Integrated drive and control-injection molding single axis manipulator

Chapter 1 Configuration and Installation

Thank you for using this product, please read this manual carefully before using it. Please be sure to observe the following precautions during installation and maintenance.

1  Basic configuration

1.  4.3 inch color display operation panel;

2.  Drive and control integrated control box;

3.  Power supply;

4.  Servo motor (400W/750W, subject to actual configuration);

5.   Braking resistance;

6.  UVW power line, encoder line;

7.  Electric adjustment board (optional);

2  Precautions

1. Wiring work must be performed by a professional electrician, and the work can only be started after confirming that the power supply is disconnected.

2.Please install it on flame-retardant materials such as metal and keep away from combustible materials. 

3.Be sure to connect the ground terminal to the ground wire, otherwise it may cause electric shock or fire.

4.If the external power supply is abnormal, the control system will malfunction. In order to make the control system work safely, a safety circuit must be installed outside the control system.

5.When installing electronic boards, try to avoid placing them too close to AC components such as contactors and inverters to avoid unnecessary surge interference.

6.The electric box where the controller is installed should be well ventilated, oil-proof and dust-proof. If the electric control box is airtight, the temperature of the controller is likely to be too high, which will affect normal operation. A fan must be installed. The suitable temperature in the electric box is below 50°C. Do not use it in dew or freezing places.

7.Installation precautions: please refer to the figure below to leave enough space around the motherboard and pay attention to the direction of ventilation.

Note: Improper handling may cause hazards, including personal injury or death or equipment damage.

Chapter 2 Operation Panel

1 Appearance and description

2 Main screen

Chapter 3 Operation Mode

1  Original

In order to enable the manipulator to run automatically and correctly, it must perform a return-to-origin action in a stopped state every time the power is turned on. The return-to-origin action returns the electric shaft of the driving manipulator to the origin position, and the vacuum and fixture return to the closed state.

In stop state,PRESS   ，It can return to the origin, the electric axis returns to the origin position, and the automatic operation and manual operation can be performed after the origin return.

When returning to the origin, the user cannot perform manual or automatic operation and parameter setting of the manipulator. In an emergency, you can press the stop button to stop the return to origin or press the emergency stop switch.

2 Manual mode

Press    ,Enter the manual screen, you can perform manual operation, operate the manipulator to operate each single action, and adjust each part of the machine (when manually operating, confirm that there is a signal to open the mold before proceeding, and ensure that the mold is not touched). In order to ensure the safety of manipulators and injection molding machine molds, there are the following restrictions:

• After the robot descends, it cannot do vertical or horizontal movements.

• After the robot descends, it cannot do horizontal movement. (Except within the safety zone within the model) 

• If there is no signal for mold opening, the manipulator cannot do the downward movement in the mold.

  
  

2.1 Manual mode page

1、Horizontal mode：press select manual mode or inching mode. 

Manual mode：Press the traverse key once to stop when the manipulator is traversed to the manual position. Press the traverse key once to stop the manipulator when the manipulator is traversed to the retrieval position. 

Inching mode: Press and hold the horizontal out (horizontal in) button, the manipulator will execute the horizontal out (horizontal in) action, and the manipulator will stop when the hand is released.

2、Manual position：Monitor the set position of the manipulator manually traversed in millimeters. 

3、Manual speed: monitor the set speed of the manipulator for manual traverse.

4、Inching speed: monitor the set speed of the robot in the inching mode. 

5、Actual finished product: The number of finished products actually picked up. 

2.2 Manual button

Main arm/jib/dual-arm selection key, after selecting the arm, press other action keys to perform corresponding actions.

Arm up key, press the key once, the arm will rise to the starting position. 

Arm down key, press the key once to lower the arm to the end position. 

Arm forward key, press the key once to advance the arm to the end position. 

Arm back key, press the key once and the arm back to the starting position.

Clamp button, press the button once to execute the clamping action, and press the button again to release the clamp. 

Press the sucker button, press the button once to perform the sucking action, and press the button again to release the sucker. 

Jig turning key, press the key once to turn the fixture flat, and press the key again to turn the fixture straight. 

Hold the gear button, press the button once to execute the holding action, and press the button again to release the holding device. 

Horizontal entry button, manual mode: Press the button once, and the arm will traverse to the picking position. Horizontal key, inching mode: hold down the key, the arm executes horizontal movement, release the key to stop. 

