Delta Electronics HMC Series Manual Download Page 20

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HMC Take-out Robot for Injection Molding Machine

June, 2015

Allow mould close

Mould open finish

Allow mould open

Safety door

Mould area free

Automatic

Allow ejector forward

Ejector forward position

Allow ejector back

Ejector back position

IMM emergency stop

Mid-plate mould

Spray release agent

Intermediate mould opening

Conveyor operation

Emergency stop of IMM

PA. Horizontal

PA. Horizontal Sensor

PA. Vertical

PA. Vertical Sensor

Y10

Clamp/vacuum 1

X10

Clamp/vacuum 1

Y11

Clamp/vacuum 2

X11

Clamp/vacuum 2

Y12

Extend output 5

X12

Peripheral Input 3

Y13

Clamp/vacuum 4

X13

Clamp/vacuum 4

Y14

SA. Fall

X14

Reserved

Y15

Sub Clamp/vacuum

X15

Sub Clamp/vacuum

Y16

SA. Forward

X16

SA. upper safety sensor

Y17

Alarm buzzer

X17

Inside mould sensor

Y18

Clamp/vacuum 5

X18

Clamp/vacuum 5

Y19

Clamp/vacuum 6

X19

Peripheral Input 5

Y20

Extend output 1

X20

Peripheral Input 1

Y21

Extend output 2

X21

Peripheral Input 2

Y22

Operation lights

X22

Peripheral Input 3

Y23

Extend output 6

X23

Pressure Monitor

Y24

Extend output 7

X24

SP. outside mold

output Allow mould close

Y25

Extend output 8

X25

Peripheral Input 6

Y26

Extend output 9

X26

Peripheral Input 7

Y27

Extend output 10

X27

Reject

Y28

Allow Core 1 In

X28

Core 1 In sensor

Summary of Contents for HMC Series

Page 1: ...gh precision and high speed motion quick response and can be easily constructed Built in functions Inhibited zone protection in inner molding area and protection mechanism Smoothing function Continuously smooth the interpolation Ejector protection Protect the ejector when it moves forward Adaptive moving Each axis can do adaptive moving with the setting of torque limit Flexibly carry out stacking ...

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Page 3: ...1 2 Status Bar 29 2 1 3 Function Keys 29 2 2 Start up Procedure 31 2 3 Description of Authority for Different Users 33 2 3 1 User Level 33 2 3 2 Login Logout 35 2 4 System Setting before Motion being Executed 36 2 5 Homing Return to Standby Point 37 2 5 1 Homing 38 2 5 2 Return to Standby Point 39 2 6 Operate in Manual Mode 41 2 6 1 Troubleshoot in Jog Mode 42 2 6 2 Jog with Unlimit Range 43 2 6 3...

Page 4: ...m Command 62 3 5 1 Motion for Each Axis 62 3 5 2 Program Motion 70 3 5 3 Procedure 74 3 5 4 Others 77 System Setting 系 4 1 Status Display about Motion Setting 81 4 2 Servo Setting 82 4 3 Moving Distance and Safety Zone Setting 83 4 3 1 Moving Distance 83 4 3 2 Safety Zone 85 4 4 Setting for System Operation 85 4 4 1 Motion Setup 85 4 4 2 Motion Confirmation 86 4 5 System Parameters Setting 87 4 5 ...

Page 5: ... 5 2 Servo Alarms and Troubleshooting 93 5 3 System Alarm and Troubleshooting 94 Others 其 6 1 Procedures of using USB Disk to Export Import 97 6 2 Update the System Screen via USB Disk 99 Examples 使 7 1 Applying New Program 103 7 2 Applying Program Template 106 ...

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Page 7: ... applying this control system Pay attention to the safety precautions during installation wiring operation and examination As for the detailed information of each product please refer to the corresponding user manual 1 1 Features 8 1 2 System Specifications and Configuration 9 1 2 1 Controller 9 1 2 2 Servo System 11 1 2 3 I O Module 17 1 3 Wiring Description 21 ...

Page 8: ...HMC Take out Robot for Injection Molding Machine 8 June 2015 1 1 Features This system adopts Delta s HMC distributed motion control framework for easier and more flexible multi axis control ...

