Page 1 ST3/5-S User Manual Date: Nov, 2015 Vision: V1.1 (English)
Page 3: Table Of Contents
Contents Safety......................11 1.1 Safety Regulations ................11 1.2 Safety Concerns..................11 1.3 Emergency Stop..................14 1.4 Transportation and Storage ..............14 1.4.1 Transportation ................15 1.4.2 Transportation after Unpacking ........... 15 1.4.3 Storage ..................18 1.4.4 Operation Environment..............18 1.4.5 Retirement ...................
Page 4 2.4.2 Vacuum Setting ................34 2.4.3 CKD Digital Pressure Switch Setting ........... 35 2.4.4 SMC Digital Pressure Switch Setting........... 35 2.5 Robot and IMM Interface............... 36 2.5.1 Euromap67Interface ..............36 2.5.1.1 The Injection Molding Machine Output Signals....37 2.5.1.2 Robot Output Signals............38 2.5.2 Euromap12 Interface ..............
Page 5 6.2 Export Program ..................59 6.3 Import Program ..................59 System Date and Time ................60 Manually Operate..................61 8.1 Manual Enable Switch................61 8.2 Servo Home Position Setting ..............61 8.3 Servo Setting..................62 8.4 Port Monitor Setting ................63 Program Setting..................
Page 6 12. Alarm Message ................... 81 12.1 Current Alarms ..................81 12.2 Alarm Resume ..................81 12.3 Alarm Message Instruction..............82 13. Maintenance....................85 13.1 General ....................85 13.2 Lubrication Requirements ..............85 13.3 Maintenance Cycle................85 14. Assembly Diagram ..................86 14.1 Traverse Unit (ST3/5-S and ST3/5-T-S) ...........
Page 7 16.3 Traverse Input and Output Wiring Diagram ........114 16.4 Main Arm Signal Input Wiring Diagram........... 115 16.5 Main Arm Signal Output Wiring Diagram ........116 16.6 Pneumatic Sub-arm Signal I/O Wiring Diagram ......117 16.7 Z-axis Panasonic Servo Drive I/O Wiring Diagram ......118 16.8 Z-axis Panasonic Servo Motor Wiring Diagram ......
Page 8 17.10 X-axis Panasonic Servo Motor Wiring Diagram......147 17.11 Y-axis Panasonic Servo Drive I/O Wiring Diagram......148 17.12 Y-axis Panasonic Servo Motor Wiring Diagram......149 17.13 X2-axis Panasonic Servo Drive I/O Wiring Diagram....... 150 17.14 X2-axis Panasonic Servo Motor Wiring Diagram......151 17.15 Y2-axis Panasonic Servo Drive I/O Wiring Diagram.......
Page 9 Picture 1-3: Hanging transportation of ST3-T-S..........17 Picture 1-4: Hanging transportation of ST3-LT-S..........18 Picture 2-1: Three Axes Servo Signal Telescopic Dimensions ......23 Picture 2-2: Three Axes Servo Telescopic Arm (Small type) Dimensions ..25 Picture 2-3: Three Axes Servo Medium Telescopic Dimensions ...... 27 Picture 2-4: Three Axes Servo Large Telescopic Dimensions......
Page 10 10(176)
Page 11: Safety
1. Safety Before starting up the robot for the first time, please review this manual thoroughly and familiarize yourself with the operation of the robot. Improper use may injure personnel and/or damage the robot, mold or molding machine. Safety Regulations ●...
Page 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(176)
Page 14: Emergency Stop
Caution! High temperature No Flame 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
If it is necessary to remove or reinstall the robot, please contact the agent or manufacturer for help. The manufacturer and agent do not have any responsibility for injuries or damage if the customers remove robots themselves. Transportation 1.4.1 1. ST3/5-S series robot is fix on a steel structure base and packaged with crate. 2.
Page 16: Picture 1-1: Packing Of St3-T-S And St5-T-S
as the following: 1) Release 6 fixed screws on the supporting board, remove the packing support plate. 2) Rotating beams and arm slowly, so that the arm and the beam was vertical. 3) Lock the arm connecting plate and the sliding seat by the 6 screws on the supporting plate.
Page 17: Picture 1-2: Packing Of St3-Lt-S
Picture 1-2: Packing of ST3-LT-S Picture 1-3: Hanging transportation of ST3-T-S 17(176)
Page 18: Storage
Picture 1-4: Hanging transportation of ST3-LT-S Storage 1.4.3 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. 3.
Page 19: Exemption Clause
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 20: Installaiton
2. Installaiton Instruction Safety Issue 2.1.1 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 21: Safety Fence
4. Before installation, wiring, operation, and maintenance must be familiar with instructions guide as well as machinery, electronics and security attentions. 5. Ground the wire before robot operating. 6. Wire grounding should connect to metal and keep away from inflammable matter.
Page 22: Mounting Instruction
1. Before drilling, switch off the injection molding machine and then turn off the power, avoid the scrap-iron into the mold. 2. Stick the drilling picture on the installing surface of IMM. 3. Use the center punch to assist drilling. 4.
