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User´s Manual

UNIROB R10S - UNILOG B4

Version: R104GBV00 04/04

Read this manual before using the control system
and keep it in a place near the control system

Содержание UNILOG B4

Страница 1: ...User s Manual UNIROB R10S UNILOG B4 Version R104GBV00 04 04 Read this manual before using the control system and keep it in a place near the control system...

Страница 2: ...inerzhagen Tel 49 2354 72 0 Fax 49 2354 72 234 Battenfeld Kunststoffmaschinen Ges m b H Wr Neust dter Stra e 81 A 2542 Kottingbrunn Tel 43 2252 404 0 Fax 43 2252 404 261 www battenfeld com DIN EN ISO...

Страница 3: ...atic axes status Gripper status IMM status Periphery status PAL status 3 Program editor Program editor 4 Inserting a token command Axis command Inserting a token command Robot ROB token commands 3D co...

Страница 4: ...program commands Entering palletising program data 9 Programs Programs Subprogram selection Parprogram selection CNC selection 10 Examples of programs Examples of programs 11 Service pages Lock areas...

Страница 5: ...c service activities can be found in a separate service manual The service manual is only available to Battenfeld employees who are trained for this work We start by looking at the various operating f...

Страница 6: ...The functions are divided into modules and activities Each menu can be directly selected by simply pressing a key The symbols provide quick access the desired functions In Manual mode the control syst...

Страница 7: ...program The START button is also used to move the servo axes in Manual mode after entering a numerical value Press STOP to interrupt the movement The red LED in the STOP button lights up when the pow...

Страница 8: ...User level 30 6 PERIPHERY button Press the PERIPHERY button to switch to the Periphery interface status page It displays all the input and output statuses of this interface The orange LED belonging to...

Страница 9: ...ts up when the page is selected 12 IMM button Press the IMM button to display the IMM interface status page in Manual mode The orange LED for this button lights up when the page is selected 13 BLOCK M...

Страница 10: ...o activate the power supply main contactor EMERGENCY STOP BUTTON on MCD The red Emergency Stop button is intended to protect both the machine and the machine operators DEADMAN S BUTTON The DEADMAN S b...

Страница 11: ...is displayed The key symbol changes to yellow when a user is logged on 2 Page number Enter the desired page number to switch to another display 3 Page indicator 1 2 3 4 5 6 7 8 9 R10B4_017 BMP The ind...

Страница 12: ...d Select this symbol to cancel all current errors refer to Alarms 7 Date and Time display 8 Operating mode The robot system s current operating mode AUTO SINGLE MAN REF BLOCK is displayed here This se...

Страница 13: ...nge FUNCTION Save data FUNCTION Load data FUNCTION Save data to disk FUNCTION Delete FUNCTION Enter FUNCTION Cancel List of users Language Date Time Notepad Job data Print Data sets Password system La...

Страница 14: ...is group 1 Axis group 2 optional Axis group 3 optional Axis group 4 optional ROB status Axis group 1 Axis group 2 optional Axis group 3 optional Axis group 4 optional Axis group 5 optional FUNCTION Sa...

Страница 15: ...Prog Palletis statistics PalProg 1 Gripper group 1 Gripper group 2 optional Gripper group 3 optional Gripper group 4 optional Gripper group 5 optional Gripper group 6 optional Gripper status FUNCTION...

Страница 16: ...numerical value is entered 1 Cancel Inputted value is cancelled and the current value remains unchanged 2 Delete Press this key to delete a character 3 Enter key Press the Enter button to confirm the...

Страница 17: ...first or second row 3 Shift key This key is used to switch to upper lower case first or second row for the next character 4 TAB key This key is used to enter a space 5 Enter key Press to confirm entr...

Страница 18: ...eral lines of data can be entered such as in the CNC editor or notepad This keypad has basically the same functions as the previously described alphanumeric keypad 1 R10B4_024 BMP It has an additional...

Страница 19: ...activated Object selected and activated The value can be changed depending upon the menu item The current status of each object is highlighted in green grey Object deactivated Object activated These s...

Страница 20: ...A R104GB00A PMD B R104DE00A PMD E 290304 TCS G 130404 T Wenger Section 0 Page 16 Operation and Control System...

