该页无缩略图
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7.2 I/O Monitor
Press the key to enter the signal monitoring screen. Press the up/down key to switchthe screen.
Y 0.0mm Z 0.0mm
Y 0.0mm Z 0.0mm
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Press the key twice to enter the output monitoring screen. Press the up/downkeyto switch the screen.
Z 0.0mm
Z 0.0mm
Y 0.0mm
Y 0.0mm
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Y 0.0mm
MotorSpd
EncoderPos
Reserve1
PosDeviation
Reserve2
Reserve3
MotorSpd
EncoderPos
Reserve1
PosDeviation
Reserve2
Reserve3
Press the key three times to enter the Y-axis servo monitoring screen. Thispageis for the Y-axis servo motor status monitoring, which contents real-time monitoring Y-axisspeed, current, voltage, temperature and other data.
Press the key four times to enter the Z-axis servo monitoring screen. Thispageis for the Z-axis servo motor status monitoring, which contents real-time monitoring Z-axisspeed, current, voltage, temperature and other data.
Y 0.0mm Z 0.0mm
MotorSpd
EncoderPos
Reserve1
PosDeviation
Reserve2
Reserve3
Voltage
Temperature
CumulativeLo
CommandPulse
Reserve4
Torque%
Z MotorSpd
Z EncoderPos
Z Reserve1
Z PosDeviation
Z Reserve2
Z Reserve3
Z Voltage
Z Temperature
Z CumulativeLo
Z CommandPulse
Z Reserve4
Z Torque%
Y 0.0mm Z 0.0mm
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Chapter 8 System Setting
This chapter contents parameters set by the machine manufacturer. Users shouldnotadjust these values. 8.1 Action Limit Time
Press the key twice in the stop screen to enter the password screen. Enterthepassword “****” and press the key to enter the limited time screen of the action.Press the up/down cursor key to move to the limit time of each action.
1、MainUpDown: The limit time of the main arm's down/up action. The alarm will be raisedif the action is not completed within this time.
2、MainForwBk: The limit time of the main arm's forward/backward action, same as above.3、ViceUpDown: The limit time of the auxiliary arm's down/up action, same as above.4、ViceForwBk: The limit time of the auxiliary arm's forward/backward action, same as above.5、Trav: The limit time of transverse action, same as above.
6、Posture: The limit time of horizontal/vertical movements, same as above.
7、Process1: The limited time of processing 1 on/off action, same as above.
8、Reversed2: The limited time of reserve 2 on/off action, same as above. 8.2 The Mechanical Parameter
Press the key twice in the stop screen to enter the password screen. Enterthepassword “****” and press the key again to enter the page of mechanical setting.Thefunction options of this picture can be set according to the configuration of the machine.Y 0.0mm Z 0.0mm
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1、TravAxis Servo：The transverse axis is driven by servo motor.
FreqCv：The transverse axis is driven by a frequency conversion motor.Pneu：The transverse axis is driven by cylinder.
2、MainDown No Use：The manipulator does not use the main arm descending limit proximityswitch.
Use：The manipulator uses the main arm descending limit proximity switch.3、MainForw No Use：The manipulator does not use the main arm forward limit proximity switch.Use：The manipulator uses the main arm forward limit proximity switch.4、MainBack No Use：The manipulator does not use the main arm back limit proximity switch.Use：The manipulator uses the main arm back limit proximity switch.5、ViceDown No Use：The manipulator does not use the lower limit proximity switch oftheauxiliary arm.
Use：The manipulator uses lower limit proximity switch of the auxiliaryarm.6、ViceForw No Use：The manipulator does not use the auxiliary arm forward limit proximityswitch.
Use：The manipulator uses the auxiliary arm forward limit proximity switch.7、ViceBack No Use：The manipulator does not use the auxiliary arm back limit proximityswitch.
Use：The manipulator uses the auxiliary arm back limit proximity switch.8、FreqDecel：(For frequency conversion cross walk manipulator; Servo cross walk manipulatordoes not have this function.)
DecT：The mode of transverse deceleration is time deceleration, that is, in the processof transverse exit/entry, the deceleration delay starts timing, and the timingends with deceleration.
DecSw: Thee mode of transverse deceleration is switch deceleration, that is, intheprocess of transverse exit/entry, the deceleration delay starts to time afterthe deceleration switch is detected twice, and the time starts to slow down.9、FBPulse No Feed：The manipulator control system does not detect the feedback pulseofthe servo motor.
Feedback：The manipulator control system detects the feedback pulse of the servomotor. When the feedback pulse is inconsistent with the command pulse,the alarm will be given.
Y 0.0mm Z 0.0mm
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10、Zsignal No Use：No need to detect Z signal of motor when origin point resets.Use：Need to detect Z signal of motor when origin point resets. 8.3 Servo Parameter Setting
8.3.1 Gain Parameter Setting
Press the key twice in the stop screen to enter the password screen, and enterthepassword “7752” and then press the key to enter the special function screen 3.Thegain parameters of the servo can be modified here.
