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damaged.

Alarm No. E033

Sub-arm no forward finished
signal.

Robot sub-am in forward
state, but without forward
finished signal.

Please check cylinder, valve and sensor.
After troubleshooting,
press

“

Reference

”

key.

Alarm No. E034

Sub-arm no backward
finished signal.

Robot sub-am in backward
state, but without backward
finished signal.

Please check cylinder, valve and sensor.
After troubleshooting,
press

“

Reference

”

key.

Alarm No. E035

Robot traverse error.

For safety, when robot arm
at home position, if main arm
in vertical state, robot can
not traverse. If main arm in
horizontal state, robot can
traverse.

Please adjust main arm cyclider to
vertical.

Alarm No. E036

Sub-arm forward error.

Robot sub-arm in forward
state, but with backward
signal.

Please check cylinder, valve and sensor.
After troubleshooting,
press

“

Reference

”

key.

Alarm No. E037

Sub-arm backward error.

Robot sub-arm in backward
state, but with forward
signal.

Please check cylinder, valve and sensor.
After troubleshooting, press

“

Reference

”

key.

Alarm No. E038

Main arm up in mold not
safety.

Forbidden main arm in
vertical state going-up in
mold.

Refer to Chapter system safety.

Alarm No. E039

Main arm down in mold not
safety.

Forbidden main arm in
vertical state going-down in
mold.

Refer to Chapter system safety.

Alarm No. E040

Safety door opened.

In system safety setting, if
choose

“

use safety door

”

robot will alarm when safety
door opened.

Close safety door or press

“

Reference

”

back to manual mode. Refer to Chapter
system safety.

Alarm No. E041

Mold open signal
disappeared when arm
down in mold.

When robot arm down to
pick up product, mold open
signal disappeared.

Please check IMM working state and
signal wirings connection. After
troubleshooting, press

“

Reference

”

key.

Alarm No. E042

Middle mold signal
disappeared when arm
down in mold.

When robot arm down to
pick up product, middle
signal disappeared.

Please check IMM working state, signal
wiring connection and middle mold
option in system safety. After
troubleshooting, press

“

Reference

”

key.

Alarm No. E043

No middle mold signal.

Robot no middle mold
signal, arm cannot
going-down.

If middle mold had opened, please check
IMM signal wirings connection and
middle mold option in system safety.
After troubleshooting, press

“

Reference

”

key.

Alarm No. E044

No mold open signal.

Robot no mold open signal,
arm cannot going-down.

If mold had opened, pleas check IMM
signal wirings connection and robot I/O
circuit board. After troubleshooting,
press

“

Reference

”

key.

Содержание ST1-S

Страница 1: ...ST1 S User Manual Date May 2016 Vision V1 0 English ...

Страница 2: ......

Страница 3: ...essed Air Connection 19 2 1 3 Electric Power Connection 19 2 1 4 Safety Fence 20 2 1 5 Mounting Preparation 20 2 1 6 Mounting Instruction 20 2 2 Equipment Specification 21 2 2 1 ST1 S Dimensions unit mm 21 2 2 2 Model Specification 21 2 2 3 Pneumatic Source Requirement 22 2 3 Electrical Connection 23 2 3 1 Main Power Supply 23 2 3 2 Interface with the Injection Molding Machine 23 2 3 3 Adjusting t...

Страница 4: ... 34 3 2 Functions 35 3 2 1 Function Description 35 3 2 2 Malfunction Protection 35 3 2 3 Shock Absorber 35 3 2 4 Fuction Detection 35 3 2 5 Pick and Place 35 3 2 6 Stacking Function 35 3 2 7 Self protection 36 3 2 8 Emergency Stop Button 36 3 3 Default Setting 36 3 4 ST1 S Robot Reversing 36 4 Operating Instruction 41 4 1 Hand Controller 41 4 1 1 Operation Pannel of Hand Controller 41 4 1 2 Action...

Страница 5: ... 60 4 5 6 IO Monitor 60 4 5 7 History Alarm 62 4 5 8 Teach Program 63 4 5 9 System Safety Setup 74 4 5 10 System Information 77 4 5 11 Standard Programs 78 5 Error Connection 86 6 Maintenance 92 6 1 General 92 6 2 Lubrication Requirements 92 6 3 Maintenance cycle 92 7 Assembly Diagram 94 7 1 Traverse Unit ST1 S and ST1 T S 94 7 1 1 Parts List 95 7 2 Vertical Unit ST1 S 99 7 2 1 Parts List 100 7 3 ...

Страница 6: ...nic Servo Motor and Servo Driver Wiring Diagram 131 8 1 3 The Panasonic Servo Motor and I O Board Wiring Diagram 132 8 1 4 The Delta Servo Motor and Servo Driver Wiring Diagram 133 8 1 5 The Delta Servo Motor and I O Board Wiring Diagram 134 8 1 6 The Cuinsico Servo Motor and Servo Driver Wiring Diagram 135 8 1 7 The Cuinsico Servo Motor and I O Board Wiring Diagram 136 8 1 8 Z axis I O Board Wiri...

Страница 7: ...rse Parts List 118 Table 7 15 ST1 T S Middel Telescopic Arm Main Arm 120 Table 7 16 ST1 T S Middel Telescopic Arm Main Arm 122 Table 7 17 ST1 T S Middel Telescopic Arm Sub arm 124 Table 7 18 ST1 T S Middel Telescopic Arm Sub arm 126 Table 7 19 ST1 T S Middle Telescopic Arm Crosswise Unit 128 Table 7 20 ST1 T S Middle Telescopic Arm Crosswise Unit 129 Picture Index Picture 1 1 Packing of ST1 S and ...

