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Shini ST1-1100-1800, User Manual

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Shini ST1-1100-1800 User Manual Download Page 70

 

 

70(147) 

 

board. 

Error Number 60   
grasper limit ON   
grasper limit OFF   

After grasping, the signal of 
the grasp not input 
 

1. Whether the air pressure is too low. 
2. Whether having grasp action. 
3. Whether grasping objects. 
4. Check the I/O

’

s connecting wire. 

5. Whether having trouble on circuit 

board. 

Error Number 61   
grasper limit OFF   
grasper limit ON 

After grasping, the signal of 
the grasp input 
 

1. Whether having grasp and put 

actions. 

2. Check the I/O 's connecting wire. 
3. Whether having trouble on circuit 

board. 

Error Number 62   
Pose horizontal valve ON 
Pose horizontal limit OFF 

Pose horizontal, pose 
horizontal limit no signal 
input 

1. Whether the air pressure is too low. 
2. Whether having pose horizontal 

action. 

3. Whether the switch of pose 

horizontal having signal. 

4. Check the I/O

’

s connecting wire. 

5. Whether having trouble on circuit 

board. 

Error Number 63   
Pose vertical valve ON 
Pose vertical limit OFF   

Pose vertical, Pose vertical 
limit no signal input   

1. Whether the air pressure is too low. 
2. Whether having pose vertical 

action.   

3. Whether the switch of pose vertical 

having signal. 

4. Check the I/O

’

s connecting wire. 

5. Whether having trouble on circuit 

board. 

Error Number 64   
The time of dais out is too 
long   

The time of dais out is 
longer than that of defining   

1. The speed of dais out slow or not. 
2. Whether the arm having dais out. 
3. Whether the servo driven rotating. 
4. Check whether the connecting is 

right. 

5. Whether having trouble on circuit 

board. 

Error Number 65   
The time of dais in is too long 

The time of dais in is longer 
than that of defining 

1. The speed of dais in slow or not. 
2. Whether the arm having dais in. 
3. Whether the servo driven rotating. 
4. Check whether the connecting is 

right. 

5. Whether having trouble on circuit 

board. 

Error Number 66   
Emergency stop   

Emergency stop on IMM or 
robot   

1. Loose emergency stop button on 

controller. 

2. Loose emergency stop on IMM. 
3. Check the connection line of 

emergency stop. 

Error Number 67   
Action programs incomplete, 
no action 

Teach programs incomplete 

1. Reset teach program, teaching the 

last action to be back to start point. 

Summary of Contents for ST1-1100-1800

Page 1: ...ST1 Single Axis Servo Driven Robot User Manual Date May 2016 Version V1 4 English ...

Page 2: ......

Page 3: ...1 2 Compressed Air Connection 18 2 1 3 Electric Power Connection 18 2 1 4 Safety Fence 19 2 1 5 Mounting Preparation 19 2 1 6 Mounting Instruction 20 2 1 7 Robot Reversing 20 2 2 Equipment Specification 24 2 2 1 Dimensions unit mm 24 2 2 2 Model Specification 25 2 2 3 Pneumatic Source Requirement 28 2 3 Electrical Connection 29 2 3 1 Main Power Supply 29 2 3 2 Interface with the Injection Molding ...

Page 4: ... 1 ST1 series Abstract 40 3 2 Application 40 3 3 Features 41 3 4 Functions 41 3 4 1 Function Description 41 3 4 2 Malfunction protection 41 3 4 3 Shock Absorber 41 3 4 4 Function Detection 42 3 4 5 Pick and Place 42 3 4 6 Stacking Function 42 3 4 7 Self protection 42 3 4 8 Emergency Stop Function 43 3 5 Default Setting 43 3 6 The Description of Single Axis Servo Robot ST1 Reversing 43 4 Operating ...

Page 5: ...cal Unit ST1 88 7 2 1 Parts List 89 7 3 Main arm unit ST1 93 7 3 1 Parts List 94 7 4 Sub Arm unit ST1 98 7 4 1 Parts List 99 7 5 Main Arm ST1 T 101 7 5 1 Parts List 102 7 6 Sub arm ST1 T Telescopic Arm 104 7 6 1 Parts List 105 7 7 Vertical ST1 T Telescopic Arm 107 7 7 1 Parts List 108 7 8 Traverse unit ST1 T Middle Telescopic Arm 110 7 8 1 Parts List 111 7 9 Main Arm ST1 T Middle Telescopic Arm 11...

Page 6: ...iring Diagram 2 137 8 10Sub Arm Wiring Diagram 138 8 11EM67 Signal Input Wiring Diagram 139 8 12EM67 Signal Output Wiring Diagram 140 8 13Main Control Board Component Layout 141 8 14I O U2 Board Component Layout 142 8 15Z axis Travel in Board U3 Component Layout 143 8 16Main Arm U4 Layout 144 8 17Sub arm U5 Component Layout 145 8 18Pneumatic Schematic Diagram 146 Table index Chart 2 1 Specificatio...

Page 7: ...List 121 Table 7 19 Parts List 123 Table 7 20 Parts List 126 Table 7 21 Parts List 128 Picture index Picture 1 1 14 Picture 1 2 15 Picture 1 3 15 Picture 1 4 16 Picture 2 1 24 Picture 2 2 24 Picture 2 3 25 Picture 2 4 37 Picture 4 1 50 Picture 4 2 51 Picture 7 1 76 Picture 7 2 88 Picture 7 3 93 Picture 7 4 98 Picture 7 5 101 Picture 7 6 104 Picture 7 7 107 Picture 7 8 110 Picture 7 9 115 Picture 7...

Page 8: ...ure 8 3 131 Picture 8 4 132 Picture 8 5 133 Picture 8 6 134 Picture 8 7 135 Picture 8 8 136 Picture 8 9 137 Picture 8 10 138 Picture 8 11 139 Picture 8 12 140 Picture 8 13 141 Picture 8 14 142 Picture 8 15 143 Picture 8 16 144 Picture 8 17 145 Picture 8 18 146 ...

Page 9: ...r injection molding machine IMM ONLY Any modification or change to the original design of the robot is forbidden Any improper installation and operation may result in injury to personnel and or damage to equipments Please contact the manufacturer or local vender immediately if there is any problem with robot when operate it Please note that our robot must be cooperated with other safety device i e...