Страница 21: ...in R10B4_017 BMP The start up display appears each time the control system has been booted up Here the user can LOG IN and LOG OUT Select the New User touch key to register as a new user This function...

Страница 22: ...perate the robot in Manual mode and also start and stop the loaded sequential program in Automatic mode User level 30 At User level 30 the user may change load delete and save the User program as well...

Страница 23: ...er Section 1 Page 3 Language Date and Time Set Date and Time On this menu page you can change the date and time Enter the new Date and Time in the corresponding boxes and then select OK to confirm Swi...

Страница 24: ...o enter A but S is in the box instead A is next to S on the keyboard you can calibrate the display here It is usually necessary to carry out a Touch calibration when a new user logs in LOGOUT Here you...

Страница 25: ...7 BMP You can enter the key data relating to your job or the production in this menu Press the Accept Curr Time Date touch key to enter the current time and date in the box Pressing the Accept Curr Ti...

Страница 26: ...u pages General Print Select Program to print out the current program i e the program in the Editor together with all its sub programs parallel programs CNC programs etc R10B4_041 BMP Print job Here y...

Страница 27: ...e data carrier in the control system Serial printer The data are outputted to the control system in series via the serial interface RS232 A serial printer can be connected here SGM optional You can al...

Страница 28: ...40404 T Wenger Section 1 Page 8 Menu pages General Data Manager Softkey functions Save selected data set Load selected data set Save selected data set to an external data carrier Delete Confirm Delete...

Страница 29: ...ible to save and reload each of these data sets individually To do this simply select the touch key for individual data sets after having selected the User data You can then use the two selection boxe...

Страница 30: ...tenfeld Service UNILOG B2 It is also possible to load data sets which were created on a UNIROB Type E control system Select data set source HARDDISK Data contained in the control system and saved in t...

Страница 31: ...pages The status pages show the status of individually selected objects Robot status Here you can see the position of each individual NC axis It shows the movement of the axis in Manual mode and the s...

Страница 32: ...age 11 CURR POS Here you can see the current position of the NC axes DES POS A position value can be entered here in Manual mode refer to Axis DES CURR POS Here you can see the difference between the...

Страница 33: ...Z Use the touch keys for each axis to move the selected axis in Manual mode with aid of the MCD plus minus keys The deadman s button must be pressed Enter a value in the box DES POS and activate the S...

Страница 34: ...page Manual operation R10B4_057 BMP You can use this menu page to select and check any position variable and to change its values To select a position variable simply highlight the corresponding posit...

Страница 35: ...ger Section 2 Page 5 To cancel the selected variable select the position variable key and press You can change the values in Manual mode MAN by selecting and entering the desired positions Select Load...

Страница 36: ...tion 2 Page 6 Status pages Automatic operation R10B4_059 BMP In Automatic mode AUTO and in SINGLE and BLOCK operating statuses it is only possible to change the individual values within a range of 5mm...

Страница 37: ...R104GB02A PMD B R104DE02A PMD E 290304 TCS G 140404 T Wenger Section 2 Page 7 1 Select the position variable to be changed 2 Select the axis 3 Use the keys to change the value Switch the to User Varia...

Страница 38: ...value of the user variables used in the program can be displayed and changed here This can be done in both Manual and Automatic mode Select the desired user variables from the left selection box Use...

Страница 39: ...A R104GB02A PMD B R104DE02A PMD E 290304 TCS G 140404 T Wenger Section 2 Page 9 The user variables are arranged the order they are selected Select to deselect a user variable and remove it from the se...

Страница 40: ...ic axes status R10B4_065 BMP This menu page shows the status of the pneumatic axes This menu page can be accessed at all Password levels Axis group The name of the current axis group is shown here Use...

Страница 41: ...witched to Manual MAN mode Softkey 1 Switch to the NC axes status menu page CURR POS Here you can see the current position of the pneumatic axes If the symbol is displayed below the corresponding labe...

Страница 42: ...menu page shows the statuses of all the gripper functions vacuum jaws expanders This menu page can be accessed at all Password levels R10B4_068 BMP Axis group The name of the current axis group is sh...

