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Appendix

NEXIA-SY Series User Manual 157

G MAIN WIRING

MAIN WIRING

1 1

'07.10,11

001

NEXIA-V-2500SY

CHOI JONG KEUN

AC220V 3Φ 50/60Hz

N/F

POWER2

(DC24V 3.1A)

POWER1

(DC24V 3.1A)

J19(MB)

LAMP BUZ

P_ON

J41

- + - +

J41(I/0)

24V

sol

R3-1

R3-2

R4-1

R4-2

750W

SERVO

2KW

SM3

SM2

1.5KW

TRAVERSE

N/F

SM1

20A

L11 L21

L21

L11

L21

L11

AMP

SERVO

AMP

SERVO

AMP

MAIN ARM KICK

MAIN ARM UP/DOWN

A19

MAIN ARM UP/DOWN BRAKE

SAFE CYLIDER SOL

(* SERVO AMP
CN1A CONNECTOR*)

Содержание NEXIA-SY Series

Страница 1: ...to installing operating or performing maintenance on this equipment NEXIA SY Take out Robot NEXIA V 100SY NEXIA V 200SY NEXIA V 400SY NEXIA V 600SY NEXIA V 800SY NEXIA V 1300SY NEXIA V 2000SY NEXIA V...

Страница 2: ......

Страница 3: ...thout notice HY Robotics Co Ltd assume no responsibility for any errors or omissions in this document Any recommendation about manual amendment is always welcomed The content include in this manual is...

Страница 4: ...int or procedure or gives a tip for easier operation If the actions indicated in a DANGER are not compiled with death or serious damage of major equipment could results If the actions indicated in a W...

Страница 5: ...ges can be used as a guide to help you install your robot The customer must have the installation plan for the selected site verified to be adequate by a structural engineer or a similarly qualified p...

Страница 6: ...re Do not place any heavy obstacle or object on the robot body and controller It may damage the robot surface as well as deform the structure of robot and it may fall directly to the person Do not use...

Страница 7: ...ol box or the outside surface of the robot emits abnormal heat When there is any abnormal noise from the robot When any water or foreign obstacle is inside of the robot Stop the robot immediately when...

Страница 8: ...le with care with pneumatic line It may be cause of leaks Make sure the operation environment Motion area Safety Guard should be proper for operation of machine equipments Operate the robot with only...

Страница 9: ...ther than clean compressed air Regulate the air pressure as specified If don t operate the robot for several days or long period of the time due to plant shutoff or vacation Turn OFF the control power...

Страница 10: ...r electric shock may happen Only a qualified person is allowed to open the cover or panel of the take out robot Assign one qualified person who will control safety of the robot and need to be trained...

Страница 11: ...e cable tie to organize power cable for safety Damaged cable could be the cause of fire or electric shock Using unspecified Extension cable cause abnormal symptoms including heat and fire Only qualifi...

Страница 12: ...x Power off when connect or disconnect any connector of robot Lockout Tagout before opening the control box Connect the earth terminal of the plug to a class D grounding terminal WARNING...

Страница 13: ...fety Signs There are safety signs on the robot like below figures Respect and follow the messages on these signs when operating or performing maintenance on the robot Do not peel off these labels or s...

Страница 14: ...xii...

Страница 15: ...TOP 13 3 1 STEP FOR START UP 15 3 1 Start Up 16 3 2 Stop Operation 18 3 4 Emergency Stop EMO Stop 20 3 5 Restoring Emergency Stop 21 4 OPERATION 23 4 1 Screen Structure 25 4 2 Description of Remote co...

Страница 16: ...5 Follow up 117 5 1 Setup Motion 119 5 2 Start up 120 5 3 Searching Origin 121 5 4 Creat New mold 122 5 5 Step Setting 123 5 6 Setting Waiting Position 124 5 7 Take Out Position Setting 126 5 9 Ascen...

Страница 17: ...ction of TP Touch Panel 159 H 3 TP Connector Touch Panel Connecter 159 H 4 Separate Electric Connection 159 H 5 Middle Board Connector 160 H 6 Aux Connection and Fan Connector 161 I Motor Control Boar...

Страница 18: ......

Страница 19: ...1 Introduction...

Страница 20: ......

Страница 21: ...1 Introduction NEXIA SY Series User Manual 3 1 1 Robot Assembly This Robot is consisted of Robot Body Interlock and Control Box Handy Controller IMM Control Box Robot Body Remote controller and Stand...

Страница 22: ...Kick Main and Sub Arm Traverse For traverse movement Main Arm For Up Down Movement Jig Unit Regulator Regulator and air filter are installed Control Box Servo Controller etc are installed Valve Box So...

Страница 23: ...obot Emergency system stop button Emergency stopping of take out robot Manual Button Pressing each relevant button moves each axis privately TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD...

Страница 24: ...1 Introduction 6 NEXIA SY Series User Manual 1 4 Each Axis Main Arm Up Down Chuck Rotation Vacuum Chuck Traverse Main Arm Kick Return...

Страница 25: ...2 Before Operation...

Страница 26: ......

Страница 27: ...bot arm is retracted Beware that the robot may move suddenly as the system is pressurized 2 Turn Cock counterclockwise 3 Pull Up the adjusting knob and adjust the pressure to 5 9 105 Pa Gauge or 6 kg...

Страница 28: ...0 kpa k P a P 1 P 2 STEP 3 Press more than 1 seconds Set up finished and LED will display current Vacuum pressure k P a P 1 P 2 Lock and Unlock for Vacuum Sensor value Locking Vacuum Sensor Value will...

Страница 29: ...n cups Weekly or as often as needed Check EOAT mounting screw including gripper Check EOAT screw for tightness Tighten as required Inspecting fittings and mounting hardware Check all fittings screws a...

Страница 30: ...2 Before Operation 12 NEXIA SY Series User Manual...

Страница 31: ...3 START UP STOP...

Страница 32: ......

Страница 33: ...3 Start up Stop NEXIA SY Series User Manual 15 3 1STEP FOR START UP Follow step for Auto Operation Power ON Search Origin Main Mold File Step Setting Auto Mode Mold under operation New mold...