Traverse key, manual mode: Press the key once and the arm will cross to the set position. Horizontal key, inching mode: hold down the key, the arm executes horizontal movement, release the key to stop. 

Origin return key, press the key once, the manipulator will execute the origin return action (must be used in the stopped state). When the plastic machine signal selection can be taught, this button can be selected in the teaching mode: waiting for mold opening, allowing mold closing, allowing thimble, waiting for X37, synchronization start, synchronization end. 

Reserve action selection key, press this key to select: reserve 1, reserve 2, scissors, conveyor, processing 1 and other reserved actions. 

Reserve action on/off key, after selecting the reserved action, press this key to control the execution and stop of the action.

2.3 Manual parameters 

In the manual state, press the parameter key to enter the manual parameter adjustment screen, the screen display is as follows:

1、Manual speed: Set the horizontal speed in manual mode. Move the cursor to this position to change the set value. 

2、Manual position: Set the end position of manual traverse. Move the cursor to this position to change the set value. 

3、Inching speed: Set the horizontal speed in the inching mode. Move the cursor to this position to change the set value. 

4、Picking position: Press the enter key to set the current position as the picking position, and press the HP. key to confirm and change the picking position. 

5、Inching range (special program needs to be customized, standard program does not have this function): Press the axis button, the axis moves to the position of the set length. 

2.4 Electric adjustment 

After pressing  twice, enter the electric adjustment screen, the screen display is as follows:

Move the cursor up and down to the position you need to adjust, Hold down    and the manipulator will adjust its position in this direction. 

Note: The machine needs to have an electric position adjustment mechanical structure to have the electric position adjustment function. 

3 Automatic operation

Press   enter automatic screen，Press the "start" button again to enter the automatic operation mode. After the manipulator waits for the injection molding machine to open the mold, it immediately lowers and takes the object.

1. Set output: It is estimated that the set production quantity will alarm when the actual finished product reaches the set modulus.

2. The actual finished product: the actual quantity of the finished product. 

3. Automatic cycle: the time required to run a mold automatically. 

4. Retrieving time: in automatic operation, the time it takes for the manipulator to retrieve the object to allow the injection molding machine mold. 

5. Action time: the time set by the current action in the teaching mode. 

6. Current action: the currently executed action. 

Chapter 4 Function Setting 

1 Basic function

Under the stop screen，Press  enter the function selection screen，press the up/down cursor keys to move to each function setting item，Press  options can be changed.

1、Language: Press the enter key to select Chinese and English display. 

2、Sub-clamp detection:

Positive phase: The fixture signal is detected in the positive phase. When the fixture switch signal has a signal input, it means the fixture fetches successfully; on the contrary, when the fixture switch signal has no signal input, it means the fixture fetches failed. 

Reverse phase: Fixture signal reversed detection. When the fixture switch signal has a signal input, it means that the fixture has failed to fetch; on the contrary, when the fixture switch signal has no signal input, it means the fixture has fetched successfully.

Not used: The fixture signal will not be detected, and the fixture switch signal will not be detected regardless of whether the fixture fetching is successful or not. 

3. Set modulus: the planned production quantity, when the actual production quantity reaches this set value, an alarm will be issued. 

4, Vacuum detection: 

Use: to detect the vacuum switch signal. When the vacuum limit has a signal input, it means the suction cup is successful; on the contrary, when the vacuum limit has no signal input, it means the suction cup has failed. 

Not used: Does not detect the vacuum switch signal. 

5、Mold opening delay: when the mold opening completion signal is running automatically, when there is no mold opening completion signal to there is a mold opening completion signal, wait for the set mold opening delay time, the output of the mold closing signal can be disconnected, and the mold opening delay It is valid within 0～0.5s. 

6. Holding equipment inspection: same as vacuum inspection 

7. Thimble delay: 

The signal starts from no signal to when there is a signal when it is running automatically. After the set thimble delay time is reached, the thimble signal can be output (there is and only when the thimble on the 2011 password page is selected as the thimble The delay function only works) 

8. Product reset: when it is set to on, the actual number of products is cleared, and it should be set to off for normal use. 

9. Main folder detection: same as sub-clamp detection. 

10. Key tone: 

On: There is a key tone when you press a key. 

Off: No key tone when key is pressed. 

2 Special functions

Under the stop screen,press   twice，enter the password screen.

Enter the password "2011" and press   ， Enter the special function 1 screen, there are four setting screens, you can press the up and down cursor keys to move to each setting item,After changing the parameter, press again to change the set value.

