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5.2.11 Program Quick Setting

Click“Quick Setting”to enter the quick settingspage. (This function needs to be turnedon in System Settings - Senior Administrator. Refer to 6.2.9 System Settings for details.)

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As shown above, it can only set the position and select actions. The programcanautomatically generate executable programs, eliminating the tedious teaching.Warning: If this function is pressed by mistake, it is possible to make the positionall set as 0. Please pay attention to distinguish and inform the customer!5.2.12 Comment/Label

Click“Comment”button to enter comment/label teaching page. After insertingtheannotation, it can explain the previous program or the next program. At the same time,you must insert“Comment”before inserting the condition into the main program.(Ifconditions of use must insert“Comment”)

Click on the blank bar of the comment, the input box will automatically popup,enter the comment content in the box (click CH to switch between Chinese and English),then click the ENT key, and then insert the comment before the corresponding programstep. The input box is shown as below:

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5.2.13 Condition

Condition is as an action here, used to judge current state in program and decideto activate subprogram or not. As following pictures:

Important: Set the label annotation teaching before condition teaching, otherwise thecondition can not be inserted into the main program.

(1) The teaching of condition involves three aspects: Comment, Condition and Sub program,which are respective but indispensable.

(2) Use: When a condition is satisfied, the system jumps into the subroutine, and afterthesubroutine is executed, the system jumps back to the position of the main program label.(3) Conditions are divided into three types: input point ON/OFF, trial production,

interval modules, reject and sampling.

(4) You must insert a label before you can insert a condition program.

(5) Click on the instruct selection, select the subroutine to be used, click the selectionbutton, and enter the corresponding subroutine or main program to teach, as shown inthefollowing pictures:

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The following are examples of three types of conditions.

(1) IO input signal detection

According to the classification of conditional content, it can be divided intoI/O signal class and system setting class. In the system setting classification, thereare two conditions to set up in the stop state. The following is a list.

Signal classification: As the name implies, ON-OFF of the signal is used as the judgmentcondition, which is more flexible than the system setting classification.

System setting classification: By setting a certain operation logic, according tothesetting of regular operation. Do not detect the signal, by judging the module oftheprogram to judge.

Type of classification Specific circumstances

Signal class

Fixture (1,2,3,4), suction (1,2,3,4), X023、X026、X037、X040、X043、 X044、X045、X046、X047、bad products

System Setting Class

Interval modules, trial production(need to be set to stop

status-function-product setting page), sampling (need to be setto stop status-function-product setting page)

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The above picture takes ON-OFF of the signal as the judgment condition, click“condition”button to enter the teaching page of the condition, select the

signal“X43”and check the restriction condition“OFF”as the judgment condition,theninsert the condition into the main program position. （2）Trial Production and Sampling

Trial production and sampling are more special conditions, they can only jumptoa special subroutine and only in the stop state-function-product setting page,morespecial, so they are classified as a class.

Trial production: Set the modulus in the stop state- Edit--Product Settings page,thismodule is run automatically after the end of the trial production.When running trial production, the number of finished productswillbe remembered, and only after the trial production will be

remembered.

Sampling: A modulus is set in the stop state- Edit--Product Setting, which is sampledby a conditional jump look program at each interval.

The above picture takes trial production as the judgment condition, click“condition”button to enter the teaching page of the condition, select trialproduction and insert the condition into the main program position. Set N modulesfortrial in products settings.(Refer to 6.2.2 Product Settings for details.)When itistime to be executed, previous N modules will jump to trial subprogram and back to Commentin main program after finishing. Only the N+1 module will not jump to the subprogram.The logic of sampling is similar to trial production. There will be no furtherdescription.

*Notice: Sampling and trial production can only jump to “sampling”and “trialproduction”subprogram.

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（3）Interval module

The above picture takes ON/OFF of interval modules as the judgment condition, click“condition”button to enter the teaching page of the condition, select intervalmodules and set n modules in text box after interval modules, then insert the conditioninto the main program. When it is time to be executed, it will jump to subprogramwhenthe mold number is n+1 or times of it. Then jump back to Comment in main program afterfinishing. Other module will not jump to the subprogram.

Tips: 1.After the program runs to the end of the module, the number of completedproducts+1.

2.Interval module number can be set as 0, and it will jump in each module.5.2.14 Modification of Program Parameters

Click the program step to be modified, and then click“Edit”button to pop upthefollowing dialog box:

Z Axis Edit Page

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On the edit page, you can modify the Position, Speed, Delay Time and EarlyEndPosition of the current action or use the Early Speed-Up, Early Speed-Down, to modifythe parameters to be modified, then click“OK”.

Early end: If the early end position is set as 200, and the position is set as 1000,the axis goes to the position of 800 to jump to the next step, and thisstepof the program will continue to execute to 1000.

Early speed-down: If the early end position is set as 200, the deceleration speedis5%, the position is set as 1000, and the speed is set as 80%, thentheaxis runs from 0-800 at 80% speed and 800-1000 at 5% speed.

Early speed-up: If the early end position is set as 200, the acceleration speed is5%,the position is set as 1000, and the speed is set as 80%, then theaxisruns from 0-200 at 5% speed and 200-1000 at 80% speed.

Reject enable:

1. When not checked, in automatic running, the Z axis moves to 1500 position and thenruns to 1300 position.

2. When checked, that is to use reject enable, if the reject signal is detected,Zaxis moves to 1300 mm position while running external; if not, the Z axis movesto 1500 mm position. This function is unique to the Z axis.

Note: Reject enable function can only be used outside, can not be used inside！5.3 Examples of Teaching Program

The following teaching programs will help you understand and practice theprogramming of the manipulator. When teaching the manipulator program of the mouldbyself, please set the position of the servo shaft and control the injection moldingmachine according to your actual situation. 5.3.1 Requirements

The program is used to take out the injection molding product and material head.The manipulator stops above the injection molding machine mold and waits for theinjection molding machine to open the mold. The starting position of the five electricshafts of the manipulator is 0, and the fixture is vertical. After the injection moldingmachine opens the mold, the manipulator takes out the finished product and the materialhead, puts the material head into the crusher, puts the finished product intotheconveyor belt, and the conveyor belt moves once per mold。

5.3.2 Procedures

Adjust the manipulator to automatic state.

The manipulator runs to the start point and waits for the injection molding machineto open the mold.

Fetch the finished product with Sucker 1.

By moving the X, Y axis, the manipulator leaves the module area and outputsthemold closable signal after detecting signal of fetching finished.

The manipulator puts the material head and the finished product on exact positionrespectively.

Every time a finished product is put on the conveyor belt, it is started andrunsfor 3 seconds.

The manipulator returns to the starting position standby.

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Action taught NoteStart*Posture vertical 1: Delay time :0.00

StandbypointStart*X1: 100.00 Speed:80 Delay time :0.00

Start*Y1: 0.00 Speed:80 Delay time :0.00

Start*X2: 100.00 Speed:80 Delay time :0.00

Start*Y2: 0.00 Speed:80 Delay time :0.00

Start*Z: 200.00 Speed:80 Delay time :0.00

1 *Wait: mold opened limit time:60.0 Delay time :0.0

Wait moldopened2 *X1:400.00 Speed:80 Early end enable, End position:150 Delay time ：0.00

Fetch point3 *Y1: 250.00 Speed:80 Early deceleration enable: Speed:5 End position:100

Delay time ：0.00

4 *X2:500.00 Speed:80 Early end enable, End position:150 Delay time ：0.00

5 *Y2: 350.00 Speed:80 Early deceleration enable: Speed:5 End position:100

Delay time ：0.00

6*Suck1 ON: Delay time :0.00

Fetch8 *Wait: thimble in place ON limit time:10.0

9 *Y1: 0.00 Speed:80 Early end enable, End position:250 Delay time :0.00

Rise tooutside10 *X1:50.00 Speed:80 Delay time :0.00

11 *Y2: 0.00 Speed:80 Early end enable, End position:350 Delay time :0.00

12 *X2:50.00 Speed:80 Delay time :0.00

13 *Suck1 start detecting Delay time :0.00 Fetch test14 *Mold lock ON Delay time :0.50

Moldclosable15 *Z:1400.00 Speed:80 Delay time :0.00

Placementpoint16 *X1:213.00 Speed:80 Delay time :0.00

17 *Y1: 352.00 Speed:80 Delay time :0.00

18 * X2: 210.00 Speed:80 Delay time :0.00

19 * Y2: 362.00 Speed:80 Delay time :0.00

20 *Suck1 OFF: Delay time :0.00

21 *Y1: 00.00 Speed:80 Delay time :0.00 Manipulatorrises.Conveyorworks.22 * Y2: 00.00 Speed:80 Delay time :0.00

23 *Conveyor ON: Interval module: 0 Action time :3.00

24 *End Module: Delay time :0.00

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Chapter 6 Stop Status

6.1 Program Management

Under the stop state, click“Record”button to enter the file page, where themoldnumber can be New、Copy、Load and Delete.