Страница 34: ...d move to origin screen 2 Mold W1 SrchOrg Search origin by pressing start 10 TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner STEP 3 Press for origin point of robot motion B...

Страница 35: ...Press and Robot stop Maintenance 1 Mold Default Main Set STEP 5 In case there is mold operated before Press and move to Auto Mode Screen RelStatus 1 Layer 12 Mold REZZO1 Auto NO S T E P 1 WaitPos 2 T...

Страница 36: ...ation before completing object quantity press When the step under progress is completed robot stops temporarily is switched to RelStatus 1 Layer 12 Mold REZZO1 Auto NO S T E P 1 WaitPos 2 TkPos 3 AscP...

Страница 37: ...3 Start up Stop NEXIA SY Series User Manual 19 STEP 4 Turn Off Power STEP 5 Disconnect Air Pressure...

Страница 38: ...Mold Etc Emergency power interception button STEP 1 In case emergency power interception button is pressed power of robot is turned off to stop Emergency system stop button In case emergency system st...

Страница 39: ...T DSNT Runner STEP 1 Turn Off Power STEP 2 Cancel it by turning emergency power interception button in clockwise STEP 3 Turn on after shutdown 10 15 seconds STEP 4 After moving robot to safe place usi...

Страница 40: ...Manual 2 Mold W1 SrchOrg Search origin by pressing start 10 TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner STEP 2 After moving robot to safe place using manual button ret...

Страница 41: ...4 OPERATION...

Страница 42: ......

Страница 43: ...Step Step Forward Waiting Position Take out Position Ascent Position Release Position Detail Arc End Position Arc Start Position Detail Error List Counter Modify Position Reject Position Sample Positi...

Страница 44: ...operation speed and pressing increases manual operation speed Speed value is percentage for rated speed which is composed of 1 2 3 5 10 20 and 30 Unit is Distance value is 1 of speed value which is a...

Страница 45: ...COCK Numeric Keypad This is used to input figure ESC Numeric Keypad is closed without storing inputted figure DEL Figure is cancelled one by one CLR Figure is all cancelled ENT Inputted figure is sto...

Страница 46: ...t and Numeric keypad This is composed of figure alphabet and special alphabet Blank letter Back space Arrow key and Enter key Alphabet is selected by moving focus of alphabet and figure key pad up dow...

Страница 47: ...4 Operation NEXIA SY Series User Manual 29 4 2Initial Screen Power on displays Logo and Robot Name type Robot Initiation and Move Origin Point TP Ver 5 430 NAND 3X Ver 5 12 SC 3X Ver 5 43...

Страница 48: ...start 10 TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner 2 Button Function NO Button Description 1 Manual Button Operate each axis manually 2 Each Robot axis search homing...

Страница 49: ...Alarm Off 4 Moves to the time setting screen which sets time of system 5 Selects whether to move simultaneously at multiple axes when moving from Waiting Position to Take out Position or from Take out...

Страница 50: ...tPos TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner 10 Current Memory Trvs 900 0 900 0 PFwBw 100 0 100 0 PAscDsc 0 0 0 0 Rot ON ON Swl OFF OFF RFwBw RAscDsc 2 Button Funct...

Страница 51: ...ner 10 Current Memory Trvs 900 0 PFwBw 100 0 PAscDsc 0 0 Rot ON Swl OFF RFwBw RAscDsc STEP 2 Move robot to the setting position by pressing manual button 2 Mold W1 RjctPos 10 Current Memory Trvs 900 0...

Страница 52: ...Current Memory Trvs 1300 0 1300 0 PFwBw 100 0 100 0 PAscDsc 0 0 0 0 Rot OFF ON Swl OFF ON RFwBw RAscDsc 2 Button Function NO Button Description 1 Manual button Move robot arm manually 2 Reset to no se...

Страница 53: ...nner 10 Current Memory Trvs 1300 0 PFwBw 100 0 PAscDsc 0 0 Rot OFF Swl OFF RFwBw RAscDsc STEP 2 Set EOAT change position with manual operation button 12 Mold W1 EOAT Pos 10 Current Memory Trvs 1300 0...

Страница 54: ...utton Function NO Button Description 1 Date 07 04 15 Date setting 2 Time 13 15 23 Time Setting 3 This cursor will move cursor to Year Month Date and Time 4 This cursor will set date time 5 ENT Input n...

Страница 55: ...13 15 23 2 Mold W1 SysTime Date 07 09 29 STEP 2 Press Date 07 09 29 ENT Time 13 15 23 2 Mold W1 SysTime Date 07 09 29 STEP 3 Move cursor Set data ENT save data in system ENT Time 13 15 23 2 Mold W1 Sy...

Страница 56: ...in Set STEP 1 Press move to timer setting screen ENT Time 13 15 23 2 Mold W1 SysTime Date 07 10 05 STEP2 Press Time 13 15 23 ENT Time 13 15 23 2 Mold W1 SysTime Date 07 10 05 STEP 3 move cursor set da...

Страница 57: ...r Manual 39 When time window is activated with date window activated date window is deactivated and its content is stored when date window is activated with time window activated time window is deacti...

Страница 58: ...necessary for receiving T S 2 Mold W1 T S TP 6 03 SC 6 01 NAND 6 03 2 Button Function NO Button Description 1 Move to Main screen 3 See contact Maintenance 1 Mold Default Main Set STEP 1 Press move t...

Страница 59: ...24 213 1 3 2 Button Function NO Button Description 1 Display error history in the next page 2 Display history in the previous page 3 Move to Main screen 3 Example Maintenance 1 Mold Default Main Set...

Страница 60: ...4 Operation 42 NEXIA SY Series User Manual 2 Mold W1 ErHist Date Time ErrorCode 02 08 14 11 16 24 213 1 3 STEP 2 Press to go back to main screen...

Страница 61: ...TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner 0 05mm 2 Button Function NO Button Description 1 IN Display input signal 2 OUT Display output signal 3 INT Display interloc...

Страница 62: ...re 3 Output 13 Turns on off Spare 4 Output 14 Turns on off User Output 1 15 Turns on off User Output 2 16 Turns on off User Output 3 17 Turns on off User Output 4 18 Turns on off User Output 5 19 Turn...

