Shini ST3 Series User Manual
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Shini ST3 Series User Manual

Fully servo driven robot
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ST3/5
Fully Servo Driven Robot
User Manual
Date: Jun, 2016
Version: V1.5 (English)

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  • Page 1 ST3/5 Fully Servo Driven Robot User Manual Date: Jun, 2016 Version: V1.5 (English)
  • Page 2 2(178)

  • Page 3: Table Of Contents

    Contents . Safety ..........................13 Safety Regulations ....................... 13 Safety Concerns......................13 Emergency Stop......................15 Transportation and Storage..................15 1.4.1 Transportation ....................... 15 1.4.2 Transportation after Unpacking................16 1.4.3 Storage ......................... 18 1.4.4 Operation Environment ..................18 1.4.5 Retirement ......................18 Exemption Clause ......................
  • Page 4 ST3(5) Series Robots Summary .................. 44 ST3 (5) Series Robot Application Range..............45 Features ........................45 Functions........................45 3.4.1 Introduction ......................45 3.4.2 Limitation Sense and Limit Function ..............45 3.4.3 Simultaneous Function..................45 3.4.4 Electrical Self-protection Function................. 45 3.4.5 Emergency Stop....................
  • Page 5 Alarms and Logs ......................95 4.5.1 History Logs ......................97 4.5.2 Message ....................... 98 . Hardware Configuration list (I/O) ................... 99 ST3 I/O......................... 99 ST5 I/O........................101 . Maintenance........................104 General ........................104 Lubrication Requirement .................... 104 Maintenance....................... 104 . Assembly Diagram ......................105 ST3 &...
  • Page 6 9.17 ST3 Main-arm unit board.................... 153 10 .ST5 Electrical-Pneumatic Control Diagram..............154 10.1 ST5 Power supply wiring diagram ................154 10.2 ST5 Each I/O module electrical wiring diagram............155 10.3 ST5 Traverse unit I/O signal wiring diagram .............. 156 10.4 ST5 Main-arm unit input signal wiring diagram ............
  • Page 7 Table 4-4: Axis configuration details..................83 Table 4-5: Servo axis parameter configuration details ............84 Table 4-6: Alarm details.....................95 Table 5-1: ST3 I/O configuration list ..................99 Table 5-2: ST5 I/O configuration list ................101 Table 7-1: Parts BOM for ST3 traverse unit ..............106 Table 7-2: Parts BOM for ST3 crosswise unit..............108 Table 7-3: Parts BOM for ST3 main-arm unit(single-stage arm) ........110 Table 7-4: Parts BOM for ST3 Main-arm Unit(Telescopic Arm)........112...
  • Page 8 Fig.3-3: Sensor position before modifying .................46 Fig.3-4: Sensor position after modifying ................46 Fig.3-5: Sensor plate position before modifying ..............47 Fig.3-6: Sensor plate position after modifying ..............47 Fig.3-7: Outside IMM safety zone blocks after modifying ..........47 Fig.3-8: Before exchanging X102 with X103 ..............48 Fig.3-9: After exchanging X102 with X103 ................48 Fig.3-10: Servo motor direction before reversing ..............49 Fig.3-11: Traverse servo driver location ................49...
  • Page 9 Fig.4-36: Palletise program setup page................72 Fig.4-37: No program is editing at the moment ..............73 Fig.4-38: Start position. Put Z, X, Y position of the first product........73 Fig.4-39: Safety Setup page....................74 Fig.4-40: Safety space ......................75 Fig.4-41: Check Setup page....................75 Fig.4-42: Produce setup page ...................76 Fig.4-43: System Setup page ....................77 Fig.4-44: Time and language bar window .................78 Fig.4-45: Servo setup page ....................79...
  • Page 10 Fig.7-12: ST3-MT crosswise Unit exploded view.............123 Fig.7-13: ST3-MT Main-arm unit(telescopic arm) exploded view ........125 Fig.7-14: ST3-LT traverse unit exploded view ..............127 Fig.7-15: ST3-LT crosswise unit exploded view ..............130 Fig.7-16: ST3-LT main-arm unit exploded view...............132 Fig.8-1: ST3 & ST3-T pneumatic schematic diagram............134 Fig.8-2: ST5 &...
  • Page 11 Fig.10-21: ST5 SIGMATEK module board 1 ..............174 Fig.10-22: ST5 SIGMATEK module board 2 ..............175 Fig.10-23: ST5 Traverse unit board.................176 Fig.10-24: ST5 Main-arm unit board................177 Fig.10-25: ST5 Sub-arm unit board .................178 11(178)
  • Page 12 12(178)

  • Page 13: 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, mould or moulding machine. Safety Regulations l Please review this manual thoroughly and familiarize yourself with the operation of the robot, before starting up the robot for the first time.
  • Page 14 Please use parts of SHINI if there is any replacement is required. l Our robots meet all corresponding safety standards. l Please read the user manual carefully as a safety guideline. l Unauthorized personnel must inform the relative supervisor, and understand all safety rules before entering robot working area.

  • Page 15: Emergency Stop

    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.

  • Page 16: Transportation After Unpacking

    Claim damages to the shipping company; fill in the file requests for compensation. Retain the damaged items stand-by for testing. Until the testing is completed, do not return the damaged items. 1.4.2 Transportation after Unpacking 1) After taking apart the package, first removed the supporting plate, so that the arm rotated 90 degrees, and the vertical with beams (see the figure).
  • Page 17 Fig.1-2: Packing of ST3-LT Fig.1-3: Hanging transportation of ST3-T Fig.1-4: Hanging transportation of ST3-LT 17(178)

  • Page 18: Storage

    (metal, oil, lubricants, plastics, rubber, etc.) to split in different ways. Deal with the machine according to local requirements; ensure the commission company as the best. Any problem during using the SHINI ST3/5-Series Robot, please contact the company or the local vendor.

  • Page 19: Exemption Clause

    The following statements clarify the responsibilities and regulations born by any buyer or user who purchases products and accessories from Shini (including employees and agents). Shini is exempted from liability for any costs, fees, claims and losses caused by reasons below: Any careless or man-made installations, operation and maintenance upon machines without referring to the Manual prior to machine using.

  • Page 20: Installations

    2 . Installations 2.1 Instructions 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) Keep the air pipe in good way during installation.

  • Page 21: Safety Fence

    2.1.4 Safety Fence 1) After installing the robot, indicate the safety fence outside the scope of the robot working area. 2) The hand controller should be fixed outside of the safety fence. 3) Stick the warning sign on an obvious spot of the fence 2.1.5 Mounting Preparation Fig.2-1: Drilling for ST3/5 small model (traverse stroke <1100mm) Fig.2-2: Drilling for ST3/5 small Model (traverse stroke ≥1100mm)

  • Page 22: Mounting Instructions

    Fig.2-4: Drilling for ST3/5 medium model (traverse stroke ≥1500mm) Fig.2-5: Drilling for ST3/5 large model Before drilling, switch off the injection moulding machine and then turn off the power, avoid the scrap-iron into the mould. Stick the drilling picture on the installing surface of IMM. Use the center punch to assist drilling.

