Shini ST3-S Series Manual
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Shini ST3-S Series Manual

Shini ST3-S Series Manual

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Robot Manual (8 Inches)
of ST3/5-S2
Date：Feb., 2022
Version：Ver.A (English)

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Summary of Contents for Shini ST3-S Series

  • Page 1 Robot Manual (8 Inches) of ST3/5-S2 Date：Feb., 2022 Version：Ver.A (English)

  • Page 3: Table Of Contents

    Contents 1. General Description .................. 6 1.1 Coding Principle ................... 7 1.2 Application ................... 7 1.3 Features ....................8 1.4 Safety Instructions ................8 1.4.1 All Robots Safety Regulations ............. 8 1.4.2 Safety Concerns ................9 1.4.3 Hazard Signs and Warning symbols .......... 11 1.4.4 Emergency Stop Button .............
  • Page 4 4.7.1 Instruction interface presentation ..........34 4.7.2 Instructions description .............. 36 4.7.3 Instruction Procedure Example ..........50 5. Function Menu ..................52 5.1 Function Menu Screen ............... 52 5.2 System Setup Page ................53 5.3 Servo Setup Page ................61 5.4 UI SetupPage..................
  • Page 5 Picture1-6：Larger ST3 telescopic arm robot hoisting illustration ....15 Picture 4-1：Manual Safety Switch ..............29...

  • Page 6: General Description

    1. General Description Please read through the manual carefully before installing and using the machine to avoid personal injury or machine damage due to improper operation. ST3（5）-S/S2 series of robot feature compact size, decent outline, stable and easy operation, which are used for rapid and precise removal of sprue and runner for recycling after injection molding machine finished products lay aside in the position where needed 3 axes servo robot for hot runner plate mould, 5-axis for 2-plate mold, 3-plate mold or hot runner mold.

  • Page 7: Coding Principle

    M：Movable-beam Type Stationary without "M" Traverse Stroke (mm) Vertical Stroke (mm) Three Axis Servo Driven Traverse SHINI S：Standard Type, S2:UpgradedEuro, Type without “S” T：Telescopic Arm, Single Stage without “T” D：Double Arms, Single Arm without “D” Traverse Stroke (mm) Vertical Stroke (mm)

  • Page 8: Features

     ST3/5-1100-1800(D) -S suitable for the use with plastics injection molding machine 300T-450T.  ST3/5-700-1400(DT) -S suitable for the use with plastics injection molding machine 100T-200T.  ST3/5-900-1600(DT) -S suitable for the use with plastics injection molding machine 200T-300T.  ST3-1600-2200LT-S suitable for the use with plastics injection molding machine 650T-850T.

  • Page 9: Safety Concerns

    1) The operator, maintainer and relevant personnel must read through the manual, and make sure to understand the contents of the manual. 2) The series of robot is designed for injection molding machine (IMM) ONLY. 3) Any modification or altering against to the original design of the robot is not allowed.
  • Page 10 11) Turn off power supply and compressed air before maintenance and adjustment. Also set up warming singles and safety fences. 12) Please use SHINI original parts if there is any replacement. 13) Our robots apply to all safety standards which are required.

  • Page 11: Hazard Signs And Warning Symbols

    Theuser and operator should ensure the safety standard requirementtothe robot was satisfied. We don’t provide those safety equipment in our standard robot due to different situations and requirements owned by each user (except special equipment or which has been mentioned in this manual). Please acknowledge that the safety equipment must be installed prior to the testing and running of the robot, If such safety equipment is provided by user.

  • Page 12: Emergency Stop Button

    1.4.4 Emergency Stop Button The emergency stop button is at the upper right corner of controller. When the emergency stop button was pressed, the robot will stop running immediately. To prevent the products falling down form the grippers (jigs) or suction cups (vacuum device) of the EOAT, the compressed air will not be turning off when the robot was in emergency stop situation.
  • Page 13 The robot you order before shipping out from the manufacturer, it is been confirmed in good working condition, please check whether there is any damage during carrying, hanging and transporting. Pleasecarefully dismantle the components and packaging, if you found any damage of the robot , you can use the package to wrap it again.

