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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 trial

production and insert the condition into the main program position. Set N modulesfortrial in products settings.(Refer to section 7.2.2 for details.)When it is time tobeexecuted, previous N modules will jump to trial subprogram and back to Comment inmainprogram 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.6.2.14 Modification of Program Parameters

Click the program step to be modified, and then click the“Edit”button to popupthe following 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 positionandthen runs to 1300 position.

2. When checked, that is to use reject enable, if the reject signal is detected,Z axis moves to 1300 mm position while running external; if not, the Z axis movesto1500 mm position. This function is unique to the Z axis.

Note: Reject enable function can only be used outside, can not be used inside!6.3 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. 6.3.1 Requirement

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. 6.3.2 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 outputs themoldclosable 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 7 Stop State

7.1 Program Management

Under the stop state, click the“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 the“new file name”text box, then clickthe“New”button to create a new blank mold number program. Letters and numbers canbeused in file names.

Copy: After entering the new name in the“new file name”text box, click the storedmoldnumber name, and then click the“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 the“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 module program,and then click the“Export”button to export the selected program to USB 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 programfromthe USB flash drive to the manual controller. If the import is successful,theimported mold number will appear in“Local Mold Number”.

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

Clear: Clear the search records.

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7.2 Function

Click the“Function”button in the lower left corner of the screen to enter the functionsetting page. As shown below:

The function settings page contains eight sub pages including“Signal Settings”，“Product Settings”，“Operation Configure”，“Security Point Settings”，“StackSettings”,“System Settings”，“Mechanical Param”and“Maintenance”. 7.2.1 Signal Settings

Click the “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, whenthecorresponding fixture confirms the limited signal input, it

represents the fixture has taken the object successfully; whenthecorresponding fixture confirms no limit signal input, it representsthe fixture has failed to take the object.

Negative phase: The corresponding fixture switch negative phase detection, whenthecorresponding fixture confirms no limit signal input, it representsthe fixture has taken the object successfully; when the correspondingfixture confirms the limit signal input, it represents the fixturehas failed to take the object.

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.

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（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.

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

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(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.7.2.2 Product Settings

Click the“Product Settings”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 production isupto 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 the 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) to whenthemold 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 and verticalof 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 mode will not outputautomatically. When the switch automatically runs to the lock mode action, the switchmode can only start the output.

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7.2.3 Operation Configure

Click the“Operation Configure”button on the function setting page to enter the runparameter setting 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 %. 7.2.4 The Relationship between Several Speeds

At full automatic operation, the speed depends on the overall speed of the red circleandthe 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 runningspeed is 64 %, that is, the corresponding pulse is 320 KHz, the corresponding speedis 1920 rpm.

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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 the X axis is 64 % and this value is greaterthan 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. 7.2.5 Security Point Settings

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.

7.2.5.1 X1, X2 axis parameters

Click the“Struct Settings”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, as shown below:

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.Min pos inside mold: When the Y axis descends into the mold, the minimum positionofthe X axis can be moved.

Max pos inside mold: 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.

Note: The parameters of the X2 and X1 axis are the same.

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.

7.2.5.2 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 whentheaxis descends 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 lengthoforigin iron 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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7.2.5.3 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.7.2.5.4 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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7.2.5.5 Limit settings

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

7.2.6 Mechanical Parameter Structure

7.2.6.1 Axis Definition page for“Structure”

Struct: It is divided into“Arm Define”,“Reserve Define”,“Limit Define”,“Origin”，“Other Define”and“Servo tuning”.

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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.

Tips:

1. This system is 3-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.7.2.6.2 Structure's Reserve Define page:

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

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

Y043: Check the running lamp. Monitor output page displays as running lamp. Reservechecked displays 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; if Reserve2 has output, Reserve 2 output signal will be off when Reserve 1 has output.These two signals cannot output at the same time.

7.2.6.3 Structure's Limit Define page:

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

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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.7.2.6.4 Structure's Origin page:

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

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7.2.6.5 Structure Other Definitions Page:

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

Security Door Mode：

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

Close door and return：After the manipulator failed to fetch, the safety door is openedand then closed. The manipulator executes the program beforemold opened again. After moving to the start point, wait forthenext mold opened signal..

Close door stop：After the manipulator failed to fetch, the safety door is openedandthen closed. The manipulator stops in the current position and exitsautomatic state.

Run On close door confirm：After the manipulator failed to fetch, the safety doorisopened and then closed. Click“Continue”in the dialog poppedup, then the robot continues executing program of this mold.Click“Give up”, then the manipulator returns to the originand 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,thelimit switch is disconnected; if beyond the limit position, the limit switchhas signal input and it will alarm immediately; if limit switch has no signalinput, there will be no alarm.

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

In Mold rotation：

Limit：Limit the internal descending posture as vertical and side posture is forbidden.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 alarmwhenit is over the safety time; if not checked, this function is invalid.

Servo Flex：To improve the curve of motion planning.(Optional, not available for standard)Force En：When the servo enable is abnormal, it is recommended.

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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 taken astheorigin signal.

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

7.2.6.6 Servo Parameters

Go to the Struct Settings - Struct - Servo Parameters page and set the servoparameters.(Only for 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.

Parm 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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7.2.6.7 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

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~

2000

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

0.1~50.0 laps 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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7.2.7 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)

7.2.8 Stack Settings

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 equipped with 7 groupsof stacking, the first 6 groups are regular stacking, and the seventh group is 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 themainarm stack, the secondary arm does not stack.

(2) The X1、Y1 and X2、Y2 are stacked at the same time. The stackingsequence, 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:

Set 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.