1.Cycle time: Manipulator action monitoring time. After the manipulator action is completed, wait for the injection molding machine to input the mold opening completion signal again. If the time exceeds the cycle setting value, an alarm will be issued.

2. Thimble 

Not used: Allow the thimble signal to be output all the time. 

Use: After the mold is opened in place, the delay output allows the thimble signal. 

3.Security door 

Use: When running automatic, it will detect whether there is a safety door signal input, and there will be an alarm if there is no safety door signal input. Not used: It will not detect the safety door signal input when running automatic. 

4.Medium plate mold 

Not used: When the manipulator descends to fetch objects, it does not detect the signal of the middle plate. 

Use: When the manipulator descends to fetch objects, it will detect the signal of the middle plate. 

5.Standby position 

Vertical: When the manipulator is automatically standby, the fixture is in the vertical position. 

Horizontal: When the manipulator is in automatic standby, the jig is in the horizontal position. If it is restricted by the mold and cannot be used for vertical standby, the horizontal standby can be selected. After the injection molding machine is opened, the manipulator will be vertically first, and then move down to take the object. After the object is placed, it will still perform horizontal standby. 

6. Standby position 

Inside the mold: the manipulator stands by and fetches objects above the mold. 

Type outside: If it is restricted by the mold and cannot be standby inside the inside, you can choose outside standby. In automatic mode, the arm moves horizontally to the outside standby position for standby. 

7. Stop state 

Prohibition of mold locking: In the stop state, to ensure the safety of the machine, when the mold is opened to the end position, the mold opening and closing signals are cut off, and the safety door is opened and closed once and then the mold opening and closing signals are output again. 

Allow mode locking: When in the stopped state, the switch mode signal is allowed to be output all the time. 

8. Mid-position delay: 

In the process of traversing/traversing, the signal of the middle position object is detected to start timing, and the jib clamping action will be executed when the time is up. (Only used for variable frequency traverse manipulator) 

9. Picking position: the horizontal axis standby position when the manipulator descends and picks up the object. 

10. In-mold insert: When in use, the manipulator program can be taught to fetch objects from the outside of the mold and put it into the mold. And the horizontal axis can be taught to move multiple times in the mold.

11. Number of points: When setting the cyclic arrangement of objects, this is the number of arranging objects, up to 32767 points can be set, and should be set to 1 when the cyclic arrangement of objects is not used.

12. Spacing: When setting the cyclic arrangement of objects, this is the distance between every two objects. 

13. Conveyor interval: When the program teaches the conveyor to move, the conveyor will output once every time the modulus is set during automatic operation. 

14. Reserved 1 interval: When the program teaches the reserved 1 action, in automatic operation, the reserved 1 is output once every set modulus. 

15. Screen off time: the time for the screen to turn on when the hand controller is not operating. 

16. Reserved 2 interval: When the program teaches the reserved 2 action, in automatic operation, the reserved 2 outputs once every set modulus. 

17. Pressure detection 

Not used: The manipulator does not detect the intake pressure. 

Use: The manipulator detects the intake pressure. When the intake pressure value is lower than the set pressure, it will alarm. 

18. Defective product detection 

Not used: The controller does not detect defective product signals. 

Use: The controller detects the defective product signal, and when it detects the defective product signal, it runs the module number 44 program. 

The defective product signal must be input before the mold opening signal is completed to complete the function of jumping to the 44 mold number. 

19. Inspection after mold closing 

Not used: The manipulator does not detect the mode locking stop signal. 

Use: When the manipulator is running automatically, it must first detect the mold-locking stop signal and then the mold-opening stop signal before dropping the object. 

If you choose to use it, there is no signal for closing the mold. Then the manipulator will not move after receiving the signal of mold opening! ! 

20.pinch suction detection 

Before the outside is lowered: the clamping and suction confirmation signals are detected in the mold and during the horizontal out process. 

In-mold: Only in the mold can the clamp and suction confirmation signal be detected. 

Whole process: The manipulator detects the clamping and suction confirmation signals during the entire automatic operation process.

21. Safety door position: Set the position of the safety door. The manipulator's storage position must be greater than this set value. 

22. Standby point outside the mould: When the standby position is set as outside the mould, the manipulator is in the standby position outside the mould. In automatic mode, the arm moves horizontally to the outside standby position for standby. 

