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深圳市华成工业控制股份有限公司Shenzhen Huacheng Industrial Control Co., Ltd.
EC-S3&S5 Series of ProductsUser Manual
DRIVE-CONTROL INTEGRATED THREE-AXIS&FIVE-AXIS
MANIPULATOR CONTROL SYSTEM V4.1
I
EC-S3&S5 Series of Products User Manual V4.1
Introduction
First of all, thank you very much for choosing the EC-S3&S5 control system ofthree-axis&five-axis manipulator with integrated drive-control system produced by ShenzhenHuacheng Industrial Control Co., Ltd.
This is the user manual of the system, which will provide you with relevant rulesandprecautions for the installation, wiring, system operation, alarms and solutions.
In order to use this control system correctly, give full play to the performanceofit and ensure the safety of users and equipment, please read this manual carefully beforeusing. Incorrect operation may lead to abnormal operation of the control system, equipmentdamage, personal injury or other accidents!
As our company is devoted to the continuous improvement of products, there will benofurther notice if the material provided by the company is changed.
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CONTENTS
INTRODUCTION....................................................................................................................................................ICHAPTER 1 SYSTEM CONFIGURATION AND INSTALLATION............................................................................ 11.1 System Basic Configuration....................................................................................................... 11.2 Safety Reminder and System Installation............................................................................. 11.2.1 Precautions for Preservation and Removals.............................................................11.2.2 Matters Needing Attention............................................................................................. 11.2.3 Prohibited Operations..................................................................................................... 11.2.4 Precautions in Abandonment........................................................................................... 11.2.5 System Installation......................................................................................................... 11.2.6 Safety Precautions........................................................................................................... 21.3 Installation and External Wring Requirements...................................................................41.3.1 Installation Direction and Space Requirements.....................................................41.3.2 Cable Requirements and Wiring..................................................................................... 4CHAPTER 2 SYSTEM INSTALLATION AND WIRING INSTRUCTIONS................................................................ 82.1 System Wiring Diagram................................................................................................................. 82.1.1 EC-S3 Machine Wiring Diagram....................................................................................... 82.1.2 EC-S5 Machine Wiring Diagram....................................................................................... 92.1.3 Dimensional Drawings..................................................................................................... 102.2 Power Input Definitions........................................................................................................... 162.3 I/O Port Wiring Diagram........................................................................................................... 162.4 Servo Motor Connection Definition....................................................................................... 192.4.1 Power Cable Definition................................................................................................. 192.4.2 Encoder Cable Definition............................................................................................. 202.4.3 Wiring Diagram of Motor Band Brake......................................................................... 212.5 Connection between Manipulator and IMM............................................................................. 21CHAPTER 3 COMMISSIONING AND OPERATION MODE.................................................................................... 223.1 Appearance and Description..................................................................................................... 223.2 Main Screen....................................................................................................................................223.3 Operation Mode..............................................................................................................................223.3.1 Pre-run Inspections....................................................................................................... 223.3.2 Test Run of Servo Axis................................................................................................. 233.3.3 Origin Point Reset......................................................................................................... 243.3.4 Manual Operation............................................................................................................. 263.3.5 Teaching Page................................................................................................................... 273.3.6 Automatic Status............................................................................................................. 283.4 Procedure of Fast Operation................................................................................................... 293.4.1 Test Run Program of Three-axis................................................................................. 293.4.2 Test Run Program of Five-axis................................................................................... 30CHAPTER 4 FUNCTION AND MAIN SCREEN.....................................................................................................314.1 Basic Function..............................................................................................................................314.1.1 Function Keys................................................................................................................... 314.1.2 Fine Tuning Knob............................................................................................................. 314.2 Main Screen....................................................................................................................................324.2.1 Login Permission............................................................................................................. 334.3 State Knob......................................................................................................................................33