*1、SpdLoopGain: Set the velocity loop gain value of the servo.(range 0-500) No needtoadjust. Adjust automatically with the rigidity coefficient.(Larger valuemeans faster respond)【efficient in time】
*2 、 SpdLoopInt: Set the servo velocity loop integral value.(range 0-300)No needtoadjust.Adjust automatically with the rigidity coefficient.(Smaller valuemeans better integral action and speed track)【efficient in time】*3、PosLoopGain: Set the position loop gain value of the servo.(range 0-20）No needtoadjust.Adjust automatically with the rigidity coefficient.(Larger valuemeans faster respond)【efficient in time】
*4、PotIntertiaRa: Adjust the overall gain parameter of the machine.（range 50-300）.Thefirst three items will be adjusted at the same time (Larger value meansbetter response)【efficient in time, it is recommended to modifythisonly】
*5、ServoDir: Adjust the positive negative rotation of motor（range 0-1）.【modify in emergencystop state, effective after power off and restart】Y 0.0mm Z 0.0mm
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*1、Z SpdLoopGain: Set the velocity loop gain value of the servo.(range 0-500) No needtoadjust. Adjust automatically with the rigidity coefficient.(Largervalue means faster respond)【efficient in time】*2、Z SpdLoopInt: Set the servo velocity loop integral value.(range 0-300)No needtoadjust.Adjust automatically with the rigidity coefficient.(Smallervalue means better integral action and speed track)【efficient in time】*3、Z PosLoopGain: Set the position loop gain value of the servo.(range 0-20）No needtoadjust.Adjust automatically with the rigidity coefficient.(Larger valuemeans faster respond)【efficient in time】
*4、Z PotIntertiaRa: Adjust the overall gain parameter of the machine.（range
50-300 ） .The first three items will be adjusted at the same time
(Larger value means better response)【Efficient in time, it
is recommended to modify this only】
*5、Z ServoDir: Adjust the positive negative rotation of motor（range 0-1).【modifyinemergency stop state, effective after power off and restart】Y 0.0mm Z 0.0mm
Z SpdLoopGain
Z SpdLoopInt
Z PosLoopGain
Z RotInertiaRa
Z ServoDir
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8.3.2 All Parameters Setting
All parameters are set in the stop screen. Press the key twice to enter the passwordscreen.Enter password “****” and press the key again to enter the special function4 screen. Press up/down cursor key to move to exact function setting and change theparameter.
*1、Paramsetting：Set the index number of servo parameter.
*2、SeValue：Set the value of“Paramsetting”index.
* Note：Parameters are listed in the appendix. Do not modify. Please contact technicalsupport personnel for details.
Y 0.0mm Z 0.0mm
Z ParamSetting
Z SeValue
Softversion Default: 1000
Softversion Default: 1000
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Chapter 9 Alarm Information and Solutions9.1 Manipulator Alarm
When the alarm occurs automatically, press the “STOP”key to cancel the alarm.
No. Information Reason Solution
1
When the signal of
mold opened breaks,
the robot did not
return to the
original point.
No input signal after mold
opened.
1. The injection molding machineis not in the mold end state.2. The injection molding machinehas an abnormal signal aftermoldopened.
3. Ensure that the robot I/0 boardis wired correctly.
4. Check the board faulty.
2
The mid-plate mode
confirms the limit
but the robot does
not return to the
origin.
The mid-plate mold
confirmation signal of the
three-plate mode has no input.
1. Ensure the middle plate moldofthe mold is fully open.
2. Ensure there is a signal outputfrom the proximity switch ofthemid-plane module.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
3
The main arm rises
and is cut off but
the robot does not
return to the
origin.
The main arm upper signal has
no input, and the robot is not
in the standby position.
1. Check if the air pressure istoolow.
2. Check if the main arm upperproximity switch has a signal.3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
4
The jib rises and is
cut off but the robot
does not return to
the origin.
There is no input to the jib
upper signal, and the robot is
not in the standby position.
1. Check if the air pressuretoolow.
2. Check if the jib upper
proximity switch has a signal.3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
5
The main fixture
confirms the
restriction but the
robot does not
return to the
origin.
The main fixture confirmation
signal has an input and the
robot is not in the standby
position.
1. Check if the main fixtureconfirmation switch is off.2. Check if the main fixturedetection function is selectedcorrectly.
3. Check if the main fixtureiscaught in the product.
4. Ensure that the I/0 boardiswired correctly.
5. Check the board faulty.
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6
The auxiliary
fixture confirms the
restriction but the
robot does not
return to the
origin.
The auxiliary fixture
confirmation signal has an
input and the robot is not in
the standby position.