Page 10: ...d be kept at 6MPa 0 1MPa while operation Remove anything from the top of the robot to prevent falling due to vibration Press EMERGENCY STOP button immediately when accident occurs Do not modify the robot body and control box Please contact manufacturer or vendor if any change is required Turn off power supply and compressed air before maintenance and adjustment Also set up warming signs and safety...

Page 11: ...y except special equipment since adaptation to specific site conditions is required If such safeguarding is provided by you please note that it must be installed prior to startup of the equipment in order to be included in the safety circuit of the system upon startup The warning marks and its meanings No Marks Meaning 1 DO Not Touch 2 Caution Danger 3 Caution Electric shock 4 Caution Mechanical i...

Page 12: ...stop button can be released by turning it clockwise The emergency stop circuit of the robot and the injection molding machine are connected by the Euromap12 or Euromap67 interface Therefore when the emergency stop button on the molding machine is pressed the robot will also stop and vice versa 1 4 Transportation and Storage During transporting the robot working underneath the robot is forbidden If...

Page 13: ...he factory it is confirmed in good working condition please check whether there is any damage during carrying or transporting Please be carefully when dismantling of components and packaging if the robot has found the injury you can use the package again If there is any damage caused by transport please 1 Feedback immediately to the transportation companies and our company 2 Claim damages to the s...

Page 14: ...ock the arm connecting plate and the sliding seat ensure that the arm in vertical state 2 There is a ring in the parts box when the robot sent after taking apart the package the ring is installed on the T type block of the vertical beam using with the two ends of beam See the picture Note After hoisting please keep rings of the vertical beam and use again next time Pack supporting plate Fixing scr...

Page 15: ...15 147 Picture 1 2 Packing of ST1 T medium telescopic arm Picture 1 3 Hanging transportation of ST1 and ST1 T ...

Page 16: ...ated dry room to prevent rust and damping 3 If not use for a long time please anti rust and if necessary place film to prevent dust and erosion 1 4 4 Operation Environment 1 Temperature between 5 to 40 2 Humidity Temperature 40 relative humidity 50 3 Elevation Under 1000 meters above sea level 4 Stop using the product immediately when the following occurs I Power cable is damaged II Air tube is da...

Page 17: ...n by any buyer or user who purchases products and accessories from Shini including employees and agents Shini is exempted from liability for any costs fees claims and losses caused by reasons below 1 Any careless or man made installations operation and maintenances upon machines without referring to the Manual prior to machine using 2 Any incidents beyond human reasonable controls which include ma...

Page 18: ...vision cables 9 Use the independent cable and power switch the diameter of main power wire can not be less than the wire of control box 10 The end of the power wire must be safety and immobility 2 1 2 Compressed Air Connection 1 According to the filter specifications to choose a suitable hose connected between the air source and the filter Note Before connecting hoses clean the hoses by compressed...

Page 19: ... performed only by authorized electrician and should be in accordance with any applicable regulations 2 1 4 Safety Fence 1 After installing the robot indicate the safety fence outside the scope of the robot working area 2 The hand controller should be fixed outside of the safety fence 3 Stick the warning signals on outstanding place of the fence 2 1 5 Mounting Preparation 1 Before drilling switch ...

Page 20: ...ction molding machine then fix robot on connection base 2 1 7 Robot Reversing The following paragraph is the instruction for changing robot dropping side Operation side non operation side For safety purpose please turn off the electrical power and pneumatic supply before carry on the instruction 1 Unscrew the proximity sensor X024 and move it up to the same level as X025 then screw X024 Unscrew th...

Page 21: ...M safety zone blocks from the right end of the beam to the left end of the beam See picture 2 1 3 Move the origin block from the left end of the beam to the right end of beam 100mm away from the limit block See picture 2 1 4 Picture 2 1 3 Picture 2 1 4 ...

Page 22: ... parameter of transverse servo drive Pr41 from 0 to 1 and Pr46 from 1 to 0 1 Press S key toggle the display to dp_5pd the press M key to PR_00 Use to selected number use to move cursor Press S again to set the parameter Use to adjust parameter to move cursor S to confirm the setting Do this for Pr41 and Pr46 2 Save setting Press M and follow by S toggle the display to EE_SEE press and hold key unt...

Page 23: ...itch on the power picture 2 1 7 Servo motor traverse position 5 Check the result of reversing 1 When press HP back to origin the traverse direction of robot will opposite with reversing 2 When press HP back to origin the proximity sensor X024 should light up 3 The end limit sensors X041 and X042 should light up if robot operates ...

Page 24: ...24 147 2 2 Equipment Specification 2 2 1 Dimensions unit mm A F B G H I C E D Picture 2 1 ST1 Picture 2 2 ST1 T ...

Page 25: ...raverse Stoke mm 1300 1300 Main Arm 250 250 Crosswise Stoke mm Sub arm 150 Main Arm 700 700 Vertical Stroke mm Sub arm 750 Max Load kg 3 3 Min Pick out Time sec 2 7 2 7 Min Cycle Time sec 8 8 Air Pressure Range bar 4 6 4 6 Max Air Consumption NL cycle 11 17 Net Weight kg 240 260 A 2020 2020 B 1220 1220 C 1600 1600 D max 700 700 E max 750 F max 1300 1300 G max 170 H max 150 Dimensions mm I max 660 ...

Page 26: ...0 1030 1030 Note 1 M stands for middle mold detector suit for 3 plate mold EM12 stands for EUROMAP12 communication interface EM67 stands for EUROMAP 67 communication interface N stands for non operation side operation side without N 2 Power supply 1Ф 200 240V 50 60Hz 3 max air consumption for suction device 60NI min Chart 2 2 Specification List ST1 T Model ST1 700 1300T ST1 700 1300DT ST1 900 1500...

Page 27: ...1300 2000T ST1 1300 2000DT Application IMM ton 300 450 300 450 450 650 450 650 Traverse Stroke mm 1800 1800 2000 2000 Main Arm 400 400 400 400 Crosswise Stroke mm Sub arm 200 200 Main Arm 1100 1100 1300 1300 Vertical Stroke mm Sub arm 1150 1350 Max Load kg 5 5 5 5 Min Pick out Time sec 2 5 2 5 2 8 2 8 Min Cycle Time sec 7 6 7 6 8 8 Air Pressure Range bar 4 6 4 6 4 6 4 6 Max Air Consumption N cycle...

