Shini ST3-S2-I Manual
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Shini ST3-S2-I Manual

Shini ST3-S2-I Manual

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Robot Manual
of ST3/5-S2-I
Date: July, 2022
Version: Ver.A (English)

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

  • Page 2: Table Of Contents

    Contents General Description ................. 5 1.1 Features ....................6 1.2 Safety Instructions ................7 1.2.1 All Robots Safety Regulations ........... 7 1.2.2 Safety Concerns ................ 8 1.2.3 Emergency Stop Button ............10 1.2.4 Transportation and Storage ............. 10 1.2.5 Work Conditions ..............14 1.2.6 Disposal of Robot ..............
  • Page 3 7.1 Screen Introduction ................24 7.2 Program Instruction List ..............25 7.3 Axis Action Instruction ............... 26 7.4 Fixture and Jig Instruction ..............26 7.5 Auxiliary Equipment Instruction ............27 7.6 Detection Instruction ................. 28 7.7 Tag ....................28 7.8 Stacking Instruction ................29 7.9 IMM’s Signal Instruction ..............
  • Page 4 9.7.3 Drive Parameter ..............50 9.8 Repair/Maintenance ................53 9.8.1 Maintenance ................53 9.8.2 Maintenance： ................ 53 10. Alarm Information .................. 54 11. Drive Alarm Message and Troubleshooting......... 72 Table Index Table7-1：Instruction List Provided by Current System ........25 Picture Index Picture1-1：ST3 ....................

  • Page 5: 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） -S2-I 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...

  • Page 6: Features

    1.1 Features 1) Adopt mature servo drive architecture to ensure stable performance; 2) Highly modular design and card-type spliced structure, which only needs to replace corresponding modules during after-sales service, so as to avoid the whole unit disassembling and replacement when repairing the drive-control integrated system.

  • Page 7: Safety Instructions

    1.2 Safety Instructions Please read the manual carefully before installing and using the machine to avoid personal injury or machine damage due to improper operation. For detailed instructions, it removes the covers or safety protectors in some illustrations of this manual when drawing the pictures. In practical operation, make sure to install the cover or safety protector to original position as per the requirement, and then operate the machine according to the instruction in the user manual.

  • Page 8: Safety Concerns

    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 9 Attention! Product owner has the responsibility to ensure the operators, maintenance staff and relative staffs have read user manual thoroughly. Attention! Any modifications or other applications onto robot should obtain the written consent from the manufacturer, for safety purpose. Attention! Electricity system! If not obey the safety recommendations and hazard signs or warning symbols stuck on the robot, it may result in electric shock to personnel.

  • Page 10: Emergency Stop Button

    Danger! Electric Shock Risk! Caution! Cause Injury! Caution! High temperature! No burning 1.2.3 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.
  • Page 11 Attention! Don’t stay under the robot, when moving or hanging it! Attention! If you have to move and re-install the robot, must ask for assistance from the manufacturer or your agent. If you do not comply with this mandatory requirement, result in the injury to any person and robot broken or malfunction, the manufacturer and your agent will not have any responsibility.
  • Page 12 3) Retain damaged items for testing and checking. During the wait for testing and checking, do not return it. 1.2.4.2 Unpacking Transportation After dismantling outer crate and cover, check if the model number and serial number on the nameplate is the same as what it wrote on the tag on the outer crate and cover.

  • Page 13: Picture1-3：Small Single Stage/Telescopic Arm Robot Packing Illustration

    Picture1-3：Small single stage/telescopic arm robot packing illustration Ring fixation Ring fixation 吊环固定 Sling bundling Picture1-4: Small single stage/telescopic arm robot hoisting illustration 1.2.4.3 Storage 1) Remove the compressed air supply and shut down the power, if the robot won’t be use for a long time. 2) Robots should be stored in ventilated, dry room to prevent rusty and electrical components get damp.

  • Page 14: Work Conditions

    The following statements clarify the responsibilities and regulations borne by any buyer or user who purchases products and accessories from 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 15 4) Employing consumables or oil media that are not appointed by Shini. Our company provides excellent after-sales service. If there’s any problem during the application, please contact the company or local vendor. Shini HotlineService: Headquarter and Taipei factory： Tel:+886 (0)2 2680 9119 Shini Plastics Technologies (Dongguan), Inc.：...

  • Page 16: Touch Panel Description

    2. Touch Panel Description Emergency Status rotation button stop button Rotary encoder Stop button Axis control Home pointbutton button Reset button Speed adjustment button Home point: press the "Home" button, and then press the "Start" button, the system will return to the home point. Stop: press the stop button to stop the system during auto running.

