SS-550/700 - Shini Europe

SS-550/700
User Manual
Date: 09/2012
Version: V2.3
Shini Plastics Technologies (Dongguan), Inc.
TEL:(0769)83313588
Website:www.shini.com
Contents
1.
Safety ................................................................................................... 7
1.1 Safety Regulations ........................................................................ 7
1.2 Safety Concerns............................................................................ 8
1.3 Emergency Stop .......................................................................... 11
1.4 Transportation and Storage......................................................... 11
1.4.1 Transportation.................................................................... 11
1.4.2 Transportation after Unpacking.......................................... 12
1.4.3 Storage .............................................................................. 13
1.4.4 Operation Environment ...................................................... 13
1.4.5 Retirement ......................................................................... 14
1.5 Exemption Clause ....................................................................... 14
2.
Installation ......................................................................................... 15
2.1 Instruction.................................................................................... 15
2.1.1 Safety Issue ....................................................................... 15
2.1.2 Compressed Air Connection .............................................. 15
2.1.3 Electric Power Connection ................................................. 15
2.1.4 Safety Fence...................................................................... 16
2.1.5 Mounting Preparation......................................................... 16
2.1.6 Mounting Instruction........................................................... 17
2.2 Equipment Specification .............................................................. 17
2.2.1 Dimensions (Unit: mm)....................................................... 17
2.2.2 Model Specification............................................................ 17
2.2.3 Pneumatic Source Requirement ........................................ 19
2.3 Electrical Connection................................................................... 19
2.3.1 Main Power Supply ............................................................ 19
2.3.2 Interface with the Injection Molding Machine ..................... 19
2.4 Axes Adjustment.......................................................................... 20
2.4.1 Adjusting the X-Position..................................................... 20
2.4.2 Adjusting the Y-Position..................................................... 21
2.4.3 Adjusting the Z-Position ..................................................... 21
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2.5 Gripper and Suction Setting......................................................... 22
2.5.1 Gripper Setting................................................................... 22
2.5.2 Suction Setting................................................................... 22
2.6 Robot and IMM Interface ............................................................. 24
2.6.1 Euromap67 Interface ......................................................... 24
2.6.1.1 The Injection Molding Machine Output Signals ....... 24
2.6.1.2 Robot Output Signals .............................................. 27
2.6.2 Euromap12 Interface ......................................................... 28
2.6.2.1 Injection Mounding Machine Output Signals ........... 29
2.6.2.2 Robot Output Signals .............................................. 30
3.
General Description.......................................................................... 32
3.1 SS Series Abstract ...................................................................... 32
3.2 Application................................................................................... 32
3.3 Features ...................................................................................... 33
3.4 Functions..................................................................................... 33
3.4.1 Function Description .......................................................... 34
3.4.2 Stroke Measuring............................................................... 34
3.4.3 Shock Absorber ................................................................. 35
3.4.4 Functions Adjustment ........................................................ 35
3.4.4.1 Forward and Backward Adjustment......................... 35
3.4.4.2 Mold Change........................................................... 35
3.4.4.3 Reversing ................................................................ 36
3.5 Safety Function............................................................................ 38
3.5.1 Safety Protection................................................................ 38
3.5.2 Emergency Stop ................................................................ 38
3.6 Adjusting and Setting................................................................... 39
3.6.1 Default Setting ................................................................... 39
3.6.2 How to Achieve SS Reverse of Direction........................... 39
3.6.3 Adjusting the Height of the Gripper .................................... 41
3.6.4 Forward and Backward Adjustment ................................... 42
3.6.5 Change Mold and Maintenance ......................................... 42
3.6.6 Air Pressure Adjustment .................................................... 43
3.6.7 Shock Absorber ................................................................. 43
3.6.8 The Position of Swinging- in Adjustment............................ 45
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3.6.9 Adjusting the Swing-out Angle ........................................... 46
4.
Operation Instructions...................................................................... 47
4.1 Hand Controller ........................................................................... 47
4.1.1 The Panel of Hand Controller............................................. 47
4.1.2 Keys................................................................................... 47
4.2 Manually Operation ..................................................................... 48
4.3 Automatic Operation.................................................................... 48
4.4 System Operation........................................................................ 49
4.4.1 Stand-by Mode................................................................... 49
4.4.2 Language ........................................................................... 49
4.4.3 The Function Setting.......................................................... 50
4.4.4 Special Function ................................................................ 51
4.4.5 Molds Select ...................................................................... 53
4.4.6 Mold Set............................................................................. 53
4.4.7 Teach................................................................................. 54
4.4.8 Time Setting....................................................................... 55
4.4.9 I/O Monitor ......................................................................... 56
4.5 Standard Action Program ............................................................ 56
5.
Error Correction ................................................................................ 59
6.
Maintenance ...................................................................................... 66
6.1 General........................................................................................ 66
6.2 Lubrication Requirements............................................................ 66
6.2.1 Maintenance ...................................................................... 67
7.
The Assembly Chart ......................................................................... 68
7.1 Mechanical Assembly.................................................................. 68
7.1.1 Base Chart ......................................................................... 68
7.1.2 Parts List ............................................................................ 69
7.1.3 Sliding Seat Chart .............................................................. 70
7.1.4 Parts List ............................................................................ 71
7.1.5 Arm Chart........................................................................... 72
7.1.6 Parts List ............................................................................ 73
7.2 Euromap12 Electric Control Chart ............................................... 74
7.2.1 The Main Input Panel Wiring Diagram ............................... 74
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7.2.2 The Main Output Panel Wiring Diagram............................. 75
7.2.3 Main Control Board Signals Wiring Diagram...................... 76
7.2.4 The Main Control Layout Chart .......................................... 77
7.2.5 Control Power Diagram...................................................... 78
7.3 Euromap67 Electric Control Chart ............................................... 79
7.3.1 The Main Input Panel Wiring Diagram ............................... 79
7.3.2 The Main Output Panel Wiring Diagram............................. 80
7.3.3 Euromap67 Signals Input Panel Wiring Diagram ............... 81
7.3.4 Euromap67 Signals Output Panel Wiring Diagram ............ 82
7.3.5 Main Control Panel and Controller Wiring Diagram ........... 83
7.3.6 Controller Lay-out Drawing ................................................ 84
7.3.7 The Main Control Layout Chart 1 ....................................... 85
7.3.8 The Main Control Layout Chart 2 ....................................... 86
7.3.9 Control Power Diagram...................................................... 87
7.4 Pneumatic Circuit Schematic Diagram ........................................ 88
Table index
Chart 2-1: SS Series Robot Specification List............................................ 18
Table 7-1: Parts List ................................................................................... 69
Table 7-2: Parts List ................................................................................... 71
Table 7-3: Parts List ................................................................................... 73
Picture index
Picture 4-1.................................................................................................. 47
Picture 7-1.................................................................................................. 68
Picture 7-2.................................................................................................. 70
Picture 7-3.................................................................................................. 72
Picture 7-4.................................................................................................. 74
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1. Safety
Before starting up the robot for the first time, please review this
manual thoroughly and familiarize yourself with the operation of the
robot. Improper use may injure personnel and/or damage the robot,
mold or molding machine.
1.1 Safety Regulations
●Please review this manual thoroughly and familiarize yourself with
the operation of the robot, before starting up the robot for the first time.
Maintenance should be performed by qualified personnel only.
●The SS series robot is designed for injection molding machine (IMM)
ONLY.
●Any modification or change to the original design of the robot is
forbidden.
●Any improper installation and operation may result in injury to
personnel and/or damage to equipments.
●Please contact the manufacturer or local vender immediately if there
is any problem with robot when operate it.
●Please note that our robot must be cooperated with other safety
device (i.e. safety door) in order to operate in normal condition.
●Ensure all installations are met with safety requirements before
operating.
●Without the written consent of the manufacturer, any damage or lost
caused by the modification or use beyond the user manual, the
manufacturer will not have any responsibility.
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1.2 Safety Concerns
●The maintenance, repair, etc, must be executed by professionally trained
personnel.
●Any unrelated personnel should keep away from robot working area while
it is operating. All electrical wiring must be completed by professionals,
and in accordance with design of specifications and wiring instructions.
●Use safety fence to indicate working area while installation.
●For the safety operation, the hand controller should be placed outside the
robot working area.
●Ensure bolts and nuts are tightened with torque wrench while installation.
● Ensure there is no following matters in the compressive air:
phosphate-containing oil, organic solvents, sulfite gas, chlorine, acids
and stale compressor oil.
●The air pressure should be kept at 6MPa ±0.1MPa while operation.
●Remove anything from the top of the robot to prevent falling due to
vibration.
●Press EMERGENCY STOP button immediately when accident occurs.
● Do not modify the robot body and control box. Please contact
manufacturer or vendor if any change is required.
●Turn off power supply and compressed air before maintenance and
adjustment. Also set up warming signs and safety fences.
●Please use parts of SHINI if there is any replacement is required.
●Our robots meet all corresponding safety standards.
●Please read the user manual carefully as a safety guideline.
● Unauthorized personnel must inform the relative supervisor and
understand all safety rules before entering robot working area.
● Please order a new user manual from the manufacturer or vendor if the
user manual is damaged.
Product owner has the responsibility to ensure the operators,
maintenance staffs and relative staffs have read user manual
thoroughly.
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Any modifications or other applications to robot should obtain the
written consent from the manufacturer, for safety purpose.
The safeguarding required for operation of the robot is not including
in our standard scope of supply (except special equipment), since
adaptation to specific site conditions is required. If such
safeguarding is provided by you, please note that it must be
installed prior to startup of the equipment in order to be included in
the safety circuit of the system upon startup.
