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Preface
Thank you for purchasing our product. You can find the information related to take-out
arm for injection molding machine in this application note during inspection, installation,
wiring, operation and examination.
The following information describes the purpose and application:
Control System (Chapter 1)
Operation (Chapter 2)
Program Usage and Editing (Chapter 3)
System Setting (Chapter 4)
Troubleshooting (Chapter 5)
Others (Chapter 6)
Examples (Chapter 7)
Product Features
Distributed fieldbus control: High precision and high speed motion, quick
response and can be easily constructed.
Built-in functions: Inhibited zone, protection in inner molding area, and
protection mechanism.
Smoothing function: Continuously smooth the interpolation.
Ejector protection: Protect the ejector when it moves forward.
Adaptive moving: Each axis can do adaptive moving with the setting of
torque limit.
Flexibly carry out stacking command
Template program: 10 program templates for customized setting
Provides huge amount of command program: With 1000 programs and up to
400 commands can be edited in one program.
Supports dual system
Technical Support
If you have any technical question, please contact local distributers or Delta's
service center.
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Summary of Contents for Delta Electronics HMC Series

  • Page 1 Preface Thank you for purchasing our product. You can find the information related to take-out arm for injection molding machine in this application note during inspection, installation, wiring, operation and examination. The following information describes the purpose and application:  Control System (Chapter 1) ...
  • Page 2: June, 2015

    HMC Take-out Robot for Injection Molding Machine (This page is intentionally left blank.) June, 2015...
  • Page 3: Table Of Contents

    HMC Take-out Robot for Injection Molding Machine Table of Contents 控 Control System Features · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 8 System Specifications and Configuration ·...
  • Page 4 HMC Take-out Robot for Injection Molding Machine Auto Operation · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 49 Signal Monitoring ·...
  • Page 5 HMC Take-out Robot for Injection Molding Machine Servo Alarms and Troubleshooting · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 93 System Alarm and Troubleshooting ·...
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  • Page 7: Control System

    HMC Take-out Robot for Injection Molding Machine Control System Please select the servo drives and motors from the list mentioned in this chapter when applying this control system. Pay attention to the safety precautions during installation, wiring, operation and examination. As for the detailed information of each product, please refer to the corresponding user manual.
  • Page 8: Features

    HMC Take-out Robot for Injection Molding Machine 1.1 Features This system adopts Delta’s HMC distributed motion control framework for easier and more flexible multi-axis control. June, 2015...
  • Page 9: System Specifications And Configuration

    HMC Take-out Robot for Injection Molding Machine 1.2 System Specifications and Configuration 1.2.1 Controller  Model name of HMC controller HMC Model Applicable System HMC07-N411H5C/ 12 axes and below HMC07-N411H5A  Definition of color thread Part Number for Wiring N411H5C5: Type A: Wire length (5M) N411H5CA: Type B: Wire length (10M) Color Name...
  • Page 10 HMC Take-out Robot for Injection Molding Machine Note: 1. Select one port for connection. 2. DMCNET wiring is a serial communication loop. Please connect to a terminal resistor at the end of the loop. (2) Use DMCNET I/O (a RJ45 line from servo driver) to connect I/O module June, 2015...
  • Page 11: Servo System

    HMC Take-out Robot for Injection Molding Machine 1.2.2 Servo System Please refer to ASDA series user manual for further information: Website: http://www.deltaww.com/services/DownloadCenter2.aspx?secID=8&pid=2&tid=0&CI D=06&itemID=060201&typeID=1&downloadID=,&title=--%20Select%20Product%20 Series%20--&dataType=2;4;&check=1&hl=en-US  Model Type and Definition Axial Name Station Number (P3-00) Note Horizontal axis of primary ASD-M-F/ ASD-A2-F servo drive Vertical axis of primary arm ASD-M-F/ ASD-A2-F servo drive Travel axis of primary arm...
  • Page 12 HMC Take-out Robot for Injection Molding Machine CN2 connector and 9 pins (3*3) on encoder side shall be connected as the following ways: CN2 Connector: View from this side CN2 rear view of the terminal block Encoder connector(military connector and quick connector): 1 2 3 Quick 4 5 6...
  • Page 13 HMC Take-out Robot for Injection Molding Machine  Wiring for Motor Power Cable: (1) Power cable (without brake). See the terminal as below: Motor Side Drive Side Grounding(GND) (2) Power cable (with brake). See the terminal as below: Motor Side Drive Side Brake 1 Grounding(GND)
  • Page 14 HMC Take-out Robot for Injection Molding Machine Reserved 26 NC Reserved DO3- Digital output 27 NC Reserved DO3+ Digital output 28 NC Reserved High-speed position DO2- Digital output 29 /HPULSE command DO2+ Digital output 30 NC Reserved pulse (-) DO1- Digital output 31 NC Reserved...
  • Page 15 HMC Take-out Robot for Injection Molding Machine Wiring diagram for servo motor with brake (vertical axis) Set parameter P2-20 of vertical axis to 2108 or 2008. 2108 is set as normally open (it is usually set as normally open) while 2008 is normally close. ...
  • Page 16 HMC Take-out Robot for Injection Molding Machine Assistant Arm Horizontal Axis (A2) Vertical Axis (A2) P2-11 = 1124 or P2-11 2124 Original Point 1024 2024 P2-12 = 1123 or P2-12 2123 Position limit 1023 2023 P2-13 = 1122 or P2-13 2122 Negative limit 1022...
  • Page 17: I/O Module