New: Enter the name of the new mold number in“new file name”text box, then clickthe“New”button to create a new blank mold number program. Letters and numberscanbe used in file names.

Copy: After entering the new name in“new file name”text box, click the storedmoldnumber name, and then click“Copy”button to copy the stored mold number programinto the new mold number file.

Load: Click the existing mold number program and click“load”to load selected program.Current mold number will be changed to the name of loaded program after loadingcompleted.

Delete: Click the stored mold number program, and then click“Delete”button to deletethe mold number.

Note:The mold number being in use can not be deleted.

Export: After inserting the USB, check the“USB Export”box. Click the stored moduleprogram, and then click the“Export”button to export the selected programtoUSB flash drive.

Import: After inserting the USB, check“USB import”to see the program in the USB. Checkthe program to be imported and click“Import”then you can import the programfrom the USB flash drive to the manual controller. If the import is successful,the imported mold number will appear in“Local Mold Number”.

Search: Enter the required mold number name in the box, click search to find requiredmold number.

Clear: Clear the search records.

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6.2 Function Setting

Click“Function”button in the lower left corner of the screen in stop statetoenter the function setting page. As shown below：

The function settings page contains eight sub pages including“Signal Setting”，“Product Setting”，“Operation Param”，“Safety Point”，“Stack Setting”,“SystemSetting”，“Machine Param”and“Maintenance”. 6.2.1 Signal Setting

Click“Signal Settings”button on the screen to enter the signal detection settingspage, where you can set whether to detect certain input signals or not.

(1) Fixture(1,2,3,4)detection

Positive phase: The corresponding fixture switch positive phase detection, whenthefixture confirms the limited signal input, it represents the fixturehas taken the object successfully; when the corresponding fixtureconfirms no limit signal input, it represents the fixture has failedto take the object.

Negative phase: The corresponding fixture switch negative phase detection, whenthefixture confirms no limit signal input, it represents the fixturehastaken the object successfully; when the corresponding fixtureconfirms the limit signal input, it represents the fixture has failedto take the object.

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Important: ① No matter the positive or negative phase is selected, the detectioncannot have signal input when the fixture has no action. ② If the fixture has no teaching detection, the output is not influencedby confirmation signal.

(2) Transverse posture

Horizontal: When manipulator crossing in/out manually, the fixture must be inahorizontal state. When teaching automatic program, transverse posturemustbe horizontal.

Vertical: When manipulator crossing in/out manually, the fixture must be in a verticalstate. When teaching automatic program, transverse posture must be vertical.No limit: When manipulator crossing in/out manually, there is no limit to fixture state.When teaching automatic program, transverse posture can be taught as needed.(3) Origin reset

Not need mold opened signal: When the origin is reset, no matter whether thereisamold opened signal, the origin reset action can be carriedout.

Need mold opened signal: When the origin is reset, it needs mold opened signal to executeorigin reset.

(4) Up/Down posture

Horizontal: To start origin rest, the fixture must be horizontal when the arm movesup and down.

Vertical: To start origin rest, the fixture must be vertical when the arm moves upanddown.

No limit: There is no limit to the posture of fixture.

(5) Horizontal standby

Limit lock mold: In horizontal standby, arm should rise and be horizontal beforelocking.

Not limit lock mold: In horizontal standby, once the arm rises, the mold is locked.(6) Mold lock

Use: There is a“Mold closed”signal after the“Mold Opened”signal, the manipulatorwill descend to fetch, otherwise it will alarm that mold lock is not in place.Not use: Do not detect the“Mold closed”signal.

(7) Safety door detection

Use: When the manipulator runs automatically, the safety door signal is detectedallthe time. If there is nor signal, alarm immediately.

Not use: When the manipulator runs automatically, the safety door signal is detectedonly when the arm descends inside. If there is no safety door signal, alarmimmediately.

*Note: When checking“Not use”, as the manipulator descending inside, the systemmustdetect the safety door signal, too. This is a safety mandatory measure.(8) Pressure detection

Use: The manipulator detects the gas pressure. If the pressure does not reach thesetvalue, it will alarm.

Not use: The manipulator does not detect the gas pressure. No matter whether theairpressure reaches the set value or not, it will not alarm.

(9) Mid-mold board

Use: The manipulator detects the signal of the mid-mold board, and it will alarmifno signal is detected while the arm is descending inside. Please select“Use”ifthe mold is three-board.

Not use: The manipulator does not detect the signal of the mid-mold board.

(10) Thimble link lock

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

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Use: After the mold is in place, the thimble signal will be off. When the program teachesthe thimble step, the thimble will be output.

(11) Fully automatic

Not use: The manipulator does not detect the automatic signal of the injection moldingmachine.

Use: The manipulator detects the automatic signal of the injection molding machine,and if there is no automatic signal in automatic state, the alarm will be sent。6.2.2 Product Setting

Click“Product Setting”button on the function settings page to enter the productsettings page. As shown below：

Product: The number of products planned to be produced. When the actual productionisup to this value, alarm will be sent; if the value is set as 0, it will not alarm.Trial product module: Set the number of products for trial production.

Sampling interval: Set the interval modulus for product sampling.

Wait mold opened limit time: The manipulator waits for the opening signal time, no openingsignal in the set time, then alarm.

Fetch fail:

Internal up alarm: After detecting the failure, send an alarm when arm rises inside.Real time alarm: Send an alarm the moment detecting the failure.

Alarm time: When an alarm occurs, the time when the warning device makes a sound.Alarm output:

Interval output: When alarm occurs, the alarm lamp flashes.

Long output: When the alarm occurs, the alarm lamp is always output.

Cycle time: When selecting the lock mode in place function, time taken from when the systemreceives the mode-locked signal (that is, the mold closed signal) towhenthe mold closable signal is off.

Fixture:

Positive：The fixture is the posture of the moving die product.

Negative：The fixture is the position of the mould product, and the horizontal andvertical of the fixture will automatically reverse.

Product clear：Click this button to zero the number of finished products.

Conveyor counter: Conveyor counter must be selected as all.

Product save: The current output can be remembered after power failure.

Stack clear: Click the button to zero the number of stacks that the stack group completes.Auto Mold Close:

Use: After the third switch hits the automatic state, the die can be output immediately.Not use: After the third shift switch hits the automatic state, the switch modewillnot output automatically. When the switch automatically runs to the lockmodeaction, the switch mode can only start the output.

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6.2.3 Operation Parameter

Click“Operation Param”button on the function setting page to enter the run parametersetting page. As shown below：

Tolerance: The difference between the distance from the instruction run and the distancefromthe actual run feedback.(This parameter does not affect system positioningaccuracy)

Crosswise space: If the X1, X2 are servo shafts, set the safe distance between themainarm and the auxiliary arm.

Internal acceleration/deceleration time: Set the acceleration/deceleration time of servomotor in type.

External acceleration/deceleration time: Set the acceleration/deceleration timeofservo motor outside the type.

Manual acceleration/deceleration time: Set the acceleration and deceleration timeofservo motor in manual state.

Speed limit: Set the maximum operating speed of the servo motor in %. 6.2.4 The Relationship between Several Speeds

At full automatic operation, the speed depends on the overall speed of the red circleand the step speed of the green circle.(all in percentage)

1. Real Speed = Overall Speed × Step Speed

(1) If the actual operating speed is 100 %., the pulse is 500 . The general correspondingservo speed is 3000 rpm.

(2) Assuming a overall speed of 80 and a step speed of 80, if the actual running speedis 64 %, that is, the corresponding pulse is 320 KHz, the corresponding speed is1920rpm.

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(3) In Function-Running parameters, you can adjust the maximum speed of each axis.(Theactual speed can not exceed the maximum speed)

Supposed that the maximum speed of the X axis is set as 50, the overall speedis80 and the X axis step speed is 80.