The warning marks and its meanings:
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No.
Marks
Meaning
1
Do not touch.
2
Caution!
Danger!
3
Caution!
Electric shock.
Caution!
Mechanical
injury.
4
5
Caution! High
temperature.
6
No flame.
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1.3 Emergency Stop
The emergency stop button is located on the hand controller.
When the emergency stop button is pressed, the power is turned off. The
gripper and vacuum valves and the vacuum generator are not
disconnected in order to avoid dropping parts from the gripper. In
addition, the control system and the hand controller will remain under
power to allow indication of error messages.
The emergency stop circuits of the robot and of the injection molding
machine are connected by the Euromap12 and Euromap67 interface.
Therefore when the emergency stop button on the molding machine is
pressed the robot will also stop and vice versa.
Any problem during using Shini robots, please contact our company or
the local vendor.
Headquarters & Taipei Factory:
China Service Hotline:
Dongguan Factory:
Ningbo factory:
TEL:(02)26809119
TEL:800-999-3222
TEL:(0769)83313588
TEL:(0574)86719088
1.4 Transportation and Storage
Prohibit persons underneath the robot during transportation.
If there is compelling reason for moving or re-installing the robot,
please enquire for assistance from the manufacturer or agents. If you
do not comply with this mandatory requirement, result in the injury to
any personnel and equipment, the robot manufacturer will not have
any responsibility.
1.4.1 Transportation
1. Please use forklift to transport the robot.
2. Before transporting, lock the arm falling-proof bolter to prevent arm out
during transportation.
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3. The arm may rotate, before transporting, turn the shock absorber on
rotation cylinder to the limit position, and fix the arm, prevent damage to
the arm.
4. During the transporting, please be warned of any collision to damage
the robot.
5. In the long-distance transportation, please increase plastic bag, and if
necessary vacuum pumping and put desiccant in.
6. The temperature between -25℃ to 55℃ during the transportation, for
short transportation (in 24 hours), the temperature can not higher than
70℃.
The robot you order before sending out the factory is confirmed in good
working condition, please check whether there is any damage during
carrying or transporting. Please be carefully, when dismantling of
components and packaging, if the robot has found the injury, you can use
the package again.
Any damage caused by transportation, please:
1) Feedback immediately to the transporting companies and our company.
2) Claim to the shipping company, fill in the file requests for compensation.
3) Retain the damaged items for testing. Do not return the damaged items
until the testing is completed.
1.4.2 Transportation after Unpacking
When carry the robot please use the special snatch strap (see the picture,
the snatch strap belongs to exceptional accessories, you can order it from
manufacturer).
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1.4.3 Storage
1. Switch off the air supply and main power, if the robot is not in use for a
long time.
2. Robots should be stored in ventilated, dry room to prevent rust and
damping.
3. If not use for a long time, anti-rust of the robot, and if necessary place
film to prevent dust and rain water corrosion.
1.4.4 Operation Environment
1. Temperature: Between +5℃ to +40℃
2. Humidity: Temperature +40℃, relative humidity 50%
3. Elevation: Under 1000 meters above sea level
4. In order to ensure the robot operate normally, please stop using when:
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① Power wire is broken.
② Air tube is broken.
③ Robot goes wrong or dismantles without professional, before the
professional overhauling.
④ Air pressure is not enough or too high.
⑤ There are organic solvent, acidic phospholipids, sulfurous acid, chlorine
and flammable and explosive dangerous matter in the compressed air.
1.4.5 Retirement
When the robot goes to the end of service life and cannot be maintenance,
dismantle it. When dismantle the component parts according to its nature
mistrials (metal, oil and lubricants, plastics, rubber, etc.) in different ways.
Entrust the authorized commission company and abide the local laws and
regulations of solid industrial waste treatment.
1.5 Exemption Clause
The following statements clarify the responsibilities and regulations born 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.
2. Any incidents beyond human reasonable controls, which include
man-made vicious or deliberate damages or abnormal power, and
machine faults caused by irresistible natural disasters including fire, flood,
storm and earthquake.
3. Any operational actions that are not authorized by Shini upon machine,
including adding or replacing accessories, dismantling, delivering or
repairing.
4. Employing consumables or oil media that are not appointed by Shini.
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2. Installation
2.1 Instruction
2.1.1 Safety Issue
1. Before installation, please read this chapter carefully.
2. Follow the installation guide to prevent accidents.
3. Fix the robot base before operating.
4. Indicate the safety fence outside of the robot operation area.
5. Place the hand controller outside of the safety fence.
6. Keep the air tube in good condition when installing robot.
7. The power connection should be performed only by an authorized
electrician.
8. Cable connection should obey the local regulations. The grounded wire
cannot attach to the water pipe, gas pipe, television cables or telephone
lines.
9. Use the independent cable wire and power switch. The diameter of main
power’s wire cannot be less than the control box’s wire.
2.1.2 Compressed Air Connection
1. According to the filter specification to choose a suitable hose, then
connect it between the gas source and the filter.
Note: Before connecting hoses, clean the hose by compressed air. To
ensure that there is no cuttings, seal tapes, and so on in the hose.
2. Check the compressed air connection in control box without bending
conditions.
3. Turn on the air supply and adjust the air pressure to 5bar at the filter
regulator valve.
2.1.3 Electric Power Connection
1. The power connection should be performed only by an authorized
electrician.
2. Before connecting, cut off the main power supply.
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3. Set up safety electrical to protect the control system. Because the power
supply informally will destroy the control system.
4. Before installation, wiring, operation, and maintenance please familiar
with installation guide as well as machinery, electronics and security
attentions.
5. Ground the wire before robot operating.
6. Wire grounding should connect to metal and keep away from
inflammable matter.
2.1.4 Safety Fence
1. Indicate the safety fence outside of the robot operation area, after
installing robot.
2. Place the hand controller outside of the safety fence.
3. Stick warning logos on the safety fence.
2.1.5 Mounting Preparation
1. Before drilling, switch off the IMM then turn off the power supply in order
to prevent any damage to the mold.
2. Put the drilling sticker (as the picture) on the installing surface of IMM.
3. Use the center punch to fix the positions.
4. Place electrical drill with magnet base on the fixing plate, use Ф8.5 drill
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bits to drill 6 holes about 30mm depth.
5. Use M10 tap to produce 6 internal screw threads about 25mm depth.
2.1.6 Mounting Instruction
1. Avoid sharp pounding, collision and falling when transfer the robot to the
top of IMM.
2. Adjust the torque spanner to 77Nm after the robot has been fixed on the
right position, tighten the M10 × 30 hex socket bolt screws.
2.2 Equipment Specification
2.2.1 Dimensions (Unit: mm)
Picture 2-1
2.2.2 Model Specification
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Chart 2-1: SS Series Robot Specification List
Model
SS-550
SS-700
IMM (ton)
50--150
100--250
Crosswise Stroke (mm)
0--125
0--125
Vertical Stroke (mm)
0--550
0--700
Swing Angle (deg)
50--90
50--90
Wrist Angle (deg)
90
90
Max Load (kg)
0.5
0.5
Min Pick-out Time (sec)
0.8
0.9
Min Cycle Time (sec)
3.0
3.2
Max Air Consumption (Nl/cycle)﹡
9
10
Power rating (W)
30
30
Rated current (A)
0.5
0.5
Air Pressure (bar)
4--6
4--6
62
64
340×570×1100
340×570×1250
Weight (kg)
Dimensions(W×D×H) (mm)
Note: 1. “V” stands for suction circuit.
“M” stands for middle mold detector. (Suitable for 3-plate mold)
“EM12” stands for Euromap12 communication interface.
“EM67” stands for Euromap67 communication interface.
2. Power supply requirement: 1Ф, 100~240V, 50/60Hz.
3. “﹡ ” Max air consumption for suction device 30Nl/min.
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2.2.3 Pneumatic Source Requirement
This is connected to the regulator with 1/4-Ф10
tubing. A shut off valve provide off the main
compressed air line.
Required supply pressure: 5bar
When the pressure drop below 4bar, the robot will
stop working and alarm.
Compressed air consumption depends on the robot
accessories.
2.3 Electrical Connection
2.3.1 Main Power Supply
The power requirements are given on the serial plate of the robot. The
power connection is provided through a normal power cord and a grounded
plug.
The power connection should be performed only by an authorized
electrician according to applicable electric utility regulations.
2.3.2 Interface with the Injection Molding Machine
SS series robots are available with 2 different interface versions to
communicate with the injection molding machine:
●Euromap12
●Euromap67
Both versions are described in the following chapters.
Connection of the interface plug to the machine and testing of all
signals must be done by a specialist in injection molding machines
and robots. Preferably, this should be done by one of our service
engineers together with a qualified service engineer for the injection
molding machine.
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The interface signal functions must be carefully tested, as improper
operation may cause malfunction or damage to the robot and
molding machine.
In particular, the functions of the safety circuits must be thoroughly
checked:
● Testing the Emergency Stop signals from and to the IMM.
● When the Emergency Stop switch is activated on the hand controller,
the error message emergency stop must also be indicated at the IMM.
After acknowledging the error message, the emergency stop must be
activated at the IMM. Emergency stop must also occur at the hand
controller device and be indicated on the display.
2.4 Axes Adjustment
While adjusting, make sure that the robot can not be run and that the
compressed air supply is shut off.
2.4.1 Adjusting the X-Position
The x-position is determined by tuning the position a and b.
Bracket “a” is for adjusting the end-position, and bracket “b” is for adjusting
the stroke length and the 0-position.