Страница 43: ...f the MCD plus minus keys The deadman s button must be pressed Press one of the activated touch boxes and the deadman s button simultaneously to set or reset the gripper function This can only be done...

Страница 44: ...PMD E 290304 TCS G 140404 T Wenger Section 2 Page 14 Status pages IMM status This menu page shows the status of the IMM interface It displays all the digital inputs and outputs specified in EUROMAP12...

Страница 45: ...fer to Gripper and IMM commands in the handbook Operation without robot On the IMM interface status page the robot can be connected to disconnected from the machine with robot The injection moulding m...

Страница 46: ...er Section 2 Page 16 Status pages Periphery status Periphery The periphery interface status is shown on this page All the digital inputs belonging to the periphery interface are shown here logic 0 dig...

Страница 47: ...output set to logic 0 digital output set to logic 1 Each periphery is matched to an individual application The user can therefore rename each of the digital inputs and outputs according to their speci...

Страница 48: ...G 140404 T Wenger Section 2 Page 18 Status pages Conveyor interface This menu page shows the status of the conveyor interface From here it is possible to scan the individual digital inputs and activat...

Страница 49: ...140404 T Wenger Section 2 Page 19 PAL status This menu page shows the status of all the palletising programs used in the sequential program R10B4_077 BMP PalProg Name of palletising program Quantity N...

Страница 50: ...s the palletising counter of the selected PalProg Counter reset Counter is zeroed CURR quantity Total number of parts already processed DES quantity Number quantity entered in the palletising program...

Страница 51: ...ROB Select the ROB softkey to call up any of the token commands for the servomotor and pneumatic axes 2 Gripper Press the Gripper softkey to select any gripper function 3 IMM interface Select the IMM...

Страница 52: ...executed 9 Program line The current program line is displayed here However you can also change the current program line by jumping to another line Description of the softkey functions Delete selected...

Страница 53: ...e how to insert a command Command Move to an absolute position with a servo axis Press the ROB softkey R10B4_083 BMP The green triangle at the top left of the softkey shows which function is currently...

Страница 54: ...onding axis After you have selected an axis e g the Z axis as shown here the key turns blue and the commands which you can use are displayed R10B4_084 BMP Once you have selected the required command i...

Страница 55: ...select the required parameters for the command Current position Indicates the current axis position Desired position Here you can enter the desired position for the selected axis When Teach is selecte...

Страница 56: ...the value for the desired position has been entered it is then possible to enter the command using the Ins softkey Attention The command is inserted into the highlighted line All the subsequent comman...

Страница 57: ...ariable giving the speed and acceleration X Relative 0100 00 Move to the relative axis position X Relative 0100 00 v 50 a 50 Move to the relative axis position specifying the speed and acceleration fo...

Страница 58: ...r it is then moved back to the stack stop position The stack stop digital input is wired to Terminal 8 in Terminal box 2 refer to 5 3 3 and the circuit diagram on pages 21 51 The signal is then direct...

Страница 59: ...in the sequential program so that all three main axes X Y Z are directed to their desired position simultaneously You can also interpolate the axes here i e they reach their desired position simultan...

Страница 60: ...00 v 30 a 100 Y 0010 00 Z 1000 00 X interpolated 0050 00 Y interpolated 0010 00 Z interpolated 1000 00 X interpolated 0050 00 v 30 a 100 Y interpolated 0010 00 Z interpolated 1000 00 X Position variab...

Страница 61: ...E 010404 TCS G 140404 T Wenger Section 4 Page 9 Selecting axis movements with position variables R10B4_091 BMP You can select a position variable for every axis movement command The last selected pos...

Страница 62: ...92 BMP On this page of the editor you can create new edit and delete your position variables Each position variable consists of 3 values Each of these values is assigned to a specific axis If you for...

Страница 63: ...ls on the softkeys are only displayed when you select Delete position variable A position variable cannot be deleted if it is being used in the program This symbol is displayed if the position variabl...

Страница 64: ...4DE04A PMD E 010404 TCS G 140404 T Wenger Section 4 Page 12 Inserting a token command Commands for pneumatic axis movements C Pneumatic axis in basic position C Par Pneumatic axis in parallel basic po...