    HMC Take-out Robot for Injection Molding Machine 1.2.3 I/O Module  Applied Model Model Communication Interface HMC-RIO3232RT5 DMCNET  Product Appearance and Introduction of Each Part  Power Supply and Wiring (1) Power supply for I/O Module June, 2015...
  • Page 18 HMC Take-out Robot for Injection Molding Machine For protecting the circuit, please connect right. June, 2015...
  • Page 19 HMC Take-out Robot for Injection Molding Machine (2) Input Point Wiring DC Signal IN Wiring Circuit Note 1) The module shall connect to external +24V power. 2) Please switch the SWITCH to SINK Mode H as the input mode. 3) Use SINK mode to connect the external output / input contact to X input point.
  • Page 20 HMC Take-out Robot for Injection Molding Machine Allow mould close Mould open finish Allow mould open Safety door Mould area free Automatic Allow ejector forward Ejector forward position Allow ejector back Ejector back position IMM emergency stop Mid-plate mould Spray release agent Intermediate mould opening Conveyor operation Emergency stop of IMM...
  • Page 21: Wiring Description

    HMC Take-out Robot for Injection Molding Machine Allow Core 2 In Core 1 Out sensor Allow Core 2 Out Core 2 In sensor Allow Core 2 Out Core 2 Out sensor Attention: The definition of Input /Output table may be different in different version 1.3 Wiring Description [Wiring diagram] in this section is for reference only.
  • Page 22 HMC Take-out Robot for Injection Molding Machine Power of Servo Drive  Encoder June, 2015...
  • Page 23 HMC Take-out Robot for Injection Molding Machine June, 2015...
  • Page 24 HMC Take-out Robot for Injection Molding Machine  CN1 Homing Sensor/Limit Sensor/Brake June, 2015...
  • Page 25 HMC Take-out Robot for Injection Molding Machine  I/O Board June, 2015...
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  • Page 27: Operation 操

    HMC Take-out Robot for Injection Molding Machine 操 Operation This chapter provides the information about screen configuration, operating functions and operations of each mode. 11111111111111111111111111111111111111111111 1111111 2.1 Screen configuration …………………………………………………………………28 2.1.1 Main Screen · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 28 2.1.2 Status Bar ·...
  • Page 28: Screen Configuration

    HMC Take-out Robot for Injection Molding Machine 2.1 Screen configuration 2.1.1 Main Screen When the system is started up, the main screen will pop up which is showed as below: (1) Status bar: It shows the title of the current screen, program number, program name, current user, date and time.
  • Page 29: Status Bar

    HMC Take-out Robot for Injection Molding Machine 2.1.2 Status Bar (1) Screen title: It displays the screen title that you currently use. (2) Current program name: It displays current program number and program name. 1000 programs are provided to store different commands and for users to apply. Click this button to enter the screen of [Program manager].
  • Page 30: Start-Up Procedure

    HMC Take-out Robot for Injection Molding Machine 2.2 Start-up Procedure See the procedure below for each main function after you starting up the system: Apply to the Has already Has already set Manual power for loaded in Teach up motion (Jog, starting up the (Edit program)
  • Page 31 HMC Take-out Robot for Injection Molding Machine Servo setting: gear ratio, acceleration/deceleration smoothing setting, max. speed limit, motor operating direction. Version information Cylinder input and output signal Arm’s input and output signal Output signal of injection molding machine Input signal of injection molding machine Signal from servo drive Teaching of program command Teach...
  • Page 32: User Level