  • Page 14: Picture 1-3：Small Single Stage/Telescopic Arm Robot Packing Illustration

    2. There is a hoisting ring in the components box in the s box in the robot package, after taking apart the robot package, install hoisting robot package, install hoisting ring on the both ends oftraverse arm, hoist the robotby the ends of traverse arm and traverse arm, hoist the robotby the ends of traverse arm and crosswise arm.

  • Page 15: Storage

    Picture1-5：Small single stage/telescopic arm robot hoisting illustration Small single stage/telescopic arm robot hoisting illustration Picture1-6：Larger ST3 telescopic arm robot Larger ST3 telescopic arm robot hoisting illustration 1.4.6 Storage 1) Remove the compressed air supply and air supply and shut down the power, if the robot won’t be use for a long time.

  • Page 16: Work Conditions

    2) Robots should be stored in ventilated, dry room to prevent rusty and electrical components get damp. 3) The robot should be carried out anti-rust, and need to be place cover on it to prevent dust and rain erosion, if robot do not use for a long time.

  • Page 17: 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 18: Controller

    2. Controller F1 Robot Reference/Homing – By pressing F1 together with safety switch （ aka dead man’s switch ） at the side of controller to return to Home/Reference position. F2 Robot stop（press F2 to stop auto-run and change to manual mode） F3 Robot auto-run start（when key switch toggled to AUTO, press F3 to start auto-run）...

  • Page 19: Screen Introduction

    2) Vacuum Suction Cup 2（when robot in manual mode, press the button to suck or release of the vacuum circuit） 3) Gripper 1（when robot in manual mode, press the button to grip or release of the gripper circuit） 4) Gripper 2（when robot in manual mode, press the button to grip or release of the gripper circuit）...

  • Page 20: Current State Bar

    1. Current State Bar ： Show main system state such as, Homing, A main system state such as, Homing, Auto/ Manual, program name, current user level, date/time, speed… anual, program name, current user level, date/time, speed… 2. Alarm Message Bar：Show the latest alarm how the latest alarm message.
  • Page 21 Manual mode：Enable manual operation. Auto Run standby mode：Able to operate in Auto Run, Single Cycle Run and Single S Able to operate in Auto Run, Single Cycle Run and Single Step Run. Auto Run：Full Auto, Automatically Run. Single Cycle Run：Automatically run one cycle of current program. of current program.

  • Page 22: User Management

    3. User Management 3.1 User level There are 4 user levels as below： 1) Operator：The system default user level which doesn’t need password and only perform basic operation such as Homing, Auto Run and I/O Monitoring … 2) Advanced operator：Advanced operator password(changeable) is necessary and provide extra manual operation and select the program for running…...

  • Page 23: User Login

    configuration System parameter × × √ √ reset Servo safety zone × × √ √ parameter Servo mechanical × × √ √ parameters User interface × × √ √ settings Mechanical × × √ √ positioning operation System vendor × ×...

  • Page 24: Change Password

    5) Exit：Click “Exit” button to logout current user, user level return to default operator level. 3.3 Change Password The second page of User Management screen is password modify, basic operation is the same as user login: ① ② ③ 1) Input old password：Input the user level old password to modify. 2) Input new password：Input the user level new password to modify.
  • Page 25 1) Password show：Show input password, at least one character, at most eight characters. 2) Return：Delete one password character before the cursor. 3) Enter：Confirm current input password. 4) Large/small letter switch：Switch keyboard large/small letter. 5) Clear: clear all characters.

  • Page 26: System Program Management

    4. System Program Management 4.1 Interface Introduce Click the current program name on title status bar enter system program management screen. System program can save at two positions: system storage and USB storage. In program management screen can change program between system storage and USB storage, use USB storage as intermediary, is convenient to share program in different system.

  • Page 27: Export Program Operation

    6) Save as：Copy the list select program, new program named the new file name input box. 7) Export to U disk: export the program selected in the system memory to U storage. When it inserts the U disk, it can import the program selected in the U storage into the system memory.

  • Page 28: Modify System Date Time

    1) Plug in USB storage； 2) Switch program list to USB storage； 3) Select list need to import program, it is means USB storage import program; such as select UTest3; 4) Input new program file name; such as input Test3; 5) Click [Import] button, take import operation;...