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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

Current Point：The order number of the stack point. As shown above, if set as 1,theposition 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 X Z 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 the stack button to enter the following page:

Stack settings and stack teaching are regardless of order.

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 start stacking.When running automatically, the manipulator stacks the discharge product according tothisstack. When using the Y axis, be sure to insert the stack program into the previousstepof the Y axis descending action.

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

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

For more live stacking examples, please pay attention to the official account.Scan the QR code to check

particular stack course.

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7.2.9 System Settings “System Settings”contains five pages:“System Settings”,“Level Management”,“Admin Settings”,“BackUp/Restore”and“Ghost”.

(1) The System Settings page, 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)

(2) Permission management page. As shown below:

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Permissions: Divided into administrators and senior administrators; 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）Advanced Administrator Options page , as shown below :

Verify：Enter szhc2a in the text box next to the validation button, and click the button.The“function extension”,“quick instruction”and “registration”changefromgray to black.

Extent Function：When checked, the main menu of the edit page in manual state has12sub-pages; if not checked, the“condition”and“sequence action”ofthe main menu page will be hidden and the function can not be used.If you need to register, please enter Wechat official account--Service support--Onlineregister. It needs to change manufacturer code before register and power off to restartafter finish register.

(4) Backup/restore pages. As shown 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.

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(5) Ghost functions, as shown 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(insert theUSBfirst).

Scan：Scan the backup Ghost file (insert USB) and the backup file appears in thebluebox.

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 program will returnto backup program in Ghost file.(If the current manual control program is 6.6.6,back up the Ghost file and then upgrade to 6.7.2. After loading the backup Ghostfile, the system will reboot and the manual control program will be 6.6.6).7.2.10 Maintenance

（1）Maintenance page, as shown below:

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

Update description: The upgrade program is copied into the USB disk. InsertUSBafter the controller is power on. Log on senior administratorand turn the knob to Stop, then enter Function —Maintenance.Click scan update package, after the version number shows,select the version and then click to start updating. The systemwill automatically restart. 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 , as shown 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, after maintenance,click“restart”to re-timing.

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Chapter 8 Automatic Status

8.1 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.Theautomatic 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 to on.

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.8.2 Modification of Parameters in Automatic Operation

In automatic running state, the time of action, speed and position of the electric shaftcan be modified according to the current running condition. To facilitate the modificationof parameters, click“do not follow”button to stop the program running indicator barmovement.

Click the line where the action locates to modify the parameter. Select and then clicktheEdit button 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 willbeaccepted online and it will operate according to the changed parameters in the next cycle.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±5mm each time. 8.3 Single Step Operation

Turn the knob to automatic state, click the“Single Step”button, and then pressthe“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 executedbyastep. 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. 8.4 Single Cycle

In the automatic state , click“Cycle”, and then press“Start”to enter the singlecycle operation mode, automatic mode after the automatic operation. 8.5 Speed Adjustment during Automatic Operation

When running automatically, click“Speed Disable”button to make it“Speed Enable”.The upper 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 to 200atmost.

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Chapter 9 Monitor and Alarm Record

9.1 I/O Monitor

Click the “Monitor” button at the bottom of the screen to enter the monitoringpageof the I/O signal. The page is divided into manipulator I/O signal, injection molding machineI/O signal and servo parameters. I/O status is as follows:

Servo parameter monitoring page:

You can monitor the position deviation, speed and load rate of each axis on this page.9.2 Alarm History

Click the “Alarm history” button at the bottom of the screen to enter the alarm screen.As shown below:

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When the alarm appears, click on the help in the alarm bar, and it will automaticallypop 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 the manipulator history alarm information. 9.3 Modify Log

Click the button “Modify Log”at the bottom of the screen to enter the modified recordscreen. As shown below:

The control system can record the latest 200 modification records to facilitatetheuser to find information about the manipulator history modification.

Close

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9.4 Alarms and Solutions

9.4.1 Functions alarm and solutions

Alarm

Number

Alarm

Information

Alarm Reason

Alarm Solution1 Virtual Error None None

2 Strange Characters None None

3 Program no end None None

4 Ignored characters None None

5 Coord chaos None None

6 No end position None None

7 Arc definition None None

8 Order None None

9 Radius mismatch None None

10 Over speed

Output pulse command

frequency >600 K

Deceleration11 Double Define IO None None

12 None Define IO None None

13 Group Action is error

The same action steps are

combined.

Decompose the sameaction or delete one14 Group standby is error

The standby point combination

contains the same action

Decompose the sameaction or delete one15 Fetch next step wrong The teaching steps are abnormal Action deleted

16 Check end out of range

None

Please contact ourtechnicians

17

Register contact is

wrong

None

Please contact ourtechnicians

18 Check main action end

None

Please contact ourtechnicians

19

Register NUM contact

is wrong

None

Please contact ourtechnicians

20

Register Sub contact

is wrong

None

Please contact ourtechnicians

21

Register action has

finished

None

Please contact ourtechnicians

22

X is still running when

generate action

The same combination action

contains two X axis motion

commands

Decompose or

delete an X axisaction

23 Y is still running when

generate action

The same combination action

contains two Y action

instruction

Decompose or

delete a Y axisaction

24 Z is still running when

generate action

The same combination action

contains two Z axis motion

commands

Decompose or

delete a Z axisaction

25

The timer has been

cleared when G has

delay time

Axis action has a delay, but

because the counter is 0, the

counter can not delay

Please contact ourtechnicians

26 X over-speed

The same combination action

contains two X axis motion

commands

Deceleration

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27 Y over-speed

The same combination

action contains two

Y action

instruction

Deceleration

28 Z over-speed

The same combination

action contains two Z

axis motion commands

Deceleration

29

Register write

overtime

An exception of stored

parameter writes

Please contact our technicians30 Debug fail Please contact our technicians60 A over-speed