  • Page 23: Robot Specifications

    2.2 Robot Specifications 2.2.1 ST3 Small Model Robot (Single-Stage Arm) Fig.2-6: ST3 small model (single-stage arm) Table 2-1: ST3 small model specifications 1 Model ST3-700-1200 ST3-700-1400 ST3-800-1400 ST3-900-1600 Application IMM (ton) 50~80 80~180 180~220 220~280 Traverse Stroke (mm) 1200 1400 1400 1600 Crosswise Stroke (mm)
  • Page 24 Table 2-2: ST3 small model specifications 2 Model ST3-1000-1600 ST3-1100-1800 ST3-1200-1800 Application IMM (ton) 280~320 320~400 400~450 Traverse Stroke (mm) 1600 1800 1800 Crosswise Stroke (mm) Vertical Stroke (mm) 1000 1100 1200 Max Load (kg) Min Pick-out Time (sec) Min Cycle Time (sec) Air Pressure Range (bar) Max Air Consumption (NL/cycle)* Net Weight (kg)

  • Page 25: St3-T Small Model Robot (Telescopic Arm)

    2.2.2 ST3-T Small Model Robot (Telescopic Arm) Fig.2-7: ST3-T small model (telescopic arm) dimensions Table 2-3: ST3-T small model (telescopic arm) specifications 1 Model ST3-700-1200T ST3-700-1400T ST3-700-1400HT ST3-800-1400T Application IMM(ton) 50-80 80-180 80-180 180-220 Traverse Stroke(mm) 1200 1400 1400 1400 Crosswise Stroke(mm) Vertical Stroke(mm) Max Load(kg)
  • Page 26 Table 2-4: ST3 small model (telescopic arm) specifications 2 Model ST3-900-1600T ST3-900-1600HT ST3-1000-1600T ST3-1100-1800T ST3-1100-1800HT ST3-1200-1800T Application IMM 220-280 220-280 280-320 320-400 320-400 400-450 (ton) Traverse Stroke 1600 1600 1600 1800 1800 1800 (mm) Crosswise Stroke (mm) Vertical Stroke 1000 1100 1100 1200...

  • Page 27: St3-T Medium Telescopic Model Robot (Stationary-Beam Type)

    2.2.3 ST3-T Medium Telescopic Model Robot (Stationary-Beam Type) Fig.2-8: ST3-T medium telescopic model (stationary-beam type) dimensions Table 2-5: ST3-T medium telescopic model (stationary-beam) specifications Model ST3-1300-2000T ST3-1400-2000T ST3-1500-2200T ST3-1600-2200T ST3-1700-2200T Application IMM(ton) 450-600T 450-600T 600-700T 700-850T 700-850T Traverse Stroke(mm) 2000 2000 2200 2200...

  • Page 28: St3-Mt Medium Telescopic Model Robot (Movable-Beam Type)

    2.2.4 ST3-MT Medium Telescopic Model Robot (Movable-Beam Type) Fig.2-9: ST3-MT medium telescopic model (movable-beam type) dimensions Table 2-6: ST3-MT medium telescopic model (movable-beam) specifications 1 ST3-1200- ST3-1300- ST3-1400- ST3-1500- ST3-1600- ST3-1700- Model 1800MT 2000MT 2000MT 2200MT 2200MT 2200MT Application IMM(ton) 300-450T 450-600T 450-600T...
  • Page 29 Table 2-7: ST3-MT medium telescopic model (movable-beam) specifications 2 ST3-1800- ST3-1900- ST3-2000- ST3-2100- ST3-2200 Model 2400MT 2400MT 2800MT 2800MT -3000MT Application IMM(ton) 850-1400T 850-1400T 1400-1800T 1400-1800T 1800-2400T Traverse Stroke(mm) 2400 2400 2800 2800 3000 Crosswise Stroke(mm) 1200 1200 1200 1400 1400 Vertical Stroke(mm) 1800...

  • Page 30: St3-Lt Large Telescopic Model Robot (Movable-Beam Type)

    2.2.5 ST3-LT Large Telescopic Model Robot (Movable-Beam Type) Fig.2-10: ST3-LT large telescopic model dimensions Table 2-8: ST3-LT large telescopic model specifications ST3-1800- ST3-2000- ST3-2200- ST3-2600- ST3-3000- Model 2400LT 2800LT 3000LT 3200LT 3400LT Application IMM(ton) 850-1400T 1400-1800T 1800-2400T 2400-3000T 3000-3600T Traverse Stroke(mm) 2400 2800 3000...

  • Page 31: St5 Small Model Robot (Single-Stage Arm)

    2.2.6 ST5 Small Model Robot (Single-Stage Arm) Fig.2-11: ST5 small model robot(single-stage arm) dimensions Table 2-9: ST5 small model robot (single-stage arm) specifications ST5-700- ST5-700- ST5-800- ST5-900- ST5-1000- ST5-1100- ST5-1200- Model 1200D 1400D 1400D 1600D 1600D 1800D 1800D Application IMM(ton) 50-80 80-180 180-220...

  • Page 32: St5-T Small Telescopic Model Robot

    2.2.7 ST5-T Small Telescopic Model Robot Fig.2-12: ST5 small telescopic model robot dimensions Table 2-10: ST5 small telescopic model robot specifications ST5-700- ST5-700- ST5-800- ST5-900- ST5-1000- ST5-1100- ST5-1200- Model 1200DT 1400DT 1400DT 1600DT 1600DT 1800DT 1800DT Application IMM(ton) 50-80 80-180 180-220 220-280 280-320...

  • Page 33: St5 Medium Telescopic Model Robot

    2.2.8 ST5 Medium Telescopic Model Robot Fig.2-13: ST5 medium telescopic model robot Table 2-11: ST5 medium telescopic model robot specifications Model ST5-1300-2000DT ST5-1500-2200DT Application IMM(ton) 450~650 650~850 Traverse Stroke(mm) 2000 2200 Main Arm Crosswise(mm) Sub-arm Main Arm 1300 1500 Vertical(mm) Sub-arm 1350 1500...

  • Page 34: Pneumatic Source Requirement

    2.2.9 Pneumatic Source Requirement Compressed air is connected by 1/4—Ф10 trachea. Filter pressure valve with a clear scale line, convenient adjustment. Bring adjustment knob upward and with a clockwise rotation, pressure increases; counterclockwise rotation, air pressure decreases, the pressure range between 0 to 8bar. After adjustment, Please press the adjustment knob to lock pressure.

  • Page 35: Gripper And Vacuum Monitor

    In particular, the functions of the safety circuits must be thoroughly checked. l Testing the emergency stop signals to and from the IMM. l When press the emergency stop switch on hand controller, the error message emergency stop must also be indicated at the IMM. And when press the emergency stop on IMM, the emergency stop signal must also be indicated at the robot.

  • Page 36: Robot And Imm Interface

    Press “Mode” once back to measurement mode. 2) Pressure value range settings The lower limit: for example “-50”, press “Mode” screen display “L0-1”, press up/down set the valve to “-50”. The upper limit: for example “-20”, press “Mode” screen display “H1-1”, press up/down set the valve to “-50”.

  • Page 37: Imm Output Signals (Em67)

    2.5.1.1 IMM Output Signals (EM67) Table 2-12: Signals from IMM (EM67) Contact No. Function Emergency stop channel 1 The emergency stop switch of the injection moulding machine is used to interrupt the emergency stop circuit of the robot. Emergency stop channel 2 The emergency stop switch of the injection moulding machine is used to interrupt the emergency stop circuit of the robot.
  • Page 38 Contact No. Function Ejector forward position HIGH signal when the ejector has been advanced. The signal is the acknowledgement signal for the “Enable ejector advance “(see pin contact No.B4). Core pullers 1 free for robot to approach HIGH signal when the core pullers are in position for removal of the injection moiling.(see pin contact No.B5) Core pullers 1 in position to remove moulding HIGH signal when the core pullers are in position for removal of the injection...