Page 28: ... operation side without N 2 Power supply 1Ф 200 240V 50 60Hz 3 max air consumption for suction device 60NI min 2 2 3 Pneumatic Source Requirement Compressed air is connected by 3 8 Ф12 trachea Filter pressure valve with a clear scale line convenient adjustment Bring adjustment knob upward and with a clockwise rotation pressure increases counterclockwise rotation air pressure decreases the pressure...

Page 29: ...s must be done by a specialist in injection molding machines and robots Preferably this should be done by one of our service engineers together with a qualified service engineer for the injection molding machine The interface signal functions must be carefully tested as improper operation may cause malfunction or damage to the robot and molding machine In particular the functions of the safety cir...

Page 30: ... for adjusting the 0 position and stop package B is for adjusting the stroke length and the end position Before running in to the mold range with the Y axis for the first time you must check whether the X positions can be reached without damaging the mold and the Y axis First the end position of the X axis must be adjusted Adjusting the End Position of X1 Axis 1 Run the X1 axis to its end position...

Page 31: ...sition Set the end position of Y axis by adjusting up going shock absorber Adjusting the End Position of Y axis 1 Loosen shock absorber on the end position 2 Push the cylinder on Y axis to its end position 3 Rotate the up going shock absorber to the in the fully compression state 4 Fix the shock absorber The withdrawal position can be set using the stop package Adjusting the Withdrawal Position 1 ...

Page 32: ...alarm 2 5 2 Suction Setting 1 The default mode of vacuum switch of is testing mode 2 In testing mode press the SET key toggle the display into pressure setting mode the step as flowing a In pressure setting mode P 1 and the current setting value alternately flashing press SET key will display settings value at this time enter into value setting mode by pressing UP and DOWN key b In the value setti...

Page 33: ...e now press UP or DOWN key to select manual mode or automatic mode After selecting press SET key it will return to the testing mode 2 5 3 Digital Pressure Switch Setting 1 The default setting is 4bar it can be adjusted according to the actual needs 2 Digital pressure switch marked with scale the internal of the digital pressure switch has a red ruler which connected with the adjustment screw when ...

Page 34: ...For protecting against hazardous motions of the robot The switch is closed when the safety system of the injection molding machine is active ZA4 ZC4 Safety system active channel 2 For protecting against hazardous motions of the robot The switch is closed when the safety system of the injection molding machine is active ZA5 optional Reject The signal is HIGH when the molded piece is a reject The sw...

Page 35: ...signal when the core pullers are in position for removal of the injection moiling see pin contact No B5 ZB6 Core pullers 1 in position to remove molding HIGH signal when the core pullers are in position for removal of the injection molding see pin contact No B6 ZB7 optional Core pullers 2 free for robot to approach HIGH signal when the ejector is back regardless of the position of the movable tool...

Page 36: ...injection molding machine HIGH signal when the robot is switched off B3 Ejector back enabled HIGH signal when the removal operation has been performed far enough for the motion ejector back to be carried out the signal is HIGH for the duration of the motion ejector back the signal must be maintained at least until the signal ejector back from the molding machine see pin contact No ZB3 B4 Ejector f...

Page 37: ...terrupt the emergence stop circuit of the robot 2 Mold open The switch contact pin contact 16 is closed when mould opening position is equal or more than required position Inadvertent alteration to mould opening stroke smaller than that required for the handing device to approach must be impossible 3 11 Safety system active The switch contact is closed when safety devices e g safety guard footboar...

Page 38: ... 10 Fully automatic mode injection molding machine Switch see pin contact No 16 is closed when the operating mode selector switch is on semi automatic or fully automatic mode 12 Mold closed Switch see pin contact No 16 is closed when the mould closing has been completed the signal enable close is no longer necessary see pin contact No 17 13 optional Free 14 optional Mold at intermediate position S...

Page 39: ...t see pin contact No 32 is closed when the handing device enable the movement for ejector forward the switch contact must remain closed at least until ejector forward signal is given by the injection molding machine see contact No 5 23 optional Enable motion of core pullers for removal of injection moldings The switch contact contact no 32 is closed when the enable motion of core pullers for remov...

Page 40: ...ts It is the best choice for the 2 plate 3 plate mold users and hot runner mold plate users Model ST1 3 2 Application 1 ST1 550 1000 D suitable for the use with plastics injection molding machine under 100T 2 ST1 700 1400 D suitable for the use with plastics injection molding machine 100T to 200T 3 ST1 900 1600 D suitable for the use with plastics injection molding machine 200T to 300T 4 ST1 1100 ...

Page 41: ...s 6 Humanization Use the humanization control system easy to operate 7 Package Mainly used wrist packing designs which can save room avoid damage during transportation 3 4 Functions 3 4 1 Function Description ST1 series robot is mainly used for injection molding product and the spure removed all major parts of the robot are equipped with shock absorber devices and magnetic sensor switch there is a...

Page 42: ... occur accidents it will stop working and alarm 3 4 5 Pick and Place The arm with quickly pick and accurately put function you can adjust the flow regulating valve on the main arm to change the putting speed 3 4 6 Stacking Function This series robot with the stack function choose the stack function of X axis and Y axis in the control system Stack on X axis can make two layer start point and end po...

Page 43: ...or messages If robot goes out of order or need emergency stop for examinations press the emergency stop button to ensure safety operation 3 5 Default Setting 1 Speed of transverse the initial setting is 85 2 Pressure sensor the initial setting is 4bar if air pressure is less than 4bar the robot will stop working and alarm 3 Filter regulating valve the factory setting is 6bar 4 Vacuum pressure swit...

Page 44: ...just home position block Move sliding seat to X042 sensor block the distance between sliding and X042 sensor block is 15mm Unscrew home position block and move it to X042 sensor block till X025 sensor light up Then tighten home position block See picture 2 1 2 2 2 3 2 4 2 5 ...

Page 45: ...45 147 Picture 2 1 sliding and X042 sensor block Picture 2 2 home position block Home position block X041sensor plate X042 sensor block Sliding seat ...

Page 46: ...46 147 Picture 2 3 X025 sensor Picture 2 4 X 025 lights up ...