Instruction output

pulse frequency > 600 k

Deceleration

61 B over-speed

Instruction output

pulse frequency > 600 k

Deceleration

62 C over speed

Instruction output

pulse frequency > 600 k

Deceleration

63

A is still

running when

generate action

The same combination

action contains two

axis motion commands A

Decompose or delete an A

axis action

64

B is still

running when

generate action

The same combination

action contains two B

axis motion commands

Decompose or delete a B axis action65

C is still

running when

generate action

The same combination

action contains two C

axis motion commands

Decompose or delete a C axis action70 X2 over-speed

Instruction output

pulse frequency > 600 k

Deceleration

71 Y2 over-speed

Instruction output

pulse frequency > 600 k

Deceleration

72

X2 is still

running when

generate action

The same combination

action contains two X2

axis motion commands

Decompose or delete X2 axis action73

Y2 is still

running when

generate action

The same combination

action contains two Y2

axis motion commands

Decompose or delete Y2 axis action100

X axis feedback

pulse deviation is

too large

Difference of counter

between pulse command

and feedback pulse

command is larger than

set value

1.If the alarm can be removed, pleasecheck whether the tolerance is toosmall（function - running parameters- increase“tolerance”parameter）,servo rigidity is too soft.（dynamicfollowing is bad)

2.If the alarm cannot be removed,please use the positive/negativepulse test, there may be a connectionproblem causing pulse missing or servofeedback pulse direction is not

correct.（motor forward feedbackis10000, reverse feedback is 55535）

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101

Y axis feedback

pulse deviation

is too large

Difference of counter

between pulse command

and feedback pulse

command is larger than

set value

1.If the alarm can be removed, pleasecheck whether the tolerance is too small（function - running parameters -

increase“tolerance”parameter）,servorigidity is too soft.（dynamic followingis bad)

2.If the alarm cannot be removed, pleaseuse the positive and negative pulse test,there may be a connection problem causingpulse missing or servo feedback pulsedirection is not correct.（motor forwardfeedback is 10000, reverse feedbackis55536）

102

Z axis feedback

pulse deviation

is too large

Difference of counter

between pulse command

and feedback pulse

command is larger than

set value

1.If the alarm can be removed, pleasecheck whether the tolerance is too small（function - running parameters -

increase“tolerance”parameter）,servorigidity is too soft.（dynamic followingis bad)

2.If the alarm cannot be removed, pleaseuse the positive and negative pulsetest, there may be a connection problemcausing pulse missing or servo feedbackpulse direction is not correct.（motorforward feedback is 10000, reversefeedback is 55537）103 X axis Z pulse

error

None None

104 Y axis Z pulse

error

None None

105 Z axis Z pulse

error

None None

106

X servo driver

alarm

X axis driver alarm

1.The servo driver alarms, find reason,solve the servo driver alarm.

2.The servo driver has no alarm, checkwhether the main board and servo driverconnection is loose or have weldingproblem.

3.The servo driver has no alarm, thewireis normal. Replace the main board.107

Y servo driver

alarm

Y axis driver alarm

1.The servo driver alarms, find reason,solve the servo driver alarm.

2.The servo driver has no alarm, checkwhether the main board and servo driverconnection is loose or have weldingproblem.

3.The servo driver has no alarm, thewireis normal. Replace the main board.

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108 Z servo driver

alarm

Z axis driver alarm

1.The servo driver alarms, find

reason, solve the servo driver alarm.2.The servo driver has no alarm, checkwhether the main board and servo driverconnection is loose or have weldingproblem.

3.The servo driver has no alarm, thewireis normal. Replace the main board.109

X Not moved

into place

Act before X axis moves

to the expected position

Please contact our technicians110

Y Not moved

into place

Act before Y axis moves

to the expected position

Please contact our technicians111

Z Not moved

into place

Act before Z axis moves

to the expected position

Please contact our technicians112 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

point 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

point 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

point 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

movement

1.Please check the relative

security point setting. The alarm mayappear when turning tuning knob inmax/min position.

2.Move toward opposite direction afterremoving the alarm.

119 X-Pos too small

The current position is

less than the min X axis

movement

1.Please check the relative

security point setting. The alarm mayappear when turning tuning knob inmax/min position.

2.Move toward opposite direction afterremoving the alarm.

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120 Y-Pos too large

The current position is

greater than the max Y

axis movement

1.Please check the relative

security point setting. The alarmmayappear when turning tuning knob inmax/min position.

2.Move toward opposite direction afterremoving the alarm.

121

Y-Pos too small

Current position is

less than the min Y axis

movement

1.Please check the relative

security point setting. The alarmmayappear when turning tuning knob inmax/min position.

2.Move toward opposite direction afterremoving the alarm.

122

Z-Pos too large

Current position is

greater than the max Z

axis movement

1.Please check the relative

security point setting. The alarmmayappear when turning tuning knob inmax/min position.

2.Move toward opposite direction

after removing the alarm.

123

Z-Pos too small

Current position is

less than the min Z axis

movement

1.Please check the relative

security point setting. The alarmmayappear when turning tuning knob inmax/min position.

2.Move toward opposite directionafter removing the alarm.

