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MUSASHI ENGINEERING SHOTMASTER OX Series Instruction Manual

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Musashi Dosierroboter ShotMaster 500SX
153-407
Artikel-Nr.:
Hersteller Artikel-Nr.: SM500SX-3A-SET
Hersteller:
Musashi
Hier klicken und günstig bestellen!
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Summary of Contents for MUSASHI ENGINEERING SHOTMASTER OX Series

  • Page 1 Musashi Dosierroboter ShotMaster 500SX 153-407 Artikel-Nr.: Hersteller Artikel-Nr.: SM500SX-3A-SET Hersteller: Musashi Hier klicken und günstig bestellen! Zum PKE Webshop...
  • Page 2 Original instructions 　 MODEL   SHOTMASTER ΩX series SHOTMASTER SX series and customized products based on above products * Model, please refer to the Model List of P.2 PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 3: Introduction

    Introduction Thank you for purchasing the Musashi Desktop Robot ΩX/SX Series. Please read this instruction manual thoroughly before using this robot and use the product properly. The list of product models in this operation manual is shown in the table below. Stroke X-Y direction (mm) SM200ΩX-3A-SS SM300ΩX-3A-SS...

  • Page 4: Features

    Features  User Friendly This robot has excellent general-use application due to the newly developed teaching pendant, rich selection of commands, and various interpolation functions so that it can be used in a wide range of applications from research and development to mass production. ...
  • Page 5 Handling Instructions and Cautions Failure to follow the instructions shown below can lead to death or serious injury. WARNING Any operations not described in this instruction manual are prohibited. Be sure to read this manual to use the product safely. Be When using the power cord, follow the instructions below.
  • Page 6 Failure to follow the instructions shown below can lead to injury or damage to items in CAUTION the vicinity of this robot. Be sure to always follow the cautions. This robot may generate a large momentary thrust Do NOT use this robot in any place where it is force depending on the settings.
  • Page 7 Handling Instructions and Cautions Notes Follow the instructions shown below for proper use of this product. Wait for three minutes or more before turning the robot power on again after turning it off. Use only the parts and accessories specified by Musashi. Select containers and nozzles according to specifications such as Repeatedly turning the power on and off more than is necessary dispensing and consumption amounts.

  • Page 8: Table Of Contents

    Contents Introduction ....................2 Features ......................3 Handling Instructions and Cautions ............... 3 Contents ......................7 PART 1 Preparation ..................11 Compliance to Safety Standards ..................12 0. CE Marking......................12 1. UL Standards ......................12 Check Supplied Accessories ..................13 The name of each part ....................
  • Page 9 Configuration of Modes ....................33 Programming ........................37 0. Basic Operations ....................37 1. Programming Procedures ..................42 2. Commands ......................49 3. Editing Functions ....................114 4. Parameters ......................119 5. Channel List ......................137 Data Initialization ......................141 0.
  • Page 10 Part 4 Maintenance ..................187 Maintenance ......................... 188 0. Maintenance Parts ....................188 1. Consumables ...................... 188 2. Periodical inspection ................... 189 3．Fuse Replacement Procedure ................190 Part 5 Specifications .................. 191 Specifications ....................... 192 0. Product Specifications ..................192 1.
  • Page 11 PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 12: Part 1 Preparation

    PART 1 Preparation PART 1 Preparation PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 13: Compliance To Safety Standards

    SM-ΩX/SX Desktop Robot - Part 1 Preparation Compliance to Safety Standards 0. CE Marking Any specified product sold in the EU area is required to display the CE marking. The CE marking indicates that the product conforms to the mandatory safety requirements of the EU (EC) directives. It must be displayed by the manufacturer based on the self declaration.

  • Page 14: Check Supplied Accessories

    SM-ΩX/SX Desktop Robot - Part 1 Preparation Check Supplied Accessories  Main Unit  Supplied Accessories (2) Power Cord (3) Instruction Manual (1) Desktop Robot (4) Warranty Remarks: • Please see p. 252 for optional accessories and power cord types. PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 15: The Name Of Each Part

    SM-ΩX/SX Desktop Robot - Part 1 Preparation The name of each part 0．The name of each part 0-0. SM100SX-3A / SM100SX-3A-SS < Front View > Head Unit Work Base (Optional Accessory) Operation Button URGENCY STOP Button Power Switch USB Connection Connector T.P.
  • Page 16 SM-ΩX/SX Desktop Robot - Part 1 Preparation SM200SX-3A / SM200SX-3A-SS 0-1. SM200SX-3A-SS-01 < Front View > Head Unit Work Base (Optional Accessory) Operation Button EMERGENCY STOP Button Power Switch USB Connection Connector T.P. Connection Connector < Rear View > I/O 1 Connector Fuse Holder I/O 2 Connector OPTION Connector...
  • Page 17 SM-ΩX/SX Desktop Robot - Part 1 Preparation The name of each part 0-2. SM200ΩX-3A-SS 0-3. SM300ΩX-3A-SS SM300SX-3A / SM300SX-3A -3A-SS 0-4. SM400ΩX-3A-SS SM400SX-3A / SM400SX-3A -3A-SS 0-5. SM500ΩX-3A-SS SM500SX-3A / SM500SX-3A -3A-SS < Front View > Head Unit Work Base (Optional Accessory) Operation...

  • Page 18: Installation

    SM-ΩX/SX Desktop Robot - Part 1 Preparation Installation 0. Installation Place Install the desktop robot at the center of a level bench located at a height of 600 mm or more from the floor level. Do not enter the movement range of this robot while in operation. Doing so may cause injury or accident. Moving parts may protrude beyond the main unit external dimensions depending on the shape of the work base (please see the figure below and A in the table below).

  • Page 19: Device Connections

    SM-ΩX/SX Desktop Robot - Part 1 Preparation Device Connections 0. Power Source Connection Connect the desktop robot and dispenser power cords to an AC 100 to 240 V power supply. 背面図 Rear View Rear View * If using a two-prong outlet, use the supplied AC cord conversion plug (for Dispenser (Optional Accessory) two-prong).

  • Page 20: Pc Connection

    SM-ΩX/SX Desktop Robot - Part 1 Preparation 2. PC Connection Use the connection cable to connect with a PC (if using MuCAD dispensing pattern editing software). You cannot simultaneously connect the teaching pendant and a PC. Front View Front View パソコン...

  • Page 21: Dispensers Used And Corresponding Connection Cables

    SM-ΩX/SX Desktop Robot - Part 1 Preparation Device Connections 4. Dispensers Used and Corresponding Connection Cables Use a dispenser that matches your desired application. Please see the instruction manual of the dispenser used for details regarding connection procedures, dispensing conditions and similar items. Dispenser Connection Dispenser Models Cables...

  • Page 22: Holder Unit Installation

    SM-ΩX/SX Desktop Robot - Part 1 Preparation Holder Unit Installation 0. Holder Unit Installation 0-0． 3A Type You must separately purchase a holder unit for use with the type of dispenser container (such as syringe, cartridge or valve) you are using. This section explains holder unit installation if using a syringe (5 to 50 ml) as an example.
  • Page 23 PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 24: Part 2 Operation

    PART 2 Operation PART 2 Operation PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 25: Operations Performed Using This Desktop Robot

    SM-ΩX/SX Desktop Robot - Part 2 Operation Operations Performed Using this Desktop Robot 0. Example Movement Trajectories The following dispensing operations can be performed by creating programs for this robot. Linear Interpolation Circular Interpolation Dotted Application Line-Drawing Application Application Application Elliptical Interpolation Continuous Interpolation Spline Interpolation...

  • Page 26: Operating Directions Of Axes And Coordinates System

    SM-ΩX/SX Desktop Robot - Part 2 Operation 1. Operating Directions of Axes and Coordinates System X-Axis Movement Movement of X, Y, and Z Axes You can control desktop robot movement by inputting items such as commands and the coordinates of each axis to create programs.

  • Page 27: Startup And Shutdown Procedures

    SM-ΩX/SX Desktop Robot - Part 2 Operation Startup and Shutdown Procedures 0. Startup and Shutdown Procedures 0-0. Startup Procedures (Normal Specification) Turn on the desktop robot power Turn on the desktop robot power switch. Turn on the dispenser power Turn on the dispenser power switch. 0-1.

  • Page 28: Temporary Stop Procedures

    SM-ΩX/SX Desktop Robot - Part 2 Operation 0-2. Shutdown Procedures Turn off the dispenser power Turn off the dispenser power switch. Turn off the desktop robot power Turn off the desktop robot power switch. Please note the following: Never turn the power off when saving programs such as during use of program editing software. Doing so may damage the internal memory data resulting in faulty desktop robot operation.

  • Page 29: Startup And Shutdown Procedures

    SM-ΩX/SX Desktop Robot - Part 2 Operation Startup and Shutdown Procedures How to operate urgency/emergency stop 2-0．How to operate urgency/emergency stop (normal specification) Operation of Urgency/Emergency Stop Press the desktop robot [URGENCY STOP] or [EMERGENCY STOP] button. Resetting Operation of Urgency/Emergency Stop 1.
  • Page 30 SM-ΩX/SX Desktop Robot - Part 2 Operation 2-1. How to operate urgency/emergency stop (safety specification) When the user parameter 3 of the desktop robot is set to "SAFETY", operate the robot according to the following steps. Triggering emergency stop during operation Press the [EMERGENCY STOP] button on the desktop robot.

  • Page 31: Immediate Stop Procedures

    SM-ΩX/SX Desktop Robot - Part 2 Operation Startup and Shutdown Procedures 3. Immediate Stop Procedures Perform Immediate Stop Press the teaching pendant [IMMEDIATE STOP] button. Release Immediate Stop Press the teaching pendant [IMMEDIATE STOP] button again. The button pops up after being pressed. Press the teaching pendant [CLR] button.