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CHAPTER 5 MANUAL STATUS........................................................................................................................... 345.1 Operation of Manual Pages....................................................................................................... 345.1.1 Fixture Page..................................................................................................................... 345.1.2 Manual Operation of Auxiliary Equipment...............................................................345.1.3 Manual Operation of Reserve Action......................................................................... 355.2 Teaching Page................................................................................................................................355.2.1 Teaching of Axis Actions............................................................................................. 385.2.2 Teaching of Program Starting Point......................................................................... 385.2.3 Stack Instruction........................................................................................................... 395.2.4 Teaching of Fixture and Detection Program...........................................................405.2.5 Teaching of IMM Signal................................................................................................. 425.2.6 Teaching of Auxiliary Equipment............................................................................... 425.2.7 Reserve................................................................................................................................435.2.8 Wait......................................................................................................................................435.2.9 Other....................................................................................................................................445.2.10 Sequence Action............................................................................................................. 445.2.11 Program Quick Setting................................................................................................. 455.2.12 Comment/Label................................................................................................................. 465.2.13 Condition......................................................................................................................... 475.2.14 Modification of Program Parameters.......................................................................505.3 Examples of Teaching Program................................................................................................. 515.3.1 Requirements..................................................................................................................... 515.3.2 Procedures......................................................................................................................... 51CHAPTER 6 STOP STATUS............................................................................................................................... 536.1 Program Management..................................................................................................................... 536.2 Function Setting......................................................................................................................... 546.2.1 Signal Setting................................................................................................................. 546.2.2 Product Setting............................................................................................................... 566.2.3 Operation Parameter....................................................................................................... 576.2.4 The Relationship between Several Speeds...............................................................576.2.5 Safety Point..................................................................................................................... 586.2.6 Machine Parameter Structure....................................................................................... 616.2.7 Pneumatic Detection Time............................................................................................. 686.2.8 Stack Setting................................................................................................................... 686.2.9 System Setting................................................................................................................. 716.2.10 Maintenance..................................................................................................................... 74CHAPTER 7 AUTOMATIC STATUS..................................................................................................................... 767.1 Monitoring of Auto-running Data........................................................................................... 767.2 Modification of Parameters in Automatic Operation.......................................................767.3 Single Step Operation............................................................................................................... 777.4 Single Cycle..................................................................................................................................777.5 Speed Adjustment during Automatic Operation...................................................................77CHAPTER 8 MONITOR AND ALARM RECORD.....................................................................................................788.1 I/O Monitor....................................................................................................................................788.2 Alarm History................................................................................................................................798.3 Modify Log......................................................................................................................................808.4 Alarms and Solutions................................................................................................................. 818.4.1 Function Alarms and Solutions................................................................................... 81
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8.4.2 ECS5/ECS3 Servo Alarms............................................................................................... 119APPENDIX MODBUS ADDRESS AND PARAMETER DEFINITIONS.................................................................... 123
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Chapter 1 System Configuration and Installation1.1 System Basic Configuration
1) 8-inch color display operation panel（optional transfer cable length, 1m standard);2) Drive-control integrated control box;
3) Servo motor（Standard 100W-1800W）;
4) Brake resistance;
5) Power supply unit（optional part）;
6) UVW power cable and encoder cable (optional part, optional length);
1.2 Safety Reminder and System Installation
The safety content of this manual is as following. The description of the safetymark is very important. Please abide by it.
Attention! The risk of not operating as required may lead to moderate or minorinjury, and equipment damage. 1.2.1 Precautions for Preservation and Removals
*Note: Do not store, place machine in the following environment, otherwise it will causefire, electric shock or machine damage.
1) Places with direct sunlight, where the temperature or relative humidity exceedsthe required level, and places where the temperature difference is large and dewy.2) Places close to corrosive gases, flammable gases, or with great quantity of dust,salt and metal dust; Places with water, oil and medicine drip, or where vibrationor shock can be transmitted to the main part. Do not hold the cable during removals,otherwise it will cause machine damage or malfunction. 1.2.2 Matters Needing Attention
1) Do not stack too many products, otherwise it will cause damage or malfunction.2) This product is a general industrial product. Don't use to hurt people's lifeandhealth.