Page 9: ...act to the safety device Blue EMG_2 Emergency switch B contact users can connect this contact to the safety device White Blue EMG_2 Emergency switch B contact users can connect this contact to the safety device Red Power System power 24V Black PGND Ground for system power 0V White EGND Grounding Yellow RS485_ Modbus RS 485 White Yellow RS485_ Modbus RS 485 Black White CGND Grounding for communicat...

Page 10: ...ing Machine 10 June 2015 Note 1 Select one port for connection 2 DMCNET wiring is a serial communication loop Please connect to a terminal resistor at the end of the loop 2 Use DMCNET I O a RJ45 line from servo driver to connect I O module ...

Page 11: ...ype and Definition Axial Name Station Number P3 00 Note Horizontal axis of primary arm 1 ASD M F ASD A2 F servo drive Vertical axis of primary arm 2 ASD M F ASD A2 F servo drive Travel axis of primary arm 3 ASD M F ASD A2 F servo drive Horizontal axis of secondary arm 5 axis take out arm 4 ASD M F ASD A2 F servo drive Vertical axis of secondary arm 5 axis take out arm 5 ASD M F ASD A2 F servo driv...

Page 12: ...OUSING AMP 1 172161 9 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 Military Connector A E B D C H F G L K J M N P R S T 3106A 20 29S The definition of each signal is as follows Drive Connector Encoder Connector Pin No Terminal Symbol Function and Description Military connector Quick connector Color 5 T Serial communication signal input output A 1 Blue 4 T Serial communication signal input output B 4 Blue B...

Page 13: ...Power cable without brake See the terminal as below Motor Side 1 2 3 4 Drive Side U V W Grounding GND 2 Power cable with brake See the terminal as below Motor Side 1 2 3 4 5 6 Drive Side U V Brake 1 W Grounding GND Brake 2 Homing sensor Limit sensor Brake wiring CN1 connector and its definition ...

Page 14: ...log monitor output 2 40 HSIGN High speed position command 16 MON1 Analog monitor output 1 41 PULSE Position command pulse 17 VDD 24V power output for external I O 42 V_REF Speed analog command input 18 T_REF Torque analog command input 43 PULSE Position command pulse 19 GND Analog input signal ground 44 GND Analog input signal ground 20 VCC 12 power output for analog command 45 COM VDD 24 V power ...

Page 15: ...2 12 1123 or 1023 P2 12 2123 or 2023 P2 12 3123 or 3023 Negative limit P2 13 1122 or 1022 P2 13 2122 or 2022 P2 13 3122 or 3022 Servo operating direction P1 01 B or 10B P1 01 B or 10B P1 01 B or 10B Parameter for station number P3 00 1 P3 00 2 P3 00 3 Communication Rate P3 01 203 P3 01 203 P3 01 203 Brake setting in non volatile area P3 10 11 P3 10 11 P3 10 11 E gear ratio setting in non volatile ...

Page 16: ...ommunication Rate P3 01 203 P3 01 203 Brake setting in non volatile area P3 10 11 P3 10 11 E gear ratio setting in non volatile area P3 12 100 P3 12 100 Software limit stop P4 25 11 P4 25 11 No parameter is applied P2 10 1100 P2 10 2100 No parameter is applied P2 14 1100 P2 14 2100 No parameter is applied P2 15 1100 P2 15 2100 Note 1 The above setting is for reference only Please setup parameters ...

Page 17: ...Injection Molding Machine June 2015 17 1 2 3 I O Module Applied Model Model Communication Interface HMC RIO3232RT5 DMCNET Product Appearance and Introduction of Each Part Power Supply and Wiring 1 Power supply for I O Module ...

Page 18: ...HMC Take out Robot for Injection Molding Machine 18 June 2015 For protecting the circuit please connect right ...

Page 19: ...output input contact to X input point 3 Output Point Wiring DC Signal IN Wiring Circuit Note Transistor NPN Mode 1 The module shall connect to external 24V power 2 Y16 Y31 are transistor type output Connect it to the control device or load DO NOT connect to AC power and AC load and exceeds the specification Relay Mode 1 The module shall connect to external 24V power 2 Y0 Y15 YC0 YC15 are relay typ...