  • Page 32: Desktop Robot Operation Buttons

    SM-ΩX/SX Desktop Robot - Part 2 Operation Desktop Robot Operation Buttons PROGRAM CH.   PROGRAM CH. Button Specifies the execution program channel during execution mode. (Channels 01 to 99) SHOT  SHOT Button  Dispenses liquid material (lights up while dispensing). RESET ...

  • Page 33: Teaching Pendant Operation Keys

    SM-ΩX/SX Desktop Robot - Part 2 Operation Teaching Pendant Operation Keys CMD Key EDIT Key CMDキー EDITキー CH Key AUX Key CHキー AUXキー CMD Key EDIT Key MODE Key MODEキー IMMEDIATE STOP Button 即停止ボタン モードを切り替えます。 Switches the mode. Immediately stops the robot. CH Key AUX Key ロボットを即停止させます。...

  • Page 34: Configuration Of Modes

    SM-ΩX/SX Desktop Robot - Part 2 Operation Configuration of Modes Modes are configured as follows if operating using the optional teaching pendant. You can transition between levels by pressing the specified key. You can toggle between display on/off for modes 3 to 7 by pressing the [SHIFT] + [MODE] keys. Level 1 Level 2 Level 3...
  • Page 35 SM-ΩX/SX Desktop Robot - Part 2 Operation Configuration of Modes Level 1 Level 2 Level 3 4. Check Mode (p. 143) 4-0. Check I/O (p. 143) ［ Ｃ Ｈ Ｅ Ｃ Ｋ 　 Ｍ Ｏ Ｄ Ｅ ］ ： ［ Ｃ Ｈ Ｅ Ｃ Ｋ 　 Ｉ ／ Ｏ ］ 　 　 ［...
  • Page 36 SM-ΩX/SX Desktop Robot - Part 2 Operation Level 1 Level 2 Level 3 5-3. User Parameters 3 (p. 128) ［ Ｕ Ｓ Ｅ Ｒ 　 Ｐ Ｒ Ｍ ３ ］ 　 ： ［ Ｓ Ｐ Ｅ Ｃ ］ 　 ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ： 　 　 　 　 　 　 　 　 　 　 　 　 　 ０...
  • Page 37 SM-ΩX/SX Desktop Robot - Part 2 Operation Configuration of Modes Level 1 Level 2 Level 3 7. Transfer between robots 7-0．Robot → TP (P.170) (P.170) ［ Ｒ Ｏ Ｂ Ｏ Ｔ 　 → 　 Ｔ Ｐ ］ 　 　 　 　 ０ ０ ３ ４ ９ Ｓ Ｔ Ｅ Ｐ Ｓ ［...

  • Page 38: Programming

    SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 0. Basic Operations 0-0. Teaching Pendant Top Menu There are two top pattern menus, and you can switch between them by using [SHIFT] + [MODE] keys. Pattern 1 is always displayed when the desktop robot power is turned on. Mode Pattern 1 Pattern 2...
  • Page 39 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 0-2. Select Items When the multiple selectable items of the top menu or within each mode are displayed, you can select the desired item using the [ Cursor] and [ Cursor] keys, and then press the [ENTER] or [> Cursor] key to fix your selection. If there is a value displayed on the side of the item, you can use the numeric keys to directly select the corresponding item.
  • Page 40 SM-ΩX/SX Desktop Robot - Part 2 Operation There are two patterns of item selection (cursor set at item) status. The status is normal when the cursor has been moved from another item. 0-4. Input Values Using the Numeric Keys Status Cursor Operation Key Operation Contents...
  • Page 41 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 0-5. Horizontal Direction Selection Status Cursor Operation Key Operation Contents [>] [<] Switches the selected item. Transition to locked status. Initial value is selected as long as the program [CLR] command parameter is being edited. [] Normal Item has only been selected.
  • Page 42 SM-ΩX/SX Desktop Robot - Part 2 Operation 0-7. Edit Values Using Jog Operation You can directly input the current position coordinates by using jog operation if coordinate values have been input during program creation. Use the direction keys to move to the desired coordinate, and press the [ENTER] or [> Cursor] key to input the coordinate value.

  • Page 43: Programming Procedures

    SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1. Programming Procedures 1-0. Programming  Commands Various individual "commands" function in order to make the desktop robot move.  Step A step is the smallest unit of a program into which commands are input one at a time. ...
  • Page 44 SM-ΩX/SX Desktop Robot - Part 2 Operation  Create New Channel Press the [MODE] key to display the initial screen. ［ Ｍ Ｏ Ｄ Ｅ ］ 　 　 　 　 　 　 ： ［ Ｅ Ｘ Ｅ Ｃ ． Ｍ Ｏ Ｄ Ｅ ］ 　 　 ＝...
  • Page 45 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 5: CORRECTION ( p. 101) 0: PTP MOTION ( p. 59) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 ［...
  • Page 46 SM-ΩX/SX Desktop Robot - Part 2 Operation  Command Input Procedures Input locations for values and other items are displayed as gray-highlighted characters in this instruction manual. Input each command value as described below. 1. The cursor is displayed at the input location and the numbers flash. ［...
  • Page 47 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-1. Inputting Commands, Values and Other Items into Programs You can program desktop robot movement by inputting commands, values and other items into each step. For movement of each desktop robot axis, you can operate each axis simultaneously by inputting values into commands and coordinates for <0-0: PTP MOTION>.
  • Page 48 SM-ΩX/SX Desktop Robot - Part 2 Operation 1-2. Coordinates (Specifying ABS and INC) There are two methods for inputting coordinate values. Inputting using INC (relative coordinates) is convenient because you do not have to calculate the second and following coordinate values from the origin return positions. ABS: Absolute Coordinates INC: Relative Coordinates Method for using origin coordinates...
  • Page 49 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-3．Speed Settings (PTP Speed and Interpolation Speed Settings) There are two methods for inputting speed values. In movement of each axis, the following two types of operation are available: PTP movement in which each axis moves to the end-point coordinate respectively, and interpolation operation in which all axes move to the end-point coordinates concurrently.

