2.36 rad (+60°~ -135°)
Max. downward
Working
envelope
R2 Rotation 2 ±6.283 rad (±360°)
±2.36 rad ±2.27 rad ±2.36 rad ±2.18 rad

Wrist B Bending ←
(±135°) (±130°) (±135°) (±125°)
±6.283 rad
R1 Rotation 1 ← ← ← ←
(±360°)
Max. 2.09rad/s 1.83rad/s 1.66rad/s 1.48 rad/s

S Swivel ←
Speed (120°/s) (105°/s) (95°/s) (85°/s)
Arm H For/Backward 2.18rad/s

1.83rad/s 1.74rad/s 1.66 rad/s
←
(125°/s) (105°/s) (100°/s) (95°/s)
Up/ 2.18rad/s 1.66 rad/s 1.74rad/s 1.48 rad/s 1.40 rad/s

V
downward (125°/s) (95°/s) (100°/s) (85°/s) (80°/s)
Wrist R2 3.93 rad/s 2.62 rad/s 2.36 rad/s 2.09 rad/s

Rotation2 ←
(225°/s) (150°/s) (135°/s) (120°/s)
2-4
2. Specifications
Item Specification
Model HX130 HX165 HX165S HX200 HX200S
3.93 rad/s 2.53 rad/s 2.62 rad/s 2.09 rad/s

B Bending ←)
(225°/s) (145°/s) (150°/s) (120°/s)
5.32 rad/s 3.84 rad/s 3.31 rad/s 3.14 rad/s

R1 Rotation 1 ←
(305°/s) (220°/s) (190°/s) (180°/s)
1274 N 1617 N 1962 N

Load Capacity ← ←
(130 kg) (165 kg) (200 kg)
735N·m 980 N·m 1274 N·m

R2 Rotation 2 ← ←
(75 kgf·m) (100 kgf·m) (130 kgf·m)
735N·m 980 N·m 1274 N·m

Wrist Torque B Bending ← ←
(75 kgf·m) (100 kgf·m) (130 kgf·m)
490
392 N·m 608 N·m
R1 Rotation 1 N·m(50 ← ←
(40 kgf·m) (62 kgf·m)
kgf·m)
Accuracy of position
±0.3 mm ← ← ← ←
repeatability
0~ 45℃
Ambient Temperature (273~318 ← ← ← ←
K)
20 ∼
Relative humidity ← ← ← ←
85 %RH
Robot's Weight 1350 kg ← 1500kg 1400kg 1600 kg
Working envelope section area 6.5 m² ← 5.18 m² 5.65 5.18 m²
Index of working envelope 5.13 ← 4.09 5.13 4.09
2-5
HX130/HX165/HX165S/HX200/HX200S
2.4. Robot Dimension and Working Envelope
Fig 2.3 Robot Dimension and Working Envelope : [HX200]
2-6
2. Specifications
Fig 2.4 Robot Dimension and Working Envelope : [HX130/165]
2-7
HX130/HX165/HX165S/HX200/HX200S
Fig 2.5 Robot Dimension and Working Envelope : [165S/200S]
2-8
2. Specifications
2.5. Axis Identification

Table 2-2 Axis Motion
Axis Name Operation Teaching Pendant Button
S Arm Swivel LFT(S+) RHT(S-)
H Arm Forward and Backward BWD(H+) FWD(H-)
V Arm Upward and Downward UP(V+) DOWN(V-)
R2 Wrist Rotation2 Rx+(R2+) Rx-(R2-)
B Wrist Bend Ry+(B+) Ry-(B-)
R1 Wrist Rotation1 Rz+(R1+) Rz-(R1-)
Fig 2.6 Robot Dimension and Axis [HX130/165/200]
2-9
HX130/HX165/HX165S/HX200/HX200S
Fig 2.7 Robot Dimension and Axis [165S/200S]
2-10
2. Specifications
2.6. Details of Wrist Axis Attachment Surface

When attaching the operating tool to the mechanical interface of robot's wrist flange,
fasten it with a bolt at P.C.D. 125.
Fig 2.8 Details of Wrist Axis Attachment Surface : [HX200/200S]
Fig 2.9 Details of Wrist Axis Attachment Surface : [HX130/165/165S]
2-11
HX130/HX165/HX165S/HX200/HX200S
2.7. Details of Upper 1st ARM Attachment Surface

There is a Tap in upper 1st ARM to attach peripheral equipment.
Attach peripheral equipment within the range marked as ▦.
[Attention]
Attach peripheral equipment to the upper side of the 1st ARM, or to only one side of
upper axis V. When attaching, be sure to the center position of gravity should be
located within the range marked as ▦.
Max weight on the A1 Frame : 80kg

Max weight on the 1st ARM : 80kg
FIg 2.10 Details of Upper 1st ARM Attachment Surface
2-12
2. Specifications
2.8. Application Wiring and Inspection Wiring Diagram

There are air unit and connector to connect the additional equipment to the robot
manipulator.
Application connectors are indicated as follows.
[Note] Max air pressure of air connection : 5bar (5.1 kgf/cm2 ,72.5 psi)
Cable connector for users(CNR10A)

Outlet for air pressure (PT3/8) (Encoder side)
Cable connector for Servo guns(CNR20A)

(Power side - optional)
Two way cable connector
for users(CNR10B)
and servo guns(CNR30A)
(Encoder side - optional)
Upper part of A1 FRAME
Outlet for air pressure (PT3/8)

Cable connector for Servo guns(CNR20)
(Power side - optional)
Cable cinnector for users(CNR10)
(Encoder side)
Cable connector for Servo guns(CNR30)

(Encoder side - optional)
BASE BODY part
Fig 2.11 Application Wiring and Inspection Wiring Diagram
2-13
HX130/HX165/HX165S/HX200/HX200S
2.8.1. Details of Customer Application Connectors
<CNR10A> <CNR10B>
<CNR20A>
<CNR30A>
Fig 2.12 Details of Application Connector
① CABLE SPECIFICATION
- CNR10A : 0.3sq * 20pcs
- CNR10B : 0.3sq * 20pcs
- CNR20A : 2.0sq * ETFE Line 11 pcs
- CNR30A : 0.3sp * 5P
② CONNECTOR TYPE(Receptacle)
- CNR10A : MS3102B24-28S (for Signal)
- CNR10B : MS3102B24-28SX (for Signal - Option)
- CNR20A : MS3102B20-11S (for Power - Option)
- CNR30A : MS3102B20-29S (for Signal - Option)
③ CONNECTOR TYPE(Plug)
- CNR10A : MS3106B24-28P
- CNR10B : MS3106B24-28PX
- CNR20A : MS3106B20-11P
- CNR30A : MS3106B20-29P
2-14
2. Specifications
2.9. Restricting the Working Envelope

When installing the robot, take into account that the working envelope can be
adjusted freely within the entire working envelope.
In case of possible collision between the robot and peripheral equipment, the working
envelope must be limited mechanically and by means of software.
Following instructions explain how to install switches or additional stoppers for setting
the working envelope of main axes. This is an optional part.
2.9.1. Axis 1(Axis S)

By adding one more mechanical stopper, the working envelope of the 1st axis can be
limited. (by 15˚).
If the 1st STOPPER BLOCK and STOPPER are deformed due to a great impact,
they must be replaced.
2-15
3. Instructions
3. Instructions
3
Instructions
3-1
3. Instructions HX130/HX165/HX165S/HX200/HX200S
3.1. Robot Component Name

The following [Fig 3.1] and [Fig 3.2] show and name each component of the robot.
Fig 3.1 Name of Robot Components: [HX130/165/200]
3-2
3. Instructions
Fig 3.2 Name of Robot Components : [HX165S/200S]
3-3
HX130/HX165/HX165S/HX200/HX200S
3.2. Location of Safety Nameplate

In order to prevent any accidents, safety marking plates such as [Fig 3.3] and [Fig
3.4] are attached to the robot. Do not remove or replace it unneccessarily.
CAUTION
서보모터 분해시
ARM낙하 주의
WARNING
WARNING - 밸런스 스프링 절대
분해하지 마십시오.
- 밸런스 스프링 절대 - 분해시 스프링 탄성력으로
분해하지 마십시오. 중대한 안전사고를 초래
- 분해시 스프링 탄성력으로 할수 있습니다.
중대한 안전사고를 초래
할수 있습니다.
CAUTION
ARM낙하 주의
Fig 3.3 Location of Safety Nameplate: [HX130/165/200]
3-4
3. Instructions
의
ARM낙하 주의
ARM낙하 주의
CAUTION
경 고 WARNING WARNING 경 고
- 밸런스 스프링 절대분해 - 밸런스 스프링 절대분해
분해하지 마십시오. 분해하지 마십시오.
- 분해시 스프링 탄성력으로 - 분해시 스프링 탄성력으로
중대한 안전사고를 초래 중대한 안전사고를 초래
할수 있읍니다 할수 있읍니다
Do not enter
Do not enter
robot work area.
CAUTION robot work area.
ARM낙하 주의
Fig 3.4 Location of Safety Nameplate: [HX165S/200S]
3-5
HX130/HX165/HX165S/HX200/HX200S
3.3. How to operate

3.3.1. Using Crane
Fig 3.5 How to Transport: Using crane [HX130/165/200]
3-6
3. Instructions
Fig 3.6 How to Transport : Using crane [HX165S/200S]
The following lifting instructions are valid for a "naked" robot. If additional equipment
is put on the robot, the center of gravity may change and make lifting dangerous.
Never walk under the robot.