Страница 63: ...6 Y305 Signal Description Window Input signal description window Output signal description window Pressing IN displays input signal on I O display button Press I O display button in order to see descr...

Страница 64: ...which creates new mold 3 Opens Mold File where focus is located 4 Moves to Mold Copy screen which copies data of Mold File where focus is located 5 Moves to Change Name screen which changes name of M...

Страница 65: ...ld ENT ENT 2 Button Fuction NO Button Description 1 Arrow button Move cursor in text plate 2 Save the text with cursor 3 Delete text and number 4 Create new mold name and move back to set up screen 5...

Страница 66: ...up screen U V W X Y Z K L M N O P Q R S T A B C D E F G H I J 1 2 3 4 5 6 7 8 9 0 02 W1 No Mold 1 Mold COCK NewMold ENT ENT STEP 2 Press to move cursor Press ENT save text Press move to origin homing...

Страница 67: ...ZZO1 CopyMold U V W X Y Z K L M N O P Q R S T A B C D E F G H I J 1 2 3 4 5 6 7 8 9 0 04 ANYCALL 09 SONATA ENT NO Mold 12 Mold REZZO1 CopyMold U V W X Y Z K L M N O P Q R S T A B C D E F G H I J 1 2 3...

Страница 68: ...G H I J 1 2 3 4 5 6 7 8 9 0 04 ANYCALL 09 SONATA ENT STEP 2 Touch to move cursor touch ENT to save text Touch move to servo origin point NO Mold 12 Mold REZZO1 CopyMold U V W X Y Z K L M N O P Q R S T...

Страница 69: ...creen 4 6 3 Change Name 1 Description This changes mold name of Mold File 04 ANYCALL NO Mold SORENTO 12 Mold REZZO1 ChgName U V W X Y Z K L M N O P Q R S T A B C D E F G H I J 1 2 3 4 5 6 7 8 9 0 ENT...

Страница 70: ...K MoldFile NO Mold 1 COCK 1 COCK STEP 1 Touch move to change screen 04 ANYCALL NO Mold SORENTO 12 Mold REZZO1 ChgName U V W X Y Z K L M N O P Q R S T A B C D E F G H I J 1 2 3 4 5 6 7 8 9 0 ENT STEP 2...

Страница 71: ...r t t o m o v e t o E O A T p o s i t i o n 2 Mold REZZO1 EOATChg 10 TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner 2 Button Function NO Button Description 1 This will mo...

Страница 72: ...EOAT change move screen P r e s s S t a r t t o m o v e t o E O A T p o s i t i o n 2 Mold REZZO1 EOATChg 10 v STEP 2 Press robot arm will move Moved to jig change position After finishing work press...

Страница 73: ...ert After Take Out 2 Mode Function Display status Description YES Chuck Rotation during Traverse Motion Traverse with Rot NO No Chuck Rotation motion during Traverse Motion YES Robot control eject dur...

Страница 74: ...cycle time during automatic mode If actual cycle time exceed this time robot will alarm YES Insert After Take Out NO 3 Example 1 Mold COCK MoldFile NO Mold 1 COCK 1 COCK STEP 1 Press move to mode sel...

Страница 75: ...ic cylinder according to output and signal output to external equipment Robot operates with division of step unit and combination of each step makes entire process 4 steps of Waiting Position Take out...

Страница 76: ...oves to position correcting screen user action moves to action correcting screen grip position moves to grip position screen input waiting moves to input waiting screen and user output moves to user o...

Страница 77: ...screen 10 Moves to Automatic peration 11 Completes current work and then moves to Main screen 3 Example Step Setup Add each step and position 2 Mold W1 StepSet NO S T E P 2 TkPos 3 AscPos 4 RelPos 0 H...

Страница 78: ...et NO S T E P 2 TkPos 3 AscPos 4 RelPos 1 WaitPos STEP3 After completing correction of basic 4 steps pressing makes robot move to Waiting Position Press each step with When only robot step through all...

Страница 79: ...h the step under progress and stop and is converted into 2 Mold W1 StepSet NO S T E P 2 TkPos 3 AscPos 4 RelPos 1 WaitPos STEP3 Pressing makes robot perform next step and then stop 4 7 1 Add Position...

Страница 80: ...Button Function NO Button Description 1 Arrow button Press arrow button to move cursor to desired text 2 Input text on Cursor 3 Delete text 4 Create file name and move to Mold Manager file 5 Cancel c...

Страница 81: ...AscPos 4 RelPos 1 WaitPos STEP 1 Press move to Position Name setting screen This will allow operator to remember each step s position U V W X Y Z K L M N O P Q R S T A B C D E F G H I J 1 2 3 4 5 6 7...

Страница 82: ...0 1 2 3 4 5 6 7 8 9 0 DEL CLR ENT ESC 0 3 Make input by pressing 0 3 in regular order store delay time by pressing ENT and then close window 2 Mold W1 AddPos Pos P1 Speed DlyTime 0 3 Sec 10 Current Me...

Страница 83: ...OFF OFF RFwBw RAscDsc TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner STEP 6 Setting Position Press Manual to move robot position Press to save position press to go to ste...

Страница 84: ...g action Input with numeric keypad 2 Turn on off suction Suction On Suction Off 3 Turn on off chuck Chuck On Chuck Off 4 Turn on off product grip Product Grip On Product Grip Off 5 Operate nipper 6 Tu...

Страница 85: ...lPos 1 WaitPos STEP 1 Press to add motion 2 Mold W1 AddMot Product DlyTime 0 0 Sec STEP 2 Press DlyTime 0 0 Sec to input delay time 2 Mold W1 AddMot Product DlyTime 0 0 Sec 1 2 3 4 5 6 7 8 9 0 DEL CLR...

Страница 86: ...t make interference 2 Mold W1 WaitPos Speed 70 DlyTime 0 3 Sec TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner Current Memory Trvs 0 0 0 0 PFwBw 250 0 250 0 PAscDsc 0 0 0 0...

Страница 87: ...AscDsc 10 STEP 1 In case of setting delay time as 0 3 second In order to setting delay time before moving to Waiting Position pressing DlyTime 0 0 Sec shows numeric keypad 2 Mold W1 WaitPos Speed DlyT...