The actual running speed of X axis is 64% and this value is greater than the maximumspeed, then the X axis still runs at the highest speed 50 and the corresponding pulseis 250 KHz, corresponding rotational speed is 1500 rpm. 6.2.5 Safety Point

In Security Point Settings page the parameters of the axis are set uniformly, exceptfor the restricted pages set by the security point, the same pages will no longerbeintroduced further.

6.2.5.1 X1, X2 Axis Parameters

Click“Machine Setting”button on the function setting page to enter the machineparameter setting page, where you can set the parameters of each axis. After enteringthe page, go directly to the X axis parameter settings:

Motor reverse: When motor rotates anticlockwise by default, the axis moves awayfromthe origin; if checking motor reverse, the motor rotates anticlockwiseand to the origin.

Max movement: Set the maximum distance of X axis movement.

Origin offset: (This feature should check the origin bias in the structure-origindefinition, otherwise the value can not be set) If the bias is positive,continue to move a certain value away from the origin after returningto the origin. If it is negative, continue to move a certain valuetothe origin after returning to the origin. Assuming that the rotationdistance is 20 and the bias value is -40, the motor continues totaketwo turns to the origin after returning to the origin.

Note: After the offset is completed, the coordinates are still shown as 0.MinPos Down inside: When the Y axis descends into the mold, the minimum positionofthe X axis can be moved.

MaxPos Down inside: When the Y axis descends into the mold, the maximum positionofthe X axis can be moved.

Test+: Carry out motor positive rotation test. Normally, test and feedback show 10000.Test-: Carry out motor reverse test. Normally, test shows 10000 and feedback shows-10000.

Tip: If the feedback is not correct, modify the parameters of the servo feedback pulsedirection.

Important: The moving position of the X axis also depends on the parameters in the limit.If the maximum movement of the X axis is adjusted, the limit also needstobe adjusted, otherwise the maximum movement can not be reached.

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Distance per rotation: Set the distance of each servo shaft motor running in one turn.Click positive rotation of the motor to measure the distancefrom the actual operation of the corresponding shaft, whichisthe distance from which the shaft motor rotates in a circle.Warn: If set incorrect, it may cause machine malfunction.

Motor forward and reverse rotation is an important measure to test motor direction,that is, to confirm the direction of origin. It is the first step of debugging the machine.The reverse direction of all axes is the direction of origin.

6.2.5.2 Y1, Y2 Axis Parameters

Max Standby：Set the max standby position of Y axis.

Leave Pos：Position where Y axis descends and leaves the origin point. If set as400,it will send alarm if the Y origin switch still has signal when theaxisdescends below 400.

Tip：This param ensures the operation of Y axis motor.(normal structure)Pleaseseta large value because of delay time of switch action（Larger than length of originiron sheet)

Test+：Carry out motor positive rotation test. Normally, test and feedback show 10000.Test-：Carry out motor reverse test. Normally, test shows 10000 and feedback shows-10000.

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6.2.5.3 Z Axis Parameters

Internal safety zone：Set the location of the internal fetching safety zone.

External safety zone：Set the location of the external placement safety zone.6.2.5.4 C Axis Parameters

Max Rotation：A maximum range of C axis rotation is 360 degrees.

Origin offset：The range is (-90,+90).

If the value is positive, keep moving toward the origin for a distance.

If the value is negative, move back to the max displacement for a distance.*Note: The coordinate is still zero after completing offset.

Transverse safe range: Limit the safety angle of the fixture during horizontal action.As shown above, (0-20;300-360) is the safety range of the C axis,that is the horizontal state.

*Notice: This parameter is valid only when the C is a servo shaft. This parameterisinvalid when the C is a pneumatic shaft.

Tip: After the C axis returns to the original point, it is in a vertical state.

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6.2.5.6 Limit

X axis Min position when up internal: A minimum position allowed of the X1 axis whenthearm rises inside mold.

X axis Max position when up internal：A maximum position allowed of the X1 axis whenthearm rises inside mold.

X axis Min position when up external：A minimum position allowed of the X1 axis whenthearm rises outside mold.

X axis Max position when up external：A maximum position allowed of the X1 axis whenthearm rises outside mold.

Note: The minimum and maximum position of X1 axis descending inside the mold are modifiedin the mechanical parameter page or the safety point setting page X1 axis.

E.g. The X1 and X2 axes are at both ends of the drawing beam by default, so theirmechanical length is the same as the maximum displacement. In order to preventthecollision between the two axes, the drawing distance X1 the maximum displacementofthe current coordinate value of the axis X2 the current coordinate value of the axis,that is:

If the length of the beam is 400, the maximum movement of the X1,X2 is 400. Whenthe current position of the X1 is 200, the maximum X2 can only reach 150 200 15050(drawing distance)=400. 6.2.6 Machine Parameter Structure

6.2.6.1 Axis Define Page of Structure：

Structure: It is divided into“Axis Define”,“Reserve Define”,“Limit Define”,“Origin Setting”,“Other Define”and“Servo adjust”.

Axis define: Each axis can be set to be pneumatic/servo/step/none. Each shouldbeselected as servo shaft or pneumatic shaft according to machine condition.

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Tips:

1. This system is 5-axis system by default, that is, X1、X2、Y1、Y2 and Z axes shouldbe selected as servo axis, otherwise, it may cause system faulty.

2. If the machine is bilateral, the A shaft should be selected as pneumatic shaft.6.2.6.2 Reserve Define Page of Structure：

Please check“Reserve”for all the options because this product no longerusesposition adjustment function.

Y042: Check Stop lamp. Monitor output page displays as stop lamp, Reserve checkeddisplays as Reserve 9.

Y043: Check Run lamp. Monitor output page displays as running lamp. Reserve checkeddisplays as Reserve 10.

Reserve 1 Reserve 2 Not interlocked:

Check: Reserve 1 and Reserve 2 outputs do not affect each other.

Unchecked: Reserve 1 and Reserve 2 interlocking, that is, if Reserve 1 has output,Reserve 1 output signal will be off when Reserve 2 has output;ifReserve 2 has output, Reserve 2 output signal will be off when Reserve1 has output. These two signals cannot output at the same time.6.2.6.3 Limit Define Page of Structure：

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Limit definition is divided into single/double arm selection and limit switchsignal selection.

Single Arm：In the manual state, only teach main arm action, and the buttons“X2+”,“X2- ”，“Y2+”,“Y2- ”are invalid.

Double Arms：In the manual state, the main arm and the sub arm actions can be taught,and the sub arm key is valid.

Main arm: Descending limit, backward limit, forward limit.

Sub arm: Descending limit, backward limit, forward limit. If the sub arm isanpneumatic shaft, the limit is effective. When the corresponding pneumaticshaft is operated, the limit signal must be given before the programcanperform the next step, otherwise the alarm will be sent.

*Note: Limit definition is valid only for pneumatic axis and invalid for servo axis.6.2.6.4 Origin Define Page of Structure：

ABS servo：

Check：Absolute value way back to origin.

Not checked：Incremental way back to origin.

*Notice: After modifying the return origin mode and saving, it needs to exit the currentpage that the new return origin mode can work.

Origin Sequence Enable: Check the origin sequence enable and save. Return to originin incremental way as axis order that is set. Set 1 as X1,2as Y1, 3 as Z and 4/5/6/7/8 as none to return in X1-Y1-Z.Ifset 1 as none, 2 as X1, 3 as none, 4 as Y1, 5 as none and 6/7/8as none or other axis, it is unable to return.

Origin Offset：Check“Save”, the origin offset function is effective. If not,thefunction will not work.(Origin offset dialog in each axis page isexecutable and can be modified if checking“Save”. If not, values cannotbe entered into the dialog.)

Z Outside Origin：

Not checked：X25 is the back to origin signal, after returning to the origin,thestarting position is in the type.

Check：X24 is the back to origin signal, after returning to the origin, the startingposition is out of type.

Long Origin: If checked, way back to the origin is the way long origin returns.Short origin: If checked, way back to the origin is the way short origin returns.Limit Origin：If checked, way back to the origin is the way limit signal returns.

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6.2.6.5 Other Define Page of Structure：

After modifying the parameters, click the save button so that the parameters remainunchanged after power-down restart.

Safety Door Mode：

Run On close door：After the manipulator failed to fetch, the safety door is openedand then closed. The manipulator continues to perform theprogram of this mold.

Close door and return：After the manipulator failed to fetch, the safety doorisopened and then closed. The manipulator executes the programbefore mold opened again. After moving to the start point,wait for the next mold opened signal..