Pose the robot as shown in the Figure.
Mount four pieces of EYE BOLTS at the four parts of Base Body.
Hook 4 piece of wire hooks up with EYE BOLTS.
Use 4 piece of protective hose(four parts/ 50cm) to prevent damage.
Keep the safety regulations during Lifting process..
Weight of manipulator :
1400kg(HX200)/1360kg(HX165)/1500kg(HX165S)/1600kg(HX200S)
Minimum crane capacity: 2 tons
※ Use wire rope in its length of 2.5m(4EA). Insert a protective hose to prevent
damage of painting at the parts contacted with robot body. Refer to Figures for the
proper location of protective hose..
3-7
HX130/HX165/HX165S/HX200/HX200S
3.4. How to Install

NOTE:
Before starting to unpack and install the robot, read the safety regulations and other
instructions very carefully..
Warning:
The installation shall be made by qualified installation personnel and should conform
to all national and local codes.
When unpacking the robot, check if it has been damaged during transporting or
unpacking. In addition, strictly keep the following installation instructions because
installation method and foundation are very important to maintain a good robot
performance.
3.4.1. Operating Conditions
(1) Ambient temperature should range from 0℃ to 45℃.

(2) Ambient humidity should range from 20% to 85% RH, without dew
condensation.
(3) Less dust, oil, or moisture.
(4) No flammable, corrosive liquid or GAS.
(5) No impact and shacking.
(6) No electrical noise generator near the robot.
(7) If the robot is not immediately installed, keep it in a dry area at an ambient
temperature between -15℃∼ and 40℃.
3-8
3. Instructions
3.4.2. Installating the Robot Manipulator

The base floor to install the robot should be constructed with concrete with a
thickness of 300mm or more so that the hardness minimizes dynamic effect to the
robot. Repair bumps and cracks on the concrete surface of the floor during
installation, and fix the mounting place with M20 Chemical Anchor. And if the
thickness of the concrete floor is less than 300mm, it requires an independent base
construction that must be reviewed beforehand.
Locate the robot unit on the mounting plate and tightly assemble 8 M20 bolts.
Bolt: M20*70 (Hardness level: 12.9)

Flat washer: T = 4mm or above, internal diameter (ID) = 24, hardness of HrC
35
Assembly torque: 530±20Nm
3-9
HX130/HX165/HX165S/HX200/HX200S
3.4.3. Accuracy of Installation Surface

The degree of flatness for the four attachment plate surfaces should safisty the
specification. Use a shim, if necessary. The rest of the surface must be flat within
±2mm.
■ Cautions
(1) The flatness of mounting plate must be within 1.0 mm.
Fig 3.7 Accuracy of Installation surface
3-10
3. Instructions
3.4.4. Dimension of Installation Surface

Fix the swivel base for robot's installation.
Refer to [Fig 3.8] for the dimension.
Fig 3.8 Dimension of Robot Installation
3-11
HX130/HX165/HX165S/HX200/HX200S
3.5. Allowable Load of Wrist Axis

3.5.1. Permitted load torque estimation
The load, which will be applied to the mechanical interface of robot's wrist axis, is
restricted by allowable weight, allowable load torque and allowable moment of inertia.
Step 1
Calculate the location of the weight center from the B axis rotation center (LX,
L Y , L Z)
LX: Location of weight center in X axis
LY: Location of weight center in Y axis
LZ: Location of weight center in Z axis
Step 2
Check the location from the center of B and R1 axis to the weight center
based on the torque map.
2 2
LB = L X , LR1 = LY + LZ
Length in B axis (LB) ≤ 0.606 m
Length in R1 axis (LR1) ≤ 0.303 m
LX: Location of the weight center in X axis direction from the B axis rotation
center
LY: Location of the weight center in Y axis direction from the B axis rotation
center
LZ: Location of the weight center in Z axis direction from the B axis rotation
center
LB : Length from B axis rotation center to weight center
LR1 : Length from R1 axis rotation center to weight center
3-12
3. Instructions
Fig 3.9 Wrist Axis Torque Mapping : [HX165-04]
Fig 3.10 Wrist Axis Torque Mapping:[HX200]
3-13
HX130/HX165/HX165S/HX200/HX200S
Allowable Load Torque
Table 3-1 Allowable Load Torque

Allowable Load Torque
Robot Model
R2 Axis Rotation B Axis Rotation R1 Axis Rotation
HX200/200S Less than 1274N·m(130kgf·m) Less than 608 N·m(62 kgf·m)
HX165/165S Less than 980N·m(100kgf·m) Less than 490 N·m(50 kgf·m)
HX130 Less than 736N·m(75kgf·m) Less than 392 N·m(40 kgf·m)
3-14
3. Instructions
3.5.2. Permitted inertia moment estimation

Loads must be kept below maximum conditions shown in [Fig. 3.9~Fig 3.10].
Step 1
Calculate the inertia moment value of the load at each wrist axis center (Ja4,
Ja5, Ja6)
Ja4- Inertia moment from R2 axis rotation center
Ja5- Inertia moment from B axis rotation center
Step 2
Check if the inertia moment value of the static load based on the inertia map
is within the limited range.
HX165-04 Wrist axis load condition

Inertia moment/
torque limited zone
Inertia moment(㎏㎡)
Static load torque(N·m)
Fig 3.11 Wrist Axis Load Condition:[HX165-04]
3-15
HX130/HX165/HX165S/HX200/HX200S
Allowable Moment of Inertia
Table 3-2 Allowable Moment of Inertia
Allowable Moment of Inertia

Robot Model
R2 Axis Rotation B Axis Rotation R1 Axis Rotation
HX200/200S 117.5kg·m²(12kgf·m·s²) 60kg·m²(6.1kgf·m·s²)
HX165/165S 64.68kg·m²(6.6kgf·m·s²) 17.64kg·m²(1.8kgf·m·s²)
HX130 46.06kg·m²(4.7kgf·m·s² 13.72kg·m²(1.4kgf·m·s²)
3-16
3. Instructions
3.5.3. Example of permitted torque and inertia moment

calculation
1) Case #1 Simple 2-D model
Base zero
Fig 3.12 HX165-04 2-D load model
M – Load weight
Jxx – Inertia moment in X direction from weight center of load
Jyy – Inertia moment in Y direction from weight center of load
Jzz – Inertia moment in Z direction from weight center of load
Ja5- Inertia moment from B axis rotation center
☞ Load condition: Stainless steel with length and width of 300mm and thickness of
200mm (Mass 141.3kg)
① Permitted torque limit

Location of B axis weight center LX = 365mm, LY = 0mm, LZ = -79mm
If you apply the B and R1 axis length limit in the torque map, it is shown as follows.
B axis based length LB = LX = 0.365 ≤ 0.606m
2 2
R1 axis based length LR1 = LY + LZ = 0.079 ≤ 0.303m
3-17
HX130/HX165/HX165S/HX200/HX200S
② Permitted inertia moment limit

