Operation manual of Two-axis robot Chapter 1 Drive and Control for Rod Ladler Manual and ​Chapter 2 Function setting

Chapter 1 Drive and Control for Rod Ladler Manual 

1 Appearance and description

3 Operation Mode 

Origin reversion: in order to make the robot can run correctly automatically, each time after turning on the power, must be in the state of stop origin reversion action. The reset action returns the motor shaft of the driving robot to the original position. In the state of Stop, the key and then press the key can be reset to the origin, the motor axis back to the origin position, the origin can be reset after automatic operation and manual operation. When the origin return, the user can not manual, automatic operation and parameter settings of the robot, in case of emergency can press the stop button to stop the origin return or press the emergency stop switch.

3.1 Manual operation 

Press After the key, enters the manual picture, May Carry On the manual operation, the operation robot respective single action.

1 Servo Model： 

Press Select Manual or Automatic Mode. 

Manual Mode: press and hold the “arm forward” button, the robot arm to perform arm forward action (arm forward is the spoon in the horizontal position of 90 degrees) , when the release of the button, the robot will stop. The robot must return to the origin before manual mode can be performed. 

Note: In Manual Mode, the operating stroke of each axis is limited by the parameter setting and runs between the minimum and maximum values. Inching mode: The Mode of operation and manual mode of operation has been. The robot can only move in-inch mode before returning to the origin.

 Note: The Movement of the Axis in-inch mode is not limited by the parameters set, pay attention to observe the current position of the robot to prevent collision. 2 Operating Mode 

Press select the manual controller or Operation Box.

1.Manual Control: Manual Operation Through the manual control (when the player controls, the external operating box is invalid) 

2.Operation Box: Manual Operation Through the Operation Box (when selecting the Operation Box, the manual controller is invalid) there is no external operation box 

3.the spoon to take the soup limit: monitoring the robot hand to take the soup the maximum setting position, as a unit. 

4.Tang Arm Forward Position: Monitoring the robot Manual Tang Arm forward the largest set position, to MM as the unit. 

5.Manual Speed: monitor the robot’s manual setting speed. 

6.Speed in inches: monitor the setting speed of the hand in inches. 

7.Current Action: monitor the hand/inch action the robot is currently performing

Arm Forward Key: Press and hold the key, arm arm arm arm arm forward action, release the key to stop. 

Arm Back Key: Press and hold the key, arm arm arm arm arm back action, release the key to stop. 

Take the Soup Key: Press and hold the key, the Soup Spoon to take action, release the key to stop. 

Add Soup Key: Press and hold the key, spoon to perform note soup action, release the key to stop. 

Soup incresing Key: automatic operation, press the Tang Zeng Key can be fine-tuned to increase the amount of soup. 

Soup Reduction Key: automatic operation, press the soup reduction key can be fine-tuned to reduce the amount of soup. 

ON/OFFKey: you can switch between positive and negative values when entering parameters. All parameters are positive by default. Press ON/OFF key to enter negative values. 

Parameter Key: In the stop/Manual State, press the parameter key to enter the manual parameter adjustment screen, the screen shows as follows:

1)Spoon take soup limit: manual state can run the maximum value of the Spoon, the cursor moved to this position can change the set value. 

2)Arm forward position: the Maximum Value at which the arm can be run manually. Move the cursor to this position to change the setting value. 

3)Reserve parameter 1: not yet open for use 

4)Reserve parameter 2: not yet open for use 

5)Inching Speed: set the manual speed in Inching mode. Move the cursor to this position to change the setting value. 

6)Global Speed: the global speed of a servo motor in% .

 7)For example: the global speed setting 80% , the soup arm forward speed setting 50% , then the actual soup arm forward speed is 80% * 50% = 40% 

8)Origin velocity: the speed of the motor shaft at origin reversion. 

9)Screen off time: the time the screen lights up when nothing is done to the hand controller.

 3.3 Auto operation 

Press move to Auto，then press change to auto moving model.

 1.First manually back to the detected position of the noodle soup bar touch the aluminum, spoon dip into the aluminum soup preheating, or take soup, soup, not less than three times, switch switch custody to “automatic” start action.

 2.when the internal timer is finished, the spoon will rise to the dropping position and drop too much aluminum material back into the furnace.

 3.When the 3 tablespoons timer is over, the spoon will return to its horizontal position.

 4.Four arm forward, high and low speed automatic switch.

 5.The arm advances to the forward limit and stops, while the spoon is in the position of the injection, the abnormal backward timer starts to count 16 seconds, before the timer runs out, when the injection instruction signal occurs after the die casting machine closes, it goes into the infusion.

