Shini ST1-S User Manual
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Shini ST1-S User Manual

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ST1-S
User Manual
Date:May, 2016
Vision: V1.0 (English)

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Summary of Contents for Shini ST1-S

  • Page 1 ST1-S User Manual Date:May, 2016 Vision: V1.0 (English)

  • Page 3: Table Of Contents

    2.1.4 Safety Fence ................20 2.1.5 Mounting Preparation ..............20 2.1.6 Mounting Instruction ..............20 2.2 Equipment Specification................ 21 2.2.1 ST1-S Dimensions (unit: mm)............21 2.2.2 Model Specification ..............21 2.2.3 Pneumatic Source Requirement..........22 2.3 Electrical Connection ................. 23 2.3.1 Main Power Supply..............
  • Page 4 3.2.6 Stacking Function ................ 35 3.2.7 Self-protection ................36 3.2.8 Emergency Stop Button............... 36 3.3 Default Setting..................36 3.4 ST1-S Robot Reversing ................ 36 Operating Instruction ................. 41 4.1 Hand Controller ..................41 4.1.1 Operation Pannel of Hand Controller........... 41 4.1.2 Action Marks................
  • Page 5 6.1 General ....................92 6.2 Lubrication Requirements ..............92 6.3 Maintenance cycle ................92 Assembly Diagram ..................94 7.1 Traverse Unit (ST1-S and ST1-T-S)............94 7.1.1 Parts List..................95 7.2 Vertical Unit (ST1-S) ................99 7.2.1 Parts List..................100 7.3 Main Arm Unit (ST1-S)................ 102 7.3.1 Parts List..................
  • Page 6 Main Arm Output Wirng Diagram ........140 8.1.12 Signals Input Wiring Diagram ..........141 8.1.13 Signals Output Wiring Diagram ........... 142 Table Index Chart 2-1：Specification List 1 (ST1-S)............21 Chart 2-2：Specification List 2 (ST1-S)............22 Table 7- 1：Travese Unit Parts List..............95 6(142)
  • Page 7 Table 7- 19：ST1-T-S (Middle Telescopic Arm) Crosswise Unit ....128 Table 7- 20：ST1-T-S (Middle Telescopic Arm) Crosswise Unit ....129 Picture Index Picture 1-1 Packing of ST1-S and ST1-T-S ............16 Picture 1-2 Hanging transportation of ST1-S and ST1-T-S....... 17 Picture 2-1: ST1-S Dimensions ................ 21 Picture 3-1：before modified ................
  • Page 8 Picture 4-2 ......................43 Picture 4-3 ......................46 Picture 4-4 ......................46 Picture 4-5 ......................47 Picture 4-6 ......................47 Picture 4-7 ......................47 Picture 4-8 ......................51 Picture 4-9 ......................52 Picture 4-10 ...................... 53 Picture 4-11 ...................... 55 Picture 4-12 ......................
  • Page 9 Picture 7-8 ...................... 115 Picture 7-9 ...................... 119 Picture 7-10 ....................123 Picture 7-11 ....................127 Picture 8-1 ...................... 130 Picture 8-2 ...................... 131 Picture 8-3 ...................... 132 Picture 8-4 ...................... 133 Picture 8-5 ...................... 134 Picture 8-6 ...................... 135 Picture 8-7 ......................
  • Page 10 10(142)

  • Page 11: Safety

    Maintenance should be performed by qualified personnel only. ● The ST1-S series robot is designed for injection molding machine (IMM) ONLY. ● Any modification or change to the original design of the robot is forbidden.
  • Page 12 ● 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 13 The warning marks and its meanings: Marks Meaning Do Not Touch Caution, danger Caution! Electric shock Caution! Mechanical injury 13(142)

  • Page 14: Emergency Stop

    Caution! High temperature 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.

  • Page 15: Transportation

    1.4.1 Transportation 1. ST1-S 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 16: Picture 1-1 Packing Of St1-S And St1-T-S

    "T"-type block of the vertical beam, using with the two ends of beam. (See the picture) Note: After hoisting, please keep rings of the vertical beam, and use again next time. Pack supporting plate Fixing screw Picture 1-1 Packing of ST1-S and ST1-T-S 16(142)

  • Page 17: Storage

    Picture 1-2 Hanging transportation of ST1-S and ST1-T-S 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 18: 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 19: Installation

    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 20: Safety Fence

    The power requirements are given on the type plate of the robot, the power connection is provided through a normal power cord and a CEE plug. The power connection should be performed only by authorized electrician and should be in accordance with any applicable regulations. 2.1.4 Safety Fence 1.

  • Page 21: Equipment Specification

    2.2 Equipment Specification 2.2.1 ST1-S Dimensions (unit: mm) Picture 2-1: ST1-S Dimensions 2.2.2 Model Specification Chart 2-1：Specification List 1 (ST1-S) Model ST1-650-1200- S1 ST1-650-1200D- S1 ST1-650-1200T- S1 ST1-650-1200DT- S1 Application IMM(ton) 50～150 50～150 50～150 50～150 Traverse Stoke(mm) 1200 1200 1200...

