Heng Hui IAD-H600 User Manual

Intelligence aided lifting equipment

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Intelligence Aided

Lifting Equipment

User Manual

(V4.71)

November 2018

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Summary of Contents for Heng Hui IAD-H600

Page 1 Intelligence Aided Lifting Equipment User Manual (V4.71) November 2018...
Page 2 Intelligence Aided Lifting Equipment Preface Thank you for choosing our product! This User Manual provides information in respect of the intelligence aided lifting equipment covering the following: Safety Product overview Start-up Function description Extended Function Menu setting Maintenance & service Revision: Adjustment on dual suspension.
Page 3: Table Of Contents
Intelligence Aided Lifting Equipment Table of Contents Chapter I Safety ........................6 Safety precautions ..................... 6 Safety signs ....................... 8 Safety protection device .................... 9 1.3.1 Limit switch ...................... 9 1.3.2 Steel cable locking device ................. 9 1.3.3 Overload prevention device ................10 1.3.4 Forced cooler ....................
Page 4 Intelligence Aided Lifting Equipment 4.1.3 Adjust the maximum operating speed in mode of manual hold ...... 25 4.1.4 No-load deceleration function ................. 26 Suspension mode ..................... 27 4.2.1 Operation mode ....................27 4.2.2 Notes to suspension mode ................27 Levitation unloading mode..................28 4.3.1 Operation steps ....................
Page 5 Intelligence Aided Lifting Equipment 5.6.1 Homing Weight Setting ................... 43 5.6.2 Usage method ....................43 Palletizing function ....................43 5.7.1 Signal setting ....................44 5.7.2 Operation steps ....................44 Wireless Remote Control Module ................45 5.8.1 Operation methods for the wireless remote control ........45 Expansion interface ....................
Page 6: Chapter I Safety
Intelligence Aided Lifting Equipment Chapter I Safety 1.1 Safety precautions The users must be familiar with and abide by the following safety matters before the storage, installation, operation, inspection and maintenance of the products. Prompt: Non-conformance to the safety precautions may cause severe personal injury or even death or damage to the equipment.
Page 7 Intelligence Aided Lifting Equipment 23. The load steel wire rope needs to be kept clean and in good condition. 24. Prior to any operation, please check the load steel wire rope for any loop, knot, twist, bend or foreign matter. 25.
Page 8: Safety Signs
Intelligence Aided Lifting Equipment 1.2 Safety signs A safety sign reminds operators or servicemen of potential risks, and hence it is an important facility for identifying and avoiding danger. Sign Name Position Warning signs Grounding Transformers, Means the equipment must be grounded, otherwise aviation connectors.
Page 9: Safety Protection Device
Intelligence Aided Lifting Equipment 1.3 Safety protection device A safety protection device is designed to prevent accidents of intelligence aided lifting equipment, consisting of limit switches that limit movement, steel cable locking device, overload prevention device and forced cooling devices. 1.3.1 Limit switch The intelligence aided lifting equipment is provided with limit switches (Fig.
Page 10: Overload Prevention Device
Intelligence Aided Lifting Equipment 1.3.3 Overload prevention device The intelligence aided lifting equipment is provided with a weighing sensor (Fig. 1. 3). When the weight to be lifted exceeds the set value or rated bearing capacity, lifting will stop and “Overload Alarm”...
Page 11: Emergency Stop Button
Intelligence Aided Lifting Equipment Fig. 1. 4 Forced cooling device 1.3.5 Emergency stop button By pressing the emergency stop button on the handle (Fig. 1. 5), manual operation or suspension lifting of the equipment will be disabled other than menu viewing or editing. While the emergency stop brakes the equipment by direct control of the motor through hardware! In case that maintenance and service, parameter setting, system upgrade and power-on standby are performed with the equipment electrified, the emergency stop button must be kept...
Page 12: Chapter Ii Overview
Intelligence Aided Lifting Equipment Chapter II Overview 2.1 Introduction The intelligence aided lifting equipment is a material handling device that conforms to human engineering, comprising of servo drives, servo motors, decelerators, sensors and relevant structures and controlled by a micro-processor. It features easy operation, high precision, intelligence, controllable speed, safety and reliability, etc..