Страница 8: ...2 56 Picture 4 13 57 Picture 4 14 58 Picture 4 15 59 Picture 4 16 59 Picture 4 17 60 Picture 4 18 62 Picture 4 19 62 Picture 4 20 63 Picture 4 21 63 Picture 4 22 64 Picture 4 23 64 Picture 4 24 73 Picture 4 25 74 Picture 4 26 75 Picture 4 27 76 Picture 4 28 77 Picture 7 1 94 Picture 7 2 99 Picture 7 3 102 Picture 7 4 105 Picture 7 5 108 Picture 7 6 110 Picture 7 7 113 ...

Страница 9: ...ture 7 10 123 Picture 7 11 127 Picture 8 1 130 Picture 8 2 131 Picture 8 3 132 Picture 8 4 133 Picture 8 5 134 Picture 8 6 135 Picture 8 7 136 Picture 8 8 137 Picture 8 9 138 Picture 8 10 139 Picture 8 11 140 Picture 8 12 141 Picture 8 13 142 ...

Страница 10: ...10 142 ...

Страница 11: ... manufacturer or local agent 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 safety door in order to operate in normal condition Ensure all installations are met with safety requirements before operating Without the written consent of the manufacturer any damage or lost caused by the modification or use beyon...

Страница 12: ...ots meet all corresponding safety standards Please read the user manual carefully as a safety guideline Unauthorized personnel must inform the relative supervisor and understand all safety rules before entering robot working area Please order a new user manual from the manufacturer or vendor if the user manual is damaged Product owner has the responsibility to ensure the operators maintenance staf...

Страница 13: ...13 142 The warning marks and its meanings No Marks Meaning 1 Do Not Touch 2 Caution danger 3 Caution Electric shock 4 Caution Mechanical injury ...

Страница 14: ...dition the control system and the hand controller will remain under power to allow indication of error messages The emergency 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...

Страница 15: ...tion 6 The temperature between 25 to 55 during the transportation for short transportation inner 24 hours the temperature can not higher than 70 The robot you order before sending out the 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 t...

Страница 16: ... to prevent the arm wrist and the machine damage or personal injury 2 Lock 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...

Страница 17: ...event 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 5 Power cable is damaged 6 Air tube is damaged 7 Machine breaks down or dissembled by unauthorized personnel 8 There are organic solvent acidic phospholipids sulfu...

Страница 18: ...d 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 man made vicious or deliberate damages or abnormal power and machine faults caused by irresistible natural disasters inclu...

Страница 19: ... 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 air To ensure that there is no cuttings sealing tapes in it 2 Check the air connection of control box in good conditions without bending conditions ...

Страница 20: ...5 Mounting Preparation 1 Before drilling switch off the injection molding machine and then turn off the power avoid the scrap iron into the mold 2 Stick the drilling picture on the installing surface of IMM 3 Use the center punch to assist drilling 4 Place the magnetic drill on the fixing plate use drill bits Ф14 to drill 6 holes about 30mm depth 5 Tapping Use M16 tap to produce internal 6 screws ...

Страница 21: ...1200 1200 1200 1200 200 200 200 200 200 Crosswise Stoke mm 120 120 120 Vertical Stroke mm 650 650 650 650 Max Load kg 3 3 3 3 Min Pick out Time sec 1 4 1 4 1 3 1 3 Min Cycle Time sec 8 5 8 5 8 3 8 3 Air Pressure Range bar 4 6 4 6 4 6 4 6 Max Air Consumption NL cycle 12 22 10 20 Net Weight kg 160 190 165 195 A 1930 1930 1930 1930 B 1300 1300 1300 1300 C 1470 1470 1200 1200 D 650 650 650 650 E 650 6...

Страница 22: ...30 130 130 H 130 130 130 130 Dimension s mm I 800 800 800 800 aNote 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 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 C...

Страница 23: ...cording to Euromap12 and Euromap67 Connection of the interface plug to the machine and testing of all signals 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 ma...

Страница 24: ...the 0 position Bracket A on axes X2 sub arm is 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...

Страница 25: ...push cylinder piston rod to the fully extended state 4 Fix the stop package B 2 3 5 Adjusting the Y Position 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 a...

Страница 26: ...ght on when gripper clamp the parts if not make the light off 3 Tighten the fixing screw after finishing adjustment During the robot working if the grippers not clamp the part the robot will stop operating and alarm 2 4 2 Suction 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 sw...

Страница 27: ...press Mode screen display L0 1 press up down set the valve to 50 The lower limit for example 30 press Mode screen display H1 1 press up down set the valve to 50 Note if the lower limit value smaller than the upper limit pressure switch will display pressure DOWN error message 2 Lock button After setting value press Mode and down keys together till screen displays LOCK ON This operation is preventi...

Страница 28: ...ain use up down keys to select HYS C Press Set use up down keys to select 1o2o D Press Set use up down keys to set the value to 2 E Press Set use up down keys to select R on F Press Set use up down keys to select KPA G Press Set 2 seconds back to measurement mode H Press Set in measurement mode changes the value of 1 H to 30 I Press Set changes the value of 1 H to 30 2 5 Robot and IMM Interface ST...

Страница 29: ... ZC3 Safety system active channel 1 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...

Страница 30: ...tion 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 plate are in position for the robot to ...

Страница 31: ...ignal 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 forward enabled HIGH signal when the removal operation has been performed far enough for the motion ...

Страница 32: ...t 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 footboard safety etc on the injection molding machine are operative so that dangerous movements of the handing device robot are possible The signal is active in any operation mode 4 Ejector back The switch contact is closed when the ejector ha...

Страница 33: ...gnal may be used in two ways 1 Mould opening stops on intermediate position and gives start signal to handling device robot mould opening restarts with the signal Enable full mould opening see contact No 28 2 Mould opening doesn t stop on intermediate position however gives the signal to handling device robot see pin contact No 16 The switch contact is open when intermediate mould opening position...