124

X position is set

too large when

running

Stacked points interval

is set wrong and over

the max or min position

Check the number of stacked pointsandinterval

125

X position is set

too small when

running

Stacked points interval

is set wrong and over

the max or min position

Check the number of stacked pointsandinterval

126

Y position is set

too large when

running

Stacked points interval

is set wrong and over

the max or min position

Check the number of stacked pointsandinterval

127

Y position is set

too small when

running

Stacked points interval

is set wrong and over

the max or min position

Check the number of stacked pointsandinterval

128

Z position is set

too large when

running

Stacked points interval

is set wrong and over

the max or min position

Check the number of stacked pointsandinterval

129

Z position is set

too small when

running

Stacked points interval

is set wrong and over the

max or min position

Check the number of stacked pointsandinterval

130

X Axis memory

error

X axis parameters

memory error

Function - mechanical parameters -[X]page save again

131

Y Axis memory

error

Y parameters memory

error.

Function - mechanical parameters -[Y]page save again

132

Z Axis memory

error

Z axis parameters

memory error.

Function- mechanical parameters -[Z]page save again

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133

Struct memory

error

The host shaft

parameters memory error

Function - mechanical parameters-save all the parameters of the shaft134

X axis compare

Host X axis parameters

do not agree with the

parameters in hand

controller

Function - mechanical parameters -[X]page save again

135 Y axis compare

Host Y axis parameters do

not agree with the

parameters in hand

controller

Function - mechanical parameters -[Y]page save again

136

Z axis compare

The host Z axis

parameters do not match

the parameters of the

manual controller

Function - mechanical parameters-[Z] page save again

137 Struct compare

Host axis parameters do

not agree with the

parameters of the manual

controller

Function - mechanical parameters-save all the parameters of the shaft138 X is not servo

Servo axis is not opened in

X axis. No teaching step

for X axis in teaching

program

1.Function - Mechanical parameter-open X axis as servo axis in axisdefinition

2.Delete actions of X axis in teaching139 Y is not servo

Servo axis is not opened in

Y axis. No teaching step

for Y axis in teaching

program

1.Function - Mechanical parameter-open Y axis as servo axis in axisdefinition

2.Delete actions of Y axis in teaching140 Z is not servo

Servo axis is not opened in

Y axis. No teaching step

for Z axis in teaching

program

1.Function - Mechanical parameter-open Z axis as servo axis in axisdefinition

2.Delete actions of Z axis in teaching141

X axis not

enabled

X axis enable is cut off Enable X axis

142

Y axis not

enabled

Y axis enable is cut off Enable X axis

143

Z axis not

enabled

Z axis enable is cut off Enable X axis

160

X2 axis

feedback

pulse

deviation is

too large

Difference of counter

between pulse command and

feedback pulse command is

larger than set value

1.If the alarm can be removed, pleasecheck whether the tolerance is toosmall（function - running parameters- increase“tolerance”parameter),servo rigidity is too soft.（dynamicfollowing is bad)

2.If the alarm cannot be removed,please use the positive and negativepulse test, there may be a connectionproblem causing pulse missing or servofeedback pulse direction is not

correct.（motor forward feedbackis10000, reverse feedback is 55537）

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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 set value

1.If the alarm can be removed, please checkwhether the tolerance is too small（function- running parameters - increase “tolerance”parameter）, servo rigidityistoo soft.（dynamic following is bad)

2.If the alarm may not clear, please usethepositive and negative pulse test, theremaybe a connection problem cause pulse missingorservo feedback pulse direction is not correct.（motor forward feedback is 10000, reversefeedback is 55535）

162

X2 axis Z

signal

None None

163

Y2 axis Z

signal

None None

164

X2 servo

driver

alarm

X2 axis driver

alarm

1.The servo driver alarms, find reason,solve the servo driver alarm.

2.The servo driver has no alarm, check

whether the main board and servo driverconnection is loose or have welding problem.3.The servo driver has no alarm, the wireisnormal. Replace the main board.

165

Y2 servo

driver

alarm

Y2 shaft driver

the police

1.The servo driver alarms, find reason,solve the servo driver alarm.

2.The servo driver has no alarm, check

whether the main board and servo driverconnection is loose or have welding problem.3.The servo driver has no alarm, the wireisnormal. Replace the main board.

166 X2 missed pos

Act before X2 axis

moves to the taught

position

Please contact our technicians

167

Y2 missed pos

Act before Y2 axis

moves to the taught

position

Please contact our technicians

168 X2-Max alarm

X2 shaft end limit

has no signal

1.Check the limit switch is normal.

2.The limit is normally closed, check whetherthe short connection is normal.

169 X2-Min alarm

X2 axis starting

point limit has

no signal

1.Check the limit switch.

2.The limit is normally closed, check whetherthe short connection is normal.

170 Y2-Max alarm

Y2 shaft end limit

has no signal

1.Check the limit switch.

2.The limit is normally closed, check whetherthe short connection is normal.

171 Y2-Min alarm

Y2 axis starting

point limit has

no signal

1.Check the limit switch.

2.The limit is normally closed, check whetherthe short connection is normal.

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172 X2-Pos too large

Current position is larger

than the max X2 axis movement

1.Please check the relative

security point setting. The alarmmay appear when turning tuning knobin max/min position.

2.Move toward opposite directionafter removing the alarm.

173 X2-Pos too small

Current position is less

than the min X2 axis movement

1.Please check the relative

security point setting. The alarmmay appear when turning tuning knobin max/min position.

2.Move toward opposite

direction after removing the

alarm.

174 Y2-Pos too large

Current position is larger

than the max Y2 axis

movement

1.Please check the relative

security point setting. The alarmmay appear when turning tuning knobin max/min position.