  • Page 22: Pneumatic Source Requirement

    Chart 2-2：Specification List 2 (ST1-S) Model ST1-750-1300T-S1 ST1-750-1300DT-S1 ST1-850-1300T- S1 ST1-850-1300DT- S1 Application IMM(ton) 150～200 150～200 200～280 200～280 Traverse Stoke(mm) 1300 1300 1300 1300 Crosswise Stoke(mm) Vertical Stroke(mm) Max Load(kg) Min Pick-out Time(sec) Min Cycle Time(sec) 4 ～ 6 4 ～ 6 4 ～...

  • Page 23: Electrical Connection

    the robot will stop working and alarm. When the pressure up to 6bar, It will affect the service life of pneumatic components. Compressed air consumption depends on the robot accessories. 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.

  • Page 24: Adjusting The Axis Positions

    2.3.3 Adjusting the Axis Positions While adjusting the position, make sure that robot can not be run and the compressed air supply is shut off. 2.3.4 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 25: Adjusting The Y- Position

    Adjusting the 0-Position of X1-Axis（the length of stroke）： 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 26: Adjusting The Z-Position

    Note: The down shock absorber completely compressed, the top position of shock absorber shall not be lower than the origin of position sensor switch, if not, when arm down, the down-block will damage the origin sensor switch. 2.3.6 Adjusting the Z-Position The Z-axis position can be set using servo control system.
  • Page 27 1. Hysteresis mode: A. Press “Mode” 2 seconds in measurement mode in to “Comparative output 1 mode setting”. Press up/down key till the screen display “HYS”. B. Press “Mode” once into “Comparative output 2 mode setting”. Press up/down key till the screen display “OFF”. C.

  • Page 28: Robot And Imm Interface

    H. Press “Set” in “measurement mode” changes the value of “1-H” to “-30”. I. Press “Set” changes the value of “1-H” to “-30”. 2.5 Robot and IMM Interface ST1-S series robots are available with 2 different interface versions to communicate with the injection molding machine: ●Euromap67 ●Euromap12...

  • Page 29: 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. 2.5.1.1 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 30: Robot Output Signals

    Inadvertent alteration to mold opening stroke smaller than that required 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...
  • Page 31 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 of a LOW signal due to a disturbance, the tool-closing motion must be absorbed.

  • Page 32: Euromap12 Interface

    2.5.2 Euromap12 Interface The interface consists of the plug connection between the injection molding machine and the robot: 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 33: Robot Output Signals

    Core pullers free for robot to travel in Switch (see pin contact No.16) is closed when the core pullers, regardless of the position of the movable tool plate, are in position for free travel –in of the Optional robot. Core pullers in position for removal of injection moldings Switch (pin contact No.16) is closed when the core pullers are in position for Optional removal of the injection molding.

  • Page 34: General Description

    handling device mode switch is: “No operation with injection molding machine” the switch contact (see pin contact No.32) is closed when the robot is switched off. Enable ejector back The switch contact(see pin contact No.32) is closed when the handling device enables the movement for ejector back, the switch contact must remain closed at least until : “...

  • Page 35: Functions

    3.2 Functions 3.2.1 Function Description ST1-S series robot is mainly used for injection molding product and the spure removed, all major parts of the robot are equipped with shock absorber devices and magnetic sensor switch, there is a die locking device with high security features on the arms.

  • Page 36: Self-Protection

    3. Filter regulating valve: the factory setting is 6bar. 4. Vacuum pressure switch: the factory setting is -50. 3.4 ST1-S Robot Reversing The robot dropping side is at operation side (factory default setting). The following paragraph is the instruction for changing robot dropping side (operation side to non-operation side).

  • Page 37: Picture 3-1：Before Modified

    1. Unscrew the proximity sensor X103 and move it up to the same level as X102, then screw X103. Unscrew the proximity sensor X102 and move it down to the same level as where X103 was, and then screw X102. See picture 3-1, picture 3-2.

  • Page 38: Picture 3-3：Before Modified

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

  • Page 39: Picrure 3-5：Before Modified

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

  • Page 40: Picture 3-7：Before Modified

    Picture 3-7：before modified Picrue 3-8：after modified 6. Horizontal rotate robot base 180 degree and move to the other end of beam then tighten it. 7. Robot reversing result checking. Press “home position”, robot will move reverse. After robot back to home position, Z-axis home position sensor(X103) light up.

  • Page 41: Operating Instruction

    Operating Instruction 4.1 Hand Controller 4.1.1 Operation Pannel of Hand Controller Picture 4-1 41(142)

  • Page 42: Action Marks

    4.1.2 Action Marks Main arm down Main arm up Main arm backward Main arm forward Sub-arm down Sub-arm forward Sub-arm backward Sub-arm up Main arm vacumm on Main arm vacumm Main arm grasp off Main arm grasp Sub-arm grip on Sub-arm grip off Main arm vertical Main arm horizontal...

