Operation manual of inclined arm manipulator

Chap 1 Specification and Installation

1 Specification

1, a control Pad

2, a Relay board

3, a Power Supply

4, a 37PinWire

2 Installation

1, Installation should be performed by workers with lisence in electric field.

2, Make sure the power is off before installation.

3, Install on metal material, keep off from the combustible thing.

4, Make sure the safety connection to the ground.

5, The power supply is important for the control system. Controller installation should be avoided contactors, transformers and other AC accessories layout, Make sure your system has stable power supply and protection.

6, Read the Guide first before Installation, maintenance, and operation. Operrators should be familiar with the safety specification in machinical and electric area.

7, Environment temperature is below 50°C. Do not use in brume and frozen places.

Attention: Installing incorrectly may cause danger, including the human body injury and equipments damage.

Chap 2 Operation

1 Panel

2 STOP mode

At power on, system self-test then turn into STOP mode. Press "STOP" key in other mode will also enter STOP mode.

3 MANUAL mode

Presskey in STOP mode, system turn into MANUAL mode. Action key can be used to perform certain operation.

Main arm rising/falling action, press once more, acting to the other side. Main arm going forward/ backward action, press once more, acting to the other side. Main arm clips on/of.5f. Arm rotating in/out action, press once more, acting to the other side Vacuum sucks on/off. Spare valve on/off the action. Vice arm rising/falling action, press once more, acting to the other side. Vice arm going forward/ backward action, press once more, acting to the other side. Vice arm clip on/off action. Arm single/both select.

4 Auto Mode

Presskey in Auto mode, system turn into Auto mode, Robot int automatic state of preparation, Page as follow:

In the state of preparation, You can run the auto actions when press the START key, Page as follows.

CurrMold: Mode number of the currently selected, Running program in accordance with this model number in

the AUTO mode.

CyclTime: Record the current automatic cycle with time.

ProdSet: The plans of products number, It will alarm when the actual output reaches the set production.

FetTime: In the AUTO run-time, Each automatic cycle time from prohibit the injection switch-mode to allow

ActFini: The number of complete production

ActTime: The actual time of action.

CurrAct: The executing action.

Auto run-time, presskey to enter the page to modify the time parameters, and can enter MONITOR, INFO page to view I/O signal and INFO record, Press automatic key to return to auto page.

When fetch failed alarm accurs in AUTO mode, You can press Auto key(or open safe door) to close alarm and continue. Or press the stop button to back to the origin status, and exit auto mode.

5 FUNCTION

5.1 General function

In the status of STOP and AUTO, Presskey to enter Function page, Use up/down key to move to each function, You can press STOP key to leave Function page and return Stop page.

1、Language：Language Selection

2、EjectCtrl:

NotUse: Allow the thimble signal long-term output, Thimble action of injection does not be controled.

Use : When the robot began to move, Disconnect thimble signal and start timing,. Allow to output thimble signal after thimble delay time.

3、 ChkMainFixt:

PositPhase：Positive detected fixture switch. Fixture swich signal will be ON when Fetch success in AUTO mode.

ReverPhase：RP to detect fixture switch. Fixture swich signal will be OFF when Fetch success in AUTO mode.

NotUse：Not detect fixture switch. Not detect switch signal no matter what the Fetching action success or not.

4、ChkViceFixt: The same as Chk ChkMainFixt.

5、ChkVacuum:

Not Use: Not detect vacuum switch signal at Automatic run-time.

Use: Vacuum swich signal will be ON when Fetch success in AUTO mode.

5.2 Special Function

In STOP page, presskey twice to enter PASSWD page, Page as follows:

Enter 2011 before presskey, can enter PASSWD1 page. Use up/down key to move to each function, Page as follows:

1、SafDoor:

NotUse：Not detect safe door signal

Use : When falling to fetch, can detect injection safe door signal. It will alarm ifthere is no signal.

2、ClrProd：

Choose whether to clear the existing production, “ON" clear existing production, “OFF” append existing production.

3、StopSta :

NotUse：In STOP status, The ON/OFF signal always output.

Use : In STOP status, It will forbid the injection OPEN/CLOSE mold if robot received open mold end signal, or you will open and close the safe door one time.