  • Page 39: Robot Output Signals (Em67)

    2.5.1.2 Robot Output Signals (EM67) Table 2-13: Signals from robot (EM67) Contact No. Function Emergency stop of robot channel 1 The switch contact opening causes emergency stop of the IMM. Emergency stop of robot channel 2 The switch contact opening caused emergency stop of the IMM. mould Area Free The switch contact is closed when the robot is outside the mould area and does not interfere with mould opening and closing movements.
  • Page 40 Contact No. Function Enable core pullers 1 to remove the moulding. HIGH signal when the robot is in position to enable core pullers 1 to remove the Optional moulding. It is recommended that the signal remains HIGH at least until ”Core pullers 1 free for robot to approach”...

  • Page 41: Euromap12 Interface

    2.5.2 Euromap12 Interface The interface consists of the plug connection between the injection moulding machine and the robot: Fig.2-15: Euromap 12 interface plug The robot-injection moulding machine interface is designed according to Euromap12, which state: All signals are continuous signals unless otherwise noted. 2.5.2.1 IMM Output Signals (EM12) Table 2-14: Signals from IMM (EM12) Plug Contact No.
  • Page 42 Plug Contact No. Function Ejector forward position 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 advance” (see pin contact No 22). It is recommended to close the switch contact when the ejector sequence not in use. (see pin contact No.16) Core pullers free for robot to approach The switch contact(see pin contact No.16) is closed when the core pullers, regardless of the...

  • Page 43: Robot Output Signals (Em12)

    2.5.2.2 Robot Output Signals (EM12) Table 2-15: Signals from robot (EM12) Contact No. Function Enable mould close The switch contact (see pin contact No.32) is closed when the robot is retracted enough for start of mould closure. the switch contact must remain closed at least until “mould closed” (see pin contact No.12) Mould area free The switch contact is closed when the robot is outside the mould area and does not interfere...

  • Page 44: General Description

    3 . General Description 3.1 ST3(5) Series Robots Summary The ST3(5) series robots are designed for rapid and precise removal of products from injection moulding machine, and place them at desired locations. ST3 robots are suitable for hot runner system; ST5 robots are suitable for 2-plate mold, 3-plate mold and hot runner system.

  • Page 45: St3 (5) Series Robot Application Range

    3.2 ST3 (5) Series Robot Application Range 1) ST3 (5)-550-1000(D) is suitable for IMM under 100T clamp force 2) ST3 (5)-700-1400(D) is suitable for IMM between 100T to 200T clamp force 3) ST3 (5)-900-1600(D) is suitable for IMM under 200T to 300T clamp force 4) ST3 (5)-1100-1800(D) is suitable for IMM between 300Tto 450T clamp force 5) ST3 (5)-700-1400T(DT) is suitable for IMM between 100T to 200T clamp force 6) ST3 (5)-900-1600T(DT) is suitable for IMM between 200T to 300T clamp force...

  • Page 46: Emergency Stop

    3.4.5 Emergency Stop Hand Controller has emergency stop button to stop the robot. Once the button pressed, the robot will stop but the gripper and vacuum valve will still function to prevent dropping parts from the gripper. Moreover, the hand controller will remain power and indicate an error message.
  • Page 47 2) Move all the outside mold safety sensor plates from right side of traverse beam as shown in Fig.3-5 to the left side. Then move the home position sensor plate from the left side of traverse beam to the right side at the position of 100mm distance from the limit position 2 sensor plate, see Fig.3-6.
  • Page 48 4) Open the sliding seat on the Z-axis, and then exchange the X101 with X104 socket positions on U2 board, exchange the X102 with X103 socket positions. See Fig.3-8. Fig.3-8: Before exchanging X102 with X103 Fig.3-9: After exchanging X102 with X103 5) Unscrew the bolts on the traverse beam, except the base rotate the machine 180°（or rotate the base 180°), then fixed the machine on the base.
  • Page 49 Fig.3-10: Servo motor direction before reversing 7) Set traverse servo driver A5 parameter Pr.006 and Pr.012 from value ‘1’ to ‘0’. [For ST3-MT and ST3-LT models set its parameter Pr.002 and Pr.012 from value ‘0’ to ‘1’] If traverse servo driver is A4 then set its parameter Pr.041 and Pr.046 from value ‘1’ to ‘0’. See Fig.3-11.
  • Page 50 Fig.3-12: Panasonic servo driver setting instructions 8) Check reversing result. i. In manual mode, axis-Z traverse in or out direction is reversed after changing ii. Press ‘Homing move’ at short-key page to check whether the robot go back to home position and the Axis-Z home position sensor (X103) light is on.

  • Page 51: Operating Instructions

    4 . Operating Instructions 4.1 Hand Controller Fig.4-1: Hand controller front view Fig.4-2: Hand controller rear view 51(178)

  • Page 52: Main Screen

    4.2 Main Screen Turn on hand controller and enter into main screen as shown in Fig.4-3. Fig.4-3: Main Screen The main screen shows the robot current basic state,user can understand in intuitive way,and can set basic operating parameters on this page,such as the run rate,password login , electrical switches and servo on/off，...
  • Page 53 Fig.4-4 shows the main screen display the significance of the various contents and functions. Fig.4-4: Main screen function 1) Operation mode marks The initial state,manual mode is turned off;this model, motor enable closed The initial state,manual mode;this model,motor enable opened Run automatically。...
  • Page 54 3) Procedure editing When this mark is displayed,manual operation can not carry out。 In procedure editing 4) Current mode name：the name of currently programme。 5) Current date 6) Current time 7) Log in grade By input the different levels of passwords to get different levels of permission. 8) SRV-ON start button Turn on or turn off SRV-ON 9) Working speed setting...
  • Page 55 Use/Not use robot. When in not use, the signals are fully given out to IMM and the IMM does not cooperate with the robot; when in use, the signals are given out according to the settings, and the IMM cooperate with the robot signals. Switch between use and not use to complete and signal resetting when required.

  • Page 56: Function Page

    xii. Emergency stop button. Press this button, the robot will stop working at once, motor enable will be cut off and the emergency stop messages will display on the screen. 11) Alarm message: showing the last time alarm message. 12) Produce massage: shows the running time of each cycle, as well as the number of finished products.