Page 23: Equipment Specification
Equipment Specification 2.2.1 Three Axes Servo Signal Telescopic Specification Picture 2-1: Three Axes Servo Signal Telescopic Dimensions Chart 2-1: Three Axes Servo Signal Telescopic List 1 Model ST3-700-1200-S ST3-700-1400-S ST3-800-1400-S ST3-900-1600-S Application IMM (ton) 50~80 80~180 180~220 220~280 Traverse Stroke (mm) 1200 1400 1400...
Page 24 Chart 2-2: Three Axes Servo Signal Telescopic List 2 Model ST3-1000-1600-S ST3-1100-1800-S ST3-1200-1800-S 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)*...
Page 25: Three Axes Servo Telescopic Arm (Small Type) Specifications
2.2.2 Three Axes Servo Telescopic Arm (Small type) Specifications Picture 2-2: Three Axes Servo Telescopic Arm (Small type) Dimensions Chart 2-3: Three Axes Servo Telescopic Arm (Small type) List 1 Model ST3-700-1200T-S ST3-700-1400T-S ST3-700-1400HT-S ST3-800-1400T-S Application IMM(ton) 50~80 80~180 80~180 180~220 Traverse Stroke(mm) 1200...
Page 26 Chart 2-4: Three Axes Servo Telescopic Arm (Small type) List 2 ST3-900 ST3-900 ST3-1000 ST3-1100 ST3-1200 Model -1600T-S -1600HT-S -1600T-S -1800T-S -1600T-S Application IMM(ton) 220~280 220~280 280~320 320~400 400~450 Traverse Stroke(mm) 1600 1600 1600 1800 1800 Crosswise Stroke(mm) Vertical Stroke(mm) 1000 1100 1200...
Page 27: Three Axes Servo Medium Telescopic Specifications
2.2.3 Three Axes Servo Medium Telescopic Specifications Picture 2-3: Three Axes Servo Medium Telescopic Dimensions Chart 2-5: Three Axes Servo Medium Telescopic List 1 ST3-1200 ST3-1300 ST3-1400 ST3-1500 ST3-1600 ST3-1700 Model -1800MT-S -2000MT-S -2000MT-S -2200MT-S -2200MT-S -2200MT-S Application IMM(ton) 300~450T 450~600T 450~600T 600~700T...
Page 28 Chart 2-6: Three Axes Servo Medium Telescopic List 2 ST3-1800 ST3-1900 ST3-2000 ST3-2100 ST3-2200 Model -2400MT-S -2400MT-S -2800MT-S -2800MT-S -3000MT-S 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 29: Three Axes Servo Large Telescopic Specifications
2.2.4 Three Axes Servo Large Telescopic Specifications Picture 2-4: Three Axes Servo Large Telescopic Dimensions Chart 2-7: Three Axes Servo Large Telescopic List ST2-1800 ST2-2000 ST2-2200 ST2-2600 ST2-3000 Model -2400LT-S -2800LT-S -3000LT-S -3200LT-S -3400LT-S 3000~3600T 850~1400T 1400~1800T 1800~2400T 2400~3000T Application IMM(ton) 3400 2400 2800...
Page 30: Five Axes Servo Signal Telescopic Specification
2.2.5 Five Axes Servo Signal Telescopic Specification Picture 2-5: Five Axes Servo Signal Telescopic Dimensions Chart 2-8: Five Axes Servo Signal Telescopic List ST5-700 ST5-800 ST5-900 ST5-1000 ST5-1100 ST5-1200 Model -1400D-S -1400D-S -1600D-S -1600D-S -1800D-S -1800D-S 320~400 400~450 80~180 180~220 220~280 280~320 Application IMM(ton)
Page 31: Five Axes Servo Telescopic Arm (Small Type)Specifications
2.2.6 Five Axes Servo Telescopic Arm (Small type)Specifications Picture 2-6: Five Axes Servo Telescopic Arm (Small type) Dimensions Chart 2-9: Five Axes Servo Telescopic Arm (Small type) List ST5-700 ST5-800 ST5-900 ST5-1000 ST5-1100 ST5-1200 Model -1400DT-S -1400DT-S -1600DT-S -1600DT-S -1800DT-S -1800DT-S 320~400 400~450...
Page 32: Five Axes Servo Medium Telescopic Specifications
2.2.7 Five Axes Servo Medium Telescopic Specifications Picture 2-7: Five Axes Servo Medium Telescopic Dimensions Chart 2-10: Five Axes Servo Medium Telescopic List Model ST5-1300-2000DT-S ST5-1500-2200DT-S 450~650 650~850 Application IMM(ton) 2000 2200 Traverse Stroke(mm) Main Arm Crosswise Stroke (mm) Sub Arm...
Page 33: Pneumatic Source Requirement
Pneumatic Source Requirement 2.2.8 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 34: Gripper And Vacuum Monitor
Connection of the interface plug to the machine and testing of all signals must be done by a specialist in injection molding machines and robots. Preferably, this should be done by one of our service engineers together with a qualified service engineer for the injection molding machine. The interface signal functions must be carefully tested, as improper operation may cause malfunction or damage to the robot and molding machine.
Page 35: Ckd Digital Pressure Switch Setting
rotation adjustments screw, the red ruler will move too. 3. Need to adjust the pressure, the user can rotate red ruler to set the value by the hex key, clockwise rotation, the value increased, counter-clockwise rotation, the value decrease. 2.4.3 CKD Digital Pressure Switch Setting 1.