  • Page 43: Home Position

    4.1.3 Home Position After power on, press , robot back to home position. 4.1.4 Manual Mode Press robot stop running, then press shows the display as picture 4-2, then can manually set and adjust robot function. (Ensure robot “mold open” signal is on, and forbidden touch mold at the manual mode.) Picture 4-2 In the manual page shows the status information of servo motor, robot arm and...
  • Page 44 (millimeter). b. Current action: robot present action. main arm up/down main arm forward/backward sun-arm up/down sub-arm forward/backward down left right increase value, manually increase servo speed decrease value, manually decrease servo speed online help F2 function F3 function main arm vacuum on/off main arm grasp on/off main arm vertical/horizontal 44(142)
  • Page 45 sub-arm grip on/off traverse out traverse in mold open/close, teach mode function ejector forward/backward, teach mode function delay time, teach mode function loop, teach mode function combination, teach mode function extend input, teach mode function extend output, teach mode function auxiliary extended 1 auxiliary extended 2 stop...

  • Page 46: Function Instructions

    Picture 4-3 d. Online help Online help use to guide during operation and fast master operation. No need to look up user manual step buy step. Any help during operation please press F1 key, system will give help guide information according to robot current action. Press F1 key, online help information will appearance on hand controller.

  • Page 47: Modfy Parameter

    Picture 4-5 System setup including 4 settings: language setup, max servo soft distance, product catch position and middle release position. Press Ç/È to select settings which will be marked with blue. Other pages parameter settings the same as the system setup. 4.2.2 Modfy Parameter After selected, the parameter can be modified.

  • Page 48: Adjust Servo Position And Speed

    digit. For example, input 2008, press Å/Æ move cursor to thousand place, then press to choos 2, repeat operation till input 2008. 4.2.4 Adjust Servo Position and Speed Press following three keys to adjust servo position and speed: Traverse: change the mode of traverse axis. Total 4 modes: continue move, move 10mm, move 1mm and move 0.1mm.

  • Page 49: Save Parameters

    Above picture shows the speed is 6%. At manual mode, press +/- key to adjust servo speed, the lowest speed is 1% and the fastest speed is 50%. 4.2.5 Save Parameters Press “Enter” to save parameters and return to main menu page. Press “Return”...
  • Page 50 Control robot via hand controller manual keys: Main arm up/down: If main arm going-up, press this key main arm will going-down. If main arm going-down, press this key main arm will going-up. Main arm forward/backward: If main arm moving backward, press this key main arm will move forward. If main arm moving forward, press this key main arm will move backward.

  • Page 51: Automatic Operation

    In manual mode, press “output” monitor each extend output ports in main menu, see as picture 4-8. Picture 4-8 Press Ç/È to move the cursor to select the output port, and press +/- key to control the selected output port status, “+” stands for output signal, “-” stands for stop output signal.
  • Page 52 Picture 4-9 Select program with (edited program) for robot auto running program. stands for empty program and cannot be robot auto running program. If user not edit program, the P10 to P27 are all empty programs. Press Ç/È/Å/Æ to select program. Press “Return” or F3 key to cancel select and return to main page, press “Enter”...
  • Page 53 Picture 4-10 Press F3 to start single loop running or press “Auto” to start auto running while system in auto stand-by mode. Single loop is one cycle robot movements. It is not affect the mold time, period time, cycle time and mold count. System will calculate the mold time, period time and mold count and so on while system is auto running.

  • Page 54: Switch Manual And Auto Mode

    Detaile program information refer to Chapter 4.5.3. Press F2 into IO watch page when system in auto mode. 4.4 Switch Manual and Auto Mode 4.5 System Setup 4.5.1 Setup Page There are total 9 options on menu bar: action parameters, program parameters, pile area setup, system parameters, IO monitor, and alarm list, customize program, safety parameters and system information.

  • Page 55: Program Setting

    Picture 4-11 Press up/down key to select action, F2 for page up, F3 for page down. The detail parameters modified methods as following: Traverse to pick up position: The lowest servo speed is 10% and the fast is 100%. Press +/- keys to adjust the speed. Loop: The loop area of servo motor, the lowest speed is 10% and the fast is 100%.
  • Page 56 Program Parameter: Only in manual mode the parameters can be modified. Program setting is including program parameter and count parameter. Press F2 to swich them. Program parameter page see picture 4-12: Picture 4-12 Program parameter including: Main arm vacuum sensor: if choose “USED”, the part hasn’t been picked up or dropped, system will alarm.
  • Page 57 no alarm, even alarm interval has been set. Press F2 switch to count parameter page. Count Parameter: Picture 4-13 Production schedule: the option is used to set the number of the production. In auto running mode, the number will decrease one after robot takes one part. Robot will stop auto running and alarm when number is reduced to 0.

  • Page 58: Loop Parameters

    EXI.1 interval: “0” stands for “extend input 1 machine” inputs move signal once for each part. “5” stands for machine inputs move signal once for each 5 products (the 6th, 12ed, 18th, 24th…part). Press F2 switch to program parameter page. 4.5.4 Loop Parameters The user should set loop parameters and sample position parameters if system has set cycle actions and production sample.
  • Page 59 Product check position: set the position of samples and rejects. Product release count: set the products positions in loop. In regular mode, the user can set 99 positions at most. But in free mode, the user just can set 10 positions at most.