    HMC Take-out Robot for Injection Molding Machine 2.3 Description of User Permission 2.3.1 User Level It has four user levels. Before logging in, users can only view the alarm information and the information on main screen. Following describes the authorization for each user level: ...
  • Page 33 HMC Take-out Robot for Injection Molding Machine √ System setting × × × √ Password setting × × × June, 2015...
  • Page 34: Login/Logout

    HMC Take-out Robot for Injection Molding Machine 2.3.2 Login / Logout Click “User Level” on status bar. A window for login / logout will pop up. When successfully logging in, click on this button again to log out. (1) Login: Enter the password to log in. (2) Logout: After logging out, it will be in [Not logged in] status.
  • Page 35: System Setting Before Motion Being Executed

    HMC Take-out Robot for Injection Molding Machine 2.4 System Setting before Motion being Executed Before the motion being executed, please make sure settings of the servo drive and mechanism are correct. Wrong setting might result in danger. In addition, the system needs to complete the specified speed setting first.
  • Page 36: Homing / Return To Standby Point

    HMC Take-out Robot for Injection Molding Machine 2.5 Homing / Return to Standby Point Please complete homing after the system is started up. This is for ensuring the accuracy of servo’s position. Also, before starting auto-operation or trail run, the arm shall return to the starting point, which is the standby point for safety concerns.
  • Page 37: Homing

    HMC Take-out Robot for Injection Molding Machine 2.5.1 Homing Click [Homing of Main system] on main screen. A window of motion sequence and posture will pop-up. Click on [Homing] again, the system will start homing.  When executing the command, the button will be glittering and a text of [Homing…] in red color will appear on top-left corner.
  • Page 38: Return To Standby Point

    HMC Take-out Robot for Injection Molding Machine 2.5.2 Return to Standby Point Click on [Return to standby point of main system] on main screen. Or, users can click on [Return to standby point] on operation screen. When executing the command, the button will be glittering and a text of [Homing…] in red color will appear on top-left corner.
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  • Page 40: Operate In Manual Mode

    HMC Take-out Robot for Injection Molding Machine 2.6 Operate in Manual Mode The manual mode cannot be enabled when the system is in auto operation. Other than that, manual mode can be applied in all screens. When it switches to manual mode, the window of operating function in manual mode will pop up, including jog, adaptive moving and arm’s output control.
  • Page 41: Troubleshoot In Jog Mode

    HMC Take-out Robot for Injection Molding Machine 2.6.1 Troubleshoot in Jog Mode Users can use jog function to clear alarms. Please note that the position protection for each axis will be invalid when applying jog function. (1) Servo activated: Servo on the drive in manual mode first before taking other actions.
  • Page 42: Jog With Unlimit Range

    HMC Take-out Robot for Injection Molding Machine 2.6.2 Jog with Unlimited Range Jog function can be used within the set distance and non-inhibited zone. (1) Mode: Unlimited mode (2) Axis selection: Select the axis which is going to execute commands (3) Speed: The speed (%) in jog mode, range from 1 to 100%.
  • Page 43: Jog With Limit Range

    HMC Take-out Robot for Injection Molding Machine 2.6.3 Jog with Limited Range Jog function can be used within the set distance and non-inhibited zone. Users can specify the max. moving distance for one operation with jog function. It can be applied for teaching the position.
  • Page 44: Jog With The Set Target

    HMC Take-out Robot for Injection Molding Machine 2.6.4 Jog with the Set Target This function can be applied in [Teach] only. And only when the modified command is [interpolation] or [position], can the user use this function to move the arm to the absolute position.
  • Page 45: Adaptive Moving

    HMC Take-out Robot for Injection Molding Machine 2.6.5 Adaptive Moving With the function of adaptive moving, users can complete position teach by hand movement. When this funtion is enabled, the servo motor will limit the arm’s action by the limited torque output. The arm will move by the external force. It will be easier to move the arm when the torque setting is smaller.
  • Page 46: Trail Run Operation