Page 20: ...mp vacuum 2 X11 Clamp vacuum 2 Y12 Extend output 5 X12 Peripheral Input 3 Y13 Clamp vacuum 4 X13 Clamp vacuum 4 Y14 SA Fall X14 Reserved Y15 Sub Clamp vacuum X15 Sub Clamp vacuum Y16 SA Forward X16 SA upper safety sensor Y17 Alarm buzzer X17 Inside mould sensor Y18 Clamp vacuum 5 X18 Clamp vacuum 5 Y19 Clamp vacuum 6 X19 Peripheral Input 5 Y20 Extend output 1 X20 Peripheral Input 1 Y21 Extend outp...

Page 21: ...re 2 In sensor Y31 Allow Core 2 Out X31 Core 2 Out sensor Attention The definition of Input Output table may be different in different version 1 3 Wiring Description Wiring diagram in this section is for reference only The connected peripheral devices might be different in actual situation Main Power Controller Power NFB2 NFB3 NFB4 ...

Page 22: ...HMC Take out Robot for Injection Molding Machine 22 June 2015 Power of Servo Drive Encoder GND 0V 24V HMC 4 ...

Page 23: ...HMC Take out Robot for Injection Molding Machine June 2015 23 ...

Page 24: ...HMC Take out Robot for Injection Molding Machine 24 June 2015 CN1 Homing Sensor Limit Sensor Brake ...

Page 25: ...HMC Take out Robot for Injection Molding Machine June 2015 25 I O Board ...

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Page 27: ...29 2 2 Start up Procedure 30 2 3 Description of User Permission 32 2 3 1 User Level 32 2 3 2 Login Logout 34 2 4 System Setting before Motion being Executed 35 2 5 Homing Return to Standby Point 36 2 5 1 Homing 37 2 5 2 Return to Standby Point 38 2 6 Operate in Manual Mode 40 2 6 1 Troubleshoot in Jog Mode 41 2 6 2 Jog with Unlimited Range 42 2 6 3 Jog with Limited Range 43 2 6 4 Jog with the Set ...

Page 28: ...urn on the signal of Not to use take out arm 3 Servo position Display the servo s current position of each axis Users can press this button to switch between the main system and subsystem 4 Function key Click the button to enter the corresponding page 5 System status It includes the arm s current posture the arm s posture when it is in molding area and its limit setting at transverse direction Whe...

Page 29: ...n 4 Date Time It displays the current date and time 2 1 3 Function Keys Operate Screen It includes the function of auto operation single cycle and step run Manual Screen Window of jog in manual mode will pop up Users also can control the cylinder in this window Teach Screen Edit the program that you currently choose I O Screen Monitor and control the signal of cylinder arm in position signal hands...

Page 30: ...m please complete Homing first to obtain the correct position of each axis When executing Homing each servo drive will be servo on simultaneously If any alarm occurs at the moment please clear the alarm first See the following for descriptions of main and sub functions Item Sub functions Main screen Program manager Log in Log out Work with injection molding machine Homing Return to standby point A...

Page 31: ...linder input and output signal Arm s input and output signal Output signal of injection molding machine Input signal of injection molding machine Signal from servo drive Teach Teaching of program command Motion setting Manual Jog with unlimited range Jog with limited range Jog with the set target Adaptive moving Operation Return to standby point Operation Trial operation step run Production settin...

Page 32: ... only engineers have the authority to access all functions Manager manufacturers Manager have the authority to access all functions including setting up the mechanism and password This authorization is usually given to system manufacturers See the following table for the authorization of each function means user can use the function means users cannot use the function Functions Operator level 1 3 ...

Page 33: ...HMC Take out Robot for Injection Molding Machine June 2015 33 System setting Password setting ...

Page 34: ...g in 2 Logout After logging out it will be in Not logged in status 3 Automatically log out Users can set the function of Auto log out time If there is no operation within the set up time the system will be automatically logged out When the value is set to 0 then it means the system is always logged on 4 No authority to access When you have no authority to access the function a pop up window will a...