Page 13: Types Of Handles
Intelligence Aided Lifting Equipment Fig. 2 1 Main unit Fig. 2 2 Spring cable Fig. 2 3 Coaxial sliding handle 2.4 Types of handles Apart from a coaxial sliding handle, the intelligence aided lifting equipment may be provided with a CVT handle, a remote installation sliding handle, an all-touch handle, a wireless handle and a coaxial pressure handle, depending on the varying station requirements.
Page 14: Signal Connection Line
Intelligence Aided Lifting Equipment Fig. 2. 4 CVT handle Fig. 2. 5 Sliding handle for Fig. 2. 6 All-touch Fig. 2. 7 Wireless remote installation handle handle 2.5 Signal connection line In addition to spring wires, the straight connection wires of stepless handles (straight or spring wires), folding extension wires, H360-handle connection wire A, and H360--handle connection wire C, depending on different models and handles, can also be used for the connection between the host and the handles of the intelligent lifting equipment, with the following functions:...
Page 15: H360 Sliding Circle
Intelligence Aided Lifting Equipment Needle Hole The wire map of pins for connectors at both ends of H360-handle connection wire A is shown below: Hole Hole The wire map of pins for connectors at both ends of H360-handle connection wire C is shown below: Hole Hole...
Page 16: Composition And Meanings Of Model
Intelligence Aided Lifting Equipment Fig. 1. 6 H360 sliding circle 2.7 Composition and meanings of model The following is the model composition and meanings of a main engine of intelligence aided lifting equipment. IAD-H080-500-A10 Product Version Length of steel cable (cm): Hoisting capacity (kg): Product code: Intelligence Aided Lifting Equipment 2.8 Nameplate...
Page 17: Basic Operation Interface
Intelligence Aided Lifting Equipment The rated power of the said type. 7. Operation speed The maximum operation speed of the equipment. 8. QR code and CE certification Product information can be acquired by scanning the QR code. This product has passed CE certification. 2.9 Basic operation interface The basic operation interface of intelligence aided lifting equipment (Fig.
Page 18: Main Technical Parameters
The main technical parameters of the intelligence aided lifting equipment are shown in Table 2. Table 2 Main engine model IAD-H80 IAD-H200 IAD-H300 IAD-H600 Load (weight and tool) (KG) Maximum lifting speed under manual hold mode - no load (m/Min)
Page 19: Basic Dimensions
600KG Intelligence Aided Lifting Equipment Basic Dimensions 3 (Fig. 2 10left). See attachments for detailed dimensions. Note: D is the min. size. Table 3 Model IAD-H80 IAD-H200/IAD-H300 IAD-H600 A (mm) B (mm) C (mm) D (mm) 1085 E (mm) F (mm)
Page 20: Main Components
Intelligence Aided Lifting Equipment Fig. 2 10 Dimension 2.12 Main components Intelligence Aided Lifting Equipment Main Components Information Table 4. Table 4 Model IAD-H80 IAD-H200 IAD-H300 IAD-H600 Delta Servo drivers Delta (0.75KW) Delta (1.5KW) Delta (2KW) (2KW) Delta Delta Servo motor Delta (0.75KW)
Page 21: Chapter Iii Start
Intelligence Aided Lifting Equipment Chapter III Start 3.1 Power supply Before final connection to power, check the entire equipment to ensure all connections are complete without bending or loosening and the following connected shall be checked: Connection of spring wire and handle M12 hole socket; Connection of spring wire and master M12 hole pin socket;...
Page 22: Connection Of Transformer
Intelligence Aided Lifting Equipment three-phase 380VAC power supply to the transformer is connected through the circuit breaker. Connect the main power air plug (female) to the end of the power line. Connect the installed main power air plug (female) to the Intelligence Aided Lifting Equipment air plug (male).
Page 23: Description Of Signal Cable Pins Of The Host
Intelligence Aided Lifting Equipment 3.3 Description of signal cable pins of the host Pin No. Description D24V Common power output CANO communication high signal CANOL communication low signal Common terminal ESTOP Emergency stop signal Grounding terminal null null 3.4 Initial start When the power is turned on and the equipment detects power, “Starting...”...
Page 24 Intelligence Aided Lifting Equipment Standard operation-coaxial pressure handle: Apply an upward/downward force on the rubber handle. When the force applied satisfies the set starting operating force value, the system switches from “locking mode” to “mode of manual hold”, and the equipment starts to operate.