Inertia moment of load from the weight center Jxx= 1.53kgm2, Jyy= 2.12 kgm2, Jzz=
1.53 kgm2
B axis inertia moment (Ja5)
2 2
J a 5 = M ⋅ ( L X + LZ ) + J yy = 141.3 ⋅ (0.365 2 + 0.079 2 ) + 2.12 = 21.8 ≤ 64.7 kgm 2
R1 axis inertia moment (Ja6)
2 2
J a 6 = M ⋅ ( LY + Lz ) + J xx = 141.3 ⋅ (0 + 0.0792 ) + 1.53 = 2.41 ≤ 17.6kgm 2
③ Conclusion
It is safe because the weight, torque and inertia moment all satisfy the limited
condition.
3-18
3. Instructions
2) Case #2 Complicated 3-D model
Fig 3.13 HX165-04 3-D load model 2-D shape
Aluminum block shape combination

(σ=0.00287 g/mm3, : 164.7 kg)
m1 (60×300×300) 15.5kg
m2 (470×400×200) 107.9kg
m3 (300×300×160) 41.3kg
mi – Weight of i block load

LXi – Weight center location in X axis direction of I block
LYi - Weight center location in Y axis direction of I block
LZi - Weight center location in Z axis direction of I block
① Permitted torque limit

You can calculate the weight center location for the total load from the B axis
rotation center as follows.
m ⋅ L + m2 ⋅ LX 2 + m3 ⋅ LX 3 15.5 × 245 + 107.9 × 450 + 41.3 × 835
LX = 1 X 1 = = 527.3mm
m1 + m2 + m3 164.7
LY = 0mm (Symmetric to Y axis)
m ⋅ L + m2 ⋅ LZ 2 + m3 ⋅ LZ 3 15.5 × 0 + 107.9 × 250 + 41.3 × 250
LZ = 1 Z 1 = = 226.5mm
m1 + m2 + m3 164.7
The weight center location for the total load from the B axis rotation center LX=
527.3mm, LY= 0mm, LZ= -226.5mm
3-19
HX130/HX165/HX165S/HX200/HX200S
If you apply the B and R1 axis length limit in the torque map, it is shown as
follows.
B axis based length LB = LX = 0.527 ≤ 0.606m → torque value 945.4Nm

2 2
R1 axis based length LR1 = LY + LZ = 0.226 ≤ 0.303m → torque value 37.2Nm
x1 y1 z1 – x, y and z direction length of block m1

LX1, LY1, LZ1 – Weight center location of block m1 from B axis rotation center
LX2, LY2, LZ2 - Weight center location of block m2 from B axis rotation center
LX3, LY3, LZ3 - Weight center location of block m3 from B axis rotation center
Jxx1, Jyy1, Jzz1 – Inertia moment by x, y and z axis from the weight center of block m1
60
z
300
x
m1
300
z 400
z 300
m2 x 160
200 m3 x
300
470
Fig 3.14 HX165-04 3-D load model 3-D shape
② Permitted inertia moment limit

Inertia moment from weight center by block
Block weight Weight center (LX, LY,
Jxx Jyy Jzz
(kg) LZ )
0.232 0.121 0.121
m1 (15.5) (0.245, 0, 0)
kgm2 kgm2 kgm2
1.799 2.346 3.425
m2 (107.9) (0.45, 0, -0.25)
kgm2 kgm2 kgm2
0.398 0.398 0.620
m3 (41.3) (0.835, 0, -0.25)
kgm2 kgm2 kgm2
3-20
3. Instructions
Ex) Calculating the inertia moment by axis from the weight center of block m1
1 2 2 1
J xx1 = ⋅ m1 ⋅ ( y1 + z1 ) = × 15.5 × (0.32 + 0.32 ) = 0.232
12 12
1 2 2 1
J yy1 = ⋅ m1 ⋅ ( z1 + x1 ) = × 15.5 × (0.32 + 0.06 2 ) = 0.121
12 12
1 2 2 1
J zz1 = ⋅ m1 ⋅ ( x1 + y1 ) = × 15.5 × (0.06 2 + 0.32 ) = 0.121
12 12
B axis inertia moment (Ja5)

3
{ 2 2
J a 5 = ∑ mi ⋅ ( LXi + LZi ) + J yyi }
i =1
{ 2 2
} { 2 2
} { 2 2
= m1 ⋅ ( LX 1 + LZ 1 ) + J yy1 + m2 ⋅ ( LX 2 + LZ 2 ) + J yy 2 + m3 ⋅ ( LX 3 + LZ 3 ) + J yy 3 }
= {15.5(0.245 2 ) + 0.121} + {107 .9(0.45 2 + 0.25 2 ) + 2.346} + {41.3(0.835 2 + 0.25 2 ) + 0.398}
= 63.8 ≤ 64.7 kgm 2
R1 axis inertia moment (Ja6)

3
{ 2 2
J a 6 = ∑ mi ⋅ ( LYi + LZi ) + J xxi }
i =1
{ 2 2
} { 2 2
} { 2 2
= m1 ⋅ ( LY 1 + LZ 1 ) + J xx1 + m2 ⋅ ( LY 2 + LZ 2 ) + J xx 2 + m3 ⋅ ( LY 3 + LZ 3 ) + J xx 3 }
= {15.5(0 2 ) + 0.232} + {107 .9(0.25 2 ) + 1.799} + {41.3(0.25 2 ) + 0.398}
= 11.8 ≤ 17.6kgm 2
3-21
HX130/HX165/HX165S/HX200/HX200S
3.6. Recommended Standy Posture

Selecting a good standby posture can save energy and reduce motor temperature.
If the tool is positioned as the figure below, the load on H and V-axes may be
minimized.
In case that the posture shown below might not be attained due to the limited space
and time caused by peripheral equipment or cycle times, then contact our company.
Fig 3.15 Recommended Standby Posture
3-22
4. Inspection
4. Inspection
4
Inspection
4-1
4. Inspection HX130/HX165/HX165S/HX200/HX200S
This chapter provides the instructions for regular inspection and overhaul necessary
for the prolonged lifetime of robot performance.
4.1. Inspection Item and Period

Inspection is positively necessary to continue and maintain the high performance of
robot for long-term operation.
There are daily inspection and regular inspection. [Table 4-1] shows basic periods for
regular inspections, so inspectors should make an inspection according to the
indicated periods.
And overhaul every 35,000 operating hours.
The inspection periods have been reviewed for SPOT Welding. In case of high
precision work such as handling, it is recommended to inspect at the half intervals of
that period as shown in [Table 4-1].
Table 4-1 Inspection Schedule
Yearly Inspection Yearly Inspection
3 months 6 months 9 months 12 months 3 months 6 months 9 months 12 months
1 year & 1 year & 1 year &

3 months 6 months 9 months 1 year 2 years
3 months 6 months 9 months
Daily Inspection
4-2
4. Inspection
4.2. Inspection Item and Period

Table 4-2 Inspection Items and Periods
Inspection Intervals
Inspection Inspection
No. Standards Remark
3 1 Items method
Daily
mothns year
Robot Manipulator and Axes common
Examine dirt and

1 ○ Cleaning dust with naked
eyes
Examine any cable

damages
Examine cable fixing
bracket tightening
Inspection
2 ○ bolts paint marking
wiring
with naked eyes
Examine any cable
cover damages with
naked eyes
Examine paint
3 ○ Main bolts marking with naked
eyes
Check if the
Check the ON-OFF emergency
Limit
4 ○ function of limit stop lamp is on
Switch/ Dog
switch when the limit
switch is ON.
Check the abnormal
heating
5 ○ Motor
Check the abnormal
sound
Check the ON/OFF
operation of brake
release switch When the
Note) Turn the brake release
switch off in a switch is OFF,
6 ○ Brake
second because the ARM of End
ARM of working axis Effect will not
may be dropped be dropped.
when the brake
release switch is on
4-3
HX130/HX165/HX165S/HX200/HX200S
Inspection Intervals
Inspection Inspection
No. Standards Remark
3 1 Items method
Daily
mothns year
Axix S, H, V
Check the abnormal

Reduction sound
7 ○
gear Check the
shaking(vibrating)
Axis R2, B, R1
Check the abnormal

Reduction
8 ○ sound
gear
Check the vibrating
End Effect Examine paint

9 ○ tightening marking with naked
bolts eyes
there is any
diversion by rotating should not feel
10 ○ Diversion each axis to the right diversion by
and reverse touch
direction
If the robot is utilized in adverse condition( such as spot welding, grinding,

etc.), perform the inspection more frequently to ensure proper reliability of the
robot system
Inspect all visible cabling, and replace them if damaged.
Check the mechanical bumper devices for deformation and damage. If the
bumper or Dog is bent, replace it immediately.
Check the tightening torque of main bolts as shown in [Fig 4.1]~ [Fig 4.2].
Check the abnormal noise in an automatic or teaching mode in order to
ensure the condition of power transmission( such as motor, reduction gear,
etc).
4-4
4. Inspection
4.3. Inspection of Main External Bolts