  • Page 57: Teach

    4.3.1 Teach Click Function--Teach to enter teach mode page as shown in Fig.4-7. Fig.4-7: Teach mode page 1) Enter the program monitor page. 2) Enter the program editor page. 3) Enter the variables page. 4.3.1.1 Program Monitor Click Function--Teach--Program Monitor to enter the page as shown in Fig.4-8. Fig.4-8: Program monitor page 57(178)

  • Page 58: Program Editor

    When the robot runs in automation mode, the main program will turn to the current instrustion and highlighted in “dark gray” color. In the meanwhile, the right side will show the current instruction details. 1) Choose the program. Click to choose desired program. Use the bar to switch different programs.
  • Page 59 Table 4-1: Servo motor commands list Command/ Group Function Parameter Unit Schematic terminal point on axis 1 mm/Inch terminal point on axis 2 mm/Inch terminal point on axis 3 mm/Inch terminal point on axis 4 mm/Inch Linkage linear axes terminal point on axis 5 mm/Inch Direct move to the corresponding...
  • Page 60 Command/ Group Function Parameter Unit Schematic Arm selection Main arm/Sub arm Y-axis 1 operation Final position mm/Inch Y-axis run to speed % relative to max speed absolute position acceleration % relative to max acceleration deceleration % relative to max deceleration Safety time S (moving monitor time）...
  • Page 61 Command/ Group Function Parameter Unit Schematic center of a circle mm/inch center of a circle mm/inch Move circle speed % relative to max speed Move Circle acceleration % relative to max acceleration deceleration % relative to max deceleration Safety time S (moving monitor time）...
  • Page 62 Command/ Group Function Parameter Unit Schematic Set variable increase Select the user Increase 1 selected Parameter 1~10 parameter user Precise positioning / smooth State setting movement Select the user Set variable decrease Reduce 1 selected Parameter 1~10 parameter user Precise positioning / smooth State setting movement Wait for delay...
  • Page 63 Command/ Group Function Parameter Unit Schematic Wait EM67 signal EM67 input selection Waiting for EM67 signal input until conditions satisfied State setting Wait for the Wait program synchronization synchronization synchronization program selection completed program end for this wait until the end of Precise positioning / smooth simultaneously State setting...
  • Page 64 Command/ Group Function Parameter Unit Schematic Auxiliary input signal Jump to function input selection The auxiliary input signal signal to meet the State setting ON /OFF state settings ,turn to the jump logo Select jump logo Select user Jump to Variable parameter name User parameters to signal...
  • Page 65 1) Select action After selecting the action, it will be appeared the current parameter setting screen. 2) Insert/Delete command insert the new order。 Delete the current order。 complete insert / delete。 3) Standard Program Program starts Fig.4-10: Standard program command 1 b) Axis-Y and Axis-Y2 run to absolute position 0mm Fig.4-11: Standard program command 2 c) Label mark 1...
  • Page 66 Fig.4-13: Standard program command 4 e) Axis-Y and axis-Y2 move to absolute position 600mm after IMM open mold Fig.4-14: Standard program command 5 Axis-X and axis-X2 move to absolute position 0mm Fig.4-15: Standard program command 6 g) Enable ejector forward Fig.4-16: Standard program command 7 h) Turn on vacuum 1 66(178)
  • Page 67 Fig.4-17: Standard program command 8 Turn on gripper 1 Fig.4-18: Standard program command 9 Delay 0.50sec Fig.4-19: Standard program command 10 k) Axis-X and axis-X2 move to the absolute position 200mm Fig.4-20: Standard program command 11 Axis-Y and axis-Y2 move to the absolute position 0mm 67(178)
  • Page 68 Fig.4-21: Standard program command 12 m) Disable ejector forward Fig.4-22: Standard program command 13 n) Enable mold close Fig.4-23: Standard program command 14 o) Enable mold area forward Fig.4-24: Standard program command 15 68(178)
  • Page 69 p) Axis-C turns 90 degree Fig.4-25: Standard program command 16 q) Axis-Z moves to the absolute position 1600mm Fig.4-26: Standard program command 17 Turn off gripper 1 Fig.4-27: Standard program command 18 s) Axis-Z moves to the absolute position 1800mm Fig.4-28: Standard program command 19 69(178)
  • Page 70 Axis-Y moves to the absolute position 800mm Fig.4-29: Standard program command 20 u) Turn off vacuum 1 Fig.4-30: Standard program command 21 v) Axis-Y moves to the absolute position 0mm Fig.4-31: Standard program command 22 w) Jump to label mark 1 Fig.4-32: Standard program command 23 70(178)

  • Page 71: Variables

    x) Program ends Fig.4-33: Standard program command 24 4.3.1.3 Variables Click Function --Teach--Variables to enter the page as shown in Fig.4-34. Fig.4-34: Variables page 71(178)

  • Page 72: Standby Setup

    4.3.2 Standby Setup Click Function--Standby Setup and enter the page as shown in Fig.4-35. Fig.4-35: Standby Setup page Since standby and stack both are depending on the mould, all parameters can only modified and saved during editing the program. Rotatoric Position：Set rotate axis C degree Arm standby position: Set the position of three coordinate axes Z,X, Y or five axes, Z, X, Y, X2, Y2.
  • Page 73 1) Program edits logo. When this logo appears that meanings the current program being edited. 2) Stack group. 3) Setting palletize parameter zone. When point 1 program edit logo does not appear, meaning no program is editing at the moment, then the total stack parameter settings menu, and orders will be locked, so only under the program edit mode, stack parameter can set.The parameters not in program editing mode as shown in Fig.4-37 .

  • Page 74: Safety Setup

    For example Example1： Start position：Z/1000.00、X/400.00、Y/800.00 Sequence：Z/first、X/second、Y/third； Direction：Z/ positive、X/ reverse、Y/ positive； Number of parts：Z/4、X/4、Y/3； Part space：Z/50.00、X/40.00、Y/30.00。 Total parts：48 The first parts placed on(Z，X，Y)=（1000，400，800）point. The second parts placed on(Z，X，Y)=（1050，400，800）point. Example2： Start position：Z/1000.00、X/400.00、Y/800.00 Sequence：Z/ second、X/ first、Y/ third； Direction：Z/ positive、X/ reverse、Y/ positive； Number of parts：Z/4、X/4、Y/3； Part space：Z/50.00、X/40.00、Y/30.00。...

  • Page 75: Check Setup

    Setup all servo axes’ safety maximum and minimum value. While robot exceed the value then stop automatically. Setup all pneumatic axes safety angle. While the rotation axis exceed the set angle then stop automatically. Setup all axes maximum and minimum safety value to form a 3D safety space as shown in Fig.4-40.

  • Page 76: Produce Setup

    4.3.6 Produce Setup Click Function--Produce Setup to enter the page as shown in Fig.4-42 and see the details as shown in Table 4-2. Fig.4-42: Produce setup page Table 4-2: Produce setup details Total Quantity Display of total circulation modulus Good Part Display the number of finished products Reject Part Display the number of reject part...

  • Page 77: System Setup

    4.3.7 System Setup Click Function--System Setup to enter the page as shown in Fig.4-43. Fig.4-43: System Setup page 4.3.7.1 System Settings The details of system settings bar as shown in Table 4-3. Table 4-3: System settings details On à All position can only be inserted by manual teach mode Teach mode Off à...

  • Page 78: Time And Language

    4.3.7.2 Time and Language Fig.4-44: Time and language bar window 1) Language setup: Click the bar to select the language 2) Switch Unit : SI system or English system 3) Time a) Screensaver Delay Time b) Low Brightness Delay. If no operation within this value, the screen brightness will be lower.

  • Page 79: Servo Setup

    4.3.8 Servo Setup Click Function--Servo Setup and enter the page as shown in Fig.4-45. Fig.4-45: Servo setup page Check each axes’ speed, torque, Set each axis name electricity ( torque and electricity only and set origin sequence available to Sigmatek servo) Set operating parameters: Check motor origin angle position, speed...