Страница 88: ...to Waiting Position pressing Speed shows numeric keypad 2 Mold W1 WaitPos Speed DlyTime 0 3 Sec Current Memory Trvs 0 0 PFwBw 200 0 PAscDsc 0 0 Rot OFF Swl OFF RFwBw RAscDsc 10 1 2 3 4 5 6 7 8 9 0 DEL...

Страница 89: ...SWIVEL FWD BWD ASNT DSNT Runner Current Memory Trvs 0 0 0 0 PFwBw 250 0 250 0 PAscDsc 0 0 0 0 Rot OFF OFF Swl OFF OFF RFwBw RAscDsc 10 STEP 3 Move it until product forward backward of current value in...

Страница 90: ...d 100 TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner Swl 10 2 Button Function NO Button Description 1 DlyTime 00 0 Sec Indicates and sets up delay time before moving to Ta...

Страница 91: ...t Grip Off In take out method chuck and product grip operate after having the set take out delay and suction operation is started simultaneously with starting to move to Take out Position so as to ope...

Страница 92: ...wBw RAscDsc Speed Swl 10 STEP 1 0 2 second delay time before moving to Take out Position In order to setting delay time before moving to Take out Position pressing DlyTime 0 0 Sec shows numeric keypad...

Страница 93: ...0 Make input by pressing 1 0 0 in regular order store delay time by pressing ENT and then close window 2 Mold W1 TkPos DlyTime 0 2 Sec TkTime 0 0 Sec Current Memory Trvs 0 0 PFwBw 250 0 PAscDsc 0 0 Ro...

Страница 94: ...robot arm to 400 PFWBW and PAscDsc to 1250 Store current value by pressing 2 Mold W1 TkPos DlyTime 0 2 Sec TkTime 0 2 Sec Current Memory Trvs 0 0 0 0 PFwBw 400 0 400 0 PAscDsc 1250 0 1250 0 Rot OFF OF...

Страница 95: ...ROTATION SWIVEL FWD BWD ASNT DSNT Runner 2 Button Function NO Button Description 1 Save Current Position 2 Close Screen 3 Example To set up J or Arc Motion to move from waiting position to take out po...

Страница 96: ...y Trvs 0 0 PFwBw 400 0 PAscDsc 1250 0 Rot OFF S OFF RFwBw RAscDsc Swl 10 STEP 2 Press manual to move robot arm to PFWBW becomes to 300 0 2 Mold W1 ArcEnd Current Memory Trvs 0 0 0 0 PFwBw 300 0 300 0...

Страница 97: ...0 PFwBw 200 0 200 0 PAscDsc 0 0 0 0 Rot OFF OFF S OFF OFF RFwBw RAscDsc Swl TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner 10 2 Button Function NO Button Description 1 Dly...

Страница 98: ...eed DlyTime 0 0 Sec Current Memory Trvs 0 0 PFwBw 300 0 PAscDsc 1250 0 Rot OFF S OFF RFwBw RAscDsc Swl 10 1 2 3 4 5 6 7 8 9 0 DEL CLR ENT ESC 0 3 Press 0 3 ENT to save number and close 2 Mold W1 AscPo...

Страница 99: ...T ROTATION SWIVEL FWD BWD ASNT DSNT Runner 10 STEP 3 To setup ascent complete to Traverse 0mm PFWBW Kick 0mm Ascent 0mm Chuck Rotation OFF Press manual so that current number of position becomes PFWBW...

Страница 100: ...L FWD BWD ASNT DSNT Runner 10 2 Button Function NO Button Description 1 Store current value 2 Move to Ascent Position screen 3 Example Samples of creating J motion start point to move back to waiting...

Страница 101: ...Trvs 0 0 0 0 PFwBw 200 0 200 0 PAscDsc 1250 0 1250 0 Rot OFF OFF S OFF OFF RFwBw RAscDsc Swl TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner 10 STEP 2 Press manual to move...

Страница 102: ...RSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner 10 2 Button Function NO Button Description 1 DlyTime 00 0 Sec This is delay time before moving to Release Position input with num...

Страница 103: ...OFF S OFF RFwBw RAscDsc Swl 10 STEP 1 0 4 sec delay time before moving to Release Position In order to setting delay time before moving to Release Position pressing DlyTime 0 Sec shows numeric keypad...

Страница 104: ...2 3 4 5 6 7 8 9 0 DEL CLR ENT ESC 8 0 Make input by pressing 8 0 in regular order store delay time by pressing ENT and then close window 2 Mold W1 RelPos Speed 80 DlyTime 0 4 Sec RelDly 0 0 Sec Curre...

Страница 105: ...verse 1700mm PFWBW Kick to 30mm Up and Down to 1100mm Chuck Rotation is on Press manual to Traverse 1700mm PFWBW Kick to 30mm Up and Down to 1100mm Chuck Rotation is on Store current value by pressing...

Страница 106: ...Pos4 Pitch Times FwBw Trvs MainPos AscDsc CLEAR SubPos DlyTime 0 0 AscHeight 0 0 FwBwDis 0 0 TrvsDis 0 0 Speed 30 2 Button Function NO Button Description Input 1 Traverse Pitch Distance of Traverse f...

Страница 107: ...1 Press to set up detail stacking 2 Mold W1 Detail Pos1 Pos2 Pos3 Pos4 Pitch Times FwBw Trvs MainPos AscDsc CLEAR SubPos DlyTime 0 0 AscHeight 0 0 FwBwDis 0 0 TrvsDis 0 0 Speed 30 STEP 2 Input 300 in...

Страница 108: ...2 TkPos 0 3 70 Trvs 0 0 PFwBw 400 0 PAscDsc 1250 0 Rot OFF Swl OFF RFwBw RAscDsc 2 Button Function NO Button Description 1 Move cursor to below 2 Move cursor to up 3 Delete step on cursor Current robo...

Страница 109: ...FwBw 400 0 PAscDsc 1250 0 Rot OFF Swl OFF RFwBw RAscDsc STEP 2 Press or to move cursor to step to delete Press it will show Delete Step YES will delete and no to cancel Press to close Please be carefu...