Page 35: ...re settings of the servo drive and mechanism are correct Wrong setting might result in danger In addition the system needs to complete the specified speed setting first Otherwise the following window will pop up when executing the motion command Following is the motion parameters setting window You can start the operation after the speed setting is complete ...

Page 36: ...n when any safety worries arise See the figure below To use Enabling switch please go to System Safety setting Homing Return to standby point and enable the function of Enabling switch protection When the Enabling switch is enabled homing returning to standby point can be carried out When Enabling switch is disabled it will immediately stop the action and a pop up window will appear When the funct...

Page 37: ...ure will pop up Click on Homing again the system will start homing When executing the command the button will be glittering and a text of Homing in red color will appear on top left corner After the motion is complete the button will become blue and shows command completed This sequence and posture can be set in System Safety setting Homing Standby point ...

Page 38: ... Or users can click on Return to standby point on operation screen When executing the command the button will be glittering and a text of Homing in red color will appear on top left corner After the motion is complete the button will become blue and shows command completed This sequence and posture can be set in System Safety setting Homing Standby point ...

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Page 40: ...d arm s output control For avoiding danger resulting from wrong operation jog function shall be used with Enabling switch and can work only when Enabling switch is enabled See the figure below Enabling Switch is a 3 position operation switch See the definitions below Not pressed Disabled status Inhibit to operate in manual mode Pressed Enabled status Allow users to operate in manual mode Hardly pr...

Page 41: ...efore taking other actions 2 Mode Unlimited mode only 3 Axis selection Select the axis which is going to execute commands 4 Speed The speed in jog mode It can only operate at 10 of speed or below in this situation 5 Jog function enabled Jog function enabled It should work with enabling switch Disable Enable 6 Jog in reverse direction Jog in reverse direction Release the button to stop the operatio...

Page 42: ...s selection Select the axis which is going to execute commands 3 Speed The speed in jog mode range from 1 to 100 4 Jog function enabled Jog function enabled It should work with enabling switch Disable Enable 5 Jog in reverse direction Jog in reverse direction Release the button to stop the operation 6 Jog in forward direction Jog in forward direction Release the button to stop the operation ...

Page 43: ...ct the axis which is going to execute commands 3 Speed The speed in jog mode range from 1 to 100 4 Set the moving distance Set the max moving distance in jog mode Use and to change the setting The moving distance can be set as 100 10 1 and 0 1 mm 5 Jog function enabled Jog function enabled It should work with enabling switch Disable Enable 6 Jog in reverse direction Jog in reverse direction Releas...

Page 44: ...e system only can move in forward direction Also when its position is at 200 it cannot move further Users can apply this function to quickly move the arm to the target position and do fine tuning afterwards 1 Mode Target mode 2 Axis selection Select the axis which is going to execute commands 3 Speed The speed in jog mode range from 1 to 100 4 Jog function enabled Jog function enabled It should wo...

Page 45: ...er Please note that when the vertical axis applies this function the arm might slip if the torque is set to small Only one axis can apply the function of adaptive moving at a time Leave the page of adaptive teach to disable this function Click on Adaptive moving to enter Teach screen Go to adaptive screen 1 Axis selection Select the axis that is going to do adaptive moving 2 Torque output Output s...

Page 46: ... Adjust the percentage to change the speed of trail run 2 Program command It displays the command of current program Target command will be highlighted When this function is disabled you can directly click on the command that you wish to see or modify The command editing window will pop up 3 Command tracking When this function is enabled the target command is the current command When it is disable...

Page 47: ... necessary to return to standby point before you start to do trail run 6 Previous step The system will set the previous command as the target command Thus when clicking on this button the system will go to the end position from previous command 7 Next step Clicking on this button the cursor will move to the next command after completing the current command The next command will be set as the targe...

Page 48: ... current selected program will be in auto operation Go to Operation screen Before starting auto operation the arm has to be returned to the start position which is the standby point Then click Operation See the screen of Auto operation below 1 Speed Adjust the percentage to change the speed of trail run ...