3) Please configure the safety device if applied to devices that may cause majoraccidents or damage due to the malfunction of this product.
4) If used in an environment of sulphur or high concentrations of sulfuric gas, pleasenote that due to vulcanization, chip resistance may be broken or poor contacted.5) If the input voltage far exceeds the rated range of the power supply of this product,smoke and fire may occur due to the damage of internal components, please payfullattention to the input voltage.
6) Please note that this product can not guarantee the use beyond the productspecification.
7) The company is committed to the continuous improvement of products and may changesome parts. 1.2.3 Prohibited Operations
Except with our professional personnel, do not dismantle or carry out maintenance.1.2.4 Precautions in Abandonment
Attention!
When the product needs to be treated as waste after normal use, please abide bytherelevant department's legal regulations on the recovery and reuse of electronicinformation products. 1.2.5 System Installation
1) Wiring work must be carried out by a professional electrician.
2) Make sure that the power supply is disconnected before starting work.
3) Please install on metal and other flame retardants and away from combustible.4) Be sure that the machine is well grounded while using.
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5) If the external power supply is abnormal, the control system will fail. Pleaseseta safety circuit outside the control system to make the control system work safely.6) Please be familiar with the contents of this manual before installation, wiring,operation and maintenance. Please be familiar with related machinery and
electronics knowledge and all relevant safety precautions while using.
7) The electric box where the controller is installed should be well ventilated,oilproof and dustproof. If box is airtight, it needs to install ventilationfanto prevent the controller from abnormal work caused by high temperature. Theappropriate temperature is under 50℃. Do not use in frozen or dewy places.8) Avoid to place the controller too close to contactor, frequency converter and otherAC devices while installing, in case of unnecessary surge interference. 1.2.6 Safety Precautions
Encoder must use shielded cable and shielding layer must be single-endwellgrounded!
Do not install frequency converter or other devices that generate
electromagnetic waves or interference near the servo driver, otherwise theservodriver will have the wrong action. If there is a need, set an anti-jamming shieldbetween it and the servo driver.
Please follow the steps specified in the electrostatic precautions(ESD)when operating the servo driver, otherwise the internal circuit of theservodriver will be damaged by static electricity.
Please follow the local standard for branch and short circuit protection.If the protection measures are improper, it may cause servo driver damage.Do not share ground wires with welding machines or power machines requiringhigh current, otherwise the servo driver or machine will not work well.When using several servo drivers, please follow the contents of this manual.Do not wrap the ground wire into a circle, otherwise it will cause abnormaloperation of servo driver or machine.
Do not connect or operate if there are parts lost or obviously damaged.Wiring, inspection and other operations should be done by the professional.Attention!
Rotating motor would feed power to servo drivers so that the servo driveris still live even after the motor is cut off and stops. Make sure themotorservo driver is safely disconnected before maintenance.
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Do not do wiring with power on, otherwise there will be a risk of electricshock. Please cut off the power of all equipment before checking. Even ifthepower supply is cut off, there is residual voltage in the internal capacitor.After cutting off the power, please wait at least 10 minutes.
Contact current of servo driver is more than 3.5 mA. Please make sureservodriver is well grounded, otherwise there will be a risk of electric shock.Power on
Do not open the cover plate after power on, otherwise there will be ariskof electric shock!
Do not touch any input and output terminals of the servo driver, otherwisethere will be a risk of electric shock!
Do not remove the cover plate of the servo driver or touch the printed circuitboard with power on, otherwise there will be a risk of electric shock.Do not arbitrarily change the manufacturer parameters of servo driver, otherwiseit may cause damage to the equipment!
Danger!
In service
Do not detect signals in operation if not professional, otherwise itmaycause personal injury or equipment damage!
Do not touch the cooling fan and discharge resistance to test the
temperature, otherwise it may cause burns!