1. Check if the auxiliaryfixture confirmation switchisoff.
2. Check if the auxiliaryfixture detection functionisselected correctly.
3. Check if the auxiliaryfixture is caught in the
product.
4. Ensure that the I/0 boardiswired correctly.
5. Check the board faulty.7
Vacuum suction limit
is confirmed but the
robot does not
return to the
origin.
The suction cup valve is not
actuated and the vacuum
suction signal is input.
1. Check if the suction
confirmation switch is off.2. Check the suction solenoidvalve for action.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.8
Conveyor limit is
confirmed but the
robot does not
return to the
origin.
The conveyor valve is not
actuated and the confirmation
signal has input.
1. Check that the conveyorconfirmation switch is off.2. Check if the conveyor
solenoid valve is moving.3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.9
The machine is
parked outside the
model.
The robot does not
return to the
origin.
The robot is not in standby
position.
1. Check if the electroniccontrol has a transverse entryaction.
2. Check the board faulty.10
The machine is
parked inside the
model.
The robot does not
return to the
origin.
The robot is not in standby
position.
1. Check if the electroniccontrol has a transverse outaction.
2. Check the board faulty.11
The posture is
vertically limited
but the robot does
not return to the
origin.
Fixture vertical limit without
signal input.
1. Check if the air pressureistoo low.
2. Check if the electroniccontrol outputs vertical
motion.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
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26
Before the arm
falls, the posture
vertical limit is
broken.
When the vertical drop is
selected, there is no signal
input before the arm falls.
1. Check if the fixture is
vertical.
2. Check if the vertical detectionswitch is faulty.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
27
Before the arm
falls, the posture
horizontal limit is
broken.
When the horizontal drop is
selected, there is no signal
input before the arm falls.
1. Check if the fixture is
horizontal.
2. Check if the horizontal
detection switch is faulty.3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
28
Before the arm
falls, main fixture
is restricted.
Main fixture detection switch
has signal input before the
arm falls.
1. Check if there is a main fixtureaction.
2. Check if the main fixturedetection switch is faulty.3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
29
Before the arm
falls, auxiliary
fixture is
restricted.
Auxiliary fixture detection
switch has signal input before
the arm falls.
1. Check if there is a auxiliaryfixture action.
2. Check if the auxiliary fixturedetection switch is faulty.3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
30
Before the arm
falls, the vacuum
suction is limited.
Suction detection switch has
signal input before the arm
falls.
1. Check if there is a suctionaction.
2. Check if the suction cupdetection switch is faulty.3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
31
Before the arm
falls, the conveyor
is restricted.
Before the arm falls, the
conveyor detection switch
has a signal input.
1. Check if the hug action hasbeenperformed.
2. Check if the conveyor detectionswitch is faulty.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
32
Before transverse
movement of machine,
main arm down valve
on
The main arm lowering action
was performed before the
traverse.
1. Check if the main arm hasbeenlowered.
33
Before transverse
movement of machine,
jib down valve on
The jib lowering action was
performed before the traverse.
1. Check if the jib has beenlowered.
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34
Before transverse
movement of
machine, main arm
rise is not limited.
There is no signal input for the
main arm rise limit switch
before the traverse.
1. Check if the main arm is attherise limit position.
2. Check if the main arm hasbeenlowered.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
35
Before transverse
movement of
machine, jib rise is
not limited.
There is no signal input for the
jib rise limit switch before
the traverse.
1. Check if the jib is at theriselimit position.
2. Check if the jib has beenlowered.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
36
Before the posture
changes,Main arm
down valve on
Main arm down valve opens
before the jig executes
horizontal or vertical action.
1. Check if the main arm hasbeenlowered.
37
Before the posture
changes,
jib down valve on
Jib down valve opens before the
jig executes horizontal or
vertical action
1. Check if the jib has beenlowered.
38
Main arm down valve
on, main arm rise
limit on
After the main arm down action
is performed，the main arm rise
limit has signal input.
1. Check if the arm-drop actionhas been performed.
2. Check if the rise limit switchhas been turned off while themainarm is descending.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
39
Main arm down valve
on, main arm down
limit off
Jib down valve off, jib rise
limit off
1. Check if the main arm performsthe drop action.
2. Check if the lower switchofmain arm has signal.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
40
Main arm down valve
off, main arm rise
limit off
After the main arm rise action
is performed，the main arm rise
limit has no signal input.
1. Check if the main arm performsthe rise action.
2. Check if the upper switchofmain arm has signal.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
41
Main arm down valve
off, main arm down
limit on
After the main arm rise action
is performed，the main arm down
limit has signal input.
1. Check if the main arm performsthe rise action.
2. Check if the lower switchofmain arm is turned off.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
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42
Jib down valve on,
jib rise limit on
After the jib down action is
performed， the jib rise limit
has signal input.
1. Check if the jib performsthedrop action.
2. Check if the upper switchofjib is turned off.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.43
Jib down valve on,
jib down limit off
After the jib down action is
performed， the jib down limit
has no signal input.