Page 47: ... blocks Move sliding back to X041 sensor block till X041 sensor switches off Unscrew all outside IMM safety zone blocks and move them to X041 sensor block till X024 sensor lights up Tighten all outside IMM safety zone blocks See picture 3 1 3 2 X042 sensor block 15mm ...

Page 48: ...to the other end and tighten it 5 Adjust parameters of servo drive For Panasonic A5 servo drive adjust the parameter of PR006 and PR012 For Panasonic A4 servo drive adjust the parameter of PR41 and PR46 The fowling is the adjust steps outside IMM safety zone blocks X024 sensor blocks outside IMM safety zone blocks X041 sensor block ...

Page 49: ...to 1 adjust PR46 parameter from 1 to 0 5 2 Save settings Press M once then press S once into EE SET page Press till screen shows RESET Mode EE SET Set Up RESET Turn off power at least 3 seconds if less than 3 seconds cannot save the settings the turn on power again 6 Check reversing a When robot traverse in crawl mode robot running reverse b Press HP on hand controller after back to home position ...

Page 50: ...50 147 4 Operating Instruction 4 1 Hand Controller 4 1 1 Operation Panel of Hand Controller Picture 4 1 4 1 2 Home Position Setting After power on press key at state of rest to origin ...

Page 51: ... unit mm 2 TraversMode traverse mode press to select the manual mode or adjusting micro inching mode Manual Press or after robot operate traverse in or traverse out stop press the keys the robot will stop in the start origin point Inching Press or robot traverse in or traverse out if stop press keys robot will stop this action 3 Speed manual speed set the robot s speed of traverse 4 Act action pre...

Page 52: ...bot and injection molding machine please pay attention to the following 1 After robot s arm going down it can not go vertical or horizontal 2 After robot s arm going down it can not traverse except the inside of IMM security zone 3 No mold open signal the robot can not go down inside of IMM 4 1 4 Automation Mode Press twice to enter into auto mode display Press or to set the desired functions ...

Page 53: ... production quantity of the enactment When the current yield arrives to the set the yield it will alarm 7 ProRel realistic production Take the quantity that the thing completes the production physically Note Remove product without alert please remove failures of IMM Then allow robot to move again 4 2 The Function Instructions 4 2 1 Basic Function Setting In STOP display press toggle the display to...

Page 54: ...ector output Signals of ejector choose to use 5 M ClampCHK main clamp check Positive To clip an object successfully the switch positive testing and get a signal of gripper switch On Reverse To clip an object successfully the switch reverse testing and get a signal of gripper switch OFF NOUSE The switch of the gripper no testing the gripper clip the object or not it should not be recognized signal ...

Page 55: ... password page input 5488 then press to enter the special function page1 Press to move the cursor to each item Press to change and confirm Picture 4 5 1 CycleTime cycle time Time set for system check action Means the maximum time from current cycle complete to the next Injection Machine mold opened limit If waiting time exceed the set value alarm raise 2 AlarmTime alarm time for the alert time per...

Page 56: ... open signal and protect middle mold Nouse after robot got mold open signal robot arm will down to pick up products This operation no needs to detect middle mold open signal 7 Sound Off No sound while pressing On Sound while pressing 8 Waitpos wait posture Vertical Robot in standby modes the gripper group in the vertical position Horizontal Robot in standby modes the gripper group in the horizonta...

Page 57: ...after closing the safe door and then the safe signal of switch mode output again 12 Trans Cnt Conveyer Interval Conveyor output once every number of model time setting 13 Prep 1 Cnt Reservation 1 every number set output once 14 Prep 2Cnt Reservation 2 every number set output once 15 PressCHK pressure check NoUse Air pressure signal not to check Usage when the air pressure is not reach the setting ...

Page 58: ... axes NOUSE Y axis does not use the stack Use Y axis using the two points stacks Note When the waiting poses waiting position down pose changes need to ensure that automatic procedures match the set function 4 2 3 Mold Choice In WAITING page press enter the mold choice of action program page Picture 4 7 Choose one program from the 0 99 to read or then put it into 20 99 to memory as the code of the...

Page 59: ...y selected of mode number 1 Current sequence it is the number of the current action Dbl Down two arms down Teach action it is the current action Set Dist set the distance Transverse movement to be taught the arm will be moved to the position Set Spe set the speed Transverse movement to be taught it is the speed of the arm moving to the sequence Set Time set the time The current action delay time t...

Page 60: ...each Setting distance and speed should only in the horizontal movement page 4 2 6 Monitor Press enter the input monitor page Press to key to switch monitor pages Picture 4 9 Press enter the output monitor page Press to key to switch monitor pages means no signal means having signal Picture 4 10 ...

Page 61: ...up Dais out Pose horizontal Main arm down Main arm put Main arm up Pose vertical Dais in Program 3 Main arm down Main arm forward Main arm clip Main arm backward Main arm up Pose horizontal Dais out Main arm down Main arm put Main arm up Pose vertical Dais in Program 4 Sub arm down Sub arm forward Sub arm clip Sub arm backward Sub arm up Dais out Sub arm put Dais in Program 5 Double arms down Doub...

Page 62: ...ard Main arm clip Sub arm clip Double arms backward Double arms up Dais out Sub arm put Dais out Pose horizontal Main arm down Main arm put Main arm up Pose vertical Dais in Program 8 Double arms down Double arms forward Main arm clip Sub arm clip Double arms backward Double arms up Pose horizontal Dais out Main arm down Main arm put Main arm up Pose horizontal Dais in Sub arm put Dais in ...

Page 63: ... to original point Sub arm up going no signal input the robot not in the stand by state 1 Whether the air pressure is too low 2 Whether having the signal of sub arm up going proximity switch 3 Check the I O s connecting wire 4 Whether having trouble on circuit board Error Number 5 Main clip ON the robot not back to original point Main clip has signal input the robot not in the stand by state 1 Whe...

Page 64: ... go down to pick objects the signal mold open OFF 1 Whether having the signal mould open output from IMM 3 Check the I O s connecting wire 4 Whether having trouble on circuit board Error Number 14 Robot go down to pick the objects signal of mild plate OFF Robot go down to pick the objects signal of mild plate open OFF 1 Whether the mid plate mould open 2 Whether having signal of proximity switch i...

Page 65: ...e horizontal limit and pose vertical limit having signal input at the same time 1 Whether the switch of pose horizontal limit and pose vertical limit having troubles 2 Check the I O s connecting wire 3 Whether having trouble on circuit board Error Number 23 Before arm down the signal of the mould open OFF Before arm down to pick the signal of the mould open OFF 1 Whether having signal mould open o...

