Shini ST1-700-1300 User Manual
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Shini ST1-700-1300 User Manual

Shini ST1-700-1300 User Manual

Single axis servo driven robot
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ST1
Single Axis Servo Driven Robot
User Manual
Date:May. 2016
Version: V1.4 (English)

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Summary of Contents for Shini ST1-700-1300

  • Page 1 Single Axis Servo Driven Robot User Manual Date:May. 2016 Version: V1.4 (English)

  • Page 3: Table Of Contents

    Contents Safety ......................9 1.1 Safety Regulations.................. 9 1.2 Safety Concerns ................... 10 1.3 Emergency Stop ................... 12 1.4 Transportation and Storage ..............12 1.4.1 Transportation ................13 1.4.2 Transportation after Unpacking ........... 13 1.4.3 Storage..................16 1.4.4 Operation Environment ............... 16 1.4.5 Retirement...................
  • Page 4 2.5 Gripper and Suction Monitoring ............32 2.5.1 Gripper Setting ................32 2.5.2 Suction Setting ................32 2.5.3 Digital Pressure Switch Setting ........... 33 2.6 Robot and IMM Interface ..............33 2.6.1 Euromap67 Interface..............33 2.6.1.1 The Injection Molding Machine Output Signals....34 2.6.1.2 Robot Output Signals ............
  • Page 5 4.2.2 Special Function 1............... 55 4.2.3 Mold Choice ................58 4.2.4 Teach ..................58 4.2.5 Parameters.................. 59 4.2.6 Monitor ..................60 4.3 Standard Action Program..............61 Error Connection..................63 Maintenance ....................74 6.1 General ....................74 6.2 Lubrication Requirements ..............74 6.2.1 Maintenance cycle...............
  • Page 6 7.11.1 Parts List ................126 Electric Control Chart ................129 8.1 The Power Input Wiring Diagram ............129 8.2 Main Control Panel and I/O Wiring Diagram ........130 8.3 Panasonic Servo Motor Wiring Diagram 1 .......... 131 8.4 Panasonic Servo Motor Wiring Diagram and Spare Wiring Diagram.. 132 8.5 YASKAWA Servo Motor Wiring Diagram 1 .........
  • Page 7 Table 7-11: Parts List ................. 102 Table 7-12: Parts List ................. 105 Table 7-13: Parts List ................. 108 Table 7-14: Parts List ................. 111 Table 7-15: Parts List ................. 113 Table 7-16: Parts List ................. 116 Table 7-17: Parts List ................. 118 Table 7-18: Parts List .................
  • Page 8 Picture 7-11 ....................125 Picture 8-1 ....................129 Picture 8-2 ....................130 Picture 8-3 ....................131 Picture 8-4 ....................132 Picture 8-5 ....................133 Picture 8-6 ....................134 Picture 8-7 ....................135 Picture 8-8 ....................136 Picture 8-9 ....................137 Picture 8-10 ....................

  • Page 9: Safety

    1. Safety Before starting up the robot for the first time, please review this manual thoroughly and familiarize yourself with the operation of the robot. Improper use may injure personnel and/or damage the robot, mold or molding machine. Safety Regulations ●...

  • Page 10: Safety Concerns

    ● Turn off power supply and compressed air before maintenance and adjustment. Also set up warming signs and safety fences. ● Please use parts of SHINI if there is any replacement is required. ● Our robots meet all corresponding safety standards.
  • Page 11 Any modifications or other applications to robot should obtain the written consent from the manufacturer, for safety purpose. The safeguarding required for operation of the robot is not including in our standard scope of supply (except special equipment), since adaptation to specific site conditions is required. If such safeguarding is provided by you, please note that it must be installed prior to startup of the equipment in order to be included in the safety circuit of the system upon startup.

  • Page 12: Emergency Stop

    No Flame 1.3 Emergency Stop The emergency stop button is located on the hand controller. When the emergency stop button is pressed, the power is turned off. The gripper and vacuum valves and the vacuum generator are not disconnected, in order to avoid dropping parts from the gripper. In addition, the control system and the hand controller will remain under power to allow indication of error messages.

  • Page 13: Transportation

    1.4.1 Transportation 1. ST1-series robot is fix on a steel structure base and packaged with crate. 2. Before transporting, fasten the sliding base to prevent any collision. 3. The arms are free to slide when electric power and pneumatic supply are off.
  • Page 14 vertical. 3) Lock the arm connecting plate and the sliding seat by the 6 screws on the supporting plate. Note: 1) Remove the packing support plate should be careful 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.
  • Page 15 Picture 1-2 Packing of ST1-T(medium telescopic arm) Picture 1-3 Hanging transportation of ST1 and ST1-T 15(147)

  • Page 16: Storage

    Picture 1-4 Hanging transportation of ST1-T (medium telescopic arm) 1.4.3 Storage 1. Switch off the main air source and power, if robot is not in use for a long time. 2. Robots should be stored in ventilated, dry room to prevent rust and damping.

  • Page 17: Retirement

    Shini (including employees and agents). Shini is exempted 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.

  • Page 18: Installation

    2. Installation 2.1 Instruction 2.1.1 Safety Issue 1. Before installation, please read this chapter carefully. 2. Fix robot on the base before operating. 3. After installing robot, indicate the working area with safety fence. 4. The hand controller should be placed outside of the safety fence. 5.

  • Page 19: Safety Fence

    system works in normally. 4. Before installation, wiring, operation, and maintenance must be familiar with instructions guide as well as machinery, electronics and security attentions. 5. Ground the wire before robot operating. 6. Wire grounding should connect to metal and keep away from inflammable matter.