    HMC Take-out Robot for Injection Molding Machine 2.7 Trail Run Operation When loading in a new program or editing the command, trail run operation can be used to ensure the accuracy of the action. Through this function, users also can adjust the target position.
  • Page 47 HMC Take-out Robot for Injection Molding Machine (5) Single cycle: Click on this button to start trail run in single cycle. If the enabling switch is enabled, it will start to execute the command in sequence. If not, the trail run will stop until all commands are complete.
  • Page 48: Auto Operation

    HMC Take-out Robot for Injection Molding Machine 2.8 Auto Operation With this function, the current selected program will be in auto operation. Go to [Operation] screen. Before starting auto operation, the arm has to be returned to the start position, which is the standby point. Then, click [Operation]. See the screen of [Auto operation] below: (1) Speed: Adjust the percentage to change the speed of trail run.
  • Page 49 HMC Take-out Robot for Injection Molding Machine (2) Program command: It displays the command of current program. Target command will be highlighted. When this function is disabled, you can directly click on the command that you wish to see or modify. The command editing window will pop up. (3) Command tracking: When this function is enabled, the target command is the current command.
  • Page 50 HMC Take-out Robot for Injection Molding Machine then set this value to 0. (10) Cycle time: The time it takes for the last cycle (11) Signal from IMM: It displays the input/output signal of the injection molding machine and the current status of the system. (12) Running setting: This window shows production setting and the related information.
  • Page 51: Signal Monitoring

    HMC Take-out Robot for Injection Molding Machine (18) Record for the cycle time: Records for the last ten cycle time and product take-out time. 2.9 Signal Monitoring It can monitor the signal of take-out arm and injection molding machine. Click on [Terminal] on main screen to go to terminal monitoring screen, you can monitor and control signals of cylinder and take-out arm, input/output signals of injection molding machine and signals of servo drive.
  • Page 52 HMC Take-out Robot for Injection Molding Machine Program: Edit/Open program file Reset: Reset the alarm Up,Down: In manual mode, use the two buttons Rise or Fall the vertical axis. Release the button to stop. operation Forward, Back: In manual mode, use the two buttons Forward or Backward the horizontal axis.
  • Page 53: Program Usage And Editing

    HMC Take-out Robot for Injection Molding Machine Program Usage and Editing This chapter describes the method to manage and edit the program and the related functions. 11111111111111111111111111111111111111111111 1111111 3.1 Program Manager ....................54 3.2 Loading and Editing a Program ................57 3.3 Description of Edit Function in Teach Mode............
  • Page 54: Program Manager

    HMC Take-out Robot for Injection Molding Machine The take-out arm needs different motions to handle different types of production line. The combination of different motions is called [Program]. This system provides 1000 programs for users. Each program contains 400 motion commands. Another 10 program templates are provided for administrators to pre-edit the commonly used motions and stores these motions in different program templates.
  • Page 55 HMC Take-out Robot for Injection Molding Machine (4) Edit selected program: Edit selected program. Click on this button, the following screen will show up. Users can edit or load the program. (5) Show All / Only display the selected ones: Users can switch the displayed list. [Display all] means to display the list of 1000 programs;...
  • Page 56 HMC Take-out Robot for Injection Molding Machine (9) Import: Import the selected program from external device. (10) Delete: Delete the content from the selected program. A window will pop up. (11) Copy: Copy the selected program to other programs. A window of the selected program will pop up after clicking on it.
  • Page 57: Loading And Editing A Program

    HMC Take-out Robot for Injection Molding Machine 3.2 Loading and Editing a Program After loading a program, it will enter [Teach] screen for command editing. Users also can directly click on [Teach] to edit the current program when you have already downloaded the program.
  • Page 58 HMC Take-out Robot for Injection Molding Machine edited or modified, a prompt message will pop up and ask for confirmation. (11) Command list: Call the command list and to select the command that you wish to join. (12) Edit the command: It displays the related parameters of current command. (13) Template: Select the template to download to the current program.
  • Page 59: Description Of Program Setting

    HMC Take-out Robot for Injection Molding Machine 3.4 Description of Program Setting Each program can save its own settings, such as standby position, posture or standby mode, including parameters setting. Click on [Motion setting], a window for program setting will pop up. (1) SP.
  • Page 60 HMC Take-out Robot for Injection Molding Machine (6) R angular Distance within overlap: When [Interp. Move] command enables overlap function, more than one linear motions will use smoothing function automatically. This function is for setting up the radius of the round angle. Bigger setting value brings smoother angle.
  • Page 61: Description Of Program Command