1. Check if the jib performsthedrop action.
2. Check if the lower switchofjib has signal.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.44
Jib down valve off,
jib rise limit off
After the jib rise action is
performed， the jib rise limit
has no signal input.
1. Check if the jib performstherise action.
2. Check if the upper switchofjib has signal.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.45
Jib down valve off,
jib down limit on
After the jib down action is
performed， the jib down limit
has signal input.
1. Check if the jib performsthedrop action.
2. Check if the lower switchofjib is turned off.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.46
Main arm forward
valve on, main arm
forward limit off
After the main arm forward
action is performed， the main
arm forward limit has no signal
input.
1. Check if the air pressureistoo low.
2. Check if the main arm performsthe forward action.
3. Check if the main arm forwardswitch has signal.
4. Ensure that the I/0 boardiswired correctly.
5. Check the board faulty.47
Main arm forward
valve on, main arm
backward limit on
After the main arm forward
action is performed， the main
arm backward limit has signal
input.
1. Check if the air pressureistoo low.
2. Check if the main arm performsthe forward action.
3. Check if the main arm retreatswitch is turned off.
4. Ensure that the I/0 boardiswired correctly.
5. Check the board faulty.
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48
Main arm forward
valve off, main arm
forward limit on
After the main arm backward
action is performed， the main
arm forward limit has signal
input.
1. Check if the main arm performsthe retreat action.
2. Check if the main arm forwardswitch is turned off.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
49
Main arm forward
valve off, main arm
backward limit off
After the main arm backward
action is performed， the main
arm backward limit has no
signal input.
1. Check if the main arm hasaretreat action.
2. Check if the retreat switchofmain arm has signal.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
50
The jib forward
valve on, jib
forward limit off
After the jib forward action is
performed， the jib forward
limit has no signal input.
1. Check if the pressure is toolow.2. Check if the jib has a forwardaction.
3. Check if the jib forward switchhas signal.
4. Ensure that the I/0 boardiswired correctly.
5. Check the board faulty.
51
The jib forward
valve on, jib
backward limit on
After the jib forward action is
performed， the jib backward
limit has signal input.
1. Check if the air pressure istoolow.
2. Check if the jib has a forwardaction.
3. Check if the retreat switchofjib is turned off.
4. Ensure that the I/0 boardiswired correctly.
5. Check the board faulty.
52
The jib forward
valve off, jib
forward limit on
After the jib backward action
is performed， the jib forward
limit has signal input.
1. Check if the jib has a retreataction.
2. Check if the jib forward switchis turned off.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
53
The jib forward
valve off, jib
backward limit off
After the jib backward action
is performed， the jib backward
limit has no signal input.
1. Check if the jib has a retreataction.
2. Check if the jib retreat switchhas signal.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
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54
Main fixture valve
on, main fixture
limit off
After performing the main
fixture action, the main
fixture confirmation signal
has no input.
1. Check if the air pressureistoo low.
2. Check if the main fixture acts.3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
55
Main fixture valve
off, main fixture
limit on
After performing the main
fixture lifting action, the
main fixture confirmation
signal has input.
1. Check if the main fixturehasa lifting action.
2. Ensure that the I/0 boardiswired correctly.
3. Check the board faulty.
56
Secondary fixture
valve on, secondary
fixture limit off
After performing the auxiliary
fixture action, the auxiliary
fixture confirmation signal
has no input.
1. Check if the air pressureistoo low.
2. Check if the auxiliary fixtureacts.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
57
Secondary fixture
valve off,
secondary fixture
limit on
After performing the auxiliary
fixture lifting action, the
auxiliary fixture confirmation
signal has input.
1. Check if the auxiliary fixtureacts.
2. Ensure that the I/O boardiswired correctly.
3. Check the board faulty.
58
Vacuum valve on,
vacuum limit off
After the suction action is
performed, the suction
confirmation signal has no
input.
1. Check if the air pressureistoo low.
2. Check if there is a suctionaction.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
59
Vacuum valve off,
vacuum limit on
After the suction-discharge
operation is performed, the
suction confirmation signal
has input.
1. Check if there is a
suction-discharge operation.2. Ensure that the I/0 boardiswired correctly.
3. Check the board faulty.
60
The conveyor valve
on, conveyor limit
off
After performing the hug
action, the confirmation
signal has no input.
1. Check if the air pressureistoo low.
2. Check if the conveyor acts.3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
61
The conveyor valve
off, conveyor limit
on
After performing the lifting
action, the confirmation
signal has input.
1. Check if the conveyor actsthelifting action.
2. Ensure that the I/0 boardiswired correctly.
3. Check the board faulty.
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62
The posture
horizontal valve
on, posture
horizontal limit
off
The posture horizontal limit
has no signal input after
performing the action.