  • Page 20: Mounting Instruction

    holes about 30mm depth. 5. Tapping. Use M16 tap to produce internal 6 screws threads about 25mm depth. 2.1.6 Mounting Instruction 1. Should avoid vibration, collision and falling, when transfer the top of IMM. 2. Alignment holes, using the 8mm torque wrench turn to 77Nm tightens the M16 ×...
  • Page 21 Picture 2-1-2：Modified 2. Move all “Outside IMM safety zone blocks” from the right end of the beam to the left end of the beam. See picture 2-1-3 .Move the origin block from the left end of the beam to the right end of beam, 100mm away from the limit block.
  • Page 22 3. Open the sliding seat on the Z-axis, and then exchange the socket position of X024 and X025 on the circuit board U3. See picture 2-1-5, picture 2-1-6. Picture 2-1-5：Before modified Picture 2-1-6:：Modified 4 . A d ju s t t h e pa ra me te r of transverse servo drive Pr41 from 0 to 1, and Pr46 from 1 to 0.
  • Page 23 (Mode→EE_SEE→Set→Up→----), then switch off the power for at least 3 seconds (if less than 3 seconds cannot save the setting), then switch on the power. picture 2-1-7：Servo motor traverse position 5. Check the result of reversing. 1．When press “HP” back to origin, the traverse direction of robot will opposite with reversing.

  • Page 24: Equipment Specification

    2.2 Equipment Specification 2.2.1 Dimensions (unit: mm) Picture 2-1 Picture 2-2 ST1-T 24(147)

  • Page 25: Model Specification

    Picture 2-3 STI-T（medium telescopic arm） 2.2.2 Model Specification Chart 2-1：Specification List (ST1) Model ST1-700-1300 ST1-700-1300D Application IMM(ton) 100-200 100-200 Traverse Stoke(mm) 1300 1300 Crosswise Main Arm Stoke(mm) Sub-arm Main Arm Vertical Stroke(mm) Sub-arm Max Load(kg) Min Pick-out Time(sec) Min Cycle Time(sec)
  • Page 26 Model ST1-900-1500 ST1-900-1500D ST1-1100-1800 ST1-1100-1800D Application IMM(ton) 200-300 200-300 300-450 300-450 Traverse Stroke(mm) 1500 1500 1800 1800 Crosswise Main Arm Stroke (mm) Sub-arm Vertical Main Arm 1100 1100 Stroke(mm) Sub-arm 1150 Max Load(kg) Min Pick-out Time(sec) Min Cycle Time(sec) Air Pressure Range(bar) Max Air Consumption (N/cycle) Net Weight(kg)
  • Page 27 (mm) 1240 1240 1380 1380 1260 1260 1390 1390 D(max) E(max) F(max) 1300 1300 1500 1500 G(max) H(max) I(max) Note: 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”...

  • Page 28: Pneumatic Source Requirement

    Stroke(mm) Sub-arm Main Arm 1500 1500 Vertical Stroke(mm) Sub-arm 1550 Max Load(kg) Min Pick-out Time(sec) Min Cycle Time(sec) Air Pressure Range(bar) Max Air Consumption(N/cycle) Net Weight(kg) 2970 2970 1750 1750 1590 1590 D(max) 1500 1500 Dimensions E(max) 1550 (mm) F(max) 2200 2200 G(max)

  • Page 29: Electrical Connection

    2.3 Electrical Connection 2.3.1 Main Power Supply The power requirements are given on the serial plate of the robot, the power connection is provided through cable conductor and CEE plug. The power connection should be performed only by an authorized electrician and according to applicable electric utility regulations.

  • Page 30: Adjusting The X-Position

    While adjusting the position, make sure that robot can not be run and the compressed air supply is shut off. 2.4.1 Adjusting the X-Position The X-positions are determined by the stops A, B. Bracket “A” on X1 axes (main arm) is for adjusting the end-position, and stop package “B”...

  • Page 31: Adjusting The Y- Position

    1) Release stop package “B” 2) Run the X1-axis to the 0-position 3) Manually push cylinder piston rod to the fully extended state 4) Fix the stop package“B” Adjusting the 0-Position of X2-axis： 1) Run the X2 -axis to its 0-position 2) Release bracket “A”...

  • Page 32: Adjusting The Z- Position

    if not, when arm down, the down-block will damage the origin sensor switch. 2.4.3 Adjusting the Z- Position The Z-axis position can be set using servo control system. 2.5 Gripper and Suction Monitoring 2.5.1 Gripper Setting If the gripper didn’t clamp parts in opened state or in the closed state, the light of the magnetic switch is off.

  • Page 33: Digital Pressure Switch Setting

    a. In testing mode, press SET key at least 2 seconds into the display color settings, press UP or DOWN key to change display color, press SET key again will toggle to action mode settings. b. In testing the mode, press SET key twice, or in the display color setting mode, press SET key once to enter into action mode setting, at this time press UP or DOWN key can select action mode, then press SET key again, the output patterns can be set up, press UP or DOWN key to...

  • Page 34: The Injection Molding Machine Output Signals

    The robot-injection molding machine interface is designed according to the directives of Euromap67, which states: Unless otherwise noted, the signals, which are maintained during the described function. 2.6.1.1 The Injection Molding Machine Output Signals Contact NO. Function Emergency stop channel 1 The emergency stop switch of the injection molding machine is used to interrupt the emergency stop circuit of the robot.

  • Page 35: Robot Output Signals

    for the robot to approach must be impossible. Mold at intermediate position HIGH signal when the mold opening has reached the specified intermediate position and remains HIGH until the mold is completely open. the signal may be used in two ways: 1）The mold stops in the intermediate position, whereupon a signal is sent to the optional robot.
  • Page 36 open, neither a closing nor opening motion of the tool may take place. Even when the control system of the robot is shut off, the switch must work as described. Reserved for future Euromap signal. free Complete mold opening enabled HIGH signal when the robot is far enough out of the tool that it can be closed and when other robot control systems enable closing of the tool .the signal remains HIGH signal for the duration of the tool –closing operation, in the event...

  • Page 37: Euromap12 Interface

    Reserved for future Euromap signal 2.6.2 Euromap12 Interface The interface consists of the plug connection between the injection molding machine and the robot: Picture 2-4 The robot-injection molding machine interface is designed according to Euromap12, which state: Unless otherwise noted, the signals are maintained during the described function.