Page 36: Robot And Imm Interface
1. Press “S” for 2 seconds till screen displays “F**”, use up/down keys to select “F0”, press “S” into “unit selection mode”, use up/down keys to select “PA”, press “S” complet setting and back to “function selection mode”, screen displays “F0”. 2.
Page 37: 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 38: Robot Output Signals
to approach must be impossible. Mold at intermediate position HIGH signal when the mold opening has reached the specified intermediate position and remains HIGH until the mold is completely open. the signal may be used in two ways: 1) The mold stops in the intermediate position, whereupon a signal is sent to the Optional robot.
Page 39: Euromap12 Interface
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 40: Injection Molding Machine Output Signals
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. 2.5.2.1 Injection Molding Machine Output Signals Plug Contact No.
Page 41: Robot Output Signals
Optional 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 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 42 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 43: General Description
3. General Description ST3/5-S Abstract The ST3/5-S series robot is designed for rapid and precise removal of products from injection molding machine, and place them at desired locations. ST3-S robots are suitable for hor runner system; ST5-S robots are suitable for 2-plate mold and 3-plate mold.
Page 44: Features
Features 1．Compact structure and streamlined appearance. 2．I/O circuit using quick plug-in design, and easy to install and maintain. 3．The limit positions with safety switches, high security. 4．With stack function. 5．Pick the objects up quickly, put the objects down slowly. It will not affect the speed, but also ensure that goods will not be bumps.
Page 45: Default Setting
emergency stop button is pressed, the robot will stop working. The gripper and vacuum vales and the vacuum pump are not disconnected, to avoid dropping parts from the gripper. In addition, the hand controller will remain under power to allow indication of error messages. If robot goes wrong or need to maintenance, press the emergency stop button to ensure operation safety.
Page 46: Picture 3-2: Sensor Position After Modified
Picture 3-2: Sensor position after modified 2. Move all “Outside IMM safety zone blocks” from the end of the beam to another end of the beam, see picture 3-3, 3-4. Picture 3-3: Outside IMM safety zone blocks before modified Picture 3-4: Outside IMM safety zone blocks after modified 3.
Page 47: Picture 3-5: Before Modified
4. Open the sliding seat on the Z-axis, and then exchange the X101 and X104 socket positions on U2 board, exchange the X102 and X103 socket positions. See picture 3-5 and 3-6. Picture 3-5: Before modified Picture 3-6: After modified 47(176)
Page 48: Picture 3-7：Direction Before Modified
5. Change robot direction to reverse in hand controller. See picture 3-7, 3-8. Picture 3-7：Direction Before Modified Picture 3-8：Direction 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.
Page 49: Operating Instruction
4. Operating Instruction 4.1 Hand Controller F1: Reference/home position. Press F1 and safety switch, robot will reference. F2: Stop. In auto running mode, press F2, robot stop auto running and switch to manual mode. F3: Auto. When function button switch to “AUTO”, press F3 robot will begin auto running.
Page 50: Main Screen
Vacuum 2: Robot in manual mode, press this button, vacuum 2 on or off. Grip 1: Robot in manual mode, press this button, grip 1 on or off. Grip 2: Robot in manual mode, press this button, grip 2 on or off. Grip 3: Robot in manual mode, press this button, grip 3 on or off.
Page 51: Menu Title Bar
① ② ③ ④ ST3-S Main Screen ① Title Bar: display the current system screen, status, current program name, user, date, time and so on. ②Alarm Message: display the last alarm message. ③Servo Position: display the current position of servo motor, touch it and toggle the screen to servo control page.
Page 52: Function Menu
No reference position: after power on, the servo motor without home position reset. Reference position: after power on, the servo motor had home position reset. ②Operation mode symbol: display current operation mode. Manual mode: current system allows manually operation. Auto stand-by mode: auto running, one cycle running and one step running. Auto mode: auto running current program.
Page 53 alarm page Alarm message (current and recent) details, convenient for malfunction analysis. home page Touch it and system back to home page. 53(176)
Page 54: User Management
5. User Management 5.1 User Level Total 4 levels: Ø Operator: default user level, login without password. This level just enables to reset 0-position, auto running, watch I/O and some basic operations. Ø Advance operator: login needs password and it can be modified. Beyond the operator level operations, the advanced operator can execute manual operation, loading current program and so on.
Page 55: Login
× × √ √ machine position operate × × × √ manufacturer management × × × √ system update 5.2 Login Touch current user name on title bar in to “User Manager” page, first page is login. 1) Select User: select user to login. Advance operator, administrator, and advance administrator can be selectable, because the operator login no needs password.
Page 56: Input Password
1) Old Password: input old password. 2) New Password: input new password. 3) Confirm Password: input the new password once again. 5.4 Input Password The password can be 1 to 8 characters, including numbers, capital letters and lowercase letters. Touch input password box, the virtual keyboard will appear on the screen, see as the flowing: 1) Display password: display input password, 1 (at least) to 8 (at most) characters.
Page 57 : confirm, acknowledge the password. : shift, shift the capital letters and lowercase letters. 57(176)
Page 58: System Program Management
6. System Program Management 6.1 Introduce Touch current program name on the title bar into programs page. The program can be saved in system or USB memory. User can switch save storage in program. Programs page, see as the picture: ①Name: display all system programs name.