Page 49: ...ly stop Button of Operating will glitter Double click the Pause button to resume the operation 6 Stop Click on Stop the system will stop operating after completing the current command If the current command has not been completed click on Stop again to resume the operation 7 Cycle stop Click on Cycle stop the system will stop operating when the current cycle ends Then a window will pop up Click on...

Page 50: ...leted product reaches this setting value a window will pop up as the reminder and stop auto operation Set it to 0 means to disable this function 14 Planned cycles When the number of completed product reaches this setting value a window will pop up Set it to 0 means to disable this function 15 Planned reminder cycles to warn When the number of defective goods exceeds the setting value an alarm will...

Page 51: ...ing machine Click on Terminal on main screen to go to terminal monitoring screen you can monitor and control signals of cylinder and take out arm input output signals of injection molding machine and signals of servo drive Click on the button of On Off to enable or disable the function of the corresponding terminal Note Function of each terminal can be flexibly defined Screen that shows above is f...

Page 52: ...s Release the button to stop Travel Out Travel In In manual mode use the two buttons towards in or out the travel axis Release the button to stop PA SA In manual mode use the button to change the PA axis or SA axis Hor Ver PA posture Horizontal or Vertical Suck ON OFF suck Clamp ON OFF Clamp Start Pause Start or pause move in Auto mode Manual Stop Stop the program in Auto Go into the Manual mode i...

Page 53: ... and the related functions 11111111111111111111111111111111111111111111 1111111 3 1 Program Manager 54 3 2 Loading and Editing a Program 57 3 3 Description of Edit Function in Teach Mode 57 3 4 Description of Program Setting 59 3 5 Description of Program Command 61 3 5 1 Motion for Each Axis 61 3 5 2 Progam Motion 69 3 5 3 Procedure 73 3 5 4 Others 76 ...

Page 54: ...template users can quickly download each created motion that they had defined beforehand In addition to import and export the program via USB disk or SD card is also supported so that the program can be shared among different take out arm systems 3 1 Program Manager Click on the program name on status bar to enter the screen of Program manager See the following figure for the screen of Program man...

Page 55: ...ll means to display the list of 1000 programs Only display the selected ones means it only displays the program which has file name 6 Edit template Select the program template for editing This function only can be used by administrators The following screen will show up after clicking on the icon Select the template to enter Teach screen 10 templates are provided 1001 1010 7 Program name Edit the ...

Page 56: ...ed program from external device 10 Delete Delete the content from the selected program A window will pop up 11 Copy Copy the selected program to other programs A window of the selected program will pop up after clicking on it 12 Load Load the selected program and enter teach editing screen ...

Page 57: ...will pop up so that users can modify the setting 2 Operate the command displaying area Users can scroll the displayed page of command content and change the target command The related parameters will not be displayed here 3 Cut Delete Cut the target command 4 Clear Long press the button for three seconds to clear all commands 5 Copy Copy the target command 6 Paste Long press the button for three s...

Page 58: ...ist and to select the command that you wish to join 12 Edit the command It displays the related parameters of current command 13 Template Select the template to download to the current program 14 Motion setting It includes the setting of current program such as postures of homing injection protection and standby mode When you click on it its setting window will pop up ...

Page 59: ... from the setting an alarm will occur 3 Ejector protection axis When executing the command of Ejector is allowed to proceed axes that were used to protect the ejector will be switched to torque protection mode to protect the mechanism of take out arm and ejector of injection molding machine 4 Inside mould posture limit When the take out arm is in inner molding area its posture is limited either in...

Page 60: ...collide with the peripheral equipment 7 SP inside mold Allow mould close Reference output When standby in molding area if the command of Molding close is issued beforehand Molding closure signal will be on as soon as the arm is within the allowable range This is for time saving 8 SP Outside mold Allow mould close Reference output When standby in non molding area if the command of Molding close is ...

Page 61: ...a window of command list will pop up for selection Select the command that you are going to use And the selected commands will be displayed in command area See further information below 3 5 1 Motion for Each Axis Interp Move Linear motion of multi axis interpolation Users can select single axis or multi axis to do linear interpolation ...