  • Page 38: Robot Output Signals

    the “Enable ejector back” signal (see pin contact No 21), when the ejector sequence is selected. (see pin contact No.16) Ejector forward The switch contact (see pin contact No.16) is closed when the ejector has been advanced. The signal is the acknowledgement signal for the “enable ejector forward”...
  • Page 39 closed at least until “mould closed” (see pin contact No.12) Mould area free The switch contact is closed when the robot is retracted enough for start of mould closure. If the switch contact opens as a result of a fault, mould closing 18，26 must be interrupted.

  • Page 40: General Description

    3. General Description 3.1 ST1-series Abstract It can quickly and accurately carry out the parts from inside of mold and place at accurately position. It has a compact, attractive appearance, running smoothly and user-friendly features. In addition, the series can also increase the single arm and double arm, normal arm and telescopic arm according the customers’...

  • Page 41: Features

    6. ST1-900-1600T (DT) is suitable for the use with plastics injection molding machine 300T to 450T. 7. ST1-1100-1800T (DT) is suitable for installed on the injection molding machine with mold clamping force within 300T~450T. 8. ST1-1300-2000T (DT) is suitable for installed on the injection molding machine with mold clamping force within 450T~600T.

  • Page 42: Function Detection

    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 air- cushion devices, which can reduce the impact of the robot when it is operating.

  • Page 43: Emergency Stop Function

    anti-falling cylinder piston rod. If the pressure is enough, anti-fall cylinder piston rod returns back. When the robot’s arm in locked state, if need manually push arm up and down, use flat tool to move anti-falling cylinder piston rod back, avoid damage to the arm or anti-falling cylinder.
  • Page 44 Picture 1-1 before exchanged 换向前 Picture 1-2 after exchanged 2. Adjust home position block. Move sliding seat to X042 sensor block, the distance between sliding and X042 sensor block is 15mm. Unscrew home position block and move it to X042 sensor block till X025 sensor light up. Then tighten home position block.
  • Page 45 Sliding seat X042 sensor block Picture 2-1 sliding and X042 sensor block Home position block (X041sensor plate） Picture 2-2 home position block 45(147)
  • Page 46 Picture 2-3 X025 sensor Picture 2-4 X 025 lights up 46(147)
  • Page 47 X042 sensor block 15mm Picture 2-5 after adjusted 3. Adjust “outside IMM safety zone blocks”. Move sliding back to X041 sensor block till X041 sensor switches off. Unscrew all “outside IMM safety zone blocks” and move them to X041 sensor block till X024 sensor lights up. Tighten all “outside IMM safety zone blocks”.
  • Page 48 X024 sensor blocks (outside IMM safety zone blocks) Picture 3-1 outside IMM safety zone blocks outside IMM safety zone blocks X041 sensor block Picture 3-2 after adjusted 换向后 4. Horizontal rotate robot base 180 degree, move it to the other end and tighten it.
  • Page 49 Picture 5-1 Panasonic A5 servo drive 5.1 Press “S” into “do1.spd” page. Press “M” into “PR-00” page. Use “△”“ ” to choose number, “ ” to move cursor. Press “S” to confirm settings. Adjust PR006 parameter from 0 to 1, adjust PR012 parameter from 1 to 0 (if A4 servo drive: adjust PR41 parameter from 0 to 1, adjust PR46 parameter from 1 to 0).

  • Page 50: Operating Instruction

    4. Operating Instruction 4.1 Hand Controller 4.1.1 Operation Panel of Hand Controller Picture 4-1 4.1.2 Home Position Setting After power on, press key at state of rest to origin. 50(147)

  • Page 51: Manual Mode

    4.1.3 Manual Mode Press key, show the display as picture 4-2, then can set and adjust robot function manually.（Ensure “mold opened” signal is on. If at the manual mode, please forbidden touching the mold.） Picture 4-2 1. Current Position: Meanings robots current position, unit: mm. 2.

  • Page 52: Automation Mode

    Clip/put Vacuum suck/put Vertical /Horizontal moving Traverse in Traverse out Home Position（using it in stop state） Spare for action Spare action ON/OFF In order to ensure the safety of robot and injection molding machine， please pay attention to the following: 1.

  • Page 53: The Function Instructions

    Picture 4-3 1. Posi(position): the position of the robot arm on the beam axis. 2. AutoT(automation time) : record current automatic cycle time use. 3. Time: The delay time of the current action 4. Act: Current act 5. Mold: Current mold 6.
  • Page 54 Picture 4-4 1. Lang(language): Press to choice Chinese and English page. 2. ProSet(production setting): When reach the set production, then alarming 3. OpenT(mould open delay): Setting the time, which is from mold stop to cut off the signal of close mode, it will cut off the signal when the time ends. 4.

  • Page 55: Special Function 1

    8. HoldCHK (holder check): Same means as vacuum testing. 9. Prozero(the number of productions to zero) : Setting ON, the number of current production shows”0”, usually set OFF 4.2.2 Special Function 1 In WAITING display, press key 4 times to enter the password page, input 5488, then press to enter the special function page1, Press to move the cursor to each item.
  • Page 56 3. AccTime(accelerated time): Set the time of servo motor speedup, slowdown. Note: the unit of the time of the speedup and slowdown is 10ms. 4. Eje（ejector）: NOUSE: Allow the ejector output. USE: After mold open in place, the delay, allow the ejector output. 5.
  • Page 57 position is normal. Waiting outside (Waiting outside injection moulding machine): If the subject can not stand inside, can choose stay outside. In Auto mode, the arm travel out to the outside waiting position. 10. Downpos(down posture): Vertical: Robot fall down by a vertical pose, horizontal down will alarm. Horizontal: Robot fall down by horizontal pose, vertical drop will alarm.