  • Page 17: Introduction Of Basic Screen

    3. Introduction of Basic Screen Stop Screen Turn the status selecting button to stop to enter the stop screen 3.1.1 Status Bar: Display the speed, system status, system time, current mould number and current user in turn. 3.1.2 Switching Screen Current operator version and version will be displayed at the bottom of the stop screen.

  • Page 18: User Management

    3.1.3 User Management Click the operator button, and the system will pop up the login dialog box Select corresponding permission button, click the password box, and enter the corresponding password. Administrator: default password ******; Senior administrator: default password *******. Modify password path: function - system setting - permission management; 18(79)

  • Page 19: System Program Management

    4. System Program Management 4.1 Enter the Program Management Screen Rotate the operator selection button to the stop status, and click the file button at the screen bottom to enter the mould number management screen. 4.2 Create New Mould Number Click the new file name , input the mould number, and click the new button on the right.

  • Page 20: U Disk Import/ Export

    Enter corresponding contents in the search input box in left upper corner, click search button, and the system will automatically screen out the qualified mould number program. 4.7 U Disk Import/ Export Check corresponding options to export the mould number to the U disk or import it from the U disk to the system.

  • Page 21: Manual Operation

    5. Manual Operation Turn the button switch to the manual status to enter the manual screen. 5.1 Fixture and Jig Operation Click the corresponding button on the screen to operate corresponding fixture and jig, and flipping cylinder. 5.2 Other Outputs Click button to enter other output screen.
  • Page 22 Click the button in the status bar to enter the speed adjustment percentage screen, and it also can press the rotary encoder to enter this screen. Press the up and down buttons on the left side of the manipulator to adjust the manual speed and display it in the status bar.

  • Page 23: Io Monitoring

    6. IO Monitoring Click the button at the bottom of the screen to enter the monitoring page. It can check the robot signal and IMM’s signal on the monitoring page. 23(79)

  • Page 24: Teaching Program

    7. Teaching Program Turn the button switch of the manipulator to manual status, and click the button at the screen bottom to enter the teaching screen. 7.1 Screen Introduction Edit and modify the current program loaded by the system on the teaching screen. Teaching related operation Edit: Click edit to modify more parameters of the currently selected row in the pop-up window.

  • Page 25: Program Instruction List

    Up: Move the instruction of the currently selected row up a row Down: Move the instruction of the currently selected row down a row Test: In currently selected instruction, press the “Test” button to perform the instruction, and release it to stop immediately. Note: Not all instructions support the test run function.

  • Page 26: Axis Action Instruction

    7.3 Axis Action Instruction Select the corresponding option and click insert button to complete an instruction teaching. Select several options, insert them at the same time, which can form the combined instruction. Note: The delay time is executed before the instruction; It means there is a delay before the action, and the instruction action will not be executed until it reaches the time.

  • Page 27: Auxiliary Equipment Instruction

    teaching. Select several options, insert them at the same time, which can form the combined instruction. Note: The delay time is executed before the instruction; It means there is a delay before the action, and the instruction action will not be executed until it reaches the time.

  • Page 28: Detection Instruction

    7.6 Detection Instruction Select the corresponding option, click the corresponding button, and select the output status. The indicator light on means it is powered on, the indicator light off means it is powered off. Finally, click the insert button to complete an instruction teaching.

  • Page 29: Stacking Instruction

    The user can customize the tag name to the program. When the conditions are met, the program will jump to the tag position. 7.8 Stacking Instruction Select the corresponding option, and click the insert button to complete an instruction teaching. 7.9 IMM’s Signal Instruction Select the corresponding option, click the corresponding button, and select the output status.

  • Page 30: Output Reservation Instruction

    executed until it reaches the time. 7.10 Output Reservation Instruction Select the corresponding option, click the corresponding button, and select the output status. The indicator light on means it is powered on, the indicator light off means it is powered off. Finally, click the insert button to complete an instruction teaching.
  • Page 31 Set the conditional judgment according to the actual demands. When it meets a conditional instruction, execute the preset program, such as: When it meets the "suction 1 signal valid", the system will call and execute the actions taught in the process 1. Then, jump to the tag 0 position to execute the instructions after it.

  • Page 32: Program Selection

    7.13 Program Selection Click to select the program. As shown in the picture, you can select to edit max six subprograms, can be for trial production or sampling programs. The teaching method is the same as that of the main program, and these programs can be called and executed by the main program.