  • Page 60: System Setup

    Regular release interval: the distance between two products. Free mode: In free mode, the user can set 10 products release positions at most. Press Ç/È/Å/Æ to select position. 4.5.5 System Setup System setup page, see picture 4-17： Picture 4-17 Language setup: the system supports simplified Chinese and English. Press +/- keys can change the system interface language.
  • Page 61 page including the statues of IMM, robot arm, servo and extend input, see picture 4-18. The “port monitor out” page including the statues if IMM, robot arm, servo and extend output, see picture 4-19. F2 for page up, F3 for page down. 61(142)

  • Page 62: History Alarm

    Picture 4-18 Picture 4-19 Even the system alarm, the user also can into IO monitor page to get troubleshooting. Press Ç/È/Å/Æ to select port, the port number and define will display on screen. 4.5.7 History Alarm The alarm time, reasons and robot arm states will be saved in system. The last 30 alarm records can be keep in system.

  • Page 63: Teach Program

    In “history alarm” page to look up records, see picture 4-20. Press F2 and F3 to page up and down. Picture 4-20 Select one alarm number, press F1, the detail message will display on the screen, see picture 4-21. Picture 4-21 4.5.8 Teach Program The 10 standard programs (P00 to P09) can be used.
  • Page 64 Picture 4-22 stands for teached programs, stands for empty program. F2 for deleting, F3 to begin teach program. The empty and current program can not be deleted. Teach Operation: Press F3 into teach program page. One program can teach 100 actions at most, and one screen shows 18 actions.
  • Page 65 Action: Different icons show different actions. See following table for more actions information. No icon stands for no action. Parameters: Shows teach motions parameter, the parameter section displays the content vary with different motions, can be generally divided into three types: “position speed parameter”, “time parameter”, “speed parameter”.
  • Page 66 If no need to replace action, press È to save action and move cursor to next number area, see following pictures. If press Ç will delete No.4 action and move cursor to last number area. Cursor in action area: When cursor in action area, the user can replace and mover actions. For example, the actural action is “main arm forward”, press “main arm forward/backward”...
  • Page 67 Keys in Teach Mode: main arm up/down Cursor at number area: press this key to input main arm up or down action. Note: if can not insert main arm up/down action, system will alarm and display reasons, like robot arm in mold and hasn't got “mold open”...
  • Page 68 Cursor at action area: if cylinder in horizontal state, press this key will change to vertical. Cursor at parameter area: this key is used as digit 5. sub-arm up/down Cursor at number area: press this key to input sub-arm up or down key. Note: if robot hasn’t got “mold open”...
  • Page 69 traverse in: Cursor at number area: this key is unused. Cursor at action area: this key is unused. Cursor at parameter area: if in position speed, press this key to modify position parameter, refer to chapter 4.2.4. If in delay time parameter, this key is used as digit 0. travese: Cursor at number area: press this key to input robot traverse action.
  • Page 70 Cursor at parameter area: this key is unused. combination: Cursor at number area: press this key to begin combination or end combination. Note: if last action is beginning combination, press this key will end combination. Cursor at action area: this key is unused. Cursor at parameter area: this key is unused.
  • Page 71 Cursor at number area: press this key to delete action and move to last number area. Cursor at action area: press this key to delete actrual action, cursor will move to number area. Cursor at parameter area: press this key to delete action, cursor will move to number area. down: Cursor at number area: press this key to save action, cursor will move to next number area.
  • Page 72 Teach Safety Rules: During teaching program please follow the safety rules, after teaching please save it and back to main menu page. System will check it and alarm if any programs go against the following safety rules: 1.Has one “mold open” action at least. 2.Has one “mold close”...
  • Page 73 In teach mode, move cursor to number area, press system into exend in/out page, see picture 4-24. Picture 4-24 Extend in: Total 3 extend input ports. Press Ç/È to choose extend port. Press Å/Æ to choose extend port on or off. “On” stands for testing extend input port, “off”...

  • Page 74: System Safety Setup

    If reading one program (P00 to P09), press “Enter”, system into program saving page and choose one program number (P10 to P25) to save it. If reading one program (P10 to P25, etc.P10), press “Enter”, the program will be saved as P10. If do not want saved it as P10, please press “AUX3”, system into program saving page and save the program as desired name.
  • Page 75 Traverse limit in mold: traverse in mold or not. Please select it according to requirements, otherwise will damage IMM and robot. Rotate initial: the initial rotate status is used to setup the rotate status when robot at the home position. Can set to rotate vertical or horizontal. Selection wait mode: standby mode, the option is used for select the robot standby mode when auto running;...
  • Page 76 Picture 4-27 Robot direction: the option is used to setup the direction of robot mounted on injection molding machine. Note: this setup must be right. After changing direction, please re-back to home position. Max physical distance: the option is used to setup robot max traverse displacement.