Page 66: ...les of suck testing switch 3 Check the I O s connecting wire 4 Whether having trouble on circuit board Error Number 31 Before arm down grasp limit ON Before arm down grip testing switch has signal input 1 Whether sucking 2 Whether having troubles of suck testing switch 3 Check the I O s connecting wire 4 Whether having trouble on circuit board Error Number 32 Before dais out Main arm down valve ON...

Page 67: ...gnals 4 Check the I O s connecting wire 5 Whether having trouble on circuit board Error Number 41 Main arm down valve OFF Main arm down limit ON After the main arm up signal of main arm down limit input 1 Whether the air pressure is too low 2 Whether main arm go up 3 Whether main arm down switch having signals 4 Check the I O s connecting wire 5 Whether having trouble on circuit board Error Number...

Page 68: ... Main arm forward valve OFF Main arm forward limit ON After main arm go back the signal of main arm forward limit input 1 Whether the air pressure is too low 2 Whether main arm go backward 3 Whether the main arm go forward switches having signals 4 Check the I O s connecting wire 5 Whether having trouble on circuit board Error Number 49 Main arm forward valve OFF Main arm backward limit OFF After ...

Page 69: ...lip valve OFF Main clip limit ON Main put main clip having signal input 1 Whether the air pressure is too low 2 Whether main gripper clip 3 Whether main gripper clip the products 4 Check the I O s connecting wire 5 Whether having trouble on circuit board Error Number 56 Sub clip valve ON Sub grip limit OFF Main clip sub clip no signal 1 Whether the air pressure is too low 2 Whether sub gripper cli...

Page 70: ...signal input 1 Whether the air pressure is too low 2 Whether having pose vertical action 3 Whether the switch of pose vertical having signal 4 Check the I O s connecting wire 5 Whether having trouble on circuit board Error Number 64 The time of dais out is too long The time of dais out is longer than that of defining 1 The speed of dais out slow or not 2 Whether the arm having dais out 3 Whether t...

Page 71: ... The position of the safety door not set The position of the safety door not set 1 Set the position of the safety door Error Number 74 The position of the placing lower than that of safe door Setting the position of the placing lower than that of safe door 1 Reset the position of the place the position must be higher than safe door Error Number 75 The position of the placing goods is more than the...

Page 72: ...l of limit switch having troubles Alarm No 84 Robot is not at the ends of the traverse beam Robot is not at the ends of the traverse beam 1 Use manual to traverse in out the robot to the end 2 Check the traverse in limit sensor signal is available 3 Check the traverse out limit sensor signal is available Alarm No 85 Insufficient inlet pressure Insufficient inlet pressure 1 Check inlet pressure 2 C...

Page 73: ...ignal from IMM 1 Check automation signal from IMM 2 Check the wiring for automation signal 3 Check main control board of robot Alarm No 92 Communication fails between control board and hand controller Communication fails between control board and hand controller 1 Check the wiring between control board and hand controller 2 Check the control board Alarm No 93 Before arm descend outside IMM does no...

Page 74: ...cepts the robot Please note in particular that safety instructions marked with must be observed according to regulations so that fully functionality of this equipment can be guaranteed Before carrying out maintenance work and entering the safety zone of the robot the main switch and compressed air must be disconnected and the compressed air system must be evacuated 6 2 Lubrication Requirements Rem...

Page 75: ...1 Swab robot 2 Filter drainage 3 Check the air pressure 4 Check bolt connection robot and injection molding machine whether tighten 5 Check all block settings whether tightened 1 Use air clean filter 2 Check the screws on all part whether tightened 3 Confirm whether the pipelines break or loose 4 Check and adjust the operating speed Brush oil on to the axis ...

Page 76: ...76 147 7 Assembly Diagram 7 1 Traverse Unit ST1 and ST1 T Picture 7 1 ...

Page 77: ...00010 9 Buffer cap YW80200000000 YW80200000000 YW80200000000 YW80200000000 10 Belt holding plate YW09474000110 YW09474000110 YW09474000110 YW09474000110 11 Belt splint connecting piece BL70110100020 BL70110100020 BL70110100020 BL70110100020 12 Synchronous belt YR00082500100 YR00082500100 YR00082500100 YR00082500100 13 Servo motor 14 Speed reducer 15 Fixing plate of traverse drag chain BL7155530002...

Page 78: ...e terminal installation frame BL70112100020 BL70112100020 BL70112100020 BL70112100020 36 Traverse terminal bottom frame BL70112100020 BL70112100020 BL70112100020 BL70112020040 37 Lock BL70112100020 BL70112100020 BL70112100020 YW00000000100 38 Trapezoid plastic handle BL70112100020 BL70112100020 BL70112100020 YR40914040000 39 Sliding seat cover BL70112100020 BL70112100020 BL70112100020 BL7012700002...

Page 79: ...020 BL71071400020 50 Filter regulating valve YE30320400100 YE30320400100 BL71071420020 YE30301000000 means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual before placing the purchase order to guarantee that the item number of the spare part is in accordance with the real object ...

Page 80: ...0200000000 YW80200000000 YW80200000000 10 Belt holding plate YW09474000110 YW09474000110 YW09474000110 YW09474000110 11 Belt splint connecting piece BL70110100020 BL70110100020 BL70110100020 BL70110100020 12 Synchronous belt YR00082500100 YR00082500100 YR00082500100 YR00082500100 13 Servo motor 14 Speed reducer 15 Fixing plate of traverse drag chain BL71555300020 BL71555300020 BL71555300020 BL7155...

Page 81: ...te BL70553200020 BL70553200020 BL70553200020 BL70553200020 34 Servo drive 35 Traverse terminal installation frame BL70112100020 BL70112100020 BL70112100020 BL70112100020 36 Traverse terminal bottom frame BL70112100020 BL70112100020 BL70112100020 BL70112020040 37 Lock BL70112100020 BL70112100020 BL70112100020 YW00000000100 38 Trapezoid plastic handle BL70112100020 BL70112100020 BL70112100020 YR4091...