4、RsvTime:

If the program has reserved action, this parameter is times of the reserved action output time. If this parameter is ‘3', the reserved action will be output every 3 mold.

5、CycTime：

Waiting time of open finish output again after robot finish an auto cycle. If the real time more than the setted, it will alarm.

6、AlmTime:

Set alarm time. The alarm will stop if time out, but the alarm screen will be retained.

7、BtnSound

OFF: No key tone when pressing the key.

ON: It has key tone when pressing the key.

8、OsdStdby

NotUse : Robot will standby in the of spin in side at AUTO mode. According to the module program action.

Use : Robot will standby in the of spin out side at AUTO mode. When injection open finish, mold will be executed after spin in.

9、SlDOutSi：

NotUse: Arm falling down at normal speed after spin out at AUTO mode.

Use：Arm falling down at slow speed after spin out at AUTO mode.

10、CloScrTi: Set the display sleep time, the minimum is 15s, it will be change to 15s if the setted lower than 15s.

11、ProdtSet：

Plans of the number of products, it will alarm when current product reach to the setted.

5.3 SI/DO Arm Select

Enter 2012 in the password line, then presskey, you will enter single or double arm select page

1、SiOrDoArm:

SiArmProg: Set the standard procedure for single-arm procedures

DoArmProg: Set the standard procedure for double-arm procedures

2、ProdType : VerDate、Version : All ofthem are factory system data.

5.4 BRIGHTNESS

In STOP page, presskey three times to enter Brightness page, page as follows:

6 Program

6.1 Program Select

In STOP page, Presskey to enter Program Select page, page as follows:

Reference to the diagram above. After select the model number you want to run in the Read text box, press the Enter key.

6.2 Teach

Controller can store 100 groups of molds, 20 fixed program(0-19) of them are for the user to choose. If the 20 fixed programs can not meet production requirements, Users can self-teach programs, and store them in the 20-99 group.

Enter the action program which can be refered(0-99) in Read text box, press the Enter key, then move the cursor down to the Wrt text box, press the Enter key after enter the mold number which need to be taught, can enter Teach page. Page as follows.

Teach : In Step area, press the cursor keys to each step sequence to modify the action. After modify done, press the Enter key, cursor will move to the Time setting box. Press the Enter key again, robot executs and stores this action, then the cursor move to the next step.

SettedTime : In Step area, press the cursor keys to each step sequence to modify the time, press the Enter key, cursor will move to the Time setting box. Press Enter key after input the number, Time changes is finished.

7 Time Modify

In the Stop or Auto Page, Presskey can enter Time Modify page.

Press the cursor keys to each step sequence to modify the time, Press Enter key after input the number, Time changes isfinished.

The time behind Action step is delay time before action. Current action will be executed until delay time-out.

If the current step sequence action is the switch to confirm. Action time will be recorded the same. If real action time cost more than the record, then the next action can be continued until action switch confirmed after time-out.

8 I/O Signal

In the Stop or Auto Page, presskey to enter Input page.

One more time,can enter Output page.

INPUT

LS

1, Up limit

2, Main arm fixture confirm

3, Vice arm fixture confirm

4, Vacuum confirm

5, Rotate in limit

6, Rotate out limit

7, Middle mold confirm

8, reserved signal

9, NG signal

10, Automation signal

11, Safety Door signal

12, Mold opened signal

13, Emergency Stop

OUTPUT

SOL

1, Vice arm forward valve

2 Main arm descending valve

3, Main arm forward valve

4, Main fixture valve

5, Vacuum valve

6, Rotate outside valve

7, Rotate inside valve

8, Vice arm descending valve

9, Vice fixture valve

10, Spare valve

11, Alarm

12, Slow down outside IMM

13, Recycle

14, Ejection enable

15, Mold open enable

16, Mold close enable

9 Alarm Record

In the Stop or Auto Page, presskey to enter Alarm Record page.

Record the last 48 alarm messages, presskey to view all of them.

In the Stop or Auto Page, presskey twice to enter CycleTime page.

Record the last 6 products’ cycle time.