1. Check if the air pressure istoolow.
2. Check if there is posturehorizontal action.
3. Check if the posture horizontalswitch has a signal.
4. Ensure that the I/0 boardiswired correctly.
5. Check the board faulty.
63
The posture
vertical valve on,
posture vertical
limit off
The posture vertical limit has
no signal input after
performing the action.
1. Check if the air pressure istoolow.
2. Check if there is posturevertical action.
3. Check if the posture verticalswitch has a signal.
4. Ensure that the I/0 boardiswired correctly.
5. Check the board faulty.
64
The machine has
been spinning out
for too long.
Time taken to spin out is longer
than limited.
1. Check if the speed of spinningout is set too slow.
2. Check if the arm does spinout.3. Check if the servo motorrotates.
4. Ensure that the servo motoriswired correctly.
5. Check the board faulty.
65
The machine has
been spinning in for
too long.
Time taken to spin in is longer
than limited.
1. Check if the speed of spinningin is set too slow.
2. Check if the arm does spinin.3. Check if the servo motorrotates.
4. Ensure that the servo motoriswired correctly.
5. Check the board faulty.
66 Emergency stop
The injection molding machine
or robot performs an emergency
stop.
1. Release the electronicallycontrolled emergency stop button.2. Release the injection moldingmachine for an emergency stop.3. Check the relevant connectionsof the emergency stop signal.67
The action
program is
incomplete.
Not executable.
The procedure of teaching is
incomplete.
1. Complete the teaching programagain.The last action of teachingmust be returning to origin point.68
Production set has
been achieved.
The current production output
has reached the set value.
1. Increase the set value ofproduction output.
2. Clear the current output value.
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69
The action does
not follow the mode.
In the manual type, the arm is
raised and lowered without
following the automatic
procedure.
1. In the manual type, the armshould be raised or lowered intheforward or backward positioncorresponding to the automaticprogram, otherwise the mouldmaybe damaged.
70
Waiting for mold
opening timeout
Time for mold opening cycle of
the injection molding machine
is too long.
1. Increase the manipulator'selectronic-control cycle timeandmake it longer than time oftheinjection molding machine.
71
Servo drive
failure;
No pulse input
The electronic controller did
not receive a feedback pulse
from the servo drive.
1. Check the parameter settingsofthe servo driver.
2. Check the connection of servodriver and electronic controller.3. Check the parameter settingsofelectronic controller.
4. Check the board faulty.
72 Servo driver alarm. Servo driver alarm.
1. Check if the servo driversendsan alert.
2. Check the connection of servodriver and electronic controller.3. Check the board faulty.
73
The position of
safety gate is not
set.
The position of safety gate is
not set.
1. Set the safety gate positionofelectrical controller.
74
Location point,
smaller than the
safety door
The position of the storage
point is set smaller than the
safety door.
1. Reset the position of thestorage point, which must belarger than the position ofthesafety door.
75
Location point,
greater than the max
The position of the storage
point is set greater than the
maximum value.
1. Reset the position of thestorage point, which must besmaller than the max value.76
Outside standby
position, smaller
than the starting
value position
The external standby position
is smaller than the starting
value.
1. Reset the position of externalstandby, which must be largerthanthe starting position.
77
Outside standby
position, greater
than the max
The external standby position
is greater than the maximum
value.
1. Reset the position of externalstandby, which must be smallerthan the max value.
78
Distance or
number of points of
circulating storage
is beyond safety
range
The maximum position of the
circulating storage exceeds
the safe range.
1. Reset the distance or pointsofcirculating storage.79
Spinning out limit
is abnormal.
There is no signal input across
the limit switch.
1. Check if the spinning outlimitswitch has signal.
2. Ensure that the I/0 boardiswired correctly.
3. Check the board faulty.
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80
Transverse entry
limit is abnormal.
There is no signal input when
crossing the limit switch.
1. Check if the transverse entrylimit switch has signal.
2. Ensure that the I/0 boardiswired correctly.
3. Check the board faulty.
81
The machine is not
in the starting
position, please
manually enter the
starting point.
The machine is not in the
starting position and needs to
be manually traversed to the
starting point.
1. Manually traverse back tothestarting point.
82
The origin point
needs detection
again. Please press “HP”.
It needs to detect the origin
point again when the power is
on or the servo driver sends
an alert.
1. Press “HP”key to resettheorigin point in the stop state.83
Execute horizontal
action before
spinning in/out
Execute horizontal action
before transverse movement in
manual mode.
1. Execute horizontal actionbefore transverse movement.2. Check horizontal limit switch.3. Check horizontal valve.
84
Cannot descend,
machine is not at
both ends of
horizontal axis
Machine is not at both ends of
horizontal axis.(For inverter
traverse robot)
1. Spin in(out) manually tothespin in(out) limit.
2. Check the spin in limit switchfor a signal.
3. Check the spin out limit switchfor a signal.
85
Insufficient air
pressure.