  • Page 58: Mold Choice

    18. Dot (dots): When need to stack, it is for the Z-axis placing points, 99 points can be set most. 19. Dist (distance): When setting the stack, this for the distance between each points of Z-axis points. 20. X-axes: NOUSE: X-axis does not use the stack. Use: X-axis using the two points stacks.

  • Page 59: Parameters

    ，enter the teach program page. set), press Picture 4-8 Move the cursor to teach movement to teach current action steps by steps, and then press key confirmation, the robot do the action. Input one no action orders in the teach program Delete current instruction.

  • Page 60: Monitor

    This page can be set the action position, horizontal speed, and delay time, but can not teach. Setting distance and speed should only in the horizontal movement page. 4.2.6 Monitor ，enter the input monitor page, Press to Press key to switch monitor pages.

  • Page 61: Standard Action Program

    4.3 Standard Action Program Program 0： Main arm down -> Main arm forward -> Vacuum suck -> Main arm backward -> Main arm up -> Dais out -> Pose horizontal -> Main arm down -> Vacuum put -> Main arm up -> Pose vertical ->...
  • Page 62 -> Double arms backward -> Double arms up Pose horizontal -> Dais out -> Main arm down -> Vacuum put ->Main arm up -> Pose vertical -> Dais in -> Sub arm put -> Dais in Program 7： Double arms down -> Double arms forward -> Main arm clip -> Sub arm clip ->...

  • Page 63: Error Connection

    5. Error Connection Error Error Caused Exclusion mode 1. IMM not in the mold opens state. 2. The signal of the “mold open” in Error Number 1 After mold opening ,the IMM is abnormal. Mold open no signal input signal off, and the robot not 3.
  • Page 64 Machine outside the mould， stay inside 2. Whether having “dais in” action by the robot not back to original point electric control. 3. Whether having trouble on circuit board. 1. Whether the power on servo motor Error Number 10 2. Whether having “dais out” action by When robot waiting ,do not Stop inside ，...
  • Page 65 board. 1. Whether the switch on main arm up Error Number 18 Both forward limit and /down having troubles. Main arm forward limit ON backward limit of main arm 2. Check the I/O’s connecting wire. Main arm backward ON have signals input at the 3.
  • Page 66 1. Whether jig in horizontal state. When choosing Pose 2. Whether the horizontal testing Error Number 27 horizontal，before arm switch having troubles. Before arm downing，Pose downing, Pose vertical limit 3. Check the I/O’s connecting wire. horizontal limit OFF no signal input 4.
  • Page 67 Error Number 37 Before jig horizontal and Before changing pose, sub vertical moving, main arm 1. Whether sub arm down. arm down valve ON down valve ON 1. Whether the air pressure is too low. 2. Whether arm down. Error Number 38 After the main arm down, 3.
  • Page 68 signals. 4. Check the I/O’s connecting wire. 5. Whether having trouble on circuit board. 1. Whether the air pressure is too low. 2. Whether sub arm go down. Error Number 45 After the sub arm down, 3. Whether sub arm down switch Sub arm down valve OFF signal of sub arm down limit having signals.
  • Page 69 5. Whether having trouble on circuit board. 1. Whether the air pressure is too low. 2. Whether sub arm go backward. Error Number 52 3. Whether the sub arm go forward Sub arm back, sub arm has Sub arm forward valve OFF switches having signals.
  • Page 70 board. 1. Whether the air pressure is too low. 2. Whether having grasp action. Error Number 60 After grasping, the signal of 3. Whether grasping objects. grasper limit ON the grasp not input 4. Check the I/O’s connecting wire. grasper limit OFF 5.
  • Page 71 Error Number 68 Current production has 1. Increase values of yield. Up to set production reached the setting 2. Clear the current yield. 1. Manual operation make arm rise Manual to move arm up Error Number 69 inside and fall in forward or /down inside not according Action not according with the backward position which...
  • Page 72 3. Whether having trouble on circuit board. 1. Check whether having the signal of travel in limit switch. Error Number 80 The travel in limit switch has 2. Check the I/O’s connecting wire. Travel in limit is abnormal no signal input 3.
  • Page 73 Traverse out position is smaller than starting value must be greater than starting smaller than starting position. position. position. Alarm No. 90 Traverse out position is 1. Reset traverse out position, this Traverse out position is greater than maximum value must be less than maximum greater than maximum position.

  • Page 74: Maintenance

    6. Maintenance 6.1 General Please observe the prescribed maintenance intervals. Proper maintenance ensures trouble-free functioning of the robot. Proper maintenance is necessary in order that the warrantee be fully enforceable. Maintenance should be performed by qualified personnel only. Maintenance should responsibility for safety equipment becomes the responsibility of the system operator once he accepts the robot.

  • Page 75: Maintenance Cycle

    6.2.1 Maintenance cycle In accordance with the maintenance cycle, make work in the best way. Quarterly Daily Maintenance Monthly Maintenance Maintenance 1. Swab robot. 1. Use air clean filter. Brush oil on to the axis. 2. Filter drainage. 2. Check the screws on all part 3.