Page 62: ...e the position for single axis Regard the current position of corresponded axis as the teach position point g Check Without suspend it means after current motion command is complete it will execute the next command right away Thus multiple axes can work individually and simultaneously h Check Overlap it means the current command will smoothly connect to the next command Please bear in mind that th...

Page 63: ...at a time Please refer to command of Interpolation for parameters Goto standby It is the moving command to ask the system moving to the standby position This is read only parameter If you wish to change its setting value please go to Teach Motion setting For safety concerns the standby position of vertical axis of main secondary arm can only be 0 ...

Page 64: ...transverse direction and then place the object right above the target position and if it shall pass the entry point then move downwards to the placing point a It is the speed of motion b It is for setting up the time interval before you execute the next motion command c Stack Setting Click on this button to enter the setting window of array positioning d Starts to move at low speed with the set di...

Page 65: ... j Check Parallel entry Before the arm goes to stacking position it moves horizontally right above the placing point first Then move downward to the stacking point k Coordinate of the first stacking point l Offset setting of the distance between two stacking positions m Setting of stacking number Move Ver axis It is the positioning function of single vertical axis Functions like motion command exe...

Page 66: ...tical axis Move Hor axis It is the positioning function of single horizontal axis Functions like motion command executed by main secondary arm motion command simultaneously executed by main secondary arm and limit the target position of each axis within each distance are all included If 5 axes are servo drives please see the following parameters setting for horizontal axis ...

Page 67: ... servo drives and the other two are cylinders please see the following parameters setting for horizontal axis Move travel axis inside mould Single axis positioning function of horizontal axis Its target position is limited within the inner molding area and at transverse direction ...

Page 68: ...ot for Injection Molding Machine 68 June 2015 Move travel axis outside mould Single axis positioning function of horizontal axis Its target position is limited within the outer molding area and at transverse direction ...

Page 69: ... 69 3 5 2 Progam Motion IMM Operation The system sends the signal to injection molding machine for handshaking Wait IMM The system waits for the handshaking signals from injection molding machine After receiving the signal it continues to carry out the command ...

Page 70: ...ry arm s posture When the arm is in inner molding area its posture is set based on the parameters SA Pneumatic It is the command used to control the secondary arm s posture including moving up and down vertical axis and forward and backward transverse axis When the arm is in inner molding area its posture is set based on the parameters ...

Page 71: ...HMC Take out Robot for Injection Molding Machine June 2015 71 ...

Page 72: ...d before the whole process is complete Off On Off Please note that pulse output will not influence the cycle Thus it is usually applied to the application of conveyor controlling e Interval for executing commands It indicates the interval among each command If the interval number is 2 it means the command will be executed once every three cycles Wait Wait for the input command from clamp vacuum va...

Page 73: ... delay will pop up and an alarm will occur To open and close the safety door again will clear the alarm and resume the operation Press Alarm Confirm F10 to stop the operation 3 5 3 Procedure Starts Apart from the first cycle each cycle starts from this command when it is in auto operation Commands before Starts will be regarded as the initial commands for auto operation End When executing this com...

Page 74: ...rding to the Execute period setting For example if the Execute period is set to 1 commands within the range will be executed every two cycles IF ELSEIF ELSE ENDIF As long as the condition of IF is established can the procedure of IF ELSEIF of IF ENDIF be executed The applying method is similar to program language Please note that nested loop is not supported It only supports one layer of IF ...

Page 75: ... Robot for Injection Molding Machine June 2015 75 FOR BREAK NEXT The executing time of commands in FOR NEXT can be set in accordance with the set constant or variables Please note that nested loop is not supported ...

Page 76: ... June 2015 3 5 4 Others Addition Subtraction Multiplication Division Remainder Assign It is the operation command for system variables 32 system variables for commands are in total U1 U32 which can be used by procedure commands Label It works with Jump ...

Page 77: ...HMC Take out Robot for Injection Molding Machine June 2015 77 Jump It looks for the specified label and directly goes to the command If the specified label cannot be found the cycle is over ...