Avoid there is anything falling into the equipment in operation, otherwiseit may cause equipment damage!
Maintenance
Do not repair or maintain servo drivers without professional training,otherwise it may cause personal injury or equipment damage!
Do not repair or maintain with power on, otherwise there will be a riskofelectric shock! Confirm that the input power of the servo driver is cut offandwait for 10 minutes before repairing or maintenance, otherwise the residualcharge on the capacitor will do harm to people!
Make sure the servo driver is safely disconnected from all power sourcesbefore performing maintenance work.
All pluggable units must be plugged with power off!
The parameters must be set and checked after changing the servo driver.Do not power up the damaged machine, otherwise it will expand the damage.Ensure that the phase sequence of the motor terminal is consistent withtheservo driver terminal. If not, the motor will rotate in reverse.
Do not connect the power with the output terminal of the servo driver,otherwise it will cause damage to the servo driver and even fire.
Some systems may act suddenly when electrified, with a risk of deathorserious injury.
Before turning on the servo driver, make sure the cover is firmly installedand the motor is allowed to restart.
Before turning on the servo driver, please confirm that the rated voltageis consistent with the power supply. If the main circuit power supply voltageis used incorrectly, it may cause fire.
Do not connect the input power with the output terminal (U、V、W) oftheservo driver, otherwise the servo driver will be damaged!
Do not carry out installation, maintenance, inspection or replacementofcomponents if not professional electrical construction crew, otherwisetherewill be a risk of electric shock.
Warn!
Note: Improper handling may cause risks, including personal injury or equipment accidents.
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1.3 Installation and External Wring Requirements
1.3.1 Installation Direction and Space Requirements
Installation direction: The normal installation direction of the servo driverisvertical and upright. Servo driver, chassis space and intervals between other equipmentmust be≥10 CM. Please refer to the figure below and note that the diagram indicatesthe minimum size. Please keep adequate installation intervals to ensure the performanceand life of the driver.
*Note：Installation of drive-control three-axis robot is the same as five-axis.Heat elimination: The servo driver uses the fan to abstract heat. It is best to installa ventilation slot or a heat dissipation fan in the electricalcontrol cabinet to ensure that the drive-control integrated machinein the chassis is in a place where is cool and airy. 1.3.2 Cable Requirements and Wiring
1.3.2.1 Shielded Cables
To meet the requirements of EMC, it must use shielded cables with shielding layerfor encoder cable. It’s recommended to use shielded cables with shielding layerforpower cable or install a magnetic ring( suggested spec is R3H 22×28×7.0). Shieldedcable is shown as P1. Power cable with magnetic ring is shown as P2. As we suggest,installing magnetic ring is more recommended.
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P1 Shielded cable requirements(for encoder cable)
P2 Power cable with magnetic ring
In order to suppress RF interference emission and conduction effectively,theshielding layer of the shielding wire is composed of coaxial copper braided wire.Toincrease the shielding efficiency and conductivity, the braid density of the shield layershould be greater than 90% as the following picture.
Woven density of shielding layer
Installation considerations:
● Shielded symmetrical cables are recommended for all shielded cables, and four-corecables can also be used as input cables ;
● Cables and PE shielded conductor(stranded shield)should be as short as possibleto decrease EMR, stray current and capacitive current outside;
● It is recommended to use shielded cable as control cables;
● It is recommended to use shielded cables or steel pipe shielded power cablesasoutput power cable of driver with the shielding layer well grounded. Cablesforequipment under interference shall use shielded twisted-pair with the shieldinglayer well grounded.
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1.3.2.2 Cable Wiring Requirements
1) Motor cables should be far away from others; Motor cables of drivers can bewired paralleled.
2) It is recommended to place motor cables, input power cables and control cablesin different chutes. Long-distance parallel wiring should be forbidden to avoidEMR caused by fast change of driver’s output voltage.