  • Page 50: Commands

    SM-ΩX/SX Desktop Robot - Part 2 Operation 2. Commands 2-0. List of Commands Used in Programs  0: PTP MOTION (Commands related to PTP movement) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 51 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming  1: CP Motion (Commands related to interpolation movement) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 ［...
  • Page 52 SM-ΩX/SX Desktop Robot - Part 2 Operation  2:STEP TOOLS (Commands for operating steps) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 53 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming  3: I/O IN (Commands related to signal input) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 54 SM-ΩX/SX Desktop Robot - Part 2 Operation  4: I/O OUT (Commands related to signal output) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 55 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming  5: CORRECTION (Commands for coordinate value correction operations) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 56 SM-ΩX/SX Desktop Robot - Part 2 Operation  6: COORDINATE (Commands for processing coordinate values as variables) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 57 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming  7: COUNT (Commands for processing counts) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 58 SM-ΩX/SX Desktop Robot - Part 2 Operation  8: PALLETIZE (Commands related to palletize movement) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 59 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming  9: DISPENSE (Commands related to dispensing operation) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 60 SM-ΩX/SX Desktop Robot - Part 2 Operation 2-1. Command Details  0: PTP MOTION 0-0: PTP MOTION PTP movement command Command for moving each specified axis to the end-point coordinates at the corresponding speed. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 •...
  • Page 61 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 0-2: RETURN Origin return operation command Command for moving each axis to the origin coordinates according to the specified operating order. You can specify the operating order or select to apply the default value. Input Items ［...
  • Page 62 SM-ΩX/SX Desktop Robot - Part 2 Operation Example Path Continuous Series (LINEAR) Parallel Intermittent (STEP) Continuous Series (LINEAR) Parallel Intermittent (STEP) Remarks: • Do not us a matrix command within the call destination of the channel. Doing so may result in misoperation. Example 1) P1: 15 Current Coordinates...
  • Page 63 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming  1: CP MOTION The interpolation speed number corresponds to the set value of <1. CP SPEED> of the speed data within parameter mode (please see p. 119). 1-0: STRAIGHT1 Linear interpolation operation command Command for moving the specified axis to the end-point coordinates by interpolation operation.
  • Page 64 SM-ΩX/SX Desktop Robot - Part 2 Operation 1-1: STRAIGHT2 Vector-type linear interpolation operation command Command for moving the XY axis to the end-point coordinates by interpolation operation. Specify the movement distance and direction on the XY coordinates. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 65 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-2: ELBOW L-shaped interpolation operation command Command for drawing an L-shaped trajectory by interpolation operation of the XY axis. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 66 SM-ΩX/SX Desktop Robot - Part 2 Operation 1-3: SQ. BRACKET Square bracket interpolation operation command Command for drawing a square-bracket shaped trajectory by interpolation operation of the XY axis. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 67 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-4: SQUARE Square-shaped interpolation operation command Command for drawing a square-shaped trajectory by interpolation operation of the XY axis. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 68 SM-ΩX/SX Desktop Robot - Part 2 Operation Example 1) S1: 40 S2: 20 R: 3 PATH: CCW START: 0 ANGLE: 15 V: 01 (30 mm/s) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 69 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-5: TRACK Track-shaped interpolation operation command Command for drawing a track-shaped trajectory by interpolation operation of the XY axis. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 70 SM-ΩX/SX Desktop Robot - Part 2 Operation 1-6: ARC1 Circular arc/circle interpolation operation command Command for drawing a circular arc or circle-shaped trajectory by interpolation operation of the XY axis. Used if inputting by using two-point coordinate specification. Input Items ［...
  • Page 71 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming Example 1) ARC/CIRCLE: ARC ABS/INC: INC X1: -20 Y1: -10.5 Current Xe: -28.5 Coordinates Ye: 16.5 V: 01 (30 mm/s) ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 72 SM-ΩX/SX Desktop Robot - Part 2 Operation 1-7: ARC2 Circular arc/circle interpolation operation command Command for drawing a circular arc or circle-shaped trajectory by interpolation operation of the XY axis. Used if inputting by using center point and center angle specification. Input Items ［...
  • Page 73 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-8: ARC3 Circular arc/circle interpolation operation command Command for drawing a circular arc or circle-shaped trajectory by interpolation operation of the XY axis. Used if inputting by using radius and center angle specification. Input Items ［...
  • Page 74 SM-ΩX/SX Desktop Robot - Part 2 Operation 1-9: ELPT. ARC Elliptical arc/ellipsis interpolation operation command Command for drawing an elliptical arc or ellipsis-shaped trajectory by interpolation operation of the XY axis. Input the radius and center angle specifications. Input Items ［...
  • Page 75 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-10: SPLINE Spline interpolation operation command Used to draw a smooth curved line that passes through the specified coordinates. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 76 SM-ΩX/SX Desktop Robot - Part 2 Operation Example 1) ABS/INC: ABS (Applied to all pass points) V: 01 (30 mm/s) Pass Point: 00 Pass Point: 04 Pass Point: 03 (Applied to all pass points) Pass point 00 (X, Y): (25, 23) Current Pass point 01 (X, Y): (30, 40) Coordinates...
  • Page 77 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-11: 3D ARC 3D circular arc/3D circle interpolation operation command Command for drawing a circular arc or circle-shaped trajectory by interpolation operation of each axis. Used if inputting by using two-point coordinate specification. You can also synchronize with the W axis.
  • Page 78 SM-ΩX/SX Desktop Robot - Part 2 Operation  1: CP MOTION Example 1) ARC/CIRCLE: ARC ABS/INC: INC Current Coordinates X1, Y1, Z1: -20, 20, 10 Xe, Ye, Ze: 0, 40, 20 V: 01 (30 mm/s) Current Coordinates ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 79 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-12: 3D ELL. ARC 3D elliptical arc/3D ellipsis interpolation operation command Command for drawing an elliptical arc or ellipsis-shaped trajectory by interpolation operation of each axis. Used if inputting by using two-point coordinate specification. You can also synchronize with the W axis.
  • Page 80 SM-ΩX/SX Desktop Robot - Part 2 Operation Example 1) ARC/CIRCLE: ARC ABS/INC: ABS X1, Y1, Z1: -20, 30, 10 Xe, Ye, Ze: 0, 60, 20 V: 01 (30 mm/s) Current Coordinates ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 81 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-13: ARC + W (For 4A type) Command for synchronizing the W axis with arc/circle and elliptical arc/ellipsis interpolation operations. This command announces synchronization of the W axis to the XY-axis arc/circle and elliptical arc/ellipsis interpolation operations of the immediately following steps at speed Vw (°/s) that is k times the path speed Va (°/s) of the corresponding arc.
  • Page 82 SM-ΩX/SX Desktop Robot - Part 2 Operation Example 1) <1-6: ARC1> and ARC + W Synchronization ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 83 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-14 STRING OUT Linear interpolation operation and signal output command This command combines commands <1-1: STRAIGHT2> and <4-0: OUT>. Signals are output at equal intervals during linear interpolation operation. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 84 SM-ΩX/SX Desktop Robot - Part 2 Operation  2: STEP TOOLS 2-0: TIMER Standby command Standby is performed for only the specified amount of time and then operation transitions to the next step. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 85 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 2-3: CALL CH. Specified channel execution command The specified channel is executed. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 86 SM-ΩX/SX Desktop Robot - Part 2 Operation 2-5: STOP Stop channel execution command Execution of the immediately following steps is canceled. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｓ Ｔ Ｅ Ｐ 　 Ｉ Ｎ Ｆ Ｏ ］ 　 　 ＝...
  • Page 87 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming  3: I/O IN 3-0: WAIT IN Command for standby until the specified input signal reaches the specified status Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 88 SM-ΩX/SX Desktop Robot - Part 2 Operation 3-2: IN JUMP Command for executing the specified step if the specified input signal is turned on, or for executing the immediately following step if not turned on Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 89 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 3-4: BIN. IN JMP Command for executing the specified step if the specified input signal (binary format) is turned on, or for executing the immediately following step if not turned on Input Items ［...
  • Page 90 SM-ΩX/SX Desktop Robot - Part 2 Operation 3-4: BIN. IN JMP Input Signal Number Allocation Table 0: OFF/1: ON Input First Digit (10 Second Digit (10 Signal Number ··· ··· ··· ··· ··· ··· ··· ··· ··· PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...
  • Page 91 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 3-5: BCD. IN JMP Command for executing the specified step if the specified input signal (BCD format) is turned on, or for executing the immediately following step if not turned on Input Items ［...
  • Page 92 SM-ΩX/SX Desktop Robot - Part 2 Operation 3-5: BCD. IN JMP Input Signal Number Allocation Table 0: OFF/1: ON Input First Digit (10 Second Digit (10 Third Digit (10 Signal IN10 IN11 IN12 Number ··· ··· ··· ··· ··· ··· ···...
  • Page 93 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming  4: I/O OUT 4-0: OUT Signal output command Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 94 SM-ΩX/SX Desktop Robot - Part 2 Operation 4-2: SET OUT Continuous signal output command Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 95 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 4-4: BINARY OUT Continuous signal output command (binary format) Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 96 SM-ΩX/SX Desktop Robot - Part 2 Operation 4-4: BINARY OUT Output Signal Number Allocation Table 0: OFF/1: ON Output First Digit (10 Second Digit (10 Signal OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 Number ··· ··· ··· ··· ··· ···...
  • Page 97 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 4-5: BCD OUT Continuous signal output command (BCD format) Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 98 SM-ΩX/SX Desktop Robot - Part 2 Operation 4-5: BCD OUT Output Signal Number Allocation Table 0: OFF, 1: ON Output First Digit (10 Second Digit (10 Third Digit (10 Signal OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 Number ···...
  • Page 99 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 4-6: BCD COUNT Time limit specification method signal output command Command for turning on the specified signal output (the specified count value is a BCD-converted value) for the specified time limit only. Input Items ［...
  • Page 100 SM-ΩX/SX Desktop Robot - Part 2 Operation 4-6: BCD COUNT Output Signal Number Allocation Table 0: OFF, 1: ON Output First Digit (10 Second Digit (10 Third Digit (10 Signal OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 Number ···...
  • Page 101 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 4-7: OUT RESET Signal output stop command Command for turning off all general-purpose signals (01 to 26), OUT27 and OUT29. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｓ Ｔ Ｅ Ｐ 　 Ｉ Ｎ Ｆ Ｏ ］ 　 　 ＝...
  • Page 102 SM-ΩX/SX Desktop Robot - Part 2 Operation  5: CORRECTION 5-0: OFFSET Coordinate value offset command Command for reflecting the offset coordinate values in each operation. Specify this command immediately before the step range where you want to execute coordinate value offset processing. The reflected value from offset processing is applied to the range of operations from the immediately following step until the specified step.
  • Page 103 SM-ΩX/SX Desktop Robot - Part 2 Operation is no immediately prior operation command, the XY origin coordinates are used as the center point. PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...
  • Page 104 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 5-2：SENSING COORDINATES This command is for registering the sensing coordinates. Please see the instruction manual of the optional accessories <Nozzle adjuster> for more detail. ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｓ Ｔ Ｅ Ｐ 　 Ｉ Ｎ Ｆ Ｏ ］ 　 　 ＝...
  • Page 105 SM-ΩX/SX Desktop Robot - Part 2 Operation  6: COORDINATE 6-0: SET VAR. Coordinate variable definition command Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 106 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 6-2: C. ADD VAR Command for adding coordinate value multiplied by specified count value to specified coordinate variable Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 107 SM-ΩX/SX Desktop Robot - Part 2 Operation 6-4: VAR. MOTIO PTP movement command for coordinate value of specified coordinate variable This command moves each specified axis to the coordinate value of the coordinate variable at the corresponding speed. Input Items ［...
  • Page 108 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 7-1: BCD SET C. Command for defining initial value of specified count value by BCD format input Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 109 SM-ΩX/SX Desktop Robot - Part 2 Operation 7-4: RESET CNT. Command for specifying "00000" for the specified count value Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 110 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming  8: PALLETIZE 8-0: SETPAL. 1 Pallet definition command Command used to define the pallet configuration for use during palletization. X Axis Used if you want a pallet configuration that is a rectangular grid layout.
  • Page 111 SM-ΩX/SX Desktop Robot - Part 2 Operation 8-1: SETPAL. 2 Pallet definition command Command used to define the pallet configuration for use during palletization. Used if you want a pallet configuration that is a rectangular grid or zigzag parallelogram layout. ［...
  • Page 112 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 8-2: CEL. MOTION Command for cell movement by PTP operation Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 113 SM-ΩX/SX Desktop Robot - Part 2 Operation Example 2) PALLET: 1 PATH: CCW/STEP Start-Point Coordinates Cell) 8-3: PALLETIZE Palletize repeated execution command Specify this command immediately after the step range that you want to repeatedly execute. The range from the specified step to the immediately following step is repeatedly executed. Input Items ［...
  • Page 114 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming  9: TEST SHOT 9-0: TEST SHOT TEST SHOT operation command Command for performing a test shot operation according to the specified test shot pattern. Specify this command immediately before the step range that you want to repeatedly execute. ［...