Close door stop：After the manipulator failed to fetch, the safety door is openedand then closed. The manipulator stops in the current positionandexits automatic state.

Run On close door confirm：After the manipulator failed to fetch, the safetydooris opened and then closed. Click“Continue”in thedialog popped up, then the robot continues executingprogram of this mold. Click“Give up”, then themanipulator returns to the origin and fetches again.Adjust：Choose to use or not to use the electric position adjustment function. (Existingmodels are generally not in use)

Limit switch：

Often on：The limit switch is on by default. When the limit switch has a signal,the limit switch is disconnected; if beyond the limit position, the limitswitch has signal input and it will alarm immediately; if limit switchhas no signal input, there will be no alarm.

Often off：The limit switch is off by default. When the limit switch has a signal,the limit switch is turned on; if beyond the limit position, the limitswitch has signal input, there will be no alarm; if the switch hasnosignal input, it will alarm immediately.

In Mold rotation：

Limit：Limit the internal descending posture as vertical and side postureisforbidden.

No Limit：No limit for internal descending posture and side posture is allowed.ODST：After checking, the external descending safety signal is on, and it will alarmwhen it is over the safety time; if not checked, this function is invalid.

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Servo Flex：To improve the curve of motion planning.(Optional, not available forstandard)

Force En：When the servo enable is abnormal, it is recommended.

No Z Safety Switch：

Not check: It needs X25 signal to descend in the internal safety area.

Check: No need for X25 to descend in the internal safety area. It is only takenas the origin signal.

MD open filter time：If the signal stability is poor, set a larger value.

6.2.6.6 Servo Parameter Adjustment

Enter Machine Param - Structure - Servo Adjust page to set the servo parameters.(Onlyfor RTEX and drive-control series, not available in single-board.)

*Notice: In box 1, to check the servo parameters of the exact axis, click the refreshbutton, the servo parameter value will be displayed in the correspondingbox.If you need to modify the parameter value, you can enter a new value directlyin the text box. Servo parameters can also be set in box 2 on the right.Servo Addr：Set the servo parameter number in box 3 ; the current servo parameter valueis displayed in box 4.

Value：Box 5 is the servo parameter target value that needs to be set.

Param Name：The function corresponding to the current servo parameter number

Setting Steps:

1. Press the emergency stop button.(Modify the servo parameters in this state)2. Enter the servo parameter number in orange box 3.

3. Enter the servo parameter target value in the green text box 5 after“parametervalue”and click“Send”.

4. Check whether the values in box 4 are the same as the target parameter value.If it is, the parameters are set successfully; otherwise it needs to be reset.5. After the parameter setting is successful, restart the servo and manualcontroller, the new parameters will work.

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6.2.6.7 Servo Parameter Table

Function

Code

Mapping

Address

Function Code Name Parameter description Scope Unit Default00 0x2E00

Software Version/

Reactivation

Write 8051 to restore

factory settings 0～65535

Versionnumber01 0x2E01 Driver type

2:100～200w;

3:400w;

4:750w;

5:850～1300w

6:1800w

2～6 402 0x2E02 Motor code

1000～1600

140003 0x2E03

Parameter

management

Write 256 to restore

factory settings

（11xx series）

1: Senior mode. Jam

param check. Able to

clear overload.

Encoder error alarm

0x0000～0x1111

0x000004 0x2E04

Mandatory motor

code

1: mandatory

15 0x2E0F

Motor overload

protection factor

10～100 10～100 % 5019 0x2E13

Single/Double Axis

Selection

0：biaxial

1: uniaxial

21 0x2E15

Velocity loop

gain

Larger value means

faster response. May

cause shock if too

large.

Synergistic

adjustment of

position mode with

position loop gain

0～500 Hz 9022 0x2E16

Velocity loop

integral time

constant

Smaller value means

stronger integral

ability and stronger

speed tracking

ability. Need to match

velocity loop gain and

position loop gain

0～300 ms 2523 0x2E17

Position loop

gain

Larger value means

faster response. May

cause shock if too

large. Synergistic

adjustment of

position mode with

position loop gain

0～20 1/s 4

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28 0x2E18 Speed feedforward

gain

Increase to reduce

the steady-state

position deviation,

and the overshoot is

caused by excessive

assembly

0～100 % 030 0x2E1E

Camping

coefficient

Position loop damping

coefficient

100～500 10031 0x2E1F

Speed feedback

low pass

coefficient

100～20000

2000032 0x2E20

Current feedback

low pass

coefficient

Detect actual current

direction

100～20000

2000033 0x2E21

Torque

feedforward

coefficient

0～100 034 0x2E22

Velocity loop

differential gain

(low frequency)

0～1000 041 0x2E29

Moving

average filter

constant

0～200.0 0～200.0 ms 042 0x2E2A

First-order

low-pass filter

constants

0～6000.0 0～6000.0 ms 049 0x2E31

Position

Deviation Limit

0.1～50.0r 0.1～50.0 5.069 0x2E45

Torque

instruction low

pass coefficient

100～20000

2000071 0x2E47 Action Command

1：the current position

set as zero

0～255 072 0x2E48

Frequency

of notch

filter

0～10000 073 0x2E49

Frequency

width of notch

filter

0～1000 099 0x2E63 version number version number

0x0000～0xFFFF

0x0000

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6.2.7 Pneumatic Detection Time

Under this page, the limit time of each axis action can be set, and the timeofeach axis action exceeds this set value and there is no corresponding input signalto alarm. (only valid for pneumatic shaft)

6.2.8 Stack Setting

The product stacking function of the manipulator can arrange the finished productsneatly on the conveyor belt or loading box in some way. The system is equippedwith7 groups of stacking, the first 6 groups are regular stacking, and the seventh groupis free stacking.

Regular stack: Click on the stack group to be used (such as group 1), select the orderinwhich the product is stacked in the sequence bar, and set the number of stackedproducts per axis and the stacking spacing of the product.

Lattice：The number of products to be stacked in a certain axis direction.

Space：In a certain axis, the distance between two adjacent objects.

Sequence: In the order in which several axes are stacked upward.

Four types of stacking order are defined the same, taking X-Z-Y order asanexample, the rest are not described.

X-Z-Y: The stacking program first arranges the product on the X axis, then arrangesthe Z axis, and finally stacks the Y axis.

Direction:

PP：That is, the stacking position is getting larger and larger.

RP：That is, the stacking position is getting smaller and smaller

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Sub arm stack:

(1) The program defaults to the main arm stack, that is, only the main arm stack,the secondary arm does not stack.

(2) The X1、Y1 and X2、Y2 are stacked at the same time. The stacking sequence,direction, number and spacing are the same.

Stack counter: In this system, there are 9 methods in this system. For each groupofstacking, there are 3 options, such as stacking 1 group, stacking countercanchoose all, good products and stacking 1 group. If you choose anotherstacking counter, the program may be abnormal.

Examples of stack program settings

107411185212963-+-+50XSet value: use group 1 stack

Order: (X-Z-Y) Direction: X positive Z negative Y negative

X axis: spacing 50/3 product Z axis: spacing 40/4 product Y axis: spacing 30/2 layersOperation description: According to this setting, the manipulator places productswith50 mm as interval along the X+ direction. Three products (①②③) are in the first line.Then move along the Z- direction for 40 mm and place products. Three products (④⑤⑥) are in the second line. After placing the 12

th product in this way, rise for30mmalong Y- direction and repeat the action from the position of ①to place productsonthe second floor. Therefore, these 24 products can be placed in a cargo box.

Free Stack：You can either set it on this page or set it in Manual-Teaching-Main

menu-Stack-Group 7. Free stack is divided into XYZ free stack and XZ free stack.XYZ free stack：

Point number: the total number of stacks, range (3-30).

X axis: X axis stack position

Y axis: Y axis stack position

Z axis: Z axis stack position

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Current Point：The order number of the stack point. As shown above, if set as1,the position of the first stack point(X,Y,Z) is (110mm,110mm,110mm).Set In：Click to set the current coordinates as the nth stack position.

OK：After modifying the stack position, click OK button, or the modification fails.Sub Arm:

(1) The program defaults to the main arm stack, that is, only the mainarmstacks, the sub arm does not stack.

(2) The X1、Y1 and X2、Y2 are stacked at the same time, with the same numberand position.

XZ free stack：The XZ axes are free stack, same way to set as the free stack; Yaxisis regular stack, same way to set as the regular stack.

