Universal Robots e Series Installation Manual
  1. Manuals
  2. Brands
  3. Universal Robots Manuals
  4. Robotics
  5. e Series
  6. Installation manual

Universal Robots e Series Installation Manual

Hide thumbs Also See for e Series:
Table of Contents

Advertisement

Quick Links

Download this manual
e-Series Injection Molding
Machine Interface (IMMI)
Installation Guide
Original instructions (en)

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the e Series and is the answer not in the manual?

Questions and answers

Related Manuals for Universal Robots e Series

Summary of Contents for Universal Robots e Series

  • Page 1 e-Series Injection Molding Machine Interface (IMMI) Installation Guide Original instructions (en)

  • Page 3: Table Of Contents

    Contents 1. Introduction 1.1. About this document 1.2. What's in the box 1.3. Company Details 2. Safety 2.1. Safety message types 2.2. General safety precautions 2.3. IMMI safety precautions 2.3.1. Emergency Stop 2.3.2. Safeguard Stop 2.4. IMMI safety functions 3. Product description 3.1. Use of product 3.2.
  • Page 4 9. IMMI I/O in regular program nodes 9.1. Using the IMMI I/O overview 9.1.1. IMMI I/O overview 9.1.2. How to use IMMI I/O in regular program nodes 10. Using the robot without the IMM 10.1. Connecting the bypass plug 11. Specifications 11.1. Electrical Specifications 12. Copyright and disclaimers 13. Compliance 13.1.

  • Page 5: Introduction

    • EUROMAP 67 / SPI AN-146 • Ribbon cable • Ground (GND) wire: • M6 nut • M6 washer • Universal Robots EUROMAP 67 bypass plug • This document 1.3. Company Details Universal Robots A/S Energivej 25, 5260 Odense S, Denmark +45 89 93 89 89 https://www.universal-robots.com...

  • Page 6: Safety

    2. Safety 2. Safety 2.1. Safety message types Safety messages in this document contain information to help you avoid injury or equipment damage. This document contains the following safety message types. WARNING This safety message indicates a hazardous situation that, if not avoided, could result in death or serious injury.

  • Page 7: Immi Safety Precautions

    2. Safety WARNING Incorrect connection of the power source or ground wires can result in personnel injury or equipment damage. Damage caused by invalid power source connection is not covered by warranty. Before starting the operation: • Ensure the power source wiring is correct. •...
  • Page 8 2. Safety WARNING Unauthorized modification of the IMMI module can result in personnel injury or equipment damage. • Only qualified personnel must perform modifications. • Perform a new risk assessment before and after modification. WARNING The absence of protection at the mold area to prevent access, or to detect presence in the mold area, can result in personnel injury or equipment damage.

  • Page 9: Emergency Stop

    2. Safety NOTICE Failure to connect the ground (GND) wire during installation can result in equipment damage. • Connect the ground cable to the control box before connecting the ribbon cable. 2.3.1. Emergency Stop The robot and the IMM send Emergency Stop safety signals to each other through the IMMI. When a UR emergency stop is triggered, both the robot stops and the IMMI signals a stop to the IMM.
  • Page 10 2. Safety UR Safety function Cat./PL PFHd Safe guard 2.01E-7 stop Safety function 1 Emergency stop: Bidirectional Name Emergency stop. Type UR robot: Stop category 1 according to per IEC 60204-1. IMM: See IMM documentation. Triggering UR robot: Emergency stop push-button is pressed; stop triggered by IMM. IMM: See IMM documentation.

  • Page 11: Product Description

    • Injection molding machine compliant with EUROMAP 67 / SPI AN-146. • Universal Robots e-Series robot, consisting a collaborative robot arm and a UR e-Series control box (with Rev.F2 safety control board). • e-Series IMMI module, including the IMMI module and an IMMI cable.

  • Page 12: Requirements

    3. Product description 3.3. Requirements The serial number of the control box must be newer than 2020020161. The hardware revision of the safety control board electronics is Rev.F2. NOTICE Installing an e-Series Injection Molding Machine Interface (IMMI) in a control box with a serial number lower than 2020020161 can result in damage to equipment or property.
  • Page 13 3. Product description Safety control board The safety control board serial number is located on the back of the safety control board. You must disassemble the control box bracket to access the Rev. F2 safety control board (F2 = RM). NOTE For more information about changing the safety control board, refer to the Control Box chapter in the Service Manual available on the support website: •...

  • Page 14: Cleaning Your Robot

    4. Cleaning your robot 4. Cleaning your robot 4.1. Everyday cleaning You can wipe away any dust/dirt/oil observed on the robot arm and/or Teach Pendant using a cloth and one of the following cleaning agents: Water, Isopropyl alcohol, 10% Ethanol alcohol or 10% Naphtha.

  • Page 15: Mold Area Free (Maf) Light Curtain

    5. Mold Area Free (MAF) light curtain 5. Mold Area Free (MAF) light curtain This section describes the EUROMAP use of a Mold Area Free (MAF) light curtain. WARNING The IMMI Mold Area Free (MAF) signals are not intended for safeguarding of personnel. •...

  • Page 16: Hardware Installation

    6. Hardware installation 6. Hardware installation This section describes how to install the IMMI module hardware. For information on configuring the IMMI module software, see 7. Software installation on page 15. 6.1. Required items You need the following items to install the IMMI module: • One M6 nut •...

  • Page 17: Connecting The Ribbon Cable To The Immi

    6. Hardware installation 3. Orient the IMMI module so all ports are at the top, and use the screws and tooth lock washers from the control box plate to mount the module from the inside of the control box. NOTICE Torque the control box plate screws to 1.5Nm to avoid property damage. 4.

  • Page 18: Connecting The Imm

    6. Hardware installation EXTENSION BUS connection port ribbon cable ground connection NOTICE Incorrect ribbon cable connection can result in damage to property. • Ensure the ribbon cable is in line with the top of the EXTENSION BUS connection port. 6.4. Connecting the IMM To connect the IMM 1.

  • Page 19: Software Installation

    7. Software installation 7. Software installation This section describes how to configure the IMMI module software. For information on installing the IMMI module hardware, see 6. Hardware installation on page 12. 7.1. Configuring the IMMI module software To configure the IMMI module software 1. On PolyScope, in the Header, tap Installation and select Safety. 2.

  • Page 20: Uninstalling The Immi Module

    7. Software installation 7.2. Uninstalling the IMMI module To uninstall the IMMI module 1. On PolyScope, use your password to access the Select available hardware screen. 2. In the Injection molding machine interface drop-down list, select None. 3. Tap Apply to restart the system. PolyScope continues to run. 4.

  • Page 21: Immi Module Programming

    8. IMMI module programming 8. IMMI module programming This section describes program structure functionality and how to create program structures, using the nodes available in the IMMI. 8.1. Program structure The program structures are nodes inserted into programs to achieve a proper and safe interaction with the IMM.

  • Page 22: Creating A Program Structure

    8. IMMI module programming 8.2. Creating a program structure To create a program structure 1. On PolyScope, in the Header, tap Program and select IMMI. 2. Select the first desired program structure node from the options listed below. You can select as many nodes as required by your program. •...

  • Page 23: Program Structure Nodes

    8. IMMI module programming 8.2.1. Program structure nodes You can configure the step sets in each node by using the checkboxes to enable/disable individual steps. • Startup Check: Intended for use once at the beginning of a robot program, this node ensures the robot and machine are set up correctly before molding starts.
  • Page 24 8. IMMI module programming • Ejector Back: Enables the movement of the ejector to its back position. • Ejector Forward: Enables the movement of the ejector to remove an item from the mold. Should be used when the robot is in position ready for grasping the item. e-Series Injection Molding Machine Installation Guide Interface (IMMI)
  • Page 25 8. IMMI module programming • Core Pullers In: Enables the movement of the core pullers to position 1. The core pullers used are selected from the drop down menu. • Core Pullers Out: Enables the movement of the core pullers to position 2. The core pullers used are elected from the drop down menu.
  • Page 26 8. IMMI module programming • Free to Mold: Signals to the IMM that it is allowed to start a molding operation. When this signal is activated, the robot must be placed outside the IMM. • Template: Uses a predefined program structure to perform simple interaction with the IMM. e-Series Injection Molding Machine Installation Guide Interface (IMMI)

  • Page 27: Using The Immi Template

    8. IMMI module programming 8.2.2. Using the IMMI template To use the IMMI template 1. On PolyScope, in the Header, tap Program and select IMMI. 2. Select Template for the program screen to appear with the template loaded. The template structure is visible on the left side of the screen, as illustrated below. 3.

  • Page 28: Immi I/O In Regular Program Nodes

    9. IMMI I/O in regular program nodes 9. IMMI I/O in regular program nodes This section describes how to use IMMI inputs and ouputs in regular program nodes. 9.1. Using the IMMI I/O overview The IMMI I/O screen provides indicators for inputs signals and options for controlling output signals. The options to control the output signals are, by default, only availabe in robot programming mode.

  • Page 29: How To Use Immi I/O In Regular Program Nodes

    9. IMMI I/O in regular program nodes • Manufacturer Dependent: These signals are optional, but can be used, as needed, for specific purposes by the IMM manufacturer. • Safety In the robot column, the Emergency Stop indicator cannot be controlled from this screen. It simply indicates the robot is emergency stopped.

  • Page 30: Using The Robot Without The Imm

    10. Using the robot without the IMM 10. Using the robot without the IMM This section describes how to use an IMMI configured robot without the IMM. Disconnecting the IMM from the IMMI module triggers any Emergency Stops, rendering the robot unusable. A bypass plug closes the emergency and safety signals. Use the bypass plug to allow the robot to function normally without being connected to the IMM.

  • Page 31: Specifications

    11. Specifications 11. Specifications 11.1. Electrical Specifications MAF, not safety-related Parameter Unit 24V Voltage tolerance -10% – Current available from 24V supply – – Overload protection – – MAF Input high level voltage* – – MAF Input low level voltage* – – MAF Input voltage range* -0.4 –...
  • Page 32 11. Specifications *With reference to ground (GND) from the IMMI. Digital Outputs, not safety-related The digital outputs are pnp-type, and are galvanically connected to the IMM. The galvanic isolation between the IMM and robot potential conforms to IEC 60664-1 pollution degree 2, overvoltage category II.

  • Page 33: Copyright And Disclaimers

    Universal Robots hereby disclaim any and all liability with respect to the IMM and its signal to the IMMI, including stop signals and its handling of the Universal Robots stop signals, as Universal Robots has no knowledge whether the IMM is developed in compliance with the aforementioned industry guidelines.

  • Page 34: Compliance

    UR testing processes undergo continuous review and improvement. 13.4. Certification of safety The Universal Robots Injection Molding Machine Interface (IMMI) module (stop function and I/O), is safety approved by TÜV NORD, a notified body under the machine directive 2006/42/EC in the EU.

  • Page 35: Tüv Nord

    13. Compliance 13.5. TÜV NORD e-Series Injection Molding Machine Installation Guide Interface (IMMI)
  • Page 36 Software Version: 5.11 Document Version:...

Table of Contents