The recommended bolt torque is shown in [Fig 4.1] and [Fig 4.2].
Apply the appropriate torque, where required, using the torque wrench and place the
paint marking where the check-up is completed
Table 4-3 Inspection part for main bolts
No Inspection parts No Inspection parts
H & V axis reduction gear case R2 axis reduction gear

1 10
attachment attachment
2 H & V axis motor attachment 11 Wrist attachment
3 Hinge and Link attachment 12 B axis reduction gear attachment
4 Balance spring attachment 13 Wrist CAP attachment
5 R1 axis motor attachment 14 Wrist COVER attachment
R1 axis reduction gear

6 R2 axis motor attachment 15
attachment
7 B axis motor attachment 16 End-effector attachment
8 1st ARM attachment
9 Link attachment
4-5
HX130/HX165/HX165S/HX200/HX200S
Fig 4.1 Inspection Part for Main Bolts [HX130/165/200]
4-6
4. Inspection
FIg 4.2 Inspection Parts of Main Bolts [HX165S]
4-7
HX130/HX165/HX165S/HX200/HX200S
4.4. Inspection of Wrist Backlash

Check a diversion by forcing the end-effector (End Effector : spot gun, hand device,
etc.), which is attached to the vertical hem of Wrist, in the direction of back and forth,
right and left, and up and down.
Fig 4.3 Abnormal Backlash Inspecting Directions
4-8
4. Inspection
4.5. Inspection Internal Wiring

Flexible cables are used for internal wiring of robot manipulator. However, when an
internal cable is broken or crushed, the robot may malfunction. Therefore, regular
inspection is required. When operating in the working envelope according to following
inspection conditions, inspection must be completed in advance.
4.5.1. The Conditions of Safety Inspection

When performing the operating work such as teaching (except shutting off driving
source of industrial robot) in the working envelope, check the following articles before
the work. If abnormality is found, correct the problem on the spot and then take
necessary actions.
Check if the covered wire and sheathing are damaged or not.

Check if the manipulator can be operated or not.
Check emergency stop function
4-9
HX130/HX165/HX165S/HX200/HX200S
4.5.2. Inspection Part
Fig 4.4 Cable Inspection Parts
4-10
5. Maintenance
5. Maintenance
5
Maintenance
5-1
5. Maintenance HX130/HX165/HX165S/HX200/HX200S
5.1. Grease Replenishment/Replacement
Attention
If greasing is performed incorrectly, the internal pressure of the grease bath
may suddenly increase, possibly causing damage to the seal, which would
in turn lead to grease leakage and abnormal operation. When performing
greasing, therefore, observe the following cautions.
① Before starting to grease, remove the plug from the grease outlet.
② Whenever possible, avoid using a compressed-air pump, powered by the
factory air supply. If the use of a compressed-air pump is unavoidable, restrict
the greasing pressure less than 7bar(7kgf/cm2)
③ Use grease only of the specified type. If not, may damage the reducer or lead
to other problems.
④ After greasing, confirm that no grease is leaking from the grease outlet and
that the grease bath is not pressurized, then re-attach the plug in the grease
outlet.
⑤ To prevent accidents caused by slipping, completely remove any excess
grease from the floor or robot.
⑥ When an ambient temperature is more than 40℃, be sure to shorten the
period of replenishment in half.
■ Periodic Replenishment / Replacement
Lubrication Cycle
Grease Replenishment : 6,000 hours

Grease Replacement : 12,000 hours
5-2
5. Maintenance
5.1.1. S-Axis Reduction Gear
Attention
If grease is added without removing the outlet plug, the grease will go
inside the motor and may damage it. It is absolutely necessary to
remove the plug.
■ Grease Replenishment
① Remove the grease outlet plug.

② Inject the grease into the grease inlet using a grease gun.
Grease type : Molywhite RE00

Amount of grease : 500cc
③ Attach the outlet plug with seal tape.
5-3
HX130/HX165/HX165S/HX200/HX200S
■ Grease Replacement
① Remove the grease outlet plug.

② Inject the grease into the grease inlet using a grease gun.

Amount of grease : 3,650cc
③ The grease replacement is complete when new grease appears in the outlet
port. The new grease can be distinguished from the old one by color.
④ Move the S-Axis for a few minutes to eject the old grease and then add
grease until the new grease appears in the outlet port
⑤ Wipe the outlet port with a cloth and attach the plug with seal tape.
5-4
5. Maintenance
5.1.2. H-Axis Reduction Gear
Attention
If grease is added without removing the outlet plug, it cause damage
to the seal of reducer and grease will go inside the motor and may
damage it. It is absolutely necessary to remove the plug.
① Make the H-Axis Arm vertical for ground.(H:90°-Floor Type, H:0°-Shelf Type )
② Remove the grease outlet plug.
③ Inject the grease into the grease inlet using a grease gun.

④ Wipe the outlet port with a cloth and attach the plug with seal tape.
5-5
HX130/HX165/HX165S/HX200/HX200S
① Make the H-Axis Arm vertical for ground.(H:90°-Floor Type, H:0°-Shelf Type )

④ The grease replacement is complete when new grease appears in the outlet
⑤ Move the H-Axis for a few minutes to eject the old grease and then add
grease until the new grease appears in the outlet port.
⑥ Wipe the outlet port with a cloth and attach the plug with seal tape.
5-6
5. Maintenance
5.1.3. V-Axis Reduction Gear
Attention
If grease is added without removing the outlet plug, it cause damage
to the seal of reducer and grease will go inside the motor and may
damage it. It is absolutely necessary to remove the plug.
① Make the V-Axis Arm horizontal for ground.(V:0°-Floor Type, V:-90°-Shelf

Type )

④ Wipe the outlet port with a cloth and attach the plug with seal tape.
5-7
HX130/HX165/HX165S/HX200/HX200S
① Make the V-Axis Arm horizontall for ground. (V:0°-Floor Type, V:-90°-Shelf
Type )

④ The grease replacement is complete when new grease appears in the outlet
⑤ Move the V-Axis for a few minutes to eject the old grease and then add
grease until the new grease appears in the outlet port.
⑥ Wipe the outlet port with a cloth and attach the plug with seal tape.
5-8
5. Maintenance
5.1.4. R2-Axis Reduction Gear
Attention
Do not inject excessive grease. The excessive grease would cause
an abnormal operation.
① Prepare a grease nipple A-PT1/8.

③ Remove the grease inlet plug and install grease nipple A-PT1/8.
④ Inject the grease into the grease inlet using a grease gun.

⑤ Wipe the outlet port with a cloth and reinstall the inlet/outlet plugs with seal
tape
5-9
HX130/HX165/HX165S/HX200/HX200S


⑤ The grease replacement is complete when new grease appears in the outlet
⑥ Wipe the outlet port with a cloth and reinstall the inlet/outlet plug with seal
tape.
5-10
5. Maintenance
5.1.5. B-Axis Reduction Gear
Attention
Do not inject excessive grease. The excessive grease would cause
an abnormal operation.
① Prepare a grease nipple A-PT1/8 and then Make the R2-Axis 0°degree.
② Remove the grease inlet plug and install grease nipple A-PT1/8.
③ Make the R2-Axis -90°degree and then Remove the grease outlet plug.

⑤ Wipe the outlet port with a cloth and reinstall the inlet/outlet plugs with seal
tape
5-11
HX130/HX165/HX165S/HX200/HX200S
③ Make the R2-Axis -90°degree and then Remove the grease outlet plug.

⑤ The grease replacement is complete when new grease appears in the outlet
⑥ Wipe the outlet port with a cloth and reinstall the inlet/outletplug with seal
tape.
5-12
5. Maintenance
5.1.6. R1-Axis Reduction Gear
Attention
There is no grease outlet. Do not inject excessive grease. The
excessive grease would cause an abnormal operation.

④ Wipe the outlet port with a cloth and reinstall the inlet/outlet plugs with seal
tape
5-13
HX130/HX165/HX165S/HX200/HX200S
5.1.7. Bearing Joint Parts

② As necessary,remove grease inlet plug and install grease nipple A-PT1/8.
Grease type : Alvania0769

④ Remove grease nipple A-PT1/8 from grease inlet port.