  • Page 115: Editing Functions

    SM-ΩX/SX Desktop Robot - Part 2 Operation 3. Editing Functions You can edit input programs when in edit mode. 1. Press the [EDIT] key to display the edit mode screen. 2. Press numeric keys [0] to [6] to select the edit item you want to execute. ［...
  • Page 116 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 3-1. INSERT STEP Inserts a new step immediately before the steps displayed up until this point. The command specification screen is displayed after insertion. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｅ Ｄ Ｉ Ｔ 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 117 SM-ΩX/SX Desktop Robot - Part 2 Operation 3-3. STEP MATRIX COPY Automatically creates a program to repeatedly execute the specified step range while moving in a grid pattern along the XY coordinates. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｅ Ｄ Ｉ Ｔ 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 118 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming Current Coordinates Example 1) PATH: CW, LINEAR P1: 15 X Axis P2: 8 ANGLE = -10 N1: 8 N2: 5 ANGLE: -10 BASE STEP: 0001 to 0010 ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｅ Ｄ Ｉ Ｔ 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...
  • Page 119 SM-ΩX/SX Desktop Robot - Part 2 Operation 3-4. DELETE STEP The specified step range is deleted. Input Items ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｅ Ｄ Ｉ Ｔ 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...

  • Page 120: Parameters

    SM-ΩX/SX Desktop Robot - Part 2 Operation rogramming 4. Parameters 4-0. SPEED PRM Parameters for specifying the movement speed of the desktop robot. ■ SM100SX-3A / 3A-SS ■ SM200SX-3A-Z / 3A-Z-SS ■ SM200SX-3A / 3A-SS ■ SM200SX-4A / 4A-SS ■ SM200SX-3A-SS-01 PTP Speed Settings ［...
  • Page 121 SM-ΩX/SX Desktop Robot - Part 2 Operation ■ SM300SX-3A / 3A-SS ■ SM300SX-4A / 4A-SS ■ SM400SX-3A / 3A-SS ■ SMΩX-3A-SS series ■ SM400SX-4A / 4A-SS ■ SMΩX-4A-SS series ■ SM500SX-3A / 3A-SS ■ SM500SX-4A / 4A-SS PTP Speed Settings ［...
  • Page 122 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 4-1．Basic upper limit speed for loaded object weight The table below shows the Basic upper limit speed for the transfer weight. The values are the reference values when the operating temperature is 25[℃]. The values may vary depending on the use conditions and the environment.
  • Page 123 SM-ΩX/SX Desktop Robot - Part 2 Operation ■ 2: SM200SX-3A-Z / Z-SS X Axis Y Axis Z Axis W Axis Loaded object Deceleration Basic Max. Basic Max. Basic Max. Basic Max. weight [kg] Setting [ms] Speed [mm/s] Speed [mm/s] Speed [mm/s] Speed [°/s] ■...
  • Page 124 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming ■ 4: SM300SX-3A / 3A-SS / 4A / 4A-SS X Axis Y Axis Z Axis W Axis Loaded object Deceleration Basic Max. Basic Max. Basic Max. Basic Max. weight [kg] Setting [ms] Speed [mm/s] Speed [mm/s] Speed [mm/s]...
  • Page 125 SM-ΩX/SX Desktop Robot - Part 2 Operation ■ 5: SM400SX-3A / 3A-SS / 4A / 4A-SS ■ 6: SM500SX-3A / 3A-SS / 4A / 4A-SS X Axis Y Axis Z Axis W Axis Loaded object Deceleration Basic Max. Basic Max. Basic Max.
  • Page 126 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming ■ 7: SM200ΩX-3A-SS / 4A-SS ■ 8: SM300ΩX-3A-SS / 4A-SS X Axis Y Axis Z Axis W Axis Loaded object Deceleration Basic Max. Basic Max. Basic Max. Basic Max. weight [kg] Setting [ms] Speed [mm/s] Speed [mm/s] Speed [mm/s]...
  • Page 127 SM-ΩX/SX Desktop Robot - Part 2 Operation ■ 9: SM400ΩX-3A-SS / 4A-SS ■ 10: SM500ΩX-3A-SS / 4A-SS X Axis Y Axis Z Axis W Axis Loaded object Deceleration Basic Max. Basic Max. Basic Max. Basic Max. weight [kg] Setting [ms] Speed [mm/s] Speed [mm/s] Speed [mm/s]...
  • Page 128 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 4-2. USER PRM1 Parameters for basic data settings of the teaching pendant. LANGUAGE (Display Language) ［ Ｕ Ｓ Ｅ Ｒ 　 Ｐ Ｒ Ｍ １ ］ 　 ： ［ Ｌ Ａ Ｎ Ｇ Ｕ Ａ Ｇ Ｅ ］ 　 　 　 　...
  • Page 129 SM-ΩX/SX Desktop Robot - Part 2 Operation 4-3. USER PRM2 Parameters for specifying the basic data of the desktop robot. VALID AXIS ［ Ｕ Ｓ Ｅ Ｒ 　 Ｐ Ｒ Ｍ ２ ］ 　 ： ［ Ｖ Ａ Ｌ Ｉ Ｄ 　 Ａ Ｘ Ｉ Ｓ ］ 　 　...
  • Page 130 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming ［ Ｕ Ｓ Ｅ Ｒ 　 Ｐ Ｒ Ｍ ２ ］ 　 ： ［ Ｔ Ｈ Ｅ Ｔ Ａ ］ 　 　 　 　 　 　 THETA (Theta Correction) 　 　 　 　 　 　 　 　 　 　 　 　 ： ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ 　 ０...
  • Page 131 SM-ΩX/SX Desktop Robot - Part 2 Operation Setting Origin Offset ［ Ｕ Ｓ Ｅ Ｒ 　 Ｐ Ｒ Ｍ ２ ］ 　 ： ［ Ｏ Ｒ Ｇ ． Ｏ Ｆ Ｆ Ｓ Ｅ Ｔ ］ 　 　 　 　 　 　 　 　 　 　 　 　 　 ： ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ 　 You can set an offset for the origin position.
  • Page 132 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 4-4. USER PRM3 Parameters used to set the basic data for the desktop robot. The initial default setting is "NORMAL".  0: Changing Settings 0-0. Changing by Use of Teaching Pendant SPEC ［...
  • Page 133 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 0-1. Changing by Using the Desktop Robot Main Unit You can change settings by using the desktop robot main unit if you are not holding the teaching pendant. Move to the basic data settings screen While pressing the [▼] button of "PROGRAM CH."...
  • Page 134 SM-ΩX/SX Desktop Robot - Part 2 Operation  1: Safety Specification The Machine Directive compliant products (SM300, 400, 500SX series, SMΩX series) are considered to conform to the Machine Directive on the condition that they are used in combination with the protection cover provided as our standard option (SMX-CV-DR-CE, SMX-CV-OP-CE) or another protection mechanism including appropriate safety circuits is prepared by the customer.
  • Page 135 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 1-1. Axis operation disabled state With the normal specification, the axis operation is disabled only by an urgency/emergency stop event. In the safety specification, however, it is disabled by any of the following three types of states: emergency stop, alarm, and operation prohibition.
  • Page 136 SM-ΩX/SX Desktop Robot - Part 2 Operation 1-3. Status transitions chart: axis operation enabled  axis transition disabled [Normal specification] Axis operation disabled Urgency/ Axis operation emergency possible stop [Safety specification] Axis operation disabled Operation prohibition Axis operation Alarm possible Emergency stop PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...
  • Page 137 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming  2: Automatic mode and manual mode In the safety specification, the user can select the automatic mode where all functions are available or the manual mode where the program operation is inhibited. Automatic All operations can be used without functional restriction.

  • Page 138: Channel List

    SM-ΩX/SX Desktop Robot - Part 2 Operation 5. Channel List The channel list displays a list of the channels that have been programmed and allows you to edit the channels. ［ Ｍ Ｏ Ｄ Ｅ ］ 　 　 　 　 　 　 ： ［ Ｃ Ｈ ． Ｌ Ｉ Ｓ Ｔ ］ 　 　 　 　 　...
  • Page 139 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 5-1. Editing Channel Programs You can use the channel list to edit a specified channel. ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｓ Ｔ Ｅ Ｐ 　 Ｉ Ｎ Ｆ Ｏ ］ 　 　 ＝...
  • Page 140 SM-ΩX/SX Desktop Robot - Part 2 Operation ［ Ｃ Ｈ ． 　 Ｌ Ｉ Ｓ Ｔ ］ 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 　 After editing is completed, press the [ENTER] key to return to Ｃ...
  • Page 141 SM-ΩX/SX Desktop Robot - Part 2 Operation Programming 5-4. Deleting Channels You can use the channel list to delete specified channels. ［ Ｃ Ｈ ． 　 Ｌ Ｉ Ｓ Ｔ ］ 　 　 ： [ E D I T M O D E ] 　...

  • Page 142: Data Initialization

    SM-ΩX/SX Desktop Robot - Part 2 Operation Data Initialization Mode for initializing data. Performing initialization deletes programs, and the speed parameters, user parameters 1 and 2, and channel list return to the default values. Please note the following: Be careful as performing initialization deletes all data. ［...

  • Page 143: Initializing User Parameters 2

    SM-ΩX/SX Desktop Robot - Part 2 Operation Data Initialization 2. Initializing User Parameters 2 Press the [FAST] and [CLR] keys. ［ Ｕ Ｓ Ｅ Ｒ 　 Ｐ Ｒ Ｍ ２ ］ 　 ： ［ Ｖ Ａ Ｌ Ｉ Ｄ 　 Ａ Ｘ Ｉ Ｓ ］ 　 Use the direction keys to move the cursor, and select [NO] to ＝...

  • Page 144: Check Mode

    SM-ΩX/SX Desktop Robot - Part 2 Operation Check Mode 0. CHECK I/O You can use CHECK I/O to check the input/output status of input/output signals. ［ Ｍ Ｏ Ｄ Ｅ ］ 　 　 　 　 　 　 ： ［ Ｃ Ｈ Ｅ Ｃ Ｋ 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　...