Before running in to the mold range with the Y-axis for the first time, you
must check whether the X-positions can be reached without damaging the
mode and the Y-axis.
First, the end position of the X-axis must be adjusted.
Adjusting the end position
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1) Run the X-axis to its end position
2) Release bracket “a”
3) Push the axis to the desired position manually
4) Fix the stop package
Adjusting the 0-position (stroke length)
5) Run the X-axis to 0-position
6) Release stop package “b”
7) Push the axis to the desired 0-position
8) Fix the stop package
2.4.2 Adjusting the Y-Position
The upper position is given by the end-position-damper. The withdraw
position can be set using the stop block.
Adjusting the withdrawal position:
1) Run the Y-axis to its end position
2) Seal off compressed air
3) Loosen Y-axis stop package
4) Push the Y-axis to the desired position manually
5) Push Y-stop to its lowest position
6) Fix the Y-stop-package
Stop Block
If the Y-axis is shifted, also the withdrawal position changes.
2.4.3 Adjusting the Z-Position
The Z-position is determined by adjusting the position of the shock
absorber.
Before adjusting, release the compressed air.
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1) Loosen the nuts on the shock absorber
2) Adjust the shock absorber into the desired position
3) Tighten the nuts in place
The Z-position must be adjusted so that the Y-axis can be fully run out. In
the Z 0-position, the Y-axis must be run out to outside the mode area.
2.5 Gripper and Suction Setting
2.5.1 Gripper Setting
When the gripper is opened (did not pick up parts), the light of the magnetic
switch should be off. When the gripper picks up parts, the light of the
magnetic switch should be on. When the gripper is closed (did not pick up
parts), the light of magnetic switch should be off.
Adjusting the magnetic switch:
1. Loosen the fixing screw on the magnetic switch
2. When gripper picks parts the light of magnetic switch on, if gripper
haven’t picks parts, the light off.
3. Tighten the fixing screw after finishing adjustment.
During the robot operation, if the gripper not clamps the parts, the robot will
stop operating and alarm.
Magnetic Switch
2.5.2 Suction Setting
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1. Compressed air source setting:
The pressure sensor is set at the minimum air pressure when the machine
is working, that is, when the input pressure exceeds the value, it will
feedback to the system to ensure that the machine work properly. The
factory setting of pressure value is 0.4Mpa. As the machine has
compressed air loss during working, the value about 0.07Mpa. Therefore,
the lowest pressure is 0.4Mpa, the machine can work properly. The
atmospheric pressure should be higher than 0.47Mpa.
If you need to modify the value, please do it step by step:
a. Release the A screw
b. Rotating turntable B to “+”, it demands for the higher air pressure to “-”, it
demands for the lower air pressure.
c. Testing whether the switch output, please check the “pressure limit” of
“monitor” page on control panel.
Picture 1-8
2. Suction pressure setting:
The suction with negative-pressure measuring function, when negative
pressure is set to the preinstalled value, it will feedback and output to the
system. The negative pressure value set -60% as factory setting. So, when
negative pressure up to -60%, signal output.
If need to modify the value:
1. Loosing screw C. (see as the picture 1-8)
2. Rotate screw D, Counterclockwise rotation in order to reduce negative
pressure value; Clockwise to increase the negative pressure value.
3. After setting, lock screw D. Adjusting the negative pressure values as
well as adjusting the delay time of adsorption action. If the vacuum
generator in a certain situation, the lower the negative pressure values,
longer time need.
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2.6 Robot and IMM Interface
SS series robots are available with 2 different interface versions to
communicate with the injection molding machine:
●Euromap67
●Euromap12
Both versions are described in the following chapters.
2.6.1 Euromap67 Interface
Euromap67 interface defines the connection plug between the injection
molding machine and the robot:
The robot-injection molding machine interface is designed according to the
directives of Euromap67, which states:
Unless otherwise noted, the signals, which are maintained during the
described function.
2.6.1.1 The Injection Molding Machine Output Signals
Pin Contact NO.
ZA1
Function
Emergency stop channel 1
The emergency stop switch of the injection molding
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ZC1
machine is used to interrupt the emergency stop circuit of
the robot.
Emergency stop channel 2
ZA2
ZC2
The emergency stop switch of the injection molding
machine is used to interrupt the emergency stop circuit of
the robot.
Safety system active channel 1
ZA3
ZC3
For protecting against hazardous motions of the robot. The
switch is closed when the safety system of the injection
molding machine is active.
Safety system active channel 2
ZA4
ZC4
For protecting against hazardous motions of the robot. The
switch is closed when the safety system of the injection
molding machine is active.
Reject
ZA5
optional
The signal is HIGH when the molded piece is a reject. The
switch is closed when the tool is open and must remain
HIGH at least until “close tool enabled”(see pin contact
No.A6).
Mold closed
ZA6
HIGH signal when tool closing has been completed, the
signal “close tool enabled” is no longer necessary (see pin
contact No.A6).
Mold open
ZA7
HIGH signal if the mold opening position is equal or more
than the required position. Inadvertent alteration to mold
opening stroke smaller than that required for the robot to
approach must be impossible.
Mold at intermediate position
ZA8
optional
HIGH signal when the mold opening has reached the
specified intermediate position and remains HIGH until
the mold is completely open. The signal may be used in
two ways:
1)The mold stops in the intermediate position, whereupon a
signal is sent to the robot. Completely opening of the IMM
takes place through the signal “complete mold opening
enabled”(see pin A7).
2)The IMM transmits the signal, but does not remain in the
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intermediate position.
Signal is LOW when the intermediate.
ZA9
Signal voltage robot 24V DC
Fully automatic mode injection molding machine
ZB2
HIGH signal, when operating the injection molding machine
tighter with the robot is possible.
Ejector back position
ZB3
HIGH signal when the ejector is back, regardless of the
position of the movable tool plate. The signal
acknowledges “ejector back enabled” (see pin contact
No.B3).
Ejector forward position
ZB4
HIGH signal when the ejector is forward. The signal
acknowledges “ejector forward enabled” (see pin contact
No.B4).
Core pullers 1 free for robot to approach
ZB5
HIGH signal when the core pullers are in position for
removal of the injection molding(see pin contact No.B5).
Core pullers 1 in position to remove molding
ZB6
HIGH signal when the core pullers are in position for
removal of the injection molding (see pin contact No.B6).
Core pullers 2 free for robot to approach
ZB7
optional
ZB8
optional
ZC5/ZC6/ZC7
HIGH signal when the ejector is back, regardless of the
position of the movable tool plate are in position for the
robot to approach(see pin contact No.B7).
Core pullers 2 in position to remove molding
HIGH signal when the core pullers are in position for
removal of the injection molding (see pin contact No.B8).
Reserved for future Euromap signal
ZC8
free
ZC9
Signal Ground Robot 0V
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2.6.1.2 Robot Output Signals
Pin contact No.
A1
C1
A2
C2
Function
Emergency stop of robot channel 1
The emergency stop switch of the robot aborts the control system of
the molding machine.
Emergency stop of robot channel 2
The emergency stop switch of the robot aborts the control system of
the molding machine.
Mold area free
A3
C3
Signaling is effected by the limit switch at the travel in rail. The switch
is opened. When the travel in rail, in the region of the injection
molding machine, leaves its starting position before it is moved into
the tool area. If the switch is open, neither a closing nor opening
motion of the tool may take place. Even when the control system of
the robot is shut off, the switch must work as described.
A4
Reserved for future Euromap signal.
C4
A5
free
Complete mold opening enabled
A6
HIGH signal when the robot is far enough out of the tool that it can be
closed and when other robot control systems enable closing of the
tool. The signal remains HIGH signal for the duration of the tool
closing operation, the event of a LOW signal due to a disturbance,
the tool-closing motion must be aborted.
Note: the signal “close tool enabled” may not be linked with other or
signals in any operating mode (see pin contact No.ZA47).
Complete mold opening enabled
A7
optional
HIGH signal when the robot is far enough out of the tool that it can be
closed and when other robot control systems enable closing of the
tool. The signal remains HIGH signal for the duration of the tool
closing operation. In the event of a LOW signal due to a disturbance,
the tool-closing motion must be aborted.
Note: the signal “close tool enabled” may not be linked with other or
signals in any operating mode (see pin contact No.ZA47).
A8
Reserved for future Euromap signal
A9
Signal Ground IMM 24V DC
B2
Operation with robot
27(88)
LOW signal when the robot mode switch is “operation with injection
molding machine”. HIGH signal when the robot mode switch is “no
operation with injection molding machine” HIGH signal when the
robot is switched off.
Ejector back enabled
B3
HIGH signal when the removal operation has been performed far
enough for the motion “ejector back” to be carried out. The signal is
HIGH for the duration of the motion “ejector back”.The signal must
be maintained at least until the signal “ejector back” from the molding
machine.(see pin contact No.ZB3)
Ejector forward enabled
B4
B5
optional
B6
optional
B7
optional
B8
optional
C5
C8
C6
C7
C9
HIGH signal when the removal operation has been performed far
enough for the motion “ejector back” to be carried out. The signal is
HIGH for the duration of the motion “ejector back”. The signal must
be maintained at least until the signal “ejector back” from the molding
machine.(see pin contact No.ZB4)
Enable movement of core pullers 1 to position for the robot to
approach freely. HIGH signal when the motion of the core pullers is
to the position for the robot to approach freely is enabled. (see pin
contact No.ZB5)
Enable movement of core pullers 1 to position for removal of the
molding
When the motion of the core pullers is to the position for removal of
the molding is enabled.