Страница 110: ...urrent Memory Trvs 1700 0 1700 0 PFwBw 300 0 400 0 PAscDsc 1000 0 1000 0 Rot ON ON Swl OFF OFF RFwBw RAscDsc TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner 10 2 Button Fun...

Страница 111: ...300 0 PAscDsc 1000 0 Rot ON Swl OFF RFwBw RAscDsc 10 STEP 2 Set 0 3 Sec for delay time Press DlyTime 0 0 Sec to set up delay time 2 Mold W1 GripPos Speed DlyTime 0 0 Sec GripDly 0 0 Sec 10 Current Me...

Страница 112: ...GripPos Speed 80 DlyTime 0 3 Sec GripDly 0 0 Sec 10 Current Memory Trvs 1700 0 PFwBw 300 0 PAscDsc 1000 0 Rot ON Swl OFF RFwBw RAscDsc 10 1 2 3 4 5 6 7 8 9 0 DEL CLR ENT ESC 0 3 Press 0 3 and ENT 2 M...

Страница 113: ...as pitch and times Times is for cycle operation And pitch is for distance of each cycle 2 Button Function of Main Position NO Button Function Input method 1 Trvs Pitch Traverse Pitch 2 PfwBw Pitch Pfw...

Страница 114: ...ut 10 Press in Times of FwBw input 14 2 Mold W1 Detail Pitch Times FwBw Trvs MainPos 35 35 10 14 CLEAR SubPos Pos2 Pos1 Pos4 Pos3 STEP 3 Press to save and close 4 Description of Sub Position When inse...

Страница 115: ...ange to change need to be deleted 2 Mold W1 Pos1 Current Memory Trvs 1700 0 1700 0 PFwBw 400 0 400 0 PAscDsc 1000 0 1000 0 1 Op 10 2 Button Function NO Button Description 1 Move robot arm with manual...

Страница 116: ...oduct FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner Speed 80 DlyTime 0 8 Sec AscHeight 100 2 Button Function NO Button Description 1 DlyTime 00 0 Sec Delay time input 2 Speed 000 Speed In...

Страница 117: ...ec Speed 30 Up height is 100mm 2 Mold W1 GripPos Speed 80 DlyTime 0 3 Sec GripDly 0 3 Sec 10 Current Memory Trvs 1700 0 1700 0 PFwBw 300 0 400 0 PAscDsc 1000 0 1000 0 Rot ON ON Swl OFF OFF RFwBw RAscD...

Страница 118: ...manual button to find position And press to save Pos1 2 Mold W1 Pos1 Current Memory Trvs 1700 0 1700 0 PFwBw 300 0 300 0 PAscDsc 1000 0 1000 0 10 STEP 3 Press to add motion 2 Mold W1 AddOp DlyTime 0 3...

Страница 119: ...SE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner Speed DlyTime Sec AscHeight STEP 8 Press manual button to find Pos2 Position Press to save 2 Mold W1 Pos2 Current Memory Trvs 10 0...

Страница 120: ...s DlyTime Sec and input 0 3 Press Speed and input 80 Press AscHeight and input 100 mm 2 Mold W1 Pos2 Current Memory Trvs 10 0 10 0 PFwBw 300 0 300 0 PAscDsc 0 0 0 0 1 Op 10 Speed 80 DlyTime 0 8 Sec As...

Страница 121: ...X107 X201 2 Button Function Ref 4 5 7 Manual NO Button Description 1 Change to StepSet screen 2 I O tap 3 I O display button 3 Example 2 Mold W1 StepSet NO S T E P 2 TkPos 3 AscPos 4 RelPos 1 WaitPos...

Страница 122: ...Mold W1 Input Select 2 Mold W1 Input 2 Button Function NO Button Description 1 Select User input signal 2 Cancel 3 Save and move back to previous screen 3 Example When Robot wait for User input 1 and...

Страница 123: ...ation NEXIA SY Series User Manual 105 2 Mold W1 Input Select 2 Mold W1 Input STEP 2 Press and Press to save and go back to previous screen Robot will wait all selected signal confirmed to proceed next...

Страница 124: ...e On Set and Off set 2 Mold W1 Output PulseTime 0 3 sec Output Select 2 Button Function NO Button Description 1 Select User Output 2 Pulse Signal 3 On Set signal until Robot command off within program...

Страница 125: ...E P 2 TkPos 3 AscPos 4 RelPos 1 WaitPos STEP 1 Press move to Output screen 2 Mold W1 Output PulseTime 0 3 sec Output Select STEP 2 Press to call PulseTime 0 3 sec input time with numeric keypad to pul...

Страница 126: ...me 1 Day Production Touch this screen will move to Target screen 2 Stac Insert Displays stacking and insert gripping information 3 Step Operation Display each Step Operation Touch this screen will mov...

Страница 127: ...0 C Grip 1Ly 1R 0 C Target Total Target Number Robot will stop after reach this No Current Current Production Quantity 1 Cycle 1 Cycle Operation Time Sec TkTime Take out cycle time Sec 1DayCount 1 Da...

Страница 128: ...get 0 0 0 0 Set Production Q ty input with numeric keypad Continuious run with setting 0 2 Cavity 0 This is cavity of Mold Cavity Input with Keypad 3 PNTimes 0 0 0 0 Production times is Target Cavity...

Страница 129: ...W1 Counter PNTimes Target Cavity 1 Product 0 Reject 0 Samling 0 CountSet TotalCount STEP 2 Press Target and input 8000 2 Mold W1 Counter PNTimes 2 0 0 0 Target 8 0 0 0 Cavity 4 Product 0 Reject 0 Saml...

Страница 130: ...rvs 0 0 PFwBw 400 0 PAscDsc 1250 0 Rot OFF 1 0 3 70 NO S T E P DlyTime Speed 1 WaitPos 0 3 70 2 TkPos 0 3 70 3 AscPos 0 3 70 4 RelPos 0 3 70 Detail 2 TkPos 0 3 70 RFwBw RAscDsc Rot OFF RelDly 0 3 TkDl...