Enter teaching mode and click“Stack”button to enter the page below:

Setting and teaching of stack are regardless of order.

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Select the box on the left of the stack program to insert, such as select Group1, and then click the“insert”button to insert the stack into the program step to startstacking. When running automatically, the manipulator stacks the discharge productaccording to this stack. When using the Y axis, be sure to insert the stack programinto the previous step of the Y axis descending action.

Each automatic program can insert 7 groups of stack programs, which can stackandplace products in 7 different locations, and when stacking 7 groups of products,thestarting positions should be all 0.

Important: Select the Y axis as the end between the stacks in the system design.Stack program must be inserted before Y axis action. If there are multiple stacks,theY axis must be inserted between multiple stacks for partition.

For more live stacking examples, please pay attention to the official account.6.2.9 System Setting “System Setting”contains six pages:“System Setting”,“Permission Management”,“SeniorAdmin”,“BackUp/Restore”,“Ghost”and“Modbus Setting”.

(1) System setting age is shown as below：

Tip: If not able to copy or delete program int he file, click“Storage Repair”.Thesystem will automatically restart the function.

Key Tone：Open/close key tone.

Language: 12 languages for customers to choose, default in Chinese.

Date: Date and time displayed. Select and press or subtract key to change and clicksave, after about 2 minutes, then it will be updated to a new time.

Back light time: The screen turns dark if the time set is over and“Senior Admin”permissions becomes“Admin”permissions.

Brightness：Adjust the brightness of the display screen, click the left screenisdimmed out, and click the right screen turns bright.

Version mode: Show the version of manual controller and the host.

Touch calibration: When the screen cursor is inaccurate, it can be calibrated.Operation: If the cursor deviates from the page, use the key sequence to correct.1. After the system is fully started, twist the third switch to stop.2. Press F5 F1 F4 F1 F3 F1 F2 F5, system will automatically restartintothe correction screen page.

*Note: Rotate status switch to clear if the key sequence is wrong.

Memory fix: When pressed, the storage repair will be started automatically. (forcasethat unable to start a new mold number)

Scan the QR code to check

particular stack course.

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(2) Permission management page is shown as below：

Permissions: Divided into administrator and senior administrator; administratorscanchange basic parameters, but have no right to teach programs, changemechanical parameters, and enter maintenance pages, and senior

administrators can change any parameters.

Old password/new password: Enter the old password, and then enter the new password,press the change key to change the password.(If you modifythe administrator password .If under advanced administratorpermission, enter the new password directly)

(3) SeniorAdmin page is shown as below：

Verify: Enter ****** in the text box next to the validation button, and then clickButton. The“function extension”,“quick instruction”and “registration”change from gray to black.

Extent：When checked, the main menu of the edit page in manual state has 12 sub-pages;if not checked, the“condition”and“sequence action”of the mainmenupage will be hidden and the function can not be used.

Please contact with our technical personnel if you need to register.验证

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(4) Backup/restore page is shown as below：

USB can be used under this page to backup and restore machine parameters, systemparameters, and all parameters, respectively. After the parameter is restored,thecontroller will restart automatically.

(5) Ghost function is shown as below：

New：Enter a name in the red box and click the new button to backup all the parameterson the manual controller, including the manual program, to the USB(inserttheUSB first).

Scan：Scan the backup Ghost file (insert USB) and the backup file appears intheblue box.

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Load：Select the file, click load and a dialog box will pop up when completed.Thenclick confirm in the box, the system will restart and current programwillreturn to backup program in Ghost file.(If the current manual control programis 6.6.6, back up the Ghost file and then upgrade to 6.7.2. After loadingthe backup Ghost file, the system will reboot and the manual control programwill be 6.6.6 )

(6) Modbus function is shown as below：

Device IP: Set visit IP of the host system. It is the IP used in requestingthevisit to data of the manipulator host.

Device Num: Used to identify several manipulators in Modbus request.

Baud rate, data bit, stop bit and check code are connected with devices. Pleaseset the computer same as the manipulator to keep communication. 6.2.10 Maintenance

(1) Repairment page is shown as below：

Under this page, the system can upgrade and renew pictures.

Update description: The upgrade program is copied into the USB disk. Insert USB afterthe controller is power on. Log on senior administrator and turnthe knob to Stop, then enter Function — Maintenance. Click scanupdate package, after the version number shows, select the versionand then click to start updating. The system will automaticallyrestart. Pull out USB.

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Start page and standby page update description:

1. Start new HCUpdate_pic in the root directory in USB to copy the imagestobe shown on the home screen into the folder;(Note: start page picture needs800*600, standby page picture needs 800*400, png format)

2. Insert the USB onto the manual controller;

3. Click update picture, pop up picture update box, click scan picture;

4. Select the picture for standby page, click“choose”, it will pop up“setup successfully, effective after restart”. Select the picture for start page,click“choose”, it will pop up“set up successfully, effective after restart”.Then exit and restart the system.

Factory reset：This function is not in standard configuration.

(2) Maintenance page is shown as below：

In this page, set the maintenance cycle and the cycle is calculated by natural days.If a certain maintenance period is reached, the system will prompt, aftermaintenance, click“restart”to re-timing.

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Chapter 7 Automatic Status

7.1 Monitoring of Auto-running Data

Turn the status selection switch to the automatic gear, then the robot enterstheautomatic standby state. Press the start button again and the robot will start torunautomatically. It is able to monitor the robot's operation data in automatic state.The automatic operation page displays the following:

Time: Record the molding cycle time of the last period.

Fetch time: Time from when the mold opened signal is on to when the program ofmoldlocked ends, that is, from when the mold closable signal is off toon.Set output: The target output set currently.

Good products: The number of qualified products that have been taken by the robot.(Ifthere is no reject signal before the mold is finished, it is good product)Stacked products: Number of products stacked by the robot when operating stack.7.2 Modification of Parameters in Automatic Operation

In automatic running state, the time of action, speed and position of the electricshaft can be modified according to the current running condition. To facilitatethemodification of parameters, click“do not follow”button to stop the program runningindicator bar movement.

Click the line where the action locates to modify the parameter. Select andthenclick“Edit”to pop up the following dialog box：

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In this dialog box, you can modify the delay time of the action, speed and positionof the electric shaft. Change the parameters and click OK, then the parameters willbe accepted online and it will operate according to the changed parameters in thenextcycle. Press Cancel key to cancel the action.

To ensure that the modification of the position of the electric shaft will not damagethe manipulator, injection molding machine and modules, the change is limited within±5 mm each time. 7.3 Single Step Operation

Turn the knob to automatic state, click“Single Step”button, and then press“Start”button to enter the single-step operation mode. In this mode, every timethe“Single Step”button is clicked, the program of automatic action will be executedby a step. The automatic program executed is the automatic program currently taught.The single-step running mode can be used to confirm step by step whether the programbeing taught is correct。

7.4 Single Cycle

In automatic state , click“Cycle”, and then press“Start”to enter the singlecycle operation mode, automatic mode after the automatic operation. 7.5 Speed Adjustment during Automatic Operation

When running automatically, click“Speed Disable”to make it“Speed Enable”.Theupper and lower speed adjustment keys on the selection panel can increase or decreasethe overall speed of the automatic running. The overall speed can be adjusted to200at most.

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Chapter 8 Monitor and Alarm Record

8.1 I/O Monitor

Click“Monitor”at the bottom to enter I/O monitoring page. It is dividedintomanipulator I/O signal, IMM I/O signal and servo parameters. The I/O states are shownas below:

ECS3/ECS5 servo parameters：

The position command deviation, speed and load ratio of each axis can be monitoredin this page.

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RTEX servo parameters：

8.2 Alarm History

Click“Alarm”at the bottom to enter alarm record page, shown as below:

Then the alarm appears, click on the help in the alarm bar, and it will

automatically pop up the prompt box, alarm details and solutions. As shown below:The control system can record the latest 200 alarms, which is convenient for usersto find alarm information before.

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8.3 Modify Log

Click“Modify Log”to enter modification record page, shown as below：The control system can record the latest 200 alarms, which is convenient for usersto find modification information before.