Enable movement of core pullers 2 to position for the robot to
approach freely. HIGH signal when the motion of the core pullers is
to the position for the robot to approach freely is enabled. (see pin
contact No.ZB7)
Enable movement of core pullers 2 to position for removal of the
molding.
When the motion of the core pullers is to the position for removal of
the molding is enabled. (see pin contact No.ZB8)
free
Reserved for future Euromap signal
Reserved for future Euromap signal
2.6.2 Euromap12 Interface
The interface consists of the plug connection between the injection molding
28(88)
machine and the robot:
The robot-injection molding machine interface is designed according to
Euromap12, which state:
Unless otherwise noted, the signals are maintained during the described
function.
2.6.2.1 Injection Mounding Machine Output Signals
Plug
Contact NO
1,9
2
3,11
4
Function
Emergency stop of machine
The emergency stop switch of the injection molding machine is used
to interrupt the emergence stop circuit of the robot.
Mold open
The switch contact (pin contact 16) is closed when mold opening
position is equal or more than required position. Inadvertent
alteration to mold opening stroke smaller than that required for the
handing device to approach must be impossible.
Safety system active
The switch contact is closed when safety devices (e.g. safety guard,
footboard safety, etc.) on the injection molding machine are
operative so that dangerous movements of the handing device/robot
are possible. The signal is active in any operation mode.
Ejector back
The switch contact is closed when the ejector has been retracted
regardless of the moving platen position. (See pin contact No.16)
acknowledgement for the “Enable ejector back” signal (see pin
contact No 21), when the ejector sequence is selected. (see pin
contact No.16)
29(88)
5
6
optional
7
optional
8
optional
10
12
Ejector forward
The switch contact (see pin contact No.16) is closed when the
ejector has been advanced. The signal is the acknowledgement
signal for the “enable ejector forward” (see pin contact No 22).
It is recommended to close the switch contact when the ejector
sequence not in use. (see pin contact No.16)
core pullers free for robot to travel in
Switch (see pin contact No.16) is closed when the core pullers,
regardless of the position of the movable tool plate, are in position
for free travel–in of the robot.
core pullers in position for removal of injection moldings
Switch (pin contact No.16) is closed when the core pullers are in
position for removal of the injection molding.
Reject
Switch (see pin contact No.16) is closed when the molded piece is a
reject. The switch must be closed when the tool is open and must
remain closed at least until “enable mold close”. (see pin contact
No.17)
Fully automatic mode injection molding machine
Switch (see pin contact No.16) is closed when the operating mode
selector switch is on “semi-automatic” or “fully automatic mode”.
Mold closed
Switch (see pin contact No.16) is closed when the mold closing has
been completed, the signal “enable close” is no longer necessary.
(see pin contact No.17)
13
optional
Free
14
optional
Mold at intermediate position
Switch (see pin contact No.16) is closed when the IMM has reached
the specified intermediate position and remains closed until the IMM
is completely open. The signal may be used in two ways:
1) Mold opening stops on intermediate position and gives start signal
to handling device/robot. mold opening restarts with the signal
“Enable full mold opening”(see contact No.28)
2) Mold opening doesn’t stop on intermediate position, however
gives the signal to handling device/robot. (see pin contact No.16)
The switch contact is open when intermediate mold opening position
is not in use.
15
optional
16
Free
Signal voltage of robot
2.6.2.2 Robot Output Signals
Plug
Contact NO
Function
17
Enable mold close
The switch contact (see pin contact No.32) is closed when the robot
30(88)
18,26
19,27
20
21
22
23
optional
24
optional
25
28
optional
29
is retracted enough for start of mold closure. the switch contact must
remain closed at least until “mold closed” (see pin contact No.12)
Mold area free
The switch contact is closed when the robot is retracted enough for
start of mold closure. If the switch contact opens as a result of a
fault, mold closing must be interrupted. The switch contact must be
closed if the robot is switch off.
It is recommended to close the switch contact when the robot is
unselected.
Emergency stop of robot
Opening of the switch contacts of the robot must shut off the control
system of the molding machine.
Operation with robot
The switch contact (see pin contact No.32) is open when the robot
mode switch is “Operation with injection molding machine”. The
switch contact is closed when the handling device mode switch is:
“No operation with injection molding machine” the switch contact
(see pin contact No.32) is closed when the robot is switched off.
Enable ejector back
The switch contact (see pin contact No.32) is closed when the
handling device enables the movement for ejector back, the switch
contact must remain closed at least until “Ejector back” signal is
given by injection molding machine (see contact No 4).
Enable ejector forward
The switch contact (see pin contact No.32) is closed when the
handing device enable the movement for ejector forward. The switch
contact must remain closed at least until “ejector forward” signal is
given by the injection molding machine (see contact No 5).
Enable motion of core pullers for removal of injection moldings
The switch contact (contact no. 32) is closed when the enable
motion of core pullers for removal of injection moldings.
It is recommended that the switch contact remains closed at least
until “the core back to end” signal is given by injection molding
machine (see contact No 7).
Enable motion of core pullers for removal of injection moldings
The switch contact (contact no. 32) is closed when the enable
motion of core pullers for removal of injection moldings.
It is recommended that the switch contact remains closed at least
until “the core back to end” signal is given by injection molding
machine (see contact No 7).
Reserved for future use by EUROMAP
Enable full mold opening
The switch contact (see pin contact No.32) is closed when the
handling device has taken the part and allows to continua mold
opening. The switch contact must remain closed until “mold open”
signal is given by the injection molding machine (see contact No.2).
If the switch contact is not used it must be open.
Reserved for future Euromap signal
31(88)
30
Free
31
Free
3. General Description
3.1 SS Series Abstract
The SS series robot is designed for rapid and precise removal of spure and
runner from injection molding machine, and place them into granulator for
recycling. Simple product removal is applicable with optional vacuum generator
and EOAT. SS-550 and SS-700 offer vertical arm displacements of 550mm and
700mm that are suitable for injection molding machines with clamp forces of 150t
and 250t respectively. SS series is designed with compact structure, elegant
appearance, smooth motion, user friendly interface, and imported pneumatic
accessories.
Model: SS Series Robot
3.2 Application
1) SS-550 is suitable for the use with plastics injection molding machine
under 150t.
2) SS-700 is suitable for the use with plastics injection molding machine
32(88)
under 250t.
3.3 Features
1) Arm Mechanism
The arm mechanism is integrated with branded pneumatic cylinder,
efficient shock absorber, drop proof locking mechanism, compact and
adjustable gripper, self clean plastic bearing, 90°wrist rotation mechanism
and gripper sensor.
2) Swing Mechanism
Employs rack and pinion system which converts linear motion to rotation
with least damage to the cylinders. The shock absorber and angle tuning
system provides a smooth and precise swing motion.
3) Kick Stroke Mechanism
Employs heave duty linear rail and ball bearing, pneumatic cylinder with
adjustable speed and displacement and shock absorber.
4) Base Mechanism
Fast mold changing design provides simple method for changing molds.
The base is rotating for 90°by releasing the handle.
5) Pneumatic Circuit
Branded pneumatic accessories provide extensive use life. Removable
electric circuit stands allows easy maintenance.
6) Control System
Dialogic hand controller provides English, Japanese, Traditional Chinese
and Simplified Chinese. Other languages are applicable; up to 8 different
languages can be stored. There are 8 standard programs and memory for
up to 80 customized programs with self fault detection. Swing directions
are adjustable simply by flipping the switch on the control board. Position
limit sensors are applied to all moving directions in order to provide safety
mechanically and electrically. Extra 4 sets of I/O pins are available for
other applications. Designed to EUROMAP12, EUROMAP67 and SPI to
provide plug and use.
3.4 Functions
33(88)
3.4.1 Function Description
Designed for rapid and precise removal of sprue and runner from
injection molding, and place them into granulator for recycling. Simple
product removal is applicable with optional vacuum generator and
EOAT. Suitable for injection molding machine under 250T clamp force.
In order to ensure the robot works smoothly, there are shock
absorbers and magnetic sensor switches on the main parts of the
robot, and having pneumatic cut off protection device on arms.
3.4.2
Stroke Measuring
There are magnetic switches on the front and back of the kick stroke
cylinder and having the proximity switches on the left and right sides of
the rotation cylinder and arms, use to measure whether the cylinder
stroke is normal.
There is a magnetic switch on the gripper, use to measure whether
gripper picks up parts. If any parts of robot goes wrong, it will stop
working and alarm till eliminate troubles.
Picture 3-2
34(88)
3.4.3 Shock Absorber
Shock Absorber on Kick Stroke
Picture 3-3
3.4.4
Functions Adjustment
3.4.4.1 Forward and Backward Adjustment
The robot base joined with the stand parts by thread. When need adjust
the robot position, use spanner loosen the fixed screw, rotate the hand
wheel, the base can move forward or backward. After adjusting, tighten
the screw.
Picture 3-3
3.4.4.2 Mold Change
The robot has rotating function.
35(88)
Loosen the fixed screw and rotate the robot for 90 degrees in the case
if changing mold, as show in picture 3-4.
Picture 3-4
3.4.4.3 Reversing
The robot designed with crossed T-groove. Loosen the screws which
on the arm to change the robot’s arm swing out direction. Turn the
trapezoidal convex to the other T-groove, then tighten the screw, and
turn the reversing switch to the other side, the arm will change the
swing direction. The robot places goods in non-operation position as
the factory setting. The flowing steps are the robot places goods in
non-operation position change to the operation position.
1. Loosen the arm connecting screw, counterclockwise arm 90° to
make the arm in horizontal, then tighten the screw.