  • Page 76: Assembly Diagram

    7. Assembly Diagram 7.1 Traverse Unit (ST1 and ST1-T) Picture 7-1 76(147)

  • Page 77: Parts List

    7.1.1 Parts List Table 7-1: Parts List Part number Name ST1-550-1000 ST1-550-1000D ST1-700-1400 ST1-700-1400D Base BH10550700010 BH10550700010 BH10550700010 BH10550700010 Fixing plate of beam installation End cover of BL70103300020 BL70103300020 BL70103300020 BL70103300020 beam Fixing sliding YW09161400110 YW09161400110 YW09161400110 YW09161400110 block Limited sensor BL69335000020 BL69335000020 BL69335000020...
  • Page 78 Connection BH91303900010 BH91303900010 BH91303900010 BH91303900010 shaft Pulley bearing YW11600500000 YW11600500000 YW11600500000 YW11600500000 Pulley BH91030000010 BH91030000010 BH91030000010 BH91030000010 Special washer BL70107700040 BL70107700040 BL70107700040 BL70107700040 Synchronous BL70107700040 BL70107700040 BL70107700040 YW08621900100 pulley Motor BL70107700040 BL70107700040 BL70107700040 BL21000100520 supporting cover Brake resistor BL70107700040 BL70107700040 BL70107700040 YE20100500100 Fixing plate of...
  • Page 79 Filter mounting BL71071420020 BL71071420020 BL71071420020 BL70113000020 plate Control box BL71071420020 BL71071420020 BL71071420020 BL71071400020 Filter regulating YE30320400100 YE30320400100 BL71071420020 YE30301000000 valve * 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 guarantee that the item number of the spare part is in accordance with the real object.
  • Page 80 Table 7-2: Parts List Part number Name ST1-900-1600 ST1-900-1600D ST1-1100-1800 ST1-1100-1800D Base BH10591100010 BH10591100010 BH10591100010 BH10591100010 Fixing plate of beam installation End cover of BL70103300020 BL70103300020 BL70103300020 BL70103300020 beam Fixing sliding YW09161400110 YW09161400110 YW09161400110 YW09161400110 block Limited sensor BL69335000020 BL69335000020 BL69335000020 BL69335000020 panel...
  • Page 81 Connection BH91303900010 BH91303900010 BH91303900010 BH91303900010 shaft Pulley bearing YW11600500000 YW11600500000 YW11600500000 YW11600500000 Pulley BH91030000010 BH91030000010 BH91030000010 BH91030000010 Special washer BL70107700040 BL70107700040 BL70107700040 BL70107700040 Synchronous BL70107700040 BL70107700040 BL70107700040 YW08621900100 pulley Motor supporting BL70107700040 BL70107700040 BL70107700040 BL21000100520 cover Brake resistor BL70107700040 BL70107700040 BL70107700040 YE20100500100 Fixing plate of...
  • Page 82 Cover of control BL70125000020 BL70125000020 BL70125000020 BL70125000020 Connection plate of BL71071420020 BL71071420020 BL71071420020 BL70126000020 grounder Filter mounting BL71071420020 BL71071420020 BL71071420020 BL70113000020 plate Control box BL70124000020 BL70124000020 BL70124000020 BL70124000020 Filter regulating BL71071420020 BL71071420020 BL71071420020 YE30301000000 valve * means possible broken parts. ** means easy broken part.
  • Page 83 Table 7-3: Parts List Part number Name ST1-700-1400T ST1-700-1400DT ST1-900-1600T ST1-900-1600T Base Fixing plate of beam installation End cover of BL70103300020 BL70103300020 BL70103300020 BL70103300020 beam Fixing sliding YW09161400110 YW09161400110 YW09161400110 YW09161400110 block Limited sensor BL69335000020 BL69335000020 BL69335000020 BL69335000020 panel Linear guiding rail Belt fixing frame BH91151200010...
  • Page 84 Special washer BL70107700040 BL70107700040 BL70107700040 BL70107700040 Synchronous pulley Motor supporting BL70107700040 BL70107700040 BL70107700040 BL21000100520 cover BL70107700040 BL70107700040 BL70107700040 YE20100500100 Brake resistor Fixing plate of BH91282500110 BH91282500110 BH91282500110 BH91282500110 pressure switch Pressure switch Hinge YW06253200000 YW06253200000 YW06253200000 YW06253200000 YW06253200000 YW06253200000 YW06253200000 YM50801502400 Exhaust fan Driven mounting...
  • Page 85 Filter regulating valve * 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 guarantee that the item number of the spare part is in accordance with the real object. 85(147)
  • Page 86 Table 7-4: Parts List Part number Name ST1-1100-1800T ST1-1100-1800DT ST1-1300-2000T ST1-1300-2000T Base BW21132000000 BW21132000000 BL72113200020 BL72113200020 Fixing plate of beam installation End cover of BL70103300020 BL70103300020 BL70103300020 BL70103300020 beam Fixing sliding YW09161400110 YW09161400110 YW09161400110 YW09161400110 block Limited sensor BL69335000020 BL69335000020 BL69335000020 BL69335000020 panel...
  • Page 87 Synchronous YW08304100000 YW08304100000 YW08304100000 YW08304100000 pulley Motor supporting BL72108200020 BL72108200020 BL72108200020 BL72108200020 cover Brake resistor BL70107700040 BL70107700040 BL70107700040 YE20100500100 Fixing plate of pressure switch Pressure switch YW06253200000 YW06253200000 YW06253200000 YW06253200000 Hinge YW06253200000 YW06253200000 YW06253200000 YM50801502400 Exhaust fan Driven mounting plate Servo drive Traverse terminal BL72103000020...

  • Page 88: Vertical Unit (St1)

    7.2 Vertical Unit (ST1) Picture 7-2 88(147)

  • Page 89: Parts List

    7.2.1 Parts List Table 7-5: Parts List Part number Name ST1-550-1000 ST1-550-1000D ST1-700-1400 ST1-700-1400D Vertical drag YE60250003100 YE60250003100 YE60250003100 YE60250003100 on main arm Vertical drag YE60250003100 YE60250003100 YE60250003100 YE60250005500 on sub-arm Cover of drag YE60250003100 YE60250003100 YE60250003100 BL70105000020 Vertical cylinder on sub-arm Shock absorber...
  • Page 90 Vertical drag frame on main BL70111000020 BL70111000020 BL70111000020 BL70111000020 Vertical drag supporting BL70550900020 BL70550900020 BL70550900020 BL70550900020 frame * 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 guarantee that the item number of the spare part is in accordance with the real object.
  • Page 91 Table 7-6: Parts List Part number Name ST1-900-1600 ST1-900-1600D ST1-1100-1800 ST1-1100-1800D Vertical drag YE60250003100 YE60250003100 YE60250003100 YE60250003100 on main arm Vertical drag YE60250003100 YE60250003100 YE60250003100 YE60250005500 on sub-arm Cover of drag YE60250003100 YE60250003100 YE60250003100 BL70105000020 Vertical cylinder on sub-arm Shock absorber Vertical drag frame on...
  • Page 92 Vertical drag frame on main BL70111000020 BL70111000020 BL70111000020 BL70111000020 Vertical drag supporting BL70190900020 BL70190900020 BL70110900020 BL70110900020 frame * 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 guarantee that the item number of the spare part is in accordance with the real object.