  • Page 77: System Information

    Press F3 into safte option page to select each sensor “used” or “not used”, see picture 4-28. Picture 4-28 4.5.10 System Information This page displays manufacturer’s series umbers, max displacement, version, company name, address, telephone and website. 77(142)

  • Page 78: Standard Programs

    4.5.11 Standard Programs (00) Traverse in to pick up position SPD 050% (01) Main arm horizontal (02) Mold open (03) Ejector forward (04) Main arm down 0.80 (05) Main arm forward 1.00 (06) Main arm vacuum on 0.40 (07) Main arm backward (08) Main arm up (09) Mold close (10) Main arm vertical...
  • Page 79 (00) Traverse in to pick up position SPD 050% (01) Main arm horizontal (02) Mold open (03) Ejector forward (04) Delay (05) Combination begin (06) Main arm down 0.80 (07) Sub-arm down 0.80 (08) Combination end (09) Combination begin (10) Main arm forward 1.00 (11) Sub-arm backward 1.00...
  • Page 80 (00) Traverse in to pick up position SPD 050% (01) Main arm horizontal (02) Mold open (03) Ejector forward (04) Delay (05) Combination begin (06) Main arm down 0.80 (07) Sub-arm down 0.80 (08) Combination end (09) Combination begin (10) Main arm backward 1.00 (11) Sub-arm backward 1.00...
  • Page 81 (00) Combination begin (01) Main arm forward 1.00 (02) Sub-arm backward 1.00 (03) Combination end (04) Traverse in to pick up position SPD 050% (05) Main arm horizontal (06) Mold open (07) Ejector forward (08) Delay (09) Combination begin (10) Main arm down 0.80 (11) Sub-arm down 0.80...
  • Page 82 (00) Combination begin (01) Main arm forward 1.00 (02) Sub-arm backward 1.00 (03) Combination end (04) Traverse in to pick up position SPD 050% (05) Main arm horizontal (06) Mold open (07) Ejector forward (08) Delay (09) Combination begin (10) Main arm down 0.80 (11) Sub-arm down 0.80...
  • Page 83 (00) Traverse in to pick up position SPD 050% (01) Mold open (02) Ejector forward (03) Delay (04) Sub-arm down 0.80 (05) Sub-arm backward 1.00 (06) Sub-arm grip on 0.40 (07) Sub-arm forward (08) Sub-arm up (09) Mold close (10) Traverse out SPD 050% (11) Sub-arm grip off (00) Sub-arm backward...
  • Page 84 (00) Traverse in to pick up position SPD 050% (01) Main arm horizontal (02) Sub-arm backward 1.00 (03) Mold open (04) Ejector forward (05) Delay (06) Sub-arm down 0.80 (07) Sub-arm forward 1.00 (08) Sub-arm grip on 0.40 (09) Sub-arm backward 1.00 (10) Sub-arm up (11) Mold close...
  • Page 85 (00) Main arm vertical 1.00 (01) Combination begin (02) Main arm forward 1.00 (03) Sub-arm backward 1.00 (04) Combination end (05) Traverse to pick up position SPD 050% (06) Main arm horizontal (07) Combination begin (08) Main arm backward 1.00 (09) Sub-arm forward 1.00 (10) Combination end...

  • Page 86: Error Connection

    Error Connection Error Caused Troubleshooting Alarm No. E001 Main control action error. Please turn off the power supply and The main control board restart system. If still alarming, please error. contact with manufacture. Alarm No. E002 System memory access Please turn off the power supply and Data access error.
  • Page 87 Alarm No. E017 When robot sub-arm up with Please check cylinder, valve and sensor. After troubleshooting, press “Reference” Sub-arm up error. down signal. key. Alarm No. E018 When robot sub-arm down Please check cylinder, valve and sensor. After troubleshooting, press “Reference” Sub-arm down error.
  • Page 88 damaged. Alarm No. E033 Robot sub-am in forward Please check cylinder, valve and sensor. Sub-arm no forward finished state, but without forward After troubleshooting, signal. finished signal. press“Reference”key. Alarm No. E034 Robot sub-am in backward Please check cylinder, valve and sensor. Sub-arm no backward state, but without backward After troubleshooting,...
  • Page 89 Alarm No. E045 X-axis in down sate or Please adjust robot arm in safety X-axis move not safety. up-sensor no signal. working area. X-axis can safety move only at pick-up position or going-up state. Alarm No. E046 Y-axis down not at place Please check the sensor.
  • Page 90 Main arm vacuum overtime. the delay time end, robot still sensor and air pressure. After gets “vacuum” signal. troubleshooting, press “Reference” key. Alarm No. E061 Main arm vacuum off, after Please check vacuum generator, valve, Main arm vacuum off the delay time end, robot still sensor and air pressure.
  • Page 91 Mold open signal IMM mold open, robot wirngs connection. After troubleshooting, press “Reference” key. disappeared. traverse in and forbidden IMM open/close mold, then mold open signal disappeared. Alarm No. E075 Robot standby outside mold, Please check IMM woring state, signal IMM choose “use milled wirngs connection and “middle mold”...

  • Page 92: Maintenance

    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 93 4. Check bolt connection robot 3. Confirm whether the pipelines and injection molding machine break or loose. whether tighten. 4. Check and adjust the 5. Check all block settings operating speed. whether tightened. 93(142)

  • Page 94: Assembly Diagram

    Assembly Diagram 7.1 Traverse Unit (ST1-S and ST1-T-S) Picture 7-1 94(142)