Страница 131: ...os 0 3 70 RFwBw RAscDsc Rot OFF RelDly 0 3 TkDly 0 2 STEP 2 Press to move cursor 2 Mold W1 StepModi Pos Trvs 0 0 PFwBw 20 0 PAscDsc 50 0 Rot OFF 1 0 3 70 NO S T E P DlyTime Speed 1 WaitPos 0 3 70 2 Tk...

Страница 132: ...wBw 20 0 PAscDsc 50 0 Rot OFF RFwBw RAscDsc Rot OFF to activate position modification icons 2 Mold W1 StepModi Pos Trvs 0 0 PFwBw 20 0 PAscDsc 50 0 Rot OFF 1 0 3 70 NO S T E P DlyTime Speed 1 WaitPos...

Страница 133: ...3 70 2 TkPos 0 3 70 3 AscPos 0 3 70 4 RelPos 0 3 70 Detail 4 RelPos 0 5 70 RFwBw RAscDsc Rot OFF RelDly 0 3 TkDly 0 2 STEP 1 Press to change cursor of location Press Detail at RelPos 2 Mold W1 Detail...

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Страница 135: ...5 Follow up...

Страница 136: ......

Страница 137: ...5 Follow Up NEXIA SY Series User Manual 119 5 1 Setup Motion Waiting Position Take out Position Ascent Position Release Position...

Страница 138: ...STEP 1 Turn On Power Power lamp becomes on TP 3X Ver 5 xx NAND 3X Ver 5 xx SC 3X Ver 5 xx STEP 2 Log screen appears and loading state bar indicates data loading level In case loading state bar is all...

Страница 139: ...rch Org Press Start Button 10 STEP 3 Confirm Robot is not interfere with any obstacle and Press to homing position 2 Mold W1 SrchOrg Searching Org 10 After finished homing robot will back to main scre...

Страница 140: ...s to set up mold 1 Mold COCK MoldFile NO Mold 1 COCK 1 COCK STEP 5 Press to creat new mold U V W X Y Z K L M N O P Q R S T A B C D E F G H I J 1 2 3 4 5 6 7 8 9 0 02 W1 No Mold 1 Mold COCK NewMold ENT...

Страница 141: ...me 1 WaitPos STEP 8 Press to Forward No Setting of position Display if there is no information 2 Mold W1 StepSet NO S T E P 2 TkPos 3 AscPos 4 RelPos 1 WaitPos Non setting of position information Pres...

Страница 142: ...RAscDsc 10 STEP 10 Delay time 0 3 Sec before move to Waiting Pos Press DlyTime 0 0 Sec and display numeric keypad This is for delay time from last step to current step 2 Mold W1 WaitPos Speed DlyTime...

Страница 143: ...L CLR ENT ESC 7 0 Press 7 0 Press ENT to save and close windows 2 Mold W1 WaitPos Speed 70 DlyTime 0 3 Sec TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner Current Memory Tr...

Страница 144: ...TkPos 3 AscPos 4 RelPos 1 WaitPos STEP 13 Press and display Non Data Setting Press to close 2 Mold W1 StepSet NO S T E P 2 TkPos 3 AscPos 4 RelPos 1 WaitPos STEP 14 Step Cursor moved to TkPos Press an...

Страница 145: ...0 PFwBw 400 0 PAscDsc 1250 0 Rot OFF S OFF RFwBw RAscDsc Speed 1 2 3 4 5 6 7 8 9 0 DEL CLR ENT ESC 0 2 Swl Press 0 2 and Press ENT to save 2 Mold W1 TkPos DlyTime 0 2 Sec TkTime 0 0 Sec Current Memor...

Страница 146: ...Delay Press TkTime 0 0 Sec to have delay time to take out operation 2 Mold W1 TkPos DlyTime 0 2 Sec TkTime 0 0 Sec Current Memory Trvs 0 0 PFwBw 250 0 PAscDsc 0 0 Rot OFF S OFF RFwBw RAscDsc Speed 100...

Страница 147: ...an be Traverse 0mm Kick 100mm Up Down 1250mm Rotation OFF Press to save 2 Mold W1 TkPos DlyTime 0 2 Sec TkTime 0 2 Sec Current Memory Trvs 0 0 0 0 PFwBw 400 0 400 0 PAscDsc 1250 0 1250 0 Rot OFF OFF S...

Страница 148: ...T E P 2 TkPos 3 AscPos 4 RelPos 1 WaitPos STEP 20 Press display no setting Press to close 2 Mold W1 StepSet NO S T E P 2 TkPos 3 AscPos 4 RelPos 1 WaitPos STEP 21 Cursor located on AscPos Press to set...

Страница 149: ...0 PAscDsc 1250 0 Rot OFF S OFF RFwBw RAscDsc Swl 10 1 2 3 4 5 6 7 8 9 0 DEL CLR ENT ESC 0 3 Press 0 3 and press ENT to save 2 Mold W1 AscPos Speed DlyTime 0 3 Sec Current Memory Trvs 0 0 PFwBw 300 0 P...

Страница 150: ...l TRAVERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner 10 STEP 24 Set Ascent Complete position to Traverse 0mm Kick 0mm Up Down 0mm Rotation OFF Press manual button to Traverse...

Страница 151: ...AscPos 4 RelPos 1 WaitPos STEP 25 Press display No Step info Press to close 2 Mold W1 StepSet NO S T E P 2 TkPos 3 AscPos 4 RelPos 1 WaitPos STEP 26 Step cursor is located on RelPos Release Position P...

Страница 152: ...ry Trvs 0 0 PFwBw 200 0 PAscDsc 0 0 Rot OFF S OFF RFwBw RAscDsc Swl 10 1 2 3 4 5 6 7 8 9 0 DEL CLR ENT ESC 0 4 Press 0 4 and press ENT to save and close 2 Mold W1 RelPos Speed DlyTime 0 4 Sec RelDly 0...

Страница 153: ...lay 0 5 Sec To set Release Delay time press RelDly 0 0 Sec 2 Mold W1 RelPos Speed 80 DlyTime 0 4 Sec RelDly 0 0 Sec Current Memory Trvs 0 0 PFwBw 200 0 PAscDsc 0 0 Rot OFF S OFF RFwBw RAscDsc Swl 10 1...