Страница 65: ...R104DE04A PMD E 010404 TCS G 140404 T Wenger Section 4 Page 13 C Par Pneumatic axis in parallel end position C Pneumatic axis in end position R10B4_176 BMP In Teach mode it is possible to move the pn...

Страница 66: ...A R104GB04A PMD B R104DE04A PMD E 010404 TCS G 140404 T Wenger Section 4 Page 14 Inserting a token command...

Страница 67: ...E05A PMD E 310304 TCS G 140404 T Wenger Section 5 Page 1 Gripper commands IMM commands Summary of the terms LowActive and HighActive in connection with part and vacuum monitoring in the token program...

Страница 68: ...t is set to LowActive its logic status is 0 and the part monitoring is activated When LowActive is selected STOP PSOP and Label are executed first HighActive When the part monitoring digital input is...

Страница 69: ...ow out vacuum gripper 01 00 s Open gripper V1 parallel BLOW OUT 01 0 s G2 parallel UP Blow out vacuum gripper parallel 01 00 s Open parallel gripper R10B4_095 BMP Activate gripper function V1 VACUUM G...

Страница 70: ...m monitoring is activated simultaneously when the part monitor detects a fault i e the logic status is 0 The program is stopped at the next PStop line Vacuum created Vacuum monitoring is activated sim...

Страница 71: ...Stop line in the program V1monit High Active ON Label 1 G2monit Low Active ON Label 1 R10B4_096 BMP V1 wait monitor ON G1 wait monitor OFF The system waits for the dig input signal from the correspond...

Страница 72: ...e logic 0 fault or Low Active logic 1 fault V1 monit OFF G2monit OFF Switch off part monitor V1 if BLOW OUT Label 1 G2 if UP L1 System jumps to Label 1 at the blowing out point System jumps to Label 1...

Страница 73: ...E 310304 TCS G 140404 T Wenger Section 5 Page 7 Token commands for the IMM interface Here it is possible to enter the commands into the token program which specifically affect the robot injection moul...

Страница 74: ...s fully open by setting the signal to logic 1 In many removal procedures the robot cannot enter the IMM until this signal has been given Mould closed wait for Signal ON Mould closed wait for Signal ON...

Страница 75: ...ting is not gripped until the ejectors have moved it to the furthest forward position is The sprue grippers for example cannot grip the sprue until the casting has been correctly positioned by the eje...

Страница 76: ...n the token program this signal is used for example to prevent the robot from moving between the two mould halves before the machine is operating in Fully Automatic mode Core pullers back wait for Sig...

Страница 77: ...te to the robot system that the core pullers are ready to remove the casting This signal is used to prevent the casting from being removed before it has been fully released by the core pullers Eject w...

Страница 78: ...top Once this condition has been fulfilled the system then jumps to the next line It may also jump to a label It is also possible to use a time monitor here Hence if the desired condition is not fulfi...

Страница 79: ...ection 6 Page 1 PCS Commands Description of SPS commands PCS token commands make it possible to insert simple jumps delays and If commands into the token program R10B4_099 BMP Delay 1 2s Waiting perio...

Страница 80: ...use IMM PCS and Peripheral commands Start CNC program PROGRAM NAME Starts the selected CNC program Stop ParProg PROGRAM NAME Stops the parallel program CallSub Program name Calls up the subprogram ma...

Страница 81: ...the Pstop command point where it is then stopped Select START to continue the program Stop program If the Prog Halt command is inserted into the sequential program the program is stopped at this point...

Страница 82: ...is possible to create and edit a new user variable in every command which contains a user variable To do this select PCS and USERVAR and press the Selection key The program then switches to the select...

Страница 83: ...d when it is not being used in the program OK Press to confirm Entering IF commands In token programs it is possible to make label jumps under certain conditions VARIABLE NAME Uservar 10 Label LABEL N...

Страница 84: ...hecked Palletise Here it is possible to call up all the palletising counters belonging to a palletising program All axes or X Y Z Equation format Type1 Type2 The value of Type1 is the same as Type2 Ty...

Страница 85: ...The value of Type1 is smaller than or equal to that of Type2 Type1 Type2 The value of Type1 is larger than or equal to that of Type2 Type1 Type2 The value of Type1 is smaller than that of Type2 EVEN n...