3) Try to keep perpendicular if the control cable has to cross power cable. Donotlet other cables cross the driver.
4) Try not to wire input power cable, output power cable of driver and weak signalcables such as control cables paralleled, perpendicular if possible.
5) Chutes must be well connected and grounded. Aluminium chutes can improve
equipotential.
6) Filter, driver and motor should be well connected with system( machine orequipment). The installed part should be painted and make conductive metal fullycontacted.
7) Wiring diagram is shown as bellow:
500mm at least
500mm at least
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1.3.2.3 Common EMC problems and solutions
Driver products can cause strong interference. It may happen if there are problemsin wiring or grounding. Solutions in this chart can be used.
Common EMC Interference Problems and Solutions
Interference
type
Solutions
Trip of current
leakage protection
circuit breaker
Lower the carrier frequency;
Shorten the drive cable;
Add wound magnetic ring to the input drive cable(not PE cable);Disconnect the larger capacitance in input port if trip happensthemoment power on;(disconnect the ground terminals of internal or externalfilter and earth Y capacity in input port)
For running or enable trip, it needs to take current leakagerestraining measures (current leakage filter, safety guage capacitor+wound magnetic ring);
Interference
caused by driver
running
Connect motor’s shell with PE terminal of driver;
Connect PE terminal of driver with PE of electric net;
Add wound magnetic ring to the input power cable;
Add capacitance or wound magnetic ring to interfered signal port;Additional common-ground connection between devices;
Communication
interference
Connect motor’s shell with PE terminal of driver;
Connect PE terminal of driver with PE of electric net;
Add wound magnetic ring to the input power cable;
Add matching resistance to communication cable source and loadterminal;
Connect differential cable of communication cable with communicationcommon-ground wire outside;
Use shielded cables as communication cables and connect the shieldinglayer with communication common-ground wire;
Use daisy chain in multi-point communication wiring and the lengthofbranches should be less than 30cm;
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Chapter 2 System Installation and Wiring Instructions2.1 System Wiring Diagram
2.1.1 EC-S3 Machine Wiring Diagram
*Note:
1) Users need to evaluate whether the IO power supply exceeds the standard 50W, ifitexceeds, they need to replace the high-power power supply.
2) Solutions to alarms in manual controller after wiring are listed in 8.4 AlarmsandSolutions.
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2.1.2 EC-S5 Machine Wiring Diagram
*Note:
1) Users need to evaluate whether the IO power supply exceeds the standard 50W, if itexceeds, they need to replace the high-power power supply.
2) Solutions to alarms in manual controller after wiring are listed in 8.4 AlarmsandSolutions.
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2.1.3 Dimensional Drawings
2.1.3.1 EC-S3 Main Control Dimensions
Installation Screw Spec Length(max) Torque(max)
Fixed by screw M5 8mm 7.5kgf.cm
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2.1.3.2 EC-S5 Main Control Dimensions
Installation Screw Spec Length(max) Torque(max)
Fixed by screw M5 8mm 7.5kgf.cm
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2.1.3.3 Single Switch Power Supply
Installation Number Screw spec Length(max) Torque(max)
Fixed by
screw ①--② ⑦--⑨ M3 5mm 6.5kgf.cm ③--⑥ ⑩--⑫ M3 3mm 7kgf.cm 2.1.3.4 Two-way Switch Power Supply
Installation Number Screw spec Length(max) Torque(max)
Fixed by
screw ①--② ⑦--⑨ M3 5mm 6.5kgf.cm ③--⑥ ⑩--⑫ M3 3mm 7kgf.cm
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2.1.3.5 Brake Resistance Dimensions
2.1.3.6 Motor Parameters and Shape Dimensions
400W motor parameters and dimensions：
400W motor parameters
Spec
Model
LL LC LR LA LZ LH LG LE LJ
400W with Brakes <180 60 30 70 4- φ5.5 ≤50 NA 3±0.5 1±0.35
400W No brakes <130 60 30 70 4- φ5.5 ≤50 NA 3±0.5 1±0.35
Spec
Model
S LB TP LK KH KW W T
Weight
（kg）400W with Brakes 14 50 M5*10 ≤23 11 5 5 5 NA
400W No brakes 14 50 M5*10 ≤23 11 5 5 5 NA
（400W Motor Dimensional Drawing）
Installation
Screw
spec
Length(max) Torque(max)Fixed by
screw
M5 8mm 7.5kgf.cm
Model
25℃-40℃
power
rating
(W)
Dimensions (mm)
Range of
Resistor resistance
A±1.0 B±1.0 C±1.0 D±1.0 E±0.5 F G±1.0
0.1～20K
RXLG 200 165 147 30 60 5.6 45° 119
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750W motor parameters and dimensions：
(750W Motor Dimensional Drawing)
2.1.3.7 Dimensions of Manual Controller
*Note：The dimensions of manual controller of EC-S3 control system are the samewithcontroller of EC-S5 system.