Страница 34: ...al 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 removal of injection moldings It is recommended that the switch contact remains closed at least until the core back to end signal is given by injection molding machine see contact No 7 25 Reserved for future use by EUROMAP 28 optional Enable full ...

Страница 35: ...rts are with limit sensor switch The devices of the limit position are on the two ends of the stroke axis Z axis and vertical axis X axis prevent robot anti falling 3 2 3 Shock Absorber There are shock absorbers on the main arm up down position sub arm up down position and the position of main arm forward and sub arm backward The main arm backward position and the forward position of sub arm with ...

Страница 36: ...e emergency stop button is located on the hand controller When an emergency stop button is pressed the power is turned off The gripper and vacuum valves and the vacuum pump are not disconnected to avoid dropping parts from the gripper In addition the controllers will remain under power to allow indication of error messages If robot goes out of order or need emergency stop for examinations press th...

Страница 37: ...w X103 Unscrew the proximity sensor X102 and move it down to the same level as where X103 was and then screw X102 See picture 3 1 picture 3 2 Picture 3 1 before modified Picture 3 2 after modified 2 Move all outside IMM safety zone blocks to the other end of the beam See picture 3 3 picture 3 4 ...

Страница 38: ...r modified 3 Move in mold sensor blocks to Z axis belt fixed block keep the distance about to 180mm See picture 3 5 4 Open the sliding seat on the Z axis and then exchange the socket position of X103 and X102 on the circuit board U2 See picture 4 1 4 2 ...

Страница 39: ...39 142 Picrure 3 5 before modified Picture 3 6 after modified 5 Change robot direction to reverse in hand controller See picture 3 7 3 8 ...

Страница 40: ... rotate robot base 180 degree and move to the other end of beam then tighten it 7 Robot reversing result checking Press home position robot will move reverse After robot back to home position Z axis home position sensor X103 light up When robot running limit sensor light up ...

Страница 41: ...41 142 4 Operating Instruction 4 1 Hand Controller 4 1 1Operation Pannel of Hand Controller Picture 4 1 ...

Страница 42: ...f Main arm vertical Main arm horizontal Mold open Mold close Ejector backword Ejector forward Traverse Traverse in to pick up position Loop 1 Loop 2 Delay time Combination Extend 1 input on Extend 1 input off Extend 2 input on Extend 2 input off Extend 3 input on Extend 3 input off Extend 1 output on Extend 1 output off Extend 1 pulse on Extend 2 output on Extend 2 output off Extend 2 pulse on Ext...

Страница 43: ... and IMM The users can real time monitor robot operation Ø IMM status display IMM 5 input signals mold open mold close medium mold safety door and IMM automation and one output signal movable mold Ø Robot arm status real time monitor robot main arm and sub arm arm going up or going down arm forward or backward and so on Ø Servo motor status reactions traverse axis inside mold or outside mold or in...

Страница 44: ...arm forward backward sun arm up down sub arm forward backward up down left right increase value manually increase servo speed decrease value manually decrease servo speed online help F2 function F3 function main arm vacuum on off main arm grasp on off main arm vertical horizontal ...

Страница 45: ...ode function extend input teach mode function extend output teach mode function auxiliary extended 1 auxiliary extended 2 stop c Emergency stop Any emergency please press the emergency stop button all movement is stopped immediately an error screen is displayed see as picture 4 3 The emergency stop button can be released by turning it clockwise Press Home key the system into manual mode shows main...

Страница 46: ...eration please press F1 key system will give help guide information according to robot current action Press F1 key online help information will appearance on hand controller Press F1 again or Return to close online help and continue last operation Picture 4 4 4 2 Function Instructions 4 2 1 Select Parameter Select and setting parmeter etc System up see picture 4 5 ...

Страница 47: ... selected the parameter can be modified Fox example in auto mode press to setup IMM safety door stop or not stop during auto running Picture 4 6 4 2 3 Input values Input values etc production schedule see picture 4 7 Picture 4 7 Two methods Ø Use number keys Press Å Æ move cusor to desired position then input digit 0 to 9 on keypad For example input 2008 press Å Æ move cursor to thousand place the...

Страница 48: ...egin traverse in Press again robot stop traverse in In move 10mm mode press robot traverse in 10mm Trv out Traverse out operations the same as traverse in The servo control box is showed bellow unit mm The value in box stands for servo position accurate to 0 1mm The cursor position indicated the current servo action mode stands for traverse continue mode Cursor at tens place stands for traverse mo...

Страница 49: ...page Note system parameters reset if press Return will directly give up saving 4 3 Manual and Automatic Operation 4 3 1 Introduction System manual and auto operation is in main page System has 4 run working states 1 Manual operate the robot via hand controller 2 Auto stand by system in the auto stand by mode be ready to auto running or single period running 3 Auto running system is executing the c...

Страница 50: ... grasp on press this key will grasp off release parts Cylinder rotate horizontal vertical If cylinder in horizontal state press this key cylinder will rotate vertical If cylinder in vertical state press this key cylinder will rotate horizontal Sub arm up down If sub arm going up press this key sub arm will going down If sub arm going down press this key sub arm will going up Sub arm forward backwa...

Страница 51: ...on Select auto program In manual mode on main page press Auto into auto running In manual mode on main page press F3 to select auto program System memory saves 28 team programs P00 to P27 The standard program P00 to P09 can not modify but can modify the parameters program options and position Usually these 10 standard programs can meet customers needs For some customized programs please in teach m...

Страница 52: ... by mode Enter Auto Mode Press Auto to start the automation operation Please pay attention to Ø Do not adjust the machinery or parts while robot arm in auto operation Ø Do not attempt to pick up dropped products or clean the arm while it is operation Ø Ensure there are no people or obstructions in the robot arm movable range Ø Any irregular problems please stop robot and contract with supervisor Ø...