Page 25: Chapter Iv Basic Function
Intelligence Aided Lifting Equipment Chapter IV Basic function 4.1 Mode of manual hold 4.1.1 Operation mode When the operator holds the sliding handle, the operation mode of the handle display switches from the “locking mode” to the “mode of manual hold”. The operator can control the system up and down movement through sliding handle.
Page 26: No-Load Deceleration Function
Intelligence Aided Lifting Equipment maximum speed in each stage is the number of stages × 10% of the maximum speed. The user may set the maximum operating speed in the mode of manual hold through the speed setting in the menu according to the demand.
Page 27: Suspension Mode
Intelligence Aided Lifting Equipment 5. Enter the "No-load Speed Adjustment" menu, select the gear through the "UP" and "DOWN" buttons, and click the "ENT" button for confirmation and saving; 6. Enter the "No-load Speed Time Limit" menu, select the time limit of no-load operation by "UP"...
Page 28: Levitation Unloading Mode
Intelligence Aided Lifting Equipment force will cause the system to record a larger or smaller reference weight. After removing the extra force, the load may move in the opposite direction. In the suspension mode, the system will exit the suspension mode when the operator does not apply external force to operate the load for longer than the set suspension timeout value.
Page 29: Operation Steps
Intelligence Aided Lifting Equipment If the detection time is set to 2 seconds, the system will automatically enter the suspension mode when the load weight meets the automatic suspension condition for 2 seconds. 4.4.1 Operation steps Enter the suspension setting menu and set the suspension function switch to ON; In the “suspension setting”...
Page 30: Soft Limit
Intelligence Aided Lifting Equipment “Speed Setting” → “Unloading Speed”. 4.6 Soft limit The intelligence aided lifting equipment is equipped with a soft limit function, which can easily achieve 5 functions, fixed-point upper limit, lower limit, downward deceleration, upward deceleration, and upward speed recovery. The soft limit has two sets - soft limit 1 and soft limit 2. When the limit switching mode is signal switching, the parameters in soft limit 1 and soft limit 2 which are set in the mode of manual hold, the suspension mode, the suspension unloading mode, and the unloading mode are all valid, and the related functions in the soft limit 2 are required to be...
Page 31: Inching Button Operation
Intelligence Aided Lifting Equipment set at the top, it will lose its effect. If the slowdown point is set to reduce the impact of load docking in the air, you must ensure that the load is set at the slowdown point before the docking point and the slowdown point must be at least 10 cm away from the docking point.
Page 32: Function Switch
Intelligence Aided Lifting Equipment 4.8 Function switch The equipment lifting control module is switched among the three modes of “locking mode”, “mode of manual hold”, and “suspension (suspension unloading, and unloading) mode” (Fig. 4 4), each state responds to external signals and makes different controls. Locking mode Suspension (suspension unloading, unloading)
Page 33: Chapter V Extended Function
Intelligence Aided Lifting Equipment Chapter V Extended Function Henghui Intelligence Aided Lifting Equipment may achieve the following extended functions through the extended port IO: Inching function, mode switch, double limit function, double suspension function, automatic homing function, anti-drop function, stacking function The extended function needs to configure the IO port that the expansion port needs, and input (output) the required signal through the configured IO port in order to use normally.
Page 34: Fast Gear And Slow Gear Speed Adjustment
Intelligence Aided Lifting Equipment equipment will run at a "Slow Gear Upwards" speed, and when the contacts of Switch K1 are disconnected, the equipment will stop. When the contacts of Switch K2 are connected, the equipment will run at a "Slow Gear Downwards" speed, and when contacts of Switch K2 are disconnected, the equipment will stop.
Page 35: Double Limit Function
Intelligence Aided Lifting Equipment extension interfaces of the handle to the normally-open contacts of Switch K1 (self-recovery), and set the IO number to 12 in the “switch to suspension mode” menu. Connect the 10 pin and the 6 pin on the extension interfaces of the handle to the normally-open contacts of Switch K2 (self-recovery), and set the IO number to 13 in the “switch to suspension unloading mode”...
Page 36: Double Suspension Function
Intelligence Aided Lifting Equipment 5.4 Double suspension function The double suspension function allows the equipment to remain in the suspension mode at all times, and realizes the suspension load switching between the fixture weight and fixture + work piece weight, and is particularly suitable for the positional installation of the work piece in the suspended state.