750W motor parameters
Spec
Model
LL LC LR LA LZ LH LG LE LJ
750W with Brakes <190 80 35 90 4- φ7 ≤55 NA 3±0.5 1±0.35
750W No brakes <140 80 35 90 4- φ7 ≤55 NA 3±0.5 1±0.35
Spec
Model
S LB TP LK KH KW W T
Weight
（kg）750W with Brakes 19 70 M6*12 25 16 5 6 6 6 NA
750W No brakes 19 70 M6*12 25 16.5 6 6 6 NA
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2.1.3.8 Supporting Cable and Model
Name Model
L cable
length
Appearance
Encoder
cable
(4*0.25)
PMXB1-5610054 0.5M
PMXB1-5610254 2.5M
PMXB1-5610304 3 M
PMXB1-5610454 4.5M
PMXB1-5610554 5.5M
PMXB1-5610604 6 M
PMXB1-5610704 7 M
PMXB1-5610104 10 M
Power cable
(4*0.75)
PMXB1-5640051 0.5M
PMXB1-5640091 0.9M
PMXB1-5640301 3 M
PMXB1-5640451 4.5M
PMXB1-5640551 5.5M
Power brake
cable
(4*0.75+
2*0.3)
PMXB1-6640251 2.5M
PMXB1-6640451 4.5M
PMXB1-6640551 5.5M
PMXB1-6640601 6M
PMXB1-6640701 7M
PMXB1-6640101 10M
Manual
controller
cable
PMXB1-1301050 0.5M
PMXB1-1301100 1M
Drag chain
manual
controller
cable
PMXB1-1302250 2.5M
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2.2 Power Input Definitions
Single phase 220 V power supply connection
L1 NULL L1C 220V-L
L2 220V-L L2C 220V-N
L3 220V-N
2.3 I/O Port Wiring Diagram
Other input signals： X20～X27，X30～X37，X40～X47
The connection is the same as in the picture above：X10～X17，Other output signals： Y20～Y27，Y30～Y37，Y40～Y47，The connection is the same as in the picture above：Y10～Y17.
Terminal
identification Terminal name
Function
declaration
Remarks
L1C Auxiliary
Power
Terminal
AC
single phase
220V 50/60HZ/
Supply voltage
range 200VAC～
240VAC
The auxiliary power supply is for internalcontrol circuit. Main power supply cableuses 3-core multi-stranded copper cable,ofwhich single core cross-sectional areaisL2C 2.5 ㎟ and insulation voltage is >=600VBP
Brake
Resistance
Terminal
External brake
resistance
access point
External resistance (33Ω200W).
L1
Main Circuit
Power
Terminal
AC
single phase
220V 50/60HZ/
Input voltage
range 200VAC～
240VAC
The main circuit high-voltage power supplyis for internal power. Main power supplycable uses 3-core multi-stranded coppercable, of which single core cross-sectionalarea is 2.5 ㎟ and insulation voltageis >=600 V
L2
L3
U Servo Motor
Access
Terminal 1-2
Connect
three-phase
servo motor
Connect according to the UVW
corresponding access, otherwise the motordoes not turn or has galloping problem.V
W
PE Ground point
Security
protection
access point
This point must be grounded.