23. In-mold safety zone: the maximum range that the manipulator is allowed to descend and traverse in the mold, beyond which the arm cannot descend and traverse in the mold. 

24. Deceleration delay: the time for fast traversing when traversing and entering, the deceleration signal will be output when the time is up, and the manipulator will traverse slowly to the end/start position. (Only used for variable frequency traverse manipulator) 

25. Arrangement starting point: Set the starting position of the robot to arrange the objects in a cycle, which must be consistent with the setting of the main arm or the jib where the objects need to be arranged and retrieved. 

26. Fully automatic: 

Not used: The manipulator does not detect the automatic signal of the injection molding machine. 

Use: The manipulator detects the fully automatic signal of the injection molding machine. If there is no fully automatic signal when it is automatic, it will alarm. 

27. Pressure switch: 

Normally open: When using air pressure detection, the pressure switch is a normally open signal. 

Normally closed: When using air pressure detection, the pressure switch is a normally closed signal. 

28. Slow down outside the model:

Not used: Do not use the slow down function outside the main boom mold. 

Use: Use the slow down function outside the main boom mold. 

When the slow down function is activated, the main up valve and the main down valve have signals at the same time. That is, the main ascending valve is the exhaust valve. 

29. Horizontal posture: 

No restriction: When the manipulator is horizontal, the vertical or horizontal posture of the jig is not restricted. 

Vertical: When the manipulator is traversed, the jig must be traversed vertically, and it will alarm when it is traversed horizontally. 

Horizontal: When the manipulator is horizontal, the jig must be horizontal to horizontal, and it will alarm when vertical. 

30. Horizontal entry position: 

Unrestricted: When the manipulator moves horizontally, the vertical or horizontal posture of the fixture is not restricted. 

Vertical: When the manipulator moves horizontally, the jig must be vertical to move horizontally. When horizontally moving, it will alarm. 

Horizontal: When the manipulator moves horizontally, the jig must be horizontal to move horizontally, and it will alarm when it moves vertically. 

31. Fetching failed: 

Close the door to continue: when the fetching failure alarm, the open/close safety door manipulator continues to complete the current cycle. 

Close door reset: When the picking fails alarm, the open/close safety door manipulator releases the clamp and the suction cup, returns to the automatic standby state, and waits for the next mold opening signal to drop and pick the item. 

Door closing stop: When the fetching failure alarm, the manipulator for opening and closing the safety door will stop running. Only after exiting the automatic state and re-entering the automatic state can it run automatically.

32. Door open alarm: 

Close door stop: During automatic operation, when the safety door open alarm occurs, close the safety door alarm to stop the alarm, but the manipulator cannot continue automatic operation, and the automatic operation must be restarted after pressing the stop button. 

Close the door to continue: In automatic operation, when the safety door open alarm occurs, the closing safety door manipulator continues to run. 

33. When reserved for 1 pass: After the program teaches reserved 1 pass, when it is automatically running, reserved 1 pass action time 

34. Conveyor on time: After the program teaches that the conveyor is on, the time when the conveyor is on for automatic operation. 

35. Stack reset: When the setting is changed from off to on, the stacked product count will be reset to zero, and the robot will restack from the first point. Normal use should be set to off. If it is always set to on, the stack will always be cleared , Always stack only the first point. 

36. Trial production modulus: The product modulus that needs trial production. After each automatic start, the manipulator will execute the actions in the trial production module 43 program in the trial production modulus. When set to "0", it means no Use this function. 

37. Stacking direction: 

Reverse direction: When stacking is used, the horizontal axis decreases the position from the starting point to the origin. 

Forward direction: When stacking is used, the horizontal axis moves from the start point to the end point of the item to increase placement. 

Note: When the standby position, standby position, horizontal position, horizontal position are changed, it is necessary to ensure that the automatic program is consistent with the set function, otherwise, the manipulator cannot operate normally.

Under the stop screen,Press   twice，Enter the password screen, enter the password "****" and press   ， enter the special function 2 screen, press the up/down cursor keys to move to each function setting item to change the setting value.

*1. Maximum position: Set the maximum position of the system, which needs to be used in conjunction with the actual position of the machine. The position settings of the system cannot be greater than this set value. 