Page 37: Signal Selection
Intelligence Aided Lifting Equipment seconds to enter the double suspended state. 5.4.3 Signal selection The two suspended states in the double suspension function are controlled by the configured signal. Henghui Intelligent Lifting Equipment provides the following three switching signals: Single signal, dual signal and fixture signal. Single signal and dual signal are generally triggered manually by the operator to switch between two suspended states.
Page 38 Intelligence Aided Lifting Equipment signal feedback and release signal feedback. In the automatic mode, the system must set two (2) IO input signals, which are: clamping signal feedback and release signal feedback. Signal setting method: ① The dual suspension signal can be input through host expansion, handle expansion or expansion board input interfaces.
Page 39: Protection Settings For Dual Suspension
Intelligence Aided Lifting Equipment If manual mode is used for dual-suspension, the system will automatically enter the fixture work piece suspension state or fixture suspension state according to the received clamp/release feedback signal. When the system receives the clamping feedback signal, it automatically switches into the fixture work piece suspension state.
Page 40: Anti-Drop Threshold Setting
Intelligence Aided Lifting Equipment damage to the equipment or personnel. The anti-drop function controls the output signal by detecting the relationship between the weight of the load and the set anti-drop threshold value (weight value) to achieve protection. If the load weight value <...
Page 41 Intelligence Aided Lifting Equipment upwards downwards upwards downwards upwards downwards Current load weight value ≥ Cannot run upwards, but anti- drop threshold value can run downwards upwards downwards upwards downwards Cannot run upwards, but can run downwards 0 means no signal and 1 means there is signal. Note: The release signal input connects to the normally closed pins of release buttons.
Page 42: Auto Homing Function
Intelligence Aided Lifting Equipment open contact of the clamp feedback switch, and link Pin 10 and Pin 6 to the normally closed contact of the release button, and link Pin 4 and Pin 1 to the outer coil KM1 (such as relay).
Page 43: Signal Setting
Intelligence Aided Lifting Equipment set position layer. If you need to continue to operate the equipment to the upper level or the lower level, you need to operate the handle to the zero position first, and then conduct the up or down movement to lift the equipment to the next layer, and which would automatically cease movement.
Page 44: Wireless Remote Control Module
Intelligence Aided Lifting Equipment 5.8 Wireless Remote Control Module Accessing the Henghui wireless remote control module through the host expansion port to operate the device via a wireless remote control handle. The wireless remote controller can achieve the following functions: (1) Slow gear downwards, (2) Slow gear upwards, (3) Fast gear downwards, (4) Fast gear upwards, (5) Switch to suspension, (6) Switch to suspension unloading, and (7) Switch to unloading.
Page 45 Intelligence Aided Lifting Equipment Fig. 5. 1 Pin diagram of the host extension interface The pin definition of the host extension interface of the equipment is shown in Table 5.Table Table 5 number Signal Pin No. Notes about pin definition definition equipmen t program...
Page 46: Handle Extension Interface
Intelligence Aided Lifting Equipment valid. NPUT 7 When the external input signal is 7, the low level is valid. None Power ground signals None Power ground signals Reserve OUT0 If the Darlington Drive outputs signals by 0 route, then the maximum current is 500mA. Reserve OUT1 If the Darlington Drive outputs signals by 1 route,...
Page 47 Intelligence Aided Lifting Equipment Fig. 5. 3 The pin diagram of the coaxial handle extension interface Fig. 5. 4 For the pin definition of the coaxial handle extension interface of the device, see table 6.
Page 48 Intelligence Aided Lifting Equipment Table 6 Pin No. IO number of Signal Notes about pin definition equipment definition program None D24V Public power output, with 500mA maximum current. None CAN0H High signal of CAN communication None CAN0L Low signal of CAN communication OUT0 When the output of MOS cable is 0, the maximum current output is 500mA.
Page 49 Intelligence Aided Lifting Equipment Figure 5. 6 Pin diagram of the indefinitely variable speeds handle extension interface Figure 5. 7 8 For the pin definition of the coaxial handle extension interface of the device, see table 6. Table 7 Pin No. IO number of Signal Notes about pin definition...
Page 50: External Expansion Board Interface
Intelligence Aided Lifting Equipment current output is 500mA. OUT1 When the output of MOS cable is 1, the maximum current output is 500mA. None Publicly None Serial port RS232 receives signal. None Serial port RS232 sends signal. INPUT 0 When the external input signal is 0, the low level is valid.