Arm Connecting Screw
36(88)
2. After adjusting arm, move the switch (in non-power and
non-pneumatic state) on circuit board from “L” to “R” position.
After power on and pneumatic on, the arm almost in vertical
state.
Reversing Switch
3. Adjusting the shock absorber on the right of sliding seat, made
the arm in the completely vertical state and the gripper opened
direction vertical with the sliding seat slipping direction.
Shock Absorber
4. Loosen the fixing gripper screw, clockwise 90° gripper made
gripper opened direction vertical with the sliding seat slipping
direction.
37(88)
Fixing Gripper Screw
3.5 Safety Function
3.5.1 Safety Protection
The robot with cut off pneumatic protection device, can prevent the
damages cause by arm falling when air pressure is not enough.
If the air pressure is not enough, the sensor will output the signal. The
robot’s arm keeps in current position or returns to the up limitation position,
then the pneumatic cut off protection device locks the piston rod (if the arm
out from inner mold, it will keep at current position, if out from the outside of
mold, the arm will back to the up limitation position).
When the air pressure is sufficient, the pneumatic cut off protection device
will set free and the robot will work again.
In addition, there is a manual ring on the device. When the air pressure is
insufficient and the arm is in locked state, the customer can manually pull
the ring and pull out the piston rod to move it.
3.5.2 Emergency Stop
There is the emergency stop button on the hand controller. When the
emergency stop button is pressed, the robot will stop working. The gripper
and vacuum valve and the vacuum generator are not disconnected in
38(88)
order to avoid dropping parts from the gripper. In addition, the hand
controller will remain under power to allow indication of error messages. If
robot goes wrong or need to maintenance, please press the emergency
stop button to ensure operation safety.
Emergency
Stop Switch
Picture 3-6
3.6 Adjusting and Setting
3.6.1 Default Setting
When the robot sends out of the factory:
1. The direction of the arm rotation is left.
2. The pressure sensor is 4bar. If the air pressure is less than 4bar, the robot
will stop working and alarm.
3. The filter-regulator setting in 5bar.
3.6.2 How to Achieve SS Reverse of Direction
In order to make it convenient for customers to locate the products at the
operation side or the non-operation side, the arm of Shini SS series are fixed
by two trapezoidal grooves that cross with each other. Release the screw that
binds the arm when reverse rotation direction is demanded, and rotate the
trapezoidal convex block into the other trapezoidal groove. Then fasten the
screw and turn the DIP switch to the other end to finish it. The detailed
39(88)
descriptions are as follows: (Default value of this equipment before delivery is
locating the products at the non-operation side, and the following instruction
refers to the opposite direction)
1. Release the screw that bind the arm, and fasten them after moving the arm
90 degrees counterclockwise. The arm is now in horizontal status.
2. After adjusting the arm, turn the DIP switch on the circuit board from "L" to
"R" when cutting off power and gas. The arm is nearly in perpendicular
condition.
3. Regulate the hydraulic buffer on the sliding saddle to make the arm totally
vertical. The open direction of the fixture and glide direction of the sliding
saddle are mutually perpendicular now.
4. Loosen the screw that fasten the fixture, and fix it after rotating the fixture
90 degrees clockwise to make the open direction of the fixture and glide
direction of the sliding saddle parallel to each other.
40(88)
3.6.3 Adjusting the Height of the Gripper
1. If the vertical stroke is not enough to pick out the parts in mold, adjust the
height of baffle plate as well as adjust the height between gripper and
base.
2. If the baffle plate is at the up limit, the arm was still unable to get down to
pick out the parts in mold, loosen fixed screw on arm, move arm to the
lower position.
Baffle Plate
41(88)
Loosen Fixed Screw
3.6.4 Forward and Backward Adjustment
1. If the kick stroke is short that can not let the arm pick out the parts from
inner mold, adjust the slide base position (backward or forward).
2. When adjust the position of the sliding base, loosen the fixed spanner,
then rotate the hand wheel on the base. After move base to proper
position, fix it use fixing spanner.
Note: After adjusting the base, must tighten it use spanner, prevent the
accidents when robot operating.
Picture 3-5
3.6.5 Change Mold and Maintenance
The robot with the change mold function convenience to change mold or
42(88)
maintenance.
Loose the fixed screw below the base, rotate the base 90°. After adjustment,
rotate base back and lock the fixing screw.
Picture 3-6
3.6.6
Air Pressure Adjustment
1. After installing the robot, rotate the air pressure adjustment button
which on the filter regulator, adjust the pressure to the 5bar (default
setting).
2. All the drive-cylinder fittings are used speed control fitting. Adjust the
air flow to change the speed of the drive-cylinder.
Picture 3-7
3.6.7 Shock Absorber
Before the robot send out of our factory, it has been tested strictly. But,
43(88)
because of the different working surroundings, the robot may be not
operating smoothly as expected.
Adjust the shock absorber, the steps as flowing:
1. There is an adjustment shock absorber on rotation cylinder. Loosen the
adjustment knob by inner hexagon spanner in counterclockwise direction,
adjust the knob lightly to desired point.
Picture 3-8
Note: There is scale numbers (1 to 9) on shock absorber, 1 means the
minimum buffer, 9 is the maximum. While adjusting, let the yellow
point aims at the desired scale. After adjusting, tighten the fixing
screw in clockwise direction.
2. Both the cylinders on the arm and kick stroke are with built-in buffer
device. Adjust the buffering as your demands.
Note: According the cylinder’s model to choose the size of the adjustment
tool. Adjust in clockwise direction, the buffering power become
large, counterclockwise direction is reverse.
44(88)
Buffer Adjustment Hole
Picture 3-8
3.6.8 The Position of Swinging- in Adjustment
1. In general, the position of the arm swinging-in is in vertical statement. If
the mold is special designed, and the injection door is not in the center of
the mold, you can loosen the fixed nut on shock absorber of rotation
cylinder to adjust the limited height and the position of the arm swing-in.
a. When arm swing left, if the swing-in position turn left, should rotate the
left shock absorber in counterclockwise.
b. When arm swing left, if the swing-in position turn right, should rotate the
left shock absorber in clockwise.
c. When arm swing right, if the swing-in position turn left, should rotate the
right shock absorber in clockwise.
d. When arm swing right, if the swing-in position turn right, should rotate the
left shock absorber in counterclockwise.
Note: After change the arm reversing, also need adjust the arm swing-in
position as the above methods.
45(88)
Fixed Nut of Shock Absorber
Picture 3-10
3.6.9 Adjusting the Swing-out Angle
The range of swing-out angle is 50 to 90 degree. You can adjust the
position of the shock absorber on the rotation cylinder to adjust the
swing-out angle.
a. When arm swing left; rotate the right buffer in counterclockwise to
increase the swing-out angle, in clockwise direction is reversing.
b. When arm swing right, rotate left buffer in counterclockwise to increase
the swing-out angle, in clockwise direction is reversing.
46(88)
4. Operation Instructions
4.1 Hand Controller
4.1.1 The Panel of Hand Controller
Picture 4-1
4.1.2 Keys
Main arm up/down
Main arm forward/backward
Main arm clip on /off
Arms swing in /out
47(88)
Vacuum sucker on /off
Spare valve on/off (use to control the conveyor and transporter.)
Sub-arm up/down
Sub-arm forward/backward
Sub-gripper clip on /off
Mold close
4.2 Manually Operation
Press MANUAL key, toggle the display to the manual operation. Press the
keys on the hand controller to set desired robot action.
Before manually setting, please confirm:
1. The “mold opened” signal.
2. Insure arms will not knock against surrounding subjects.
Manual Input
NoAct
Picture 4-2
4.3 Automatic Operation
Press AUTO key, show the display (see picture 4-3), and enter into auto
operating model.
Auto time (AutoTime): Record current automatic cycle time.
48(88)
Set yield (SetYield): Anticipate the production quantity of the enactment.
When the current yield arrives to the set yield quantity,
the robot will alarm.
Current yield (CurYield): the quantities robot picks.
Current action (CurrAct): current action of robot.
Set time (Settime): The current time of the whole usage.
Operate time (Operatetime): The current action is physically time use.
Picture 4-3
4.4 System Operation
4.4.1 Stand-by Mode
After power on, the control system enter into the self-examination page, and
then enter to the STAND-BY page. Also can press STOP key into
STAND-BY page when robot operating normally. Press the FUNC keys to
set the desired function, after setting, press the STOP key to save the
setting and back to stand-by page.
4.4.2 Language
After entering into stand-by page, press LANG key to set language. Press
ENTER key to change between simplified Chinese, traditional Chinese,
English and Japanese.
Picture 4-4
49(88)
4.4.3 The Function Setting
In stand-by page, press FUNC key to enter the function choice page. Press
or
key on the hand controller, use cursor to choice the desired
function, press ENTER key to change and save the setting.
Eje.Use:Use
MainChck:Positv
SubCkeck:Positv
VacmChck:Use
Picture 4-5
1. Ejection relation (Eje.Use):
NoUse: “Enable ejector forward” and “Enable ejector back”, the signals
output all time.
Use: After opening mold, output “enable ejector forward” signal.
2. Main gripper examination (MainChck):
Positive: examine gripper in positive. If the gripper picks up parts
successfully, the gripper outputs signal ON.
Negative: examine gripper in negative. If the gripper picks up parts
successfully, the gripper outputs signal OFF.
NoUse: not examine gripper. Whether gripper picks up parts
successfully or not, it is not test the signals.
3. Sub-gripper examination (SubCkeck): the same as the main gripper.
4. Vacuum examination (VacmCkck):
NoUse: in auto operation, it is not test the vacuum signals.