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8.4 Alarms and Solutions

8.4.1 Function Alarms and Solutions

No. Information Reason Solutions

1 Virtual error Internal error of system Please contact our technicians2

Strange

Characters

Internal error of system Please contact our technicians3 Program no end Internal error of system Please contact our technicians4

Ignored

characters

Internal error of system Please contact our technicians5 Coord chaos Internal error of system Please contact our technicians6 No end position Internal error of system Please contact our technicians7 Arc definition Internal error of system Please contact our technicians8 Order Internal error of system Please contact our technicians9

Radius

mismatch

Internal error of system Please contact our technicians10 Over speed

Instruction output

pulse frequency > 600 k

Decelerate

11

Double IO

definitions

Internal error of system Please contact our technicians12

No IO

definition

Internal error of system Please contact our technicians13

Group action

error

The same action steps are

combined.

Decompose the same action ordelete one

14

Group standby

points error

The standby point group

contains the same

actions

Decompose the same action ordelete one

15

Fetch next

order error

The teaching steps are

abnormal

Delete the action

16

Check end out of

range

Internal error of system Please contact our technicians17

Register

contact is

wrong

Internal error of system Please contact our technicians18

Check main

action end

Internal error of system Please contact our technicians19

Register NUM

contact

error

Internal error of system Please contact our technicians20

Register SUB

contact

error

Internal error of system Please contact our technicians21

Register

action

finished

Internal error of system Please contact our technicians22

X is still

running when

generating

action

The same group of actions

contain two X axis action

commands

Decompose X axis actions or deleteone

23

Y is still

running when

generating

action

The same group of actions

contain two Y axis action

commands

Decompose Y axis actions or deleteone

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24

Z is still

running when

generating

action

The same group of actions

contain two Z axis action

commands

Decompose Z axis actions or deleteone25

The timer has

been

cleared when

G has delay

time

Axis action has a

delay, but because

the counter is 0, the

counter cannot delay

Please contact our technicians26

X action

over-speed

Instruction output

pulse frequency > 600 k

Decelerate

27

Y action

over-speed

Instruction output

pulse frequency > 600 k

Decelerate

28

Z action

over-speed

Instruction output

pulse frequency > 600 k

Decelerate

29

Memory write

timeout

Fault in writing stored

parameters

Please contact our technicians30 Debugging fault Internal error of system Please contact our technicians60

A action

over-speed

Instruction output

pulse frequency > 600 k

Decelerate

61

B action

over-speed

Instruction output

pulse frequency > 600 k

Decelerate

62

C action

over-speed

Instruction output

pulse frequency > 600 k

Decelerate

63

A is still

running when

generating

action

The same group of actions

contain two A axis action

commands

Decompose A axis actions or deleteone64

B is still

running when

generating

action

The same group of actions

contain two B axis action

commands

Decompose B axis actions or deleteone65

C is still

running when

generating

action

The same group of actions

contain two C axis action

commands

Decompose C axis actions or deleteone70

X2 action

over-speed

Instruction output

pulse frequency > 600 k

Decelerate

71

Y2 action

over-speed

Instruction output

pulse frequency > 600 k

Decelerate

72

X2 is still

running when

generating

action

The same group of actions

contain two X2 axis

action commands

Decompose X2 axis actions or deleteone

73

Y2 is still

running when

generating

action

The same group of actions

contain two Y2 axis

action commands

Decompose Y2 axis actions or deleteone

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100

X axis feedback

pulse deviation

is too large

Difference of

counter between

pulse command and

feedback pulse

command is larger

than tolerance.

1.If the alarm can be removed, please checkwhether the tolerance is too small（Function- Operation Param - increase“tolerance”parameter）, or that servo rigidity is toosoft.（dynamic following is bad)

2.If the alarm cannot be removed, pleaseusethe positive/negative pulse test, theremaybe a connection problem causing pulse missingor servo feedback pulse direction is notcorrect.（motor forward feedback is 10000,reverse feedback is -10000）101

Y axis feedback

pulse deviation

is too large

Difference of

counter between

pulse command and

feedback pulse

command is larger

than tolerance.

1.If the alarm can be removed, please checkwhether the tolerance is too small（Function- Operation Param - increase“tolerance”parameter）, or that servo rigidity is toosoft.（dynamic following is bad)

2.If the alarm cannot be removed, pleaseusethe positive/negative pulse test, theremaybe a connection problem causing pulse missingor servo feedback pulse direction is notcorrect.（motor forward feedback is 10000,reverse feedback is -10000）102

Z axis feedback

pulse deviation

is too large

Difference of

counter between

pulse command and

feedback pulse

command is larger

than tolerance.

1.If the alarm can be removed, please checkwhether the tolerance is too small（Function- Operation Param - increase“tolerance”parameter）, or that servo rigidity is toosoft.（dynamic following is bad)

2.If the alarm cannot be removed, pleaseusethe positive/negative pulse test, theremaybe a connection problem causing pulse missingor servo feedback pulse direction is notcorrect.（motor forward feedback is 10000,reverse feedback is -10000）103

X axis Z pulse

deviation

Internal error of

system

Please contact our technicians

104

Y axis Z pulse

deviation

Internal error of

system

Please contact our technicians

105

Z axis Z pulse

deviation

Internal error of

system

Please contact our technicians

106

X axis servo

driver alarm

X axis driver alarm

1.If the servo driver alarms, find reasonand solve i t .

2.If the servo driver has no alarm, checkwhether the main board and servo driverconnection is loose or has welding

problem.

3.If the servo driver has no alarm and thewires are normal, replace the main board.

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107

Y axis servo

driver alarm

Y axis driver alarm

1.If the servo driver alarms, find

reason and solve i t .

2.If the servo driver has no alarm, checkwhether the main board and servo driverconnection is loose or has welding

problem.

3.If the servo driver has no alarm andthewires are normal, replace the main board.108

Z axis servo

driver alarm

Z axis driver alarm

1.If the servo driver alarms, find

reason and solve i t .

2.If the servo driver has no alarm, checkwhether the main board and servo driverconnection is loose or has welding

problem.

3.If the servo driver has no alarm andthewires are normal, replace the main board.109

X not moved

in place

Act before X axis moves

to the expected

position

Please contact our technicians

110

Y not moved

in place

Act before Y axis moves

to the expected

position

Please contact our technicians

111

Z not moved

in place

Act before Z axis moves

to the expected

position

Please contact our technicians

112 X-Max alarm

The X axis end limit has

no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.113 X-Min alarm

The X axis starting

limit has no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.114 Y-Max alarm

The Y axis end limit has

no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.115 Y-Min alarm

The Y axis starting

limit has no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.116 Z-Max alarm

The Z axis end limit has

no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.117 Z-Min alarm

The Z axis starting

limit has no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.118

X-Pos too

large

The current position is

greater than the max X

axis movement

1.Please check the relative safety pointsetting. The alarm may appear when

turning tuning knob in max/min position.2.Move toward opposite direction afterremoving the alarm.

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119

X-Pos too

small

The current position is

smaller than the min X

axis movement

1.Please check the relative safety pointsetting. The alarm may appear when

turning tuning knob in max/min position.2.Move toward opposite direction afterremoving the alarm.

120

Y-Pos too

large

The current position is

greater than the max Y

axis movement

1.Please check the relative safety pointsetting. The alarm may appear when

turning tuning knob in max/min position.2.Move toward opposite direction afterremoving the alarm.

121

Y-Pos too

small

The current position is

smaller than the min Y

axis movement

1.Please check the relative safety pointsetting. The alarm may appear when

turning tuning knob in max/min position.2.Move toward opposite direction afterremoving the alarm.

122

Z-Pos too

large

The current position is

greater than the max Z

axis movement

1.Please check the relative safety pointsetting. The alarm may appear when

turning tuning knob in max/min position.2.Move toward opposite direction afterremoving the alarm.

123

Z-Pos too

small

The current position is

smaller than the min Z

axis movement

1.Please check the relative safety pointsetting. The alarm may appear when

turning tuning knob in max/min position.2.Move toward opposite direction afterremoving the alarm.