Страница 53: ...will stop running and system back to stand by mode In auto running mode press Manual system back to manual mode In auto stand by or auto running mode forbidden manually operate robot Each cycle time displays at period time page Ø Molding ejection time injection molding machine one cycle production time Ø In mold the duration while robot inner the mold Reflect the time of robot to take out products...

Страница 54: ... 9 options on menu bar action parameters program parameters pile area setup system parameters IO monitor and alarm list customize program safety parameters and system information In main page press left right key to select option and press Enter to into selected setup page 4 5 2 Action Setting The action parameters setup page lists the parameters of action in current program see picture 4 11 ...

Страница 55: ...sition please reference to Chapter 4 2 4 the lowest speed is 10 and the fast is 100 Press keys to adjust the speed Combination The combination actions from begin to end are executed at the same time There is no parameter to be modified Expect above 4 actions other actions with delay parameters The delay time should be inner 0 00 to 9 99 second Note the parameters setups have been limited for safet...

Страница 56: ...ked up or dropped system won t alarm Main arm grasp sensor if choose USED the part hasn t been graspped or dropped system will alarm If choose NOT USED the part hasn t been gripped or dropped system won t alarm Sub arm grip sensor if choose USED the part hasn t been gripped or dropped system will alarm If choose NOT USED the part hasn t been gripped or dropped system won t alarm Alarm internal set...

Страница 57: ...on schedule Production sample the option is used to set robot when to get samples 1000 stands for every 1000 parts get one sample 0 stands for no samples Reject alarm counter the option is used to set the numbers of reject Robot will alarm and stop auto running when reach the setting numbers 0 stands for without countering reject Experience production the option is used to set sample numbers for t...

Страница 58: ...ach program can have two loop areas at the same time loop 1 and loop 2 If current program just has loop 1 setup or loop 2 setup the user just should set loop 1 or loop 2 parameters If current program has loop 1 and loop 2 setup the user should set both of the parameters Press F2 switch loop 1 and loop 2 setting page Loop 1 position setting page see picture 4 14 Picture 4 14 The loop 1 setup page i...

Страница 59: ...most But in free mode the user just can set 10 positions at most Product release in regular mode the first position and release interval should be setted see picture 4 15 If product release in free mode each product s position and release interval should be setted see picture 4 16 Picture 4 15 Picture 4 16 Regular mode Regular first position the first product postion in loop ...

Страница 60: ...e and English Press keys can change the system interface language Max servo soft distance the maximum travel distance for traverse axis The value must not exceed the physical maximum distance Product catch position the position of robot picks up product in mold This position must in mold safety sensor range and less than system max stroke Middle release position the max down stroke of robot out of...

Страница 61: ...ncluding the statues of IMM robot arm servo and extend input see picture 4 18 The port monitor out page including the statues if IMM robot arm servo and extend output see picture 4 19 F2 for page up F3 for page down ...

Страница 62: ...lso can into IO monitor page to get troubleshooting Press Ç È Å Æ to select port the port number and define will display on screen 4 5 7 History Alarm The alarm time reasons and robot arm states will be saved in system The last 30 alarm records can be keep in system ...

Страница 63: ...ture 4 20 Select one alarm number press F1 the detail message will display on the screen see picture 4 21 Picture 4 21 4 5 8 Teach Program The 10 standard programs P00 to P09 can be used System can save 18 customized programs P10 to P27 at most Edit any programs only in teach program page see picture 4 22 ...

Страница 64: ...n not be deleted Teach Operation Press F3 into teach program page One program can teach 100 actions at most and one screen shows 18 actions If the selected program is not empty the user can select program numbers and modify them Each program has 3 areas number action and parameter Picture 4 23 Number The action numbers of one program from 0 to 99 ...

Страница 65: ...not an actual robot action no parameters Note The other actions have delay time parameters Cursor in number area stands for cursor in number area and teaching No 0 action System is not excute action and waiting the user to input action Cursor in action area stands for cursor in action area and teached action For example when cursor in number area pressing main arm forward key then input main arm f...

Страница 66: ...rm forward backward key replace action to main arm backard see the following picture After choosed action press Æ move cursor to parameter area and modify parameter see following picture If no need to modify parameter press È move cursor to next number area see following pictures Press Ç to delete modify parameter and move cursor to last number area But if action is delay action combination or tra...

Страница 67: ...obot in main arm forward state press this key will change to backward Note if cannot input main arm forward backward action system will alarm and display reasons Cursor at parameter area this key is used as digit 2 vacuum on off Cursor at number area press this key to input vacuum on or off Cursor at action area if robot in vacuum on state press this key will change to off Cursor at parameter area...

Страница 68: ...er area press this key to input sub arm forward or backward action Note if cannot input sub arm forward backward action system will alarm and display error message Cursor at action area if robot in sub arm forward state press this key will change to backward Cursor at parameter area this key is used as digit 7 sub arm grip on off Cursor at number area press this key to input sub arm grip on or off...

Страница 69: ... input mold open or mold close action Cursor at action area if in mold open state press this key will change to mold close Cursor at parameter area this key is unused ejector forward backward Cursor at number area press this key to enable ejector forward or backward Cursor at action area if ejector in forward state press this key ejector will change to backward Cursor at parameter area this key is...

Страница 70: ... number area press this key screen will toggle to extend input signal page Choose one input signal testing or not testing signal extend output Cursor at number area press this key screen will toggle to extend output signal page Choose one output signal testing or not testing signal Cursor at number area this key is unused Cursor at action area this key is unused Cursor at parameter area if in posi...