2.Move toward opposite

direction after removing the

alarm.

175 Y2-Pos too small

Current position is less

than the min Y2 axis

movement

1.Please check the relative

security point setting. The alarmmay appear when turning tuning knobin max/min position.

2.Move toward opposite

direction after removing the

alarm.

176

X2 position is

set too large

when running

Stacked points interval is

set wrong and over the

max or min position

Check the number of stacked pointsand interval

177

X2 position is

set too small

when running

Stacked points interval is

set wrong and over the

max or min position

Check the number of stacked pointsand interval

178

Y2 position is

set too large

when running

Stacked points interval is

set wrong and over the

max or min position

Check the number of stacked pointsand interval

179

Y2 position is

set too small

when running

Stacked points interval is

set wrong and over the

max or min position

Check the number of stacked pointsand interval

180

X2 Axis memory

error

X2 axis parameters memory

error

Function - mechanical parameters-[X2] page save again

181

Y2 Axis memory

error

Y2 axis parameters memory

error

Function - mechanical parameters-[Y2] page save again

182 X2 axis compare

Host X2 axis parameters do

not agree with the parameters

in hand controller

Function - mechanical parameters-[X2] page save again

84

QC-S5G Series of Products User Manual V1.0

183

Y2 axis compare

Host X axis parameters do

not agree with the

parameters in hand

controller

Function - mechanical parameters-[Y2] page save again

184 X2 is not servo

Servo axis is not opened in X2

axis. There is step for X2

axis in teaching program

1.Function - Mechanical parameter-open X2 axis as servo axis inaxisdefinition

2.Delete actions of X2 axis inteaching

185 Y2 is not servo

Servo axis is not opened in Y2

axis. There is step for Y2

axis in teaching program

1.Function - Mechanical parameter-open Y2 axis as servo axis inaxisdefinition

2.Delete actions of Y2 axis inteaching

200

A axis feedback

pulse deviation

is too large

Difference of counter

between pulse command and

feedback pulse command is

larger than set value

1.If the alarm can be removed,please check whether the toleranceis too small（function - runningparameters - increase “tolerance”parameter）, servorigidity is too soft.（dynamicfollowing is bad)

2.If the alarm may not clear,please use the positive and

negative pulse test, there maybea connection problem cause pulsemissing or servo feedback pulsedirection is not correct.（motorforward feedback is 10000, reversefeedback is 55535

201

B axis feedback

pulse deviation

is too large

Difference of counter

between pulse command and

feedback pulse command is

larger than set value

1.If the alarm can be removed,please check whether the toleranceis too small（function - runningparameters - increase “tolerance”parameter）, servorigidity is too soft.（dynamicfollowing is bad)

2.If the alarm may not clear,please use the positive and

negative pulse test, there maybea connection problem cause pulsemissing or servo feedback pulsedirection is not correct.（motorforward feedback is 10000, reversefeedback is 55535

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QC-S5G Series of Products User Manual V1.0

202

C axis

feedback

pulse

deviation

is too

large

Difference of counter

between pulse command

and feedback pulse

command is larger than

set value

1.If the alarm can be removed, please checkwhether the tolerance is too small（function- running parameters - increase “tolerance”parameter）, servo rigidityistoo soft.（dynamic following is bad)

2.If the alarm may not clear, please usethepositive and negative pulse test, theremaybe a connection problem cause pulse missingorservo feedback pulse direction is not

correct.（motor forward feedback is 10000,reverse feedback is 55535

203

A axis Z

pulse error

None None

204

B axis Z

pulse error

None None

205

C axis Z

pulse error

None None

206 A-servo

alarm

A axis servo driver

alarms

1.The servo driver alarms, find reason,solve the servo driver alarm.

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

problem.

3.The servo driver has no alarm, the wireisnormal. Replace the main board.

207 B-servo

alarm

B axis servo driver

alarms

1.The servo driver alarms, find reason,solve the servo driver alarm.

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

problem.

3.The servo driver has no alarm, the wireisnormal. Replace the main board.

208

C-servo

alarm

C axis servo driver

alarms

1.The servo driver alarms, find reason,solve the servo driver alarm.

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

problem.

3.The servo driver has no alarm, the wireisnormal. Replace the main board.

209 A missed pos

Do the next step

before the A axis

moves in place

Please contact our technicians

210 B missed pos

Do the next step

before the B axis

moves in place

Please contact our technicians

211 C missed pos

Do the next step

before the C axis

moves in place

Please contact our technicians

212 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.

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QC-S5G Series of Products User Manual V1.0

213 A-Min alarm

The A axis starting

point 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

point 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

point limit has no

signal

1.Check the limit switch.

2.The limit is normally closed, checkwhether the short connection is normal.218

A-Pos too

large

Current position is

larger than the max A

axis movement

1.Please check the relative security pointsetting. The alarm may appear when turningtuning knob in max/min position.

2.Move toward opposite direction afterremoving the alarm.

219

A-Pos too

small

Current position is

less than the min A

axis movement

1.Please check the relative security pointsetting. The alarm may appear when turningtuning knob in max/min position.

2.Move toward opposite direction afterremoving the alarm.

220

B-Pos too

large

Current position is

larger than the max B

axis movement

1.Please check the relative security pointsetting. The alarm may appear when turningtuning knob in max/min position.

2.Move toward opposite direction afterremoving the alarm.

221

B-Pos too small

Current position is

less than the min B

axis movement

1.Please check the relative security pointsetting. The alarm may appear when turningtuning knob in max/min position.

2.Move toward opposite direction afterremoving the alarm.