  • Page 33: Standby Points Setting Screen

    Exit the quick teaching screen. When entering the quick teaching screen again, it will initialize all quick teaching previously set values without recording. 1) When the mechanical structure is 3-axis, the options of "sub arm" will turn to grey automatically, which can’t be selected. The sub arm can only be selected when there are 5 or 3 axes plus 2 pneumatic sub arm.

  • Page 34: Fetch Points Setting Screen

    position, out of the mould, where the robot arm waiting for the mould open signal to enter the in mould area. The position value can be manually entered or you can manually control the corresponding axis to reach the desired position, and then press the set button to set current actual position value to the corresponding axis position.
  • Page 35 1) The finished product placement position refers to the position where the product is placed out of the mould. At this position, you can close the holder or sucker to place the finished products directly; The position value can be manually entered or you can manually control the corresponding axis to reach the desired position, and then press the set button to set current actual position value to the corresponding axis position.

  • Page 36: Setting Screen Of Sprue Placement Points

    "Complete" button to generate a quick teaching program. Otherwise, if you exit the quick teaching screen and enter again. All previously set quick teaching values will be lost. 7.14.5 Setting Screen of Sprue Placement Points 1) Relevant options are only available when there is sprue fixture on the sub arm of 5-axis robot.
  • Page 37 If the "Confirm" button is pressed, all the programs generated on the left will be deleted, and a set of completed programs will be created according to the settings and relevant parameters of quick teaching. Otherwise, press the "Cancel" button to close the prompt window without any changes.

  • Page 38: System Program Operation

    8. System Program Operation After complete the teaching in the screen, turn the selection switch to auto status to enter the auto running screen. In this screen, it can operate the system to run, stop, run in single step, run in single cycle, and adjust the running speed automatically.
  • Page 39 executing current instruction, and there will be no effect if the auto speed is too fast. When it executes current instruction, the cursor will automatically jump to the next row of instruction for selection. Single loop: the system will execute the entire teaching instruction again. Speed adjustment prohibited: When prohibiting the speed adjustment, it can’t adjust the speed by pressing the up and down buttons on left manipulator of the auto screen.

  • Page 40: System Function Screen

    9. System Function Screen Turn the selection switch to stop screen, and click to enter the functional screen. 9.1 Signal Setting 40(79)
  • Page 41 In the "Signal Setting" screen, it can select necessary options according to the demand and mechanical structure. Fixture detection phase reversed: adjust the detection port to make the valid phase to be high or low. Flipping cylinder’s position when traversing: stipulate the flipping cylinder’s position when the robot is traversing.

  • Page 42: Product Setting

    The traverse Z-axis out of mould standby: If checked, the machine will be standby out of mould, and will standby in mould if not checked. Stacking counter power-off maintained: After it is selected, the current number of stacking products will be recorded after power failure and restart Use after mould closing: whether to use the mould closing signal.
  • Page 43 Planned product quantity: The system will remind the user when the auto running reaches the set value, which can restart and count automatically after stops it by manual. It’s invalid when set it to 0. The production quantity reminder: the system will remind after the auto running reaches the set value, open and close the safety door or press start button to restart the counting.

  • Page 44: Running Parameters

    Alarm time: set the alarm output buzzing time. No output when it is set to 0. Alarm for defective products count: Set the number of defective products. When the number of defective products reaches the set number, it will alarm. It’s invalid when it is set to 0.

  • Page 45: Safety Point Setting

    It’s equivalent to the servo smooth filtering parameter. Quick homing: the speed of homing before receiving the signal of actuator plate sensed. Slow homing: the speed of homing after receiving the signal of actuator plate sensed. 9.4 Safety Point Setting Main arm crosswise in mould start point: Set the start point of in mould safety area of the crosswise axis.

  • Page 46: Stacking Setting

    Main arm upward limit: When the arm is in mould, and there is no mould opening completion signal, the safe area of arm downward for standby. Traverse out of mould starting point: Set the placement safety area start point, and the end point is the software stroke limit. The downward placement is available between the start and end points.

  • Page 47: System Setting

    Order: Set the order of stacking axes and there are six groups for selection. Direction: Select the axis direction of product stacking, stacking from small to large in the positive direction and from large to small in the negative direction. Number: Set the number of product stacking of corresponding axes.