  • Page 145: Check Count

    SM-ΩX/SX Desktop Robot - Part 2 Operation Check Mode 1. CHECK COUNT CHECK COUNT allows you to check and reset count values. ［ Ｍ Ｏ Ｄ Ｅ ］ 　 　 　 　 　 　 ： ［ Ｃ Ｈ Ｅ Ｃ Ｋ 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　...

  • Page 146: Time Counter

    SM-ΩX/SX Desktop Robot - Part 2 Operation 2. TIME COUNTER The time counter displays the total operating time, operating time and operating time limit. ［ Ｍ Ｏ Ｄ Ｅ ］ 　 　 　 　 　 　 ： ［ Ｃ Ｈ Ｅ Ｃ Ｋ 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　...

  • Page 147: Program Input

    SM-ΩX/SX Desktop Robot - Part 2 Operation Program Input 0. Practice Let's take a look at programming using the below example. Example) Dot application is performed at 10 points on Work A in 10-mm intervals from the initial application point and along the +X axis.
  • Page 148 SM-ΩX/SX Desktop Robot - Part 2 Operation Try your hand at creating an actual program. If writing out your program, use a copy of the "Program Sheet (Supplementary Information)" on p. 169. Channel 001 (Main Routine) Step Command Data Comment Absolute coordinates (60, 60, 0, 0) for PTP MOTION (ABS) movement from origin...

  • Page 149: Program Input

    SM-ΩX/SX Desktop Robot - Part 2 Operation Program Input 1. Program Input Using the teaching pendant, input the contents written on the program sheet step by step on p. 169. Turn on the power of the desktop robot and teaching pendant, return each axis to their origin, and input the program. 1-0.
  • Page 150 SM-ΩX/SX Desktop Robot - Part 2 Operation ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 <PTP MOTION> category 　 　 　 　 　 　 　 　 　 　 　 　 ： ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ 　 Ｃ...
  • Page 151 SM-ΩX/SX Desktop Robot - Part 2 Operation Program Input ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 10. Use numeric keys [1], [0], [0] to 　...
  • Page 152 SM-ΩX/SX Desktop Robot - Part 2 Operation ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 Input Step 004 　 　 　 　 　 　 　 　 　 　 　 　 ： ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ 　 Ｃ...
  • Page 153 SM-ΩX/SX Desktop Robot - Part 2 Operation Program Input 1-1. Input the Subroutine Channel ［ Ｍ Ｏ Ｄ Ｅ ］ 　 　 　 　 　 　 ： ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 　 From the top menu, press the ：...
  • Page 154 SM-ΩX/SX Desktop Robot - Part 2 Operation ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 Check that <INC> is specified using 　 　 　 　 　 　 　 　 　 　 　 　 ： ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ 　 Ｃ...
  • Page 155 SM-ΩX/SX Desktop Robot - Part 2 Operation Program Input ［ Ｐ Ｒ Ｏ Ｇ ． Ｍ Ｏ Ｄ Ｅ ］ 　 ： ［ Ｃ Ｍ Ｄ ． 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 Input Step 003 　 　 　 　 　 　 　 　 　 　 　 　 ： ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ ＝ 　 Ｃ...
  • Page 156 SM-ΩX/SX Desktop Robot - Part 2 Operation Program Input 1-2. If an Error is Made Inputting Values Before pressing the [ENTER] key After pressing the [ENTER] key to fix the values: to fix the values: Press the [ Cursor] key, or the Press the [CLR] key to [SHIFT] and [ENTER] keys at the clear the values.
  • Page 157 SM-ΩX/SX Desktop Robot - Part 2 Operation Program Trial Operation (Test Mode) You can use test mode to perform single-step operation of a created program. ［ Ｍ Ｏ Ｄ Ｅ ］ 　 　 　 　 　 　 ： ［ Ｔ Ｅ Ｓ Ｔ 　 Ｍ Ｏ Ｄ Ｅ ］ 　 　 　...

  • Page 158: Program Examples

    SM-ΩX/SX Desktop Robot - Part 2 Operation Program Examples 0. Dotted Application For Six-Point Application Origin Origin  Dot application position Movement direction XY coordinate values Main Routine Step Command Data Comment Absolute coordinates (15, 15, 0) for PTP MOTION (ABS) –...
  • Page 159 SM-ΩX/SX Desktop Robot - Part 2 Operation Program Examples 0. Dotted Application For Six-Point Application Subroutine Channel 101 (10-Dote Application in +X-Axis Direction) Step Command Data Comment CH 100 subroutine (one-dot application) CALL CH. Channel 100  1st dot application Move to (+10, 0, 0) with position of PTP MOTION (INC) –...

  • Page 160: Line-Drawing Application

    SM-ΩX/SX Desktop Robot - Part 2 Operation 1. Line-Drawing Application For line-drawing application in rectangular shape Origin Origin Line-drawing application Desktop robot movement direction ) XY coordinate values Line-drawing application Desktop robot movement Main Routine direction ) XY coordinate values Step Command Data...

  • Page 161: Circular Application

    SM-ΩX/SX Desktop Robot - Part 2 Operation Program Examples 2. Circular Application For line-drawing application in a circular shape on the XY plane Origin Origin Line drawing Circular interpolation Desktop robot movement direction ) XY coordinate values Main Routine Step Command Data Comment...

  • Page 162: Curved-Line (Arc) Application

    SM-ΩX/SX Desktop Robot - Part 2 Operation 3. Curved-Line (Arc) Application For curved-line application of a circular arc on the XY plane Origin Origin Line drawing Circular interpolation Desktop robot movement direction ) XY coordinate values Main Routine Step Command Data Comment Absolute coordinates (25, 25, 30) for...

  • Page 163: Grid Pattern Dot Application Using Variables

    SM-ΩX/SX Desktop Robot - Part 2 Operation Program Examples 4. Grid Pattern Dot Application Using Variables For grid-pattern dot application on the XY plane. You can use "Variable" and "Count" commands to create a simple program. Example) 20-point (5  4) dot application is performed: 5 points at a 20-mm pitch in the X-axis direction and 4 points at a 10- mm pitch in the Y-axis direction.
  • Page 164 SM-ΩX/SX Desktop Robot - Part 2 Operation 4. Grid Pattern Dot Application Using Variables For grid-pattern dot application on the XY plane Subroutine Channel 103 Step Command Data Comment Movement to absolute coordinate +30 of PTP MOTION (ABS) – – –...

  • Page 165: Program Using Palletize

    SM-ΩX/SX Desktop Robot - Part 2 Operation Program Examples 5. Program Using Palletize Example) Pick & place from pallet 1 (10-mm pitch, 3  3) to pallet 2 (10-mm pitch, 4  4) Pallet 1 Pallet 2 Column I Column II Column III Column IV Column 1 Column 2 Column 3 ...
  • Page 166 SM-ΩX/SX Desktop Robot - Part 2 Operation 5. Program Using Palletize Subroutine Channel 104 (Pick Operation) Step Command Data Comment Movement to absolute coordinate +30 of Z PTP MOTION (ABS) – – – axis only (X, Y axis are disabled because blank (-) is displayed) TIMER 0.1s...

  • Page 167: Program Using In Jump

    SM-ΩX/SX Desktop Robot - Part 2 Operation Program Examples 6. Program Using IN JUMP You can use the IN JUMP command to specify the conditional branching due to an externally input signal midway through a program. <IN JUMP> Example) After moving to the application start-point coordinates (X: 100 mm, Y: 100 mm), program using the IN JUMP command to perform application if there is input from the work detection sensor and to enter standby if there is no input.

  • Page 168: Program Using Screw-Tightening Application

    SM-ΩX/SX Desktop Robot - Part 2 Operation 7. Program Using Screw-Tightening Application Main Routine Data Step Command Comment CALL CH. Channel 501 1st point screw tightening CALL CH. Channel 502 2nd point screw tightening CALL CH. Channel 503 3rd point screw tightening ORIGIN RETURNING Subroutine Channel 501 (1st Point Screw Tightening) Data...
  • Page 169 SM-ΩX/SX Desktop Robot - Part 2 Operation Program Examples 7. Program Using Screw-Tightening Application Subroutine Channel 503 (3rd Point Screw Tightening) Data Step Command Comment CALL CH. Channel 100 Screw pick-up operation Move to 3rd point of screw PTP MOTION (ABS) 140 100 tightening CALL CH.

  • Page 170: Program Sheet (Supplementary Information)

    SM-ΩX/SX Desktop Robot - Part 2 Operation Program Sheet (Supplementary Information) Date: ______________________________________ Program Name: ______________________________________________ Program Channel: ____________________________________________ Personnel Responsible: ________________________ Step Command ABS/INC Data Comment PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 171: Transfer Between Robots

    SM-SX Desktop Robot - Part 2 Operation Transfer between robots 0. Robot→ TP You can transfer programs saved to the desktop robot to the teaching pendant. The transferred program is saved to the teaching pendant and retained when the desktop robot power is turned OFF. ［...

  • Page 172: Tp → Robot

    SM-SX Desktop Robot - Part 2 Operation 1. TP → Robot You can transfer programs saved on the teaching pendant to the desktop robot. ［ Ｍ Ｏ Ｄ Ｅ ］ 　 　 　 　 　 　 ： ［ Ｔ Ｒ Ａ Ｎ Ｓ Ｆ Ｅ Ｒ ］ 　 　 　 　...

  • Page 173: Tp Preview

    SM-SX Desktop Robot - Part 2 Operation Transfer between robots 2. TP Preview You can display a list of the programs saved on the teaching pendant. ［ Ｍ Ｏ Ｄ Ｅ ］ 　 　 　 　 　 　 ： ［ Ｔ Ｒ Ａ Ｎ Ｓ Ｆ Ｅ Ｒ ］ 　 　 　 　...