  • Page 29: Manual Operation

    The earliest system date can modify to January 1, 2000, date display format is The earliest system date can modify to January 1, 2000, date display format is year-month-day; system time is 24 hours format, time display format is hour: day;...
  • Page 30 When system is in manual mode, click any any servo position button above the function button bar on screen. Then entering the servo manual control branch page. (The operation is not allowed if the servo not yet Homing if the servo not yet Homing): 1) Select current servo axis：Select an a an axis you want to control by pressing that axis’s servo position button...

  • Page 31: Output Port Manual Control

    4) Check “Shortcut” at “Servo Setup” of “Function Menu” page for rapid position settings. When manually operating or fine-tuning a servo, must press half manual safety switch, if release or press all the manual safety switch. 4.5.4 Output Port Manual Control In manual mode, press the “Port”...
  • Page 32 Robot signal：Monitor and control the signal of robot pneumatic circuit. Click to turn on (light on), and click again to turn off (light off). For extended output ports, it need to activate the safety switch (dead man switch) first before controlling them to avoid accident.

  • Page 33: System Program Run

    4.6 System program run Click the RUN button to enter Run Control page. This page allows you to perform operation control of current loaded program such as manual, auto, single cycle and single step. Run Control page as below： 1) Current program instructions list：Display current program instructions list.

  • Page 34: Teach Program

    5) Cycle：If the system is in auto standby mode, click “Cycle” button will run current program only one cycle then remains in auto standby state. 6) Step：If the system is in auto standby mode, click “Step” button will run only current step(1 step only). 7) Follow：When system in auto run mode, program instruction list will follow current program instructionby pressing “Follow”.
  • Page 35 2) Parameter：Display the parameter of the current instruction that had been selected from instruction list. Up：Move the current selected instruction up to previous instruction. Down：Move the current selected instruction down to next instruction. Add /Insert：Inserts a new instruction between currently selected instruction and next instruction.

  • Page 36: Instructions Description

    button then enter the “Action Selection” branch page: Press Add/Insert The Action Selection branch page has two pages (Action/Flow), the first page shows the action instructions, and the second page shows the process instructions. ， then enter the Select the instruction you want and click corresponding instruction parameter interface.
  • Page 37 Servo single axis running instruction: The parameter range is shown below, click the circle to select the corresponding axis. Here selects the X axis, the parameter refers to the position of X axis, and you can directly enter the coordinates/position you want here. Otherwise, you can manipulate the selected axis to the desired position and then click on the corresponding axis Key to synchronize the real-time position to the selected axis parameter.
  • Page 38 5) Early Shift ：Change speed before arriving the designated position of current instruction by giving a position to change speed when arriving 6) Change speed：Change speed at a given distance. 7) Shift Distance：Defined the position to change speed by distance to the designated position of current instruction.
  • Page 39 If the “Horizontal” had not been marked that means the end of arm tool (side position cylinder) is Vertical, otherwise the end of arm tool (side position cylinder) is Horizontal. The “Vertical reference plane” had not been marked means take the horizontal plane as the reference plane, otherwise, if it had been marked means take the vertical plane as the reference plane.
  • Page 40 Servo: set the servo speed, the low speed of the reducing axis, the deceleration distance and the first position of each axis (optional relative). Cycle positioning: Positioning X, Y, Z, three axes to any positionand the maximum amount is 100 points. The location mode parameter is the same as the matrix location.
  • Page 41 Jig/Gripper parameter instruction：Select On/Off to turn on/off the monitoring of jig/gripper. Output port click the to enter the port interface to select corresponding ports. Input port and output port have the same way of operation. Delay: Activate time is determined by the parameters of the “Delay” time. Interval: The output interval value“0”means no interval, the interval unit is the modulus, and a plurality of modes is arranged to output or detect the input at intervals;...
  • Page 42 Single cycle positioning: single axis circular positioning instructions. Servo optional, any single axial stack, the first point, click coordinates, display area will pop up the digital input box, enter the location to be positioned. The parameter interface can set the location points, the number of times per point (which can be considered as the number of layers per location).
  • Page 43 The counter function starts counting only when the interval is not 0, otherwise the default is 0. “Time”as the activating timeof current instruction before next instruction be activate. Interval: The unit is modulus, if the value is“0”, every modulus will output. If the value is“n”, each output has “n”modulus as interval which means after first.
  • Page 44 Speed: It’s the speed at which the servo doesn’t detect a deceleration or stop signal from input port. If doesn’t use deceleration signal, it is recommended that the “Speed” shouldn’t be too high. Low Speed: When it detected deceleration signal, the selected servo axis changes speed to the given “Low Speed”.
  • Page 45 EC2P2: Enable Core 2 backward EC1P1 OFF: Turn off Enable Core 1 forward EC1P2 OFF: Turn off Core 1 backward Delay instruction: Set a delay time. (2)Add > Action Selection > Flow IF condition instruction: To determined and decide what to do. ELSE condition instruction: “Or”...
  • Page 46 …… …… the back curly bracket} / / otherwise for the condition executing program content End (ENDIF) / end condition (usually inserted into the IF conditional instructions will automatically insert end instructions.) For Example: Asbelow picture the “Expression” in the IF Parameters , the content is the determine condition,click to enter theuser variables selection interface: Then you can select user variables, extended input,...
  • Page 47 Methods as follows: Cycle time (FOR) (loop control instructions) / / in parentheses is the cycle number optional constant or variable ……. "Cycle jump" (BREAK cycle jump instruction) / cycle and condition judgment with the general out ……. End the cycle by satisfying the set conditions // curly brackets for recycled content Loop end Wait: Wait for port signal.
  • Page 48 Speed: Servo speed adjustment, select a servo axis and set the speed. It will conjunction with conditional determinate, when it comes with the conditions then change the speed. Program end: The end of the program: Let the program end in advance and return to the first instruction to restart the program.
  • Page 49 ： In a combination of instructions, to separate the current selected instruction with the previous instruction. ： Combine the current selected instruction with the previous instruction. In the combination of instructions, it’s not available for using following “ELSE”, “Program End”,”Wait”, instructions and condition instructions as “Matrix Subroutine”, “Loop Subroutine”, “Single Loop”, “Search”, “Delay”,...