Page 59: Export Program
storage instruction location system Programs storage in system, touch it and shift to USB memory. storage Programs storage in USB memory, touch it and shift to system memory storage. storage 6.2 Export Program Export program from system to USB memory, the steps as flowing: 1) Plug in USB memory.
Page 60: System Date And Time
7. System Date and Time Touch Date and Time on the title bar into modify page. ①System date: touch the date, “+” for plus, “-” for minus. ②System time: touch the time, “+” for plus, “-” for minus. ③ : confirm, save and acknowledge the date and time. ④...
Page 61: Manually Operate
8. Manually Operate 8.1 Manual Enable Switch The hand controller with manual switch, avoid improper use and injure personnel or damage the robot, mold or molding machine. Please ensure the manual switch had been press down during manually operations. 3 positions enable switch 8.2 Servo Home Position Setting In manual mode, press the manual enable switch, then touch , servo returen...
Page 62: Servo Setting
8.3 Servo Setting In manual mod, touch servo symbol into servo setting page. Ensure the servo had returned to home position or the servo control page can not be login. ①Servo axis: select the servo axis, for example choose Y as sertvo axis, touch Y into setting page.
Page 63: Port Monitor Setting
③Safety signal: display servo operating areas: external safe area, internal safe area, PA. (main arm)top safet area. ④Position shortcuts: servo quickly moves to desired position. Position shortcuts vary of the servo axes. Servo axis Position Shortcuts 1 Position Shortcuts 2 X-axis safe area starting in mold safe area endpoint in mol...
Page 64 Touch and off the port. Note: before touch the ON or OFF port, please ensure the manual enable switch had been pressed down. 64(176)
Page 65: Program Setting
9. Program Setting Touch program operating into “Run Control” page. Set current programs in manual, auto, cycle or step. Program setting see as the picture: ① Current programs order list: the list of current programs. ② Statistics: display auto program running messages. Ø...
Page 66 ⑧ Follow: in auto running mode, touch Follow, the system will follow current program. 66(176)
Page 67: Teach Program
10. Teach Program Touch “Teach” to modify current programs. In Manual mode into Teach Program, the current programs can execute adding or deleting program orders, adjusting position, editing parameters. In auto mode into teach mode, the current programs only can execute editing parameters. Teach Program see as the picture: l m n o p ①Order list: current program orders list.
Page 68: Function Page
11. Function Page 11.1 Function Menu Touch MENU into function menu page: ⑨ 1) System Setup: setup system parameters, running parameters, signals and reference parameters. 2) Servo Setup: setup servo parameters, including each servo axis safety area, stroke and direction. 3) UI Setup: setup user interface, parameters, language and screen.
Page 69: System Setup
System Setup 11.2 11.2.1 System Parameter In function menu page, touch “system setup” into setting page. Total with 3 pages: run, signals and reset. 1) Run: setup running system parameters, like production plan, remind number and so on. 2) Signals: usage and polarity inversion. 3) Reset: reset parameters to default setting, including system, servo, user password and cavity numbers.
Page 70: Signals Polarity
system will alarm. “0” stands for without reject alarm. 4、Beep times: setup the beep alarm times. 5、Beep delay: setup beep alarm delay time. 2) Rotate when travel: during robot arm traverse, main arm vertical or horizontal. 3) Open door when running: during system running, open the IMM safety door, the system stop or continue running.
Page 71: Alarm Ignore
11.2.4 Alarm Ignore Enable alarm ignore in EM1: extention module 1 enable alarm ignore. For example, touch “Vac 1-07” to ignore it alarm. 11.2.5 Initialization Select signals use or not use. If use “IMM mold close signal”, please press “IMM MCP”.
Page 72: Servo Setting
Servo Setting 11.3 11.3.1 Servo Parameters In function menu page, touch servo setup, total with 6 setting, safety, Shortcut, Hor (crosswise axis), Ver (vertical axis), Other and Dir (direction). 1) Safety: setup safety area for each servo axis. 2) Shortcut: quickly locate position for each servo axis in manual mode. 3) Hor: setup parameters of crosswise axis.
Page 73: Shortcut
wrong setting. 3) Travelling (traverse) axes external safe area: setup the stroke of traverse placing outside mold. The ending point must greater than beginning point. During setting the stroke, the safety area sensor on traverse outside mold must with signal to avoid wrong setting. 4) Travelling (traverse) axes internal safe area: setup the stroke of traverse picking in mold.
Page 74: Servo Machine Parameter
3) Product arm vertical postion for catch: setup vertical arm position when robot arm down to catch products in mold. 11.3.4 Servo Machine Parameter The following is the step of setting crosswise servo axis, other servo axes setting are the same. 1) Softare distance: setup software distance for crosswise servo axis.
Page 75: User Interface Setup
User Interface Setup 11.4 In function menu page, touch UI setup, see as the picture: 1) Language: select different langue. 2) Screensave time: setup save screen time, 0m stands for no save screen, 30m is the longest time. 3) Backlight brightness: adjust backlight of screen, 1 for darkest, 9 for brightest.
Page 76: Position Adjustment
4) Recalibrate the touch screen: if screen appears error, touch “Recalibrate” button to recalibrate. 5) Vibration feedback: selected it, if system alarming, the hand controller will vibrate to remind user. 6) Key tone: selected it, press hand controller buttons with sound. 7) Touch tone: selected it, touch screen with sound.