*2. Gear ratio magnification: the ratio of the number of command pulses required by the servo motor per revolution to the distance the machine moves per revolution. (The servo drive can be set to 10,000 pulses for one revolution, or it can be modified as needed)

3. Assuming that the servo motor needs 10,000 pulses per revolution and the motor moves 20 mm per revolution, then: 

10000 / (20×10)=50 (where 20×10 means converting 20 millimeters into 0.1 millimeter units) 

Then the gear ratio is set to 50

*4. Feedback display: After selecting to use, the actual finished product position will display the number of feedback pulses received, which is used for debugging the machine. 

5. Descending posture: 

Vertical: When the manipulator is lowered, it must be lowered in a vertical position, and an alarm will be issued when it is lowered horizontally. 

Horizontal: When the manipulator is descending, it must descend in a horizontal posture, and an alarm will be issued when it descends vertically. 

*6. Return speed: the speed of the electric axis when returning to the origin. 

*7. Feedback pulse input: the numerator of the pulse ratio that the servo driver feeds back to the controller. (The integrated drive and control system does not have this function) 

*8. Feedback pulse output: the denominator of the pulse ratio that the servo drive feeds back to the controller. (The integrated drive and control system does not have this function) The feedback pulse received by the controller﹦servo drive feedback pulse×feedback input/feedback output. 

9. Alarm time: Set the alarm time. The alarm will stop when the time is reached, but the alarm screen will remain. 

*10. Acceleration and deceleration time: set the acceleration and deceleration time of the servo motor. 

*11. Maximum speed: the maximum operating speed of the servo motor that can be set, in %. 

*12. Global speed: the global speed of servo motor operation, in %. 

For example, if the global speed is set to 80% and the traverse speed is set to 50%, the actual traverse speed is 80% * 50% = 40%

*13. Plastic machine signal: 

Unteachable: The program is not allowed to teach the associated signals of the manipulator and the injection molding machine (such as: when the mold is opened, the mold is allowed to be closed), and the program is controlled according to conventional requirements. 

Teachable: The program allows to teach the associated signals of the manipulator and the injection molding machine (for example, when the mold is opened, the mold is allowed to close), and the user can teach the program by himself for control.

*14. Fixture reverse: 

Not used: The fixture is the posture of the moving mold product. 

Use: The fixture is to take the posture of the fixed mold product, and the fixture will be automatically reversed horizontally and vertically. 

15. The traverse ends early: the position of the Z-axis when the traverse ends early. For example, if the traverse position is 800mm, and the traverse end position is 100mm early, the next action will be executed when the Z axis traverses to 700mm, such as the main boom lowering. 

16. Early end of traverse: the position of Z-axis at the early end of traverse. For example, if the traverse position is 800mm, the traverse position is 0mm, and the traverse end position is 100mm early, the next action will be executed when the Z axis reaches 100mm, such as raising the main boom. 

Note: When setting the descending posture and the jig is reversed, it must be set correctly, otherwise the mold may be damaged. 

The parameter marked with * is the parameter set by the machine manufacturer, the end user should not adjust this parameter.

Chapter 5 Program Setting 

1 Program selection

Under the stop screen, press ，enter the mold program selection and program teaching screen.

Enter the stored module number (0-99) in the read (0-99) input box and press   to load the module number program, and run the group module number program in automatic mode. 

Select a group of module numbers from the 0-99 group to read out, write to the module number of the program to be taught in the 20-99 group, enter the program teaching screen, and then press the start key to enter the teaching mode. 

2 Program teaching 

When teaching the program,Press move the cursor to the teaching action, press the manual button that needs to teach the action to teach the current step sequence action, and press the enter key to move to the delay time, speed and position setting respectively, and set the delay time of the current step sequence action , Speed and position,After the action of the current step is set, press   ,The manipulator performs the action 

In the teaching mode, press the insert key to insert a line of no-action instructions before the selected teaching action. At this time, press the action button to be executed and then press the enter key to confirm, and a group of actions can be successfully inserted. 

Delete a line of action instructions in the teaching program to delete unnecessary actions. 

Sequence number: the step sequence number of the current action. 

Action: The currently taught action instruction. 

Time: The delay time of the current action, that is, the action will be executed after the delay time expires. 

Speed: The speed at which the robot arm moves to the current position. 

Position: The position the robot arm will move to when teaching an action.

3 Program update

1、Update the manual control program 

Insert the U disk into the USB port on the right side of the manual control, press the emergency stop button, power off and restart, enter the main page, and then enter the 2014 password page to check whether the version number is correct (you cannot pull out the U before entering the main page plate). 