    HMC Take-out Robot for Injection Molding Machine 3.5 Description of Program Command Click on [Command list] on [Teach] screen, a window of command list will pop up for selection. Select the command that you are going to use. And the selected commands will be displayed in command area.
  • Page 62 HMC Take-out Robot for Injection Molding Machine (a) The is the setting for motion speed (b) It is for setting up the time interval before you carry out the motion command. (c) Select the motion command for axis. (d) Execute the command according to the setting value. When executing relative motion command, it moves to the relative position.
  • Page 63 HMC Take-out Robot for Injection Molding Machine  Single-Axis Move: Single axis moves along the straight line. Only one axis can be used at a time. Please refer to command of [Interpolation] for parameters.  Goto standby: It is the moving command to ask the system moving to the standby position.
  • Page 64 HMC Take-out Robot for Injection Molding Machine  PA. matrix stack: It is also called stacking. Users only need to set up the start point for stacking. The system will automatically calculate the position of each point in accordance with the offset value, number and sequence. This command contains a series motion of stacking;...
  • Page 65 HMC Take-out Robot for Injection Molding Machine (g) The sequence setting of stack: X represents horizontal axis; Y represents vertical axis; Z represents transverse axis. If the sequence is X > Y > Z and the stacking number of X, Z and Y shall be 4, 3 and 2 respectively, the arrangement is showed as below: (h) Check [Through the entry point].
  • Page 66 HMC Take-out Robot for Injection Molding Machine If three axes are servo drives and another two are cylinders, please see the following parameters setting for vertical axis: Move Hor axis: It is the positioning function of single horizontal axis. Functions like ...
  • Page 67 HMC Take-out Robot for Injection Molding Machine If three axes are servo drives and the other two are cylinders, please see the following parameters setting for horizontal axis:  Move travel axis (inside mould): Single-axis positioning function of horizontal axis. Its target position is limited within the inner molding area and at transverse direction.
  • Page 68 HMC Take-out Robot for Injection Molding Machine  Move travel axis (outside mould): Single-axis positioning function of horizontal axis. Its target position is limited within the outer molding area and at transverse direction. June, 2015...
  • Page 69: Progam Motion

    HMC Take-out Robot for Injection Molding Machine 3.5.2 Progam Motion  IMM Operation: The system sends the signal to injection molding machine for handshaking.  Wait IMM: The system waits for the handshaking signals from injection molding machine. After receiving the signal, it continues to carry out the command. June, 2015...
  • Page 70 HMC Take-out Robot for Injection Molding Machine  Delay: Delay time  PA. Pneumatic: It is the command used to control the primary arm’s posture. When the arm is in inner molding area, its posture is set based on the parameters. ...
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  • Page 72 HMC Take-out Robot for Injection Molding Machine  Output: It is the signal to control the clamp/vacuum valve and output command from peripheral device. (a) Time for executing the command (b) Turn on the signal. (c) Turn off the signal. (d) Select pulse output and turn on the signal.
  • Page 73: Procedure

    HMC Take-out Robot for Injection Molding Machine (b) Detect time: When the system does not receive the signal within the setting time, an alarm will occur. When the detection time is not set to 0, a window of time delay will pop up and an alarm will occur. To open and close the safety door again will clear the alarm and resume the operation.
  • Page 74 HMC Take-out Robot for Injection Molding Machine  Cycle Start \ Cycle End: Commands between [Cycle Start] and [I Cycle End] will not be executed every cycle. They will be carried out according to the Execute period setting. For example, if the Execute period is set to 1, commands within the range will be executed every two cycles.
  • Page 75 HMC Take-out Robot for Injection Molding Machine  FOR\BREAK\NEXT: The executing time of commands in FOR….NEXT can be set in accordance with the set constant or variables. Please note that, nested loop is not supported. June, 2015...
  • Page 76: Others

    HMC Take-out Robot for Injection Molding Machine 3.5.4 Others  Addition\Subtraction\Multiplication\Division\Remainder\Assign: It is the operation command for system variables. 32 system variables for commands are in total, U1 ~ U32, which can be used by procedure commands.  Label: It works with [Jump]. June, 2015...
  • Page 77 HMC Take-out Robot for Injection Molding Machine  Jump: It looks for the specified label and directly goes to the command. If the specified label cannot be found, the cycle is over. June, 2015...
  • Page 78: System Setting 系