  • Page 95: Parts List

    7.1.1 Parts List Table 7- 1：Travese Unit Parts List Part Number Name ST1-650-1200-S ST1-650-1200D-S ST1-750-1300-S ST1-750-1300D-S BASE END COVER OF BEAM IN MOLD HOME BL71001410020 BL71001410020 BL71001410020 BL71001410020 POSITION PLATE LIMITED SENSOR BL69335000020 BL69335000020 BL69335000020 BL69335000020 PANEL LINEAR GUIDING RAIL BELT FIXING BL71010900020 BL71010900020...
  • Page 96 SPECIAL BL70107700040 BL70107700040 BL70107700040 BL70107700040 WASHER SYNCHRONOUS YW08621900100 YW08621900100 YW08621900100 YW08621900100 PULLEY MOTOR SYPPORTING BL21000100520 BL21000100520 BL21000100520 BL21000100520 COVER HINGE YW06253200000 YW06253200000 YW06253200000 YW06253200000 LOCK BL70112100020 BL70112100020 BL70112100020 YW00000000100 TRAPEZOID YR40914040000 YR40914040000 YR40914040000 YR40914040000 PLASTIC HANDLE SLIDING SEAT BL70127000020 BL70127000020 BL70127000020 BL70127000020 COVER...
  • Page 97 Table 7- 2：Travese Unit Parts List Part Number Name ST1-850-1400-S ST1-850-1600D-S Base End cover of beam In mold home position plate BL71001410020 BL71001410020 Limited sensor panel BL69335000020 BL69335000020 Linear guiding rail Belt fixing frame BL71010900020 BL71010900020 Buffer unit BH91151200010 BH91151200010 Buffer cap YW80200000000 YW80200000000...
  • Page 98 Table 7- 3：Travese Unit Parts List Part Number Part ST1-700-1400T-S ST1-700-1400DT-S ST1-900-1600T-S ST1-900-1600DT-S Base End cover of beam In mold home position plate BL71001410020 BL71001410020 BL71001410020 BL71001410020 Limited sensor panel BL69335000020 BL69335000020 BL69335000020 BL69335000020 Linear guiding rail Belt fixing frame BL71010900020 BL71010900020 BL71010900020...

  • Page 99: Vertical Unit (St1-S)

    7.2 Vertical Unit (ST1-S) Picture 7-2 99(142)

  • Page 100: Parts List

    7.2.1 Parts List Table 7- 4：ST1-S Vertical Parts List Part Number Name ST1-650-1200-S ST1-650-1200D-S ST1-750-1300-S ST1-750-1300D-S Cover of drag BL70105000020 BL70105000020 BL70105000020 BL70105000020 Vertical drag on YE60250003100 YE60250003100 YE60250003100 YE60250003100 main arm Vertical drag on YE60250005500 YE60250005500 YE60250005500 YE60250005500 sub-arm...
  • Page 101 Table 7- 5：ST1-S Vertical Parts List Part Number Name ST1-850-1400-S ST1-850-1400D-S Cover of drag YE60250003100 YE60250003100 Vertical drag on main arm BL70105000020 BL70105000020 Vertical drag on sub-arm YE60250005500 YE60250005500 Vertical drag frame on sub-arm Shock absober Vertical cylinder on sub-arm...

  • Page 102: Main Arm Unit (St1-S)

    7.3 Main Arm Unit (ST1-S) Picture 7-3 102(142)

  • Page 103: Parts List

    7.3.1 Parts List Table 7- 6：ST1-S Main Arm Parts List Parts Number Name ST1-650-1200-S ST1-650-1200D-S ST1-750-1300-S ST1-750-1300D-S BH10550900020 BH10550900020 BH10550900020 BH10550900020 Rotation board BL70102600020 BL70102600020 BL70102600020 BL70102600020 Spare frame for air pipe Steel covers of main arm Aluminum cover of main arm...
  • Page 104 Table 7- 7：ST1-S Main Arm Parts List Part Number Name ST1-850-1400-S ST1-850-1400D-S BH10550900020 BH10550900020 Rotation board BL70102600020 BL70102600020 Spare frame for air pipe Steel covers of main arm Aluminum cover of main arm YE60250003700 YE60250003700 Drag chain on main arm (up/down)

  • Page 105: Sub-Arm Unit (St1-S)

    7.4 Sub-arm Unit (ST1-S) Picture 7-4 105(142)

  • Page 106: Parts List

    7.4.1 Parts List Table 7- 8：ST1-S Sub-arm Parts List Part Number Name ST1-650-1200-S ST1-650-1200D-S ST1-750-1300-S ST1-750-1300D-S BH70401200040 BH70401200040 Gripper Aluminum profile of sub-arm Cylinder holder frame on sub-arm Steel cover on sub-arm Dran chain on sub-arm YE60154800000 YE60154800000 (up/down) Drag connector on...
  • Page 107 Table 7- 9：ST1-S Sub-arm Parts List Part Number Name ST1-850-1400-S ST1-850-1400D-S Gripper BH70401200040 Aluminum profile of sub-arm Cylinder holder frame on sub-arm Steel cover on sub-arm Dran chain on sub-arm (up/down) YE60154800000 Drag connector on sub-arm (up/down) Down baffle on sub-arm...

  • Page 108: Main Arm (St1-T-S)

    7.5 Main Arm (ST1-T-S) Picture 7-5 108(142)

  • Page 109: Parts List

    7.5.1 Parts List Table 7- 10：ST1-T-S Main Arm Parts List Part Number Name ST1-700-1400T-S ST1-700-1400DT-S ST1-900-1600T-S ST1-900-1600DT-S Flip cylinder BH10550900020 BH10550900020 BH10550900020 BH10550900020 Spare frame for air tube BH10550900020 BH10550900020 BH10550900020 BL70102600020 Steel cover of BL70122000020 BL70122000020 BL70122000020 BL70122000020 main arm 2 Aluminum cover BH13171300010 BH13171300010...