Page 78: ...tting 4 1 Status Display about Motion Setting 80 4 2 Servo Setting 81 4 3 Moving Distance and Inhibited Zone Setting 82 4 3 1 Moving Distance 82 4 3 2 Safety Zone 83 4 4 Setting for System Operation 84 4 4 1 Motion Setup 84 4 4 2 Motion Confirmation 85 4 5 System Parameters Setting 86 4 5 1 Applied Mechanism 86 4 5 2 Information about Operation 87 4 5 3 HMC Controller Setting 88 ...

Page 79: ...When entering the system page different levels of users can access different contents Screen Limit of Authority Description Motion setting Administrator LEVEL 7 Safety setting Engineer LEVEL 6 Operation setting Engineer LEVEL 6 System setting Administrator LEVEL 7 Servo setting Administrator LEVEL 7 Version Engineer LEVEL 6 ...

Page 80: ...4 Homing lower speed It is the speed after the servo axis is detected by the homing sensor which is the speed to look for Z phase during homing 5 Auto Run speed The max speed during auto operation 6 Jog speed The max jog speed when it is manually controlled 7 Torque protection This function is for protecting the ejector during auto operation The servo drive will limit the torque output according t...

Page 81: ...000 20000 is acquired when the unit converts from mm to um N M 1280000 20000 64 1 2 S curve It is for setting the acceleration curve when motion starts and deceleration curve when motion stops Bigger value brings smoother motion However it brings longer response time 3 Acc time Acceleration time The required time when the motor runs from 0 rpm to 3000 rpm Increase the value can smoother the operat...

Page 82: ...ertical axis downward represents forward direction while upward represent backward direction When it is in forward direction it means the coordinate value is increasing while backward direction means the value is decreasing If the direction is incorrect press this button and re servo on can change the direction 4 3 Moving Distance and Safety Zone Setting 4 3 1 Moving Distance It is the motion sett...

Page 83: ...afety Zone The setting for safety zone means Inhibited zone setting When the take out arm is in inner molding area its moving distance will be limited by the inhibited zone This shall be set in accordance with the setting of injection molding machine for safety concerns ...

Page 84: ...n outer molding area Users can determine if the arm shall Pause or Non Pause when the safety door is opened 3 Safety door action inside mould The arm is in inner molding area Users can determine if the arm shall Stop or Pause when the safety door is opened 4 Monitor alarm of Mid plate mould It can be set to detect Mid plate mould when the mould is opened 5 Detecting midway judgment To detect the i...

Page 85: ... setting the time when the secondary arm moves downward However if the retract signal is On in the setting time an alarm will occur Set the value to 0 to disable this function 4 Timeout of SA Rise It is for setting the time when the secondary arm arises However if the retract signal is Off in the setting time an alarm will occur Set the value to 0 to disable this function 5 SA Forward backward abn...

Page 86: ...ck No then this function will be disabled 2 SA within cylinder rotate Determine if the secondary arm is controlled by air cylinder Controlling by air cylinder is not an usual type The default setting is No 3 SA Hor axis within cylinder mechanism Determine if the horizontal axis of secondary arm is controlled by air cylinder If yes please check Yes 4 SA Ver axis within cylinder mechanism Determine ...

Page 87: ... Take out Robot for Injection Molding Machine June 2015 87 4 5 2 Operating Information It records the system s total operation time Administrator can long press this button to clear the accumulative value ...

Page 88: ...nese and English are available now 2 Touch calibrate Press this button to calibrate the system 3 Password setting Users can change the password 4 Auto log off time If there is no operation within the setting time the system will log out automatically Log on will show on the screen 5 Time adjustment Modify the system time 6 Self locking When this function is enabled if the using time exceeds the se...

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Page 90: ...chine 90 June 2015 Troubleshooting 異 Users can find the related information about alarm screens causes and corrective actions in this chapter 5 1 Screen of Alarm 91 5 2 Servo Alarms and Troubleshooting 92 5 3 System Alarm and Troubleshooting 93 ...

Page 91: ...ding Machine June 2015 91 5 1 Screen of Alarm Apart from the scrolling text shown in the bottom of the screen the screen also display the information about current alarms and alarm history Click on Alarm Confirm or F10 to clear the alarm ...