  • Page 50: Instruction Procedure Example

    6. Arismethic statement can’t be use in. 7.Only allow the “Enable Mold Close” to put in the combination of instructions, but put it twice in the same combination of instructions doesn’t allow. 8.A combination of instructions allow you to activate not over 30 functions at the same time.
  • Page 51 When it gets the X03 input signal within 5 seconds, then opens the Y09 output pulse for 2 seconds before automatically turn off. If there is no signal for X03 input within 5 seconds, then opens Y10 output pulsefor 2 seconds before automatically turn off.

  • Page 52: Function Menu

    5. Function Menu 5.1 Function Menu Screen Click the “Menu” button at the bottom of the page to enter the function menu. 1) System Setup: IncludesRunning Parameters, Signal Input, Signal Output, Input Alarm, Initialize Settings, Settings of Homing,System Activation, IP, Settings of Maintenance. 2) Servo Setup：Includes servo parameter, servo safety zone for each axis, servo mechanicalparameter(travel,direction),etc.

  • Page 53: System Setup Page

    7) Configuration：Program parameters in a configurable program template. 8) Initialize：Sets the initial value and the variables of the program. 9) System Logs：It recorded the daily operation information of the robot and separated by different level of User. 5.2 System Setup Page “Run”–...
  • Page 54 3) Remind number: To set a production quantity,when robot achieves the production quantitythe system will remind you and temporary stop the Auto running mode and remind. When the system reminds, press the Auto running button or open and close the safety door of injection molding machine once, the production process will continue to run Auto running mode.
  • Page 55 11) Waiting : To define whether the robot is standby waiting in mold area or out of mold area. It will detect the position of robot after mold opened. 12) Out mold: Our standard system default is that the robot can standby at any position out of the mold.
  • Page 56 Template mode: Refers to the use of a program template, which can only modify program parameters but can’t use teach programs. Enable process 2&3:Shini robot can achieve multiple processes co-working. Home in mold: The system default is home position outside of the mold area,...
  • Page 57 Enable IMM MCP signal：Thesetting of using mold closed signal so the mold open signal become valid only after receiving mold closed signal. Enable IMM MMOP signal: Allow the arm to go down only when middle mold signal is received. Use Pne Adjust:It’s used for adjusting the positioning motor which is for adjusting the pneumatic cylinder position but not applicable now.
  • Page 58 Enable A servo：The setting of using A axis. Enable X2 axis enable ：The setting of using X2 axis. Enable pneumatic SA ：The setting of using pneumatic sub arm. Enable PA Rot ：The setting of using main arm flipping cylinder. Enable SA Rot ：The setting of using sub arm flipping cylinder. Enable extra control: The setting of using external operation, stop and homing button.（Main control boardX9:run, X10:stop, X11:homing）.
  • Page 59 Home inmold：To switch home position within the mold area, which means the “inside the mold safety area” starts from near 0 position and ends in “out of mold area”, and “outof mold safety area” starts from near “inside mold area” and ends at the max software stroke.
  • Page 60 Set a product key first, then set the key and machine code to the software on the computer to generate the new activation code. Active code valid time can be set. IP address: For remote monitoring, please check the “Shini Centralized Monitoring System” manual to find related settings in detail. Maintain:...