Страница 71: ...If no action cursor cannot move to next number area Cursor action area press this key to confirm and save parameter cursor will move to next number area Cursor parameter area pres this key moves to number area left Cursor at number area this key is unused Cursor at action area this key is unused Cursor at parameter area if in delay time parameter this key is used as numbers right Cursor at number ...

Страница 72: ...Main arm action main arm vacuum on main arm vacuum off main arm grip on main arm grip off main arm up main arm down main arm forward main arm backward main arm vertical main arm horizontal only can teach once in program combination 11 Sub arm action sub arm grip on sub arm grip off sub arm up sub arm down sub arm forward sub arm backward only can teach once in program combination 12 Traverse axis ...

Страница 73: ...operation and back to main screen Extend out Total 3 extend output port each port has 3 types of signals High level output one high level signal Low level output one low level signal Pulse output one pulse signal Output one high level signal a period of delay time then output one low level signal Press Ç È to choose port number press Å Æ to choose types of signal F2 to save operation and return to...

Страница 74: ...etup Seting safety in safe option page Picture 4 25 Usage of middle mold middle mold use or unused If select middle mold use after IMM mold open and middle mold open robot arm can going down If IMM without middle mold set this option to unused Safe door open stop the safe door option used to setup whether robot stop auto running if the safe door is opened If set this option to stop then robot will...

Страница 75: ...y mode when auto running IN MOLD Robot will wait the MOP signal mold open signal in the mold area OUT MOLD Robot will wait the MOP signal mold open signal out of the mold area The wait mode selection must be match with the current program Please setup the safety parameters carefully Incorrect setting may crause accident Please setup the traverse limit in mold to pretect mold and machine equipments...

Страница 76: ...he parameters of history alarm product sum and system overall reset can be reset Press F3 to reset parameter History alarm reset 30 records at most Product sum rest product numbers to 0 System overall reset including action program max physical distance etc Servo speed min 1 max 100 Servos accelerate time set the accelerate time of servo start and stop The higher speed of servo the longer accelera...

Страница 77: ...te option page to select each sensor used or not used see picture 4 28 Picture 4 28 4 5 10 System Information This page displays manufacturer s series umbers max displacement version company name address telephone and website ...

Страница 78: ...11 Loop 1 SPD 050 12 Main arm forward 1 00 13 Main arm down 1 60 14 Main arm vacuum off 0 40 15 Main arm up 0 P01 00 Main arm forward 1 00 01 Traverse in to pick up position SPD 050 02 Main arm horizontal 0 03 Mold open 0 04 Ejector forward 0 05 Delay 0 06 Main arm down 0 80 07 Main arm backward 0 08 Main arm vacuum on 0 40 09 Main arm forward 1 00 10 Main arm up 0 11 Mold close 0 12 Main arm vert...

Страница 79: ...ard 1 00 12 Combination end 0 13 Combination begin 0 14 Main arm vacuum on 0 40 15 Sub arm grip on 0 40 16 Combination end 0 17 Combination begin 0 18 Main arm backward 1 00 19 Sub arm forward 1 00 20 Combination end 0 21 Combination begin 0 22 Main arm up 0 23 Sub arm up 0 24 Combination end 0 25 Mold close 0 26 Traverse to sprue position SPD 050 27 Sub arm grip off 0 28 Main arm vertical 0 29 Lo...

Страница 80: ...acuum on 0 40 15 Sub arm vacuum on 0 40 16 Combination end 0 17 Combination begin 0 18 Main arm forward 1 00 19 Sub arm forward 1 00 20 Combination end 0 21 Combination begin 0 22 Main arm up 0 23 Sub arm up 0 24 Combination end 0 25 Mold close 0 26 Main arm vertical 1 00 27 Loop 1 SPD 050 28 Combination begin 0 29 Main arm down 0 80 30 Sub arm down 0 80 31 Combination end 0 32 Combination begin 0...

Страница 81: ...on end 0 14 Main arm backward 1 00 15 Sub arm forward 1 00 16 Combination end 0 17 Combination begin 0 18 Main arm vacuum on 0 40 19 Sub arm grip 0 40 20 Combination end 0 21 Combination begin 0 22 Main arm forward 1 00 23 Sub arm backward 1 00 24 Combination end 0 25 Combination begin 0 26 Main arm up 0 27 Sub arm up 0 28 Combination end 0 29 Mold close 0 30 Traverse to cut sprue SPD 050 31 Sub a...

Страница 82: ...ation end 0 17 Combination begin 0 18 Main arm vacuum on 0 40 19 Sub arm vacuum 0 40 20 Combination end 0 21 Combination begin 0 22 Main arm forward 1 00 23 Sub arm backward 1 00 24 Combination end 0 25 Combination begin 0 26 Main arm up 0 27 Sub arm up 0 28 Combination end 0 29 Mold close 0 30 Main arm vertical 1 00 31 Loop 1 SPD 050 32 Combination begin 0 33 Main arm down 0 80 34 Sub arm down 0 ...

Страница 83: ...arm forward 0 08 Sub arm up 0 09 Mold close 0 10 Traverse out SPD 050 11 Sub arm grip off 0 P07 00 Sub arm backward 1 00 01 Traverse in to pick up position SPD 050 02 Mold open 0 03 Ejector forward 0 04 Delay 0 05 Sub arm down 0 80 06 Sub arm forward 1 00 07 Sub arm grip on 0 40 08 Sub arm backward 0 09 Sub arm up 0 10 Mold close 0 11 Traverse out SPD 050 12 Sub arm grip off 0 ...

Страница 84: ...in arm horizontal 0 02 Sub arm backward 1 00 03 Mold open 0 04 Ejector forward 0 05 Delay 0 06 Sub arm down 0 80 07 Sub arm forward 1 00 08 Sub arm grip on 0 40 09 Sub arm backward 1 00 10 Sub arm up 0 11 Mold close 0 12 Loop 1 SPD 050 13 Sub arm grip off 0 40 ...