2、Update host program 

Insert the U disk, click the program button to enter the program page, follow the steps below to upgrade 

(1) Refresh: Click the "Refresh" button on the right. If the U disk is not detected, the light on the left is still gray; when the U disk is detected, the light on the left is green, and then click the update button. 

(2) Update: If the light on the left turns from green to red, the running light on the host flashes at a high frequency and the percentage of the system update that appears is moving. When the percentage becomes 100%, it means that the program update is complete and it will appear at the bottom of the screen Prompt (update complete!).

 (3) Eject: Then click the eject button to eject the inserted U disk, and the light on the left turns from red to gray. You can pull out the U disk at this time, and the host update ends. 

*Note: 1. The host program update time is about 2 minutes.

 2. Once you click the eject button or pull out the U disk, you must restart the system to refresh the detected U disk again. 

[Important] When writing a program, you need to press the enter key to execute the current action, and then write the opposite action to be successful. For example: when writing vacuum suction, you must press the input key twice to make the vacuum suction work. When the (suction) button is pressed again, the action is automatically changed to vacuum release. The other actions are the same. 

[Tips] When programming, press the input key twice for pneumatic action, and press the input key three times for axis action.

 4 Parameter modification 

Press the parameter key in the stop state to enter the action parameter setting screen. This screen can modify various parameters such as the delay time of each action, but cannot teach the action.

Press the cursor up and down keys to move the cursor to the action to modify the parameter, After modifying the parameters, press   to confirm，the cursor moves to the next parameter.

5 Fixed program 

001 main arm L-shaped suction mold: 

Main arm down -> Main arm forward -> Vacuum suction -> Main arm backward -> Main arm up -> Main arm forward -> Posture level -> Horizontal out -> Main arm down -> Vacuum release -> Main arm up- > Horizontal entry -> vertical posture -> main arm back 

02 Main arm L-shaped suction master mold:

Main arm forward -> Main arm down -> Main arm backward -> Vacuum suction -> Main arm forward -> Main arm up -> Posture level -> Horizontal out -> Main boom down -> Vacuum release -> Main arm up- > Horizontal entry -> vertical posture -> main arm back 

03 Main arm U-shaped suction mold: 

Main arm forward -> Main arm down -> Vacuum suction -> Main arm backward -> Main arm up -> Main arm forward -> Posture level -> Horizontal out -> Main arm down -> Vacuum release -> Main arm up- > Horizontal entry -> vertical posture -> main arm back 

04 U-shaped suction master mold for main arm: 

Main arm down -> Vacuum suction -> Main arm forward -> Main arm up -> Horizontal posture -> Cross out -> Main arm down -> Vacuum release -> Main arm up -> Cross in -> Vertical posture -> Main Arm back 

05 Runner arm L-shaped clamp female mold: 

Runner arm forward -> Runner arm down -> Runner arm back -> Runner arm clamp -> Runner arm forward -> Runner arm up -> horizontal out -> Runner arm up -> horizontal in -> Runner arm back 

06 Runner arm L-shaped clamp male mold: 

Runner arm down -> Runner arm forward -> Runner arm clamp -> Runner arm back -> Runner arm up -> Runner arm forward -> horizontal out -> Runner arm release -> horizontal in -> Runner arm back 

07 Runner arm U-shaped clamp female mold: 

Runner arm down -> Runner arm clamp -> Runner arm forward -> Runner arm up -> cross out -> Runner arm up -> cross in -> Runner arm back 

08 Runner arm U-shaped clamp male mold: 

Runner arm down -> Runner arm clamp -> Runner arm back -> Runner arm up -> Runner arm forward ->Cross out -> Runner arm release -> Cross in -> Runner arm back 

09 The internal material of the female mold of the Runner arm L-shaped clamp: 

Runner arm forward -> Runner arm down -> Runner arm back -> Runner arm clamp ->Runner arm forward -> Runner arm up -> Runner arm back 

10 The built-in material of the male mold of the Runner arm L-clamp: 

Runner arm down -> Runner arm forward -> Runner arm clamp -> Runner arm back -> Runner arm lower -> Runner arm up 

11 Runner arm U-clamp male mold built-in material: 

Runner arm forward -> Runner arm down -> Runner arm clamp ->Runner arm back -> Runner arm up -> Runner arm up 

12 The internal material of the female mold of the Runner arm U-shaped clamp: 

Runner arm down -> Runner arm clamp ->Runner arm forward -> Runner arm up -> Runner arm up -> Runner arm back 