 6.note Tang limit ON, the injection delay time timer started counting, in the time finished to the die-casting machine signal, and in the count, the time is over, at the same time the arm will enter the back action.

 7.back arm back to back low speed limit that is the standby position on the stove, the spoon in the measurement of oblique state to the position of the detection of noodle soup, will stop, take soup time began.

 8.operates in a (1-7) loop. However, in (4) such as abnormal back timer timer finished, did not receive die-casting machine, finished the signal when the injection soup signal, spoon arm will automatically back to the soup noodle detection position, from (2) cycle action.

 9.to the soup machine after positioning function: when the Soup Machine is selected after positioning, to the soup machine after the completion of step (3) , will stop in the furnace, stand by, the timer started timing, until receiving the forward start signal (the default is die casting machine open mode limit out signal) , continue to perform step (4) ; if the starting signal is not received when the timing is completed, give the soup machine arm to automatically back to soup noodles,The position is detected and acted on by (2) loop.

1 special features 

Under stop screen, press ，Accessing password screen now.

1.1 Password 2010 

Enter“2010”and press ， That is to enter the special function 1 screen, a total of two settings screen, you can press the up and down cursor keys to move to the settings, change the parameters,then press ，Set value can be changed.

1. System language: Press The Input Key to choose Chinese and English display. 

2. Tang Arm Standby Mode: Pre-standby/after standby, you can press the “input” button to switch. Front stand-by: under the automatic operation, the arm advances to the pouring position, waits for the clamping signal and the allowing pouring signal, two signals simultaneously satisfy the post-pouring signal. If have been waiting for no signal (abnormal back time to) , Tang Arm back again take soup, again take soup! Repeat 5 times, no signal, stop at origin. If there is a clamping signal and a permit pouring signal at this point, stop at the origin and wait while the soup is retaken. 

After stand-by: in the running state, the arm takes the soup and waits at the origin, when the system detects (the mold opening limit is broken) , the arm advances to the soup pouring position (waiting for the pouring signal to be allowed to pour the soup) , the pouring signal is allowed to pour the soup, there is no abnormal backward time, take the soup again, repeat 5 times no signal, stop at the origin, if there is a clamping signal and allow pouring signal, take the soup again, do not stop at the origin and wait. 

3. Spoon wait position: normal/set, press enter > key to switch. Normal: the horizontal state of the spoon stand by, waiting for the permit pouring signal and clamping limit signal. Setting: The Spoon is put on standby according to the setting state, waiting for the allowed pouring signal and the clamping limit signal.

4. Spoon back mode: Horizontal/non-horizontal, you can press enter > Key to switch. Horizontal: the spoon must be in the horizontal position when the arm falls back, otherwise it will call the police. Non-level: When the arm back, not limit the state of the spoon. 

5. Button Sound: On/Off, you can press enter > Key to switch. Open: There is a key sound when the key is pressed. Off: No Key Sound when pressing a key. 

6. Automatic Start Mode: one-click Start/Noodle Test, you can press enter > Key to switch. One-button start: to choose the automatic state of the Soup Machine, you must press the one-button Start button to automatically run. Soup Noodle Testing: The Soup Arm must be back to the soup noodle testing position to automatically run when the Soup Machine is in automatic state. 

7. Kill. Selection of soup: Vertical/non-vertical, you can press enter > Key to switch.

Vertical: when taking soup spoon first run to the vertical position (180 degrees) , and then to take the amount of soup set angle. Non-vertical: when the Soup Spoon directly run to take the amount of soup set at an angle. 8.Tang Arm Drop Setting: normal/level, press enter > Key to switch. 

Normal: soup arm down, the spoon in the set angle to take the amount of soup. 

Level: The Spoon remains level as the arm drops

9. Four-station take soup: Use/Don’t use, can press enter > Key to switch. 

Use: according to the four station signal to take the corresponding four kinds of soup quantity (this function is used for non-standard to soup machine) 

Do not use: Standard Feed Machine Logic. 

10. Injection Limited note soup: use/do not use, you can press the “input” button to switch. 

Use: Automatic Operation Tang Arm forward detection X25 ejection limit whether there is a signal,the signal is forward, no signal is waiting. 

Not used: X25 ejection limit is not detected at auto run time. 

Kill. Soup stove cover control: use/do not use, you can press enter > Key to switch. Use: Test whether the lid of the soup stove is open when the soup arm descends. 

Do not use: do not test whether the soup stove cover is open when the soup arm descends. 

1.2 Password 2011 

Press ， That is to enter the special function 2 screen, a total of three settings screen, you can press the up and down cursor keys to move to the settings, change the parameters,then press ，Set value can be changed.