Страница 85: ...d 0 18 Combination begin 0 19 Main arm forward 1 00 20 Sub arm backward 1 00 21 Combination end 0 22 Combination begin 0 23 Main arm vacuum on 0 40 24 Sub arm grip on 0 40 25 Combination end 0 26 Combination begin 0 27 Main arm backward 1 00 28 Sub arm forward 1 00 29 Combination end 0 30 Combination begin 0 31 Main arm up 0 32 Sub arm up 0 33 Combination end 0 34 Mold close 0 35 Combination end 0...

Страница 86: ...stop The emergency stop button on hand controller is pressed Release emergency stop button and press Reference key Alarm No E009 IMM emergency stop The emergency stop button of IMM is pressed Release emergency stop button and press Reference key on hand controller check the wirings connection Alarm No E010 Production plan finished Robot in auto mode the picked up products reached the setting numbe...

Страница 87: ...nce key Alarm No E025 Main arm rotate error Robot arm with rotate horizontal and vertical signal Please check sensor After troubleshooting press Reference key Alarm No E026 Main arm rotate horizontal error Robot main arm in horizontal state but without horizontal finished signal Please check cylinder valve and sensor After troubleshooting press Reference key Alarm No E027 Main arm rotate vertical ...

Страница 88: ...afety Alarm No E039 Main arm down in mold not safety Forbidden main arm in vertical state going down in mold Refer to Chapter system safety Alarm No E040 Safety door opened In system safety setting if choose use safety door robot will alarm when safety door opened Close safety door or press Reference back to manual mode Refer to Chapter system safety Alarm No E041 Mold open signal disappeared when...

Страница 89: ...put signal high level low level or pulse signal Please check signal source Alarm No E054 Main arm up overtime Main arm goes up after the delay time end robot still hasn t got up finished signal Please check cylinder valve sensor and air pressure After troubleshooting press Reference key Alarm No E055 Sub arm up overtime Sub arm going up after the delay time end robot still has t got up finished si...

Страница 90: ...ain arm forward overtime Main arm forward after delay time end robot still gets backward finished signal Please check cylinder valve sensor and air pressure After troubleshooting press Reference key Alarm No E068 Main arm backward overtime Main arm backward after delay time end robot still hasn t got backward finished signal Please check cylinder valve sensor and air pressure After troubleshooting...

Страница 91: ...eshooting press Reference key Alarm No E075 Middle mold signal disappeared Robot standby outside mold IMM choose use milled mold and mold open robot traverse in and forbidden IMM open close mold then middle mold signal disappeared Please check IMM woring state signal wirngs connection and middle mold opitin in system safety After troubleshooting press Reference key ...

Страница 92: ... 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 Remove the old grease from the guide shafts and scraper rings of the bearing using a cloth Then apply the new grease to the guide shafts using a brush As ...

Страница 93: ... 4 Check bolt connection robot and injection molding machine whether tighten 5 Check all block settings whether tightened 3 Confirm whether the pipelines break or loose 4 Check and adjust the operating speed ...

Страница 94: ...94 142 7 Assembly Diagram 7 1 Traverse Unit ST1 S and ST1 T S Picture 7 1 ...

Страница 95: ...020 BL70110100020 11 SYNCHRONOUS BELT YR00082500100 YR00082500100 YR00082500100 YR00082500100 12 PROXIMITY SWITCH 13 SERVO MOTOR 14 SPEED REDUCER YM50940000000 YM50940000000 YM50940000000 YM50940000000 15 TRAVERSE DRAG CHAIN CONNECTER BL71555300020 BL71555300020 BL71555300020 BL71555300020 16 PACKAGE SUPPORTING FRAME1 BL71555600020 BL71555600020 BL71555600020 BL71555600020 17 FLIP FIXING PLATE BH1...

Страница 96: ...0127000020 BL70127000020 BL70127000020 32 TRAVESE DRAG CHAIN YE60250007500 YE60250007500 YE60250007500 YE60250007500 33 BUFFER MOUNT PLATE 3 34 SAFETY SENSOR PANEL OF MOLD BL69002200020 BL69002200020 BL69002200020 BL69002200020 35 ALUMINUM PROFILE OF TRAVERSE 36 TRAVERSE DRAG CHAIN SUPPORTING FRAME 37 CONTROL BOX BH72070000250 BH72070000250 BH72070000250 BH72070000250 38 FILTER REGULATING VALVE YE...

Страница 97: ...110 20 Sliding seat 21 Motor supporting frame BH10155000010 BH10155000010 23 Pulley bearing YW11600500000 YW11600500000 24 Pulley BH91030000010 BH91030000010 22 Connection shaft BH91303900010 BH91303900010 25 Special washer BL70107700040 BL70107700040 26 Synchronous pulley YW08621900100 YW08621900100 27 Motor sypporting cover BL21000100520 BL21000100520 28 Hinge YW06253200000 YW06253200000 29 Lock...

Страница 98: ...100110 20 Sliding seat 21 Motor supporting frame BH10155000010 BH10155000010 BH10155000010 BH10155000010 23 Pulley bearing YW11600500000 YW11600500000 YW11600500000 YW11600500000 24 Pulley BH91030000010 BH91030000010 BH91030000010 BH91030000010 22 Connection shaft BH91303900010 BH91303900010 BH91303900010 BH91303900010 25 Special washer BL70107700040 BL70107700040 BL70107700040 BL70107700040 26 Sy...

Страница 99: ...99 142 7 2 Vertical Unit ST1 S Picture 7 2 ...