  • Page 80: Servo Axis Assignment

    4.3.8.1 Servo Axis Assignment Click Function--Servo Setup--Axis Assignment to enter the page as shown in Fig.4-46. Fig.4-46: Axis assignment page 1) Servo axis assignment window 2) Reference Setup window 3) Current axis name Can choose from X , Y , Z , C , B , A , Y1 , Y2 , Z1 , Z2 , C1 , C2 4) Axis type setup Can choose from servo axis, pneumatic axis or no axis Click Reference Setup bar and enter the page as shown in Fig.4-47.

  • Page 81: Axis Configuration

    1) Set homing sequence Total 8 axes can set 6 levels homing sequence 2) Choose reference point Can choose none or reference point 3) Set each axes origin offset After all axes are back to the home position, if there is deviation from the ideal position, the home position offset setting can make it back to ideal position.

  • Page 82: Servo Operating Parameter Setup

    4) Reference Acceleration Motor accelerate time when going back to the origin. Unit: ms. Noted: The shorter of accelerate time, the greater of accelerating. 5) Manual Speed Max. motor operating speed under manual control. Unit: RPM. 6) Manual Acceleration Max. motor acceleration under manual control. Unit: ms. Noted: The shorter of accelerate time, the greater of accelerating.
  • Page 83 2) Axis configuration window There are two parts to be set in this window, control parameters and servo parameters. The parameters details are as shown in the table below. Table 4-4: Axis configuration details Control parameter configuration Arm number Single/ double Motor direction Set moving direction Pitch...

  • Page 84: Files Manager

    Table 4-5: Servo axis parameter configuration details .Servo axis parameter configuration Software Minimum ° Minimum position allowed Software Maximum ° Maximum position allowed After a set safety time passed, the pneumatic axis Safety time completed an action but system haven’t detected any feedback signal, then alarm Check Inpos Type Set position detection type, set switch signal/time...

  • Page 85: Manual Settings

    4.3.10 Manual Settings Click Manual in the main menu to enter the page as shown in Fig.4-52. Fig.4-52: Manual page 1) Enter Gripper page. 2) Enter Vacuum/Air Blow page. 3) Enter EM12 input monitor page. 4) Enter EM12 manual output page. 5) Enter Function input monitor page.

  • Page 86: Gripper

    4.3.11 Gripper Click Manual--Gripper to enter the page as shown in Fig.4-53. Fig.4-53: Gripper page l Gripper status Gripper disconnected Gripper connected Connect gripper button, click to open gripper During gripper open, the corresponding signal does not feedback. This signal indicate gripper disconnected.

  • Page 87: Vacuum/ Air Blow

    4.3.12 Vacuum/ Air Blow Click Manual--Vacuum/AirBlow to enter the page as shown in Fig.4-54 Fig.4-54: Vacuum/AirBlow page l Vacuum/Air Blower Status Vacuum/ Air Blower disconnected Vacuum/ Air Blower connected Connect vacuum/ air blower , click to open vacuum During vacuum open, the corresponding signal does not feedback. This signal indicate vacuum disconnected Indicate vacuum has suck a product, if vacuum does not suck any product, its status will not change.

  • Page 88: Em12 Inputs

    4.3.13 EM12 Inputs Click Manual--EM12 Inputs to enter the page as shown in Fig.4-55. Fig.4-55: EM12 Inputs page Input：Check each EM12 input signal status, signal available or no signal 4.3.14 EM12 Outputs Click Manual--EM12 Outputs to enter the page as shown in Fig.4-56. Fig.4-56: EM12 Outputs page Output: Display and test EM12 output signal status ( Force to output position)

  • Page 89: Robot In

    4.3.15 Robot In Click Manual--Robot In to enter the page as shown in Fig.4-57. Fig.4-57: Robot In page Input：Check each function input signal status Signal available No signal 4.3.16 Robot Out Click Manual--Robot Out to enter the page as shown in Fig.4-58. Fig.4-58: Robot out page 89(178)

  • Page 90: Em67 Inputs

    Output：Display and test function output signal status ( Force to output position) ( Force to output restore position) 4.3.17 EM67 inputs Click Manual--E67 Inputs to enter the page as shown in Fig.4-59. Fig.4-59: EM67 signal inputs page Input：Check each EM67 input signal status Signal available No signal 90(178)

  • Page 91: Em67 Outputs

    4.3.18 EM67 Outputs Click Manual--E67 Outputs to enter the page as shown in Fig.4-60. Fig.4-60: EM67 signal outputs page Output: Display and test each EM67 output signal status Force to output position Force to output restore position 4.3.19 Jog Click Manual --JOG to enter the page as shown in Fig.4-61. Fig.4-61: Jog page 91(178)
  • Page 92 1) Choose the require servo axis 2) Operation speed button, arrow indicates operation direction ( High speed (or pneumatic axis operation) ( Medium speed ( Low speed 3) Horizontal in tuning 4) Horizontal out tuning 5) Position column to set distance tuning, speed column to set current speed (count by percent, full speed is 100%) 6) Actual speed, count by percent Click rotational axis bar (example: axis-C) to enter the page as shown in Fig.4-62.

  • Page 93: Inputs

    4.3.20 Inputs Click Manual--Input to enter the page as shown in Fig.4-63. Fig.4-63: Input page Input：Check each spare input signals status Signal available No signal 4.3.21 Output Click Manual--Output to enter the page as shown in Fig.4-64. Fig.4-64: Output page 93(178)

  • Page 94: Time

    Output：Display and test the spare output signal status ( Force to output position ( Force to output restore position 4.4 Time Click Time to enter the page as shown in Fig.4-65. Fig.4-65: Time settings page 1) Set ejector front/back enable delay period, cycle monitor period, mold open interval time, air blow delay period and conveyor belt run time 2) Monitor other time 94(178)

  • Page 95: Alarms And Logs

    4.5 Alarms and Logs Click Alarm to enter the page as shown in Fig.4-66. Fig.4-66: Alarm page 1) Alarm information details. Including alarm sequences, alarm trigger time and date, alarm response time and date and description of the alarm details information 2) Clear the responded alarms.
  • Page 96 Alarm Description Solution A 020 to Servo axis ** position **is (X/Y/Z/A/B/C/Y2/Z2) Function/Servo Setup/ Servo operation A 027 has exceeded Total 8 axes parameter setup/**/ Control parameter Servo operation cannot configuration –> Maximum position deviation, follow CNC command set the first value greater than second value speed 1mm, second...

  • Page 97: History Logs

    4.5.1 History Logs Click the point 3 in Fig. 4-66 to enter the page as shown in Fig. 4-67. Fig.4-67: Protocol page 1) Operation record details, including record type (alarm/operating instruction), operation number/ alarm number, alarm trigger times, last recorded trigger record, last record responded time and alarm/operation’s detail description.

  • Page 98: Message

    4.5.2 Message When the user input the password which do not meet the access level, the page will pop an alert as shown in Fig. 4-69. Fig.4-69: Alert for requiring higher level password 98(178)

  • Page 99: Hardware Configuration List (I/O)

    5 . Hardware Configuration list (I/O) 5.1 ST3 I/O Table 5-1: ST3 I/O configuration list Input/Output Module Functions Softkey HardKey Wiring EM Emergency Stop 1 EM Emergency Stop 2 EM Safety Device 1 EM Safety Device 2 EM Reject EM Mould Close EM Mould Open CEZ181/00 EM Intermediate Mould open...
  • Page 100 Input/Output Module Functions Softkey HardKey Wiring Axle3 Limit max X2-1 Axle3 Reference X2-2 Axle4 Limit min X2-3 Axle4 Limit max X2-4 Vacuum1 X3-1 Vacuum2 X3-2 Vacuum3 X3-3 Vacuum4 X3-4 Gripper1 X4-1 Gripper2 X4-2 Gripper3 X4-3 Gripper4 X4-4 EM Emergency Stop 1 EM Emergency Stop 2 EM Mould Area Free EM enable Mouldclose...