Страница 86: ...variable can be selected R10B4_104 BMP Palletise Checks for a full row full layer full pallet or intermediate layer Row full The counter on the selected axis has reached its maximum value Layer full T...

Страница 87: ...PCS Commands A R104GB06A PMD B R104DE06A PMD E 010404 TCS G 140404 T Wenger Section 6 Page 9 R10B4_105 BMP Position variable Data input is guided i e the IF command parameters are selected in sequence...

Страница 88: ...0404 TCS G 140404 T Wenger Section 6 Page 10 PCS Commands R10B4_106 BMP The command can then be inserted with or Z 1000 Label Z Axis OK Current position of the Z axis is larger than a constant value 1...

Страница 89: ...riphery commands Your robot system has a standard peripheral interface and a conveyor interface R10B4_108 BMP The peripheral interface enables you to control one of your application peripheries with 8...

Страница 90: ...1 wait for Signal ON time 1 2 sec Label LABEL NAME DI1 wait for Signal OFF same as IMM commands DI2 if Signal OFF Label LABEL NAME DI2 if Signal ON Label LABEL NAME When the digital input is logic 0 o...

Страница 91: ...4_110 BMP Switch ON Conveyor switch OFF Conveyor ON OFF Conveyor ON time 1 2 sec Conveyor is switched on and deactivated after X X seconds wait for conveyor ON signal wait for conveyor OFF signal wait...

Страница 92: ...y At WaCON signal ON the system waits until the input signal indicates Conveyor full logic 0 and the output signal indicates Conveyor ON logic 0 At WaCON signal OFF both signals must be logic 1 Timed...

Страница 93: ...ng signal OFF wait for Positioning ON signal Time 1 2 sec Label LABEL NAME wait for Positioning OFF signal Time 1 2 sec Label LABEL NAME The system waits for the Space free input signal OFF indicates...

Страница 94: ...e space is free or not free the system jumps to the label IMM protective grating only with optional 06 X25 safety kit Guard with BT external stand for Z axis Attention This option can only be used in...

Страница 95: ...ogram must be read off and set in order to ensure that this procedure is carried out properly Refer to 5 5 6 Examples of programs C LE wait1 This digital input is set when the operator selects Start c...

Страница 96: ...A R104GB07A PMD B R104DE07A PMD E 310304 TCS G 140404 T Wenger Section 7 Page 8 Periphery...

Страница 97: ...ables you to integrate basic positioning and removal tasks into the token program Description Input 1 Palletising tasks First position Removal tasks Final position 2 Palletising tasks Final position P...

Страница 98: ...R10B4_113 BMP PalProg PROGRAM NAME START This command starts the selected palletising program Definition The system moves to the next position following the specified movement sequence PalProg PROGRA...

Страница 99: ...ser program Important When you are working with position variables remember that these are saved together with the program Save the program again after changing the position variables Entering palleti...

Страница 100: ...ing parameters 1 Pal Input You can choose between two different sets of parameters 1 Pos L Pos Qty The first position last position and number of parts are specified here The spacing is calculated usi...

Страница 101: ...n 1 and the difference for all three axes 2 Move axes In this menu you can move the servomotor axes using the Teach programming method Select the desired axis X Y or Z To move the desired axis use the...

Страница 102: ...followed by 3 3 Pal Parameters First position This is the position which you should move to first It depends on whether you are placing or removing a part Final position This is the position which you...

Страница 103: ...8A PMD E 310304 TCS G 140404 T Wenger Section 8 Page 7 5 Pal sequence This specifies the order in which the parts are to be delivered and removed 1 2 3 0 Z X Y 1 X Z Y 2 Z Y X 3 X Y Z 4 Y X Z 5 Y Z X...

Страница 104: ...4DE08A PMD E 310304 TCS G 140404 T Wenger Section 8 Page 8 Palletising program R10B4_115 BMP 6 Other Pal parameters Select the More 6 softkey in this menu to switch to a menu page containing further p...

Страница 105: ...fset This offset is only used when the 3D approach sequence is selected This offset means that the palletising position offset follows a 3D movement and then the axes one after another Intermediate la...