  • Page 61: Servo Setup Page

    1) Maintenance by production number: Set up the maintenance modulus, enter the number of products produced. Whenproduction achieve the corresponding number of products, system maintenance must be carried out in order to continue to work properly. 2) Reset system para: Reset the system parameter settings to factory default value.
  • Page 62 1) Y axis top safety area: The settings of the main arm and sub arm safety area when standby in the mold area. The start point of this safetyarea isa fixed value at 0. The user can set the end point of the safety area.
  • Page 63 Safety 2 (Safety area 2): The sub-arm settings is the same way as the main arm. Single main arm system (ST3) shown as below:...
  • Page 64 When setting the safety area parameters of servo axis, to ensure the correctness of parameter, it’s not allow to input the servo position coordinates directly. Only allows you to move it to the particular position manually through the manual mode, and then set the current servo position by clicking the synchronized button behind the box to renew it.
  • Page 65 1) Software distance: The setting of the maximum distance of each servo axisthat allows to run. The “Software distance” limits the maximum travel distance during Auto / Manual operation. 2) Axis type: The setting of whether the servo axis is use for rotation or linear way.
  • Page 66 Normal trapezoid command speed JERK adjusting Adjusted equvilent command curve. Bigger JERK value nearer to red slope. The effect is equal to streamlined filter of servo drive. The smaller the filter value the nearer to the slope. The JERK value is opposite to the filter value. Effect of value adjusting 8) Home offset: Adjust the servo stop position after homing.

  • Page 67: Ui Setuppage

    When you are setting servo mechanical parameters. Meanwhile, beware of the servo speed not to exceed the rated speed of the servo so as to cause accidents! Home Home fast speed: The setting of minimum speed of homing from the minimum 1% to maximum 10%.
  • Page 68 1) Language：Select language. 2) Screensaver time：The setting of screensaver of controller, from the minimum 1 minute to the maximum 30 minute. 3) Backlight brightness：Adjust controller screen backlight brightness, the value 1 to 9 as from the darkest to the brightest. 4) Recalibrate the touch screen：When thepoint or image location represent on the controller isn’t accurate and has deviation, click recalibrate button to recalibrate the touch screen.

  • Page 69: Adjustment - Position Adjustment Page

    7) Safe switch option:Require the use of “the safety switch aka the dead man’s switch” or not. “Always on” is a safety setting that requires you hold the safe switch when homing. 8) Use select switch-reboot: The use of the function key switch which allows you to switch the operation mode (Stop, Manual, Auto).

  • Page 70: Software Update

    5.6 Software Update Press the “Software update” button at the Function Menu page to enter the Update page.

  • Page 71: Initialize

    Software update function requires the “Advanced Administrator” user level to do it. This function allows to transfersystem parameter and servo parameter to USB, also can transfer parameters from USB to controller which is convenient for setting large sets of unified robotby specification robot parameter. Factory’s information: Here you can customize the startupscreen, standby screen,and your factory’s information.

  • Page 72: System Log

    For example: Counter-500 is the output interval counter of Y03 and set an output at intervalsof 5 molds.Then the Counter-500 counter will start counting from the initial value (initial value add 1 when a mold done). When the initial value gets 4, restart counting from“0” again. 5.8 System Log In the function menu page, click the system 7log according to the user's request where you can search it by the recorded date, the alarm logs, the...