    HMC Take-out Robot for Injection Molding Machine 系 System Setting This chapter illustrates the operation about system setting and the related information for safety setting. 4.1 Status Display about Motion Setting………………………………………………….80 4.2 Servo Setting…………………………………………………………………………… 81 4.3 Moving Distance and Inhibited Zone Setting…………………………………………82 4.3.1 Moving Distance·...
  • Page 79 HMC Take-out Robot for Injection Molding Machine Click [System] on main screen to enter the system setting page. When entering the system page, different levels of users can access different contents. Screen Limit of Authority Description Motion setting Administrator LEVEL 7 Safety setting Engineer LEVEL 6...
  • Page 80: Status Display About Motion Setting

    HMC Take-out Robot for Injection Molding Machine 4.1 Status Display about Motion Setting Speed and torque settings of servo axis: (1) Homing offse: When not regarding the sensor as the zero point, this function allows users to set any position as zero point. (2) Homing mode: Various homing modes are provided.
  • Page 81: Servo Setting

    HMC Take-out Robot for Injection Molding Machine 4.2 Servo Setting This system needs to work with Delta’s ASDA-A2-F and ASDA-M-F series servo drive. This screen is for setting up motion parameters of servo axis and servo performance. (1) Gear ratio: Electronic gear ratio plays a vital role when converting the unit of controlling system with the unit of real machine.
  • Page 82: Moving Distance And Safety Zone Setting

    HMC Take-out Robot for Injection Molding Machine This system follow the rules that listed below: a. Horizontal axis: to leave the mold represents forward direction; to move toward the mold represents backward direction b. Transverse axis: to leave the mold represents forward direction; to move toward the mold represents backward direction c.
  • Page 83: Safety Zone

    HMC Take-out Robot for Injection Molding Machine 4.3.2 Safety Zone The setting for safety zone means [Inhibited zone setting]. When the take-out arm is in inner molding area, its moving distance will be limited by the inhibited zone. This shall be set in accordance with the setting of injection molding machine for safety concerns.
  • Page 84: Setting For System Operation

    HMC Take-out Robot for Injection Molding Machine 4.4 Setting for System Operation 4.4.1 Operating Setting (1) Alarm time of IMM Signal: Time-out setting for signal handshake time when the ejector moves forward and backward and when the core moves forward and backward.
  • Page 85: Motion Confirmation

    HMC Take-out Robot for Injection Molding Machine 4.4.2 Action Confirm (1) PA. posture confirm: Determine if the primary arm’s posture needs to be confirmed by the sensor. Default setting is [Yes]. (2) Posture abnormal time: Within the setting time, if the posture is not identical to the setting one, an alarm will occur.
  • Page 86: System Parameters Setting

    HMC Take-out Robot for Injection Molding Machine 4.5 System Setting 4.5.1 Mechanism (1) Using pressure detect: When you check [Yes], this function is enabled. Please note that when you enable this function, you need to connect to the air cylinder. If not, an alarm will occur.
  • Page 87: Information About Operation

    HMC Take-out Robot for Injection Molding Machine 4.5.2 Operating Information It records the system’s total operation time. Administrator can long press this button to clear the accumulative value. June, 2015...
  • Page 88: Hmc Controller Setting

    HMC Take-out Robot for Injection Molding Machine 4.5.3 HMC System Setting HMC system setting includes [Touch calibrate], [Password setting] and [Auto log off time]. (1) Language: Users can change system language via this function. Traditional Chinese, Simplified Chinese and English are available now. (2) Touch calibrate: Press this button to calibrate the system.
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  • Page 90: Troubleshooting 異

    HMC Take-out Robot for Injection Molding Machine 異 Troubleshooting Users can find the related information about alarm screens, causes and corrective actions in this chapter. Screen of Alarm · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 91 Servo Alarms and Troubleshooting ·...
  • Page 91: Screen Of Alarm

    HMC Take-out Robot for Injection Molding Machine 5.1 Screen of Alarm Apart from the scrolling text shown in the bottom of the screen, the screen also display the information about current alarms and alarm history. Click on [Alarm Confirm] or F10 to clear the alarm.
  • Page 92: Servo Alarms And Troubleshooting