The intake air pressure is too
low.
1. Check the intake air pressure.2. Check if the air pressuredetection switch has signal.86
Internal drop
safety point,
smaller than
starting position
Position set for internal
safety zone is smaller than
starting position.
1. Reset position of internalsafety zone, which must be largerthan starting position.
87
Internal drop
safety point,
larger than safety
door position
Position set for internal
safety zone is larger than the
safety door position.
1. Reset position of internalsafety zone, which must be smallerthan the safety door position.88
Alert No.88
Cannot descend, not
in internal drop
safety zone
Internal descending position
is not safe.
1. Reset internal drop
position,which must be smallerthan internal safety zoneposition.
89
Transverse
position, smaller
than starting
position
Transverse position is set
smaller than starting point.
1. Reset transverse position,which must be larger than startingpoint.
90
Transverse
position, larger
than the max
Transverse position is set
larger than the max value. 1. Reset transverse position,which must be smaller than themaxvalue.
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91
Before the outer arm
falls, type outside
safety zone is not
limited.
The limit switch of the outside
safety zone is broken before
the arm falls.
1. Check if the outside safetyzone limit switch has a signal.2. Ensure that the I/0 boardiswired correctly.
3. Check the board faulty.
92
Before the inner arm
falls, inner type
safety zone is not
limited.
The limit switch of the inner
safety zone is broken before
the arm falls.
1. Check if the inner safetyzonelimit switch has a signal.
2. Ensure that the I/0 boardiswired correctly.
3. Check the board faulty.
93
The trial period is
over.
The trial period is over.
Please contact with themanufacturer.
94
Before spinning
out, please be
horizontal.
No horizontal signal before the
robot spins out.
1. Perform horizontal motionbefore spinning out.
2. Check if the horizontal limitswitch has a signal.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
95
Before spinning
out, please be
vertical.
No vertical signal before the
robot spins out.
1. Perform vertical motion beforespinning out.
2. Check if the vertical limitswitch has a signal.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
96
Before spinning in,
please be
horizontal.
No horizontal signal before the
robot spins in.
1. Perform horizontal motionbefore spinning in.
2. Check if the horizontal limitswitch has a signal.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
97
Before spinning in,
please be vertical.
No vertical signal before the
robot spins in.
1. Perform vertical motion beforespinning in.
3. Check if the vertical limitswitch has a signal.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
98
Processing 1 valve
to pass, Processing
1 is not limited.
After the machining 1 pass
action is executed, the
machining 1 limit has no signal
input.
1. Check if the air pressure istoolow.
2. Check if there is a processing1 action
3. Check if the processing 1switch has a signal.
4. Ensure that the I/0 boardiswired correctly.
5. Check the board faulty.
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99
Processing 1 valve
broken,
Processing1
restricted
After the machining 1 break
operation is performed, the
machining 1 limit confirmation
signal has input.
1.Check if there is a processing1valve action.
2. Ensure that the I/0 boardiswired correctly.
3. Check the board faulty.
100
Reserve 2 valve to
pass, reserve 2 is
not limited.
After the reserved 2-way action
is performed, the reserved 2
limit has no signal input.
1. Check if the air pressure istoolow.
2. Check if there is a reserve2action.
3. Check if the reserve 2 switchhasa signal.
4. Ensure that the I/0 boardiswired correctly.
5. Check the board faulty.
101
Reserve 2 valve
broken, reserve 2
restricted.
After the reserved 2 break
action is performed, the
reserved 2 limit confirmation
signal has input.
1.Check if there is a reserve2valve action.
2. Ensure that the I/0 boardiswired correctly.
3. Check the board faulty.
102
Horizontal
standby without
mold opened signal
and can not be
vertical
No mold opened signal when
performing vertical motion
1．Ensure the standby posture issetcorrectly.
2．Check if there is a signal afterthe mold opened.
3. Ensure that the I/0 boardiswired correctly.
4. Check the board faulty.
103
Before the posture
changes, the outer
safety zone is cut
off.
Before the fixture is executed
horizontally and vertically,
the limit switch of the outer
safety zone is broken.
1. Check if the limit switch oftheouter safety zone has a signal.2. Ensure that the I/0 boardiswired correctly.
3. Check the board faulty.
104
No fully auto
signal
When the robot is running
automatically, there is no
automatic signal of the
injection molding machine.
1. Check if there is a signalfromthe fully automatic signal oftheinjection molding machine
2. Ensure that the I/0 boardiswired correctly.
3. Check the board faulty.
105
Did not teach mold
opened
When the press signal is set as “teachable”, the program
does not teach the“wait for
mold opened”action.
1.Add the “wait for mold opened”action to program teaching.
2.The press signal is set asunteachable.
106
Y axis rising
limit on, Y axis
down limit on
Y axis rising limit and down
limit have signal input at the
same time.