  • Page 48: System Maintenance

    It can modify the administrator and senior administrator passwords. 9.6.3 System Maintenance： Reset the system parameter sand locking function in operation. 9.7 Machine Parameter 9.7.1 Axis Parameter Screen Modify the parameters of each axis: Motor reverse running: when it is found that corresponding axis of the main arm 48(79)

  • Page 49: Structure Screen

    and sub arm are running to opposite direction against direction buttons during machine adjustment, the motor reverse setting can be selected and no need to set the motor reverse parameters in the servo drive. Software stroke limit: The maximum stroke limit that the software can travel from the origin point after homing.

  • Page 50: Drive Parameter

    cylinder: check according to actual situation of the machine Pneumatic sub arm descended, retreat, forward limit: adjust according to the actual mechanical conditions. Servo axis single arm and double arm selection: select the single arm or double arm according to the mechanical structure. Homing sequence setting: set the homing sequence of each axis Time Screen Shockproof delay after mould opening: This function is mainly for unstable signal...
  • Page 51 On this screen, it can select all the axes of the machine and set the drive’s common parameters, such as rigidity, inertia, etc., through the manipulator. Parameter Description: PA5：Speed proportional gain (Parameter Range: 5~2000; Factory default: 150) 1) Set the proportional gain of the speed loop regulator. 2) The greater the set value, the higher the gain and the rigidity.
  • Page 52 can reduce the set value appropriately. Too small the value will result in slow response and may be the oscillation. 4) The higher the value, the higher the cut-off frequency and the faster the response. If higher torque response is required, it can increase the set value appropriately.

  • Page 53: Repair/Maintenance

    PA63：Load inertia ratio (Parameter Range:1~500; Factory default:100) 1) Set the load inertia ratio of the corresponding motor moment of inertia. 2) Set value:=((load inertia+moment of inertia)/moment of inertia) × 100 9.8 Repair/Maintenance 9.8.1 Maintenance Update the picture: After clicking the update picture button, it can update the system startup and standby pictures in the pop-up window.

  • Page 54: Alarm Information

    10. Alarm Information Alarm Information Solutions If the new instruction is still invalid when the invalid [001]Invalid action of main arm. instruction deleted, please contact the agent/manufacturer. If the new instruction is still invalid when the invalid [002]Invalid action of IMM. instruction deleted, please contact the agent/manufacturer.
  • Page 55 In the program, a “ENDFOR” instruction (loop start) must go [015]Without end of combine action. with a “FOR” instruction (loop end). Check if there is any extra of “ENDFOR” or lack of “FOR” in the program. Please check the program, and prohibit other variables to [016]System variables can’t be written.
  • Page 56 [036]No servo homing operation (Start up Please do homing and then operate. without homing) Please check if the sub-armis within the safe area or not. If [037]Z axis travelling is not safe, and the main it doesn’t, please move it to safe area before closing the arm is not in the upper position.
  • Page 57 [047]The crosswise movement of main arm is Please check that the crosswise axis in mould safety area not safe and the in mould exceeds the safe setting is correct. Confirm whether current position of area. crosswise axis is in safe area. Please confirm whether the vertical axis of pneumatic sub [049] The sub arm is not in the upper position arm is at original position.
  • Page 58 [066]Traverse movement is within the safe Please check whether the outside mould safety area signal area out of the mould, but the in mould signal is of traverse axis is normal. If it is, please check whether the not on. traverse safety area setting range is within sensed signal range.
  • Page 59 While waiting for the mould opening signal, the time reaches the set time, please check whether the mould [084]Overtime when waiting for mould opening. opening signal is normal. If no need to alarm for it, set the waiting time of mould opening to be 0 in the production setting.
  • Page 60 Please check whether the middle mould opening signal of [103]Main arm has no middle mould signal in the IMM blinks, and confirm whether current position of mould. main arm vertical axis is within safe area. Please check whether the main arm's crosswise axis positive limit signal is normal.
  • Page 61 Please check whether the sub arm's vertical axis negative limit signal is normal. If yes, confirm the position of sub [111]The sub arm vertical movement reached arm’s vertical position and then enter safety setting page to the negative limit. set and move the sub arm’s vertical position forwardly to safe area.
  • Page 62 Check whether the comm. cables of IO board and main [120]Communication error of extended IO control board are normal, IO board dial switch is correct, board 2. and IO board has been powered on. Check whether the comm. cables of IO board and main [121]Communication error of extended IO control board are normal, IO board dial switch is correct, board 3.
  • Page 63 Please check whether the set crosswise software stroke limits of the main arm and sub arm are correct, and confirm [130]Crosswise axis movement will collide. whether current crosswise positions of main arm and sub arm are safe. Please check the current instruction to delete the program [131]The actions can’t be used in combination and teach again.
  • Page 64 Please confirm whether the parameter is set to use [138]Sub arm downward position reached but pneumatic sub arm and check the sub arm's actions. And the upward position signal is on. check if the sub arm's upward position signal is normal or not.
  • Page 65 [156]The variable operation can’t be 0. Please check whether the teaching program is correct. Activation code expired. Please contact [157]Activation code expired manufacturer. Please check that the crosswise axis in mould safety area [158]Arm downward movement is not safe, and setting is correct.
  • Page 66 Please check whether the flipping cylinder in mould safety [168]The arm downward movement is not safe, area setting is correct. Confirm whether current position of and the A axis (flipping cylinder) is not in safe flip cylinder axis is in safe area before starting the vertical area in mould.
  • Page 67 Please check whether the Z2axissafety area setting is [177]The arm traverse movement is not safe as correct. Confirm whether current position of the Z2axis is in the Z2 axis is not in the safe position safe area before starting the traverse axis movement. Please check whether the Z2axissafety area setting is [178]The arm Z2 axis is not safe, which can’t correct.
  • Page 68 Please check the set encoder type of the traverse axis and [186]The absolute encoder not supported by confirm whether its cable for communicating with the servo the main traverse axis. drive is normal. Please check the set encoder type of the sub arm’s vertical [187]The absolute encoder not supported by axis and confirm whether its cable for communicating with the main vertical axis.
  • Page 69 Please check whether the external safety door signal is [197]Paused due to external safety door open normal. Please check whether the signals of traverse in mould and [199]The traverse axis has overlaps in the in out of mould safety areas are normal, and confirm whether mould and out of mould safety areas.
  • Page 70 [217]Low battery voltage of the sub crosswise Please check whether the battery voltage of sub arm’s absolute encoder. crosswise servo drive encoder is normal. [218]Low battery voltage of the extended Please check whether the battery voltage of extended servo absolute encoder. drive encoder is normal.
  • Page 71 Please check whether the maintained moulding count of [240]The counter 0 needs maintenance. counter 0 is correct. Please check whether the maintained moulding count of [241]The counter 1 needs maintenance. counter 1 is correct. Please check whether the maintained moulding count of [242]The counter 2 needs maintenance.