Страница 100: ...0 YW09055000300 YW09055000300 YW09055000300 11 Linear gudiding rail YW31157600000 YW31157600000 YW31157600000 YW31157600000 12 Sub arm 13 Main arm 14 Limit block BH91202500110 BH91202500110 BH91202500110 BH91202500110 15 Lifting rings YW09000800000 YW09000800000 YW09000800000 YW09000800000 16 Right cover of vertical BH91905000010 BH91905000010 BH91905000010 BH91905000010 17 Fixing frame of vertica...

Страница 101: ...n rod YW09055000300 YW09055000300 11 Linear gudiding rail 12 Sub arm 13 Main arm 14 Limit block BH91202500110 BH91202500110 15 Lifting rings YW09000800000 YW09000800000 16 Right cover of vertical BH91905000010 BH91905000010 17 Fixing frame of vertical cylinder 18 Vertical cylinder on main arm 19 Vertical cylinder on main arm YE31325100000 YE31325100000 20 Vertical drag frame on main arm BL70111000...

Страница 102: ...102 142 7 3 Main Arm Unit ST1 S Picture 7 3 ...

Страница 103: ...255020000 12 Silencer sleeve 20 YW80200000000 YW80200000000 YW80200000000 YW80200000000 13 Air pipe connection plate on main arm 14 Connection cover of main arm 15 Digital display pressure switch YW80204050000 YW80204050000 YW80204050000 YW80204050000 16 Relay mounting plate on main arm 17 Pneumatinc distribution block on main arm 18 Magnetic valve 19 Main arm mounting plate 20 Buffer unit BH91181...

Страница 104: ...eeve 20 YW80200000000 YW80200000000 13 Air pipe connection plate on main arm 14 Connection cover of main arm 15 Digital display pressure switch YW80204050000 YW80204050000 16 Relay mounting plate on main arm 17 Pneumatinc distribution block on main arm 18 Magnetic valve 19 Main arm mounting plate 20 Buffer unit BH91181200010 BH91181200010 21 Buffer cap YW80200000000 YW80200000000 22 Falling proof ...

Страница 105: ...105 142 7 4 Sub arm Unit ST1 S Picture 7 4 ...

Страница 106: ...r fixing cap 12 Drag chain connector on sub arm BL71011500020 BL71011500020 13 Connection cover on sub arm 14 Air pipe connection plate on sub arm 15 Magnetic valve 16 Sub arm mounting plate 17 Buffer unit BH91181200010 BH91181200010 18 Buffer cap YW80200000000 YW80200000000 19 Anti falling cylinder YE30055000350 YE30055000350 20 Proximity switch 21 Sub arm holder frame 22 Shock absorber YW1025502...

Страница 107: ...inder fixing cap 12 Drag chain connector on sub arm BL71011500020 13 Connection cover on sub arm 14 Air pipe connection plate on sub arm 15 Magnetic valve 16 Sub arm mounting plate 17 Buffer unit BH91181200010 18 Buffer cap YW80200000000 19 Anti falling cylinder YE30055000350 20 Proximity switch 21 Sub arm holder frame 22 Shock absorber YW10255020000 23 Shock absorber YW10203010000 means possible ...

Страница 108: ...108 142 7 5 Main Arm ST1 T S Picture 7 5 ...

Страница 109: ...igit display pressure switch YE15300102500 YE15300102500 YE15300102500 YE15300102500 15 Wirings connection pipe 16 Air tube connection plate 17 Terminal bottom frame 1 BL70110700040 BL70110700040 BL70110700040 BL70110700040 18 Pneumatic distribution block on main arm BH72551100050 BH72551100050 BH72551100050 BH72551100050 19 Magnetic valve 20 Steel cover of main arm 1 BL70120900020 BL70120900020 B...

Страница 110: ...110 142 7 6 Sub arm ST1 T S Picture 7 6 ...

Страница 111: ...Anti falling cylinder on sub arm 8 Pulley on telescopic arm BH13014130010 BH13014130010 9 Synchronous belt 10 Driven tooth of sub arm 11 Drag chian connector on sub arm 2 up down 12 Drag chian on sub arm up down 13 Aluminum profile of sub arm BH78714180010 BH79901600410 14 Going down buffer stopper of sub arm 15 Fixing blet plate 1 BL70019000020 BL70019000020 16 Shock absorber 17 Air tube connecti...

Страница 112: ...00350 27 Proximity switch mounting plate 3 28 Up going buffer stopper of sub arm 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 gurantee that the item number of the spare part is in accordance with the real object ...

Страница 113: ...113 142 7 7 Vertical ST1 T S Picture 7 7 ...

Страница 114: ...00040 11 Aluminum profile of vertical BH91801600010 BH91801600010 12 Linear guide rail 13 Fixing frame of vertical cylinder BL70103000040 BL70103000040 BL70103000040 BL70103000040 14 Sub arm BH78701400110 BH78901600110 15 Main arm BH78701400010 BH78701400010 BH78901600010 BH78901600010 16 Limit stopper BH91202500110 BH91202500110 BH91202500110 BH91202500110 17 Right cover of vertical arm BH9190500...

Страница 115: ...115 142 7 8 Traverse Unit ST1 T S Middle Telescopic Arm Picture 7 8 ...

Страница 116: ...0000 YE20200450000 YE20200450000 YE20200450000 16 Connectiong shaft BH91304800010 BH78111000010 BH78111000010 BH78111000010 17 Pulley BH91030000010 BH78112000010 BH78112000010 BH78112000010 18 Cover of motor supporting frame BL72108200020 BL72108200020 BL72108200020 BL72108200020 19 Synchronous pulley YW08621900000 YW08621900000 20 Motor supporting frame BL72109000040 BL72109000040 BL72109000040 B...

Страница 117: ...7000020 38 Connecting plate of grounded BL70126000020 BL70126000020 BL70126000020 BL70126000020 39 Conttol box BL72106000020 BL72106000020 BL72106000020 BL72106000020 40 Wave filter fixing plate 41 Filter regulating valve YE30400015000 YE30400015000 YE30400015000 YE30400015000 means possible broken parts means easy broken part and spare backup is suggested Please confirm the version of manual befo...