1. Spoon drop time: “arm rise time” arrived, arm stop forward, spoon do not move, will overflow excess soup, spoon, stop time from this setting.

2. Spoon filling time: the time between the beginning of the spoon filling and the end of the spoon filling. 

3. Injection delay time: the output of the robot to die-casting machine allowed injection signal delay time. 

4. Standby time on soup arm stove: when the soup machine is automatically filled with soup, the arm returns to the top of the stove and waits for the time to arrive, the arm retreats to the soup noodle for the next cycle. 

5. Spoon take soup measurement time: is the spoon in the aluminum soup stay time, waiting for aluminum soup filled spoon. 

6. The rise time of the arm: The Time of the arm rising from the noodle test to the level of the stock. Kill. Abnormal back timing: Tang arm forward to the soup location to wait for the soup instruction timing time, at this time if there is no instruction, Tang Arm will back to the soup stove.

8. Tang arm forward position: the position at the end of the Tang Arm forward position during automatic operation. 

9. Tang Arm Forward High Speed Position: the difference between the Tang Arm forward end position and the Tang Arm Forward High Speed End position. Tom Arm low-speed range 

10. Spoon waiting for filling position: arm to reach the forward position waiting for filling instruction spoon waiting for filling angle. This parameter is only valid if the spoon wait position selection is set Kill. Spoon high-speed end position: High-speed soup end position, this position after the system default low speed.

12. Tang Arm Forward Speed: set value of Tang Arm forward speed. 

13. Tang Arm Back Speed: Tang Arm back speed setting value. 

14. Tang Arm Low Speed: Tang Arm Low Speed setting. 

15. Arm Drop Speed: the speed at which the arm drops back between the low speed limit and the noodle test. 

16. Speed of taking soup: the speed at which the spoon returns to its level when taking soup. 

17. Soup Spoon High Speed: the highest speed at which a soup spoon can run. 

18. Soup Spoon Low Speed: the minimum speed at which a soup spoon can run. Kill. Arm drop limit: the maximum allowed drop from the last noodle drop. 

20. Tablespoon level: Tablespoon level setting. 

21. The maximum angle at which a tablespoon can be taken. 

22. Take the Soup Position 

1: Spoon take the soup and liquid surface angle 1.

2: The Angle of the spoon from which the soup is taken. 2. (only effective when using the four-station function) 

3: The Angle of the spoon to the surface of the soup. (only effective when using the four-station function) 

4: the angle of the spoon from which the soup is taken 4. (only effective when using the four-station function) 1.3 Password 2012 Enter the password “2012” and press ， That is to enter the special function 3 screen, a total of two settings screen, you can press the upper and lower cursor keys to move to the settings, change the parameters, then press ，Set value can be changed.

1.3 Password 2012 

Enter the password “2012” and press ， That is to enter the special function 3 screen, a total of two settings screen, you can press the upper and lower cursor keys to move to the settings, change the parameters, then press ，Set value can be changed.

1. Spoon shaft selection: each servo shaft can be set to pneumatic shaft or servo shaft. 

2. Shaft tolerance: the difference between the sending pulse and the feedback pulse, in degrees. Beyond this difference, there will be “feedback pulse, pulse deviation is too large” alarm 

3. Minimum movement of the spoon axis: the minimum distance the Axis can move.

4. Maximum Axis movement: the maximum distance the Axis can move. 

5. The distance of each rotation of the Spoon Shaft: set the distance of each rotation of the servo shaft motor. -LSB- warning: this modification may cause machine failure ] 

6. Spoon axis acceleration time: set the spoon axis acceleration time. 

Kill. Maximum speed of the Spoon Shaft: set the maximum speed of the Spoon Shaft.

8. Spoon shaft deceleration time: set the Spoon Shaft deceleration time.

1. Tang arm shaft selection: each servo shaft can be set to pneumatic shaft or servo shaft. 

2. Arm Axis Tolerance: the difference between the sending pulse and the feedback pulse, in mm. Beyond this difference, there will be “feedback pulse, pulse deviation is too large” alarm 

3. Minimum movement of the soup arm axis: the minimum distance from which the axis can be moved. 

4. Maximum Movement of the Arm Axis: the maximum distance the Axis can move. 

5. Distance per rotation: set the distance per rotation of each servo shaft motor. -LSB- warning: this modification may cause machine failure ] 

6. Soup Arm Axis acceleration time: set the Soup Arm Axis acceleration time. 

7. Kill. Maximum speed of the soup arm shaft: set the maximum operating speed of the soup arm shaft. 8. Soup Arm shaft deceleration time: set the Soup Arm shaft deceleration time.