Страница 154: ...VERSE Product FWD BWD ASNT DSNT ROTATION SWIVEL FWD BWD ASNT DSNT Runner 10 STEP 30 To set release position to Traverse 1700mm Kick 30mm Up Down 1100mm Chuck Rotation ON Press manual button to move ro...

Страница 155: ...2 Mold W1 StepSet NO S T E P 2 TkPos 3 AscPos 4 RelPos 1 WaitPos STEP 32 Run Step by Ste to confirm all position and setting is right Press will run step with slow speed will be changed to 2 Mold W1 S...

Страница 156: ...t Cavity 1 Product 0 Reject 0 Samling 0 CountSet TotalCount Set 8000 Press Target input 8000 Press move back to Auto Grip 1Ly 1R 0 C 12 Mold REZZO1 Auto NO S T E P 1 WaitPos 2 TkPos 3 AscPos 4 RelPos...

Страница 157: ...6 Error...

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Страница 159: ...e 3 Program Failure 1 Reboot 2 Contact Factory 6 2 2 Motor Related NO Description Cause Recovery Method 96 Traverse Servo ON Fail 97 M Arm Kick Servo ON Fail 98 M Arm Down Servo ON Fail Communication...

Страница 160: ...obot and IMM Interface 6 2 2 Pneumatic Related NO Description Cause Recovery Method 152 Chuck Rotation Error 153 Chuck Rotation Return Error 154 Chuck Swivel Error 155 Chuck Swivel Return Error 1 Air...

Страница 161: ...e Belt 180 Balance Cylinder Error Balance cylinder pneumatic pressure low Set up Balance sensor pressure to Pneumatic pressure 6 2 6 Operation Error NO Description Cause Recovery Method 208 Robot arm...

Страница 162: ...Servo Origin Setup Origin looking without home sensor detection setting 226 Encoder Z Non Setup Origin looking without Encorder Z Phase 238 Dip Switch Fail Dip switch Setting is wrong 239 Watch Dog T...

Страница 163: ...Appendix...

Страница 164: ......

Страница 165: ...00 1700 1900 525 525 800 850 7 NEXIA V 300S 831 NEXIA V 300D Up to 300 ton 1500 1700 1900 705 705 950 950 7 5 NEXIA V 400S 1025 NEXIA V 400D Up to 400 ton 1700 2000 850 850 1100 1100 16 10 1 phase AC2...

Страница 166: ...205 3082 632 2000 450 284 1930 655 223 3812 792 2500 520 455 2320 680 255 4463 820 3000 520 2640 726 270 123 5510 1055 3500 806 3070 866 320 149 6010 786 3250 166 5960 1100 4000 860 3875 890 340 2607...

Страница 167: ...825 330 770 73 172 910 910 340 960 71 222 1070 1070 346 1254 1572 1710 2070 2587 672 215 260 1472 596 165 3007 592 2000 415 179 1740 636 205 420 3562 632 2500 430 284 2110 655 223 4292 792 3000 500 2...

Страница 168: ...1590 1750 2100 205 2000 223 2500 255 50 3000 270 3500 320 4000 340 1500 1700 1900 1700 2000 2500 3000 3500 4000 4500 Type 165 831 50 821 330 650 871 1500 1700 1900 165 651 50 641 330 400 691 1300 1500...

Страница 169: ...5 310 1290 1363 390 1410 1772 375 1725 1977 420 2580 2570 50 941 330 73 1082 340 71 1292 346 1572 1710 2070 50 165 2000 205 2500 223 3000 255 3500 270 4000 320 1700 2000 2500 3000 3500 4000 4500 NEXIA...

Страница 170: ...1 8 ASC04 M5 O ASC4 M5 0 AC4 1 8 ST1 4 ST1 4 ASC4 M5 0 AC6 1 8 AL6 1 8 Spare SV110 4PS Ratation AC6 1 8 BUVL M5 6 AL6 1 4 AV 015HS AF 05 AL6 1 8 Vacuum PS60 102R NMCN6B2 Chuck AC6 1 8 AC6 1 8 Main Ar...

Страница 171: ...ection Signal Mold Open Complete Signal CR11 CR10 CR9 CR8 R Cycle Start Mold Open Interlock Ejector Interlock Robot EMO Mold Close Interlock 0V 0V 24V Power S W 0V EMO Switch Normal Close Interlock an...

Страница 172: ...nl Out 16 14 Green white N L Mold Colse out 16 13 Brown white P J Mold Open out 16 12 Black white R H Take Out Complete out P24V 16 11 Red S 24V 24V X300 14 14 Orange T D Auto Injection Coil X301 14 1...

Страница 173: ...Complete Y016 SwivelReturn EOAT Swivel Return X017 SafetyDown Safety Down Y017 SSftCylBw Sub Safety Cylinder Backward X018 MarmKickOrg Main Arm Kick Origin Y018 SSftCylFw Sub Safety Cylinder Forward...

Страница 174: ...eyOn Conveyor On X301 MoldOpen Mold Open Complete Y301 TakeoutOk Take Out Complete X302 SafeDoor Safety Door Open Y302 MoldOpen Mold Open X303 FullAuto Full Automatic Y303 MoldClose Mold Close X304 Ej...

Страница 175: ...4 3 R2 T2 POWER1 DC24V 3 1A SC G P J19 MB LAMP BUZ P_ON J41 J41 I 0 R1 R2 L G0 G1 P 0V 24V R3 R4 Bk sol R3 1 R3 2 R4 1 R4 2 B1 W3 V3 U3 U2 V2 W2 750W SERVO 2KW SM3 SM2 W1 V1 U1 T3 S3 R3 1 5KW TRAVERSE...

Страница 176: ...A SY Series User Manual H SYSTEM CONTROL SC BOARD I O POWER FAN connector Aux Connector Model Select Dip Swtich SW2 User I O Connector Control Power TP Connector Counter C t Middle Board Connector TP...

Страница 177: ...3X MBD 4X Not in Use ON 1 2 NEXIA 5X MBD 4X MBD 4X ON 1 2 H 2 Dip switch for selection of TP Touch Panel In 2 Pin Dip Switch No1 is on and No 2 is off ON 1 2 H 3 TP Connector Touch Panel Connecter Con...