Страница 106: ...A R104GB08A PMD B R104DE08A PMD E 310304 TCS G 140404 T Wenger Section 8 Page 10 Palletising program...

Страница 107: ...u can call up subprograms or CNC programs and also create parallel programs for the periphery Main program The system switches to the user program Subprogram Here you can create a new subprogram or ed...

Страница 108: ...tches to the corresponding subprogram The subprogram contains all the commands found in the main program However this subprogram is only used when it is called up in the main program refer to PCS comm...

Страница 109: ...variable a CNC program refer to SPS commands in the handbook the system then switches to the corresponding CNC program R10B4_120 BMP Select the NC editor and enter the commands using a keyboard You ca...

Страница 110: ...he CNC program is called up by entering Start CNC program PROGRAM NAME in the main program The procedure is the same as for calling up a subprogram The main program is stopped and the CNC commands are...

Страница 111: ...030 V1 BLOUT 0 6 031 Y 10 0 032 Conv ON 2 0s 033 X 10 0 034 To P REMOVAL POS 1400 0 035 C 036 PStop 037 Goto INIT 038 Label Defective part 039 To P DELIVERYPOS DEFECTIVE 75 0 040 C 041 X DELIVERYPOS...

Страница 112: ...006 Z 00075 0 007 C 008 SET mould close 009 Conveyor ON time 2 0 sec 010 Label INIT 011 Start operation wait for Signal ON 012 Ejector back wait for Signal ON 013 Automatic mode wait for Signal ON 01...

Страница 113: ...refer to 5 5 5 4 Palletising program refer to Palletising program in the handbook Data displayed on the PalStat page after positioning 50mm 50mm 50mm Z Y X First position x 200 00 y 800 00 z 1200 00...

Страница 114: ...alletising program are displayed together In palletising pattern XYZ Z indicates the number of already filled rows Y shows the number of full levels Once you have entered the complete user program you...

Страница 115: ...for each axis The end coordinates of the lock area define the maximum coordinate for each axis If all the and positions for a single lock area of the three main axes are entered this produces a cube c...

Страница 116: ...350mm 200mm locked area Current position Axis 1 475 00 Axis 2 25 00 Axis 3 175 00 ALL MIN coordinates Axis 1 500 00 Lock area start Axis 2 50 00 Lock area start Axis 3 200 00 Lock area start ALL MAX c...

Страница 117: ...activated deactivated All the lock areas with the exception of Lock area 1 mould area can be activated or deactivated To do this select the symbol next to the text on the left of the screen only for B...

Страница 118: ...e done in Manual mode and Power ON otherwise the system automatically switches to Edit Lock area positions Here you can see the current positions of the servomotor axes You can choose between Teach an...

Страница 119: ...switch between the individual lock areas R10B4_123 BMP You can enter the position values for positive and negative directions directly Select Accept to use the current position values in Teach or the...

Страница 120: ...1 5 are saved with the user program The lock areas are therefore also loaded whenever the program is reloaded Lock areas 6 10 are reserved exclusively for Battenfeld service engineers and are therefor...

Страница 121: ...0B4_124 BMP ACOPOS configuration Reserved for Battenfeld Service engineers Data management refer to General menu pages in the handbook Protection AREA This is the area which has to be protected refer...

Страница 122: ...tion 11 Page 8 Service pages Switch to the axis status page then to the pneumatic axes and select SERVICE on the MCD to switch to the configuration page for the pneumatic axes User level 20 or higher...

Страница 123: ...eld Service engineers Here you can configure the type of pneumatic axis and rename the axis group Types 1 Pneumatic axis with end position sensors 2 digital inputs and outputs 2 Pneumatic axis with ce...

Страница 124: ...11 Page 10 Service pages Select to switch to the gripper status page and then select SERVICE on the MCD to switch to the gripper configuration page The number of pneumatic grippers may only be change...

Страница 125: ...pes of gripper This is usually necessary when a gripper new product is changed User level 20 or higher is required Types 1 Gripper with end position and part sensors 3 digital inputs and 2 digital out...

Страница 126: ...witch to the periphery status page and then select SERVICE on the MCD to switch to the periphery configuration page The number of peripheral inputs and outputs may only be changed by Battenfeld Servic...