Page 82: ...20 BL71071420020 BL70113000020 49 Control box BL70124000020 BL70124000020 BL70124000020 BL70124000020 50 Filter regulating valve BL71071420020 BL71071420020 BL71071420020 YE30301000000 means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual before placing the purchase order to guarantee that the item number of the spare part is in accor...

Page 83: ...BL70110100020 BL70110100020 BL70110100020 12 Synchronous belt YR00082500100 YR00082500100 YR00082500100 YR00082500100 13 Servo motor 14 Speed reducer 15 Fixing plate of traverse drag chain BL71555300020 BL71555300020 BL71555300020 BL71555300020 16 Vertical aluminum profile connection board BL70123000020 BL70123000020 BL70123000020 BL70123000020 17 Fixing shaft on vertical beam BH91131700010 BH9113...

Page 84: ...BL70112100020 BL70112100020 BL70112100020 YW00000000100 38 Trapezoid plastic handle BL70112100020 BL70112100020 BL70112100020 YR40914040000 39 Sliding seat cover BL70112100020 BL70112100020 BL70112100020 BL70127000020 40 Traverse drag chain BL70112100020 BL70112100020 BL70112100020 BL70127000020 41 Belt fixing frame 1 BL70112100020 BL70112100020 BL70112100020 BL71010900020 42 Safety sensor panel o...

Page 85: ...ns possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual before placing the purchase order to guarantee that the item number of the spare part is in accordance with the real object ...

Page 86: ...te 11 Belt splint connecting piece BL70110100020 BL70110100020 BL70110100020 BL70110100020 12 Synchronous belt YR00082500100 YR00082500100 YR00082500100 YR00082500100 13 Servo motor 14 Speed reducer 15 Fixing plate of traverse drag chain BL71555300020 BL71555300020 BL71555300020 BL71555300020 16 Vertical aluminum profile connection board 17 Fixing shaft on vertical beam 18 Washer 19 Sliding seat B...

Page 87: ...YW06251500000 YW06251500000 YW06251500000 41 Belt fixing frame 1 BL70112100020 BL70112100020 BL70112100020 BL71010900020 42 Safety sensor panel of mold BL70112100020 BL70112100020 BL70112100020 BL69002200020 43 End cover of traverse beam BL70112100020 BL70112100020 BL70112100020 BH74000100010 44 Aluminum profile of traverse BH72111800010 BH72111800010 BH78113000013 BH78113000013 45 Traverse drag c...

Page 88: ...88 147 7 2 Vertical Unit ST1 Picture 7 2 ...

Page 89: ...020 BL70107000020 8 Vertical aluminum profile BH91801600010 BH91801600010 BH91801600010 BH91801600010 9 Piston rod YW09055000300 YW09055000300 YW09055000300 YW09055000300 10 Vertical cylinder holder frame of sub arm BL70104000040 BL70104000040 11 Sub arm 12 Main arm BH72701400010 13 Limit block BH91202500110 BH91202500110 BH91202500110 BH91202500110 14 Linear guiding rail 15 Lifting rings YW090008...

Page 90: ... supporting frame BL70550900020 BL70550900020 BL70550900020 BL70550900020 means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual before placing the purchase order to guarantee that the item number of the spare part is in accordance with the real object ...

Page 91: ...0107000020 8 Vertical aluminum profile BH91115000010 BH91115000010 BH91139000010 BH91139000010 9 Piston rod YW09055000300 YW09055000300 YW09055000300 YW09055000300 10 Vertical cylinder holder frame of sub arm BL70104000040 BL70104000040 11 Sub arm 12 Main arm BH72901600010 BH78180022010 13 Limit block BH91202500110 BH91202500110 BH91202500110 BH91202500110 14 Linear guiding rail 15 Lifting rings Y...

Page 92: ... supporting frame BL70190900020 BL70190900020 BL70110900020 BL70110900020 means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual before placing the purchase order to guarantee that the item number of the spare part is in accordance with the real object ...

Page 93: ...93 147 7 3 Main arm unit ST1 Picture 7 3 ...

Page 94: ...91502550010 BH91502550010 BH91502550010 BL70112000040 7 Drag chain connector on main arm BL70108000020 BL70108000020 BL70108000020 BL70108000020 8 Drag chain on main arm up down YE60250003700 YE60250003700 YE60250003700 YE60250003700 9 Main arm aluminum profile BH91106500010 BH91106500010 BH91505400010 BH91505400010 10 Down sensor sheet on main arm 11 Linear guiding rail 12 Cylinder on main arm up...

Page 95: ...000 YW80200000000 YW80200000000 YW80200000000 23 Proximity switch YE15050100300 24 Falling proof cylinder YE30055000350 YE30055000350 YE30055000350 YE30055000350 25 Up going sensor sheet on main arm BL70101000040 BL70101000040 BL70101000040 BL70101000040 means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual before placing the purchase...

Page 96: ...L70108000020 BL70108000020 8 Drag chain on main arm up down YE60250003700 YE60250003700 YE60250003700 YE60250003700 9 Main arm aluminum profile BH91142500010 BH91142500010 BH91166500010 BH91166500010 10 Down sensor sheet on main arm 11 Linear guiding rail 12 Cylinder on main arm up down 13 Pneumatic distribution block on main arm BH72551100050 BH72551100050 BH72551100050 BH72551100050 14 Magnetic ...

Page 97: ...g proof cylinder YE30055000350 YE30055000350 25 Up going sensor sheet on main arm BL70101000040 BL70101000040 BL70101000040 BL70101000040 means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual before placing the purchase order to guarantee that the item number of the spare part is in accordance with the real object ...

Page 98: ...98 147 7 4 Sub Arm unit ST1 Picture 7 4 ...

Page 99: ...n sub arm up down YE60152500000 10 Steel cover on sub arm BL70101100020 BL70101100020 11 Terminal mounting plate on sub arm BL70111200040 BL70111200040 12 Terminal bottom frame on sub arm BL70101200040 BL70101200040 13 Magnetic valve 14 Cylinders on sub arm up down YE30257000000 15 Pneumatic distribution block on sub arm BH72550000050 BH72550000050 16 Proximity switch 17 Sub arm mounting plate BL7...