    HMC Take-out Robot for Injection Molding Machine 5.2 Servo Alarms and Troubleshooting When alarm occurs, the system will display the alarm content and related information. Please refer to the following for alarms: Alarm Code Corrective Actions Note ALE002 Overvoltage Connect to external regenerative resistor ALE003 Under voltage Check if the wiring of RST is correct 1.
  • Page 93: System Alarm And Troubleshooting

    HMC Take-out Robot for Injection Molding Machine 5.3 System Alarm and Troubleshooting Alarms Corrective Actions Note 1. Check if the I/O communication cable is securely connected or broken. If it is broken, please replace a new one. I/O communication error 2.
  • Page 94 HMC Take-out Robot for Injection Molding Machine posture is incorrect. Clamp/vacuum signal time-out. To open and Clamp/Vacuum detection close the safety door again can clear this alarm. time-out Click alarm reset will do, but it will stop auto-operation. Please check if the guided axis motion interferes Inhibited zone interference with the motion in safety zone.
  • Page 95 HMC Take-out Robot for Injection Molding Machine 其 Others Users can learn how to use external device (e.g. USB) to update the system and share the program from this chapter. 6.1 Procedures of using USB Disk [Export]/[Import] · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 96 6.2 Update the System Screen via USB Disk ·...
  • Page 96: Procedures Of Using Usb Disk To [Export]/[Import]

    HMC Take-out Robot for Injection Molding Machine 6.1 Procedures of using USB disk to [Export]/[Import] Step 1: Go to the screen of [Program Manager]. Then, select the program that you wish to store in USB disk. Step 2: Click [Edit selected program] and the screen will show as below: June, 2015...
  • Page 97 HMC Take-out Robot for Injection Molding Machine Step 3: Click [Export]. Then, click USB disk. If the file is from external device, please select [import]. Step 4: Name the file that you wish to store in USB Disk in the blank of D:\. If the file is from external device, please select the file name from USB disk.
  • Page 98: Update The System Screen Via Usb Disk

    HMC Take-out Robot for Injection Molding Machine Step 5: Click [OK] after you name the file. Then, the following window will pop up to inform you that the file is successfully saved. 6.2 Update the System Screen via USB Disk The HMC controller editing software also supports USB disk.
  • Page 99 HMC Take-out Robot for Injection Molding Machine Step 4: See below for the start-up screen of HMC: Click [YES] and the system will start upgrading. Then, restart the system and unplug the USB Disk after the procedure is completed. June, 2015...
  • Page 100 HMC Take-out Robot for Injection Molding Machine (This page is intentionally left blank.) June, 2015...
  • Page 101: Examples 使

    HMC Take-out Robot for Injection Molding Machine 使 Examples This chapter introduces the way to create a new program and to use program template to start the production. 7.1 Applying New Program · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 102 7.2 Applying Program Template ·...
  • Page 102: Applying New Program

    HMC Take-out Robot for Injection Molding Machine 7.1 Applying New Program Here introduces the procedure of starting up the system, creating new program and auto-operating the system. Step 1: When the system is started up, please execute homing first to identify a correct coordinate system.
  • Page 103 HMC Take-out Robot for Injection Molding Machine Step 5: When creating a new program, the essential commands list will be automatically generated on the screen. Click the command list to select the command that you wish to edit. Then, complete the program editing by following the procedures. Step 6: After editing the motion commands, please store its teaching content.
  • Page 104 HMC Take-out Robot for Injection Molding Machine Step 9: Click [Run] to start auto-operating. Step 10: Auto-operating June, 2015...
  • Page 105: Applying Program Template

    HMC Take-out Robot for Injection Molding Machine 7.2 Applying Program Template This section introduces the process from starting up the system, and how to save the editing time by applying program template to auto-operate the system. Step 1: When the system is started up, please execute homing first to create a correct coordinate system.
  • Page 106 HMC Take-out Robot for Injection Molding Machine Step 5: When creating a new program, the essential command list will be automatically generated on the screen. Click [Template] to select the template screen. Step 6: Click on the program template. June, 2015...
  • Page 107 HMC Take-out Robot for Injection Molding Machine Step 7: After loading in the program template, all commands and motions from target template will be loaded into the current program. Users only need to modify or adjust part of the commands. Then, store the setting and switch the screen to run for auto-operating.
  • Page 108 HMC Take-out Robot for Injection Molding Machine Step 8: Please return to the standby point of the main system before carrying out auto-operation. Click [Run] to auto-operate the system. June, 2015...

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