1. Check Y axis rising and downlimit
2. Check I/O board wiring.
3. Check circuit board.
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107
Y axis is not at the
starting point
before transverse
movement
Y axis is not at the standby
position before the machine
board does transverse
movement.
1. Check whether Y axis descends.2. Check whether Y axis originhassignal.
3. Check I/O board wiring.
4. Check circuit board.
108
Y axis is not at the
starting point
before posture
changes
Y axis is not at the standby
position before fixture does
vertical/horizontal
movement.
1. Check whether Y axis descends.2. Check whether Y axis originhassignal.
3. Check I/O board wiring.
4. Check circuit board.
109
Y axis max
position is
not set
Y axis max position is not set
1. Set the max position of Yaxismovement.
110
Y axis
descending
points×
distance
exceeds safe
range
The Y axis position of cyclic
descending exceeds safe
range.
1. Reset distance or point numberof cyclic descending.
111
Y axis down limit
is abnormal
Y axis down limit switch has no
signal input.
1. Check whether the down limitswitch has signal.
2. Check I/O board wiring.
3. Check circuit board.
112
Y axis up limit is
abnormal
Y axis up limit switch has no
signal input.
4. Check whether the up limit switchhas signal.
5. Check I/O board wiring.
6. Check circuit board.
113
Y axis is not
at the
starting
point. Need
to rise
manually
Y axis is not at the starting
point. Please lift manually
and reset.
1. Lift to Y axis standby positionmanually.
2. Check whether Y axis originhassignal
3. Check I/O board wiring.
4. Check the circuit board.
114
Y axis down for too
long
The descending action time of
Y axis is over the limit time.
1. Check whether the descendingspeed is set too slow.
2. Check whether the descendinglimit time is set too short.3. Check whether the servo motorrotates.
4. Check the wiring of servo motor.5. Check the circuit board.
115
Y axis up for too
long
The rising action time of Y
axis is over the limit time.
1. Check whether the rising speedisset too slow.
2. Check whether the rising limittime is set too short.
3. Check whether the servo motorrotates.
4. Check the wiring of servo motor.5. Check the circuit board.
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116
Y axis
descending
position is
less than
starting
point
Y axis descending position is
set less than starting
position.
1. Reset descending positionofYaxis and ensure the value is largerthan starting point.
117
Y axis
descending
position is
more than
the max
Y axis descending position is
set larger than the max
position of Y axis.
1. Reset descending positionofYaxis or the max value and ensurethe value is less than the maxvalue.
119
Y axis max
standby
position is
larger than
the max
The maximum Y axis standby
position is set larger than the
max position of Y axis.
1. Change the set value ofthemaximum Y axis standby positionand ensure the value is lessthanthe max position of Y axis.。120
Y axis
standby
position is
larger than
the max
The set value of Y axis standby
position is larger than the max
standby position.
1. Decrease the set value of Yaxisstandby position.
2. Increase the set value ofthemax Y axis standby position.121
Not teach waiting
for mold opened
When the IMM signal is set as “Allow teaching”, the program
does not teach“Wait for mold
opened”action.
1. Add the action into programteaching.
2. Set IMM signal as“Not allowteaching”.
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9.2 Servo Alarm
No. Information Reason Solution
5001
Emergency stop
alarm
Servo has emergency
stop signal input
1、Stop the hand controller2、Short the host emergency stopsignal
5002 Axis 1 over-current
Exceeding the maximum
current
1、Check if the motor is blocked2、Replace if the motor fails3、Replace if the host fails5003 Axis 2 over-current
Module over-current
protection
1、Check if the motor is blocked2、Pull out the power lineandbrake line then power on again.If it alarms when power on,itis the host malfunction andchange it, otherwise checkthemotor and wiring.
5005 Axis 1 overload
Exceeding the maximum
load
1、Check the load.
5006
Axis 2 overload
Exceeding the maximum
load
1、Check the load.
2、Check if the motorisblocked.
5007
Axis 1 motor
initialization
Motor power-on
initialization
Power on again
5008
Axis 2 motor
initialization
Motor power-on
initialization
1、Press Stop button to clear.2、Power on again if it cannotclear.
3、Host malfunction. Replaceit.
5009
Axis 1 UVW phase
current is abnormal Current exceeds alarm
value
1、Line order error
2、Lack of phase
3、Motor code does not matchthemotor
5010
Axis 2 UVW phase
current is abnormal
5011 VDC low-voltage 220V voltage is too low
1、Too much load and too highaccelerated speed, so thevoltage drops too much.
2、External input voltageistoo low.
3、Host malfunction. Replaceit.
5012 VDC over-voltage
220V voltage is too
high
1、Too much load and too highdecelerated speed, so thevoltage increases too much.2、Brake resistor is brokenornot conductive.
3 、 Host malfunction. Replaceit.