Page 92: ...iring of RST is correct AL006 Overload 1 Value of the servo gain is in correct 2 Overload ALE009 Excessive position error 1 The setting of the gain value is too small 2 UVW connector is not properly connected 3 Motor s loading is too heavy ALE11 Encoder error Check if CN2 connector is correct ALE13 Emergency stop Check if the emergency stop button is enabled ALE14 15 Sensor limit warning Check if ...

Page 93: ...n and not in the safety area please check if the sensor is effective When it is in transverse position during operation the main arm stretches out During operation the main arm is not in the safety area when it is in transverse position Please make sure the main arm is in the safety area When it is in transverse position the main arm stretches out The main arm is not in the safety area when it is ...

Page 94: ...amp Vacuum detection time out Clamp vacuum signal time out To open and close the safety door again can clear this alarm Click alarm reset will do but it will stop auto operation Inhibited zone interference Please check if the guided axis motion interferes with the motion in safety zone ...

Page 95: ...ng Machine June 2015 95 Others 其 Users can learn how to use external device e g USB to update the system and share the program from this chapter 6 1 Procedures of using USB Disk Export Import 96 6 2 Update the System Screen via USB Disk 98 ...

Page 96: ... Machine 96 June 2015 6 1 Procedures of using USB disk to Export Import Step 1 Go to the screen of Program Manager Then select the program that you wish to store in USB disk Step 2 Click Edit selected program and the screen will show as below ...

Page 97: ...2015 97 Step 3 Click Export Then click USB disk If the file is from external device please select import Step 4 Name the file that you wish to store in USB Disk in the blank of D If the file is from external device please select the file name from USB disk ...

Page 98: ... USB Disk The HMC controller editing software also supports USB disk Users can update system screen with a USB disk without computer Step 1 Edit screen file Click File Male Aito Update Data Step 2 Store the screen to USB disk without changing the file name Its default file name is HMI_AutoUp and can only be stored in root directory The format of USB disk must be FAT32 Step 3 Insert the USB Disk to...

Page 99: ...t for Injection Molding Machine June 2015 99 Step 4 See below for the start up screen of HMC Click YES and the system will start upgrading Then restart the system and unplug the USB Disk after the procedure is completed ...

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Page 101: ...r Injection Molding Machine June 2015 101 Examples 使 This chapter introduces the way to create a new program and to use program template to start the production 7 1 Applying New Program 102 7 2 Applying Program Template 105 ...

Page 102: ...em creating new program and auto operating the system Step 1 When the system is started up please execute homing first to identify a correct coordinate system Step 2 Log in and enter the screen of Program Manager Step 3 Select program No 4 and open to edit it Step 4 Enter DEMO as Program Name and load in this program for teaching and editing ...

Page 103: ...command list to select the command that you wish to edit Then complete the program editing by following the procedures Step 6 After editing the motion commands please store its teaching content Step 7 Then switch the screen to Operation for auto operating the system Step 8 For safety operation please return to the standby point of the main system before carrying out auto operation ...

Page 104: ...HMC Take out Robot for Injection Molding Machine 104 June 2015 Step 9 Click Run to start auto operating Step 10 Auto operating ...

Page 105: ...ave the editing time by applying program template to auto operate the system Step 1 When the system is started up please execute homing first to create a correct coordinate system Step 2 Log in and enter the screen of Program Manager Step 3 Select program No 2 and open to edit it Step 4 Enter USE TEMPLET as Program Name and load in this program for teaching and editing ...

Page 106: ...jection Molding Machine 106 June 2015 Step 5 When creating a new program the essential command list will be automatically generated on the screen Click Template to select the template screen Step 6 Click on the program template ...

Page 107: ...07 Step 7 After loading in the program template all commands and motions from target template will be loaded into the current program Users only need to modify or adjust part of the commands Then store the setting and switch the screen to run for auto operating ...

Page 108: ...HMC Take out Robot for Injection Molding Machine 108 June 2015 Step 8 Please return to the standby point of the main system before carrying out auto operation Click Run to auto operate the system ...

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Delta Electronics HMC Series, Manual

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