  • Page 110: Sub-Arm (St1-T-S)

    7.6 Sub-arm (ST1-T-S) Picture 7-6 110(142)

  • Page 111: Parts List

    7.6.1 Parts List Table 7- 11：ST1-T-S Sub-arm Parts List Part Number Name ST1-700-1400T-S ST1-700-1400DT-S ST1-900-1600T-S ST1-900-1600DT-S Gripper BH70401200040 BH70401200040 Aluminum profile BH78071430110 BH79901600510 of sub-arm Linear guide rail BL70021000040 BL70021000040 mounting plate 3 Steel cover of BL70503200020 BL70503200020- sub-arm Falling blank 2 of sub-arm Linear guide rail Anti-falling cylinder...
  • Page 112 Sub-arm mounting plate Cylinder mounting plate on sub-arm Anti-falling cylinder YE30055000350 YE30055000350 Proximity switch mounting plate 3 Up-going buffer stopper of sub-arm *means possible broken parts. **means easy broken part, and spare backup is suggested. Please confirm the version of manual before placing the purchase order to gurantee that the item number of the spare part is in accordance with the real object.

  • Page 113: Vertical (St1-T-S)

    7.7 Vertical (ST1-T-S) Picture 7-7 113(142)

  • Page 114: Parts List

    7.7.1 Parts List Table 7- 12：ST1-T-S Vertical Parts List Part Number Name ST1-700-1400T-S ST1-700-1400DT-S ST1-900-1600T-S ST1-900-1600DT-S Drag supporing frame BL70550900020 BL70550900020 BL70190900020 BL70190900020 on vertical Drag chain of main arm Vertical drag of sub-arm BL70150900020 BL70150900020 BL70150900020 BL70150900020 Vertical drag frame of BL70101070020 BL70101070020- sub-arm...

  • Page 115: Traverse Unit (St1-T-S: Middle Telescopic Arm)

    7.8 Traverse Unit (ST1-T-S: Middle Telescopic Arm) Picture 7-8 115(142)

  • Page 116: Parts List

    7.8.1 Parts List Table 7- 13：ST1-T-S (Middel Telescopic Arm) Traverse Parts List Part Numner 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 cover BL70103300020 BL70103300020 BL70103300020 BL70103300020 Home position BL69363000020...
  • Page 117 Fixing plate End cover of BH74000100010 BH74000100010 BH74000100010 BH74000100010 traverse beam Traverse drag BL72110800020 BL72110800020 supporting frame Traverse drag YW06251500000 YW06251500000 YW06251500000 YW06251500000 Cover of control box BL72107000020 BL72107000020 BL72107000020 BL72107000020 Connecting plate of BL70126000020 BL70126000020 BL70126000020 BL70126000020 grounded Conttol box BL72106000020 BL72106000020 BL72106000020...
  • Page 118 Table 7- 14：ST1-T-S (Middel Telescopic Arm) Traverse Parts List Part Number Name ST1-1500-2200T ST1-1500-2200DT Base BL72182470020 BL72182470020 Beams fixed block Pressure switch Beam BH72152200010 BH72152200010 Proximity switch Beam’s end cover BL70103300020 BL70103300020 Home position sensor plate Limit sensor plate BL69363000020 BL69363000020 Sliding base BL72118000020...

  • Page 119: Main Arm St1-T-S (Middel Telescopic Arm)

    7.9 Main Arm ST1-T-S (Middel Telescopic Arm) Picture 7-9 119(142)

  • Page 120: Parts List

    7.9.1 Parts List Table 7- 15：ST1-T-S (Middel Telescopic Arm) Main Arm Part Number Name ST1-1100-1800T ST1-1100-1800DT ST1-1300-2000T ST1-1300-2000T Main arm mounting BH13000400010 BH13000400010 BH13000400010 BH13000400010 frame Rotation unit BH73000100050 BH73000100050 BH73000100050 BH73000100050 Aluminum profile of BH72111801010 BH72111801010 main arm Spare frame for air tube BL70102600020 BL70102600020 BL70102600020...
  • Page 121 Pneumaitc distribution BH78010100050 BH78010100050 BH78010100050 BH78010100050 block on main arm Vertical drag connector BL72121000020 BL72121000020 BL72121000020 BL72121000020 on main arm Air tube connector on BL72111700020 BL72111700020 BL72111700020 BL72111700020 main arm Main arm belt up-going BL72111800020 BL72111800020 BL72111800020 BL72111800020 fixing plate Synchronous belt YR00052000200 YR00052000200...
  • Page 122 Table 7- 16：ST1-T-S (Middel Telescopic Arm) Main Arm Part Number Name ST1-1500-2200T ST1-1500-2200DT Main arm mounting frame BH13000400010 BH13000400010 Rotation unit BH73000100050 BH73000100050 Aluminum profile of main arm Spare frame for air tube BL70102600020 BL70102600020 Up-going sensor plate BL72112000020 BL72112000020 Mounting plate of proximity switch BL72128000020 BL72128000020...