⑤ Reinstall the grease plugs with seal tape.
5-14
5. Maintenance
5.1.8. A1 Frame - Gear Box


⑤ Remove grease nipple A-PT1/8 from grease inlet port.

⑥ Reinstall the grease plugs with seal tape.
5-15
HX130/HX165/HX165S/HX200/HX200S
5.1.9. Wrist - Gear Box


④ Remove grease nipple A-PT1/8 from grease inlet port.

⑤ Reinstall the grease plugs with seal tape.
5-16
5. Maintenance
5.2. Battery Replacement

The position data of each axis is preserved by the backup batteries. The batteries
need to be replaced every two years. To replace batteries observe the following
procedure.
① Keep the power on. Press the Emergency Stop button to prohibit the robot
motion.
Attention
Replacing the batteries with the power supply turned off causes all current
position data to be lost. Therefore, zeroing will be required again.
② Dettach the battery bracket.

③ Take out the old batteries from the battery bracket.
④ Insert new batteries into it. Pay attention to the direction of batteries.
Battery Spec. : ER6C(AA) 3.6V

Manufacturer : Maxell
⑤ Reinstall the battery bracket.
5-17
HX130/HX165/HX165S/HX200/HX200S
Attention
Do not dipose the batteries. Dispose of the battery with industrial waste
acoording to the laws and other rules in the country where the controller is
installed.
Do not recharge the batteries, otherwise batteries may result in exploding
or everheating.
Do not use any batteries other than the recommended one.
Change the batteries only with the specified one.
Do not short positive and negative terminals of battery.
Do not expose batteries to high temperature or flame
5-18
5. Maintenance
5.2.1. Instructions for Battery Storage
① Do not keep the batteries at a high temperature and humidity. Keep it in the
well-ventilating place without dew condensation.
② Keep it in a normal temperature, at relatively constant temperature(20±15℃)
and at relative humidity of less than 70%.
③ Check the battery storage every six months, and manage them with
first-in-first-out.
5-19
HX130/HX165/HX165S/HX200/HX200S
5.3. Internal Wiring

Replacement cycle of internal wiring depends on follows.
Continuous operation
Operating speed
Atmosphere/environment
Inspect on a regular basis,every three months and check any damage on the cables
or cable protect spring. If any damage, replace it.
Replace the cable every 16,000 operating hours regardless of working condition.
Attention
As all the wires are flexible type, do not use any wires other than
specified one.
Wiring replacement must be done by unit.
Do not use any Cable, protective spring, and Hose that have external
damage as they may cause future problems.
When purchasing robot cables, make inquiry of our service office about
wiring type.
Specify the length of wiring for connecting the robot with the controller.
5-20
5. Maintenance
5.3.1. Wiring Connection Diagram

Refer to [Fig 5.1] for part symbols of the internal wiring.
JUNCTION BOX
CONNECTOR
BJ2 CONNECTOR
BJ1
CN HX165-J2-MB1-A
S-Axis
MOTOR Brake
HX165 - J2 - MB1 - A
REVISION CODE(A, B, C... )
Axis No.(1: S-Axis, 2:H-Axis,3:V-Axis,4: R2-Axis, 5:B-Axis,6:R1-Axis)

For COMPONENT "H"(1: CNR10A, 2:CNR20A,3:CNR20B,4:CNR30A)
COMPONENT (MB:Motor/Brake, E:Encoder, L:Limit switch, H:Application Connector)
JUNCTION PART(J1:BJ1, J2:BJ2, J3:BJ3)
ROBOT TYPE
Fig 5.1 Explains of internal wiring
5-21
HX130/HX165/HX165S/HX200/HX200S
Fig 5.2 Wiring connection diagram
5-22
6. Trobleshooting
6. Trobleshooting
6
Trobleshooting
6-1
6. Trobleshooting HX130/HX165/HX165S/HX200/HX200S
6.1. Troubleshooting Procedure

If a failure occurs during robot's operation, but it does not stem from the controller, it
must be caused by damage on machine parts. The way to troubleshoot as quick and
easy as possible should be to diagnose the problem. In addition, it is necessary to
determine which parts cause the problem.
(1) Step 1 : Which axis occurs the problem?

First of all, check which axis causes the malfunction. In case that it is hard to
detect the problem, check the following possible mechanical defaults.
Is there any parts making noise?

Is there any parts generating an overheating?
Is there any parts have a play or backlash?
(2) Step 2 : Which parts have been damaged?

If the abnormal axes are determined, investigate which parts cause trouble.
There could be many causes for one phenomenon. Refer to [Table 6-1] for
the cause and phenomenon of the trouble.
(3) Step 3 : Dealing with malfunction parts

If the malfunction parts are confirmed, conduct relevant repair procedure
based on the chapter 『6.3 Diagnostics and Resolutions for Major Parts
Failure』. Contact our service office if you have any difficulties in dealing with
problems.
6-2
6. Trobleshooting
6.2. Trouble Symptoms and Possible Causes

As shown in [table 6-1], there may be many parts as the cause of one phenomenon.
Refer to next page to determine which part is malfunction.
Table 6-1 Trouble phenomenon and cause

Defect parts
Reduction Fulcrum
Brake Motor Encoder
gear bearing
Trouble phenomenon
Overload [Note1] ○ ○ ○ ○
Displacement ○ ○ ○
Abnormal sound occurrence ○ ○ ○ ○
Noise in operation [Note 2] ○ ○
Staggering at stop [Note 3] ○ ○ ○
Irregular twitching [Note 4] ○ ○ ○
Abnormal deviation ○ ○
Free fall of an axis ○ ○
Overheating ○ ○ ○ ○
Incorrect action and out of

○ ○
controll movement
[Note 1] Overload ---------

Phenomenon occurring when a load exceeds the rated
motor load. In specific, thermal relay of circuit protector
is tripped.
[Note 2] Noise in operation -- Phenomenon which occurs vibration on operation.
[Note 3] Staggering at stop - Phenomenon which gives oscillating motion when the
robot stops.
[Note 4] Irregular twitching --- Phenomenon which gives sporadic twitching when the
robot is not in motion.
6-3
HX130/HX165/HX165S/HX200/HX200S
6.3. Diagnostics and Resolutions for Major Parts Failure

6.3.1. Fulcrum Bearings
Vibration, abnormal sound and overloads are observed when a fulcrum bearing is
damaged. When the Nut holding bearings becomes loose, bearing play occurs. It
may damage the bearings.
Diagnostics
① Shake the 1st ARM and 2nd ARM back and forth to check if bearing
exhibits any play. (In case of using a chain block, check the bearings for
the play, with the 1st ARM and 2nd ARM posture maintaining and without
any overload to the reduction gear.
② Check to see if the robot touched other peripheral equipment before the
malfunction.
Resolution
① Replace the bearing. A Chain Block is needed to lift and hang the robot
ARM. Contact our service office for any difficulties..
6-4
6. Trobleshooting
6.3.2. Reduction Gear