  • Page 72: Drive Alarm Message And Troubleshooting

    11. Drive Alarm Message and Troubleshooting Code Meaning Faults Solutions When this fault occurs, check whether the motor When connecting power encoder cable has good contact at first. If there supply, it prompts: are new servos or other servos in the machine, it 1) Circuit fault inside the servo can verify by exchanging.
  • Page 73 increase gradually and generate an alarm. If the voltage is from a single phase of three-phase 380V in the control box, it can measure the voltage of the other two phases. Take the phase with the lowest measured voltage as the servo input voltage.
  • Page 74 faults are resolved and the problem still persists, it’s recommended to return to the factory for repair. Check whether the drive temperature is too high and if the fan on the servo is working. Install a In the motor running, it prompts: cooling and exhaust fan in the control cabinet.
  • Page 75 interference, it’s recommended to add a wire filter or isolation transformer. The signal wire should be separated from the power wire and kept away from interference sources, such as high-power frequency converters. If there’s still the problem after above troubleshooting, it’s recommended to return to the factory for repair.
  • Page 76 If this alarm occurs after the servo is powered When connecting to the power, it Relay switch on, it is likely that there is a fault inside the servo Err 18 prompts: fault circuit. It is suggested to return it to the factory 1.
  • Page 77 unstable contact and whether there is disconnection or looseness. Check whether the feedback of encoder cable UVW signal has good contact. If conditions permit, it can try to replace the power wire or encoder wire. If there’s still the problem after above troubleshooting, it’s suggested to return to the factory for repair.
  • Page 78 If the fluctuation is significant, it may be influenced by other devices and unstable voltage of the external network. It’s suggested to install the isolation transformer and AC filters. If there’s still problem after ascertain above issues, it is possible the fault of servo inner circuit, and it’s suggested to return it to the factory for repair.
  • Page 79 voltage error wrong, and it needs to reset the the problem after powering off and restart, it’s alarm encoder. suggested to replace the battery as soon as possible. Encoder Encoder non-battery alarm, but it Reset the encoder (power off and restart the Err 54 error alarm needs to reset the encoder.

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St5-s2-i

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