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Universal Robots e Series Original Instructions Manual
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Universal Robots e Series Original Instructions Manual

Universal Robots e Series Original Instructions Manual

Injection molding machine interface
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Installation Guide
e-Series Injection Molding Machine
Interface (IMMI)
Original instructions (en)
PolyScope 5

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Summary of Contents for Universal Robots e Series

  • Page 1 Installation Guide e-Series Injection Molding Machine Interface (IMMI) Original instructions (en) PolyScope 5...
  • Page 2 e-Series Injection Molding Machine Installation Guide Interface (IMMI)
  • Page 3 The information contained herein is the property of Universal Robots A/S and shall not be reproduced in whole or in part without prior written approval of Universal Robots A/S. The information herein is subject to change without notice and should not be construed as a commitment by Universal Robots A/S. This document is periodically reviewed and revised.
  • Page 4 e-Series Injection Molding Machine Installation Guide Interface (IMMI)

  • Page 5: Table Of Contents

    Contents 1. Introduction 2. Safety 2.1. General 2.2. Safety Message Types 2.3. General Safety Precautions 2.4. IMMI Safety Precautions 2.5. IMMI Safety Functions 3. Product Description 3.1. Requirements 4. Robot Arm Cleaning and Inspection 5. Mold Area Free (MAF) Light Curtain 6. Hardware Installation 6.1. Installing the IMMI Module 6.2.

  • Page 6: Introduction

    • Cables: • EUROMAP 67 / SPI AN-146 • Ribbon cable • Ground (GND) wire: • M6 nut • M6 washer • Universal Robots EUROMAP 67 bypass plug • This document Company Universal Robots A/S Energivej 51, 5260 Odense S, Denmark Details +45 89 93 89 89 https://www.universal-robots.com...

  • Page 7: Safety

    It is essential to observe and follow all assembly instructions in the following sections of this manual. NOTICE Universal Robots disclaims any and all liability if the robot (arm Control Box with or without Teach Pendant) is damaged, changed or modified in any way. Universal Robots cannot be held responsible for any damages...

  • Page 8: Safety Message Types

    2. Safety 2.2. Safety Message Types Description Safety messages are used to emphasize important information. Read all the messages to help ensure safety and to prevent injury to personnel and product damage. The safety message types are defined below. WARNING Indicates a hazardous situation that, if not avoided, can result in death or serious injury.

  • Page 9: General Safety Precautions

    2. Safety 2.3. General Safety Precautions Description This section contains general safety precautions, read it before installing the IMMI. For more information on safety, refer to the Safety section in the robot User Manual. WARNING: ELECTRICITY Performing installation or maintenance of equipment connected to a power source can lead to electric shock.
  • Page 10 2. Safety e-Series Injection Molding Machine Installation Guide Interface (IMMI)

  • Page 11: Immi Safety Precautions

    2. Safety 2.4. IMMI Safety Precautions Description This section contains safety precautions specific to installing the IMMI. WARNING Unauthorized modification of the IMMI module can result in personnel injury or equipment damage. • Only qualified personnel must perform modifications. • Perform a new risk assessment before and after modification. WARNING The absence of protection at the mold area to prevent access, or to detect presence in the mold area, can result in personnel injury or...
  • Page 12 2. Safety NOTICE Failure to connect the ground (GND) wire during installation can result in equipment damage. • Connect the ground cable to the control box before connecting the ribbon cable. NOTICE Disconnecting the ribbon cable when the control box is powered on can result in equipment damage.

  • Page 13: Immi Safety Functions

    2. Safety 2.5. IMMI Safety Functions Description This section contains information about the safety functions supported by the IMMI. Below describes the UR IMMI safety outputs. Consult with the IMM manufacturerer for functional safety details of the IMM. These safety functions are in accordance with ISO 13849-1 and the connector pin assignments of EUROMAP 67 / SPI AN-146.