Страница 127: ...put 2 So called latch input Some inputs open and close rapidly pulse button If this input is scanned in the program Type 1 only shows the current status The input status is saved if it is changed at s...

Страница 128: ...A R104GB11A PMD B R104DE11A PMD E 010404 TCS G 150404 T Wenger Section 11 Page 14 Service pages...

Страница 129: ...T Wenger Section 12 Page 1 Alarm list Alarm protocol Controller errors CNC errors Logbook Alarm list If an error occurs the alarm symbol starts flashing in the title bar R10B4_130 BMP Select ERROR to...

Страница 130: ...A R104GB12A PMD B R104DE12A PMD E 010404 TCS G 150404 T Wenger Section 12 Page 2 Alarm list Simply select the first softkey to acknowledge the error Use the 2nd and 3rd softkeys to move the cursor...

Страница 131: ...0404 T Wenger Section 12 Page 3 The logbook lists the users and shows when they have logged in and out It also shows which program was changed when a particular mode was changed etc Logbook Select the...

Страница 132: ...Wenger Section 12 Page 4 Alarm list Use the first two softkeys to move the cursor Select the 5th softkey to switch back to the alarm list Alarm protocol Any errors which occur are entered on this page...

Страница 133: ...B4_139 BMP A controller error is indicated by 126 controller error in the alarm list Switch to the Controller page to determine precisely which error has occurred This page lists all the general contr...

Страница 134: ...ed by the acknowledge function in the alarm list Description of error messages 001 Emergency Stop 1 activated Emergency Stop button on Manual control device activated Release the button to acknowledge...

Страница 135: ...rt button on the MCD and the deadman s button 008 Emergency Stop sensor MCD Emergency Stop has been activated Cause Error in Emergency Stop circuit Refer to circuit diagram on pages 20 and 30 The erro...

Страница 136: ...outside of the mould area Recheck the mould area input 016 Robot not referenced This error message indicates that the robot has not been referenced It is only displayed when the control cabinet has b...

Страница 137: ...oto command was activated in the main program but no corresponding label found To remedy Switch to the main program and go to the specified line number Enter the label at the corresponding point or de...

Страница 138: ...to the specified line in the parallel program delete the command and recheck the entire token program 028 Command not found in subprogram Line Line number A command could not be found in the subprogr...

Страница 139: ...rom another robot which for example has 8 peripheral inputs and outputs whilst the other has 16 To remedy Switch to the specified line in the subprogram delete the command and recheck the entire token...

Страница 140: ...instead of a parallel command 040 Periphery Emergency Stop activated due to Emergency Stop line was interrupted Periphery Emergency Stop is activated To remedy Deactivate peripheral Emergency Stop 041...

Страница 141: ...letising programs numbers is outside of software limits Palletising program exceeds software limits To remedy Switch to the specified palletising program and check all the entered values especially th...

Страница 142: ...tic axis is in a non specified position Neither limit switch has been activated To remedy Check limit switch and wiring Check compressed air 059 Compressed air monitoring Compressed air monitor has be...

Страница 143: ...ommand 118 All lock areas deactivated Cause All the lock areas have been deactivated Deactivation of all lock areas simultaneously is restricted to Battenfeld service engineers To remedy Switch to NC...

Страница 144: ...lluminated no CAN connection red LED on ACOPOS servo booster flashing To remedy Check wiring 125 CNC error refer to the controller error page for further details An error has occurred in the CNC progr...

Страница 145: ...nly touch the top surfaces of the battery It can also be removed using insulated tweezers Insert the new battery with the poles correctly connected To do this lift the removal tape and insert the batt...

Страница 146: ...s is an internal error which cannot be caused by existing commands Potential errors Er_ 150 1 The command interpreter has received an ID status which is not activated Potential errors Er_ 150 2nd comm...

Страница 147: ...nput output module defective To remedy Examine the wiring and check the terminal s error flashing indicator code Refer to 5 3 Electrical systems 190 Memory error Error number An error has been detecte...

Страница 148: ...A R104GB12A PMD B R104DE12A PMD E 010404 TCS G 150404 T Wenger Section 12 Page 20 Alarm list...

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