13 double-arm L-clamp suction： 

Arms down -> arms forward -> vacuum suction -> jib clamp -> arms backward -> arms up -> arms forward -> posture level -> horizontal out -> jib out -> horizontal out- > Main arm down -> Vacuum release -> Main arm up -> Cross in -> Posture vertical -> Arms back 

14 double-arm U-shaped clamp suction: 

Arms forward -> arms down -> vacuum suction -> jib clamp -> arms backward -> arms up -> arms forward -> posture level -> horizontal out -> jib out -> horizontal out- > Main arm down -> Vacuum release -> Main arm up -> Cross in -> Posture vertical -> Arms back 

15 Main arm L-clamp male mold: 

Main arm down -> Main arm forward -> Main arm clamp -> Main arm backward -> Main arm up -> Main arm forward -> Posture level -> Horizontal out -> Main arm down -> Main arm release -> Main arm Ascent -> Horizontal Entry -> Vertical Posture -> Main Arm Retreat 

16 Main arm L-shaped clamp sucking male mold: 

Main arm down -> Main arm forward -> Main arm clamp -> Vacuum suction -> Main arm backward -> Main arm up -> Main arm forward -> Posture level -> Horizontal out -> Main arm down -> Main arm release -> Vacuum release -> Main arm up -> Horizontal entry -> Vertical posture -> Main arm retreat 

17 double arm L-shaped double clamp： 

Arms down -> arms forward -> main arm clamp -> jib clamp -> arms backward -> arms up -> arms forward -> posture level -> horizontal out -> jib out -> horizontal out -> Main arm down -> Main arm up -> Main arm up -> Cross in -> Posture vertical -> Both arms back

Chapter 6 Running statue 

1 Alarm record 

in standby interface,press   button，enter alarm record interface，it shows recent 15 alarm information.

press   button again, enter the auto-cycle time page. In this page, 5 recent cycle time displayed.

2 I/O monitor 

Press   button，enter the input and output monitor interface，press Up and Down button to go through it. 

press  button twice to enter monitor interface press Up and Down button to go through it. 

Press   button 3 time then enter Z axis monitor interface，this page is Z servo motor monitor statue，it can monitor axis rotating speed, current voltage and temperature.

Chapter 7 system settings 

Parameters in this chapter is related to machine definition. Manufacturers use these parameters but users can not modify them. 

1 time limit 

In stop page，press   button twice，enter password page，pass word is“2016”press     button，then enter under page. 

MainUpDown ：Time limit for main arm rising/descending. If actions can not finish in limit time, alarm occurs. 

MainForwBk ：Time limit for main arm going forward/backward. 

ViceUpDown ：Time limit for vice arm raising/descending. 

ViceForwBk ：Time limit for vice arm going forward/backward. 

Trav. ：Time limit for traversing in/out. 

Posture ：Time limit for fixture pose turning. 

Process1 ：Time limit for process1 action. 

Reversed2 ：Time limit for process1 action. 

2 mechanical specs 

Press   key twice in STOP page, then input password "****", enter the machine structure page.

Trav.Axis 

Define the traverse axis style: servo/inverter/pnuematic. 

MainDown 

Define the use of main arm down limit signal. 

MainForw 

Define the use of main arm forward limit signal. 

MainBack 

Define the use of main arm forward limit signal. 

ViceDown 

Define the use of vice arm down limit signal. 

ViceForw 

Define the use of vice arm forward limit signal. 

ViceBack 

Define the use of vice arm backward limit signal.

FreqDecel 

Speed decelerating style in invert/pnuematic control. 

DecT is decelerating by time. 

Dec.SW is by limit switches. 

FBPulse Use or not use feedback function. 

Z signal 

Not use:during home origin, no need to detect motor signal 

use:during home origin, need to detect motor signal

3 servo motor setting 

3.1 Gain parameter setting 

In the stop mode，press   button twice，，enter password“7752”then press   button，enter special function 3 page，in this page you can modify the servo gain parameter. 

*1. Speed      loop gain: Set the speed loop gain value of the servo. (Range 0-500) No need to adjust, follow the rigidity coefficient to adjust automatically. [The larger the response, the faster the response will be, and it will cause vibration when the conference is too large] [Taking effect in time] 

*2. Speed      loop integral: set the speed loop integral value of the servo. (Range 0-300) No need to adjust, follow the rigidity coefficient to adjust automatically. [The smaller the integral the stronger the effect, the stronger the speed tracking ability] [Timely effective] 

*3. Position loop gain: Set the position loop gain value of the servo. (Range 0-20) No need to adjust, follow the rigidity coefficient to automatically adjust. 