  • Page 14: Product Description

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

  • Page 15: Requirements

    3. Product Description 3.1. Requirements NOTICE Installing an e-Series Injection Molding Machine Interface (IMMI) in a control box with a serial number lower than 2020020161 can result in damage to equipment or property. • Verify your control box serial number before installing the IMMI module.
  • Page 16 3. Product Description Safety The safety control board serial number is located on the back of the safety control board. You control must disassemble the control box bracket to access the Rev. F2 safety control board (F2 = board RM). NOTICE For more information about changing the safety control board, refer to the Control Box chapter in the Service Manual available on the support website: •...

  • Page 17: Robot Arm Cleaning And Inspection

    4. Robot Arm Cleaning and Inspection 4. Robot Arm Cleaning and Inspection Description As part of regular maintenance the robot arm can be cleaned, in accordance with the recommendations in this manual and local requirements. Cleaning To address the dust, dirt, or oil on the robot arm and/or Teach Pendant, simply use a cloth Methods alongside one of the cleaning agents provided below.
  • Page 18 4. Robot Arm Cleaning and Inspection WARNING Grease is an irritant and can cause an allergic reaction. Contact, inhalation or ingestion can cause illness or injury. To prevent illness or injury, adhere to the following:  • PREPARATION: • Ensure that the area is well ventilated. •...
  • Page 19 4. Robot Arm Cleaning and Inspection Robot Arm The table below is a checklist of the type of inspections recommended by Universal Robots. Inspection Perform inspections regularly as advised in the table. Any referenced parts found to be in an Plan unacceptable state must be rectified or replaced.
  • Page 20 4. Robot Arm Cleaning and Inspection Robot Arm NOTICE Inspection Using compressed air to clean the robot arm can damage the robot arm Plan components. • Never use compressed air to clean the robot arm. e-Series Injection Molding Machine Installation Guide Interface (IMMI)
  • Page 21 4. Robot Arm Cleaning and Inspection 1. Move the Robot Arm to ZERO position, if possible. Robot Arm Inspection 2. Turn off and disconnect the power cable from Control Box. Plan 3. Inspect the cable between Control Box and Robot Arm for any damage. 4.

  • Page 22: Mold Area Free (Maf) Light Curtain

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

  • Page 23: Hardware Installation

    6. Hardware Installation 6. Hardware Installation Description This section describes how to install the IMMI module hardware. For information on configuring the IMMI module software, see 7 Software Installation on page 22. Required You need the following items to install the IMMI module: items • One M6 nut •...

  • Page 24: Installing The Immi Module

    6. Hardware Installation 6.1. Installing the IMMI Module Power down the control box and disconnect the mains cable from the power source. To install the module Remove the plate cover on the side of the control box. Keep the screws and the tooth lock washers to continue installing the hardware. 1 screw 2 tooth lock washer 3 removed plate...

  • Page 25: Connecting The Ribbon Cable To The Immi

    6. Hardware Installation 6.2. Connecting the Ribbon Cable to the IMMI CAUTION Removing the perforated strip can expose sharp edges, resulting in personnel injury. • Handle the removed strip with care. NOTICE Inserting sharp and/or bladed tools too far into the EXTENSION BUS can result in property damage.

  • Page 26: Connecting The Imm

    6. Hardware Installation 6.3. Connecting the IMM Connect the IMM plug to the IMMI module and secure the safety clamps into place. To connect the IMM 2. Or connect the EUROMAP 67 bypass plug to the IMMI module and snap the clamps into place. See 10 Using the Robot without the IMM on page 34.

  • Page 27: Software Installation

    7. Software Installation 7. Software Installation Description This section describes how to configure the IMMI module software. For information on installing the IMMI module hardware, see 6 Hardware Installation on page 18. On PolyScope, in the Header, tap Installation and select Safety. To configure the IMMI Tap Hardware and unlock the options on the Select available hardware screen.
  • Page 28 7. Software Installation On PolyScope, use your password to access the Select available hardware screen. To uninstall the IMMI In the Injection molding machine interface drop-down list, select None. Module Tap Apply to restart the system. PolyScope continues to run. Tap Confirm Safety Configuration. Power down the control box and disconnect the mains cable from the power source.