222

C-Pos too large

Current position is

larger than the max C

axis movement

1.Please check the relative security pointsetting. The alarm may appear when turningtuning knob in max/min position.

2.Move toward opposite direction afterremoving the alarm.

223

C-Pos too small

Current position is

less than the min C

axis movement

1.Please check the relative security pointsetting. The alarm may appear when turningtuning knob in max/min position.

2.Move toward opposite direction afterremoving the alarm.

224

A position set

too large

Stacked points

interval is set wrong

and over the max or

min position

Check the number of stacked pointsandinterval

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QC-S5G Series of Products User Manual V1.0

225

A position set

too small

Stacked points interval is

set wrong and over the

max or min position

Check the number of stacked pointsand interval

226

B position set

too large

Stacked points interval is

set wrong and over the

max or min position

Check the number of stacked pointsand interval

227

B position set

too small

Stacked points interval is

set wrong and over the

max or min position

Check the number of stacked pointsand interval

228

C position set

too large

Stacked points interval is

set wrong and over the

max or min position

Check the number of stacked pointsand interval

229

C position set

too small

Stacked points interval is

set wrong and over the

max or min position

Check the number of stacked pointsand interval

230

A Axis memory

error

A axis parameters memory

error

Function - mechanical parameters- [A] page save again

231

B Axis memory

error

B axis parameters memory

error

Function - mechanical parameters- [B] page save again

232

C Axis memory

error

C axis parameters memory

error

Function - mechanical parameters- [C] page save again

233 SPI NULL None None

234 A axis compare

Host A axis parameters do not

agree with the parameters in

hand controller

Function - mechanical parameters- [A] page save again

235

B axis compare

Host B axis parameters do not

agree with the parameters in

hand controller

Function - mechanical parameters- [B] page save again

236 C axis compare

Host C axis parameters do not

agree with the parameters in

hand controller

Function - mechanical parameters- [C] page save again

237 COMPARE NULL None None

238 A is not servo

Servo axis is not opened in A

axis but there is teaching

action

1.Function - Mechanical parameter- open A axis as servo axis inaxisdefinition

2.Delete actions of A axis inteaching

239 B is not servo

Servo axis is not opened in B

axis but there is teaching

action

1.Function - Mechanical parameter- open B axis as servo axis inaxisdefinition

2.Delete actions of B axis inteaching

240

C is not servo

Servo axis is not opened in C

axis but there is teaching

action

1.Function - Mechanical parameter- open B axis as servo axis inaxisdefinition

2.Delete actions of B axis inteaching

300

X axis is set

incorrectly

The X axis mechanical

parameter is set wrong

Function - mechanical parameters- [X axis] page to reset

301

Y axis is set

incorrectly

Y mechanical parameter is set

wrong

Features - mechanical parameters- [Y axis] page to reset

88

QC-S5G Series of Products User Manual V1.0

302

Z axis is set

incorrectly

The Z axis mechanical

parameter is set wrong

Features - mechanical parameters- [Z axis] page to reset

303

Action checksum

error!

Modification of teaching

is not sent to host in

automatic state

Contact for technical support304 Emergency Stop! Emergency stop signal

input

1.Check if the stop switch onthemanual controller spun out

2.Check the connection

between manual controller

and main board

3.Check whether injection

molding machine em e r g e n c y

stop has input

4.Check the main power supply305

Main cycle

error

Error in host

initialization

Restart the host

306

Standby Point

position error

Starting point in mold

number does not agree with

axis definition in

Function - Mechanical

param- Struct

1.Create a new model number2.Y standby position shouldbeless than the max standby

position

307

Fetching act

error

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 lessthan 10mm

2.Three-axis/Five-axis systemtolerance must be less than 100mm309

Mold Function

parameter error

Mold parameter between host

and manual controller are

inconsistent

Create new mold number

310 iSub too large

Abnormal subprogram

Create new mold number

311

iSub nesting Abnormal subprogram Create new mold number

312 Illegal stack Stack without teaching Please contact our technicians313 Overlapp i n g

s t a c k

Steps of stack are

combined

Decompose stack action steps314

Action sequence is

wrong

Sequence in running does not

agree with sequence stored Please contact our technicians315

System parameter

is wrong

In two axis touch system,

operation parameters -

tolerance is too large, no

more than 10

The tolerance is set less than10mm

316

Action sequence is

wrong

Sequence in running does not

agree with sequence stored

Please contact our technicians317

Action sequence is

wrong

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

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QC-S5G Series of Products User Manual V1.0

319 Only run in auto

Allow teaching in non -automatic

state

Switch to automatic statewhen running

320

Call abnormal

SEQ

Value of return step number that

exceeds the last step of program

overflows

Check return step number whenusing condition function321

Wrong checksum in

call

Checksum is inconsistent with host

while running

Please contact ourtechnicians

322 Wrong GM checksum

in call

Checksum is inconsistent with host

while running

Please contact ourtechnicians

323 Wait Mold Opened

No step of“Wait mold opened”in

mold number program

Inset the step into theprogram

324

Wrong GEM in auto

adjustment

Manual controller does not agree

with host while operating axis

action

Please contact ourtechnicians

325

Clip action is

duplicated

The action steps of the same

fixture are combined

Decompose the synchronousaction steps

326 Repeated actions

The action steps of the same axis

are combined

Decompose the synchronousaction steps

327

Only call in

level one

None None

328

Detect condition

when acting

Steps of condition and action are

combined

Discompose steps ofcondition and action329

Clip/suck

detection param

The parameters of fixture and

main board are inconsistent

Please contact ourtechnicians

330

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 definitionsinFunction-Mechanical