  • Page 101: St5 I/O

    5.2 ST5 I/O Table 5-2: ST5 I/O configuration list Input/ Output Module Functions Softkey HardKey Wiring EM Emergency Stop 1 EM Emergency Stop 2 EM Safety Device 1 EM Safety Device 2 EM Reject EM Mould Close EM Mould Open CEZ181/00 EM Intermediate Mould open EM Supply From Handing (+24V)
  • Page 102 Input/ Output Module Functions Softkey HardKey Wiring Limit Min Axle2 second Arm X2-3 Limit Max Axle2 second Arm X2-4 Reference Axle2 second Arm X3-1 Axle5 Limit min X3-2 Axle5 Limit max X3-3 Vacuum3 X3-4 Vacuum4 X4-1 Gripper3 X4-2 Gripper4 X4-3 Spare Input3 X4-4 Emergency Stop...
  • Page 103 Input/ Output Module Functions Softkey HardKey Wiring Vacuum3 X4-1 Vacuum4 X4-2 Gripper3 X4-3 Gripper4 X4-4 Conveyor Belt Output X3-1 Lubrication Output X3-2 Elevator Output X3-3 Arms Break X3-4 CDM163/03 Alarm Lamp out X4-1 Spare Output1 X4-2 Spare Output2 X4-3 Spare Output3 X4-4 103(178)

  • Page 104: Maintenance

    6 . Maintenance 6.1 General Please noted the prescribed maintenance intervals. Proper maintenance ensures trouble-free functioning of the robot. Proper maintenance is necessary in order that the warranty be fully enforceable. Maintenance should be performed by qualified personnel only. After the buyer accepts the robot, the responsibility for maintenance and equipment safety check are borne by the buyer.

  • Page 105: Assembly Diagram

    7 . Assembly Diagram 7.1 ST3 & ST3-T traverse Unit Fig.7-1: ST3 & ST3-T traverse unit (small model) exploded view 105(178)
  • Page 106 Table 7-1: Parts BOM for ST3 traverse unit BOM NO. Part Name ST3-700-1400/ ST3-900-1600/ ST3-1100-1800/ ST3-700-1400T ST3-900-1600T ST3-1100-1800T Sliding seat part 03 BL77051315020 Sliding seat cover BL81000200420 Supporting frame of Trav. drag chain BL70371420020 BL74030706120 BL76110013520 E2/000 drag chain YE68225000900 Drag chain cover BL73714001320 BL73160004420...

  • Page 107: St3 & St3-T Crosswise Unit

    7.2 ST3 & ST3-T Crosswise Unit Fig.7-2: ST3 Crosswise unit (single-stage arm) exploded view Fig.7-3: ST3-T Crosswise unit (telescopic arm) exploded view 107(178)
  • Page 108 Table 7-2: Parts BOM for ST3 crosswise unit BOM NO. Name ST3-700-1400/ ST3-900-1600/ ST3-1100-1800/ ST3-700-1400T ST3-900-1600T ST3-1100-1800T Supporting frame of crosswise drag chain BL77571401120 BL77591600120 BL70591630020 Cover of crosswise drag chain BL70507000020 Synchronous belt YR00052000200 Cover of crosswise beam 1 BL81020600120 Synchronous belt cover BL77052602220...

  • Page 109: St3 & St5-D Main-Arm Unit (Single-Stage Arm)

    7.3 ST3 & ST5-D Main-arm Unit (single-stage arm) Fig.7-4: ST3 Main-arm unit (single-stage arm) exploded view 109(178)
  • Page 110 Table 7-3: Parts BOM for ST3 main-arm unit(single-stage arm) BOM NO. Name ST3-700-1400 ST3-900-1600 ST3-1100-1800 ST5-700-1400D ST5-900-1600D ST5-1100-1800D Main arm cover BH81270001910 Main arm beam BH73140003510 BH74160014110 BH74110015410 Main arm drag chain 1 BL81021402820 Main arm driving wheel YW08033600000 Main arm driven wheel YW08533200100 Connecting shaft BH73033700010...

  • Page 111: St3-T & St5-Dt Main-Arm Unit (Telescopic Arm)

    7.4 ST3-T & ST5-DT Main-arm unit (Telescopic arm) Fig.7-5: ST3-T Main-arm unit(telescopic arm) exploded view 111(178)
  • Page 112 Table 7-4: Parts BOM for ST3 Main-arm Unit(Telescopic Arm) BOM NO Name ST3-700-1400T ST3-900-1600T ST3-1100-1800T ST5-700-1400DT ST5-900-1600DT ST5-1100-1800DT Drag chain YE60150000000 Drag chain connector 1 BL77055000020 Tension pulley BH81021100010 Drag chain connector 2 BL77056916420 Main arm mounting bracket cover BL77050402220 Limit sensor mounting plate BL81020500220 Driven wheel connecting plate...

  • Page 113: St5-D & St5-Dt Traverse Unit

    BOM NO Name ST3-700-1400T ST3-900-1600T ST3-1100-1800T ST5-700-1400DT ST5-900-1600DT ST5-1100-1800DT Belt pressure plate 1 BH81021700010 Linear guide rail YW31001572000 YW31152760000 YW31204000000 Guide Block YW31151100000 Belt splint pressure plate BH81022300010 Belt splint fixing plate BH81021500010 Limit sensor mounting plate BL81022000220 Main arm beam cover 2 BL81000200020 *Indicate a potential damage item;...
  • Page 114 Table 7-5: Parts BOM for ST5 & ST5-T traverse unit BOM NO Part Name ST5-700-1400D/ ST5-900-1600D/ ST5-1100-1800D/ ST5-700-1400DT ST5-900-1600DT ST5-1100-1800DT Sliding seat part 03 BL77051315020 Sliding seat cover BL81000200420 Supporting frame of Trav. drag chain BL70371420020 BL74030706120 BL73031902220 E2/000 drag chain YE68225000900 Drag chain cover BL73714001320...

  • Page 115: St5-D & St5-Dt Crosswise Unit

    7.6 ST5-D & ST5-DT Crosswise Unit Fig.7-7: ST5 crosswise unit(single-stage arm) exploded view Fig.7-8: ST5-T: Crosswise unit (telescopic arm) exploded view 115(178)
  • Page 116 Table 7-6: Parts BOM for ST5 crosswise unit BOM NO. Name ST5-700-1400D/ ST5-900-1600D/ ST5-1100-1800D/ ST5-700-1400DT ST5-900-1600DT ST5-1100-1800DT Supporting frame of crosswise drag chain BL77571401120 BL77591600120 BL70591630020 Cover of crosswise drag chain BL70507000020 Synchronous belt YR00052000200 Cover of crosswise beam 1 BL81020600120 Synchronous belt cover BL77052602220...