  • Page 29: Immi Module Programming

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

  • Page 30: Creating A Program Structure

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

  • Page 31: Program Structure Nodes

    8. IMMI Module Programming 8.2.1. Program Structure Nodes Description You can configure the step sets in each node by using the checkboxes to enable/disable individual steps. Startup Intended for use once at the beginning of a robot program, this node ensures the robot and Check machine are set up correctly before molding starts.
  • Page 32 8. IMMI Module Programming Ejector Enables the movement of the ejector to its back position. Back Ejector Enables the movement of the ejector to remove an item from the mold. Should be used Forward when the robot is in position ready for grasping the item. e-Series Injection Molding Machine Installation Guide Interface (IMMI)
  • Page 33 8. IMMI Module Programming Core Pullers Enables the movement of the core pullers to position 1. The core pullers used are selected from the drop down menu. Core Pullers Enables the movement of the core pullers to position 2. The core pullers used are elected from the drop down menu.
  • Page 34 8. IMMI Module Programming Free to Signals to the IMM that it is allowed to start a molding operation. When this signal is activated, Mold the robot must be placed outside the IMM. Template Uses a predefined program structure to perform simple interaction with the IMM. e-Series Injection Molding Machine Installation Guide Interface (IMMI)

  • Page 35: Using The Immi Template

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

  • Page 36: Immi I/O In Regular Program Nodes

    9. IMMI I/O in Regular Program Nodes 9. IMMI I/O in Regular Program Nodes Description This section describes how to use IMMI inputs and ouputs in regular program nodes. 9.1. Using the IMMI I/O Overview Description The IMMI I/O screen provides indicators for inputs signals and options for controlling output signals.
  • Page 37 9. IMMI I/O in Regular Program Nodes Manufacturer These signals are optional, but can be used, as needed, for specific purposes by the IMM Dependent manufacturer. Safety In the robot column, the Emergency Stop indicator cannot be controlled from this screen. It simply indicates the robot is emergency stopped.

  • Page 38: How To Use Immi I/O In Regular Program Nodes

    9. IMMI I/O in Regular Program Nodes 9.1.2. How to Use IMMI I/O in Regular Program Nodes 1. On PolyScope, in the Header, tap Program. Wait 2. Under Basic, select Wait. 3. In the Command panel, under Wait, select Wait for Digital Input to access the IMM input options.

  • Page 39: Using The Robot Without The Imm

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

  • Page 40: Specifications

    11. Specifications 11. Specifications 11.1. Electrical Specifications MAF, not Parameter Unit safety- 24V Voltage tolerance -10% – related Current available from 24V supply – – Overload protection – – MAF Input high level voltage* – – MAF Input low level voltage* – –...
  • Page 41 11. Specifications Digital The digital outputs are pnp-type, and are galvanically connected to the IMM. The galvanic Outputs, not isolation between the IMM and robot potential conforms to IEC 60664-1 pollution degree 2, safety- overvoltage category II. The outputs are constructed in compliance with IEC 61131-2. related Parameter Unit...

  • Page 42: Copyright And Disclaimers

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

  • Page 43: Compliance

    Version 1.11, a free of charge recommendation for Injection Molding Machines that can be downloaded from www.euromap.org. The Universal Robots Injection Molding Machine Interface (IMMI) module, when powered on, conforms to all requirements in the EUROMAP 67 recommendation. When the IMMI module is powered down, the EUROMAP 67 recommendation specifies that every safety related signals shall be operative.
  • Page 44 Software Name: PolyScope 5 Software Version: 5.22 10.12.12 Document Version: 99373...
  • Page 45 99373...

This manual is also suitable for:

Polyscope 5