param-Struct

332

Output chosen,

please restart

Output definition in

Function-Mechanical param-Struct

is changed

Restart

333

Axis definition

is changed,

please restart

Axis definition in

Function-Mechanical param-Struct

is changed

Restart

334

Macro param

checksum is

wrong

Param in manual controller and host

are inconsistent

Save structure param inFunction-Mechanical param360

X2 axis param

check

Param in manual controller and host

are inconsistent

Save axis param inFunction-Mechanical param361

Y2 axis param

check

Param in manual controller and host

are inconsistent

Save axis param inFunction-Mechanical param362

A axis param

check

Param in manual controller and host

are inconsistent

Save axis param inFunction-Mechanical param

90

QC-S5G Series of Products User Manual V1.0

363

B axis param

check

Param in manual controller and

host are inconsistent

Save axis param in

Function-Mechanical param364

C axis param

check

Param in manual controller and

host are inconsistent

Save axis param in

Function-Mechanical param365

Structure param

check

Param in manual controller and

host are inconsistent

Save structure param inFunction-Mechanical param400

Read X axis

Param, error

Param in manual controller and

host are inconsistent

Save axis param in

Function-Mechanical param401

Read Y axis

Param, error

Param in manual controller and

host are inconsistent

Save axis param in

Function-Mechanical param402

Read X axis

Param, error

Param in manual controller and

host are inconsistent

Save axis param in

Function-Mechanical param403

Param

initialization,

error

Param in manual controller and

host are inconsistent

Save structure param inFunction-Mechanical param404

Mode

initialization,

error

Param in manual controller and

host are inconsistent

Save structure param inFunction-Mechanical param405

Macro

initialization,

error

Param in manual controller and

host are inconsistent

Save structure param inFunction-Mechanical param406

Function

initialization,

error

Param in manual controller and

host are inconsistent

Save structure param inFunction-Mechanical param499

EU/EC board

communication

overtime

Main board cannot contact

EU board

1. Check the connection

between main board and EU board2. Check the line order betweenmain board and EU board

3. Replace main board

4. Replace EU board

500

Lost contact

with host

Main board cannot contact

manual controller

1.Check the connection betweenmanual controller and the host2.Replace main board

3.Replace manual controller501

Abnormal I/O

board

communication

Main board cannot

contact I/O board

1.Check the connection betweenmain board and I/O board2.Check the line order betweenmain board and I/O board