  • Page 117: St5-D Sub-Arm Unit (Single-Stage Arm)

    7.7 ST5-D Sub-Arm unit (Single-stage arm) Fig.7-9: ST5 Sub-arm unit (single-stage arm) exploded view 117(178)
  • Page 118 Table 7-8: Parts BOM for ST5 sub-arm unit BOM NO. Name ST5-700-1400D ST5-900-1600D ST5-1100-1800D Sub-arm drag chain connector 2 BL76054712720 Drag chain YE30101000200 Sub-arm mounting plate 2 BH74054512740 Sub-arm drag chain connector 1 BL76054412620 Sub-arm beam BH79570000910 BH74160013510 BH74110014010 Guide block YW31151100000 Linear guide rail YW31001511000...

  • Page 119: St5-Dt Sub-Arm Unit (Telescopic Arm)

    7.8 ST5-DT Sub-arm unit (Telescopic arm) Fig.7-10: ST5-DT sub-arm unit(telescopic arm) exploded view Table 7-9: Parts BOM for ST5-DT sub-arm unit (telescopic arm) BOM NO. Name ST5-700-1400DT ST5-900-1600DT ST5-1100-1800DT Synchronous belt YR00320000000 Driving Wheel YW08033600000 Gearbox YM50040000000 Motor YM10040000600 Sub-arm mounting plate BH79051201540 Tension shaft 1 BH78050800010...
  • Page 120 BOM NO. Name ST5-700-1400DT ST5-900-1600DT ST5-1100-1800DT Belt fixing plate 2 BL77055217220 Gripper mounting plate BL77054516820 Gripper BH70401200040 Sensor fixing block YW09601400110 Guide block mounting plate BL77055317420 Wago terminal (Gray) YE60260301000 Wago terminal (blue) YE60263340000 Sub-arm shaft 1 BH79252200010 Bearing YW11600200000 Sub-arm shaft 2 BH79252100010 Driven wheel...

  • Page 121: St3-Mt Traverse Unit

    7.9 ST3-MT Traverse unit Fig.7-11: ST3-MT traverse unit exploded view 121(178)
  • Page 122 Table 7-10: Parts BOM for ST3-MT traverse unit BOM NO. Part Name ST3-1600-2200MT ST3-1800-2400MT ST3-2000-2800MT Drag chain YE68250510000 Control box BH73313200150 Base BL73160006420 Drag chain YE68251010000 Drag chain YW31154600000 Supporting frame of Trav. drag chain BH73160005810 BH73180030210 Traverse beam cover BL73033604520 Belt fixing frame BL71010900020...

  • Page 123: St3-Mt Crosswise Unit

    7.10 ST3-MT Crosswise Unit Fig.7-12: ST3-MT crosswise Unit exploded view 123(178)
  • Page 124 Table 7-11: Parts BOM for ST3-MT crosswise unit BOM NO Name ST3-1600-2200MT ST3-1800-2400MT ST3-2000-2800MT Mounting plate BL71014700020 Light mounting frame BL71180001620 Wiring mounting frame 1 BL75182300020 Wiring mounting frame 2 BL75182400520 Wiring mounting cover BL75182500020 Drag chain supporting plate 1 BL73031900620 Guide rail YW31160000800...

  • Page 125: St3-Mt Main-Arm Unit

    7.11 ST3-MT Main-arm unit Fig.7-13: ST3-MT Main-arm unit(telescopic arm) exploded view 125(178)
  • Page 126 Table 7-12: Parts BOM for ST3-MT main-arm unit BOM NO. Name ST3-1600-2200MT ST3-1800-2400MT ST3-2000-2800MT Gearbox mounting plate BH73185300010 Gear YW08804000000 Belt splint BL73039400640 Washer BL72125000020 Guide rail YW31142000500 YW31154000100 Rack YW30160000600 Main-arm beam BH73035000510 Tension pulley fixing 1 BL73039000640 Bearing YW11600300000 Tension pulley shaft BH73038900510...

  • Page 127: St3-Lt Traverse Unit

    7.12 ST3-LT Traverse Unit Fig.7-14: ST3-LT traverse unit exploded view Table 7-13: Parts BOM for ST3-LT traverse unit 1 BOM NO. Name ST3-1600-2200LT ST3-1800-2400LT ST3-2200-2600LT Supporting frame for BL75316200020 BL75323300020 traverse drag chain Supporting frame for drag chain Traverse drag chain Base BL75318400020 BL75318400020...
  • Page 128 BOM NO. Name ST3-1600-2200LT ST3-1800-2400LT ST3-2200-2600LT Mounting plate for traverse BL75035200020 BL75322100020 proximity switch Washer for speed reducer BL75131600040 BL75131600040 BL75131600040 Gear YW08107900000 YW08107900000 YW08107900000 Mounting plate for BH73314000010 BH73314000010 BH73321400010 crosswise speed reducer Traverse eccentric wheel BH73310300040 BH73310300040 BH73310300040 Mounting plate for BH73131200020 BH73131200040...
  • Page 129 Table 7-14: Parts BOM for ST3-LT traverse unit 2 BOM NO. Name ST3-2600-2800LT ST3-3000-3300LT Supporting frame for traverse drag chain Supporting frame for drag chain Traverse drag chain Base Limit frame Traverse beam Traverse beam end cover Home position sensor plate Limit sensor plate Proximity switch Main frame cover 2...

  • Page 130: St3-Lt Crosswise Unit

    7.13 ST3-LT Crosswise Unit Fig.7-15: ST3-LT crosswise unit exploded view 130(178)
  • Page 131 Table 7-15: Parts BOM for ST3-LT crosswise unit BOM NO. Name ST3-1600-2200LT ST3-1800-2400LT ST3-2200-2600LT Drag chain connector (up/down) BL75311300020 BL75311300020 BL75311300020 Fixing plate for arm Tooth plate (up/down) Crosswise drag chain connector BL75312000020 BL75312000020 BL75312000020 Linear guide rail Crosswise aluminium profile BH73131610010 BH73318200010 BH73322300210...

  • Page 132: St3-Lt Main-Arm Unit

    7.14 ST3-LT Main-arm unit Fig.7-16: ST3-LT main-arm unit exploded view 132(178)
  • Page 133 Table 7-16: Parts BOM for ST3-LT main-arm unit BOM NO. Name ST3-1600-2200LT ST3-1800-2400LT ST3-2200-2600LT Flip mechanism BH73300030010 BH73300030010 BH73300030010 Main arm aluminium profile BH73316220010 BH73322300410 Crosswise sensor fixing plate BL75310000040 BL75310000040 BL75310000040 Linear guide rail Mounting plate cover for distribution plate Main arm drag chain Magnetic valve Distribution plate...