Страница 178: ...umber Pin No J3 J6 J8 J2 J5 J7 01 X000 X010 X020 Y000 Y010 Y020 02 X001 X011 X021 Y001 Y011 Y021 03 X002 X012 X022 Y002 Y012 Y022 04 X003 X013 X023 Y003 Y013 Y023 05 X004 X014 X024 Y004 Y014 Y024 06 X...

Страница 179: ...161 H 6 Aux Connection and Fan Connector Brake J15 Molex 2P Signal of Connector and Pin BRAKE Signal PinNo Connector J15 1 24V 2 BRAKE Connector Pin Number 1 2 Relay required for BRAKE Control FAN LA...

Страница 180: ...and Connection LAMP Signal Pin No Connector J14 1 24V 2 LAMP Connector Pin No 1 2 Direct Connection with Alarm Light BUZZER Installation J13 Molex 2P BUZZER Signal Pin N Connector J13 1 24V 2 BUZZER...

Страница 181: ...20 Molex 2P When TP Touch Panel is on Fan is always ON Connector No and Pin No FAN Name Pin No Connector J20 41 24V 2 FAN Connector Pin No 1 2 If FAN is for DC Voltage connect directly if FAN IS FOR A...

Страница 182: ...nterface MBD Robot Axis Structure Board No 1 MBD 4X No 2 MBD 4X Model Name 1XAxis 1YAxis 1ZAxis 1Taxis 2XAxis 2YAxis 2ZAxis 2Taxis NEXIA 3X Single Travers Kick Main Down No 2 MBD is not in use NEXIA 5...

Страница 183: ...T 07 PULS 03 DIR CCW OUT 12 SIGN 04 DIR CCW OUT 11 SIGN 05 PULSE_CLR OUT 14 CLR 06 PULSE_CLR OUT 15 CLR 07 S_ON OUT 40 S ON 08 P_CON OUT 41 P CON 09 ALM_RESET OUT 44 ALM RST 10 P24V_OUT OUT 47 24VIN 1...

Страница 184: ...rd is No 1 No 1 Board All SW1 is ON All SW2 is OFF Board selection function No 2Board All SW1 is Off All SW2 is ON Board selection function It will cause serious machine malfucntion problem if setting...

Страница 185: ...nd Signal for output is 2P Connector Input is 3P connector J 2 Connector Name Same as BASE board Pin J3 J6 J8 J2 J5 J7 01 X000 X010 X020 Y000 Y010 Y020 02 X001 X011 X021 Y001 Y011 Y021 03 X002 X012 X0...

Страница 186: ...No 1 Switch is for E Stop from IMM Connection Off is for IMM E stop Connect ON for no connection of IMM E Stop SW1Setting Use No1 is OFF IMM E Stop connection required If no connection alarm will tri...

Страница 187: ......

Страница 188: ...ve NFB ABS33B 30A LS cable Noise Filter1 WYF S06A2 6A WOONYOUNG Co LTD Noise Filter2 FTN E20H CM 20A FINE SUNTRONIX CO LTD SMPS HNPS756 24 N 3 1A HYROBOTICS CO LTD Relay SZR LY2 N1 24VDC Honeywell Rel...

Страница 189: ...019 X010 X006 X019 X010 X006 1 2 1 3 1 3 VECT SA SENSOR SIDE MOLEX FEMALE IF SIDE MOLEX 5102 3P YELLOW BLACK 1 2 COLOR PIN BULE WHITE NUMBER TUBE X006 3 3050 VECT V 400 E020FFA7010000 06 09 11 X011 1...

Страница 190: ...LUE NUMBER TUBE X002 NUMBER TUBE X014 NUMBER TUBE X022 3 3 1 X000 X014 X022 5300 VECT V 400 3 1 X002 RED 1 3 2 COLOR PIN WHITE BLACK NUMBER TUBE X000 YELLOW GREEN E020FFA7060000 VECT V 200 SENSOR INTE...

Страница 191: ...N WHITE BLUE WHITE PIN NO COLOR COLOR PIN NO MS CONNECTOR MALE VG3108A28 15P INTERLOCK CABLE 1 1 1 5 E020PFA2010000 E020PFA2010000 J K L M F G H E A B C D BLACK MS CONNECTOR GREEN GREEN WHITE BROWN BL...

Страница 192: ...E 1 3 2 COLOR PIN NO IF SIDE 1 3 2 COLOR PIN NO 1 2 COLOR PIN NO NUMBER TUBE X000 NUMBER TUBE X010 NUMBER TUBE X020 10 9 8 7 6 4 5 10 9 8 7 6 4 5 10 9 8 7 6 4 5 3 WHITE YELLOW YELLOW WHITE WHITE GREEN...

Страница 193: ...3 2 COLOR PIN NO IF SIDE 1 3 2 COLOR PIN NO 1 2 COLOR PIN NO NUMBER TUBE X000 NUMBER TUBE X010 NUMBER TUBE X020 10 9 8 7 6 4 5 10 9 8 7 6 4 5 10 9 8 7 6 4 5 3 WHITE YELLOW YELLOW WHITE WHITE GREEN RE...

Страница 194: ...M F G H COLOR E A B C D BLACK MS CONNECTOR GREEN GREEN WHITE BROWN BLUE VIOLET WHITE BLACK WHITE PINK BLACK YELLOW BLACK ORANGE YELLOW YELLOW WHITE RED WHITE YELLOW PINK GRAY RED BLACK RED COLOR PIN N...

Страница 195: ...IVE SIDE 41 42 50 49 48 47 46 44 45 43 1 3 2 COLOR PIN NO COLOR PIN NO 10 9 8 7 6 4 5 BROWN WHITE WHITE GRAY GRAY WHITE ORANGE WHITE GREEN WHITE YELLOW WHITE WHITE YELLOW WHITE GREEN WHITE ORANGE WHIT...

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Страница 203: ...HYROBOTICS Corp 5988 Mid Rivers Mall Dr St Louis MO 63303 TEL 1 636 578 6059 FAX 1 866 232 5594 HYROBOTICS Co Ltd 173 228 GAJWA DONG SEO GU INCHON KOREA TEL 82 32 582 5040 FAX 82 32 584 7040...

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