Vibration and abnormal sound will be occurred when a reduction gear is damaged. In
this case, it causes overload and abnormal deviation disturbing normal operation.
Sometimes overheating may result. The robot may also become completely
immovable, or a position offset error may occur.
[Main Axes (S, H, V)]
When turning [ON][OFF] the brake release switch of axis H and axis V, be sure to
take necessary precautions to prevent the ARM from dropping, and then switch the
brake release [ON][OFF]..
Diagnostics
① Check out any vibration, abnormal sound or overheating of the reduction
gear when the robot is in operation.
② Check out any play and abrasion in the reduction gear. And check if any
abnormality is felt by hand when shaking 1st ARM back and forth with the
brake release switch of axis S [ON].
③ Check if peripheral equipment has been contacted with the robot before
the abnormality.
(Damage may occur to the reduction gear due to the contacting impact.)
Resolution
① Replace the reduction gear. A chain block is needed to lift and hang the
robot ARM. Contact our service office for any difficulties.
[Wrist Axes (R2, B, R1)]
When turning [ON][OFF] the brake release switch, be sure to take necessary
precautions to prevent the ARM from dropping, and then switch the brake release
[ON][OFF].
Diagnostics
① Check out any vibration, abnormal sound, or overheating of the reduction
gear when the robot is in operation.
② Check out any play in the reduction gear by shaking the End Effector
(such as spot gun and hand devices, etc.) back and forth.
③ Turn motors off , with the brake release switch [ON], and check that the
axis can be rotated by hand. If not, the reduction gear is in bad condition.
④ Check if peripheral equipment has been contacted with the robot before
the abnormality.
(Damage may occur to the reduction gear due to the contacting impact )
6-5
HX130/HX165/HX165S/HX200/HX200S
Resolution
① Replace the reduction gear.
② Replace the entire wrist section.
(The replacement of entire wrist should be a quick and reliable resolution
as it takes time and necessary equipment for reduction gear replacement)
6-6
6. Trobleshooting
6.3.3. Brakes
In case of brakes failure, each axis possibly drops with the motors [OFF]. Or, in
reverse, brakes possibly operate even with the motors [ON]. The latter causes
overload and noise.
When intending to operate the entire robot without the motors [ON], operate it with
the brake release switch [ON]. Before turning the switch [ON], take necessary
precautions to prevent the ARM from dropping as the robot ARM will drop by gravity.
Diagnostics
① Check if the brake can be heard in operation, by turning the brake release
switch [ON] [OFF] alternately with the motors[OFF]. If not heard, the vrake
cable may be broken. (When operating the brake release switch
[ON][OFF], be careful of ARM dropping. The brake release switch is
located on the panel in the controller cabinet door.)
Resolution
① If cables turn out to be good condition, replace the motor.
6-7
HX130/HX165/HX165S/HX200/HX200S
6.3.4. Motor
Motor failure causes abnormal operation of robot such as staggering at stop, irregular
twitching and noise in operation. Besides, It may cause overheating and abnormal
sound.
Check the reduction gear and fulcrum bearing as well in order to determine which
part causes the abnormality. It is because that similar phenomenon is observed when
the reduction gear is damaged.
Diagnostics
① Check for overheating and abnormal sound. .
Resolution
① Replace the motor.
6-8
6. Trobleshooting
6.3.5. Encoder
Position offset, malfunction, and out of control movement as well as staggering at
stop, irregular twitching may occur when the Encoder is in bad condition. This case
has nothing to do with such phenomena as mechanical abnormal sound, overheating,
and vibration
Diagnostics
① Check for any encoder data failure.
② Use reference pins and blocks to check the positional data is correct at
pin position.
③ Check for any irregular variations in the encoder data when moving each
robot axis.
④ Replace the servo amp board, BD440 to check errors.
Resolution
① If cabling turns out to be in good condition withouth any damage, replace
the encoder.
② If there is no error after replacing the servo amp board BD440, replace the
servo amp board.
6-9
HX130/HX165/HX165S/HX200/HX200S
6.4. Motor Replacement

Warning:
When motor is separated, the ARM will drop due to its built-in brakes inside the motor
for holding robot's posture. Take necessary precautions such as fixing A2 FRAME
with 2nd ARM by using M20×250 bolts or lifting and hanging the ARM by using crane
as shown in the Figure in order to prevent such dropping. Do not hold the ARM in
your hand.
In case of contacting the motor right after it stops, ensure the motor temperature.
Motor weights are listed as follows. Be careful when dealing with the motor.
Table 6-2 Motor Weight

Weight of main axes Weight of wrist axes
Robot model
motor motor
HX130/HX165/165S/200/200S 27 kg 10.7 kg
6-10
6. Trobleshooting
Fig 6.1 How to prevent dropping of ARM Axis H & V : (HX130/165/200)
6-11
HX130/HX165/HX165S/HX200/HX200S
Fig 6.2 How to prevent dropping of ARM Axis H & V : (HX165S/200S)
Warning:
In this work, there is a part performed with the motor [ON]. Therefore, perform the
work in pairs. An observer must always be ready to activate an emergency stop. The
other perform the work quickly and carefully. An escape route should be determined
before starting work.
After replacing axis H or V, ensure that M20 bolt for supporting ARM has been
removed before operating the robot.
6-12
6. Trobleshooting
6.4.1. Necessary Tools and Parts

Table 6-3 Necessary Tools
Axis
Tool Name Part No.(Model) Remark
Name
M12 Torque wrench(Lock

S, H, V
type) Use torque wrench and
Torque wrench
extension on the
( prepared by user)
M8 Torque wrench (Lock type) market
R2,B,R1
M5 Torque wrench (Lock type)
Table 6-4 Necessary parts
Part Name Axis Name Use or not Part No.( Model)
main axes ( H, V ) ○ M20×250(Standard)

Dropping preventive bolt
(optional)
Wrist Axis(R2,B,R1) - -
6-13
HX130/HX165/HX165S/HX200/HX200S
6.4.2. How to Replace Motor

(1) Put the controller into TEACH mode and select motors [ON]. When the
motors [On] state cannot be obtained, check the respective ARM is firmly
fixed while supporting it to prevent dropping. And then begin at step No.4.
(2) The axis requiring motor replacement takes basic posture.
(3) In case of main axes(S, H, V) : Refer to [Fig 6.1] and [Fig 6.2].
Insert a supporting bolt to prevent ARM dropping.
In case of wrist axes (R2, B, R1) : Set the origin by using SACLES.
(4) Turn the main power[OFF] with the controller power [OFF].
(5) Disconnect the connector from the motor.
(6) Remove attachment bolts of motor and pull the motor out of robot. When
removing motors of axis H or V, be sure not to damage the lip of oil seal due
to the gear attached to the axis of motor.
(7) Detach the gear from the motor shaft. not give excessive impact to the motor
shaft.
(8) Assemble the gear after lightly applying grease to the shaft.
The bolt used to attach the gear to the shaft should be cleaned and removed
of grease before using. Apply loctite 243 to the screw part of the bolt, and
then tighten it using a torque wrench in a regular torque. , Besides, slowly
tighten the bolt in a symmetrical order.
(9) Assemble the motor on the robot after applying a small amount of grease to
the lip of oil seal and applying a moderate amount of grease to the teeth of
gear. When assembly the main axis motor, be sure not to damage the lip of
oil seal.
(10) Connect the connector to the motor.
(11) When repalcing the axis H or V, replenish the grease as the amount as it
lost.
(12) Reset the encoder of the axis whose motor is replaced.
6-14
6. Trobleshooting
Warning
Before encoder correction, check motor connections, with motors [ON], while
pressing the Enable switch for 2~3 seconds.
(13) Perform the encoder calibration about the axis whose motor is replaced.
Refer to the chapter [Encoder Calibration] in the controller operating
manual..
(14) Remove M20 bolt, a supporting bolt for preventing possible dropping of axis
H or V.
(15) Confirm that there is no error in robot's motion.
Fig 6.3 Axis S motor assembly
6-15
HX130/HX165/HX165S/HX200/HX200S
Fig 6.4 Axis H & V motor assembly
Fig 6.5 Wrist axis motor assembly
6-16
6. Trobleshooting
6.5. Encoder Zero Setting

It is necessary to reset the origin when encoder data has been corrupted due to
some problems and when the motor is replaced.
Level and Block is adopted as the position setting method for each axis. The origin
must be set in order of axis 4, 5, and 6 considering axis interference of the wrist due
to its structural characteristic.
Warning
In this work, there is a part performing in the state of motor [ON]. Therefore, this
work must be performed in pairs. One must always be ready to activate an
emergency stop. The other must perform the work quickly but carefully.
An escape route should be determined before starting work.
6-17
HX130/HX165/HX165S/HX200/HX200S
6.5.1. Zero Setting
① Put the controller into TEACH mode and select [MOTORS ON]. If you cannot
select MOTOR On due to abnormality, set the origin position of the robot by
using the brake release switch.
② Move respective axes to the basic posture, then set them by the scale mark.
③ Reset the Encoder. Refer to 『6.5.2 Encoder Reset』for the method of

encoder reset.
④ Correct the encoder. Refer to 『Hi4/Hi4a Controller Operation Manual』.
⑤ Confirm that there is no problem in robot motion.
6-18
6. Trobleshooting
6.5.2. Encoder Reset
① Turn the controller power [ON] for 3 minutes, and then turn it [OFF].
② Take off the rear cover of the robot. (Check the batteries/encoder backup
batteries are well conneceted.)
③ Turn the controller power [ON].
④ After connecting the reset connector(CNRST1∼6) of the axis to reset with the
plug located in the cover of the rear robot for 5 seconds, pull the reset plug
out. (Reset connectors of the respective axis should be connected for the
reset work only. Besides, there is usually no connection in the reset
connector.
⑤ Cover the rear of the robot.
Table 6-5 Reset connectors corresponding to axes