124

X axis

position is

set too large

when running

Stack points interval

is set wrong and over

the max or min

position

Check settings of stack points and

intervals

125

X axis

position is

set too small

when running

Stack points interval

is set wrong and over

the max or min

position

Check settings of stack points and

intervals

126

Y axis

position is

set too large

when running

Stack points interval

is set wrong and over

the max or min

position

Check settings of stack points and

intervals

127

Y axis

position is

set too small

when running

Stack points interval

is set wrong and over

the max or min

position

Check settings of stack points and

intervals

128

Z axis

position is

set too large

when running

Stack points interval

is set wrong and over

the max or min

position

Check settings of stack points and

intervals

129

Z axis

position is

set too small

when running

Stack points interval

is set wrong and over

the max or min

position

Check settings of stack points and

intervals

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130

X axis memory

error

X axis parameters

memory error

Function-Machine param-Save“X axis”page again

131

Y axis memory

error

Y axis parameters

memory error

Function-Machine param-Save“Y axis”page again

132

Z axis memory

error

Z axis parameters

memory error

Function-Machine param-Save“Z axis”page again

133

Structure

memory error

Host axis parameters

memory error

Function-Machine param-Save parametersof all axes

134

X axis

comparison

Host X axis parameters

do not agree with the

parameters in manual

controller

Function-Machine param-Save“X axis”page again

135

Y axis

comparison

Host Y axis parameters

do not agree with the

parameters in manual

controller

Function-Machine param-Save“Y axis”page again

136

Z axis

comparison

Host Z axis parameters

do not agree with the

parameters in manual

controller

Function-Machine param-Save“Z axis”page again

137

Structure

comparison

Host axis parameters do

not agree with the

parameters in manual

controller

Function-Machine param-Save parametersof all axes and structure parameters138 X is not servo X axis is not servo axis

1.Function - Machine param - set X axisas servo axis in axis definition page.2.Delete actions of X axis in teaching.139 Y is not servo Y axis is not servo axis

1.Function - Machine param - set Y axisas servo axis in axis definition page.2.Delete actions of Y axis in teaching.140 Z is not servo Z axis is not servo axis

1.Function - Machine param - set Z axisas servo axis in axis definition page.2.Delete actions of Z axis in teaching.141

X axis not

enabled

X axis enable is cut off X axis enable

142

Y axis not

enabled

Y axis enable is cut off Y axis enable

143

Z axis not

enabled

Z axis enable is cut

off

Z axis enable

160

X2 axis feedback

pulse deviation

is too large

Difference of counter

between pulse command

and feedback pulse

command is larger than

tolerance.

1.If the alarm can be removed, pleasecheck whether the tolerance is too small（Function - Operation Param - increase“tolerance” parameter）, or that servorigidity is too soft（dynamic followingis bad)

2.If the alarm cannot be removed, pleaseuse the positive/negative pulse test,there may be a connection problem causingpulse missing or servo feedback pulsedirection is not correct.（motor forwardfeedback is 10000, reverse feedbackis-10000）

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161

Y2 axis feedback

pulse deviation

is too large

Difference of counter

between pulse command

and feedback pulse

command is larger than

tolerance.

1.If the alarm can be removed, pleasecheck whether the tolerance is too small（Function - Operation Param - increase“tolerance” parameter）, or that servorigidity is too soft.（dynamic followingis bad)

2.If the alarm cannot be removed, pleaseuse the positive/negative pulse test,there may be a connection problem causingpulse missing or servo feedback pulsedirection is not correct.（motor forwardfeedback is 10000, reverse feedbackis-10000）

162

X2 axis Z pulse

deviation

Internal error of system Please contact our technicians163

Y2 axis Z pulse

deviation

Internal error of system Please contact our technicians164

X2 axis servo

driver alarm

X2 axis driver alarms

1.If the servo driver alarms, findreason and solve i t .

2.If the servo driver has no alarm,check whether the main board and servodriver connection is loose or has

welding problem.

3.If the servo driver has no alarm andthewires are normal, replace the main board.165

Y2 axis servo

driver alarm

Y2 axis driver alarms

1.If the servo driver alarms, findreason and solve i t .

2.If the servo driver has no alarm,check whether the main board and servodriver connection is loose or has

welding problem.

3.If the servo driver has no alarm andthewires are normal, replace the main board.166

X2 not moved

in place

Act before X2 axis moves

to the taught position

Please contact our technicians167

Y2 not moved

in place

Act before Y2 axis moves

to the taught position

Please contact our technicians168 X2-Max alarm

The X2 axis end limit

has no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.169 X2-Min alarm

The X2 axis starting

limit has no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.170 Y2-Max alarm

The Y2 axis end limit

has no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.171 Y2-Min alarm

The Y2 axis starting

limit has no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.

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172 X2-Pos too large

The current position is

greater than the max X2

axis movement

1.Please check the relative safetypoint setting. The alarm may appear whenturning tuning knob in max/min

position.

2.Move toward opposite direction afterremoving the alarm.

173 X2-Pos too small

The current position is

smaller than the min X2

axis movement

1.Please check the relative safetypoint setting. The alarm may appear whenturning tuning knob in max/min

position.

2.Move toward opposite direction afterremoving the alarm.

174 Y2-Pos too large

The current position is

greater than the max Y2

axis movement

1.Please check the relative safetypoint setting. The alarm may appear whenturning tuning knob in max/min

position.

2.Move toward opposite direction afterremoving the alarm.

175 Y2-Pos too small

The current position is

smaller than the min Y2

axis movement

1.Please check the relative safetypoint setting. The alarm may appear whenturning tuning knob in max/min

position.

2.Move toward opposite direction afterremoving the alarm.

176

X2 axis position

is set too large

when running

Stack points interval

is set wrong and over

the max or min position

Check settings of stack points andintervals

177

X2 axis position

is set too small

when running

Stack points interval

is set wrong and over

the max or min position

Check settings of stack points andintervals

178

Y2 axis position

is set too large

when running

Stack points interval

is set wrong and over

the max or min position

Check settings of stack points andintervals

179

Y2 axis position

is set too small

when running

Stack points interval

is set wrong and over

the max or min position

Check settings of stack points andintervals

180

X2 axis memory

error

X2 axis parameters

memory error

Function-Machine param-Save“X2 axis”page again

181

Y2 axis memory

error

Y2 axis parameters

memory error

Function-Machine param-Save“Y2 axis”page again

182

X2 axis

comparison

Host X2 axis parameters

do not agree with the

parameters in manual

controller

Function-Machine param-Save“X2 axis”page again

183

Y2 axis

comparison

Host Y2 axis parameters

do not agree with the

parameters in manual

controller

Function-Machine param-Save“Y2 axis”page again

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184 X2 is not servo X2 axis is not servo axis

1.Function - Machine param - set X2 axisas servo axis in axis definition page.2.Delete actions of X2 axis in teaching.185 Y2 is not servo Y2 axis is not servo axis

1.Function - Machine param - set Y2 axisas servo axis in axis definition page.2.Delete actions of Y2 axis in teaching.200

A axis feedback

pulse deviation

is too large

Difference of counter

between pulse command

and feedback pulse

command is larger than

tolerance.

1.If the alarm can be removed, pleasecheck whether the tolerance is too small（Function - Operation Param - increase“tolerance” parameter）, or that servorigidity is too soft.（dynamic followingis bad)

2.If the alarm cannot be removed, pleaseuse the positive/negative pulse test,there may be a connection problem causingpulse missing or servo feedback pulsedirection is not correct.（motor forwardfeedback is 10000, reverse feedbackis-10000）

201

B axis feedback

pulse deviation

is too large

Difference of counter

between pulse command

and feedback pulse

command is larger than

tolerance.

1.If the alarm can be removed, pleasecheck whether the tolerance is too small（Function - Operation Param - increase“tolerance” parameter）, or that servorigidity is too soft.（dynamic followingis bad)

2.If the alarm cannot be removed, pleaseuse the positive/negative pulse test,there may be a connection problem causingpulse missing or servo feedback pulsedirection is not correct.（motor forwardfeedback is 10000, reverse feedbackis-10000）

202

C axis feedback

pulse deviation

is too large

Difference of counter

between pulse command

and feedback pulse

command is larger than

tolerance.

1.If the alarm can be removed, pleasecheck whether the tolerance is too small（Function - Operation Param - increase“tolerance” parameter）, or that servorigidity is too soft.（dynamic followingis bad)

2.If the alarm cannot be removed, pleaseuse the positive/negative pulse test,there may be a connection problem causingpulse missing or servo feedback pulsedirection is not correct.（motor forwardfeedback is 10000, reverse feedbackis-10000）

203

A axis Z pulse

deviation

Internal error of system Please contact our technicians204

B axis Z pulse

deviation

Internal error of system Please contact our technicians

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205

C axis Z pulse

deviation

Internal error of system Please contact our technicians206

A axis servo

driver alarm

A axis driver alarms

1.If the servo driver alarms, findreason and solve i t .

2.If the servo driver has no alarm,check whether the main board and servodriver connection is loose or has

welding problem.