Page 100: ...down 10 Steel cover on sub arm BL70101100020 BL70101100020 11 Terminal mounting plate on sub arm BL70111200040 BL70111200040 12 Terminal bottom frame on sub arm BL70101200040 BL70101200040 13 Magnetic valve 14 Cylinders on sub arm up down 15 Pneumatic distribution block on sub arm BH72550000050 BH72550000050 16 Proximity switch 17 Sub arm mounting plate BL71018000040 BL71018000040 18 Shock absorbe...

Page 101: ...101 147 7 5 Main Arm ST1 T Picture 7 5 ...

Page 102: ...nnector parts of main arm 1 10 Drag chain connector parts of main arm 2 11 Drag chain on main arm up down BL70012800020 BL70012800020 BL70012800020 BL70012800020 12 Aluminum profile of main arm BH13170300010 BH13170300010 BH13019160010 BH13019160010 13 Down buffer plate 1 of main arm BL70102400040 BL70102400040 BL70102400040 BL70102400040 14 Sensor fixing plate YW09601400110 YW09601400110 YW096014...

Page 103: ...BL70112000040 37 Tooth plate 1 of arm belt 38 Up going fixing plate of belt BL70100500040 BL70100500040 BL70100500040 BL70100500040 39 Tooth plate 2 of arm belt 40 Connection shaft of telescopic arm BH13011210010 BH13011210010 BH13011210010 BH13011210010 41 Fixing plate of pulley 1 BL70001200020 BL70001200020 BL70001200020 BL70001200020 42 Pulley on telescopic arm BH13014130010 BH13014130010 BH130...

Page 104: ...104 147 7 6 Sub arm ST1 T Telescopic Arm Picture 7 6 ...

Page 105: ...m 9 Terminal bottom frame on sub arm BL70101200040 BL70101200040 10 Trunking frame on sub arm 11 Steel cover 1 of sub arm BL70102100020 BL70102100020 12 Magnetic valve 13 Pneumatic distribution block on sub arm BH72550000050 BH72550000050 14 Sub arm mounting plate BL72002400040 BL72002400040 15 Belt fixing plate 1 BL70019000020 BL70019000020 16 Pulley fixing plate 1 BL70001200020 BL70001200020 17 ...

Page 106: ... sub arm BL72201900040 BL72201900040 29 Sensor fixing plate YW09601400110 YW09601400110 30 Up going sensor plate of main arm 31 Steel cover 2 of sub arm BL70100100020 BL70100100020 32 Shock absorber 33 Mounting plate of proximity switch 34 Anti falling cylinder YE30055000350 YE30055000350 means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of...

Page 107: ...107 147 7 7 Vertical ST1 T Telescopic Arm Picture 7 7 ...

Page 108: ...0107000020 BL70107000020 BL70107000020 9 Piston rod YW09055000300 YW09055000300 YW09055000300 YW09055000300 10 Cylinder holder frame of sub arm BL70150900020 BL70150900020 BL70150900020 BL70150900020 11 Aluminum profile of vertical BH91801600010 BH91801600010 12 Linear guide 13 Fixing frame of vertical cylinder BL70103000040 BL70103000040 BL70103000040 BL70103000040 14 Sub arm BH78701400110 BH7890...

Page 109: ... BH91801600010 BH91801600010 22 Shock absorber means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual before placing the purchase order to guarantee that the item number of the spare part is in accordance with the real object ...

Page 110: ...110 147 7 8 Traverse unit ST1 T Middle Telescopic Arm Picture 7 8 ...

Page 111: ...YM50801502400 YM50801502400 YM50801502400 YM50801502400 11 Driver mounting plate 12 Servo driver 13 Cover of sliding base BL72105000020 BL72105000020 BL72105000020 BL72105000020 14 Belt fixing supporting frame 2 15 Braking resistor YE20200450000 YE20200450000 YE20200450000 YE20200450000 16 Connection shaft BH91304800010 BH78111000010 BH78111000010 BH78111000010 17 Pulley BH91030000010 BH7811200001...

Page 112: ...74000100010 BH74000100010 BH74000100010 BH74000100010 35 Traverse drag supporting frame BL72110800020 BL72110800020 36 Traverse drag YW06251500000 YW06251500000 YW06251500000 YW06251500000 37 Cover of control box BL72107000020 BL72107000020 BL72107000020 BL72107000020 38 Connecting plate of grounded BL70126000020 BL70126000020 BL70126000020 BL70126000020 39 Control box BL72106000020 BL72106000020 ...

Page 113: ...e BL72105000020 BL72105000020 14 Belt fixing supporting frame 2 15 Braking resistor YE20200450000 YE20200450000 16 Connection shaft BH78111000010 BH78111000010 17 Pulley BH78112000010 BH78112000010 18 Cover of motor supporting frame BL72108200020 BL72108200020 19 Synchronous pulley YW08621900000 YW08621900000 20 Motor supporting frame BL72109000040 BL72109000040 21 Speed reducer 22 Servo motor 23 ...

Page 114: ...1500000 YW06251500000 37 Cover of control box BL72107000020 BL72107000020 38 Connecting plate of grounded BL70126000020 BL70126000020 39 Control box BL72106000020 BL72106000020 40 Wave filter fixing plate 41 Filter regulating valve YE30400015000 YE30400015000 means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual before placing the pur...

Page 115: ...115 147 7 9 Main Arm ST1 T Middle Telescopic Arm Picture 7 9 ...

Page 116: ...3000020 BL72113000020 8 Cylinder holder frame of main arm up down BL72301600040 BL72301600040 BL72301600040 BL72301600040 9 Cylinder on main arm up down YE31505500000 YE31505500000 10 Arm belt fixing plate 11 Drag connector of main arm BL70108000020 BL70108000020 BL70108000020 BL70108000020 12 Drag chain on main arm up down YE60250003100 YE60250003100 YE60250003100 YE60250003100 13 Linear guide YW...

Page 117: ...ector on main arm BL72121000020 BL72121000020 BL72121000020 BL72121000020 30 Air tube connection plug on main arm BL72111700020 BL72111700020 BL72111700020 BL72111700020 31 Main arm belt up going fixing plate BL72111800020 BL72111800020 BL72111800020 BL72111800020 32 Synchronous belt YR00052000200 YR00052000200 YR00052000200 YR00052000200 33 Anti falling cylinder frame on main arm BL72122000020 BL...