  • Page 73: Information

    5.9 Information Here can check the software version of the current system including touch panel version, main control board software version, system type, factory information, etc.

  • Page 74: Alarm And History Record

    6. Alarm and History Record 6.1 System Current Alarm Information Click the alarm function button at the bottom of screen to enter “Alarm page” wherehas “Current Alarms” and “Alarm Resume” (Alarm History) information. Current Alarms: The current alarm information classify according to where it comes (source) which can display 12 alarm source at the same time the same page.

  • Page 75: Alarm Resume (Alarm History)

    6.2 Alarm Resume (Alarm History) The another page of Alarm function second is “Alarm Resume” (Alarm History information) where listed recently happened alarm records (Up to 50000 pcs). 6.3 Alarm Information and quick Solutions List Table 6-1： Alarm Information List Alarm Alarm Information Solutions...
  • Page 76 If the new instruction is still invalid when the invalid [007] Invalid instruction. instruction deleted, please contact the agent/manufacturer. If the new instruction is still invalid when the invalid [008] Invalid instruction. instruction deleted, please contact the agent/manufacturer. If the new instruction is still invalid when the invalid [009] Invalid program index.
  • Page 77 Please check if the sub-arm (runner arm) is within the Forbid mould close when the safe area or not. If it doesn’t, please move it to safe [027] vertical position of runner arm areabefore closing the mold. If it was, check the sub-arm out of safe area.
  • Page 78 Check if the IMM’s middle mold opened to the position. If Prohibid vertical servo action of it was, check the DC 0V voltage of “MID terminals” of [044] product without middle “CN1 terminals block” on the main control board. If it mould open position signal.
  • Page 79 Horizontal servo of runner arm Please operate again when the sub arm is in the traverse [067] cannot move when traveling safety area. position out of safe area. Horizontal servo of product arm Please operate again when the sub arm is in the traverse [068] cannot move when traveling safety area.
  • Page 80 Runner arm vertical servo alarm, Check the alarm code shown on the sub-arm (Y2 axis) [088] please check the servo driver. servo driver and do troubleshooting. Runner arm vertical servo ready Check the servo ready signal between the main board [089] signal is absent.
  • Page 81 Runner arm horizontal servo has Please check the servo axis position than do the reverse [112] operation by “Adjustment” in the Menu. arrived ccw limit position. Runner arm horizontal servo has Please check the servo axis position than do the reverse [113] operation by “Adjustment”...
  • Page 82 Servo position conflict between Please check the program and make sure the horizontal [130] main arm and sub arm. position of main arm and sub-arm is safe or not. Only allow IMM-EMC [131] combine. Please check the current situation of IMM and check if it There's no mold open position has DC 24V on the 2 “MOP terminal”...
  • Page 83 Without the “Mold Opened” signal. So the robot arm Continuous die down without [149] mid plate die may not be safe. cannot move down. In the path programming, a “Path Begin” must go with a “Path End”. Please check if there is any extra of “Path [150] No path ends.
  • Page 84 Y axis is not in the upper Check the Y axis upper position proximity sensor is on [169] position, arm chamfer is not and its wiring. safe. Y axis is not in the upper Check the Y axis upper position proximity sensor is on [170] position, arm rotation is not safe.
  • Page 85 1.Check if the robot was equipped the non-absolute servo driver and motor. Absolute value encoder [186] 2.Check if the absolute encoder wasn’t been set to use supported for Z axis. by the “Type” (encoder type) at “Servo Setup” of the Menu.
  • Page 86 X axis absolute value encoder Check if encoder battery voltage is normal or not, and [213] battery voltage is low. check if the wiring correct or not. Y axis absolute value encoder 1.Check the voltage ofabsolute encoder’s battery. [214] battery voltage is low. 2.Check the wiring is correct or not.

  • Page 87: Maintenance

    7. Maintenance 7.1 GeneralMaintenance Please checkand maintain by the prescribed maintenance intervals. Proper maintenance brings trouble-free of the robot. Proper maintenance is necessary to apply to the warranty policy. Maintenance should be managed by qualified personnel only. Maintenance and responsibility for safety equipment becomes the responsibility of the customer when the robot was accepted.

This manual is also suitable for:

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