  • Page 123: Sub-Arm (St1-T-S: Middel Telescopic Arm )

    7.10 Sub-arm (ST1-T-S: Middel Telescopic Arm ) Picture 7-10 123(142)

  • Page 124: Parts List

    7.10.1 Parts List Table 7- 17：ST1-T-S (Middel Telescopic Arm) Sub-arm Part Number Name ST1-1100-1800T ST1-1100-1800DT ST1-1300-2000T ST1-1300-2000T Sub-arm mounit plate BH13000303010 BH13000303010 Fixing plate of BL72001120020 BL72001120020 proximity switch Cylinder (up/down) holder frame on BL72100800040 BL72100800040 sub-arm Gripper BH70401200040 BH70401200040 Aluminum profile of BH78180020010 BH78180020010...
  • Page 125 Air tube connection BL72100700020 BL72100700020 plug on sub-arm Shock absorber 1 YW10258020000 YW10258020000 Vertical drag BL72000900020 BL72000900020 connector on sub-arm Shock absorber 2 YW80366000000 YW80366000000 Steel cover of sub-arm BL72100600020 BL72100600020 Proximity switch Anti-falling cylinder supporting frame of BL72100500020 BL72100500020 sub-arm Anti-falling cylinder YE30201540000...
  • Page 126 Table 7- 18：ST1-T-S (Middel Telescopic Arm) Sub-arm Part Number Name ST1-1500-2200T ST1-1500-2200DT Sub-arm mounit plate BH13000303010 Fixing plate of proximity switch BL72001120020 Cylinder (up/down) holder frame on sub-arm BL72100800040 Gripper BH70401200040 Aluminum profile of sub-arm BH78180020010 Stack sensor sheet BL72110500020 Sensor fixing plate YW09601400110 Connection aluminum profile of sub-arm...

  • Page 127: Crosswise Unit (St1-T-S: Middle Telescopic Arm)

    7.11 Crosswise Unit (ST1-T-S: Middle Telescopic Arm) Picture 7-11 127(142)

  • Page 128: Parts List

    7.11.1 Parts List Table 7- 19：ST1-T-S (Middle Telescopic Arm) Crosswise Unit Part Number Name ST1-1100-1800T ST1-1100-1800DT ST1-1300-2000T ST1-1300-2000T Crosswise beam base Buffer fixing block 6 BH78511300040 BH78511300040 BH78511300040 BH78511300040 Buffer fixing block 5 BH78511200040 BH78511200040 BH78511200040 BH78511200040 Cylinder holder frame on sub-arm Crosswise cylinder BH78110000040 BH78110000040...
  • Page 129 Table 7- 20：ST1-T-S (Middle Telescopic Arm) Crosswise Unit 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 BH78110000040 BH78110000040 clamping device Crosswise cylinder fixing frame BL72104000040 on sub-arm...

  • Page 130: Electric Control Chart

    Electric Control Chart 8.1 Non-euromap Electric Control Chart 8.1.1 The Power Input Wiring Diagram Picture 8-1 130(142)

  • Page 131: The Panasonic Servo Motor And Servo Driver Wiring Diagram

    8.1.2 The Panasonic Servo Motor and Servo Driver Wiring Diagram Picture 8-2 131(142)

  • Page 132: The Panasonic Servo Motor And I/O Board Wiring Diagram

    8.1.3 The Panasonic Servo Motor and I/O Board Wiring Diagram Picture 8-3 132(142)

  • Page 133: The Delta Servo Motor And Servo Driver Wiring Diagram

    8.1.4 The Delta Servo Motor and Servo Driver Wiring Diagram Picture 8-4 133(142)

  • Page 134: The Delta Servo Motor And I/O Board Wiring Diagram

    8.1.5 The Delta Servo Motor and I/O Board Wiring Diagram Picture 8-5 134(142)

  • Page 135: The Cuinsico Servo Motor And Servo Driver Wiring Diagram

    8.1.6 The Cuinsico Servo Motor and Servo Driver Wiring Diagram Picture 8-6 135(142)

  • Page 136: The Cuinsico Servo Motor And I/O Board Wiring Diagram

    8.1.7 The Cuinsico Servo Motor and I/O Board Wiring Diagram Picture 8-7 136(142)

  • Page 137: Z-Axis I/O Board Wiring Diagram

    8.1.8 Z-axis I/O Board Wiring Diagram Picture 8-8 137(142)

  • Page 138: Main Arm Wiring Diagram

    8.1.9 Main Arm Wiring Diagram Picture 8-9 138(142)

  • Page 139: Sub-Arm Wiring Diagram

    8.1.10 Sub-arm Wiring Diagram Picture 8-10 139(142)

  • Page 140: Main Arm Output Wirng Diagram

    8.1.11 Main Arm Output Wirng Diagram Picture 8-11 140(142)

  • Page 141: Signals Input Wiring Diagram

    8.1.12 Signals Input Wiring Diagram Picture 8-12 141(142)

  • Page 142: Signals Output Wiring Diagram

    8.1.13 Signals Output Wiring Diagram Picture 8-13 142(142)

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