Page 51 Intelligence Aided Lifting Equipment CAN bus. The handle output of expansion board is a IO port directly leading to the handle so the IO number of the handle output end of expansion board 1 should be consistent with that of handle extension interface.
Page 52 Intelligence Aided Lifting Equipment Fig. 5. 13 The definition of Henghui 3-pin plug cable (output) Note: The handle input interface of each expansion board connects with the handle extension interface through straight wires so the pin definition of extension interface on expansion board should be consistent with that of handle extension interface.
Page 53 Intelligence Aided Lifting Equipment CAN2L Low signal of CAN communication. Publicly Definition of input/output interfaces on expansion boards and IO number The pin definition of input port is shown in Table . Table 10 Pin No. Signal Description definition The current of DC24V output is limited to 100mA. For NPN signal input, the low level is valid.
Page 54: Chapter Vi Menu Setting
Intelligence Aided Lifting Equipment Chapter VI Menu setting 6.1 Overview The menu is used to adjust and control all functions of the intelligent aided lifting device. Before performing menu operations, please comprehend the related menu functions. 6.1.1 Operation mode Press the “ENT” button to enter the main menu interface. Press the “Up”...
Page 55: Description Of Menu Functions
Intelligence Aided Lifting Equipment 6.2 Description of menu functions The function instruction for intelligent aided lifting equipment is shown in Table 13. Table 13 Menu Function Function description Soft limit 1 Set the parameters in software limit 1. Soft limit Soft limit 2 Set the parameters in software limit 2.
Page 56 Intelligence Aided Lifting Equipment slowdown point). Reset all soft limits set in this menu to “Invalid”. Reset soft limit Set the maximum running speed of the handle speed, Speed setting suspension speed, unloading speed and homing speed. Inching speed Set the running speed of the fast gear /slow gear of setting inching function in the extended function.
Page 57 Intelligence Aided Lifting Equipment Whether to display Set the main interface, confirm whether it display the the weight weight value of the load. Switch anti-rebound testing mode between over-speed and over-load. Anti-rebound function: When the load weight of equipment in the suspension mode reduces, it will be avoided that the hook moves upwards and collides with an object or push the equipment resulting in dropping down of the load.
Page 58 Intelligence Aided Lifting Equipment Note: the stability of the suspension function may be affected if the set value is too low. Function switch of Allow or prohibit operating relevant functions of suspension suspension mode. Select the turning-on/turning-off of automatic suspension Whether turned on mode.
Page 59 Intelligence Aided Lifting Equipment equipment cannot run. For system, pushing or pulling force of operator is an extra load. This menu sets a limit value of operating Operating overload for users to reduce the possibility of over-power error-reporting detection of overload. The limit value threshold value shall not be too big, and otherwise it will reduce the overload detection capability.
Page 60 Intelligence Aided Lifting Equipment restarting). Upper limit of Edit the position of the count point at the upper limit circulation position for circulation counting. counting Lower limit of Edit the position of the count point at the lower limit circulation position for circulation counting.
Page 61 Intelligence Aided Lifting Equipment equipment moves downward. Set user password, with the initial password being Password change 123456. Multi-language Select the language on the user interface among Chinese, switch English and French. PLC switch Turn on the PLC function. Diagnosis of Input and output signal test for the handle extended port, handle board for maintenance personnel.
Page 62 Intelligence Aided Lifting Equipment Slow gear Set the IO No. of slow gear downwards (0 means downwards invalid), and the signal shall be input signal. Set the IO No. of slow gear upwards (0 means invalid), Slow gear upwards and the signal shall be input signal. Fast gear Set the IO No.
Page 63 Intelligence Aided Lifting Equipment Set the IO number (0 is invalid) of the safety signal of all – touch handles, which is the input signal. During usage process, if the input signal is available, All – touch safety then users can operate a all-touch handle to control the signal equipment to run upwards and downwards, but if input signal is not available, then the all-touch handle cannot...
Page 64 Intelligence Aided Lifting Equipment Anti-drop release button while moving a heavy object, causing the heavy object to fall, setting and causing damage to the equipment or personnel. (extended Anti-drop Set the anti-drop threshold value function) threshold value (Submenu) Homing location Set the homing location point.