5013 Axis 1 over-speed
Exceeding the maximum
speed
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5014 Axis 2 over-speed
Exceeding the maximum
speed
5015
Driver
overheating
Temperature is too high
1、Check the fan.
2、Host malfunction. Replaceit.5016 IIC failed to send
Memory chip exception Replace the host
5017 IIC failed to read
5018
Axis 1 position
deviation is too
large
The deviation between
command value and
the actual encoder
value is larger than
the set value of
param49.
1、Set servo param49 to increasedeviation range.
2、The acceleration and
deceleration are set too small.3、System abnormality.
5019
Axis 2 position
deviation is too
large
The deviation between
command value and
the actual encoder
value is larger than
the set value of
param49.
1、Set servo param49 to increasedeviation range.
2、The acceleration and
deceleration are set too small.3、System abnormality.
5020
Axis 1 encoder
error
Encoder communication
failure
1、The encoder line is abnormal.2、The encoder joint has poorcontact.
3、Motor encoder is abnormal.5021
Axis 1 speed
abnormal
Abnormal rotation of
motor
1、Motor code is set incorrect.2、The gain param is notreasonable.
3、The motor is abnormal androtates randomly.
5022
Axis 1 encoder
initialization
Encoder initialization
1、The encoder line is abnormal.2、The encoder joint has poorcontact.
3、Motor encoder is abnormal.5023
Axis 1 motor code
error
Motor code is not
supported by system
Set param4 as 1 and manuallyset param2 as correct motorcode.
5024
Axis 2 motor code
error
Motor code is not
supported by system
Set param4 as 1 and manuallyset param2 as correct motorcode.
5028
Axis 2 encoder
error
Encoder communication
failure
1、The encoder line is abnormal.2、The encoder joint has poorcontact.
3、Motor encoder is abnormal.5029
Axis 2 speed
abnormal
Abnormal rotation of
motor
1、Motor code is set incorrect.2 、 The gain param is notreasonable.
3 、 The motor is abnormal androtates randomly.
5030
Axis 2 encoder
initialization
Encoder
initialization
1、The encoder line is abnormal.2、The encoder joint has poorcontact.
3、Motor encoder is abnormal.
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APPENDIX 1 Servo Parameter List
Code Name Parameter description Set range Unit
Original00 Software version 0～65535 100001 Driver model
2:100～200W;
3:400W;
4:750W;
5:850～1300W
6:1800W
2～6 402 Motor code 1000～1600 140003
Parameters
management
Send 256to reset
0x00～0x1111
0x000004 Forced motor code 1：Forced
05
Max rotate speed
threshold
0～6000 0～6000 rpm 450006
Max positive torque
limit
0～300 0～300 % 30007
Max negative torque
limit
0～300 0～300 % 30008
Motor direction
logic
0：Positive CCW
1：Negative CCW
0～1 011
Band brake ON delay
time
Delay time from when
servo receives Servo On
to band brake ON.
100～500 ms 10012
Delay time from
brake OFF to servo
OFF at static state
Delay time from when
servo receives Servo OFF
to the motor is power
off.
1～1000 ms 10013
Encoder battery
failure clearing
When driver sends alert
of encoder battery
failure, set it as 0 to
clear.
15
Motor overload
protection
coefficient
10～100 10～100 % 5017 Enable 0～1 018
Eternal emergency
stop shield
0～1 021 Velocity loop gain
Larger value means
faster respond, it may
shake if the gain is too
large. Position mode
corresponds with
position loop gain.
0～500 Hz 90
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22
Integration time
constant of
velocity loop
Smaller value means better
integral action and speed
track. It needs to
correspond with velocity
loop gain and position
loop gain.
0～300 ms 2523 Position loop gain
Larger value means faster
respond, it may shake if the
gain is too large.Position
mode corresponds with
velocity loop gain.
0～20 1/s 428
Velocity
feed-forward gain
Increase the value to
decrease the position
deviation. It may cause
overshoot if value is too
large.
0～100 % 030
Damping
coefficient
Position loop damping
coefficient
100～500 10031
Velocity feedback
low-pass filter
coefficient *
100～20000 2000032
Current feedback
low-pass filter
coefficient *
Detect real current
direction
100～20000 2000033
Torque
feed-forward
coefficient *
0～100 034
Velocity loop
differential gain
(low frequency) *
0～1000 039
Curve S smoothness
level
Level 1～7, higher level
means lower
smoothness
1～7 341
Moving average
filter constant
0～200.0 0～200.0 ms 042
First-order
low-pass filter
constant
0～6000.0 0～6000.0 ms 049
Position
deviation limit
0.1～50.0 r 0.1～50.0 5.069
Torque order
low-pass filter
coefficient
100～20000 2000072
Notch filter
frequency
0～10000 073
Notch filter
bandwidth
0～1000 099 Software version Software version
0x000～0xFFFF
0x0000* Note：Values with * are defaults set by the manufacturer.