Page 77 Setup splash, wallpaper, information. All the pictures should be saved as image format, see as the following table: image name size format instruction Splash.png 800×600 plash: image of startup screen Wallpaper.png 800×407 wallpaper: image of stand-by screen information: vendor information image Information.png 800×407 displays in system...
Page 78: Update Information
11.6.1 Update Information 1) Splash: import startup screen images from USB memory. 2) Wallpaper: import stand-by screen from USB memory. 3) Information: import manufacturer information from USB memory. 4) Popup: touch “popup” before unplugging USB memory. 5) Refresh: touch refresh to search files in USB memory. 11.6.2 Update Port Name 78(176)
Page 79: Update Parameters
1) Import: import file from USB memory and save it as diresed name. 2) Reset: reset the port to initial value. 11.6.3 Update Parameters 1) Export: export system and servo parameters to USB memory. 2) Import: import system and servo parameters from USB memory to system. 11.6.4 Update Software 79(176)
Page 80: System Log
1) Upgrade: upgrate system software. 2) Restore: restore system software. 3) Reboot: reboot system softeware 11.6.5 System Log 1) Export: export system log. 2) Clear: clear system log. The USB memory should be FAT32 forma. The following are the steps of updating hand controller software: 1) Copy updating files to USB memory 2) Plug USB memory to hand controller 3) Touch “upgrade”...
Page 81: Alarm Message
12. Alarm Message Current Alarms 12.1 Touch “ALARM”, current alarm message displays on first page. Total display 12 messages one page and assort as alarm reasons. Current alarms message see following picture: 1) Alarm Sources: total with 12 alarm sources. If alarming, the signal light will bright to remind.
Page 82: Alarm Message Instruction
Alarm Message Instruction 12.3 Alarm No. Alarm Message Detailes [031] No IMM auto signal. [032] No IMM safety door signal. [033] Production plan had been finished. [034] Reject exceed in auto mode. [039] Disable mold close, sub-arm not in safety area. [040] Disable mold close, main arm not in safety area.
Page 83 No “medium mold open” signal, main arm up/down not safety. [055] [056] Traverse axis not in safety area, main arm up/down not safety. [057] Main arm crosswise stroke exceed mold safety area. [066] Robot stop auto running, IMM safety door had been opened. Please check the system setting.
Page 84 [144] Main arm vertical servo axis not on position. [145] Main arm vertical servo axis no signal. [146] Traverse servo axis alarm. [147] Traverse servo axis not on position. [148] Traverse servo axis no signal. [149] IMM emergency stop, please check it. Robot emergency stop! The emergency stop button on robot hand controller had [150] been pressed.
Page 85: Maintenance
13. Maintenance General 13.1 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 86: Assembly Diagram
14. Assembly Diagram 14.1 Traverse Unit (ST3/5-S and ST3/5-T-S) 1. cover of traverse beam 2. safety sensor panel of mold 3. limited sensor panel 4. belt fixing frame 5. belt splint connecting piece 6. synchronous belt 7. belt pressure plate 8.
Page 87: Crosswise Unit (St3-S)
14.2 Crosswise Unit (ST3-S) 1. left cover on crosswise arm 2. crosswise aluminum profile 3. crosswise arm limit stopper 4. sensor plate of crosswise arm 5. rack 6. linear guide rail 7. arm 8. crosswise drag chain 9. fixing rack blocks 10.
Page 88: Crosswise Unit (St5-S)
14.3 Crosswise Unit (ST5-S) 1. left cover on crosswise arm 2. crosswise aluminum profile 3. crosswise arm limit stopper 4. sensor plate of crosswise arm 5. rack 6.linear guide rail 7. crosswise drag chain on sub-arm 8. sub-arm 9. main arm 10.
Page 89: Main Arm (St3/5-S)
14.4 Main Arm (ST3/5-S) 1. flip mechanism 2. fixing belt plate on main arm 1 3. main arm aluminum profile 4. spare supporting frame for air tube 5. sensor limit plate of arm 6. main arm cover 7. connector of drag chain 8. drag chain of main arm (up/down) 9. belt pressure plate 1 10.
Page 90: Sub-Arm Unit (St5-S)
14.5 Sub-arm Unit (ST5-S) 1. linear guide rail 2. connector of sub-arm (up/down) 3. limit sensor plate of arm 4. sub-arm aluminum profile 5. synchronous belt 6. connecting shaft 7. pulley belt 8. bearing 9. home position sensor plate 10. grip 11.
Page 91: Traverse Unit (St3/5-S-T)
14.6 Traverse Unit (ST3/5-S-T) 1. base 2. fixing block of traverse beam 3. end cover of traverse beam 4. fixed slider 5. limit sensor plate 6. linear guide rail 7. belt fixing frame 2 8. buffer unit 9. buffer cap 10.
Page 92 37. lock 38. T-plastic handle 39. cover of sliding seat 40. travese drag chain 41. fixing frame of belt 1 42. safety sensor plate in mold 43. end cover of traverse beam 44. traverse aluminum profile 45. supporting frame of traverse drag chain 46.
Page 93: Crosswise Unit (St3-S-T)
14.7 Crosswise Unit (ST3-S-T) 1. crosswise drag chain on main arm 2. cover of crosswise drag chain 3. cover of crosswise arm 4. crosswise aluminum profile 5. rack fixing block 6. rack 7. linear guide rail 8. main arm 9. sensor plate of crosswise 10.