Axis Name Connectin of Reset connector pin [CNRST1 ↔ RESET CONNECTOR]
S RST1 ↔ RST(1), P5E ↔ RST(2)
H RST2 ↔ RST(1), P5E ↔ RST(2)
V RST3 ↔ RST(1), P5E ↔ RST(2)
R2 RST4 ↔ RST(1), P5E ↔ RST(2)
B RST5 ↔ RST(1), P5E ↔ RST(2)
R1 RST6 ↔ RST(1), P5E ↔ RST(2)
6-19
HX130/HX165/HX165S/HX200/HX200S
Fig 6.6 Encoder Reset Connector
6-20
6. Trobleshooting
6.5.3. Confirming the Reset

Warning
This operation is used to verify an encoder reset was performed correctly. Note this
procedure is different from『Encoder Calibration』which determines encoder data from
basic posture of the robot.
The number of pulses per revolution of the currently used encoder data is 8192bit
irrespective of the robot model. The current value of encoder displays what is added
by compensation value to the actual encoder value. In other word, the difference
between the current value of encoder and the absolute compensation value of
encoder is real encoder value.
After reset, the actual encoder value is classified as what it becomes less than 1
revolution and as what it becomes less than minus 1 revolution depending on the
robot model. Follow the procedure below to confirm the encoder has been
successfully reset.
① Connect the encoder connectors of motors and turn controller power on.
Select 『Encoder Calibration』in a constant setting mode, and select
『Encoder Calibration (Input Value)』at the next display. The encoder
calibration value for each axis is displayed in left-side and the present
encoder value in right-side.
② Move the cursor to the encoder calibration value of axis that were reset, and
press 『0』.
③ Confirm that the present encoder value is within the range of 0~8192. If not,
reset the encoder again.
Warning
After connecting the motor, the following errors may occur according to the discharge
of electricity of the encoder internal capacitor.
E0107 Encoder error: Poor bit sequence

W1014 : Voltage drop of encoder battery.
In this case, turn controller power on for more than 10 minutes, and reset encoder.
And then, turn controller power 『OFF』once again, and power 『ON』. It will be
restored to normal condition.
6-21
HX130/HX165/HX165S/HX200/HX200S
6.5.4. Encoder Calibration(Data input) and Selection

IT is necessary to compensate encoder data for the basic position of each
axis.
Refer to 『Encoder calibration』in the Controller Manual for details.
Select 『Encoder calibration (Position Rec)』in the mode of Constant.
[Encoder Calibration Screen]

08:09:05 *** Encoder offset *** A:0 S:3
S =［00400000］ S =［00400000］［ 0.0］
H =［00400000］ H =［00400000］［ 90.0］
V =［00400000］ V =［00400000］［ 0.0］
R2=［00400000］ R2=［00400000］［ 0.0］
Use Arrow key and press [SET].

>
All Comp Complete
Table 6-6 Data range after resetting

Number of pulses
Axis Data range after resetting
per an encoder revolution
All of Axes 0 ~8191 8192
(1) Press [SET] key after moving the revolving bar into the desired location to set
by using [↓][↑] keys, and the following message is displayed.
After axis Oper, press [REC].[ESC]usable

>
(2) Move the robot to the position that the origin pin becomes [ON] with axis
operating button, and press [REC] key.
(3) Press 『[PF5]: Complete』to complete setting.
Warning
In case of encoder DATA compensation after replacing motor, check if the motor
power is on with the power 『ON』.
6-22
7. Recommended Spare Parts
7
Recommended
Spare Parts
7-1
7. Recommended Spare Parts HX130/HX165/HX165S/HX200/HX200S
The recommended spare parts for robot are as follows. Please check robot serial
number and manufacturing date when purchasing, and contact our serive office.
[Category]
A : Regular maintenance parts(what is replaced regularly)
B : Essential spare parts (what is of high frequency)
C : Essential component parts
D: Machine parts
Table 7-1 Spare Parts ListⅠ

Manufacturer Per Unit
Category Part Name Applicable Model Application
Specification Use Rec.
HHI
AC servo Common use for
B 3EA 1EA
Motor Axis S, H, and V
TS4923N8030E230 ★
HHI Common use for

AC servo
B 3EA 1EA Axis R2, B, and
Motor
TS4836N8030E230 ★ R1
RV HHI
C Reduction 1EA 1EA Axis S
gear RV320C-35.61 ★
HHI
RV RV320E-185 HX200/165S
C Reduction 1EA 1EA Axis H
gear RV320E-171 HX165
RV320E-141 HX130
HHI
RV320E-219.46 HX200
RV
C Reduction RV320E-190.09 HX165 1EA 1EA Axis V
gear
RV320E-185(PIN) HX165S
RV320E-141 HX130
RV
C HHI 1EA 1EA Axis R2
Reduction
7-2

Category Part Name Applicable Model Application
gear
RV110F-70.76 HX200
RV110F-65 HX165
F2CS-A35Mup-89 HX165S
F2CS-A35Mup-59 HX130
HHI
RV110E-111 HX200
RV
C Reduction RV70F-93.85 HX165 1EA 1EA Axis B
gear
F2CS-A35-89 HX165S
F2CS-A35-59 HX130
HHI
RV80E-101 HX200
RV
C Reduction RV40E-81 HX165 1EA 1EA Axis R1
gear
F2CS-A35Mup-89 HX165S
F2CS-A35Mup-59 HX130
※ 1. ★ is applied for HX130/165/165S/200 models in common.

2. Here, HX165 Model means HX165-04 Model.
7-3
HX130/HX165/HX165S/HX200/HX200S
Table 7-2 Spare Parts ListⅡ

Applicable
Caterogy Part Name Application
Model
Teijin seiki
RV Reduction
Grease ★ 16kg/CAN
MOLY WHITE gear
RE00
A CYCLO
Shell Reduction gear,
Grease ★ 16kg/CAN Gear and
Alvania 0769 Bearing of each
axis
Encoder Battery HHI Replace every
2 years,
A ★ 3EA 3EA
regardless of
HX130?LB*-A,*:1~6 operating hours
HHI
HX200
R12-127013-02
C Wrist ass'y 1EA 1EA
R11-290400-01 HX165
R11-187014-02 HX165S
Cable from BJ1
HHI to main axis
Axis S Wiring
C 1EA 1EA motor and
ASS’Y
R11-290501-01 ★ right/left side of
robot
HHI
R11-290502-00 HX200,HX165 Cable from

Axis A2 Wiring right/left side of
C 1EA 1EA
ASS’Y robot to each
Make inquiry HX165S wrist axis motor
R11-290502-00 HX200S
7-4
Table 7-3 Spare Parts List Ⅲ

Manufacturer Applicable Per Unit
Category Part Name Application
Specification Model Use Rec.
HHI
1 EA 1EA
D Ball bearing 6017ZZ HX165/200/200S
Support center shaft
6017DDU HX165/200/200S 1 EA 1 EA in A2
Taper Roller
D 32014XJ HX130/165S 2EA 2EA
Bearing
HHI Joint lower and
Taper Roller
D 4 EA 4 EA upper Link of axis V
Bearing 32009XJ ★ in A2
Taper Roller HHI Joint upper ARM in

D 2 EA 2 EA
Bearing 32019XJ ★ A2
Double Row HHI Support lower

D 2 EA 2 EA
Roller Bearing NAG4909UU ★ balance spring in A2
shperical HHI Support upper

D 2 EA 2 EA
Roller bearing GE45EC-2RS ★ balance spring in A2
HHI
Wrist holder
D Oil-Seal AE3932A9 HX200/200S 1 EA 1 EA cast-iron (holder) in
W1
AE3842A0 HX165/130/165S
HHI
D Oil-Seal AC3994E0 HX165/200/200S 1 EA 1 EA Center shaft in A2
AE3527E0 HX130/165S
HHI
D Oil-Seal 1 EA 1 EA Motor Base in S1
AC4451F2 ★
HHI Motor H and V

D Oil-Seal 2 EA 2 EA assemble surface in
AC3744A0 HX165/200/200S A2
HHI Upper shaft of
D V-ring 2 EA 2 EA
V95A ★ upper ARM in A2
7-5
HX130/HX165/HX165S/HX200/HX200S
Table 7-4 Spare Parts List Ⅳ