Use: in auto operation, if the vacuum sucker sucking parts successfully,
it is output signal ON.
50(88)
4.4.4 Special Function
In stand-by page, press FUNC key twice, enter into the password setting
page, input “5488”, then press ENTER key to enter the special function
page. Press UP/DOWN key, use the cursor to move to desired function
key, press ENTER key to save and acknowledge the setting.
PrerCnt:0
Stay:NoUse
DoorOpen:Orig
CycTime:60.0
Sound:ON
PressChk:Use
AlarmTime:12.0
ProdClr:OFF
AutoSignalNoUse
SafeDoor:Use
StopSafe:Use
Picture 4-6
1. Spare counter (PrerCnt):
If the value is 00 for not using spare counter. If setting the value, the spare
valve output counters according to movement of sub-interval mold.
If value is 1 stands for each mold output the spare valve, 2 stands for two
molds output spare valve once only.
2. Cycle time (CycTime):
The cycle time is for robot monitors pick-out action. Means the maximum
time from current cycle complete to the next Injection Machine mold opened
limit. If waiting time exceed the set value, alarm raise.
3. Alarm time (AlarmTime)
Setting the alarming period time, exceed the time, the robot will stop alarm
but the alarming page will still indicate on the screen.
4. Safety door (SafeDoor):
NoUse: not testing the signals of safety door.
51(88)
Note: This state only refers authorized people to use this setting, when
installing and testing robot. After finishing, it must be set at “use" of state.
Use: When arm down to pick up the parts, the safety door can test the
signals.
5. Waiting outside of mold (Stay):
NoUse: robot operates in auto mode, the arms wait inside for next cycle,
as the module program action.
Use: robot operates in auto mode, the arms wait outside for next cycle,
and then rotate inside before the module program action.
6. Key sound (Sound):
Off: No sound while pressing.
On: Sound while pressing.
7. Products’ number cleared (ProdClr):
Off: robot operates in auto mode, set the products’ number, when
reaching the setting number, the robot will stop and alarm.
On: In auto mode, not counter the products’ number, the number always
shows "0”.
8. Stop uses the safety door (StopSafe):
NoUse: The injection molding machine locks mold not controlled by the
robot. The robot stop working and “open mold finished”, allow
injection molding machine close mold for a long-term.
Note:
This state only refers authorized people to use this setting, when
install and testing robot. After finishing, it must be set at “use" of
state.
Use: When robot stops working and “open mold finished”, the door must
open and close one time, then enable the IMM closed mold.
52(88)
9. Door open (DoorOpen):
Reset: In robot auto operating mode, open the safety door and the arm
will return to origin point.
Stop: In robot auto operating mode, open the safety door and arm stops
working at once.
10. Air pressure checks (PressChk):
NoUse: not test air pressure signal.
Use: when the air pressure is not reach the setting, arm stop working. The
hand controller will show air pressure is not enough.
11. Fully auto (AutoSignal):
NoUse: not test the fully auto operating signals.
Use: When having the fully auto operating signals, the robot can work in
auto mode. When the signal cut off, the robot will stop when the
action cycle finished.
4.4.5 Molds Select
In stand-by page, press SAVE key to enter into molds choice page (refer to
the molds action pictures). Choice the desired molds and press ENTER key
to save the setting.
**MoldSele**
Select:(0-99)?00
Picture 4-7
4.4.6 Mold Set
To copy the mold recipe, press SAVE key twice to enter into copy molds
page.
The user can choose one program from 0-99 to read it and then put it into
20-99 to memory as the code of the mold.
53(88)
**CopyMold**
Read:(0-99)?00
Writ:(20-99)?20
Picture 4-8
4.4.7 Teach
In stand-by page, press TEACH Key to enter the TEACH page.
**Prog**
**Prog**
Read:(0-99)?00
2002Thim.Dly01
Writ:(20-99)?20
2003MainDown01
2004MoldEnd
Picture 4-9
Read the standard action program (0-19 set) or user defined program
(20-99 set), save to the program contents change behind again 20-99 set.
After set "read" press ENTER key, the curser move to "write", then set the
"write" program, press ENTER key to enter the teach program. In action
area, press up/down key to correct step by step, after doing it, modification
complete after press ENTER key and current recipe is saved. The robot will
work and turn to next program.
20
modes number
03
steps number
main arm down
action
54(88)
01
action time
INSERT: input one order without actions in the teach program.
DELETE: delete one order from teach program.
Note:
a. Must have “mode opened” signal from injection molding machine, then
can enter into the TEACH page.
b. In teach mode, the robot will work according to the steps. Please pay
special attention to the arm’s displacement to prevent collision.
c. All molds action begins from original point and at the end of the cycle
back to it, otherwise the action program is incomplete and robot cannot
operate in auto mode.
Original point actions
1. Arm upgoing
5. Gripper open
2. Crosswise back
6. Suction off
3. Rotation in
4. Chamfer wrist
7. Spare output/input off
4.4.8 Time Setting
In stand-by page or auto page, press TIME key to enter into the time
modification page.
Press up/down key to move the cursor to proper step. Press ENTER key
after modify.
NOTE:
1: The time of after the step-by-step action sequence is the working delay
time, the delay time end, executing the current action.
2: If an action needs limit ON/OFF check, after time delay, the act starts and
the next step action will wait until the limit signal arrived.
Picture 4-10
55(88)
4.4.9 I/O Monitor
In stand-by or auto page, press WATCH key to enter into the I/O monitor
page.
Use the up/down key to move the curser and monitor the input and output
signals.
INPUT
LS
1. UpLmt
2. DownLmt
3. MainGripsLmt
4. SuckLmt
5. MiddLmt
6. PressLmt
7. RotateInLmt
8. RotateOutLmt
9. ForwLmt
10. BackLmt
11. UrgentStopIn
12. OpenCmpl
13. SafeDoor
14. Eje.BackLmt
15. Eje.ForwLmt
16. AutoSignal
17. CloseFinsh
OUTPUT
SQL
1. DownValve
2. ForwValve
3. MainGripsValve
4. SuckValve
5. RotateInValve
6. RotateOutValve
7. SpareValve
8. AlarmValve
9. ClosePermit
10. UrgentStopOut
11. Eje.BackPermit
12. Eje.ForwPermit
4.5 Standard Action Program
Program 0: Clip the moving side
0000 produce quantity
0001 open mold delay 0002 ejection delay
0003 the main arm down 0004 the main arm forward 0005 the main arm
clip
0006 main arm backward 0007 main arm up 0008 rotate outside
56(88)
0009 the main arm down
0012 rotate inside
0010 main arm put down
0011 main arm up
Program 1: Clip the fix side
0100 produce quantity 0101 open mold delay 0102 ejection delay
0103 main arm forward 0104 main arm down 0105 main arm backward
0106 the main arm clip 0107main arm forward 0108 main arm up
0109 rotate outside 0110 main arm down 0111 main arm put down
0112 main arm up 0113 rotate inside
Program 2: Clip the fix side
0200 produce quantity 0201 open mold delay 0202 ejection delay
0203 main arm down 0204 The main arm clip 0205 main arm forward
0206 main arm up 0207 main arm backward 0208 rotate outside
0209 main arm down 0210 main arm put down 0211 main arm up
0212 rotate inside
Program 3: Clip the moving side
0300 produce quantity 0301 open mold delay 0302 ejection delay
0303 main arm forward 0304 main arm down 0305 the main arm clip
0306 main arm backward 0307 main arm up 0308 main arm forward
0309 rotate outside 0310 main arm down 0311 main arm put down
0312 main arm up 0313 rotate inside
Program 4: Suck the moving side
0400 produce quantity 0401 open mold delay 0402 ejection delay
0403 main arm down 0405 vacuum absorb 0406 main arm backward
0407 main arm up 0408 rotate outside 0409 main arm down
0410 the vacuum put 0411 main arm up 0412 rotate inside
Program 5: Clip and Suck the moving side
57(88)
0500 produce quantity 0501 open mold delay 0502 ejection delay
0503 main arm down 0504 main arm forward 0505 vacuum absorb
0506 the main arm clip 0507 main arm backward 0508 main arm up
0509 rotate outside 0510 main arm down 0511 the vacuum put
0512 main arm up 0513 main arm down 0514 main arm put down
0515 main arm up 0516 rotate inside
Program 6: Mold inside put down to the moving side
0600 produce quantity 0601 open mold delay 0602 ejection delay
0603 main arm down 0604 main arm forward 0605 the main arm clip
0606 main arm backward 0607 main arm put down 0608 main arm up
Program 7: Mold inside put down to the fix side
0700 produce quantity 0701 open mould delay 0702 ejection delay
0703 main arm forward 0704 main arm down 0705 main arm backward
0706 the main arm clip 0707 main arm forward 0708 main arm put down
0709 main arm up
58(88)
5. Error Correction
Error
Error Caused
Error Correction
After power on, the
light on the hand
controller is not
light.
1. Emergency Stop key on
the hand controller was
pressed.
2. 37P plugs loosed or not
connected.
3. Power wire errors.
4. Fuse burning-off.
The screen of hand
controller is gray,
when power ON.
Under voltage.
Error Number 01
05 R.In Lmt ON
06 R.Out Lmt ON
Both the rotation in and out
limit
having signal
Error Number02
01 rise lmt ON
Error Number 03
01 rise lmt OFF
Down valve worked already,
having the signal of down
valve .the motion of arm
downing doesn’t finish in set
time.
Down valve no motion, and
the up limit no signal, the
motion of the arm upping
don't finish in set time.
Error number 04
07 Vacuum ON
The sucker working and the
vacuum suck no signal input.
04 Suck lmt OFF
Error Number 05
04 Main Clip ON
02 Main Clip lmt
OFF
Main clip valve working, main
clip limit no input.
59(88)
1. Loosing the Emergency Stop key
on the hand controller.
2. Check the 37P plugs.
3. Check the power wire.
4. Check and change the fuse.
Adjusting the screw in lateral face of
the controller until the display of
hand controller clearly.
1. When the arm is swing in, check
the light of rotation out limit is
lighting all the time.
2. When the arm is swing out, check
the light of rotation in limit is
lighting all the time.
3. Check I/O’s connecting wire.
4. Whether having troubles on
power board.
11. Whether the air pressure is too
low.
2. Whether the arm go down.
3. Whether having the signal of up
limit.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Whether the air pressure is too
low.
2. Whether the arm go up.
3. Whether having the signal of up
limit.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Whether the air pressure is too
low.
2. Check if sucker suck the products
and liquid the air.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
1. Whether the air pressure is too
low.
2. Whether the main clip testing
function is right.
3. Check if the main clip can clip the
products.
Error Number 07
07 Vacuum OFF
Suck valve no action,
vacuum suck having signal
04 Suck lmt ON
Error Number 08
04 Main Clip OFF
02 M.Clip lmt ON
Main clip valve no
working .main clip signal on.
Error Number 10
06 R.out ON
06 R.Out Lmt OFF
Rotation out valve working,
rotation out limit off, the
action didn’t finish in the
schedule time.
Error Number 11
06 R.out OFF
05 R.Out Lmt OFF
Rotate out valve no action;
rotate in limit doesn’t input,
the rotate in doesn’t finish in
the schedule time.
Error Number 12
04 Main Clip ON
02 M.Clip lmt ON
Main clip on, main clip limit
no input.
Error Number 14
03 main forward
valve On
09 main backward
lmt On
Main forward valve working,
main backward valve having
signal.
Error Number 15
03 main forward
Main forward valve no action,
backward limit no input, the
60(88)
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Check if the suck limits having
signals.
2. If the suck magnetic valve having
trouble.
3. Check I/O’s connecting wire.
4. If having trouble on power board.
1. Whether the main clip having
signaled.
2. Whether the main sack magnetic
valve having trouble.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
1. Whether the air pressure is too
low.
2. Whether the robot rotating out.
3. Check Whether the rotation limit
having signals.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Whether the air pressure is too
low.
2. Whether the robots rotating in.
3. Whether the rotating having
signal.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Whether main clip valve testing
function is reverse.
2. Whether the air pressure is too
low.
3. Check Whether the main clip can
clip the products.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Whether the air pressure is too
low.
2. Whether the robot go forward.
3. Whether having the backward
limit signal.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Whether the air pressure is too
low.
valve Off
09 main backward
lmt Off
backward action didn't
finished in the schedule time.
Error Number31
01 rise lmt OFF Not
Origin
Up limit no signal, Robot not
return in the waiting point.
Error Number32
05 R.In Lmt OFF
Not Origin
Rotation in limit no signal
input, Robot doesn’t return
the waiting point.
Error Number33
06 R.Out Lmt ON
Not Origin
Rotation out limit no signal
input, Robot not returns in the
waiting point.
Error Number34
07 Mid.Mold lmt
OFF Not Origin
When manual or teach,
middle mold limit no signal
input.
Error Number35
09 Mold Opened
Lmt OFF Not Origin
When manual or teach, the
opened mold limit no signal
input.
Error Number45
Before Rotate
Before the arm rotating, main
down valve working.
61(88)
2. Whether the robot go backward.
3. Whether having the backward
limit signal.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Press stop key to reset.
2. Whether the air pressure is too
low.
3. Check if the up limit having signal.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Press stop key to reset.
2. Whether the air pressure is too
low.
3. Check if the rotation in limit
having signals.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Press stop key to reset.
2. Whether the air pressure is too
low.
3. Check if the rotation out limit
having signals.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Whether the indicator light of
proximity switch on middle mold
on.
2. Whether having the signal of
middle mode in the monitor.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
1. Check the injection molding
machine if open mold completely.
2. Check the computer of the
injection molding machine if
allows the robots to use.
3. Check the computer of the
injection molding machine if
having the open mold limit signal
output.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
Before rotating, don’t operate the
main arm down motion, must
02 MainDownON
close the down valve.
Error Number 47
Before Rotate
01 uplimit OFF
Before Rotate,the uplimit has
no signal input.
Error Number50
10 Mold Opened
ON 07 MidMold Off
Mold opened signal input, No
middle mold signal.
Error Number51
06 R.Out LmtOFF
05 R.In LmtOFF
Out limit and in limit no signal
input at the same time.
Error Number52
Before descend
04 Main Clip ON
Error Number54
Before descend
07 Vacuum ON
Before arm descending, Main
arm grip valve working.
Before arm descending,
vacuum suck Valve working.
Error Number55
Before descend
10 Mold
OpenedOFF
Before arm descending, no
mold opened signal input.
Error Number56
Before descend
07 MidMoldOff
Before arm descending, No
middle mold signal.
62(88)
1. Whether arm in up condition.
2. Whether having the signal on up
limit.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
1. Whether the indicator light of
proximity switch on middle mold
on.
2. Whether having the signal of
middle mode in the monitor.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
1. When rotating in, check the
indicator light of the rotary switch
on or not.
2. When rotating out, check the
indicator light of the rotary switch
on or not.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
Whether having main grip, before
arm descending, Main arm grip off.
Whether operating the vacuum
suck, before arm descends,
vacuum suck Valve off.
1. Check the injection molding
machine if open mold completely.
2. Check the computer of the
injection molding machine if
allows the robots to use.
3. Check the computer of the
injection molding machine if
having the open mold signal
output.
4. Check I/O’s connecting wire.
5. If having trouble on power board.
1. Check if the indicator light of
proximity switch on middle mold
on.
2. Check the middle mold signal on
or not.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
Error Number57
Before descend
09 Safety DoorOFF
Error Number58
09 Mold
OpenedON 08
Safety DoorOFF
Error Number59
Open Wait Over
Error Number 60
When descend
10 Mold Opened
OFF
Error Number61
When descend
07 Mid. Mold signal
OFF
Error Number62
13 Emergency OFF
Emergency Event
Error Number 70
Not Right Program
no use
Error Number 71
Set Yield Arrive
Error Number 72
Act Not Exe .Mold
Error Number 73
when stay out Dais
Out Lmt Off press
1. Check if the safety door of the
injection molding machine off.
2. Check if having the safety door
Before arm descending, no
signal.
safety door signal.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
1. Check if the safety door of the
injection molding machine off.
2. Check if the safety door of
Safety door use, signal input
electronic control having
when opened mold. No
signaled.
safety door signal.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
Extending the cycle time of the
Injection molding machine
robots, more than the cycle time of
cycle open mold time too
injection molding machine opening
long.
mold.
1. Whether the open mold signal of
the injection molding machine
OFF.
Arm go down, opened mold
2. Check I/O’s connecting wire if
signal OFF.
poor contact.
3. Whether having trouble on power
board.
1. The input signal of the middle
mold if normal.
Arm go down, middle plate
2. The light of sensor switches of the
confirmation signal OFF.
middle mold ON or not.
3. Check I/O's connecting wire if
poor contact.
1. Loosing the emergency stop key
of the electronic control.
Injection molding machine
2. Loosing the emergency stop key
carry out emergency stop.
of the injection molding machine.
3. Check the connection line of the
emergency stop signal.
Set the teach program again, robot
The teach program is not
should return in the waiting point at
complete.
last.
1. Increasing the number of the set
Current yield reach to setting.
yield.
2. Clearing current yield.
Controlled the arm up and down by
Controlled the arm up and
hand, it must correspond the
down by hand, not according
forward or backward position in auto
the auto program.
program. Or will damage the mold.
1. Press STOP key to rotate out.
Stay outside, rotate outside
2. Check the rotating signal input or
limit OFF.
not.
63(88)
stop key
Error Number74
Air pressure not
enough
Error Number 75
Main up lmt On
main down lmt On
Error Number 76
Main Forw lmt ON
Main back lmt ON
Error Number 77
Main Down OFF
Main down lmt ON
Error Number 78
MainDown OFF
Main down lmt ON
Error Number 79
MainForw ON
MainForw lmt OFF
Error Number 80
MainForw OFF
MainForw lmt ON
3. Check I/O’s connecting wire if
poor contact.
4. If having trouble on power board.
1. Check if the air pressure of robots
is enough.
2. Whether the signal of air pressure
Air pressure of robots is not
is normal.
enough.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
1. Main arm up, down limit switch
OFF or not.
2. Main arm down, up limit switch
Both main arm up limit and
OFF or not.
down limit having signals.
3. Check I/O's connecting wire.
4. Whether having trouble on power
board.
1. Main arm go forward, back limit
switch OFF or not.
Both main arm go forward
2. Main arm go backward, forward
and backward limit having
limit switch OFF or not.
signal input.
3. Check I/O 's connecting wire
4. Whether having trouble on power
board.
1. Whether air pressure is too low.
2. Arms if down or not.
Descends valve, no input the 3. Whether having the signal when
down limit, the action didn’t
down limit.
finished in schedule time.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Down limit off or not.
2. Whether the magnetic valve
Having the down limit signal,
having trouble.
no down action.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
1. Whether the air pressure is too
low.
2. Whether the arm having go
Forward valve working, no
forward action.
input the signal; the action
3. Whether having signal when
didn’t finish in schedule time.
forward limit.
4. Check I/O’s connecting wire.
5. Whether having trouble on power
board.
1. Whether having the forward limit
signal.
Signal input, no forward valve
2. Whether the forward magnetic
action.
valve having trouble.
3. Check I/O’s connecting wire.
64(88)
Error Number 81
Robot working in
auto, the injection
molding machine
has no signal.
When the robot working in
auto, there is having no auto
signal of injection molding
machine on controller.
65(88)
4. Whether having trouble on power
board.
1. Whether the injection molding
machine turn in fully automation.
2. Check if having the fully
automatic signal.
3. Check I/O’s connecting wire.
4. Whether having trouble on power
board.
6. Maintenance
6.1 General
Please observe the prescribed maintenance intervals. Proper maintenance
ensures trouble-free functioning of the robot. Proper maintenance is
necessary in order that the warrantee be fully enforceable.
Maintenance should be performed by qualified personnel only.
Maintenance and responsibility for safety equipment becomes the
responsibility of the system operator once he accepts the robot.
must
Please note, in particular, that safety instructions marked with a
be observed according to regulations so that fully functionality of this
equipment can be guaranteed.
6.2 Lubrication Requirements
Remove the old grease from the guide shafts and scraper rings of the
bearing using a cloth. Then apply the new grease to the guide shafts using
a brush.
As well as all roller bearing greases according to DIN 51825.
Recommended Lubricants:
66(88)
MANUFACTURER
TYPE:
SHELL
ALVANIA G2
DARINA GREASE 2
MOBIL
MOLYKOTE LONG TERM 2PLUS
MOBILGREASE 28
MOBILUX 3
ESSO
UNIREX N3
KLUBER
ISOFLEX NBU 15
ISOFILEX NCA 15
6.2.1 Maintenance
In accordance with the maintenance schedule, make robot operates in best
way.
Daily Maintenance
1. Swab.
2. Filter drainage.
3. Check the pressure of air
supply.
4. Check bolt which connected
the robot and injection molding
machine whether tighten.
5. Check all block settings
whether tightened.
Monthly Maintenance
1. Use air gun to clean filter.
2. Check the screws on all part s
whether tightened.
3. Confirm whether the pipeline
breaks or loosed.
4. Check the speed of adjustment.
67(88)
Quarterly Maintenance
Brush grease to the guide
shafts.
7. The Assembly Chart
7.1 Mechanical Assembly
7.1.1 Base Chart
Picture 7-1
68(88)
7.1.2 Parts List
Table 7-1: Parts List
Part number
No.
Name
1
Base
2
Filter regulator valve
3
Filter regulator fixing
SS-550
SS-700
BH10055000910
BH10055000910
-
-
YE30150200320
YE30150200320
frame
4
Clamp spring
YW69002800000
YW69002800000
5
Spring
YW01253400000
YW01253400000
6
Spanner
BW32550800040
BW32550800040
7
Special nut
BH10055001740
BH10055001740
8
Sliding sear washer
BH10055000240
BH10055000240
9
Piston rod
YW09055000300
YW09055000300
10
Fixing base
BH10550900060
BH10550900060
11
Special screw
YW60247000000
YW60247000000
12
Gear rack
BH11055001040
BH11055001040
13
T-type sliding block
-
-
14
Hand wheel
YW20015000000
YW20015000000
15
Gear base
BH11055001340
BH11055001340
16
Gear
BH11055001240
BH11055001240
17
Control box cover
BL70551100060
BL70551100060
* means possible broken parts.
** means easy broken part. and spare backup is suggested.
Please confirm the version of manual before placing the purchase order to guarantee
that the item number of the spare part is in accordance with the real object.
69(88)
7.1.3 Sliding Seat Chart
Picture 7-2
70(88)
7.1.4 Parts List
Table 7-2: Parts List
No.
Part number
Name
SS-550
SS-700
-
-
1
Screw in rotational cylinder
2
Bottom cover of rotational cylinder
BH13551201210
BH13551201210
3
Piston
BH13055001410
BH13055001410
4
Piston rod
-
-
5
Cylinder
BH13768000040
BH13768000040
6
Fixing arm screw
-
-
7
Proximity switch
YE15050100300
YE15050100300
8
Top cover of rotational cylinder
BW20055001010
BW20055001010
9
Plastic bearing
YR41202302000
YR41202302000
10
Limitation block
YW09055001000
YW09055001000
11
Shock absorber fixture
BW32055000840
BW32055000840
12
Shock absorber
-
-
13
Cover of sliding seat
BH11550000310
BH11550000310
14
Circuit board
-
-
15
Fixing frame of circuit board
BL70550020060
BL70550020060
16
Pressure sensor
-
-
17
Magnetic valve
-
-
18
Connection board of silencer
BL70550020020
BL70550020020
19
Bearing
YW11601000000
YW11601000000
20
Gear
YW09550130000
YW09550130000
21
Bearing
YW11600400000
YW11600400000
22
Hinge
YW06253200000
YW06253200000
23
Cylinder on kick stroke
-
-
Rack
YW20151300000
YW20151300000
24
YW20152300000
YW20152300000
25
Sliding block
-
-
26
Shock absorber
-
-
27
Sliding base
BH10055000510
BH10055000510
28
Arm junction plate
BW32055000140
BW32055000140
29
Lock
YW00000000100
YW00000000100
71(88)
7.1.5 Arm Chart
Picture 7-3
72(88)
7.1.6 Parts List
Table 7-3: Parts List
Part number
No.
Name
SS-550
SS-700
1
Gripper
YE31055000300
YE31055000300
2
Clip rotation cylinder
BW30055000200
BW30055000200
3
Gripper junction block
BH13055000940
BH13055000940
4
Fix gripper screw
-
-
5
Go up proximity switch
YE15050100300
YE15050100300
6
Bottom cover of cylinder
-
-
7
Pnumatic shock absorber
BE31055000020
BE31055000020
8
Poston rod
9
T-type fixing block if arm
10
Cylinder
YE31325500000
YE31325500000
11
Top cover of cylinder
14
Top cover of cylinder
12
Stroke limited block
BH13055001140
BH13055001140
13
Guide rod
BW20256800040
BW20256800040
15
Air pipe transferring box
BL70550060060
BL70550060060
16
Fix guide rod screw
-
-
73(88)
7.2 Euromap12 Electric Control Chart
7.2.1 The Main Input Panel Wiring Diagram
Picture 7-4
74(88)
24V
1
2
Y1
BN
3
BU
4
Y2
BN
X14
5
BU
6
Y3
BN
7
BU
8
Y6
BN
1
BU
2
Y4
BN
3
BU
4
Y5
BN
5
BU
X15
6
Picture 7-5
75(88)
X1
1
1
7
2
2
8
9
10
7.2.2 The Main Output Panel Wiring Diagram
1
1
1
9
2
2
X17
3
3
3
11
4
4
2
5
1
4
6
2
5
7
3
8
12
X16
4
10
9
5
16
10
6
19
11
1
27
12
2
18
13
X19
3
26
14
4
21
15
1
22
16
2
3
17
17
X18
4
20
18
5
32
19
6
7.2.3
Main Control Board Signals Wiring Diagram
Picture 7-6
76(88)
7.2.4 The Main Control Layout Chart
Alarm
IMM potential
Operation with robot
Enable mould closure
Enable full mould opening
+24V
Spare valve
+24V
Rotation out valve
+24V
Rotation in valve
Enable ejector forward
Enable ejector back
+24V
Mould area free
Mould area free
+24V
Vacuum valve
+24V
Gripper valve
Forward valve
+24V
Down valve
Emergency stop robot
Emergency stop robot
+24V
Spare
+24V
0V
Backward limit
Robot potential
IMM in full auto
Mould closed
Ejector forward position
Ejector back position
Mould open position
0V
Forward limit
0V
Rotation out limit
+24V
0V
Rotation in limit
+24V
0V
Safety door
Safety door
Air pressure limit
0V
Middle mold limit
+24V
0V
Emergency stop IMM
Emergency stop IMM
Vacuum testing
+24V
0V
NC
NC
NC
Gripper limit
0V
Down limit
+24V
0V
NC
0V
+24V
Up limit
+24V
0V
+24V
Picture 7-7
77(88)
PE
N
L1
PCB
0.75mm2
YEGR
BU
BN
1A
F1
N
L
G1
+24V
COM1
+24V
COM2
PE
X20
0.5mm2
Picture 7-8
78(88)
V1
1
3
BU
G1 +24V G2
2
NC
FG
NC
NC
7.2.5 Control Power Diagram
2
1
7.3 Euromap67 Electric Control Chart
7.3.1 The Main Input Panel Wiring Diagram
Picture 7-9
79(88)
7
8
7.3.2 The Main Output Panel Wiring Diagram
Picture 7-10
80(88)
7.3.3 Euromap67 Signals Input Panel Wiring Diagram
Picture 7-11
81(88)
7.3.4 Euromap67 Signals Output Panel Wiring Diagram
Picture 7-12
82(88)
7.3.5 Main Control Panel and Controller Wiring Diagram
Picture 7-13
83(88)
7.3.6 Controller Lay-out Drawing
Picture 7-14
84(88)
7.3.7 The Main Control Layout Chart 1
Picture 7-15
85(88)
7.3.8 The Main Control Layout Chart 2
Picture 7-16
86(88)
7.3.9 Control Power Diagram
2
PCB
1
Picture 7-17
87(88)
7.4 Pneumatic Circuit Schematic Diagram
Picture 7-18
88(88)
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