Page 118: ...ing plate 11 Drag connector of main arm BL70108000020 BL70108000020 12 Drag chain on main arm up down YE60250003100 YE60250003100 13 Linear guide 14 Arm down going baffler 15 Sensor fixing plate YW09601400110 YW09601400110 16 Aluminum profile of main arm 17 Terminal bottom frame on main arm 18 Terminal mounting plate of main arm 19 Steel cover of main arm BL72111000020 BL72111000020 20 Pulley fixi...

Page 119: ...1800020 BL72111800020 32 Synchronous belt YR00052000200 YR00052000200 33 Anti falling cylinder frame on main arm BL72122000020 BL72122000020 34 Anti falling cylinder YE30201540000 YE30201540000 35 Shock absorber 1 YW10258020000 YW10258020000 36 Shock absorber 2 YW80366000000 YW80366000000 37 Proximity switch means possible broken parts means easy broken part and spare backup is suggested Please co...

Page 120: ...120 147 7 10 Sub arm ST1 T Middle Telescopic Arm Picture 7 10 ...

Page 121: ...0110 YW09601400110 8 Connection aluminum profile of sub arm BH78180100040 9 Linear guide YW31008202000 10 Pulley tightening plate BL72113000020 BL72113000020 11 Cylinder up down on sub arm YE31405750000 12 Pulley fixing plate 2 BL72110600020 BL72110600020 13 Connecting shaft of telescopic arm BH78010900010 BH78010900010 14 Pulley on telescopic arm BH78011000010 BH78011000010 15 Pulley fixing plate...

Page 122: ...BL72100700020 BL72100700020 30 Shock absorber 1 YW10258020000 YW10258020000 31 Vertical drag connector on sub arm BL72000900020 BL72000900020 32 Shock absorber 2 YW80366000000 YW80366000000 33 Steel cover of sub arm BL72100600020 BL72100600020 34 Proximity switch 35 Anti falling cylinder supporting frame of sub arm BL72100500020 BL72100500020 36 Anti falling cylinder YE30201540000 YE30201540000 me...

Page 123: ...020 11 Cylinder up down on sub arm 12 Pulley fixing plate 2 BL72110600020 13 Connecting shaft of telescopic arm BH78010900010 14 Pulley on telescopic arm BH78011000010 15 Pulley fixing plate 1 BL72301700020 16 Synchronous belt YR00052000200 17 Pulley fixing plate 3 BL72300500040 18 Drag up down on sub arm YE60250005500 19 Drag up down connector on sub arm BL72000900020 20 Belt down going fixing pl...

Page 124: ...absorber 2 YW80366000000 33 Steel cover of sub arm BL72100600020 34 Proximity switch 35 Anti falling cylinder supporting frame of sub arm BL72100500020 36 Anti falling cylinder YE30201540000 means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual before placing the purchase order to guarantee that the item number of the spare part is in...

Page 125: ...125 147 7 11 Crosswise Unit ST1 T Middle Telescopic Arm Picture 7 11 ...

Page 126: ...L72104000040 BL72104000040 7 Linear guide YW31002011000 8 Shock absorber 9 Crosswise cylinder on sub arm BL72100800040 BL72100800040 10 Crosswise cylinder holder on main arm 11 Sensor fixing sheet YW09601400110 YW09601400110 YW09601400110 YW09601400110 12 Crosswise cylinder fixing frame of main arm BL72101100040 BL72101100040 BL72101100040 BL72101100040 13 Crosswise cylinder on main arm YE31140108...

Page 127: ... 23 Crosswise drag on sub arm YE60250005500 YE60250005500 24 Cover of Crosswise BL72101800020 BL72101800020 BL72101800020 BL72101800020 means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual before placing the purchase order to guarantee that the item number of the spare part is in accordance with the real object ...

Page 128: ...ixing frame of main arm BL72101100040 BL72101100040 13 Crosswise cylinder on main arm YE31140108400 YE31140108400 14 Main arm BH78111800010 BH78111800010 15 Sub arm BH78180021010 16 Right cover of Crosswise beam BH91905000010 BH91905000010 17 Limitation baffler 3 18 Buffer installing part 19 Buffer cap 20 Crosswise drag mounting plate 21 Crosswise drag supporting frame 22 Crosswise drag on main ar...

Page 129: ...129 147 8 Electric Control Chart 8 1 The Power Input Wiring Diagram Picture 8 1 ...

Page 130: ...130 147 8 2 Main Control Panel and I O Wiring Diagram Picture 8 2 ...

Page 131: ...131 147 8 3 Panasonic Servo Motor Wiring Diagram 1 Picture 8 3 ...

Page 132: ...132 147 8 4 Panasonic Servo Motor Wiring Diagram and Spare Wiring Diagram M1 3 Picture 8 4 ...

Page 133: ...133 147 8 5 YASKAWA Servo Motor Wiring Diagram 1 Picture 8 5 ...

Page 134: ...134 147 8 6 YASKAWA Servo Motor Wiring Diagram and Spare Wiring Diagram M1 3 Picture 8 6 ...

Page 135: ...135 147 8 7 Z axis Wiring Diagram Picture 8 7 ...

Page 136: ...136 147 8 8 Main Arm Wiring Diagram 1 Picture 8 8 ...

Page 137: ...137 147 8 9 Main Arm Wiring Diagram 2 Picture 8 9 ...

Page 138: ...138 147 8 10 Sub Arm Wiring Diagram Picture 8 10 ...

Page 139: ...139 147 8 11 EM67 Signal Input Wiring Diagram Picture 8 11 ...

Page 140: ...140 147 8 12 EM67 Signal Output Wiring Diagram Picture 8 12 ...

Page 141: ...141 147 8 13 Main Control Board Component Layout Picture 8 13 ...

Page 142: ...142 147 8 14 I O U2 Board Component Layout 0 Picture 8 14 ...

Page 143: ...143 147 8 15 Z axis Travel in Board U3 Component Layout 1 2 3 4 5 6 7 0 8 24 9 10 Picture 8 15 ...

Page 144: ...144 147 8 16 Main Arm U4 Layout Picture 8 16 ...

Page 145: ...145 147 8 17 Sub arm U5 Component Layout Picture 8 17 ...

Page 146: ...8 18 Pneumatic Schematic Diagram spare vertical cylinder flip cylinder suction crosswise cylinder vertical cylinder gripper cylinder crosswise cylinder falling proof cylinder falling proof cylinder Picture 8 18 ...

Page 147: ...147 147 ...

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