  • Page 93: Main Arm Unit (St1)

    7.3 Main arm unit (ST1) Picture 7-3 93(147)

  • Page 94: Parts List

    7.3.1 Parts List Table 7-7: Parts List Part number Name ST1-550-1000 ST1-550-1000D ST1-700-1400 ST1-700-1400D BH10550900020 BH10550900020 BH10550900020 BH10550900020 Rotation board Spare frame for BH10550900020 BH10550900020 BH10550900020 BL70102600020 air pipe Steel covers of BH10550900020 BH10550900020 BH10550900020 BL70109000020 main arm Cylinder holder BH10550900020 BH10550900020 BH10550900020...
  • Page 95 pressure switch Main arm BL71080100020 BL71080100020 BL71080100020 BL71080100020 mounting plate Shock YW82141600000 YW82141600000 YW82141600000 YW82141600000 absorber Proximity switch BH91181200010 BH91181200010 BH91181200010 BH91181200010 Buffer unit YW80200000000 YW80200000000 YW80200000000 YW80200000000 Buffer cap Proximity YE15050100300 switch Falling- proof YE30055000350 YE30055000350 YE30055000350 YE30055000350 cylinder Up-going BL70101000040 BL70101000040...
  • Page 96 Table 7-8: Parts List Part number Name ST1-900-1600 ST1-900-1600D ST1-1100-1800 ST1-1100-1800D Rotation board BH10550900020 BH10550900020 BH10550900020 BH10550900020 Spare frame for BL70102600020 BL70102600020 BL70102600020 BL70102600020 air pipe Steel covers of BH10550900020 BH10550900020 BH10550900020 BL70109000020 main arm Cylinder holder BH10550900020 BH10550900020 BH10550900020 BL70115500040 frame on main Aluminum cover...
  • Page 97 Buffer unit BH91181200010 BH91181200010 BH91181200010 BH91181200010 YW80200000000 YW80200000000 YW80200000000 YW80200000000 Buffer cap Proximity switch Falling- proof YE30055000350 YE30055000350 cylinder Up-going sensor sheet on main BL70101000040 BL70101000040 BL70101000040 BL70101000040 * 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 guarantee that the item number of the spare part is in accordance with the real object.

  • Page 98: Sub-Arm Unit (St1)

    7.4 Sub-Arm unit (ST1) Picture 7-4 98(147)

  • Page 99: Parts List

    7.4.1 Parts List Table 7-9: Parts List Part number Name ST1-550-1000 ST1-550-1000D ST1-700-1400 ST1-700-1400D BH70401200040 BH70401200040 Gripper Up-going buffer block BH70401200040 BH91502700110 Cylinder holder frame BH70401200040 BH91952400110 on sub-arm Aluminum profile of BH91102500010 BH91502000010 sub-arm YW31001562000 Linear guide Drag chain connector BL70011200020 BL70011200020 on sub arm...
  • Page 100 Table 7-10: Parts List Part number Name ST1-900-1600 ST1-900-1600D ST1-1100-1800 ST1-1100-1800D Gripper BH70401200040 BH70401200040 BH70401200040 BH91502700110 Up-going buffer block Cylinder holder frame BH70401200040 BH70401200040 on sub-arm Aluminum profile of sub-arm Linear guide Drag chain connector BL70011200020 BL70011200020 on sub arm Down baffle on sub ar BL70101240040 BL70101240040...

  • Page 101: Main Arm (St1-T)

    7.5 Main Arm (ST1-T) Picture 7-5 101(147)

  • Page 102: Parts List

    7.5.1 Parts List Table 7-11: Parts List Part number Name ST1-700-1400T ST1-700-1400DT ST1-900-1600T ST1-900-1600DT Upturning setup BH10550900020 BH10550900020 BH10550900020 BH10550900020 Spare frame for air BH10550900020 BH10550900020 BH10550900020 BL70102600020 tube Steel cover of main BL70122000020 BL70122000020 BL70122000020 BL70122000020 arm 2 Aluminum cover of BH13171300010 BH13171300010 BH13019130010...
  • Page 103 Steel cover of main BL70120900020 BL70120900020 BL70120900020 BL70120900020 arm 1 Terminal bottom BL70110700040 BL70110700040 BL70110700040 BL70110700040 frame 1 Terminal bottom 2 BL70110800040 BL70110800040 BL70110800040 BL70110800040 Main arm mounting BL70102900040 BL70102900040 BL70102900040 BL70102900040 plate Proximity switch mounting plate Fixing plate of BL70103600040 BL70103600040 BL70103600040...

  • Page 104: Sub-Arm (St1-T: Telescopic Arm)

    7.6 Sub-arm (ST1-T: Telescopic Arm) Picture 7-6 104(147)

  • Page 105: Parts List

    7.6.1 Parts List Table 7-12: Parts List Part number Name ST1-700-1400T ST1-700-1400DT ST1-900-1600T ST1-900-1600DT Gripper BH70401200040 BH70401200040 Aluminum profile BH78071430110 BH79901600510 of sub-arm Linear slides BL70021000040 BL70021000040 fixing plate 1 Sensor sheet Linear guide YW09601400110 YW09601400110 Drag chain on sub-arm (up/down) Drag connector 1 on sub-arm...
  • Page 106 Tooth plate 2 of Arm belt Tooth plate 2 of BL72022700040 BL72022700040 Arm belt Synchronous belt Tooth plate 3 of BL70210800040 BL70210800040 Arm belt Belt fixing plate BL70140400020 BL70140400020 Aluminum profile BH78714180010 BH79901600410 of sub-arm Proximity switch Cylinder supporting frame BL72201900040 BL72201900040 on sub arm...