3.If the servo driver has no alarm andthewires are normal, replace the main board.207

B axis servo

driver alarm

B axis driver alarms

1.If the servo driver alarms, findreason and solve i t .

2.If the servo driver has no alarm,check whether the main board and servodriver connection is loose or has

welding problem.

3.If the servo driver has no alarm andthewires are normal, replace the main board.208

C axis servo

driver alarm

C axis driver alarms

1.If the servo driver alarms, findreason and solve i t .

2.If the servo driver has no alarm,check whether the main board and servodriver connection is loose or has

welding problem.

3.If the servo driver has no alarm andthewires are normal, replace the main board.209

A not moved

in place

Act before A axis moves

to the expected position

Please contact our technicians210

B not moved

in place

Act before B axis moves

to the expected position

Please contact our technicians211

C not moved

in place

Act before C axis moves

to the expected position

Please contact our technicians212 A-Max alarm

The A axis end limit has

no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.213 A-Min alarm

The A axis starting

limit has no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.214 B-Max alarm

The B axis end limit has

no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.215 B-Min alarm

The B axis starting

limit has no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.216 C-Max alarm

The C axis end limit has

no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.217 C-Min alarm

The C axis starting

limit has no signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.

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218 A-Pos too large

The current position is

greater than the max A

axis movement

1.Please check the relative safetypoint setting. The alarm may appear whenturning tuning knob in max/min

position.

2.Move toward opposite direction afterremoving the alarm.

219 A-Pos too small

The current position is

smaller than the min A

axis movement

1.Please check the relative safetypoint setting. The alarm may appear whenturning tuning knob in max/min

position.

2.Move toward opposite direction afterremoving the alarm.

220 B-Pos too large

The current position is

greater than the max B

axis movement

1.Please check the relative safetypoint setting. The alarm may appear whenturning tuning knob in max/min

position.

2.Move toward opposite direction afterremoving the alarm.

221 B-Pos too small

The current position is

smaller than the min B

axis movement

1.Please check the relative safetypoint setting. The alarm may appear whenturning tuning knob in max/min

position.

2.Move toward opposite direction afterremoving the alarm.

222 C-Pos too large

The current position is

greater than the max C

axis movement

1.Please check the relative safetypoint setting. The alarm may appear whenturning tuning knob in max/min

position.

2.Move toward opposite direction afterremoving the alarm.

223 C-Pos too small

The current position is

smaller than the min C

axis movement

1.Please check the relative safetypoint setting. The alarm may appear whenturning tuning knob in max/min

position.

2.Move toward opposite direction afterremoving the alarm.

224

A axis position

is set too large

when running

Stack points interval

is set wrong and over

the max or min position

Check settings of stack points andintervals

225

A axis position

is set too small

when running

Stack points interval

is set wrong and over

the max or min position

Check settings of stack points andintervals

226

B axis position

is set too large

when running

Stack points interval

is set wrong and over

the max or min position

Check settings of stack points andintervals

227

B axis position

is set too small

when running

Stack points interval

is set wrong and over

the max or min position

Check settings of stack points andintervals

228

C axis position

is set too large

when running

Stack points interval

is set wrong and over

the max or min position

Check settings of stack points andintervals

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229

C axis position

is set too small

when running

Stack points interval

is set wrong and over

the max or min position

Check settings of stack points andintervals

230

A axis memory

error

A axis parameters

memory error

Function-Machine param-Save“A axis”page again

231

B axis memory

error

B axis parameters

memory error

Function-Machine param-Save“B axis”page again

232

C axis memory

error

C axis parameters

memory error

Function-Machine param-Save“C axis”page again

233 SPI NULL Internal error of system Please contact our technicians234

A axis

comparison

Host A axis parameters

do not agree with the

parameters in manual

controller

Function-Machine param-Save“A axis”page again

235

B axis

comparison

Host B axis parameters

do not agree with the

parameters in manual

controller

Function-Machine param-Save“B axis”page again

236

C axis

comparison

Host C axis parameters

do not agree with the

parameters in manual

controller

Function-Machine param-Save“C axis”page again

237 COMPARE NULL Internal error of system Please contact our technicians238 A is not servo A axis is not servo axis

1.Function - Machine param - set A axisas servo axis in axis definition page.2.Delete actions of A axis in teaching.239 B is not servo B axis is not servo axis

1.Function - Machine param - set B axisas servo axis in axis definition page.2.Delete actions of B axis in teaching.240 C is not servo C axis is not servo axis

1.Function - Machine param - set C axisas servo axis in axis definition page.2.Delete actions of C axis in teaching.300 X axis set wrong

Machine param of X axis

is wrong

Function-Machine param-Save“X axis”page again

301 Y axis set wrong

Machine param of Y axis

is wrong

Function-Machine param-Save“Y axis”page again

302 Z axis set wrong

Machine param of Z axis

is wrong

Function-Machine param-Save“Z axis”page again

303

Action check sum

error

Modification of

teaching is not sent to

the host in automatic

state.

Please contact our technicians304

Emergency stop

input

Emergency stop signal

has input

1.Retract emergency stop button onmanual controller

2.Check whether the connection betweenmanual controller and main board isloose.

3.Check whether emergency stop signalofIMM has input.

4.Check main board power supply.

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305 Main cycle error

Host initialization

error

Restart the host

306

Standby point

position error

Starting point in mold

number does not agree

with axis definition

in Function - Machine

param - Structure

1.Create a new model number.

2.Y standby position should be lessthan the max standby position.

307

Fetching module

error

Program error Restart

308 Too large

tolerance

If the tolerance is more

than 10 mm, it will send

an alarm.

1.The touch tolerance must be less than10mm.

2.Three-axis/Five-axis system

tolerance must be less than 100mm.309

Mold Function

parameter

error

Mold parameter

between host and

manual controller are

inconsistent

Create new module number

310 iSub too large Abnormal subprogram Create new module number

311 iSub nesting Abnormal subprogram

Create new module number

312 Illegal stack Stack without teaching Please contact our technicians313

Overlapping

stack

Steps of stack

are combined

Decompose stack action steps

314

Wrong actions

order

Sequence in running

does not agree with

sequence stored

Please contact our technicians315

System

parameter

In two axis touch

system, operation

parameters - tolerance

is too large, no more

than 10

The tolerance is set less than 10mm316

Wrong actions

order

Sequence in running

does not agree with

sequence stored

Please contact our technicians317

Wrong actions

order

Sequence in running

does not agree with

sequence stored

Please contact our technicians318

Single

command

juxtaposed

Steps of wait and

condition program are

combined

Discompose these steps

319

Only run in

auto

Allow teaching in non

-automatic state

Switch to automatic state when running320

Call

abnormal SEQ

Value of return step

number that exceeds the

last step of program

overflows

Check return step number when usingcondition function

321

Wrong checksum

in calling

Checksum is

inconsistent with host

while running

Please contact our technicians

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322

Wrong GM

checksum in call

Checksum is

inconsistent with host

while running

Please contact our technicians323 Wait Mold Opened

No step of“Wait mold

opened”in mold number

program

Inset the step into the program324

Wrong GEM in

auto adjustment

Manual controller does

not agree with host

while operating axis

action

Please contact our technicians325

Clip action is

duplicated

The action steps of the

same fixture are

combined

Decompose the synchronous action steps326

Repeated

actions

The action steps of the

same axis are combined

Decompose the synchronous action steps327

Only call in

level one

Teaching program fault

Check teaching program. Commands ofdetection, waiting, track and moduleending can only be used in main program.328

Detect

condition when

acting

Steps of condition and

action are combined

Discompose steps of condition andaction

329

Clip/suck

detection param

The parameters of

fixture and main board

are inconsistent

Please contact our technicians330

Posture is

chosen, please

restart

Fixture definition is

changed in Function -

Product setting page

Restart

331

Posture

selection param

is wrong

Internal profile

posture parameters are

inconsistent with the

host

Save in other definitions in

Function-Machine param-Structure

332

Output chosen,

please restart

Output definition in

Function-Machine

param-Structure is

changed

Restart

333

Axis definition

is changed,

please restart

Axis definition in

Function-Machine

param-Structure is

changed

Restart

334

Macro param

checksum is

wrong

Parameters of manual

controller do not fit

main board

Save in Struct param in Function-Machineparam

360

X2 axis

parameter check

Parameters of manual

controller do not fit

main board

Save axis param in Function-Machineparam

361

Y2 axis

parameter check

Parameters of manual

controller do not fit

main board

Save axis param in Function-Machineparam