  • Page 174: Parameters Available For Transfer

    SM-SX Desktop Robot - Part 2 Operation 3. Parameters Available for Transfer In “Robot → TP” and “TP → Robot” the following parameters are transferred in addition to the selected channel. Speed Parameter PTP Speed CP Speed JOG Speed Slope Unit User Parameters 2 Valid Axis Soft Limit...
  • Page 175 PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 176: Part 3 Troubleshooting

    PART 3 Troubleshooting Part 3 Troubleshooting PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 177: Troubleshooting

    SM-ΩX/SX Desktop Robot - Part 3 Troubleshooting Troubleshooting When a fault or other malfunction occurs, first refer to the following tables and implement corresponding measures. If the problem cannot be resolved with the measures described below, please contact the Musashi Sales Department. For contact details, see the back cover of this document.
  • Page 178 SM-ΩX/SX Desktop Robot - Part 3 Troubleshooting Symptom  Cause /  Measure  Value was input that exceeds the specified range of a command input ((( ERROR ))) item. Improper Command Data  Revise the program. ((( ERROR ))) ...

  • Page 179: Other Error Message Causes And Measures

    SM-ΩX/SX Desktop Robot - Part 3 Troubleshooting Troubleshooting When the user parameter 3 is set to "SAFETY" (please see p. 131), the following error numbers are changed or added. Error Symptom Cause/Measure  Emergency stop has been triggered. ((( ERROR ))) ...
  • Page 180 SM-ΩX/SX Desktop Robot - Part 3 Troubleshooting Message  Cause /  Measure Signal number is improper. Specify as follows:  Signal number is not within the specified range. 01 to 28 and  Specify a number within the specified range. 30 to 40 ...
  • Page 181 SM-ΩX/SX Desktop Robot - Part 3 Troubleshooting Troubleshooting Message  Cause /  Measure Line length is improper.  Value specified for STRAIGHT2 or STRING OUT command is less than the resolution. Specify as follows:  Specify a value greater than the resolution. Resolution ≤...
  • Page 182 SM-ΩX/SX Desktop Robot - Part 3 Troubleshooting Message  Cause /  Measure Origin return has not been completed.  Origin return has not been completed.  Perform origin return operation. [START] operation cannot be performed.  An attempt was made to register total steps exceeding 40,000. No further steps can be registered.

  • Page 183: Causes And Measures For Other Problems

    SM-ΩX/SX Desktop Robot - Part 3 Troubleshooting Troubleshooting 2. Causes and Measures for Other Problems Symptom  Cause /  Measure  Poor contact of the power plug.  Securely insert the robot power plug into the power socket.  Blown internal fuse. Desktop robot power does not turn on even if the power ...
  • Page 184 SM-ΩX/SX Desktop Robot - Part 3 Troubleshooting Symptom  Cause /  Measure  Desktop robot operation settings specify rapid stop and acceleration, such that tracking cannot be performed.  Lengthen the acceleration/deceleration settings. Reduce the operating There is vibration during axis speed.
  • Page 185 SM-ΩX/SX Desktop Robot - Part 3 Troubleshooting Troubleshooting Symptom  Cause /  Measure There is no response when  The teaching pendant could be faulty. the teaching pendant key is  Contact our sales department. pressed. The display screen of the teaching pendant cannot be ...
  • Page 186 SM-ΩX/SX Desktop Robot - Part 3 Troubleshooting Symptom  Cause /  Measure No communication between  The connection cable is not connected correctly. desktop robot and PC.  Connect the connection cable correctly.  The PC may be faulty. ...
  • Page 187 PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 188: Part 4 Maintenance

    Part 4 Maintenance Part 4 Maintenance PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 189: Maintenance

    SM-ΩX/SX Desktop Robot - Part 4 Maintenance Maintenance 0. Maintenance Parts It is necessary to periodically provide grease to directly moving parts. The following table indicates the applicable parts, specified grease and guidelines for grease application intervals. Guidelines for Grease Applicable Part Specified Grease Application Interval...

  • Page 190: Periodical Inspection

    SM-ΩX/SX Desktop Robot Part 4 Maintenance 2. Periodical inspection The table below lists the inspection items for the desktop robot other than described in the previous pages. The user must add inspection items for peripheral equipment and jigs at his own discretion. Inspection timing Daily Every 3...

  • Page 191: 3．Fuse Replacement Procedure

    SM-ΩX/SX Desktop Robot - Part 4 Maintenance 3．Fuse Replacement Procedure When a fuse is blown during use, replace the fuse according to the following steps: 1. Turn off the robot power and make sure to disconnect the power plug. 2. Turn the fuse holder cap counterclockwise while pressing it to remove. 3.

  • Page 192: Part 5 Specifications

    Part 5 Specifications Part 5 Specifications PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 193: Specifications

    SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications 0. Product Specifications 0-0. Specifications  0: SM100SX-3A Model SM100SX-3A Amount of control axes 3 axes Control system(*1) PTP control, Interpolation control X, Y axis 100 [mm] Movement range Z axis 50 [mm] W axis X, Y axis 1 to 800 [mm/s]...
  • Page 194 SM-ΩX/SX Desktop Robot - Part 5 Specifications  1: SM100SX-3A-SS Model SM100SX-3A-SS Amount of control axes 3 axes Control system(*1) PTP control, Interpolation control X, Y axis 100 [mm] Movement range Z axis 50 [mm] W axis X, Y axis 1 to 800 [mm/s] PTP operation speed Z axis...
  • Page 195 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications  2: SM200SX-3A / SM200SX-3A-Z SM200SX-3A SM200SX-3A SM200SX-3A-Z SM200SX-3A-Z Model SM200SX-3A SM200SX-3A-Z -EXT50 -EXT100 -EXT50 -EXT100 Amount of control axes 3 axes Control system(*1) PTP control, Interpolation control X / Y axis 200 [mm] Movement range Z axis...
  • Page 196 SM-ΩX/SX Desktop Robot - Part 5 Specifications  3: SM200SX-3A-SS / SM200SX-3A-Z-SS SM200SX-3A SM200SX-3A SM200SX-3A SM200SX-3A-Z SM200SX-3A-Z SM200SX-3A-Z Model -EXT50-SS -EXT100-SS -EXT50-SS -EXT100-SS Amount of control axes 3 axes Control system(*1) PTP control, Interpolation control X / Y axis 200 [mm] Movement range Z axis 50 [mm]...
  • Page 197 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications  4: SM200SX-3A-SS-01 SM200SX-3A-SS-01 SM200SX-3A-EXT50-SS-01 SM200SX-3A-EXT100-SS-01 Model Amount of control axes 3 axes Control system(*1) PTP control, Interpolation control X / Y axis 200 [mm] Movement range Z axis 50 [mm] PTP operation speed X / Y axis 1 to 800 [mm/s] setting range(*2)
  • Page 198 SM-ΩX/SX Desktop Robot - Part 5 Specifications  5: SM200SX-4A SM200SX-4A SM200SX-4A-EXT50 SM200SX-4A-EXT100 Model Amount of control axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 200 [mm] Movement range Z axis 50 [mm] W axis ±360 [°] X / Y axis 1 to 800 [mm/s]...
  • Page 199 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications ■ 6: SM200SX-4A-SS SM200SX-4A-SS SM200SX-4A-EXT50-SS SM200SX-4A-EXT100-SS Model Amount of control axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 200 [mm] Movement range Z axis 50 [mm] W axis ±360 [°] X / Y axis 1 to 800 [mm/s]...
  • Page 200 SM-ΩX/SX Desktop Robot - Part 5 Specifications  7: SM300SX-3A /4A SM300SX-3A SM300SX-3A SM300SX-4A SM300SX-4A Model SM300SX-3A SM300SX-4A -EXT50 -EXT100 -EXT50 -EXT100 Amount of control axes 3 axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 300 [mm] Movement range Z axis...
  • Page 201 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications  8: SM300SX-3A-SS / 4A-SS SM300SX-3A SM300SX-3A SM300SX-3A SM300SX-4A SM300SX-4A SM300SX-4A Model -EXT50-SS -EXT100-SS -EXT50-SS -EXT100-SS Amount of control axes 3 axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 300 [mm] Movement range Z axis...
  • Page 202 SM-ΩX/SX Desktop Robot - Part 5 Specifications ■ 9: SM400SX-3A / 4A SM400SX-3A SM400SX-3A SM400SX-4A SM400SX-4A Model SM400SX-3A SM400SX-4A -EXT50 -EXT100 -EXT50 -EXT100 Amount of control axes 3 axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 400 [mm] Movement range Z axis...
  • Page 203 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications ■ 10: SM400SX-3A-SS / 4A-SS SM400SX-3A SM400SX-3A SM400SX-3A SM400SX-4A SM400SX-4A SM400SX-4A Model -EXT50-SS -EXT100-SS -EXT50-SS -EXT100-SS Amount of control axes 3 axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 400 [mm] Movement range Z axis...
  • Page 204 SM-ΩX/SX Desktop Robot - Part 5 Specifications ■ 11: SM500SX-3A / 4A SM500SX-3A SM500SX-3A SM500SX-4A SM500SX-4A Model SM500SX-3A SM500SX-4A -EXT50 -EXT100 -EXT50 -EXT100 Amount of control axes 3 axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 500 [mm] Movement range Z axis...
  • Page 205 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications ■ 12: SM500SX-3A-SS / 4A-SS SM500SX-3A SM500SX-3A SM500SX-3A SM500SX-4A SM500SX-4A SM500SX-4A Model -EXT50-SS -EXT100-SS -EXT50-SS -EXT100-SS Amount of control axes 3 axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 500 [mm] Movement range Z axis...
  • Page 206 SM-ΩX/SX Desktop Robot - Part 5 Specifications ■ 13: SM200ΩX-3A-SS / 4A-SS SM200ΩX-3A SM200ΩX-3A SM200ΩX-3A SM200ΩX-4A SM200ΩX-4A SM200ΩX-4A Model -EXT50-SS -EXT100-SS -EXT50-SS -EXT100-SS Amount of control axes 3 axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 200 [mm] Movement range Z axis...
  • Page 207 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications ■ 14: SM300ΩX-3A-SS / 4A-SS SM300ΩX-3A SM300ΩX-3A SM300ΩX-3A SM300ΩX-4A SM300ΩX-4A SM300ΩX-4A Model -EXT50-SS -EXT100-SS -EXT50-SS -EXT100-SS Amount of control axes 3 axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 300 [mm] Movement range Z axis...
  • Page 208 SM-ΩX/SX Desktop Robot - Part 5 Specifications ■ 15: SM400ΩX-3A-SS / 4A-SS SM400ΩX-3A SM400ΩX-3A SM400ΩX-3A SM400ΩX-4A SM400ΩX-4A SM400ΩX-4A Model -EXT50-SS -EXT100-SS -EXT50-SS -EXT100-SS Amount of control axes 3 axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 400 [mm] Movement range Z axis...
  • Page 209 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications ■ 16: SM500ΩX-3A-SS / 4A-SS SM500ΩX-3A SM500ΩX-3A SM500ΩX-3A SM500ΩX-4A SM500ΩX-4A SM500ΩX-4A Model -EXT50-SS -EXT100-SS -EXT50-SS -EXT100-SS Amount of control axes 3 axes 4 axes Control system(*1) PTP control, Interpolation control X / Y axis 500 [mm] Movement range Z axis...
  • Page 210 SM-ΩX/SX Desktop Robot - Part 5 Specifications 0-1. Axis Motor Output/Thrust The table below indicates the motor output and thrust values for each axis.  0: SM100SX-3A / 3A-SS  1: SM200SX-3A / 3A-SS Motor Output [W] Motor Thrust [N] X Axis Y Axis Z Axis...
  • Page 211 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications  5: SM300SX-3A/ 3A-SS / 4A / 4A-SS  6: SM400SX-3A/ 3A-SS / 4A / 4A-SS  7: SM500SX-3A/ 3A-SS / 4A / 4A-SS Motor Output [W] Motor Thrust [N] X Axis Y Axis Z Axis W Axis...
  • Page 212 SM-ΩX/SX Desktop Robot - Part 5 Specifications  3: SM200SX-3A-Z / 3A-Z-SS Permitted Static Moment [N•m] Ma: Pitching Mb: Yawing Mc: Rolling X Axis 79.2 48.6 96.2 Y Axis 79.2 48.6 96.2 Z Axis 51.2 51.2  4: SM300SX-3A/ 3A-SS / 4A / 4A-SS ...
  • Page 213 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications 0-3 Moment Direction of Action and Reference Points ■ X and Y Axes SM100SX-3A / 3A-SS X-Axis Reference Ｘ軸基準 X-Axis Reference Ｍ ａ Ｍ ｂ Y-Axis Reference Ｙ軸基準 Y-Axis Reference （５０） X-Axis Reference Ｘ軸基準...
  • Page 214 SM-ΩX/SX Desktop Robot - Part 5 Specifications SM200SX-3A / 3A-SS / 3A-SS-01 SM200SX-3A-Z / 3A-Z-SS X-Axis Reference Ｘ軸基準 X-Axis Reference Ｍ ａ Ｍ ｂ Y-Axis Reference Y 轴基准 Ｙ軸基準 Y-Axis Reference （１００） X-Axis Reference Ｘ軸基準 X-Axis Reference X-Axis Reference Ｘ軸基準 Ｍ...
  • Page 215 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications SM300SX-3A / 3A-SS X-Axis Reference X-Axis Reference Ｍ ｂ Ｍ ｂ Y-Axis Reference Ｙ軸基準 Y-Axis Reference （１５０） X-Axis Reference Ｘ軸基準 X-Axis Reference X-Axis Reference Ｘ軸基準 Ｍ Ｍ ｃ ａ X-Axis Reference Y-Axis Reference Y-Axis Reference Ｙ軸基準...
  • Page 216 SM-ΩX/SX Desktop Robot - Part 5 Specifications SM400SX-3A / 3A-SS X-Axis Reference Ｘ軸基準 X-Axis Ｍ ｂ Reference Ｍ ｂ Y-Axis Reference Ｙ軸基準 Y-Axis Reference （２００） X-Axis Reference Ｘ軸基準 X-Axis Reference X-Axis Reference Ｘ軸基準 Ｍ Ｍ ｃ ａ Y-Axis Reference Ｙ軸基準 Ｙ軸基準...
  • Page 217 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications SM500SX-3A / 3A-SS X-Axis Reference Ｘ軸基準 X-Axis Ｍ ｂ Reference Ｍ ｂ Y-Axis Reference Ｙ軸基準 （２５０） Y-Axis Reference X-Axis Reference Ｘ軸基準 X-Axis Reference X-Axis Reference Ｘ軸基準 Ｍ ｃ Ｍ ａ Y-Axis Reference Y-Axis Reference Ｙ軸基準...
  • Page 218 SM-ΩX/SX Desktop Robot - Part 5 Specifications SM200ΩX-3A-SS X-Axis Reference X-Axis Ｍ ｂ ｂ Reference Ｍ ｂ Y-Axis Reference Ｙ軸基準 Y-Axis Reference （１００） X-Axis Ｍ ａ Ｘ軸基準 Reference Ｍ ｃ Ｍ ｃ X-Axis Reference X-Axis Ｘ軸基準 Reference Ｍ ｃ Ｍ ａ Ｙ軸基準...
  • Page 219 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications SM300ΩX-3A-SS X-Axis Reference X-Axis Ｍ ｂ Reference Ｍ ｂ Y-Axis Reference Ｙ軸基準 Y-Axis Reference （１５０） X-Axis Reference Ｘ軸基準 Ｍ ａ Ｍ ａ Ｍ ｃ X-Axis Reference X-Axis Reference Ｘ軸基準 Ｍ ｃ Ｍ ａ...
  • Page 220 SM-ΩX/SX Desktop Robot - Part 5 Specifications SM400ΩX-3A-SS X-Axis Reference X-Axis Ｍ ｂ Reference Ｍ ｂ Y-Axis Reference Ｙ軸基準 Y-Axis Reference （２００） X-Axis Reference Ｘ軸基準 Ｍ ａ Ｍ ａ Ｍ ｃ X-Axis Reference X-Axis Reference Ｘ軸基準 Ｍ ｃ Ｍ ａ Y-Axis Reference Y-Axis Reference Ｙ軸基準...
  • Page 221 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications SM500ΩX-3A-SS X-Axis Reference X-Axis Ｍ ｂ Reference Ｍ ｂ Y-Axis Reference Ｙ軸基準 （２５０） Y-Axis Reference X-Axis Reference Ｘ軸基準 Ｍ ａ Ｍ ｃ X-Axis Reference X-Axis Reference Ｘ軸基準 Ｍ ｃ Ｍ ａ Y-Axis Reference Y-Axis Reference Ｙ軸基準...
  • Page 222 SM-ΩX/SX Desktop Robot - Part 5 Specifications ■ Z Axis SM100SX-3A / 3A-SS SM200SX-3A / 3A-SS / 3A-SS-01 Ｍ ｃ Ｍ ｂ SM200SX-3A-Z / 3A-Z-SS Ｍ ｃ Ｍ ｂ PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...
  • Page 223 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications SM300SX-3A / 3A-SS SM400SX-3A / 3A-SS SM500SX-3A / 3A-SS Ｍ ｃ Ｍ ｂ PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...
  • Page 224 SM-ΩX/SX Desktop Robot - Part 5 Specifications SM200ΩX-3A-SS SM300ΩX-3A-SS SM400ΩX-3A-SS SM500ΩX-3A-SS Ｍ ｃ Ｍ ｂ PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 225: External View And Dimensions

    SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications 1. External View and Dimensions  1-0. SM100SX-3A / 3A-SS (150) (φ24) * Rubber Leg * Rubber Leg Pitch * Rubber Leg Pitch * Rubber Leg Max. Diam. Max. Diam. * Rubber Leg Pitch * Rubber Leg Pitch * Rubber Leg * Rubber Leg...
  • Page 226 SM-ΩX/SX Desktop Robot - Part 5 Specifications  1-2. SM200SX-3A-Z / 3A-Z-SS (160) (φ24) * Rubber Leg Pitch * Rubber Leg Max. Diam. * Rubber Leg Pitch * Rubber Leg Unit: mm Max. Diam. * Rubber Leg Pitch ■ 1-3. SM200SX-4A / 4A-SS (160) φ10 * Holder unit...
  • Page 227 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications  1-4. SM300SX-3A / 3A-SS (180) φ40 * Rubber Leg Diam. * Rubber Leg Pitch * Rubber Leg Pitch * Rubber Leg Max. Diam. Unit: mm  1-5. SM300SX-4A / 4A-SS (180) φ10 * Holder unit connection part.
  • Page 228 SM-ΩX/SX Desktop Robot - Part 5 Specifications ■ 1-6. SM400SX-3A / 3A-SS (190) φ40 * Rubber Leg Diam. * Rubber Leg Pitch * Rubber Leg Pitch * Rubber Leg Max. Diam. Unit: mm ■ 1-7. SM400SX-4A / 4A-SS (190) φ10 * Holder unit connection part.
  • Page 229 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications ■ 1-8. SM500SX-3A / 3A-SS (200) φ40 * Rubber Leg Diam. * Rubber Leg Pitch * Rubber Leg Pitch * Rubber Leg Max. Diam. Unit: mm ■ 1-9. SM500SX-4A / 4A-SS (200) φ10 * Holder unit connection part.
  • Page 230 SM-ΩX/SX Desktop Robot - Part 5 Specifications ■ 1-10. SM200ΩX-3A-SS (175) φ40 * Rubber Leg Diam. * Rubber Leg Pitch * Rubber Leg Pitch * Rubber Leg Unit: mm Max. Diam. ■ 1-11. SM200ΩX-4A-SS (175) φ10 * Holder unit connection part. φ40 * Rubber Leg Diam.
  • Page 231 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications ■ 1-12. SM300Ω X-3A-SS (180) φ40 * Rubber Leg Diam. * Rubber Leg Pitch * Rubber Leg Pitch * Rubber Leg Max. Diam. Unit: mm ■ 1-13. SM300ΩX-4A-SS (180) φ10 * Holder unit connection part.
  • Page 232 SM-ΩX/SX Desktop Robot - Part 5 Specifications ■ 1-14. SM400ΩX-3A-SS (190) φ40 * Rubber Leg Diam. * Rubber Leg Pitch * Rubber Leg Pitch * Rubber Leg Max. Diam. Unit: mm ■ 1-15. SM400ΩX-4A-SS (190) φ10 * Holder unit connection part. φ40 * Rubber Leg Diam.
  • Page 233 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications ■ 1-16. SM500ΩX-3A-SS (200) φ40 * Rubber Leg Diam. * Rubber Leg Pitch * Rubber Leg Pitch * Rubber Leg Max. Diam. Unit: mm ■ 1-17. SM500ΩX-4A-SS (200) φ10 * Holder unit connection part.

  • Page 234: Interface

    SM-ΩX/SX Desktop Robot - Part 5 Specifications 2. Interface 2-0. Interface Specifications  0:Connector Names <Rear view> SM100SX-3A / 3A-SS I/O 1 Connector Ｉ／Ｏ １コネクタ I/O 1 Connector I/O? ? 1 I/O 2 Connector Ｉ／Ｏ ２コネクタ I/O 1 Connector I/O? ? 2 Fuse Holder ヒューズホルダ...
  • Page 235 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications SM200ΩX-3A-SS / 4A-SS SM300ΩX-3A-SS / 4A-SS SM300SX-3A / 3A-SS / 4A / 4A-SS SM400ΩX-3A-SS / 4A-SS SM400SX-3A / 3A-SS / 4A / 4A-SS SM500ΩX-3A-SS / 4A-SS SM500SX-3A / 3A-SS / 4A / 4A-SS Synchro-Speed Connector ＦＮＷ...
  • Page 236 SM-ΩX/SX Desktop Robot - Part 5 Specifications  1: I/O 1 Connector 1-0：Connector Specifications Desktop Robot Main Unit Side 24-pin Centronics connector, female User Side (Recommended) Interface plug Model: 57-30240 (Manuf.: DDK Ltd.) 1-1：Pin No. <Desktop Robot Main Unit Side> 1-2：Function Assignment Pin No.
  • Page 237 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications 1-3：Circuit Diagram Name Pin No. Robot Internal Circuit Name Pin No. Non-contact MOSFET Output (NO) Robot Internal Circuit Non-contact MOSFET Output (NO) Non-contact MOSFET Output (NO) Non-contact MOSFET Output (NO) 1-4:Input/Output Specifications Signal Name Details Circuit...
  • Page 238 SM-ΩX/SX Desktop Robot - Part 5 Specifications  2: I/O 2 Connector 2-0：Connector Specifications Desktop Robot Main Unit Side 25-pin D-sub connector, female Name: D-sub connector, Model: HDBB-25P (05) (Manuf.: Hirose Electric) User Side (Recommended) Name: Plug case, Model: HDB-CTH (10) (Manuf.: Hirose Electric) 2-1：Pin No.
  • Page 239 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications 2-3：Circuit Diagram Name Pin No. Robot Internal Circuit Name Pin No. Robot Internal Circuit 2-4：Input/Output Specifications Signal Name Details Circuit Photo coupler isolation circuit Input IN1 to IN8 Current passing 10 mA or less, DC 24 V through the contact Photo coupler isolation circuit Circuit...
  • Page 240 SM-ΩX/SX Desktop Robot - Part 5 Specifications  3: OPTION Connector 3-0：Connector Specifications Desktop Robot Main Unit Side 37-pin D-sub connector, female Name: D-sub connector, Model: HDCB-37P (05) (Manuf.: Hirose Electric) User Side (Recommended) Name: Plug case, Model: HDC-CTH (10) (Manuf.: Hirose Electric) 3-1：Pin No.
  • Page 241 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications Function Assignment Pin No. Signal Name Detailed Descriptions During the period that the out number specified by OUT27 or the dispensing Dispensing in-progress button setting of USER PRM2 is on during a program, a signal is output signal output while there is a short circuit between the 30 pin and GND of this connector, (OUT27)
  • Page 242 SM-ΩX/SX Desktop Robot - Part 5 Specifications Circuit Diagram Name Pin No. Name Pin No. Robot Internal Circuit Robot Internal Circuit Name Name Pin No. Pin No. Robot Internal Circuit Robot Internal Circuit Dispensing In-Progress Signal Output Stop Signal Output Emergency Stop Signal Output Program Operating Signal Output Origin Return Completed Signal Output...
  • Page 243 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications 3-3：Safety Specification When the robot is used with the user parameter 3 set to "SAFETY" (please see p. 131), the pin assignments of the option connector are as indicated below. Function Assignment Pin No.
  • Page 244 SM-ΩX/SX Desktop Robot - Part 5 Specifications Function Assignment Pin No. Signal Name Details Program CH input 1 * 1 in binary at last digit of channel No. (IN18) Program CH input 4 * 4 in binary at last digit of channel No. (IN20) Program CH input 10 * 1 in binary at top digit of channel No.
  • Page 245 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications  4: Connection Example 4-0：Signal Input Each operation can be performed by short-circuiting a signal input pin and ground (GND) pin. Connect an input circuit by using non-voltage contact input or open collector transistor input. Input devices such as an external switch and sequencer are supplied by the user.
  • Page 246 SM-ΩX/SX Desktop Robot - Part 5 Specifications 4-4：Connection Example When an Internal Power Supply is Used Musashi Robot External Connection Device Side (To be supplied by the user) Musashi Robot External Connection Device Side (To be supplied by the user) Load Various Output Signals (Excluding non-voltage...
  • Page 247 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications  6: I/O PD Connector 6-0：Connector Specifications Desktop robot side DMCV 1.5/8-G1F-3.5-LR P20THR (Phoenix Contact) User side (recommended) DFMC1.5/8-STF-3.5 (Phoenix Contact) 6-1：Pin No. <Desktop robot side> 6-2：Function Assignment Pin No. Signal Name Details DC24V * DC24V is output when the desktop robot power is turned on.
  • Page 248 SM-ΩX/SX Desktop Robot - Part 5 Specifications 6-3：Circuit diagram KM1, KM2: These are safety relays with forcible guide contact mechanism inserted in the motor power lines of respective axes. This is an electromagnetic brake installed in the Z axis. It is opened when DC24V is applied. Model of safety relay with forcible guide Model: G7SA-4A2B (manufacturer: OMRON) contact mechanism...
  • Page 249 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications  7: Connection of safety unit A CE marking compliant safety circuit can be constructed by connecting a safety unit externally via the I/O PD connector. Construct an appropriate safety circuit referring to the connection example below. When this connection is adopted, set the user parameter 3 to "SAFETY".
  • Page 250 SM-ΩX/SX Desktop Robot - Part 5 Specifications 7-1：Example of connection to construct an interlock mechanism conforming to safety category 3 Recommended model of safety relay Model: G9SA-301 (manufacturer: OMRON) unit KM1, KM2: These are safety relays with forcible guide contact mechanism inserted in the motor power lines of respective axes.
  • Page 251 SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications  8: If I/O P/D connector is not used If the I/O P/D connector is not used, connect the I/O PD short connector that comes with the product. When the above connection is adopted, set the user parameter 3 to "NORMAL". 8-0：Connection example KM1, KM2: These are safety relays with forcible guide contact mechanism inserted in the motor power lines...
  • Page 252 SM-ΩX/SX Desktop Robot - Part 5 Specifications 2-1. Dispensers that can be Connected to this Robot and Corresponding Input Signals Dispenser Input/Output Signals Connecting Dispenser Models Connection Cable Connector OUT 27 OUT 14 OUT 15 OUT 16 OUT 18 IN 10 IN 11 IN 12 IN 14...

  • Page 253: Optional Accessories

    SM-ΩX/SX Desktop Robot - Part 5 Specifications Specifications 4. Optional Accessories 3-0. Optional Accessories TP-21 TPC-MINIDIN SMDS-WB□□□-□□ SM3-HS-□□ Teaching Pendant Teaching Cable Work Base Holder Unit SM3-NG-□□□ (For 3A) MuCAD CB-USB-A-B-1.5M Application Pattern Nozzle Guide Connection Cable Editing Software 3-1. Other Optional Accessories •...

  • Page 254: Part 6 After-Sales Service

    Part 6 After-Sales Service Part 6 After-Sales Service PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...

  • Page 255: After-Sales Service

    SM-SX Desktop Robot Part 6 After-Sales Service After-Sales Service MUSASHI ENGINEERING, INC. (Musashi) guarantees this product for a period of one year from the date of delivery to the location specified by the purchaser (warranty period). If a defect attributable to Musashi occurs during the warranty period, Musashi will replace or repair the parts.
  • Page 256 MEMO PK Elektronik Vertriebs GmbH, E-Mail: info@pkelektronik.com, Internet: www.pkelektronik.com...
  • Page 257 PK Elektronik Vertriebs GmbH Am Erlengraben 2 76275 Ettlingen Fon: +49(0)7243-60595-0 Fax: +49(0)7243-60595-25 E-Mail: info@pkelektronik.com Web: www.pkelektronik.com Hier klicken und günstig bestellen! Zum PKE Webshop...

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