Chap 3 Standard Programs

1 Single-arm Program Sets

Program 0: Clip in the moving side

0000 Produce the quantity

0001 Open mold delay

0002 Ejection delay

0003 Main arm descends

0004 Main arm goes forward

0005 Main arm clips on

0006 Main arm goes backward

0007 Main arm rises

0008 Arms rotate outside

0009 The main arm descends

0010 Main arm clips off

0011 Main arm rises

0012 Arms rotate inside

Program 1: Clip in the fix side

0100 Produce the quantity

0101 Open mold delay

0102 Ejection delay

0103 Main arm goes forward

0104 Main arm descends

0105 Main arm goes backward

0106 Main arm clips on

0107 Main arm goes forward

0108 Main arm rises

0109 Arms rotate outside

0110 Main arm descends

0111 Main arm clips off

0112 Main arm rises

0113 Arms rotate inside

Program 2: Clip in the fix side

0200 Produce the quantity

0201 Open mold delay

0202 Ejection delay

0203 Main arm descends

0204 Main arm clips on

0205 Main arm goes forward

0206 Main arm rises

0207 Main arm goes backward

0208 Arms rotate outside

0209 The main arm descends

0210 Main arm clips off

0211 Main arm rises

0212 Arms rotate inside

Program 3: Clip in the moving side

0300 Produce the quantity

0301 Open mold delay

0302 Ejection delay

0303 Main arm goes forward

0304 Main arm descends

0305 Main arm clips on

0306 Main arm goes backward

0307 Main arm rises

0308 Arms rotate outside

0309 Main arm descends

0310 Main arm clips off

0311 Main arm rises

0312 Arms rotate inside

Program 4: Suck in the moving side

0400 Produce the quantity

0401 Open mold delay

0402 Ejection delay

0403 Main arm descends

0404 Main arm goes forward

0405 Sucks on

0406 Main arm goes backward

0407 Main arm rises

0408 Arms rotate outside

0409 Main arm descends

0410 Sucks off

0411 Main arm rises

0412 Arms rotate inside

Program 5: Clip and Suck in the moving side

0500 Produce the quantity

0501 Open mold delay

0502 Ejection delay

0503 Main arm descends

0504 Main arm goes forward

0505 Sucks on

0506 Main arm clips on

0507 Main arm goes backward

0508 Main arm rises

0509 Arms rotate outside

0510 Main arm descends

0511 Sucks off

0512 Main arm rises

0513 Main arm descends

0514 Main arm clips off

0515 Main arm rises

0516 Arms rotate outside

Program 6: Clip on/off inside, in the moving side

0600 Produce the quantity

0601 Open mold delay

0602 Ejection delay

0603 Main arm descends

0604 Main arm goes forward

0605 Main arm clips on

0606 Main arm goes backward

0607 Main arm clips off

0608 Main arm rises

Program 7: Clip on.off inside, in the fix side

0700 Produce the quantity

0701 Open mold delay

0702 Ejection delay

0703 Main arm goes forward

0704 Main arm descends

0705 Main arm goes backward

0706 Main arm clips on

0707 Main arm goes forward

0708 Main arm clips off

0709 Main arm rises

2 Dual-arm program Sets

Dual-arm:

Program 0: Main arm sucks, Vice vice arm clips, in the moving side

0000 Produce the quantity

0001 Open mold delay

0002 Ejection delay

0003 Arms descend

0004 Arms go forward

0005 Sucks on

0006 Vice arm clips on

0007 Arms go backward

0008 Arm rise

0009 Arms go forward

0010 Arms rotate outside

0011 Main arm descends

0012 Sucks off

0013 Main arm rises

0014 Vice arm descends

0015 Vice arm clips off

0016 Vice arm rises

0017 Arms rotate inside

0018 Arms go backward

Program 1: The main arm clips, Vice arm clips, in the moving side

0100 Produce the quantity

0101 Open mold delay

0102 Ejection delay

0103 Arms descend

0104 Arms go forward

0105 Arms clip

0106 Arms go backward

0107 Arms rise

0108 Arms go forward

0109 Arms rotate outside

0110 Main arm descends

0111 Main arm clips off

0112 Main arm rises

0113 Vice arm descends

0114 Vice arm clips off

0115 Vice arm rises

0116 Arms rotate inside

0117 Arms go backward

Main-arm:

Program 2: Main arm clips, in the moving side

0200 Produce the quantity

0201 Open mold delay

0202 Ejection delay

0203 Main arm descends

0204 Main arm goes forward

0205 Main arm clips on

0206 Main arm goes backward

0207 Main arm rises

0208 Arms rotate outside

0209 Main arm descends

0210 Main arm clips off

0211 Main arm rises

0212 Arms rotate inside

Program 3: Main arm clips, in the fix side

0300 Produce the quantity

0301 Open mold delay

0302 Ejection delay

0303 Main arm goes forward

0304 Main arm descends

0305 Main arm goes backward

0306 Main arm clips on

0307 Main arm goes forward

0308 Main arm rises

0309 Arms rotate outside

0310 Main arm descends

0311 Main arm clips off

0312 Main arm rises

0313 Arms rotate inside

Program 4: Main arm clips, in the fix side

0400 Produce the quantity

0401 Open mold delay

0402 Ejection delay

0403 Main arm descends

0404 Main arm clips on

0405 Main arm goes forward

0406 Main arm rising

0407 Main arm goes backward

0408 Arms rotate outside

0409 Main arm descends

0410 Main arm clips off

0411 Main arm rises

0412 Arms rotate inside

Program 5: Main arm clips, in the moving side

0500 Produce the quantity

0501 Open mold delay

0502 Ejection delay

0503 Main arm go forward

0504 Main arm descends

0505 Main arm clips on

0506 Main arm goes backward

0507 Main arm rises

0508 Arms rotate outside

0509 Main arm descends

0510 Main arm clips off

0511 Main arm rises

0512 Arms rotate inside

Program 6: Main arm sucks, in the moving side

0600 Produce the quantity

0601 Open mold delay

0602 Ejection delay

0603 Main arm descends

0604 Main arm goes forward

0605 Sucks on

0606 Main arm goes backward

0607 Main arm rises

0608 Arms rotate outside

0609 Main arm descends

0610 Sucks off

0611 Main arm rises

0612 Arms rotate inside

Program 7: Main arm clips and sucks in the moving side

0700 Produce the quantity

0701 Open mold delay

0702 Ejection delay

0703 Main arm descends

0704 Main arm goes forward

0705 Sucks on

0706 Main arm clips on

0707 Main arm goes backward

0758 Main arm rises

0709 Arms rotate outside

0710 Main arm descends

0711 Sucks off

0712 Main arm rises

0713 Main arm descends

0714 Main arm clips off

0715 Main arm rises

0716 Arms rotate inside

Program 8: Main arm clips on/off inside, in the moving side

0800 Produce the quantity

0801 Open Mold delay

0802 Ejection delay

0803 Main arm descends

0804 Main arm goes forward

0805 Main arm clips on

0806 Main arm goes backward

0807 Main arm clips off

0808 Main arm rises

Program 9: Main arm clips on/off inside, in the fix side

0900 Produce the quantity

0901 Open Mold delay

0902 Ejection delay

0903 Main arm goes forward

0904 Main arm descends

0905 Main arm goes backward

0906 Main arm clips on

0907 Main arm goes forward

0908 Main arm clips off

0909 Main arm rises

Vice-arm:

Program 10: Vice arm clips, in the fix side

1000 Produce the quantity

1001 Open Mold delay

1002 Ejection delay

1003 Vice arm goes forward

1004 Vice arm descends

1005 Vice arm goes backward

1006 Vice arm clips on

1007 Vice arm goes forward

1008 Vice arm rises

1009 Arms rotate outside

1010 Vice arm descends

1011 Vice arm clips off

1012 Vice arm rises

1013 Arms rotate inside

Program 11:Vice arm clips, in the moving side

1100 Produce the quantity

1101 Open Mold delay

1102 Ejection delay

1103 Vice arm descends

1104 Vice arm goes forward

1105 Vice arm clips on

1106 Vice arm goes backward

1107 Vice arm rises

1108 Arms rotate outside

1109 Vice arm descends

1110 Vice arm clips off

1111 Vice arm rises

1112 Arms rotate inside

Program 12:Vice arm clips, in the moving side

1200 Produce the quantity

1201 Open Mold delay

1202 Ejection delay

1203 Vice arm goes forward

1204 Vice arm descends

1205 Vice arm clips on

1206 Vice arm goes backward

1207 Vice arm rises

1208 Arms rotate outside

1209 Vice arm descends

1210 Vice arm clip off

1211 Vice arm rises

1212 Arms rotate inside

Program 13:Vice arm clips, in the fix side

1300 Produce the quantity

1301 Open Mold delay

1302 Ejection delay

1303 Vice arm descends

1304 Vice arm clips on

1305 Vice arm goes forward

1306 Vice arm rises

1307 Vice arm goes backward

1308 Arms rotate outside

1309 Vice arm descends

1310 Vice arm clips off

1311 Vice arm rises

1312 Arms rotate inside

Program 14:Vice arm clips on/off inside, in the fix side

1400 Produce the quantity

1401 Open Mold delay

1402 Ejection delay

1403 Vice arm goes forward

1404 Vice arm descends

1405 Vice arm goes backward

1406 Vice arm clips on

1407 Vice arm goes forward

1408 Vice arm clips off

1409 Vice arm rises

Program 15:Vice- arm clips on/off inside, in the moving side

1500 Produce the quantity

1501 Open Mold delay

1502 Ejection delay

1503 Vice arm descends

1504 Vice arm goes forward

1505 Vice arm clips on

1506 Vice arm goes backward

1507 Vice arm clips off

1508 Vice arm rises

Dual-arm:

Program 16: Main arm sucks, Vice arm clips, in the moving side

1600 Produce the quantity

1601 Open Mold delay

1602 Ejection delay

1603 Arms descend

1604 Arms go forward

1605 Main arm sucks on

1606 Vice arm clips on

1607 Arms go backward

1608 Arms rise

1609 Arms go forward

1610 Arms rotate outside

1611 Arms descend

1612 Main arm sucks off

1613 Vice arm clips off

1614 Arms rise

1615 Arms rotate inside

1616 Arms go backward

Program 17: Main arm clips, Vice arm clips, in the moving side

1700 Produce the quantity

1701 Open Mold delay

1702 Ejection delay

1703 Arms descend

1704 Arms go forward

1705 Arms clip on

1706 Arms go backward

1707 Arms rises

1708 Arms go forward

1709 Arms rotate outside

1710 Arms descend

1711 Arms clip off

1712 Arms rise

1713 Arms rotate inside

1714 Arms go backward

Chap 4 Error Information

When alarm occurs in automation, press "STOP" key to cancel the alarm, the picker will return to the start point.

Chap 5 Wiring Diagram

1 Wiring Diagram of control board

2 Conjunction with Injection machine diagrams

Chapter 6 Wiring and Maintenance

1 Standard wiring with injection machine

2 Injection machine signal return description

If the robot is not in use, it can use the following two methods to reset the injection signal:

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

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

key.

3) Remove the metal connector connected to the injection machine and connect it with the "reset connector" attached.

The circuit diagram of the "reset connector" is as follows.

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

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

Euromap connector or round metal connector

3 Maintenance

3. 1 Maintenance safety

(Caution) Before servicing the robot, maintenance personnel should read the following safety regulations in detail to avoid danger.

1. Before checking the injection machine, please turn off the power.

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

3. Except for proximity switches, defective suction clamps, and solenoid valves that can be repaired by themselves, others should be repaired by professionally trained personnel, otherwise do not modify them without authorization.

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

5. During the adjustment or replacement of the mold, please pay attention to safety to avoid being hit by the robot.

6. After adjusting or repairing the robot, please leave the dangerous work area before testing.

7. During maintenance, do not turn on the power or connect the air pressure source to the manipulator.

3. 2 Maintenance inspection items and expired

The inspection items and expiration dates are as follows, please implement them:

Note: When any abnormality of the machine is found, the machine must be stopped for inspection, and no abnormality can be checked before maintenance. The above table is for reference only