[The larger the response, the faster the response will be, and it will cause vibration when the conference is too large]

[Taking effect in time] 

*4. Rigidity coefficient: adjust the overall gain parameter of the machine. (Range 50-300). The first 3 items of this adjustment will be adjusted at the same time. 

[The bigger the response, the better, the vibration is too large] [It takes effect in time, it is recommended that the gain only modify this item] 

*5. Motor direction: adjust the forward and reverse rotation of the motor (range 0-1). [Modify in emergency stop state, take effect after power off and restart]

3.2 All parameter settings 

Press  twice in stop mode，enter，password“7558”then press   ，enter the special function 4 page，then you can modify the setting by press up/down buttons.

*1. Parameter setting: set the index number of the servo parameter. 

*2. Setting value: Set the value of "Parameter Setting" index. 

*3. Note that No. 2 is a motor code parameter item, please fill in according to the corresponding code of the motor model. The parameter No. 44 is 2 (identified by the motor code U0LD parameter is 1400, D0LD parameter is 1402). For details of the motor code, consult the company's after-sales customer service.

 *4. After modifying the parameters, they must be effective after power off and save, and then the relevant servo gain and other parameters after restarting. Generally, the parameters here are not modified. 

All parameters are not open to the public. For detailed information, please contact our after-sales customer service

Chapter 8 alarm and troubleshoot 

1 Robot alarm 

Press "STOP" key to clear alarm and move to original point.

2 servo Alarm

Chapter 9 Wiring instructions 

1. The Main Control Board

2. Adjust The Position Of Board

3. Servo Wiring and Parameter Setting 

3.1 Encoder wiring definition

3.2 Motor end UVW definition

【Note: both with and without brake terminals are common】 

3.3 Drive&control Electic Box Power Connection

Wiring diagram is as follows:

Chapter 10 Installation Dimension 

1. Electric Box Dimensions

2. Driver Dimension 

1). HC060R40G30U□AD-02-1095

2). HC080R75G30U□LD-02-1095

Unit: mm>

3. Air head size of controller

Note: 1. This adapter is the adapter connecting the drive and control unit to the external electrical box. 

2. If you need different lengths, please consult the sales staff first. 

4. Size of electric positioning board (Optional parts)

Chapter 11 Standard wiring diagram with injection machine

Injection machine signal reset instructions 

If robot arm is not in use, the injection machine signal can be reset in the following two ways: 

1) When robot arm does not turn on the power, you can set "robot arm not used" under the system function. 

2) The signal of the injection machine will not be controlled by the robot arm, if you want to use it, please press the "Reset" button. 

3) Remove the metal connector that connects with the injection machine, and connect the "return connector" that comes with the machine. The wiring diagram of the "return connector" is as follows. 

4) If robot arm is not in use, move the machine to a safe position outside. 

5) The air source should be removed when robot arm is not in use. 

European regress joint or round metal joint

Chapter 12 Euromap Connection Definition 

1. Euromap 67 Connection Drawing

40 Cores Euromap 67 Connector Definition

2. Euromap 12 Connection Drawing 

40 Cores Euromap 12 Connector Definition

3. Euromap 67 transfer 12 Connection Drawing

Chapter 13. Maintenance 

13.1 Maintenance of safety 

(Note) Before repairing manipulator, maintenance personnel please read the following safety specifications in detail to avoid danger. 

1. Please turn off the power before checking the injection machine

2. Before adjustment and maintenance, please turn off the power supply and residual pressure of the injection machine and manipulator.

3.  In addition to the close switch, poor suction, solenoid valve failure can be repaired by themselves, other should be professionally trained personnel to repair, otherwise do not change without authorization.

4. Please do not arbitrarily replace or change the original parts.

5. During mold adjustment or change, please pay attention to safety to avoid being injured by the manipulator.

6. After adjusting or repairing the manipulator, please leave the dangerous working area before commissioning.

7. Do not turn on the power or connect the air compressor to the mechanical hand during maintenance.

13.2 Maintenance check items and expiration dates 

Self-cultivation inspection items and expiration dates are listed below. Please do execute them: