Application Note of DELTA HMC Load

Application Note of DELTA HMC Load
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: 886-3-362-6301 / FAX: 886-3-371-6301
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province, P.R.C. 215200
TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C. 201209
TEL: 86-21-58635678 / FAX: 86-21-58630003
A p p l i c ati o n N o te o f D E LTA H MC L o a d - U n l o a d S yst e m
Industrial Automation Headquarters
Delta Electronics (Japan), Inc.
Tokyo Office
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: 82-2-515-5303 / FAX: 82-2-515-5302
Delta Electronics Int’l (S) Pte Ltd.
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: 65-6747-5155 / FAX: 65-6744-9228
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : 91-124-4874900 / FAX : 91-124-4874945
Application Note of DELTA
HMC Load-Unload System
Americas
Delta Products Corporation (USA)
Raleigh Office
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: 1-919-767-3800 / FAX: 1-919-767-8080
Delta Greentech (Brasil) S.A.
Sao Paulo Office
Rua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: 55 11 3568-3855 / FAX: 55 11 3568-3865
Europe
Deltronics (The Netherlands) B.V.
Eindhoven Office
De Witbogt 20, 5652 AG Eindhoven, The Netherlands
TEL: 31-40-2592850 / FAX: 31-40-2592851
*We reserve the right to change the information in this catalogue without prior notice.
www.deltaww.com
Preface
Thank you for purchasing our product. You can find the information related to load-unload system in
this application note during inspection, installation, wiring, operation and examination. Please note
that different version supports different functions.
The following information describes the purpose and application:
 Control System (Chapter 1)
 System Configuration (Chapter 2)
 Operation (Chapter 3)
 Program Usage and Editing (Chapter 4)
 System Setting (Chapter 5)
 Troubleshooting (Chapter 6)
 Others (Chapter 7)
 Examples (Chapter 8)
Product Features

Distributed fieldbus control: High precision and high speed motion, quick response
and can be easily constructed.

Smoothing function: Continuously smooth the interpolation.

Compliance control: Each axis can do adaptive moving with the setting of torque limit.

Flexibly carry out stacking command

Template program: 10 program templates for customized setting

Provides huge amount of command program: With 500 programs and up to 400
commands can be edited in one program.

Supports dual system
Technical Support
If you have any technical question, please contact local distributers or Delta’s service
center.
August, 2015
i
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ii August, 2015 Table of Contents
Control System 控
1.1
1.2
1.3
Features ·································································································· 1-2
System Specifications and Configuration ·························································· 1-2
1.2.1
Controller ··························································································· 1-2
1.2.2
Servo System ····················································································· 1-5
1.2.3
I/O Module ························································································· 1-11
Wiring Description ······················································································· 1-13
System Configuration 系
Operation 操
3.1
3.1.1
Main Screen ······················································································· 3-2
3.1.2
Status Bar ·························································································· 3-3
3.1.3
Function Keys ····················································································· 3-3
3.2
Start-up Procedure ······················································································ 3-4
3.3
Description of User Permission······································································· 3-6
3.3.1
User Level ·························································································· 3-6
3.3.2
Logon / Logoff ····················································································· 3-7
3.4
System Setting before Motion being Executed ··················································· 3-8
3.5
Homing / Return to Standby Point ··································································· 3-9
3.6
August, 2015
Screen configuration ··················································································· 3-2
3.5.1
Homing ······························································································ 3-10
3.5.2
Return to Standby Point ········································································· 3-11
3.5.3
Homing of Subsystem ··········································································· 3-12
3.5.4
Return to Standby Point of Subsystem ······················································ 3-13
Operate in Manual Mode ··············································································· 3-14
3.6.1
Troubleshoot in Jog Mode ······································································ 3-15
3.6.2
Jog with Unlimited Range······································································· 3-16
3.6.3
Jog with Limited Range ········································································· 3-17
3.6.4
Jog with the Set Target ·········································································· 3-18
3.6.5
Compliance Control ·············································································· 3-19
3.6.6
Handwheel ························································································· 3-20
3.7
Trail Run Operation ······················································································ 3-21
3.8
Auto Operation ··························································································· 3-24
3.9
Signal Monitoring························································································· 3-29
Program Usage and Editing 程
4.1
Program Manager ······················································································· 4-2
4.2
Loading and Editing a Program ······································································ 4-5
4.3
Description of Edit Function in Teach Mode ······················································· 4-5
4.4
Description of Program Setting ······································································ 4-8
4.5
Description of Program Command ·································································· 4-8
4.5.1
Motion for Each Axis ············································································· 4-9
4.5.2
Program Motion ··················································································· 4-16
4.5.3
Procedure ·························································································· 4-20
4.5.4
Others ······························································································· 4-22
System Setting 系
5.1
Motion Setting ···························································································· 5-3
5.2
Servo Setting ····························································································· 5-4
5.3
Moving Distance ························································································· 5-5
5.4
Setting for System Operation ········································································· 5-6
5.5
5.4.1
Motion Setup ······················································································· 5-6
5.4.2
Motion Confirmation·············································································· 5-7
System Parameters Setting ··········································································· 5-8
5.5.1
Information about Operation ··································································· 5-8
5.5.2
HMC Controller Setting ·········································································· 5-9
5.5.3
Debugging Tool for the System································································ 5-10
Troubleshooting 異
6.1
Screen of Alarm ························································································· 6-2
6.2
Servo Alarms and Troubleshooting ································································· 6-3
6.3
System Alarm and Troubleshooting ································································ 6-3
August, 2015
Others 其
7.1
Procedures of using USB disk to [Export]/[Import] ············································· 7-2
7.2
Update the System Screen via USB Disk ························································ 7-4
Examples 使
August, 2015
8.1
Applying New Program ················································································ 8-2
8.2
Applying Program Template ·········································································· 8-5
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August, 2015
Control System
Please select the servo drives and motors from the list mentioned in this chapter when
applying this control system. Pay attention to the safety precautions during installation,
wiring, operation and examination. As for the detailed information of each product,
please refer to the corresponding user manual.
控
1.1
Features ·························································································· 1-2
1.2
System Specifications and Configuration················································· 1-3
1.2.1 Controller ···················································································· 1-3
1.2.2 Servo System ·············································································· 1-6
1.2.3 I/O Module ················································································ 1-11
1.3
August, 2015
Wiring Description ············································································ 1-13
1-1
Control System
HMC Load-Unload System
1.1 Features
This system adopts Delta’s HMC distributed motion control framework for easier and
more flexible multi-axis control.
1
1-2
August, 2015
HMC Load-Unload System
Control System
1.2 System Specifications and Configuration
1.2.1

Controller
1
Model name of HMC07 controller
HMC Model
Applicable System
HMC07-N510H52
3 axes
HMC07-N500H52
3 axes and above
HMC07-N511H52
3 axes and above
HMC08-N500S52
12 axes and below

HMC07 Controller installation and wiring

Definition of HMC07 color thread
Part Number for Wiring
32 pin Type A: HMC-CA3203B0 (3M), HMC-CA3205B0 (5M), HMC-CA3210B0 (10M)
16 pin Type A: HMC-CA1603B0 (3M), HMC-CA1605B0 (5M), HMC-CA1610B0 (10M)
12 pin Type A: HMC-CA1203B0 (3M), HMC-CA1205B0 (5M), HMC-CA1210B0 (10M)
Color
Name
White/Orange
EMG_C
White/Orange
EMG_C
White/Green
EMG_O
White/Green
EMG_O
Red
Power
Description
Emergency switch-B contact; users can connect this contact to the
safety device.
Emergency switch-B contact; users can connect this contact to the
safety device.
Emergency switch-A contact; users can connect this contact to the
safety device.
Emergency switch-A contact; users can connect this contact to the
safety device.
System power 24V+
Black
PGND
Ground for system power supply
White
EGND
Grounding
Yellow
422_TX+
RS-422: TX+; RS-232: TX, RS-485: T+/R+
White/Yellow
422_TX-
RS-422: TX-;RS-485: T-/R-
Black/White
CGND
Grounding for communication
Black/White
CGND
Grounding for communication
August, 2015
1-3
Control System
1
HMC Load-Unload System
Black/White
CGND
Grounding for communication
White/Blue
ENA_O
Limit switch, A contact
White/Blue
ENA_O
Limit switch, A contact
Purple
422_RX+
RS-422: R+; RS-232:RX
White/Purple
422_RX-
RS-422: R-
Black/Orange
INT1
(Reserved)
Black/Green
INT0
(Reserved)
Red/Black
I_GND
(Reserved)
White/Red
I_PW
(Reserved)
RJ45 Blue
DMC
DMCNET. Connect to DMCNET communication port.
RJ45 Black
ETH
EtherNet. Connection is not a must.
RJ45 Green
RIO
Remote I/O. Connect to I/O module’s communication port.
Note: For safety concerns, please connect contact A and B to system loop.

1-4
Wiring for HMC08
August, 2015
HMC Load-Unload System

Control System
Wiring for Peripheral Devices
(1) Use DMCNET to connect the servo drive or DMCNET modules.
1
Note:
1. Select one port for connection.
2. DMCNET wiring is a serial communication loop. Please connect to a terminal resistor at
the end of the loop.
(2) Use Remote I/O to connect I/O module.
Note: This RS-422 high-speed communication loop does not require terminal resistor.
August, 2015
1-5
Control System
1.2.2
HMC Load-Unload System
Servo System
Please refer to ASDA series user manual for further information:
Website:
http://www.delta.com.tw/ch/product/em/download/download_main.asp?act=3&pid=2&ci
d=1&tpid=1
1



Model Type and Definition
Axial Name
Station Number (P3-00)
Note
X1
1
ASD-M-F/ ASD-A2-F servo drive
Y1
2
ASD-M-F/ ASD-A2-F servo drive
Z1
3
ASD-M-F/ ASD-A2-F servo drive
A
4
ASD-M-F/ ASD-A2-F servo drive
B
5
ASD-M-F/ ASD-A2-F servo drive
Subsystem Model Type and Definition
Axial Name
Station Number (P3-00)
Note
X2
6
ASD-M-F/ ASD-A2-F servo drive
Y2
7
ASD-M-F/ ASD-A2-F servo drive
Z2
8
ASD-M-F/ ASD-A2-F servo drive
Encoder Wiring
Servo Drive
Quick
Connector
Connector of
motor encoder
Connector of
encoder cable
CN2 Connector
Three groups of
CN2 port
Motor
1-6
August, 2015
HMC Load-Unload System
Control System
CN2 connector and 9 pins (3*3) on encoder side shall be connected as the following
ways:
CN2 Connector:
1
View from
this side
CN2 rear view of the terminal block
Encoder connector (military connector and quick connector):
Quick
Connector
1 2 3
4 5 6
7 8 9
View from
this side
View from
this side
3 2 1
6 5 4
9 8 7
B A M
L
N
P
T
D
K
R
S
E
J
F G H
C
Military
Connector
3106A-20-29S
The definition of each signal is as follows:
Drive Connector
Encoder Connector
Pin No
Terminal
Symbol
Function and Description
Military
connector
Quick
connector
Color
5
T+
Serial communication
signal input/output (+)
A
1
Blue
4
T-
Serial communication
signal input/output (-)
B
4
Blue & Black
-
-
Reserved
-
-
-
-
-
Reserved
-
-
-
14,16
+5V
Power +5V
S
7
13,15
GND
Power ground
R
8
Shell
Shielding
Shielding
L
9
August, 2015
Red/Red &
white
Black/Black &
white
-
1-7
Control System

(1)
HMC Load-Unload System
Wiring for Motor Power Cable:
Power cable (without brake). See the terminal as below:
1
(2)

Motor Side
1
2
3
4
Drive Side
U
V
W
Grounding(GND)
Power cable (with brake). See the terminal as below:
Motor Side
1
2
3
4
5
6
Drive Side
U
V
Brake 1
W
Grounding(GND)
Brake 2
Homing sensor/Limit sensor/Brake wiring:
CN1 connector and its definition:
1-8
August, 2015
HMC Load-Unload System
Control System
1
2
4
6
8
DO3-
DO2-
DO1-
NC
27 NC
3
DO3+
Digital output
5
DO2+
Digital output
7
DO1+
Digital output
Digital output
Digital output
DI4-
Digital input
10 DI2-
Digital input
12 GND
Analog input
signal ground
14 NC
No connection
DI1-
11 COM+
13 GND
Analog
16 MON1 monitor output
1
15 MON2
Torque analog
18 T_REF command
input
17 VDD
22 /OA
24 /OZ
+12 power
output (for
analog
command)
19 GND
pulse (-)
Power input
(12~24V)
Analog input
signal ground
Analog
monitor
output 2
+24V power
output (for
external I/O)
Digital input
PULL
35 HI_S
(Sign)
Pull-high
voltage of
sign
Position
command
signal ( - )
37 /SIGN
21 OA
25 OB
30 NC
Reserved
32 DI6-
Digital input
34 DI3-
Digital input
Position
command
signal (+)
High-speed
position
38 HPULSE command
40 /HSIGN
41 /PULSE
42 V_REF
43 PULSE
Position
command
pulse ( + )
49 COM-
1
36 SIGN
Position
command
pulse ( - )
Encoder/
A pulse output
Encoder/
B pulse output
Reserved
Pull-high
voltage of
pulse
47 COM23 /OB
28 NC
PULL
39 HI_P
(Pulse)
Analog input
signal ground
Encoder/
B pulse output
Reserved
Reserved
33 DI5-
45 COM-
Encoder/
A pulse output
Encoder/
Z pulse output
Digital input
26 NC
Reserved
High-speed
position
29 /HPULSE command
31 NC
9
20 VCC
Reserved
Digital output
pulse (+)
command (-)
Speed analog
command input
(+)
VDD(24 V) 44 GND
power
ground
46 HSIGN
VDD(24 V)
power
ground
VDD(24V)
power
ground
High-speed
position
Analog input
signal ground
High-speed
position
command (+)
48 OCZ
Encoder
Z pulse
open-collector
output
50 OZ
Encoder
Z pulse
differential
output
(1) Wiring diagram for homing/limit sensor
Please refer to the followings for wiring methods of homing sensor and limit sensor on
each axis. NPN method is applied in this example. Please refer to ASDA series user
manual for PNP wiring method.
August, 2015
1-9
Control System
HMC Load-Unload System
(2) Wiring diagram for servo motor with brake (vertical axis)
1
Set parameter P2-20 of vertical axis to 2108 or 2008. 2108 is set as normally open (it is
usually set as normally open) while 2008 is normally close.
 Parameters setting list of each axis:
Main Arm
Original Point
Positive limit
Negative limit
Servo operating
direction
Parameter for
station number
Communication
Rate
Brake setting in
non-volatile area
E-gear ratio setting
in non-volatile area
Software limit stop
No parameter is
applied
No parameter is
applied
No parameter is
applied
Assistant Arm
Original Point
Positive limit
Negative limit
Servo operating
1-10
X1-axis (M/A2)
P2-11 = 1124 or
Y1-axis (M/A2)
Z1-axis (M/A2)
P2-11 = 2124 or 2024
P2-11 = 3124 or 3024
P2-12 = 2123 or 2023
P2-12 = 3123 or 3023
P2-13 = 2122 or 2022
P2-13 = 3122 or 3022
P1-01 = B or 10B
P1-01 = B or 10B
P1-01 = B or 10B
P3-00 = 1
P3-00 = 2
P3-00 = 3
P3-01 = 203
P3-01 = 203
P3-01 = 203
P3-10 = 11
P3-10 = 11
P3-10 = 11
P3-12 = 100
P3-12 = 100
P3-12 = 100
P4-25 = 11
P4-25 = 11
P4-25 = 11
P2-10 = 1100
P2-10 = 2100
P2-10 = 3100
P2-14 = 1100
P2-14 = 2100
P2-14 = 3100
P2-15 = 1100
P2-15 = 2100
P2-15 = 3100
1024
P2-12 = 1123 or
1023
P2-13 = 1122 or
1022
A-axis (A2)
P2-11 = 1124 or
B-axis (A2)
P2-11 = 2124 or 2024
1024
P2-12 = 1123 or
P2-12 = 2123 or 2023
1023
P2-13 = 1122 or
P2-13 = 2122 or 2022
1022
P1-01 = B or 10B
P1-01 = B or 10B
August, 2015
HMC Load-Unload System
Control System
direction
Parameter for
station number
Communication
Rate
Brake setting in
non-volatile area
E-gear ratio setting
in non-volatile area
Software limit stop
No parameter is
applied
No parameter is
applied
No parameter is
applied
P3-00 = 4
P3-00 = 5
P3-01 = 203
P3-01 = 203
P3-10 = 11
P3-10 = 11
P3-12 = 100
P3-12 = 100
P4-25 = 11
P4-25 = 11
P2-10 = 1100
P2-10 = 2100
P2-14 = 1100
P2-14 = 2100
P2-15 = 1100
P2-15 = 2100
1
Note:
1. The above setting is for reference only. Please setup parameters according to the servo
drive you applied.
2. P2-11 (for setting the original signal) is set to 1124. It means this sensor is a normal open
signal and 1024 represents normally close.
1.2.3


I/O Module
Applied Model
Model
Communication Interface
HM-RIO3232T12
RS-422
Power Supply and Wiring
(1) Power supply for I/O Module
For protecting the circuit, please short-circuit the Pin 0 V and Pin 24 V of each set.
August, 2015
1-11
Control System
HMC Load-Unload System
(2) Input Point Wiring
DC Signal IN
Wiring Circuit
1
Note
(1) Two sets of PW shall connect to
external +24V power.
(2) X0 ~ X15’s input common point
of HM-RIO3232T12 has already
connected to PW1; X16 ~ X31’s
input common point has already
connected to PW2.
(3) Use SINK mode to connect
external output / contact to X
intput point.
SINK Mode
(3) Output Point Wiring
DC Signal IN
NPN Mode
1-12
Wiring Circuit
Note
(1) Two sets of PW shall connect to
external +24 V power.
(2) Y0 ~ Y15’s output common point
of HM-RIO3232T12 has already
connected to S1; Y16 ~ Y31’s
output common point has
already connected to S2. S1
includes S1.1 ~ S1.4; while
S2.1 ~ S2.4 are included in S2.
(3) If current of the output point is
less than 8 A, connect to S1.1
and S2.1 ~ 24 G will do. No
need to connect S1.2 ~ S1.4
and S2.2 ~ S2.4.
(4) If current of the output point is
more than 8 A, please connect
S1.1 ~ S1.4 and S2.1 ~ S2.4 to
24 G in parallel so as to
distribute load current.
August, 2015
HMC Load-Unload System
Control System
1.3 Wiring Description
[Wiring diagram] in this section is for reference only. The connected peripheral devices
might be different in actual situation.

Main Power
1
NFB2
NFB3

NFB4
Controller Power
GND 0V 24V
HMC
4
August, 2015
1-13
Control System

Power of Servo Drive

Encoder
HMC Load-Unload System
1
1-14
August, 2015
HMC Load-Unload System
CN1 Homing Sensor / Limit Sensor / Brake
Z-CN1外部原點
原點
正極限
DI4-
負極限
COM- 49
DC-0V
COM+ 11
DC-24V
DI2- 10
原點
DI3- 34
正極限
DI4-
負極限
8
COM- 49
VDD 17
DO3+ 3
COM+ 11
DI2- 10
X軸光電
DI2- 10
DI3- 34
8
1
DC-24V
Y軸光電
Y-CN1外部原點
X-CN1外部原點
COM+ 11
DC-0V
DC-24/0V
繼電器輸入+
繼電器輸入-
繼電器
剎車1
剎車2
DC-24V
原點
DI3-
34
正極限
DI4-
8
負極限
COM- 49
DC-0V
X軸光電

Control System
DO3- 2
August, 2015
1-15
Control System

HMC Load-Unload System
I/O Board
1
Input
X0
Output
Y0
X1
Y1
X2
X3
Y2
Y3
X4
Y4
X5
Y5
X6
Y6
Y7
X7
X8
Y8
X9
Y9
X10
Y10
Y11
X11
X12
Y12
X13
X14
Y13
X15
Y15
X16
Y16
Y14
X17
Y17
X18
X19
Y18
Y19
X20
Y20
X21
Y21
X22
Y22
X23
Y23
X24
Y24
X25
Y25
X26
Y26
Y27
X27
X28
Y28
X29
Y29
X30
Y30
X31
Y31
-
Load
Load
Load
Load
Load
Load
Load
Load
+
+
+
+
+
+
+
+
-
Load
Load
Load
Load
Load
Load
Load
Load
+
+
+
+
+
+
+
+
-
Load
Load
Load
Load
Load
Load
Load
Load
+
+
+
+
+
+
+
+
-
Load
Load
Load
Load
Load
Load
Load
Load
+
+
+
+
+
+
+
+
GND
0V
24V
DC-24V
DC-0V
1-16
August, 2015
System Configuration
The load-unload system usually requires different mechanism for different demands.
This control system provides users a great flexibility so as to satisfy each demand of
different applications by merely modifying the parameters settings.
控
System Configuration ················································································· 2-2
August, 2015
2-1
System Configuration
HMC Load-Unload System
Users can firstly configure the system according to the applied mechanism. It enables
users to easily change the settings. After the system is applied to the power, go to
[System] > [System Setting] > [Mechanism]. See the followings for detailed information.
2
(1) Single system/Dual system: Users can determine if single system or dual system
will be applied. Settings and functions related to subsystem can be used only when
it is set to dual system.
(2) With/Without limit switch: Determine if your control system shall work with limit
switch. HMC hand-hold model equips with the function of limit switch. When it is in
jog operation of manual mode, this function will be enabled for protection. HMC
standard model (HMC08) does not equip with this function, thus, users have to
select “Without limit switch” for normal operation.
(3) Incremental/Absolute Motor: Select to apply incremental motor or absolute motor.
When applying absolute motor, then there is no need to do homing after the power
is off. This is because its coordinate will remain even when the power is off.
(4) Use remote IO module: Determine if the Remote I/O module shall be applied. The
system will monitor the communication between HMC and the remote I/O module.
An alarm will occur when the communication is broken. Please select [No] when
you are not going to use remote I/O module.
(5) The servo axis number applied by main system: It can set up the servo axis
number that will be applied by the main system, range from 1 to 5. The
corresponding station number shall be set in order. See the sequence below:
X1-axis (station no. 1), Y1-axis (station no. 2), Z1-axis (station no. 3), A-axis (station
no. 4) and B-axis (station no. 5).
2-2
August, 2015
HMC Load-Unload System
System Configuration
(6) The servo axis number applied by subsystem: It can set up the servo axis
number that will be applied by subsystem, range from 1 to 3. The corresponding
station number shall be set in order. See the sequence below: X2-axis (station no.
6), Y2-axis (station no. 7) and Z2-axis (station no. 8).
(7) Unit for each axis: The axis can be set as linear or rotated motion. Unit for linear
motion is [mm]; while the unit for rotated motion is [°].
August, 2015
2
2-3
System Configuration
HMC Load-Unload System
(This page is intentionally left blank.)
2
2-4
August, 2015
Operation 操
This chapter provides the information about screen configuration, operating functions
and operations of each mode.
控
3.1 Screen configuration ··········································································· 3-2
3.1.1 Main Screen .................................................................................................. 3-2
3.1.2. Status Bar ..................................................................................................... 3-3
3.1.3. Function Keys ............................................................................................... 3-3
3.2. Start-up Procedure ············································································· 3-4
3.3. Description of User Permission ····························································· 3-6
3.3.1. User Level .................................................................................................... 3-6
3.3.2. Logon / Logoff ............................................................................................... 3-7
3.4. System Setting before Motion being Executed ········································· 3-8
3.5. Homing / Return to Standby Point ························································· 3-9
3.5.1. Homing ....................................................................................................... 3-10
3.5.2. Return to Standby Point ............................................................................. 3-11
3.5.3. Homing of Subsystem ................................................................................ 3-12
3.5.4. Return to Standby Point of Subsystem ...................................................... 3-13
3.6. Operate in Manual Mode ··································································· 3-14
3.6.1. Troubleshoot in Jog Mode .......................................................................... 3-15
3.6.2. Jog with Unlimited Range ........................................................................... 3-16
3.6.3. Jog with Limited Range .............................................................................. 3-17
3.6.4. Jog with the Set Target ............................................................................... 3-18
3.6.5. Compliance Control .................................................................................... 3-19
3.6.6. Handwheel .................................................................................................. 3-20
3.7 Trial Run Operation ··········································································· 3-21
3.8 Auto Operation················································································· 3-24
3.9 Signal Monitoring ·············································································· 3-29
August, 2015
3-1
Operation
HMC Load-Unload System
3.1 Screen configuration
3.1.1
3
Main Screen
When the system is started up, the main screen will pop up which is showed as below:
(1) Status bar: It shows the title of the current screen, program number, program name,
current user, date and time.
(2) Operation in main screen: Users can servo on/servo off the drive, do homing and
status display.
(3) Servo position: Display the servo’s current position of each axis. Users can press
this button to switch between the main system and subsystem.
(4) Function key: Click the button to enter the corresponding page.
3-2
August, 2015
HMC Load-Unload System
Operation
3.1.2. Status Bar
3
(1) Screen title: It displays the screen title that you currently use.
(2) Current program name: It displays current program number and program name.
1000 programs are provided to store different commands and for users to apply.
Click this button to enter the screen of [Program manager].
(3) User level: It displays four different user levels, operator, operator leader, engineer
and administrator. Click this button to log off. Click on it again to use different user
name to log on.
(4) Date & Time: It displays the current date and time.
3.1.3. Function Keys
Operation Screen
It includes the function of auto operation, single cycle and step run.
Manual Screen
Window of jog in manual mode will pop up. Users also can control the
cylinder in this window.
Teach Screen
Edit the program that you currently choose.
Terminal Screen
Monitor and control the signal of cylinder, arm-in-position signal,
handshake signal with load-unload system and the signal from servo
drive.
System Screen
Users can set up motion, moving distance, protection and servo related
functions in this screen.
Alarm
It shows the information of current alarms and alarm history so that
users can identify the alarm causes.
Main Screen
Return to the main screen.
August, 2015
3-3
Operation
HMC Load-Unload System
3.2. Start-up Procedure
See the procedure below for each main function after you starting up the system:
3
Connect to the
power supply
for starting up
the system.
Has already set
up motion
parameters?
Y
Has already
loaded in
the
program?
Manual
(Jog,
Adaptive)
N
Motion Setting
(Homing speed,
operation speed,
jog speed)
Y
Teach (Edit
program)
Y
Operation
N
Homing
(HP)
complete?
Program
Manager
N
Homing (HP)
N
Has
returned to
standby
point (ZP)?
Y
Has already
loaded in
the
program?
N
Error
occurs/
Stop
operating
Return to
standby point
(ZP)
Y
Complete
After starting up the system, please complete [Homing] first to obtain the correct
position of each axis. When executing [Homing], each servo drive will be servo on
simultaneously. If any alarm occurs at the moment, please clear the alarm first.
See the following for descriptions of main and subfunctions:
Item
Subfunctions
Program manager
Log on/Log off
Main screen
Work with load-unload system
Homing
Return to standby point
Alarm
System
Current alarm: Alarm Confirm (F10)
Alarm history
Motion setting: homing offset, homing mode, motion speed and torque
protection.
Safety setting: setting of max. moving distance of each axis,
homing/return to standby point setting.
Operation setting: motion setting and motion confirm setting
System setting: applied mechanism, system auxiliary setting and
information for operation
Servo setting: gear ratio, acceleration/deceleration smoothing setting,
max. speed limit, motor operating direction.
3-4
August, 2015
HMC Load-Unload System
Operation
Version information
Cylinder input and output signal
Arm’s input and output signal
Terminal
3
Output signal of load-unload system
Input signal of load-unload system
Signal from servo drive
Teach
Teaching of program command
Motion setting
Jog with unlimited range
Jog with limited range
Manual
Jog with the set target
Compliance control
Handwheel
Return to standby point
Operation
Operation
Trial operation (step run)
Production setting
August, 2015
3-5
Operation
HMC Load-Unload System
3.3. Description of User Permission
3.3.1. User Level
3
It has four user levels. Before logging on, users can only view the alarm information and
the information on main screen. Following describes the authorization for each user
level:

Operator: Operators can only use basic functions, such as homing and auto
operation.

Operator leader: Apart from the basic functions, operator leaders can apply the
function in manual mode and select the load-in programs.

Engineer: Except for the functions that are for administrators only, engineers have
the authority to access all functions.

Administrator [Manufacturer]: Administrators have the authority to access all
functions, including setting up the mechanism and password. This authorization is
usually given to system manufacturers.
See the following table for the authorization of each function:
√ means user can use the function / × means users cannot use the function
3-6
Functions
Operator
(level 1 ~ 3)
Operator
Leader
(level 4, 5)
Engineer
(level 6)
Administrator
[Manufacturer]
(level 7)
Servo on
√
√
√
√
Return to standby point/
homing point
√
√
√
√
Program operation
×
√
√
√
Program load-in
selection
×
√
√
√
Manual operation
×
√
√
√
Program manager
×
×
√
√
Teach program
×
×
√
√
Edit the template
program
×
×
×
√
Semi-auto operation
×
×
√
√
Production setting
×
×
√
√
Motion setting
×
×
×
√
Homing/standby point
sequence setting
×
×
√
√
Servo setting
×
×
×
√
Safety setting
×
×
×
√
Operation setting
×
×
×
√
System setting
×
×
×
√
August, 2015
HMC Load-Unload System
Operation
3.3.2. Logon / Logoff
Click “User Level” on status bar. A window for logon / logoff will pop up. When
successfully logging on, click on this button again to log off.
3
(1) Logon: Enter the password to log on.
(2) Logoff: After logging off, it will be in [Not logged on] status.
(3) Automatically log off: Users can set the function of [Time for automatically log off].
If there is no operation within the set up time, the system will be automatically
logged off. When the value is set to 0, then it means the system is always logged
on.
(4) No authority to access: When you have no authority to access the function, a
pop-up window will appear or a red lock icon will show as the reminder.
August, 2015
3-7
Operation
3.4.
HMC Load-Unload System
System Setting before Motion being Executed
Before the motion being executed, please make sure settings of the servo drive and
mechanism are correct. Wrong setting might result in danger. In addition, the system
needs to complete the specified speed setting first. Otherwise, the following window will
pop up when executing the motion command.
3
Following is the window of motion parameters setting. You can start the operation after
the speed setting is complete.
3-8
August, 2015
HMC Load-Unload System
3.5.
Operation
Homing / Return to Standby Point
Please complete homing after the system is started up. This is for ensuring the accuracy
of servo’s position. Also, before starting auto-operation or trial run, the arm shall return
to the starting point, which is the standby point for safety concerns. This is why the
system needs to complete [Return to standby point] beforehand.
When carrying out homing or returning to standby point, for a safer operation, users can
use the [Enabling switch] to immediately stop the operation when any safety worries
arise. (See the figure below.)
To use [Enabling switch], please go to [System] > [Safety setting] > [Homing/Return to
standby point] and enable the function of [Enabling switch protection]. When the
[Enabling switch] is enabled, homing/ returning to standby point can be carried out.
When [Enabling switch] is disabled, it will immediately stop the action and a pop-up
window will appear. When the function of [Enabling switch protection] is disabled, the
operation will not be controlled by [Enabling switch].
3
[Enabling Switch] is a 3-position operation switch. See the definitions below:



August, 2015
Not pressed: Disabled status; Inhibit to operate in manual mode.
Pressed: Enabled status; Allow users to operate in manual mode.
Firmly pressed: Disabled status; Inhibit to operate in manual mode.
3-9
Operation
HMC Load-Unload System
3.5.1. Homing
Click [Homing] (Homing of main system) on main screen. A window of motion sequence
and posture will pop-up. Click on [Homing] again, the system will start homing.
3

When executing the command, the button will be flashing and a text of [Homing…] in
red color will appear on top-left corner. After the motion is complete, the button will
become blue and shows command completed.
This sequence and posture can be set in [System] > [Safety setting] > [Homing / Zero
(Standby point)].
3-10
August, 2015
HMC Load-Unload System
Operation
3.5.2. Return to Standby Point
Click on [Zero Return] (Return to standby point of main system) on main screen.
3
Or, users can click on [Zero Return] (Return to standby point) on operation screen.
When executing the command, the button will be flashing and a text of [Homing…] in
red color will appear on top-left corner. After the motion is complete, the button will
become blue and shows command completed.
This sequence and posture can be set in [System] > [Safety setting] > [Homing / Zero
(Standby point)].
August, 2015
3-11
Operation
HMC Load-Unload System
3.5.3. Homing of Subsystem
Click on [Sub Sys Home] (Homing of subsystem) on main screen, the command of
homing will appear. Click on [Homing], it will start to carry out homing command for
subsystem.
3
The content of homing for subsystem command is recorded by the program. Thus, each
program has its own homing procedure and homing position. This setting can be done
in [Teach].

When executing the command, the button will be flashing. After the motion is complete,
the button will become blue and shows command completed.
3-12
August, 2015
HMC Load-Unload System
Operation
3.5.4. Return to Standby Point of Subsystem
Click on [Sub Sys Zero Return] (Return to standby point of Subsystem) on main screen.
Commands about subsystem returns to standby point will show on the screen. Click on
[Zero Return] (Return to standby point) again, it will start to execute the command.
The content of subsystem returns to standby point command is recorded by the
program. Thus, each program has its own standby procedure and standby position. This
setting can be done in [Teach].
3

Or, users can click on [Zero Return] (Return to standby point) on operation screen.
When executing the command, the button will be flashing. After the motion is complete,
the button will become blue and shows command completed.
August, 2015
3-13
Operation
3.6.
HMC Load-Unload System
Operate in Manual Mode
The manual mode cannot be enabled when the system is in auto operation. Other than
that, manual mode can be applied in all screens. When it switches to manual mode, the
window of operating function in manual mode will pop up, including jog, compliance and
3
handwheel. In dual system, click on this button (
) on top right corner of the screen
can switch between the main system and subsystem when it is in jog operation.
For avoiding danger resulting from wrong operation, jog function shall be used with
[Enabling switch] and can work only when [Enabling switch] is enabled. If you select the
controller that has no built-in [Enabling switch], please select [No enabling switch] in
System setting for jog function.
3-14
August, 2015
HMC Load-Unload System
Operation
[Enabling Switch] is a 3-position operation switch. See the definitions below:



Not pressed: Disabled status; Inhibit to operate in manual mode.
Pressed: Enabled status; Allow users to operate in manual mode.
Firmly pressed: Disabled status; Inhibit to operate in manual mode.
3
3.6.1. Troubleshoot in Jog Mode
Users can use jog function to clear alarms. Please note that the position protection for
each axis will be invalid when applying jog function.
(1) Axis selection: Users can select the axis which is going to execute commands.
(2) Mode: This function can work with the function of jog with unlimited range,
compliance control and handwhweel.
(3) Speed: This is for setting the speed (%) in jog mode. It can only operate at 10% of
the speed or below in this situation.
(4) Jog function enabled: It should work with enabling switch. (Disable
/ Enable
)
(5) Jog in reverse direction: Jog in reverse direction. Release the button to stop the
operation
.
(6) Jog in forward direction: Jog in forward direction. Release the button to stop the
operation
.
(7) Handwheel: Click on this button and it will switch to external handwheel operation.
Users can enter the handwheel scale here.
August, 2015
3-15
Operation
HMC Load-Unload System
(8) Compliance: Click on this function and the screen which shown as below will pop
up. Please select the axis first. Then, set the torque output (Bigger setting value
needs larger external force to move the servo axis). After the setting is complete,
click on
3
to enable compliance control function.
3.6.2. Jog with Unlimited Range
Jog function can be used within the set distance.
(1) Axis selection: Users can select the axis which is going to execute commands
(2) Mode: Unlimited mode
(3) Speed: This is for setting the speed (%) in jog mode, range from 1 to 100%.
(4) Jog function enabled: It should work with enabling switch. (Disable
/ Enable
)
(5) Jog in reverse direction: Jog in reverse direction. Release the button to stop the
operation
3-16
.
August, 2015
HMC Load-Unload System
Operation
(6) Jog in forward direction: Jog in forward direction. Release the button to stop the
operation
.
3.6.3. Jog with Limited Range
Jog function can be used within the set distance. Users can specify the max. moving
distance for one operation with jog function. It can be applied for teaching the position.
3
(1) Axis selection: Users can select the axis which is going to execute commands
(2) Mode: Limited mode
(3) Speed: This is for setting the speed (%) in jog mode, range from 1 to 100%.
(4) Set the moving distance: Set the max. moving distance in jog mode. Use
and
to change the setting. The moving distance can be set as 100, 10, 1 and
0.1 (mm).
(5) Jog function enabled: It should work with enabling switch. (Disable
/ Enable
)
(6) Jog in reverse direction: Jog in reverse direction. Release the button to stop the
operation
.
(7) Jog in forward direction: Jog in forward direction. Release the button to stop the
operation
August, 2015
.
3-17
Operation
HMC Load-Unload System
3.6.4. Jog with the Set Target
When applying this function, each axis can be moved to the target position that users
set before. This function can be applied in [Teach] only. And only when the modified
command is [Move to], [Move to … by single axis], [interpolation] or [position], can the
user use this function to move the arm to the absolute position. This function limits the
system to jog with the set direction and distance. For example, if the current position is
100, when the target position is 200, the system only can move in forward direction.
Also, when its position is at 200, it cannot move further. Users can apply this function to
quickly move the arm to the target position and do fine tuning afterwards.
3
(1) Axis selection: Users can select the axis which is going to execute commands.
(2) Mode: Target mode
(3) Speed: This is for setting the speed (%) in jog mode, range from 1 to 100%.
(4) Jog function enabled: It should work with enabling switch. (Disable
/ Enable
)
(5) Jog in reverse direction: Jog in reverse direction. Release the button to stop the
operation
.
(6) Jog in forward direction: Jog in forward direction. Release the button to stop the
operation
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.
August, 2015
HMC Load-Unload System
Operation
3.6.5. Compliance Control
With the function of compliance control, users can complete position teach by hand
movement. When this funtion is enabled, the servo motor will limit the arm’s action by
the limited torque output. The arm will move by the external force. It will be easier to
move the arm when the torque setting is smaller. Please note that when the axis that
moves vertically applies this function, the arm might slip if the torque is set to small.
Only one axis can apply the function of compliance control at a time. Leave the page of
compliance control teach to disable this function. Click on [Compliance] in the screen of
manual mode to enter compliance screen.
3
Go to compliance screen.
(1) Axis selection: Users can select the axis that is going to do compliance control.
(2) Torque output: Output setting to limit the torque. Range for the axis that moves
vertically is from 50 to 100% and 1 to 100% for other axes.
(3) Switch: Click on the button to enable or disable compliance control function.
(Enable
August, 2015
/ Disable
).
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Operation
HMC Load-Unload System
3.6.6. Handwheel
Users can directly control the moving direction of the servo axis via handwheel.
When this function is enabled, the system will control the servo axis by pulse signal
which generated by the handwheel. For dealing with different speed, users can adjust
the moving speed via the setting of handwheel scale.
Only one servo axis can apply the handwheel function at a time. Leave the page of
handwheel to disable this function. Click on [Handwheel] to control the system by
handwheel in Jog mode.
3
(1) Axis selection: Users can select the axis that is going to do compliance control.
(2) Handwheel switch: Use this button to enable or disable the function of handwheel.
When this function is enabled, users can switch to different servo for controlling.
(3) Handwheel scale: Users have to enable the handwheel function first to display the
setting. The range is from 1 to 10000. Bigger setting value brings faster speed.
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HMC Load-Unload System
3.7
Operation
Trial Run Operation
When loading in a new program or editing the command, trial run operation can be used
to ensure the accuracy of the action. Through this function, users also can adjust the
target position.
Go to [ATUO] screen and return to start point which is the standby point of the arm
before proceeding trial run. Then, click on [Step run].
3
See the screen of [Trail run operation] below. Users can select [single cycle] or [Step
run]. Click on [Stop] to stop the trail run operation.
(1) Speed: Users can adjust the percentage to change the speed of trial run.
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Operation
HMC Load-Unload System
(2) Teaching Point: When the function of compliance control is disabled, click on this
button to view the coordinate of each axis. In trial run mode, users can select a
specific teaching point to change its coordinate and click [Write to point] to update
the coordinate.
3
(3) Program command: It displays the command of current program. Target command
will be highlighted here. When this function is disabled, you can directly click on the
command that you wish to see or modify. The command editing window will pop up.
(4) Command tracking: When this function is enabled, the target command is the
current command. When it is disabled, users can select the target command and set
up the parameters of the command.
(5) Command display: When tracking function is disabled, clicking on this button can
check the content of previous, next command, and command content on previous or
next page.
(6) Single cycle: Click on this button to start trial run in single cycle. If the enabling
switch is enabled, it will start to execute the command in sequence. If not, the trial
run will stop after all commands are complete. Then, a pop-up window will appear.
Please note that it is necessary to return to standby point before you start to do trial
run. If the controller has no built-in enabling switch, the trial run operation ends after
a cycle is complete.
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HMC Load-Unload System
Operation
(7) Previous step: The system will set the previous command as the target command.
Thus, when clicking on this button, the system will go to the end position from
previous command.
(8) Next step: Clicking on this button, the cursor will move to the next command after
completing the current command. The next command will be set as the target
command. When the command is complete, a pop-up message will appear.
3
(9) Stop: Click on this button to cancel the trial run of single cycle.
(10) Handwheel: When enabling this function, the current motion will be controlled by
handwheel.
(11) Scale: When enabling the function handwheel, users can change its scale to
control the motion speed. The setting range is between 1 and 50000.
Note:
If it is in dual system, please click on the screen title you wish to use to go to the command list.
Then, start to do trial run. If conducting trial run when both system are adapted, it will firstly be
carried out by the main system.
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Operation
3.8
HMC Load-Unload System
Auto Operation
With this function, the current selected program will be in auto operation. Go to
[Operation] screen. Before starting auto operation, the arm has to be returned to the
start position, which is the standby point. Then, click [Run].
3
See the screen of [Auto operation] below:
(1) Speed: Users can adjust the percentage to change the speed of trial run.
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HMC Load-Unload System
Operation
(2) Program command: It displays the command of current program. Target command
will be highlighted. When this function is disabled, you can directly click on the
command that you wish to see or modify. And the command editing window will pop
up.
3
(3) Teaching Points: When the function of compliance control is disabled, click on this
button to view the coordinate of each axis. In trial run mode, users can select a
specific teaching point to change its coordinate and click [Write to point] to update
the coordinate.
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Operation
HMC Load-Unload System
(4) Command tracking: When this function is enabled, the target command is the
current command. When it is disabled, users can select the target command and
set up the parameters of the command.
3
(5) Command display: When tracking function is disabled, clicking on this button can
check the content of previous, next command, and command content on previous
or next page.
(6) Pause: Click on [Pause], the system will temporarily stop. Button of [Operating] will
flash. Double click the [Pause] button to resume the operation.
(7) Stop: Click on [Stop], the system will stop operating after completing the current
command. If the current command has not been completed, click on [Stop] again to
resume the operation.
(8) Cycle stop: Click on [Cycle stop], the system will stop operating when the current
cycle ends. Then, a window will pop up. Click on [Cycle stop] again to resume the
operation.
To immediately stop the operation, please click on [Pause] when the cycle stops. A
pop-up window will appear then. Users also can directly click [EMS] button.
(9) Number of the complete cycle: The complete cycle number in one auto operation.
(10) Residual number: Users can set up the total number of the product in [Production
setting]. The residual number is the result that deducts [Number of the complete
cycle] from [Total number of production]. If there is no need to set up the number of
production, then set this value to 0.
(11) Duration for a cycle: It shows the time it takes for the last cycle.
(12) Handwheel: When enabling this function, the current motion will be controlled by
handwheel.
(13) Scale: When enabling the function handwheel, users can change its scale to
control the motion speed. The setting range is between 1 and 50000.
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HMC Load-Unload System
Operation
(14) Production setting: This window shows production setting and the related
information.
3
(15) Total number of the product: When the number of completed product reaches
this setting value, a window will pop-up as the reminder and stop auto operation.
Set it to 0 means to disable this function.
(16) Reminder for the number of product: When the number of completed product
reaches this setting value, a window will pop-up. Set it to 0 means to disable this
function.
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Operation
HMC Load-Unload System
(17) Number of defective goods: When the number of defective goods exceeds the
setting value, an alarm will occur as a reminder. Set it to 0 means to disable this
function.
3
(18) Duration for the current cycle: It shows the duration time for the current cycle.
(19) Record for the cycle time: Records for the time of the last ten cycle.
Note:
In the window of dual system, click the title bar to go to the command list of each system. It also
shows the number of operation cycle.
Click on the button to enter the screen that shows below. Click on the title again to
return to the screen of dual system.
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HMC Load-Unload System
3.9
Operation
Signal Monitoring
Click on [I/O] on main screen to go to terminal monitoring screen, you can monitor
input/output signals of load-unload system, signals of servo drive and control the
external signal.
3
Click on the button of [On/Off] to enable or disable the function of the corresponding
terminal.
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Operation
HMC Load-Unload System
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3
3-30
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Program Usage and Editing
This chapter describes the method to manage and edit the program and the related
functions.
控
4.1 Program Manager ··············································································· 4-2
4.2 Loading and Editing a Program······························································ 4-5
4.3 Description of Edit Function in Teach Mode ·············································· 4-5
4.4 Description of Program Setting ······························································ 4-8
4.5 Description of Program Command ·························································· 4-8
4.5.1 Motion for Each Axis ······································································ 4-9
4.5.2 Progam Motion ··········································································· 4-16
4.5.3 Procedure ················································································· 4-20
4.5.4 Others ······················································································ 4-22
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Program Usage and Editing
HMC Load-Unload System
The load-unload system needs different motions to handle different types of production
line. The combination of different motions is called [Program]. This system provides 500
programs for users. Each program contains 400 motion commands and 300 teaching
points for the main system and subsystem.
Another 10 program templates are provided for administrators to pre-edit the commonly
used motions and stores these motions in different program templates. When loading
the program template, users can quickly download each created motion that they had
defined beforehand.
In addition, to import and export the program via USB disk or SD card is also supported
so that the program can be shared among different load-unload systems.
4
4.1 Program Manager
Click on the program name on status bar to enter the screen of [Program manage].
See the following figure for the screen of [Program manage]:
(1) Currently used program: It displays the program number and program name that
currently used.
(2) Program list: It displays all program names and the modified time. Directly click on
it to select the program.
(3) Select the program: Users can select the program number that wish to operate.
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HMC Load-Unload System
Program Usage and Editing
(4) Edit the selected program: Edit the selected program. Click on this button, the
following screen will show up. Users can edit or load the program.
4
(5) Display all/Only display the selected ones: Users can switch the displayed list.
[Display all] means to display the list of 500 programs; [Only display the selected
ones] means it only displays the program which has file name.
(6) Edit the template: Select the program template for editing. This function only can
be used by administrators. The following screen will show up after clicking on the
icon:
Select the template to enter [Teach] screen. 10 templates are provided, 1001 ~
1010.
(7) Program name: Edit the program name that you selected.
(8) Export: Export the selected program to external device.
(9) Import: Import the selected program from external device.
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HMC Load-Unload System
(10) Delete: Delete the content from the selected program. A window will pop up.
4
(11) Copy: Copy the selected program to other programs. A window of the selected
program will pop up after clicking on it.
(12) Load: Load the selected program and enter teach editing screen.
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HMC Load-Unload System
Program Usage and Editing
4.2 Loading and Editing a Program
After loading a program, it will enter [Teach] screen for command editing. Users also can
directly click on [Teach] to edit the current program when you have already downloaded
the program.
4
4.3 Description of Edit Function in Teach Mode
Apart from commands editing, parameters from the program can also be edited in teach
mode. See the figure below for [Teach] screen:
(1) Content of the command: It is the command content of the current program. Click
on it, a window of parameters will pop up so that users can modify the setting.
(2) Operate the command displaying area: Users can scroll the displayed page of
command content and change the target command. The related parameters will not
be displayed here.
(3) Cut/delete: Cut the target command.
(4) Clear: Long press the button for three seconds to clear all commands.
(5) Copy: Copy the target command.
(6) Paste: Long press the button for three seconds to paste the [Cut] or [Copy]
command on the target command.
(7) Insert: Insert the current editing command to the target command.
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Program Usage and Editing
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(8) New: Add the current editing command to the position placed after the target
command.
(9) Change: Change the current editing command to the target command.
4
(10) Store: Store the current editing program. If the program is not stored after being
edited or modified, a prompt message will pop up and ask for confirmation.
(11) Command list: Call the command list and to select the command that you wish to
join.
(12) Edit the command: It displays the related parameters of current command.
(13) Template: Select the template to download to the current program.
(14) Motion setting: It includes the setting of current program, such as postures of
homing and standby mode. When you click on it, its setting window will pop up.
(15) System switching: It can switch the editing window among main system,
subsystem, homing of subsystem and return to standby point of subsystem.
(16) See the switching steps as below:
Go to the screen of (subsystem) command for editing.
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HMC Load-Unload System
Program Usage and Editing
Go to the screen of homing command (subsystem) for editing.
4
Go to the screen of standby point command (subsystem) for editing.
Go to the screen of (main system) command for editing.
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HMC Load-Unload System
4.4 Description of Program Setting
Each program can save its own settings, such as standby position, posture or standby
mode, including parameters setting. Click on [Motion setting], a window for program
setting will pop up.
4
(1) Position and posture when returning to zero position: It can set up the position
and posture of each axis when standby.
4.5 Description of Program Command
Click on [Instruction list] (Command list) on [Teach] screen, a window of command list
will pop up for selection. Select the command that you are going to use. And the
selected commands will be displayed in command area. See further information below:
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HMC Load-Unload System
4.5.1
Program Usage and Editing
Motion
4

Move to target position [Goto T.Point]: All axes linearly move to the target
position.
(a)
(b)
(c)
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The is the setting for motion speed
It is for setting up the time interval before carrying out the motion command.
Select the target position, from P1 to P300.
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Program Usage and Editing
(d)
Check [Overlap with next motion], it means the current command will smoothly
connect to the next command. Please bear in mind that the motion type and axis of
the current and next command shall be the same but the target position shall be
different. See the following figure as the example. If the current position is A and
current command is [Move to the position, .., P[B]] , the next command shall be
[Move to the position, .., P[C]]. And the sequence to complete the command will be
(A > B > C).
(e)
Go to the screen which can change the teaching point.
(f)
This part displays the coordinate of each axis. Users can directly change the
position by clicking on the item.
Users can enter the position number to access or set up its coordinates.
Write the currently editing coordinate into the target position.
Read the selected position’s coordinates.
It displays the data that is being edited. Users can change the value here or click
on [Update] to change the value.
The [Update] key can update the current coordinates of each axis to the editing
area.
4
(g)
(h)
(i)
(j)
(k)
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HMC Load-Unload System
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HMC Load-Unload System

Program Usage and Editing
Single axis moves to the target position [Single-Axis Goto T.Point]: Specify
one single axis to linearly move to the target position.
4
Please refer to [Move to teaching point] command for motion parameters.

Interpolation [Interp. Move]: Linear motion of multi-axis (interpolation). Users can
select single axis or multi-axis to do linear interpolation.
(a)
(b)
(c)
(d)
This is the setting for motion speed.
It is for setting up the time interval before carrying out the motion command.
Select the motion command for axis.
Execute the command according to the setting value. When executing relative
motion command, it moves to the relative position. When executing absolute
command, it moves to the absolute position.
(e)
Update the position for multiple axes. Regard the current position of each axis as
the teaching point.
(f)
Update the position for single axis. Regard the current position of corresponded
axis as the teaching point.
Check [Without suspend], it means after current motion command is complete, it
will execute the next command right away. Thus, multiple axes can work
individually and simultaneously.
Check [Overlap with next motion], it means the current command will smoothly
connect to the next command. Please bear in mind that the motion type and axis of
(g)
(h)
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Program Usage and Editing
HMC Load-Unload System
the current and next command shall be the same but the target position shall be
different. See the following figure as the example. If the current position is A and
current command is [interpolation[XYZ]..B], the next command shall be
[interpolation [XYZ]..C]. And the sequence to complete the command will be (A > B
> C).
4

Single-Axis Move: Single axis moves along the straight line. Only one axis can be
used at a time.
Please refer to command of [Interpolation] for motion parameters.
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HMC Load-Unload System

Program Usage and Editing
Go to standby position [Goto Zero]: It is the moving command to ask the system
to move to the standby position.
4
This screen is for displaying the information only. If you wish to change its setting
value, please go to [Teach] > [Motion setting].

Plane stacking: This function is for stacking stuff in a flat surface and can be
controlled by the main system and subsystem. Users only need to set up the plane
and the first position for stacking. The system will automatically calculate the next
position according to the stacking moving distance and stacking number.
(a)
(b)
(c)
(d)
This is the setting for motion speed.
It is for setting the time interval before carrying out the motion command.
Click on this function to enter window of [Stack setting].
Execute period (Interval for executing commands). It indicates the interval
among each command. If the interval number is 2, it means the command will be
executed once every three cycles.
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Program Usage and Editing
HMC Load-Unload System
4
(e)
(f)
(g)
(h)
(i)
4-14
Select the axis for the first stacking. The system will start from the first axis that
you’ve just selected. Then, it will proceed to the second axis after reaching the
stacking number of the first axis.. See the above figure.
Select the axis for the second stacking. The system will start from the second axis
that you’ve just selected. Then, it will proceed to the second axis after reaching the
stacking number of the first axis. See the above figure.
This is for setting the position of the first plane stacking.
This is for setting the moving distance of each axis.
This is for setting the stacking number of each axis.

Array positioning of the main arm [Main Arm Stack]: It is also called stacking.
Users only need to set up the start point for stacking. The system will automatically
calculate the position of each point in accordance with the offset value, number
and sequence. This command contains a series motion of stacking; It determines
whether the machine shall move in transverse direction and then place the object
right above the target position and if it shall pass the entry point then move
downwards to the placing point.
(a)
(b)
It is the speed of motion.
It is for setting the time interval before you execute the next motion command.
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HMC Load-Unload System
(c)
(d)
(e)
(f)
(g)
Program Usage and Editing
Array positioning [Stack Setting]: Click on this button to enter the setting
window of array positioning.
Starts to move at low speed with the set distance when it is above the target point.
Set up low-speed motion
It can change the setting of main arm’s posture before it starts to carry out the
command of array positioning.
4
The sequence setting of array positioning: If the sequence is X1-axis > Z1-axis >
Y1-axis and the stacking number of X1-axis, Z1-axis and Y1-axis shall be 4, 3, and
2 respectively, the arrangement is showed as below:
(h)
Check [Through the entry point]. The arm will move to the entry point first. Then, it
moves toward the stacking position.
(i) It is the coordinate of the entry point
(j) Check [Parallel entry] (Horizontally move). Before the arm goes to stacking
position, it moves horizontally right above the placing point first. Then, move
downward to the stacking point.
(k) It is the coordinates of the first stacking point
(l) It is the offset setting of the distance between two stacking positions.
(m) It is the setting of stacking number.
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Program Usage and Editing
4.5.2
HMC Load-Unload System
Action
4

Signal output [Output]: It is the signal to control the clamp/vacuum valve and
output command from peripheral device.
(a)
(b)
(c)
(d)
(e)
(f)
4-16
It is the setting time for signal output.
Users can select the target device for signal output, Y0 ~ Y63 or UM0 ~ UM63.
Set the target device as On
Set the target device as Off.
Control the signal by pulse. Set the device as On and the device will be Off after
the setting time is complete. When it issues the pulse command, the command
can be executed before the previous command is complete (Off > On > Off). That
is to say, when the signal is On, the system will automatically proceed to the next
command. This will not influence the cycle time, thus, it can be used to control
the conveyor.
Interval for executing commands [Execute period]. It indicates the interval
among each command. If the value is set to 2, it means the command will be
executed once every three cycles.
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HMC Load-Unload System

Program Usage and Editing
Wait for signal input [Wait]: Wait for the input command from clamp/vacuum
valve or peripheral device.
4
(a) Users can select the output device which will send the signal, X0 ~ X63 or UM0 ~
UM63, as the waiting target.
(b) This is for setting the status (On or Off) of the device that you have just selected.
(c) Interval for executing commands [Execute period]: It indicates the interval
among each command. If the value is set to 2, it means the command will be
executed once every three cycles.
(d) Detection time [Detect time]: When the system does not receive the signal within
the setting time, an alarm will occur. When the detection time is not set to 0, a
window of time delay will pop up and an alarm will occur.
Press [Continue] to resume the operation; press [Stop] to stop the operation.
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Program Usage and Editing
HMC Load-Unload System

Delay: Delay time

Monitor: Users shall select the device that is going to be monitored. If the
monitoring condition is not satisfied during operation, it will stop the operation or
pause until the monitoring condition is fulfilled. This can be regarded as the
protection mechanism.
(a)
(b)
(c)
(d)
Users can select X0 ~ X63 or UM0 ~ UM63 as the monitoring target.
This is for setting the status (On or Off) of the device that you’ve just selected.
Users can select to Start to monitor or cancel the monitoring function.
Interval for executing commands [Execute period]: It indicates the interval
among each command. If the interval number is 2, it means the command will be
executed once every three cycles.
4
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HMC Load-Unload System


August, 2015
Program Usage and Editing
Wait for the permission from the system: It is the interlock signals transmitted
between the main and subsystem. The main system shall obtain the permission
from the subsystem to continue executing the command. Please bear in mind that
when this function is enabled, the system will keep waiting until the condition of
[Main system is allowed] is fulfilled.
4
Enable subsystem [Interlock sub system]: It is the interlock signal between the
main and subsystem.
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Program Usage and Editing
4.5.3
HMC Load-Unload System
Flow Control
4
4-20

Program starts [Start]: Apart from the first cycle, each cycle starts from this
command when it is in auto operation. Commands before [Program starts] will be
regarded as the initial commands for auto operation.

Program ends [END]: When executing this command, the cycle is over.

Interval program starts [Cycle Start]\ Interval program ends [Cycle END]:
Commands between [Cycle Start] and [Cycle END] will not be executed every
cycle. They will be carried out according to the interval setting. For example, if the
interval is set to 1, commands within the range will be executed every two cycles.
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HMC Load-Unload System


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Program Usage and Editing
IF\ELSEIF\ELSE\ENDIF: As long as the condition of IF is established, can the
procedure of IF…ELSEIF of IF…ENDIF be executed. The applying method is
similar to program language. Please note that nested loop is not supported. It only
supports one layer of IF.
4
FOR\BREAK\NEXT: The executing time of commands in FOR….NEXT can be set
in accordance with the set constant or variables. Please note that nested loop is
not supported.
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Program Usage and Editing
4.5.4
HMC Load-Unload System
Others
4

4-22
Addition\Subtraction\Multiplication\Division\Remainder\Assign: It is the
operation command for system variables. 32 system variables for commands are
in total, U1 ~ U32, which can be used by procedure commands.
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HMC Load-Unload System

Program Usage and Editing
Label: It works with [GOTO].
4

August, 2015
GOTO [Jump]: It looks for the specified label and directly goes to the command. If
the specified label cannot be found, the cycle is over.
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HMC Load-Unload System
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4
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System Setting 系
This chapter illustrates the operation about system setting and the related information
for safety setting.
控
5.1 Motion Setting···················································································· 5-3
5.2 Servo Setting ····················································································· 5-4
5.3 Moving Distance ················································································· 5-5
5.4 Setting for System Operation ································································ 5-6
5.4.1
Motion Setup ··············································································· 5-6
5.4.2
Motion Confirmation ······································································ 5-7
5.5 System Parameters Setting ·································································· 5-8
5.5.1 Information about Operation ···························································· 5-8
5.5.2 HMC Controller Setting ·································································· 5-9
5.5.3
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Debugging Tool for the System ······················································ 5-10
5-1
System Setting
HMC Load-Unload System
Click [System] on main screen to enter the system setting page.
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When entering the system page, users of different levels can access different contents.
5-2
Screen
Limit of Authority
Description
Motion setting
Administrator
LEVEL 7
Safety setting
Engineer
LEVEL 6
Operation setting
Engineer
LEVEL 6
System setting
Administrator
LEVEL 7
Servo setting
Administrator
LEVEL 7
Version
Engineer
LEVEL 6
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HMC Load-Unload System
System Setting
5.1 Motion Setting
Settings of servo axis (speed, torque and others):
5
(1) Homing offset value: When not regarding the sensor as the zero point, this
function allows users to set any position as zero point.
(2) Homing mode: Various homing modes are provided. Please refer to HMC
Controller User Manual for further information.
(3) Homing at high speed: It is the speed before the servo axis is detected by the
homing sensor during homing.
(4) Homing at lower speed: It is the speed after the servo axis is detected by the
homing sensor, which is the speed to look for Z phase during homing.
(5) Operation speed: The max. speed during auto-operation.
(6) Jog speed: The max. jog speed when it is manually controlled.
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System Setting
HMC Load-Unload System
5.2 Servo Setting
This system needs to work with Delta’s ASDA-A2-F and ASDA-M-F series servo drive.
This screen is for setting up motion parameters of servo axis and servo performance.
5
(1) E-gear ratio: Electronic gear ratio plays a vital role when converting the unit of
controlling system with the unit of real machine.
N represents numerator and M represents denominator; 1:a is the gear ratio
from motor side to final output terminal.
N = 1280000
M = gear number*tooth spacing/a Note: the unit of pitch is millimeter (mm).
Example: a gear reducer with 1:5 of gear ratio, the gear number of belt pulley
is 20 and the pitch is 5 mm. Then, N = 1280000, M = 20000
(20000 is acquired when the unit converts from mm to um)
N/M = 1280000/20000 = 64/1
(2) S-curve: It is for setting the acceleration curve when motion starts and deceleration
curve when motion stops. Bigger value brings smoother motion. However, it brings
longer response time.
(3) Acceleration time: The required time when the motor runs from 0 rpm to 3000 rpm.
Increase the value can smoother the operation. But the excessive value might bring
a longer response time.
(4) Deceleration time: The required time when the motor runs from 3000 rpm to 0 rpm.
Increase the value can smoother the operation. But the excessive value might bring
a longer response time.
(5) Acceleration/deceleration time of homing: Acceleration and deceleration time
when homing.
(6) Max. speed limit: RPM = (rotation/minute); mm/s = (millimeter/second). When
setting the E-gear ratio, rpm and mm/s is in linear relation. RPM is equal to mm/s.
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HMC Load-Unload System
System Setting
(7) Forward direction: It can be defined as motor rotating in clockwise or
counterclockwise direction. When it is in forward direction, it means the coordinate
value is increasing while backward direction means the value is decreasing. This
setting can be done via this button. Please repower on the servo after the setting is
complete for activating this function.
5
5.3 Moving Distance
It is the motion setting range for each axis. When it is in jog operation or position
teaching, the setting value will be limited within the setting range for safety concerns.
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5-5
System Setting
HMC Load-Unload System
5.4 Setting for System Operation
5.4.1 Motion Setup
5
(1) Adjust the distance in auto operation: When the system is in auto operation,
click on [Not tracking] to select the command for slightly adjusting the moving
distance. Users can setup the maximum distance that can be adjusted via this
function.
(2) Distance that prior to the target position: The axis has not reached the target
position yet (still moving). When the residual distance is smaller than this setting
value, the system will prepare to execute the next command. For example, When
X1-axis almost completes its task, Y1-axis will start to execute the command in
advance.
(3) Overlap function is applied during linear motion: its setting value is the radius of
the round angle for smoothing the path.
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HMC Load-Unload System
System Setting
5.4.2 Motion Confirmation
5
(1) Abnormality when monitoring: When applying the monitoring command, if the
condition is not fulfilled, the system can be set as Pause and resume the operation
when the condition is satisfied or Stop and cancel auto operation.
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5-7
System Setting
HMC Load-Unload System
5.5 System Parameters Setting
5.5.1
5
Information about Operation
It records the system’s total operation time. Administrator can long press this button to
clear the accumulative value.
5-8
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HMC Load-Unload System
5.5.2
System Setting
HMC Controller Setting
HMC controller setting includes [Touch to calibrate], [Password setting] and [Time for
auto log off].
5
(1) Language: Users can change system language via this function. Traditional
Chinese, Simplified Chinese and English are available now.
(2) Touch to calibrate: Press this button to calibrate the system.
(3) Password setting: Users can change the password.
(4) Time for auto log off: If there is no operation within the setting time, the system
will log out automatically. [Log on] will show on the screen.
(5) System time: Users can modify the system time via this function.
(6) Lock for protection: When this function is enabled, if the using time exceeds the
setting time of [Auto lock time], users will be unable to use the system.
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5-9
System Setting
HMC Load-Unload System
5.5.3 Debugging Tool for the System
5
5-10
(1)
Display the servo status: Users can view the flag about servo status and motion
command.
(2)
Ladder: With this function, users can open the ladder and monitor it online.
(3)
LOG (Log Save): When any abnormality occurs, press this button can save the
command history to non-validate area so that technicians can use this record to
do troubleshooting. Once this function is enabled, please remember to re-power
on the controller to resume the operation.
August, 2015
Troubleshooting 異
Users can find the related information about alarm screens, causes and corrective
actions in this chapter.
控
6.1 Screen of Alarm···················································································· 6-2
6.2 Servo Alarms and Troubleshooting ··························································· 6-3
6.3 System Alarm and Troubleshooting··························································· 6-3
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6-1
Troubleshooting
HMC Load-Unload System
6.1 Screen of Alarm
Apart from the scrolling text shown in the bottom of the screen, the screen also display
the information about current alarms and alarm history. Click on [Alarm Confirm] or F10
to clear the alarm.
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6-2
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HMC Load-Unload System
Troubleshooting
6.2 Servo Alarms and Troubleshooting
When alarm occurs, the system will display the alarm content and related information.
Please refer to the following for alarms:
Alarm Code
ALE002 Overvoltage
ALE003 Under voltage
AL006 Overload
Corrective Actions
Note
Connect to external regenerative resistor
6
Check if the wiring of RST is correct
1. Value of the servo gain is incorrect
2. Overload
1. The setting of the gain value is too small.
ALE009 Excessive position
error
2. UVW connector is not properly connected.
3. Motor’s loading is too heavy.
ALE011 Encoder error
Check if CN2 connector is correct.
ALE013 Emergency stop
Check if the emergency stop button is enabled.
ALE014/015 Sensor limit
warning
Check if the limit switch is enabled.
ALE283 / 285 Software limit
warning
Software limit warning. Please check if the
motor’s current position is within the setting
range.
6.3 System Alarm and Troubleshooting
Alarms
I/O communication error
Servo communication
[DMCNET] error
EMS button is activated
August, 2015
Corrective Actions
Note
1. Check if the I/O communication cable is
securely connected or broken. If it is broken,
please replace a new one.
2. Make sure the cable is connected to the
INPUT terminal on I/O board.
3. If users do not apply the remote I/O module,
please disable this function in the setting of
mechanism.
1. Make sure DMCNET cable is securely
connected or broken. If it is broken, please
replace a new one.
2. Make sure the servo drive is connected to
terminal resistor.
EMS button is activated.
6-3
Troubleshooting
HMC Load-Unload System
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6-4
August, 2015
Others 其
Users can learn how to use external device (e.g. USB) to update the system and share
the program from this chapter.
控
7.1 Procedures of using USB disk to [Export]/[Import] ······································ 7-2
7.2 Update the System Screen via USB Disk ················································· 7-5
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7-1
Others
HMC Load-Unload System
7.1 Procedures of using USB disk to [Export]/[Import]
Step 1: Go to the screen of [Program Manager]. Then, select the program that you wish
to store in USB disk.
7
Step 2: Click [Edit the selected program] and the screen will show as below:
7-2
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HMC Load-Unload System
Others
Step 3: Click [Export]. Then, click USB disk. If the file is from external device, please
select [import].
7
Step 4: Name the file that you wish to store in USB Disk in the blank of D:\. If the file is
from external device, please select the file name from USB disk.
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7-3
Others
HMC Load-Unload System
Step 5: Click [OK] after you name the file. Then, the following window will pop up to
inform you that the file is successfully saved.
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7-4
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HMC Load-Unload System
Others
7.2 Update the System Screen via USB Disk
The HMC controller editing software also supports USB disk. Users can update system
screen with a USB disk without computer.
Step 1: Edit screen file
Click [document] > [Edit the screen so as to automatically update the system]
7
Step 2: Store the screen to USB disk without changing the file name. Its default file
name is [HMI_AutoUp] and can only be stored in root directory. The format of USB disk
must be FAT32.
Step 3: Insert the USB Disk to HMC and restart the HMC.
Step 4: See below for the start-up screen of HMC:
Click [YES] and the system will start upgrading. Then, restart the system and unplug the
USB Disk after the procedure is completed.
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Others
HMC Load-Unload System
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7-6
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Examples 使
This chapter introduces the way to create a new program and to use program template
to start the production.
控
8.1 Applying New Program ········································································ 8-2
8.2 Applying Program Template ·································································· 8-5
August, 2015
8-1
Examples
HMC Load-Unload System
8.1 Applying New Program
Here introduces the procedure of starting up the system, creating new program and
auto-operating the system.
8
Step 1: When the system is started up, please execute homing first to identify a correct
coordinate system.
Step 2: Log on and enter the screen of [Program Manager].
Step 3: Select program No.21 and open to edit it.
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HMC Load-Unload System
Examples
Step 4: Enter [NEW] as [Program Name] and load in this program for teaching and
editing.
8
Step 5: When creating a new program, the essential commands list will be automatically
generated on the screen. Click the command list to select the command that you
wish to edit. Then, complete the program editing by following the procedures.
Step 6: After editing the motion commands, please store its teaching content.
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8-3
Examples
HMC Load-Unload System
Step 7: Then, switch the screen to Operation for auto-operating the system.
8
Step 8: For safety operation, please return to the standby point of the main system
before carrying out auto-operation.
Step 9: Click [Run] to start auto-operating.
Step 10: Auto-operating.
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HMC Load-Unload System
Examples
8.2 Applying Program Template
This section introduces the process from starting up the system, and how to save the
editing time by applying program template to auto-operate the system.
Step 1: When the system is started up, please execute homing first to create a correct
coordinate system.
8
Step 2: Log on and enter the screen of [Program Manager].
Step 3: Select program No.22 and open to edit it.
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Examples
HMC Load-Unload System
Step 4: Enter [USE-TEMPLET] as [Program Name] and load in this program for
teaching and editing.
8
Step 5: Click [Template] to select the template screen.
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HMC Load-Unload System
Examples
Step 6: Click on the program template.
8
Step 7: After loading in the program template, all commands and motions from target
template will be loaded into the current program. Users only need to modify or
adjust part of the commands. Then, store the setting and switch the screen to
run for auto-operating.
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Examples
HMC Load-Unload System
Step 8: Please return to the standby point of the main system before carrying out
auto-operation. Click [Run] to auto-operate the system.
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August, 2015
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