  • Page 107: Vertical (St1-T: Telescopic Arm)

    7.7 Vertical (ST1-T: Telescopic Arm) Picture 7-7 107(147)

  • Page 108: Parts List

    7.7.1 Parts List Table 7-13: Parts List Part number Name ST1-700-1400T ST1-700-1400DT ST1-900-1600T ST1-900-1600DT Drag supporting BL70550900020 BL70550900020 BL70190900020 BL70190900020 frame on vertical Drag chain of main arm Vertical drag of BL70150900020 BL70150900020 BL70150900020 BL70150900020 sub-arm Vertical drag frame of sub-arm Vertical cylinder of...
  • Page 109 Fixing block Vertical drag frame of main BH91801600010 BH91801600010 BH91801600010 BH91801600010 Shock absorber * 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 guarantee that the item number of the spare part is in accordance with the real object.

  • Page 110: Traverse Unit (St1-T: Middle Telescopic Arm)

    7.8 Traverse unit (ST1-T: Middle Telescopic Arm) Picture 7-8 110(147)

  • Page 111: Parts List

    7.8.1 Parts List Table 7-14: Parts List Part number Name ST1-1100-1800T ST1-1100-1800DT ST1-1300-2000T ST1-1300-2000T Base BW21132000000 BW21132000000 BW21132000000 BW21132000000 Beams fixed block Pressure switch Beam BH72111800010 BH72111800010 Proximity switch Beam’s end BL70103300020 BL70103300020 BL70103300020 BL70103300020 cover Origin sensor BL69363000020 BL69363000020 plate Limitation BL69363000020...
  • Page 112 Transverse terminal bottom BL72104100020 BL72104100020 BL72104100020 BL72104100020 supporting frame Synchronous YR00082500100 YR00082500100 YR00082500100 YR00082500100 belt Linear guide YW31002526000 YW31002526000 Belt pressing YW09564900110 YW09564900110 YW09564900110 YW09564900110 plate Belt cleat connecting parts Buffer cap Belt fixing frame 1 Buffer BH91151200010 BH91151200010 BH91151200010 BH91151200010 Safety mold BL69002200020...
  • Page 113 Table 7-15: Parts List Part number Name ST1-1500-2200T ST1-1500-2200DT BL72182470020 BL72182470020 Base Beams fixed block Pressure switch BH72152200010 BH72152200010 Beam Proximity switch BL70103300020 BL70103300020 Beam’s end cover Origin sensor plate BL69363000020 BL69363000020 Limitation sensor plate BL72118000020 BL72118000020 Sliding base Exhaust fan YM50801502400 YM50801502400 Driver mounting plate...
  • Page 114 Buffer cap BL71010900020 BL71010900020 Belt fixing frame 1 BH91151200010 BH91151200010 Buffer BL69002200020 BL69002200020 Safety mold sensor plate Fixing plate End cover of transverse BH74000100010 BH74000100010 beam Traverse drag supporting frame YW06251500000 YW06251500000 Traverse drag Cover of control box BL72107000020 BL72107000020 Connecting plate of BL70126000020 BL70126000020...

  • Page 115: Main Arm (St1-T: Middle Telescopic Arm)

    7.9 Main Arm (ST1-T: Middle Telescopic Arm) Picture 7-9 115(147)

  • Page 116: Parts List

    7.9.1 Parts List Table 7-16: Parts List Part number Name ST1-1100-1800T ST1-1100-1800DT ST1-1300-2000T ST1-1300-2000T Main arm BH13000400010 BH13000400010 BH13000400010 BH13000400010 mounting frame BH73000100050 BH73000100050 BH73000100050 BH73000100050 Rotation unit Aluminum profile BH72111801010 BH72111801010 of main arm Spare frame for BL70102600020 BL70102600020 BL70102600020 BL70102600020 air tube...
  • Page 117 Pulley fixing plate BL72300500040 BL72300500040 BL72300500040 BL72300500040 Pulley on BH78011000010 BH78011000010 BH78011000010 BH78011000010 telescopic arm Connecting shaft BH78010900010 BH78010900010 BH78010900010 BH78010900010 of telescopic arm Pulley fixing plate BL72301700020 BL72301700020 BL72301700020 BL72301700020 1 of pulley BL72122000040 BL72122000040 BL72122000040 BL72122000040 Belt pressing plate BL72227000040 BL72227000040...
  • Page 118 Table 7-17: Parts List Part number Name ST1-1500-2200T ST1-1500-2200DT Main arm mounting frame BH13000400010 BH13000400010 BH73000100050 BH73000100050 Rotation unit Aluminum profile of main arm BL70102600020 BL70102600020 Spare frame for air tube BL72112000020 BL72112000020 Up-going sensor plate Mounting plate of proximity BL72128000020 BL72128000020 switch...
  • Page 119 Belt down-going fixing plate BL72111900020 BL72111900020 on main arm Magnetic valve Pneumatic distribution block BH78010100050 BH78010100050 on main arm Vertical drag connector on BL72121000020 BL72121000020 main arm Air tube connection plug on BL72111700020 BL72111700020 main arm Main arm belt up-going fixing BL72111800020 BL72111800020 plate...