Page 94: Crosswise Unit (St5-S-T)
14.8 Crosswise Unit (ST5-S-T) 1. crosswise drag chain on main arm 2. cover of crosswise drag chain 3. crosswise drag chain on sub-arm 4. left cover of crosswise arm 5. crosswise aluminum profile 6. rack fixing block 7. rack 8. linear guide rail 9.
Page 95: Main Arm (St3/5-S-T)
14.9 Main Arm (ST3/5-S-T) 1. flip mechanism 2. main arm aluminum profile 3. supporting plate of pulley 4. proximity switch 5. mounting plate of proximity switch 6. mounting frame of main arm 7. synchronous belt 2 8. special wahser 9. cover of mounting frame for ST3-S main arm 10.
Page 96 27. digit display pressure switch 28. buffer cap 29. buffer unit 30. position limit plate 31. transition aluminum profile of main arm 32. belt fixing block on main arm (up) 33. fixing plate of pulley 1 34. fixing block 1 35.
Page 97: Sub-Arm (St5-S-T)
14.10 Sub-arm (ST5-S-T) 1. welded assemblies of sub-arm 2. belt tuning plate 3. fixing plate of pulley 1 4. bearing 5. fixing plate of pulley 6. grip 7. pulley 8. connecting shaft of telescopic arm 9. fixing plate of pulley 2 10.
Page 98 29.distribution plate of sub-arm 30. belt pressure plate 2 31. belt splint connecting piece 32. mounting frame of sub-arm 33. synchronous belt 1 34. cover of mounting frame for sub-arm 35. synchronous wheel 36. pulley belt 37. connecting shaft 38. mounting plate of proximity switch on sub-arm 39.
Page 99: Traverse Unit (St3/5-S Medium Telescopic)
14.11 Traverse Unit (ST3/5-S Medium Telescopic) 1. control box 2. base 3. traverse aluminium profile 4. cover of traverse beam 5. limit sensor block 6. position limit frame 7. linear guide rail 8. traverse rack 9. linear guide rail 10. silding seat 11.
Page 100: Crosswise Unit (St3-S Medium Telescopic)
14.12 Crosswise Unit (ST3-S Medium Telescopic) 1. cover of crosswise drag chain 2. crosswise beam 1 3. limit stopper 4. crosswise beam 2 5. sensor plate 6. limit stopper 7. linear guide rail 8. crosswise drag chain 9. main arm 10.
Page 101: Crosswise Unit (St5-S Medium Telescopic)
14.13 Crosswise Unit (ST5-S Medium Telescopic) 1. cover of crosswise drag chain 2. crosswise beam 1 3. crosswise beam 2 4. mounting frame 5. limit stopper 6. sensor plate 7. linear guide rail 8. crosswise drag chain on main arm 9.
Page 102: Main Arm (St3/5-S Medium Telescopic)
14.14 Main Arm (ST3/5-S Medium Telescopic) 1. flip cylinder 2. spare frame for air tube 3. vacuum generator 4. limit sensor plate (down) 5. main arm drag chain (up/down) 6. connector of drag chain 7. arm aluminum profile for medium type model 8.
Page 103 23. eccentric wheel of gear 24. mounting frame of main arm 25. proximity switch 26. mounting plate of proximity switch 27. belt pressure plate of main arm 28. belt splint connecting piece 29. arm pulley for telescopic arm 30. mounting plate of linear slider 1 103(176)
Page 104: Sub-Arm (St5-S Medium Telescopic)
14.15 Sub-arm (ST5-S Medium Telescopic) 1. grip 2. mounting plate of grip 2 3. mounting plate of grip 1 4. sub-arm aluminium profile for medium type 5. sub-arm drag chain (up/down) 6. connector of sub-arm drag chain (up/down) 7. slider position limit block 8.
Page 105 24. proximity switch 25. belt pressure plate of main arm 1 26. belt splint connecting piece 27. arm pulley for telescopic 28. mounting plate of linear linear slider 2 105(176)
Page 106: Traverse Unit (St3-S-L-T)
14.16 Traverse Unit (ST3-S-L-T) 1. base 2. fixing plate of control box 3. connecting plate of control box 4. control box 5. limit sensor plate 6. supporting frame of crosswise drag chain 7. drag chain 8. proximity switch 9. main frame parts 10.
Page 107: Crosswise Unit (St3-S-L-T)
14.17 Crosswise Unit (ST3-S-L-T) 1. main frame parts 3 2. linear guide rail 3. packing position limit unit on corsswise 4. crosswise beam 1 5. crosswise rack for ST3-S-L 6. welded assemblies of crosswise aluminium profile 7. vacuum generator 8. cover of crosswise aluminium profile 9.
Page 108: Main Arm (St3-S-L-T)
14.18 Main Arm (ST3-S-L-T) 1. cover 2. drag chain frame (up/down) 3. connector of drag chain (up/down) 4. the second aluminum profile for ST3-S-L-T 5. slider limit block 6. main arm drag chain 7. fixing tooth plate for the second arm section 8.
Page 109 29. limit sensor plate 30. home position sensor plate 31. arm tension pulley 32. connection plate of flip cylinder 33. spare frame for air tube 109(176)
Page 110: Pneumatic Schematic Diagram
15. Pneumatic Schematic Diagram 15.1 ST3-S suction flip cylinder spare spare 110(176)
Page 111: St5-S
15.2 ST5-S suction flip cylinder gripper cylinder spare spare spare 111(176)
Page 112: Electrical Control Charts (St3-S)
16. Electrical Control Charts (ST3-S) 16.1 Power Supply Wiring Diagram 112(176)
Page 113: Dc Power Supply Diagram
16.2 DC Power Supply Diagram 113(176)
Page 114: Traverse Input And Output Wiring Diagram
16.3 Traverse Input and Output Wiring Diagram 114(176)
Page 115: Main Arm Signal Input Wiring Diagram
16.4 Main Arm Signal Input Wiring Diagram 115(176)
Page 116: Main Arm Signal Output Wiring Diagram
16.5 Main Arm Signal Output Wiring Diagram 116(176)
Page 117: Pneumatic Sub-Arm Signal I/O Wiring Diagram
16.6 Pneumatic Sub-arm Signal I/O Wiring Diagram 117(176)
Page 118: Z-Axis Panasonic Servo Drive I/O Wiring Diagram
16.7 Z-axis Panasonic Servo Drive I/O Wiring Diagram 118(176)
Page 119: Z-Axis Panasonic Servo Motor Wiring Diagram
16.8 Z-axis Panasonic Servo Motor Wiring Diagram 119(176)
Page 120: X-Axis Panasonic Servo Drive I/O Wiring Diagram
16.9 X-axis Panasonic Servo Drive I/O Wiring Diagram 120(176)
Page 121: X-Axis Panasonic Servo Motor Wiring Diagram
16.10 X-axis Panasonic Servo Motor Wiring Diagram 121(176)
Page 122: Y-Axis Panasonic Servo Drive I/O Wiring Diagram
16.11 Y-axis Panasonic Servo Drive I/O Wiring Diagram 122(176)
Page 123: Y-Axis Panasonic Servo Motor Wiring Diagram
16.12 Y-axis Panasonic Servo Motor Wiring Diagram 123(176)
Page 124: Z-Axis Delta Servo Drive I/O Wiring Diagram
16.13 Z-axis Delta Servo Drive I/O Wiring Diagram 124(176)
Page 125: Z-Axis Delta Servo Motor Wiring Diagram
16.14 Z-axis Delta Servo Motor Wiring Diagram 125(176)
Page 126: X-Axis Delta Servo Drive I/O Wiring Diagram
16.15 X-axis Delta Servo Drive I/O Wiring Diagram 126(176)
Page 127: X-Axis Delta Servo Motor Wiring Diagram
16.16 X-axis Delta Servo Motor Wiring Diagram 127(176)
Page 128: Y-Axis Delta Servo Drive I/O Wiring Diagram
16.17 Y-axis Delta Servo Drive I/O Wiring Diagram 128(176)
Page 129: Y-Axis Delta Servo Motor Wiring Diagram
16.18 Y-axis Delta Servo Motor Wiring Diagram 129(176)
Page 130: Z-Axis Cuinsico Servo Drive I/O Wiring Diagram
16.19 Z-axis Cuinsico Servo Drive I/O Wiring Diagram 130(176)
Page 131: Z-Axis Cuinsico Servo Motor Wiring Diagram
16.20 Z-axis Cuinsico Servo Motor Wiring Diagram 131(176)
Page 132: X-Axis Cuinsico Servo Drive I/O Wiring Diagram
16.21 X-axis Cuinsico Servo Drive I/O Wiring Diagram 132(176)
Page 133: X-Axis Cuinsico Servo Motor Wiring Diagram
16.22 X-axis Cuinsico Servo Motor Wiring Diagram 133(176)
Page 134: Y-Axis Cuinsico Servo Drive I/O Wiring Diagram
16.23 Y-axis Cuinsico Servo Drive I/O Wiring Diagram 134(176)
Page 135: Y-Axis Cuinsico Servo Motor Wiring Diagram
16.24 Y-axis Cuinsico Servo Motor Wiring Diagram 135(176)
Page 136: Signal Input Wiring Diagram
16.25 Signal Input Wiring Diagram 136(176)
Page 137: Signal Output Wiring Diagram
16.26 Signal Output Wiring Diagram 137(176)
Page 138: Electrical Control Charts (St5-S)
17. Electrical Control Charts (ST5-S) 17.1 Power Supply Wiring Diagram 138(176)
Page 139: Dc Power Supply Diagram
17.2 DC Power Supply Diagram 139(176)
Page 140: Traverse Input And Output Wiring Diagram
17.3 Traverse Input and Output Wiring Diagram 140(176)
Page 141: Main Arm Signal Input Wiring Diagram
17.4 Main Arm Signal Input Wiring Diagram 141(176)
Page 142: Main Arm Signal Output Wiring Diagram
17.5 Main Arm Signal Output Wiring Diagram 142(176)
Page 143: Sub-Arm Signal I/O Wiring Diagram
17.6 Sub-arm Signal I/O Wiring Diagram 143(176)