Страница 118: ...educer 22 Servo motor 23 Traverse terminal mounting plate BL72103000020 BL72103000020 24 Tranverse terminal bottom supporting frame BL72104100020 BL72104100020 25 Synchronous belt YR00082500100 YR00082500100 26 Linear guide rail 27 Belt pressing plate YW09564900110 YW09564900110 28 Belt cleat connection parts 29 Buffer cap 30 Belt fixing frame 1 BL71010900020 BL71010900020 31 Buffer BH91151200010 ...

Страница 119: ...119 142 7 9 Main Arm ST1 T S Middel Telescopic Arm Picture 7 9 ...

Страница 120: ...2 Drag chain on main arm up down YE60250003100 YE60250003100 YE60250003100 YE60250003100 13 Linear guide rail YW31008202000 YW31008202000 14 Arm down going stopper plate BL72112000040 BL72112000040 15 Sensor fixing plate YW09601400110 YW09601400110 YW09601400110 YW09601400110 16 Aluminum profile of main arm BH72111803010 BH72111803010 17 Terminal bottom frame on main arm 18 Terminal mounting plate...

Страница 121: ...R00052000200 YR00052000200 YR00052000200 33 Anti falling cylinder frame on main arm BL72122000020 BL72122000020 BL72122000020 BL72122000020 34 Anti falling YE30201540000 YE30201540000 YE30201540000 YE30201540000 35 Shock absorber 1 YW10258020000 YW10258020000 YW10258020000 YW10258020000 36 Shock absorber 2 YW80366000000 YW80366000000 YW80366000000 YW80366000000 37 Proximity switch means possible b...

Страница 122: ...00020 BL72110600020 21 Pulley fixing plate 3 BL72300500040 BL72300500040 22 Pulley on telescopic arm BH78011000010 BH78011000010 23 Connecting shaft of telescopic arm BH78010900010 BH78010900010 24 Pulley fixing plate 1 of pulley BL72301700020 BL72301700020 25 Belt pressing plate BL72122000040 BL72227000040 BL72122000040 BL72227000040 26 Belt down going fixing plate on main arm BL72111900020 BL721...

Страница 123: ...123 142 7 10 Sub arm ST1 T S Middel Telescopic Arm Picture 7 10 ...

Страница 124: ...n 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 1 BL72301700020 BL72301700020 16 Synchronous belt YR00052000200 YR00052000200 17 Pulley fixing plate 3 BL72300500040 BL72300500040 18 Drag up down on sub arm YE60250005500 YE6025...

Страница 125: ...eel 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 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 gurantee that the item number of the spare...

Страница 126: ...250005500 19 Drag up down connector on sub arm BL72000900020 20 Belt down going fixing plate on sub arm 21 Belt pressing plate BL72122000040 22 Arm down going baffer BL72001100040 23 Cylinder fixing plate BH91451600110 24 Terminal mounting plate on sub arm 25 Terminal bottom frame on sub arm 26 Belt up going fixing plate on sub arm BL72100400020 27 Magnetic valve 28 Penmatic distribution block on ...

Страница 127: ...127 142 7 11 Crosswise Unit ST1 T S Middle Telescopic Arm Picture 7 11 ...

Страница 128: ...0 12 Crosswise cylinder fixing frame of mian arm BL72101100040 BL72101100040 BL72101100040 BL72101100040 13 Crosswise cylinder on main arm YE31140108400 YE31140108400 YE31140108400 YE31140108400 14 Main arm BH78111800010 BH78111800010 BH78111800010 BH78111800010 15 Sub arm BH78180021010 BH78180021010 16 Right cover of crosswise beam BH91905000010 BH91905000010 BH91905000010 BH91905000010 17 Limit ...

Страница 129: ...2 Crosswise cylinder fixing frame of mian 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 Limit baffer 3 18 Buffer installation part 19 Buffer cap 20 Crosswise drag mounting plate 21 Crosswise drag supporting frame 22 Crosswi...

Страница 130: ...130 142 8 Electric Control Chart 8 1 Non euromap Electric Control Chart 8 1 1 The Power Input Wiring Diagram Picture 8 1 ...

Страница 131: ...131 142 8 1 2 The Panasonic Servo Motor and Servo Driver Wiring Diagram Picture 8 2 ...

Страница 132: ...132 142 8 1 3 The Panasonic Servo Motor and I O Board Wiring Diagram Picture 8 3 ...

Страница 133: ...133 142 8 1 4 The Delta Servo Motor and Servo Driver Wiring Diagram Picture 8 4 ...

Страница 134: ...134 142 8 1 5 The Delta Servo Motor and I O Board Wiring Diagram Picture 8 5 ...

Страница 135: ...135 142 8 1 6 The Cuinsico Servo Motor and Servo Driver Wiring Diagram Picture 8 6 ...

Страница 136: ...136 142 8 1 7 The Cuinsico Servo Motor and I O Board Wiring Diagram Picture 8 7 ...

Страница 137: ...137 142 8 1 8 Z axis I O Board Wiring Diagram Picture 8 8 ...

Страница 138: ...138 142 8 1 9 Main Arm Wiring Diagram Picture 8 9 ...

Страница 139: ...139 142 8 1 10 Sub arm Wiring Diagram Picture 8 10 ...

Страница 140: ...140 142 8 1 11 Main Arm Output Wirng Diagram Picture 8 11 ...

Страница 141: ...141 142 8 1 12 Signals Input Wiring Diagram Picture 8 12 ...

Страница 142: ...142 142 8 1 13 Signals Output Wiring Diagram Picture 8 13 ...

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