  • Page 120: Sub-Arm (St1-T: Middle Telescopic Arm)

    7.10 Sub-arm (ST1-T: Middle Telescopic Arm) Picture 7-10 120(147)

  • Page 121: Parts List

    7.10.1 Parts List Table 7-18: Parts List Part number Name ST1-1100-1800T ST1-1100-1800DT ST1-1300-2000T ST1-1300-2000T Sub-arm BH13000303010 BH13000303010 mounting plate Fixing plate of BL72001120020 BL72001120020 proximity switch Cylinder BL72100800040 BL72100800040 (up/down) holder frame on sub arm Gripper BH70401200040 BH70401200040 Aluminum profile BH78180020010 BH78180020010 of sub-arm...
  • Page 122 Belt pressing BL72122000040 BL72122000040 plate Arm down-going BL72001100040 BL72001100040 baffler Cylinder fixing BH91451600110 BH91451600110 plate Terminal mounting plate on sub arm Terminal bottom frame on sub arm Belt up-going BL72100400020 BL72100400020 fixing plate on sub arm Magnetic valve Pneumatic BH70258300040 BH70258300040 distribution block on sub arm...
  • Page 123 Table 7-19: Parts List Part number Name ST1-1500-2200T ST1-1500-2200DT Sub-arm mounting plate BH13000303010 Fixing plate of proximity BL72001120020 switch Cylinder (up/down) holder BL72100800040 frame on sub arm BH70401200040 Gripper BH78180020010 Aluminum profile of sub-arm BL72110500020 Stack sensor sheet YW09601400110 Sensor fixing plate Connection aluminum profile of sub-arm Linear guide...
  • Page 124 Magnetic valve Pneumatic distribution block BH70258300040 on sub arm Air tube connection plug on BL72100700020 sub-arm YW10258020000 Shock absorber 1 Vertical drag connector on BL72000900020 sub arm YW80366000000 Shock absorber 2 BL72100600020 Steel cover of sub-arm Proximity switch Anti-falling cylinder BL72100500020 supporting frame of sub-arm YE30201540000...

  • Page 125: Crosswise Unit (St1-T: Middle Telescopic Arm)

    7.11 Crosswise Unit (ST1-T: Middle Telescopic Arm) Picture 7-11 125(147)

  • Page 126: Parts List

    7.11.1 Parts List Table 7-20: Parts List Part number Name ST1-1100-1800T ST1-1100-1800DT ST1-1300-2000T ST1-1300-2000T Crosswise beam base Buffer fixing BH78511300040 BH78511300040 BH78511300040 BH78511300040 block 6 Buffer fixing BH78511200040 BH78511200040 BH78511200040 BH78511200040 block 5 Cylinder holder frame on sub-arm Crosswise cylinder rod BH78110000040 BH78110000040 BH78110000040...
  • Page 127 Buffer cap Crosswise drag mounting plate Crosswise drag supporting frame Crosswise drag YE60250003100 YE60250003100 YE60250003100 YE60250003100 on main arm Crosswise drag YE60250005500 YE60250005500 on sub-arm Cover of BL72101800020 BL72101800020 BL72101800020 BL72101800020 Crosswise * 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 guarantee that the item number of the spare part is in accordance with the real object.
  • Page 128 Table 7-21: Parts List Part number Name ST1-1500-2200T ST1-1500-2200DT Crosswise beam base Buffer fixing block 6 BH78511300040 BH78511300040 Buffer fixing block 5 BH78511200040 BH78511200040 Cylinder holder frame on sub-arm Crosswise cylinder rod clamping BH78110000040 BH78110000040 device Crosswise cylinder fixing frame on BL72104000040 sub-arm Linear guide...

  • Page 129: Electric Control Chart

    8. Electric Control Chart 8.1 The Power Input Wiring Diagram Picture 8-1 129(147)

  • Page 130: Main Control Panel And I/O Wiring Diagram

    8.2 Main Control Panel and I/O Wiring Diagram Picture 8-2 130(147)

  • Page 131: Panasonic Servo Motor Wiring Diagram 1

    8.3 Panasonic Servo Motor Wiring Diagram 1 Picture 8-3 131(147)

  • Page 132: Panasonic Servo Motor Wiring Diagram And Spare Wiring Diagram

    8.4 Panasonic Servo Motor Wiring Diagram and Spare Wiring Diagram Picture 8-4 132(147)

  • Page 133: Yaskawa Servo Motor Wiring Diagram 1

    8.5 YASKAWA Servo Motor Wiring Diagram 1 Picture 8-5 133(147)

  • Page 134: Yaskawa Servo Motor Wiring Diagram And Spare Wiring Diagram

    8.6 YASKAWA Servo Motor Wiring Diagram and Spare Wiring Diagram Picture 8-6 134(147)

  • Page 135: Z-Axis Wiring Diagram

    8.7 Z-axis Wiring Diagram Picture 8-7 135(147)

  • Page 136: Main Arm Wiring Diagram 1

    8.8 Main Arm Wiring Diagram 1 Picture 8-8 136(147)

  • Page 137: Main Arm Wiring Diagram 2

    8.9 Main Arm Wiring Diagram 2 Picture 8-9 137(147)

  • Page 138: Sub Arm Wiring Diagram

    8.10 Sub Arm Wiring Diagram Picture 8-10 138(147)

  • Page 139: Em67 Signal Input Wiring Diagram

    8.11 EM67 Signal Input Wiring Diagram Picture 8-11 139(147)

  • Page 140: Em67 Signal Output Wiring Diagram

    8.12 EM67 Signal Output Wiring Diagram Picture 8-12 140(147)

  • Page 141: Main Control Board Component Layout

    8.13 Main Control Board Component Layout Picture 8-13 141(147)

  • Page 142: I / O (U2) Board Component Layout

    8.14 I / O (U2) Board Component Layout Picture 8-14 142(147)

  • Page 143: Z-Axis Travel-In Board (U3) Component Layout

    8.15 Z-axis Travel-in Board (U3) Component Layout Picture 8-15 143(147)

  • Page 144: Main Arm (U4) Layout

    8.16 Main Arm (U4) Layout Picture 8-16 144(147)

  • Page 145: Sub-Arm (U5) Component Layout

    8.17 Sub-arm (U5) Component Layout Picture 8-17 145(147)

  • Page 146: Pneumatic Schematic Diagram

    8.18 Pneumatic Schematic Diagram Picture 8-18 146(147)
  • Page 147 147(147)

This manual is also suitable for:

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