Page 65: Chapter Vii Maintenance
Intelligence Aided Lifting Equipment Chapter VII Maintenance 7.1 Inspection & Maintenance Timetable For the maintenance timetable for intelligence aided lifting equipment, please refer to Maintenance Manual. 7.2 Basic failure diagnosis Failure Causes of failure Remedy Check whether the main unit input power supply wiring is normal [Chapter 3.1].
Page 66 Intelligence Aided Lifting Equipment Make sure the emergency stop button pops up normally. Check whether the emergency stop signal cable Caused of the signal cables is normally turned on: for emergency stop switch indefinitely variable speeds handles, coaxial handles, all – touch handles and remote itself;...
Page 67 Intelligence Aided Lifting Equipment For all – touch handles: operate the control area under the “All – touch Handle” > “Handle Zero Point Value” menu, then there will be hundreds of variations in the menu. If the value does not change: check the internal pressure sensor, and replace the sensor and the handle board.
Page 68 Intelligence Aided Lifting Equipment described in 7.3 Handle Holder Calibration. Check the setting of the upper limit in the software limit menu. Caused Check whether it is in the hardware upper limit parameter setting; position. 2. The load weight Check whether it is in overload status. The equipment can exceeds rated...
Page 69 Intelligence Aided Lifting Equipment “Suspension Mode”. Check whether additional force is applied to the equipment during startup or if the equipment is subject to severe sloshing. Check whether the weighing data increase and decrease value is standard. If it is not standard, replace the main board or load cell.
Page 70 Intelligence Aided Lifting Equipment “faulty parameter “Faulty Parameter Reading” alarm is about 10S, cable is abnormal. reading” alarm and this phenomenon will not appear during the operation of the equipment. The problem is handled in the same way as the “Faulty Encoder Reading”, where such time is also about 10S.
Page 71 Intelligence Aided Lifting Equipment right only explains the battery. [Chapter 7.2.1] basic processing Servo alarm AL061: The voltage of the common problems. encoder is too low. For details, see servo Processing method: 1. Replace the servo driver driver instruction battery. [Chapter 7.2.1] book.
Page 72: Servo Driver Battery Replacement
Intelligence Aided Lifting Equipment 1. Open the servo parameter setting cover and press the “MODE” button until the servo driver interface displays P0-00. 2. Press the “SHIFT” button until the servo driver interface displays P2-00. 3. Press the “▲” button until the servo driver interface displays P2-08.
Page 73 Intelligence Aided Lifting Equipment emergency stop mode. The allen wrench shall be inserted into where the arrow shows inFig. 7. 1. Rotate anticlockwise or clockwise to respectively increase or reduce the parameters. Adjust the value in the “correct” (-150 - +150) interval (when no external force is exerted on the sliding handle).
Page 74: Chapter Viii Annex
Intelligence Aided Lifting Equipment Chapter VIII Annex 8.1 Use of wireless remote controller and receiver Installation Expansion interface of wireless module 2. Turn on the power. After the equipment is fully activated, click “Service” > “Wireless Switch” to select “Open” and confirm by using the up and down selection buttons (UP, DOWN) in the menu.
Page 75: Dimensional Drawing Of H360 Sliding Circle
Intelligence Aided Lifting Equipment Set the high/medium/slow gear in “Lifting Speed Setting” > “Inching Speed Setting”. Note: In the “Wireless Handle” mode, the sliding (indefinitely variable speeds and all – touch) handles can still be used normally, and their priority is higher than the wireless handle. 8.2 Dimensional drawing of H360 sliding circle 8.3 Dimensional drawing of indefinitely variable speeds handle...
Page 76: Extended Box
Intelligence Aided Lifting Equipment 8.4 Extended box 8.5 Remote installation sliding handle...
Page 77 Intelligence Aided Lifting Equipment...
Page 78 Intelligence Aided Lifting Equipment Company name: Shaoxing Henghui Robot Technology Co., Ltd. Company address: Industrial Functional Area, Zhangzhen Town, Shangyu District, Shaoxing City, Zhejiang Province Hangzhou office address: No. 6 Xianxing Road, Xianlin Subdistrict, Yuhang District, Hangzhou City, Zhejiang Province Website: http://www.hh-robot.com...

This manual is also suitable for:

Iad-h200 Iad-h300 Iad-h80