Part Name Manufacturer Per Unit
Applicable
Category Application
Model
Specification Dwg. No. Use Rec.
HHI
Case surface of axis
D O-ring G190 HX200/200S 1 EA 1 EA
B reduction gear
ARP568-263 HX130/165S
HHI
Case surface of axis
D O-ring ARP568-263 HX200/200S 1 EA 1 EA
R1 reduction gear
ARP568-258 HX165
HHI
AS568-042 HX200/200S
Bearing housing in
D O-ring 1 EA 1 EA
W1
S75 HX165
AS568A-041 HX130/165S
HHI
Assemble surface of
D O-ring 1 EA 1 EA
frame and pipe in A1
AS568A-169 ★
HHI 1 EA 1 EA
Case of Axis R2
D O-ring 190*3 HX165/200/200S
reduction gear in A1
S150 HX130/165S
HHI 2 EA 2 EA Case of Axis H and

D O-ring V reduction gear in
G270 ★ A2
HHI 1EA 1EA

Mechanical Interface
D O-ring
assemble surface
S135 HX165
7-6
Table 7-5 Spare Parts List Ⅴ

Part Name Manufacturer Per Unit
Applicable
Category Application
Model
Specification Dwg. No. Use Rec.
HHI
G135 HX130
G150 HX165S/200S
Balance spring
D O-ring 2 EA 2 EA
ASS’Y in A2
P40 HX165S/200
P55 HX165S/200S
S140 HX165/200
HHI Assemble surface of

D O-ring 1 EA 1 EA reduction gear shaft
G290 ★ and base body in S1
HHI 1 EA 1 EA Axis S1 reduction

D O-ring gear case and output
ARP568-281 ★ shaft
HHI 1 EA 1 EA Assemble surface of

base body and
D O-ring
reduction gear shaft
G210 ★ in S1
7-7
8. Internal Wiring Diagram
8
Internal
Wiring
Diagram
8-1
8. Internal Wiring Diagram HX130/HX165/HX165S/HX200/HX200S
Internal wiring is shown in a connection diagram per unit, and thus utilize it to inspect
and replace the wiring.
8.1. Manipulator Configuration
Fig 8.1 Manipulator Configuration
8-2
8.2. Wiring Diagram
Fig 8.2 Motor and Brake wiring connection No.1
8-3
HX130/HX165/HX165S/HX200/HX200S
Fig 8.3 Motor and Brake wiring connection No.2
8-4
Fig 8.4 Encoder wiring Connection No.1
8-5
HX130/HX165/HX165S/HX200/HX200S
Fig 8.5 Encoder Wiring Connection No.2
8-6
Fig 8.6 Encoder Wiring Connection No.3
8-7
HX130/HX165/HX165S/HX200/HX200S
Fig 8.7 Application Wiring Connection No.1
8-8
8-9
HX130/HX165/HX165S/HX200/HX200S
8-10
9. Decommissioning
9. Decommissioning
9
Decommissioning
9-1
9. Decommissioning HX130/HX165/HX165S/HX200/HX200S
The robot is made up of several materials as shown in [Table 9-1]. Some of them
should be properly arranged and sealed up to eliminate any bad influence on the
human body or environment.
Table 9-1 Materials of each part

Materials Parts
NiCad or Lithium Battery
Copper Wiring, Motor
Cast Iron Base body, A2 frame, Upper arm, Link, Hinge etc.
Steel A1 pipe
Samarium Cobalt(or Neodymium) Brakes, Motors
Plastic / Rubber Wiring, Connectors
Oil / Grease Reducers, Bearings
Aluminum alloy cast Wrist cover etc.
9-2
Head Office
1, Jeonha-Dong, Dong-Gu, Ulsan, Korea
TEL : 82-52-230-7901 Ex 11 / FAX : 82-52-230-7900
Seoul Office
140-2, Gye-Dong, Jongno-Gu, Seoul, Korea
TEL : 82-2-746-4711 Ex 5 / FAX : 82-2-746-4720
Suwon Office
537-3, Yeongdeok-Ri, Giheung-Eup, Yongin-Si, Kyenggi-Do, Korea
TEL : 82-31-205-4713 / FAX : 82-31-205-3200
Daegu Office
223-5, Bumeo 2-Dong, Susung-Gu, Daegu, Korea
TEL : 82-53-746-6232 Ex 3 / FAX : 82-53-746-6231
Cheonan Office
355-15, Daga-Dong, Cheonan, Chungnam, Korea
TEL : 82-41-576-4294 Ex 5 / FAX : 82-41-576-4296
Gwangju Office
415-2, Nongsung-Dong, Seo-Gu, Gwangju, Korea
TEL : 82-62-363-5272 / FAX : 82-62-363-5273
본사
울산광역시 동구 전하동 1 번지
TEL : 052-230-7901~11 / FAX : 052-230-7900
서울 사무소
서울특별시 종로구 계동 140-2 번지
TEL: 02-746-4711~5 / FAX : 02-746-4720
수원 사무소
경기도 용인시 기흥읍 영덕리 537-3 번지
TEL: 031-205-4713 / FAX : 031-205-3200
대구 사무소
대구광역시 수성구 범어 2 동 223-5 번지
TEL : 053-746-6232~3 / FAX : 053-746-6231
천안 사무소
충남 천안시 다가동 355-15 번지
TEL : 041-576-4294~5 / FAX : 041-576-4296
광주 사무소
광주광역시 서구 농성동 415-2 번지
TEL : 062-363-5272 / FAX : 062-363-5273

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Hyundai Robot HX165060301MME2

Manipulator Maintenance Manual

HHI reserves the right to modify without prior notification.

Printed in Korea - Oct. 2005. 1st Edition

2.4. Robot Dimension and Working Envelope .............................................. 2-6

Installation, replacement, adjustment, manipulation, maintenance, and repair of robot

1.2. Relevant Safety Regulations

1.3. Safety Training

Purpose and functions of safety devices

1.4. Safety Related Nameplate

Table 1-1 Safety marking

Indicate a potentially hazardous situation which, if not

Indicate the compulsory measures that should be

Indicate the prohibited actions and/or operations that

1.4.2. Safety Nameplate

It is forbidden to remove, cover, or paint over by way of spoiling the

1.5. Definition of Safety Functions

Safety Stop Function - ISO 10218(EN 775),6.4.3

Speed Limiation Function - ISO 10218(EN 775),3.2.17

Restricting working Envelope - ANSI/RIA R15.06-1999

Operation Mode Selection - ANSI/RIA R15.06-1999

4.9cm(1.875") Max 4.9cm(1.875") Max

⑤ For immediate emergency stop, install emergency stop button wihin

⑦ The robot’s working envelope(dangerous zone) should be distinguished from

1.6.2. Placement of Robot & Peripheral Equipment

110 cm(44") Min

Restricted Maximum Safeguarded

1.6.3. Installing the Robot

General Safety Precautions

Technical Safety Precautions

(1) Eliminate any interference with peripheral equipment considering the

(3) Install at the ambient temperature ranged 0~45℃.

(6) Remove any obstacles out of the robot’s working envelope.

(7) Take a special measure, considering thermodynamics of controller, if the

1.6.4. Space for Robot Installation

Uset hetw oEyebolts on the

CAUTION E.S TOP

Fig 1.4 Space for robot installation

1.7. Safety Operation for Robot Handling

1.7.1. Safety Precautions for Robot Handling

(2) Be sure to wear helmets, goggles, and safety shoes.

(5) Operations such as teaching must be performed outside of the robot's

(6) Supervisors should follow the instructions below.

(7) In a manual mode, the speed of teaching is limited to 250mm/sec

(8) In teaching, post a sign [Under Teaching].

(14) Instructions for any abnormal operations.

(16) Instructions when the robot stops

Table 1-2 State of robot stop

No. State of Robot Drive Power Access

Even in the accessible state of robot, be watchful against any possible

1.7.2. Safety Precautions for Operating Test

(2) In case of operating test, start the robot at low speed(approximately

1.7.3. Safety Precautions for Automatic Operation

(6) Be sure to detect any abnormalities by checking the route, condition, or

1.8. Safety Precautions for Access to Safety Fence

(2) Be sure to set the ‘handling setting’ on teaching pendant to TEACHING

(5) Do not wear gloves when handling Hi4/Hi4a contoller.

(11) Follow the predetermined working procedure.

1.9. Safety Precautions for Maintenance and Repair

(5) When changing parts, be sure to use the specified ones.