  • Page 134: Pneumatic Schematic Diagram

    8 . Pneumatic Schematic Diagram 8.1 ST3& ST3-T pneumatic schematic diagram suction flip cylinder spare spare Fig.8-1: ST3 & ST3-T pneumatic schematic diagram 134(178)

  • Page 135: St5 Pneumatic Schematic Diagram

    8.2 ST5 pneumatic schematic diagram suction flip cylinder gripper cylinder spare spare spare Fig.8-2: ST5 & ST5-T pneumatic schematic diagram 135(178)

  • Page 136: St3 Electrical-Pneumatic Control Diagram

    9 . ST3 Electrical-Pneumatic Control Diagram 9.1 ST3 Power supply wiring diagram 手控器 棕，粉 手控器 灰，屏蔽 Fig.9-1: ST3 power supply wiring diagram 136(178)

  • Page 137: St3 Each I/O Module Electrical Wiring Diagram

    9.2 ST3 Each I/O module electrical wiring diagram Fig.9-2: ST3 Each I/O module wiring diagram 137(178)

  • Page 138: St3 Traverse Unit I/O Signal Wiring Diagram

    9.3 ST3 Traverse unit I/O signal wiring diagram Fig.9-3: ST3 Traverse unit I/O module wiring diagram 138(178)

  • Page 139: St3 Main-Arm Unit Input Signal Wiring Diagram

    9.4 ST3 Main-arm unit input signal wiring diagram Fig.9-4: ST3 Main-arm unit input signal wiring diagram 139(178)

  • Page 140: St3 Main-Arm Unit Output Signal Wiring Diagram

    9.5 ST3 Main-arm unit output signal wiring diagram Fig.9-5: ST3 Main-arm unit output signal wiring diagram 140(178)

  • Page 141: St3 Axis-Z Servo Driver I/O Signal Wiring Diagram

    driver ST3 Axis-Z servo I/O signal wiring diagram Fig.9-6: ST3 Axis-Z servo driver I/O signal wiring diagram 141(178)

  • Page 142: St3 Axis-X Servo Driver I/O Signal Wiring Diagram

    9.7 ST3 Axis-X servo driver I/O signal wiring diagram Fig.9-7: ST3 Axis-X servo driver I/O signal wiring diagram 142(178)

  • Page 143: St3 Axis-Y Servo Driver I/O Signal Wiring Diagram

    9.8 ST3 Axis-Y servo driver I/O signal wiring diagram Fig.9-8: ST3 Axis-Y servo driver I/O signal wiring diagram 143(178)

  • Page 144: St3 Intermediate Relay Wiring Diagram

    9.9 ST3 Intermediate relay wiring diagram Fig.9-9: ST3 Intermediate relay wiring diagram 144(178)

  • Page 145: St3 Axis-Z Servo Motor Wring Diagram

    9.10 ST3 Axis-Z servo motor wring diagram Fig.9-10: ST3 Axis-Z servo motor wiring diagram 145(178)

  • Page 146: St3 Axis-X Servo Motor Wiring Diagram

    9.11 ST3 Axis-X servo motor wiring diagram Fig.9-11: ST3 Axis-X servo motor wiring diagram 146(178)

  • Page 147: St3 Axis-Y Servo Motor Wiring Diagram

    9.12 ST3 Axis-Y servo motor wiring diagram Fig.9-12: ST3 Axis-Y servo motor wiring diagram 147(178)

  • Page 148: St3 Em67 Input Signal Wiring Diagram

    9.13 ST3 EM67 input signal wiring diagram Fig.9-13: ST3 EM67 input signal wiring diagram 148(178)

  • Page 149: St3 Em67 Output Signal Wiring Diagram

    9.14 ST3 EM67 output signal wiring diagram Fig.9-14: ST3 EM67 output signal wiring diagram 149(178)

  • Page 150: St3 Sigmatek Module Board

    9.15 ST3 SIGMATEK module board Fig.9-15: ST3 SIGMATEK Module board 1 150(178)
  • Page 151 Fig.9-16: ST3 SIGMATEK Module board 2 151(178)

  • Page 152: St3 Traverse Unit Board

    9.16 ST3 Traverse unit board Fig.9-17: ST3 Traverse unit board 152(178)
  • Page 153 9.17 ST3 Main-arm unit board Fig.9-18: ST3 Main-arm unit board 153(178)
  • Page 154 10 .ST5 Electrical-Pneumatic Control Diagram 10.1 ST5 Power supply wiring diagram Fig.10-1: ST5 Power supply wiring diagram 154(178)
  • Page 155 10.2 ST5 Each I/O module electrical wiring diagram Fig.10-2: ST5 Each I/O module electrical wiring diagram 155(178)
  • Page 156 10.3 ST5 Traverse unit I/O signal wiring diagram Fig.10-3: ST5 Traverse unit I/O signal wiring diagram 156(178)
  • Page 157 10.4 ST5 Main-arm unit input signal wiring diagram Fig.10-4: ST5 Main-arm unit input signal wiring diagram 157(178)
  • Page 158 10.5 ST5 Main-arm unit output signal wiring diagram Fig.10-5: ST5 Main-arm unit output signal wiring diagram 158(178)
  • Page 159 10.6 ST5 Sub-arm unit input signal wiring diagram Fig.10-6: ST5 Sub-arm unit output signal wiring diagram 159(178)
  • Page 160 Fig.10-7: ST5 Sub-arm unit output signal wiring diagram 160(178)
  • Page 161 Fig.10-8: ST5 Axis-Z servo driver I/O signal wiring diagram 161(178)
  • Page 162 10.7 ST5 Axis-X servo driver I/O signal wiring diagram Fig.10-9: ST5 Axis-X servo driver I/O signal wiring diagram 162(178)
  • Page 163 10.8 ST5 Axis-Y servo driver I/O signal wiring diagram Fig.10-10: ST5 Axis-Y servo driver I/O signal wiring diagram 163(178)
  • Page 164 10.9 ST5 Axis-X2 servo driver I/O signal wiring diagram Fig.10-11: ST5 Axis-X2 servo driver I/O signal wiring diagram 164(178)
  • Page 165 10.10 ST5 Axis-Y2 servo driver I/O signal wiring diagram Fig.10-12: ST5 Axis-Y2 servo driver I/O signal wiring diagram 165(178)
  • Page 166 10.11 ST5 Intermediate relay wiring diagram Fig.10-13: ST5 Intermediate relay wiring diagram 166(178)
  • Page 167 10.12 ST5 EM67 input signal wiring diagram Fig.10-14: ST5 EM67 input signal wiring diagram 167(178)
  • Page 168 10.13 ST5 EM67 output signal wiring diagram Fig.10-15: ST5 EM67 output signal wiring diagram 168(178)
  • Page 169 10.14 ST5 Axis-Z servo motor wiring diagram Fig.10-16: ST5 Axis-Z servo motor wiring diagram 169(178)
  • Page 170 10.15 ST5 Axis-X servo motor wiring diagram Fig.10-17: ST5 Axis-X servo motor wiring diagram 170(178)
  • Page 171 10.16 ST5 Axis-Y servo motor wiring diagram Fig.10-18: ST5 Axis-Y servo motor wiring diagram 171(178)
  • Page 172 10.17 ST5 Axis-X2 servo motor wiring diagram Fig.10-19: ST5 Axis-X2 servo motor wiring diagram 172(178)
  • Page 173 10.18 ST5 Axis-Y2 servo motor wiring diagram Fig.10-20: ST5 Axis-Y2 servo motor wiring diagram 173(178)
  • Page 174 10.19 ST5 SIGMATEK module board Fig.10-21: ST5 SIGMATEK module board 1 174(178)
  • Page 175 Fig.10-22: ST5 SIGMATEK module board 2 175(178)
  • Page 176 10.20 ST5 Traverse unit board Fig.10-23: ST5 Traverse unit board 176(178)
  • Page 177 10.21 ST5 Main-arm unit board Fig.10-24: ST5 Main-arm unit board 177(178)
  • Page 178 10.22 ST5 Sub-arm unit board Fig.10-25: ST5 Sub-arm unit board 178(178)

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