Page 144: Z-Axis Panasonic Servo Drive I/O Wiring Diagram
17.7 Z-axis Panasonic Servo Drive I/O Wiring Diagram 144(176)
Page 145: Z-Axis Panasonic Servo Motor Wiring Diagram
17.8 Z-axis Panasonic Servo Motor Wiring Diagram 145(176)
Page 146: X-Axis Panasonic Servo Drive I/O Wiring Diagram
17.9 X-axis Panasonic Servo Drive I/O Wiring Diagram 146(176)
Page 147: X-Axis Panasonic Servo Motor Wiring Diagram
17.10 X-axis Panasonic Servo Motor Wiring Diagram 147(176)
Page 148: Y-Axis Panasonic Servo Drive I/O Wiring Diagram
17.11 Y-axis Panasonic Servo Drive I/O Wiring Diagram 148(176)
Page 149: Y-Axis Panasonic Servo Motor Wiring Diagram
17.12 Y-axis Panasonic Servo Motor Wiring Diagram 149(176)
Page 150: X2-Axis Panasonic Servo Drive I/O Wiring Diagram
17.13 X2-axis Panasonic Servo Drive I/O Wiring Diagram 150(176)
Page 151: X2-Axis Panasonic Servo Motor Wiring Diagram
17.14 X2-axis Panasonic Servo Motor Wiring Diagram 151(176)
Page 152: Y2-Axis Panasonic Servo Drive I/O Wiring Diagram
17.15 Y2-axis Panasonic Servo Drive I/O Wiring Diagram 152(176)
Page 153: Y2-Axis Panasonic Servo Motor Wiring Diagram
17.16 Y2-axis Panasonic Servo Motor Wiring Diagram 153(176)
Page 154: Z-Axis Delta Servo Drive I/O Wiring Diagram
17.17 Z-axis Delta Servo Drive I/O Wiring Diagram 154(176)
Page 155: Z-Axis Delta Servo Motor Wiring Diagram
17.18 Z-axis Delta Servo Motor Wiring Diagram 155(176)
Page 156: X-Axis Delta Servo Drive I/O Wiring Diagram
17.19 X-axis Delta Servo Drive I/O Wiring Diagram 156(176)
Page 157: X-Axis Delta Servo Motor Wiring Diagram
17.20 X-axis Delta Servo Motor Wiring Diagram 157(176)
Page 158: Y-Axis Delta Servo Drive I/O Wiring Diagram
17.21 Y-axis Delta Servo Drive I/O Wiring Diagram 158(176)
Page 159: Y-Axis Delta Servo Motor Wiring Diagram
17.22 Y-axis Delta Servo Motor Wiring Diagram 159(176)
Page 160: X2-Axis Delta Servo Drive I/O Wiring Diagram
17.23 X2-axis Delta Servo Drive I/O Wiring Diagram 160(176)
Page 161: X2-Axis Delta Servo Motor Wiring Diagram
17.24 X2-axis Delta Servo Motor Wiring Diagram 161(176)
Page 162: Y2-Axis Delta Servo Drive I/O Wiring Diagram
17.25 Y2-axis Delta Servo Drive I/O Wiring Diagram 162(176)
Page 163: Y2-Axis Delta Servo Motor Wiring Diagram
17.26 Y2-axis Delta Servo Motor Wiring Diagram 163(176)
Page 164: Z-Axis Cuinsico Servo Drive I/O Wiring Diagram
17.27 Z-axis Cuinsico Servo Drive I/O Wiring Diagram 164(176)
Page 165: Z-Axis Cuinsico Servo Motor Wiring Diagram
17.28 Z-axis Cuinsico Servo Motor Wiring Diagram 165(176)
Page 166: X-Axis Cuinsico Servo Drive I/O Wiring Diagram
17.29 X-axis Cuinsico Servo Drive I/O Wiring Diagram 166(176)
Page 167: X-Axis Cuinsico Servo Motor Wiring Diagram
17.30 X-axis Cuinsico Servo Motor Wiring Diagram 167(176)
Page 168: Y-Axis Cuinsico Servo Drive I/O Wiring Diagram
17.31 Y-axis Cuinsico Servo Drive I/O Wiring Diagram 168(176)
Page 169: Y-Axis Cuinsico Servo Motor Wiring Diagram
17.32 Y-axis Cuinsico Servo Motor Wiring Diagram 169(176)
Page 170: X2-Axis Cuinsico Servo Drive I/O Wiring Diagram
17.33 X2-axis Cuinsico Servo Drive I/O Wiring Diagram 170(176)
Page 171: X2-Axis Cuinsico Servo Motor Wiring Diagram
17.34 X2-axis Cuinsico Servo Motor Wiring Diagram 171(176)
Page 172: Y2-Axis Cuinsico Servo Drive I/O Wiring Diagram
17.35 Y2-axis Cuinsico Servo Drive I/O Wiring Diagram 172(176)
Page 173: Y2-Axis Cuinsico Servo Motor Wiring Diagram
17.36 Y2-axis Cuinsico Servo Motor Wiring Diagram 173(176)
Page 174: Em12/Em67 Signal Input Wiring Diagram
17.37 EM12/EM67 Signal Input Wiring Diagram 174(176)
Page 175: Em12/Em67 Signal Output Wiring Diagram
17.38 EM12/EM67 Signal Output Wiring Diagram 175(176)
Page 176 176(176)

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Shini ST5-1300-2000DT-S User Manual

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Summary of Contents for Shini ST5-1300-2000DT-S