3.Replace main board

4.Replace I/O board

502 Output completed

Number of products is up to

output set

1.Clear to zero in

Function-Product setting page2.Set output as zero in

Function-Product setting pageif no longer used

91

QC-S5G Series of Products User Manual V1.0

503 Low pressure

No signal in air

pressure detection

1.Check air pressure signal

2.Set as Not use in Function-Signalsetting page if no longer used

504

Communication

Watchdog

Abnormal communication

between main board and I/O

board

Check the connection between mainboard and I/O board

505

Program

synchronization

error

Program in manual

controller is not

consistent with the host

Reload mold number

506

Wait for signal,

overtime

Wait for the mold opened

signal, overtime

1.Check the mold opened signal

2. Set a longer time of waitingformold opened in Function-Productsetting page

507

Modify param in

non-stop state

Modify function param in

non-stop state Switch to stop state

508

Abnormal Servo 1

Communication

Main board cannot

contact servo board 1

1.Check network cable of servo board12.Replace the host

509

Abnormal Servo 2

Communication

Main board cannot

contact servo board 2

1.Check network cable of servo board22.Replace the host

510

Abnormal Servo 3

Communication

Main board cannot

contact servo board 3

1.Check network cable of servo board32.Replace the host

511

Abnormal EUIO

communication

Main board cannot

contact EUIO

1.Check the connection between mainboard and EU board

2.Check the line order between mainboard and EU board

3.Replace main board

4.Replace EU board

512

Slave

PRODUCT_ID

error

The version of slave is not

consistent with the host

Upgrade slave version to matchthe host

530

Abnormal ZSIO

board

communication

Main board cannot

contact ZSIO

1.Check the connection between mainboard and ZSIO board

2.Check the line order between mainboard and ZSIO board

3.Replace main board

4.Replace ZSIO board

531

Abnormal IO board

1 communication

Main board cannot

contact IO board 1

1.Check the connection between mainboard and IO board

2.Check the line order between mainboard and IO board

3.Replace main board

4.Replace IO board

532

Abnormal IO board

2 communication

Main board cannot

contact IO board 2

1.Check the connection between mainboard and IO board

2.Check the line order between mainboard and IO board

3.Replace main board

4.Replace IO board

92

QC-S5G Series of Products User Manual V1.0

533

Abnormal IO board 3

communication

Main board cannot

contact IO board 3

1.Check the connection between mainboard and IO board

2.Check the line order between mainboard and IO board

3.Replace main board

4.Replace IO board

534

Abnormal IO board 4

communication

Main board cannot

contact IO board 4

1.Check the connection between mainboard and IO board

2.Check the line order between mainboard and IO board

3.Replace main board

4.Replace IO board

535

Abnormal IO board 5

communication

Main board cannot

contact IO board 5

1.Check the connection between mainboard and IO board

2.Check the line order between mainboard and IO board

3.Replace main board

4.Replace IO board

536

Abnormal IO board 6

communication

Main board cannot

contact IO board 6

1.Check the connection between mainboard and IO board

2.Check the line order between mainboard and IO board

3.Replace main board

4.Replace IO board

537

Abnormal IO board 7

communication

Main board cannot

contact IO board 7

1.Check the connection between mainboard and IO board

2.Check the line order between mainboard and IO board

3.Replace main board

4.Replace IO board

538

Abnormal IO board 8

communication

Main board cannot

contact IO board 8

1.Check the connection between mainboard and IO board

2.Check the line order between mainboard and IO board

3.Replace main board

4.Replace IO board

539

Abnormal IO board 9

communication

Main board cannot

contact IO board 9

1.Check the connection between mainboard and IO board

2.Check the line order between mainboard and IO board

3.Replace main board

4.Replace IO board

540

Abnormal EU67/EC

board

communication

Main board cannot

contact EU67/EC

board

1.Check the connection between mainboard and EU67 board

2.Check the line order between mainboard and EU67 board

3.Replace main board

4.Replace EU67 board

550

X1, X2 set beyond

boundary

Distance between X1, X2

axis is shorter than

drawing distance

Move axis position of X1 and X2to make the distance is longerthan drawing distance

93

QC-S5G Series of Products User Manual V1.0

580 X1 Port Alarm None None

581 Y1 Port Alarm None None

600

Z moves to

external safe

zone, internal

safe zone on

When the manipulator is in the

external safety zone,

internal safety signal is

still on（only in the condition

of automatic detection）

1.Check Z externalsafety positionsetting in Function - Mechanicalparameter

2.Check Z external safety zoneswitch

601

Z moves to

external safe

zone, external

safe zone off

When the manipulator is in the

internal safety zone, external

safety signal is cut off（only in

the condition of automatic

detection）

1.Check Z externalsafety positionsetting in Function - Mechanicalparameter

2.Check Z external safety zoneswitch

602

Z moves to

internal safe

zone, external

safe zone on

When the manipulator is in the

internal safety zone, external

safety signal is still on（only

in the condition of automatic

detection）

1.Check Z externalsafety positionsetting in Function - Mechanicalparameter

2.Check Z external safety zoneswitch

603

Z moves to

internal safe

zone, internal

safe zone off

When the manipulator is in the

internal safety zone, internal

safety signal is cut off（only in

the condition of automatic

detection）

1.Check Z externalsafety positionsetting in Function - Mechanicalparameter

2.Check Z external safety zoneswitch

604

Origin is light,

Y is not in safety

zone

When the main arm descends to

detection position（parameters

defined in Y safety zone）, Y origin

signal is still on

1.Check Y axis setting in

Function - Mechanical parameter2.Check Y origin switch

605

Origin is not

light, Y is in

safety zone

When the main arm is in safety

zone, Y origin signal is off

Check main and auxiliary up limit606

Origin is light,

B is not in safety

zone

None None

607

Origin is not

light, B is in

safety zone

None None

608

Origin is

light, Y2 is not

in safety zone

When the sub arm is in safety zone,

Y origin signal is off

Check main and auxiliary up limit700 Wait overtime

for X043

Wait overtime for the signal

1.Check if the signal is normal2.Increase wait limit time

701

Wait overtime

for X044

Wait overtime for the signal

1. Check if the signal is normal2.Increase wait limit time702

Wait overtime

for Fixture 1 Wait overtime for the signal

1. Check if the signal is normal2.Increase wait limit time

94

QC-S5G Series of Products User Manual V1.0

703

Wait overtime for

Fixture 2

Wait overtime for

the signal

Waiting for the signalovertime

704

Wait overtime for

Fixture 3

Wait overtime for

the signal

Waiting for the signalovertime

705

Wait overtime for

Fixture 4

Wait overtime for

the signal

Waiting for the signalovertime

706

Wait overtime for

Suction 1

Wait overtime for the

signal

Waiting for the signalovertime

707

Wait overtime for

Suction 2

Wait overtime for the

signal

Waiting for the signalovertime

708

Wait overtime for

thimble forward to

position

Wait overtime for the

signal

Waiting for the signalovertime

709

Wait overtime for

thimble back to position

Wait overtime for the

signal

Waiting for the signalovertime

710

Wait overtime for

core in in position

Wait overtime for the

signal

Waiting for the signalovertime

711

Wait overtime for

core out in position

Wait overtime for the

signal

Waiting for the signalovertime

712

Wait overtime for core in

2 in position

Wait overtime for

the signal

Waiting for the signalovertime

713

Wait overtime for core

out 2 in position

Wait overtime for

the signal

Waiting for the signalovertime

714 Wait overtime for X045

Wait overtime for

the signal

Waiting for the signalovertime

715 Wait overtime for X046

Wait overtime for

the signal

Waiting for the signalovertime

716 Wait overtime for X047

Wait overtime for

the signal

Waiting for the signalovertime

717 Wait overtime for X026

Wait overtime for

the signal

Waiting for the signalovertime

718 Wait overtime for X040

Wait overtime for

the signal

Waiting for the signalovertime

719 Wait overtime for X023

Wait overtime for

the signal

Waiting for the signalovertime

720 Wait overtime for X037

Wait overtime for

the signal

Waiting for the signalovertime

721 Wait overtime for X017

Wait overtime for

the signal

Waiting for the signalovertime

722 Wait overtime for X036

Wait overtime for

the signal

Waiting for the signalovertime

1000 Mid-board signal is off

while arm descending

1.When pneumatic sub arm

falls, internal mid-board

signal in rising limit is off.

2.When Y1 falls, mid-board

signal outside Y1 safety zone

or in other places except

rising limit is off(except

finding origin)

1.Check the mid-board

signal.

2.If not use mid-board moldfunctions, please set

mid-board mold as not useinFunction-Signal.