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Three-axis injection molding (X1,Y1,Z as servo axis, X2, Y2, C as pneumatic axis)IO Definitions
Input Definitions Output Definitions
X10 Horizontal 1 limit Y10 Horizontal 1 vale
X11 Vertical 1 limit Y11 Vertical 1 vale
X12 Clip 1 Y12 Clip 1 vale
X13 Clip 2 Y13 Clip 2 vale
X14 Suction 1 Y14 Suction 1 vale
X15 Suction 2 Y15 Suction 2 vale
X16 X1 end Limit Y16 Main arm Forward vale
X17 Suction 3 Y17 Reserve 1
X20 X1 origin Y20 Clip 4 vale
X21 Clip 4 Y21 Alarm
X22 Y1 Beginning limit Y22 Reserve 2
X23 X23 Y23 Aid cylinders
X24 External safety zone Y24 Horizontal 2 vale
X25 Z origin Y25 Paint Oil
X26 X026 Y26 Standby output 5
X27 Air pressure Y27 Mold Close Sp
X30 Sub arm forward limit Y30 Vice Forward Valve
X31 Sub arm backward limit Y31 Reserve 3
X32 Sub arm up limit Y32 Reserve 4
X33 Sub arm down limit Y33 Vice drop valve
X34 Clip 3 Y34 Clip 3 vale
X35 Y1 origin Y35 Suction 3 vale
X36 Suction 4 Y36 Suction 4 vale
X37 X37 Y37 Conveyor
X40 X040 Y40 Reserve 7
X41 Z Beginning limit Y41 Reserve 8
X42 Z End limit Y42 Reserve 9/Stop
X43 Wait X43 Y43 Reserve 10/Run
X44 Wait X44 Y44 Y044
X45 Y suction stop Y45 Y045
X46 Wait X46 Y46 Y046
X47 External descent safety signal Y47 Material Supply Machine
Input emergency stop signal Mold Open Permit
Mold Opened Mold Close Permit
Mold Closed Recycle
Safety door Ejection Forward Permit
Ejection Forward Ejection Backward Permit
Ejection Backward Output emergency stop signal
Mold Inter Core Out
IMM Reject Core In
IMM Auto
Core Out
Core I
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Five-axis injection molding (X1,X2,Y1,Y2,Z as servo axis, AC as pneumatic axis, no ABaxes)IO Definitions
Input Definitions Output Definitions
X10 Horizontal 1 limit Y10 Horizontal 1 vale
X11 Vertical 1 limit Y11 Vertical 1 vale
X12 Clip 1 Y12 Clip 1 vale
X13 Clip 2 Y13 Clip 2 vale
X14 Suction 2 Y14 Suction 1 vale
X15 Suction 1 Y15 Suction 2 vale
X16 X1 end limit Y16 Main arm Forward vale
X17 Suction 3 Y17 Reserve 1
X20 X1 origin Y20 Clip 4 vale
X21 Clip 4 Y21 Alarm
X22 Y1 Beginning limit Y22 Reserve 2
X23 Horizontal 2 limit Y23 Aid cylinders
X24 External safety zone Y24 Horizontal 2 vale
X25 Z origin Y25 Paint Oil
X26 X026 Y26 Standby output 5
X27 Air pressure detection Y27 Mold Close Sp
X30 X2 beginning Limit Y30 Vice Forward Valve
X31 X2 origin Y31 Reserve 3
X32 Y2 origin Y32 Reserve 4
X33 Y2 Beginning limit Y33 Vice drop valve
X34 Clip 3 Y34 Clip 3 vale
X35 Y1 origin Y35 Suction 3 vale/Motor reverseX36 Suction 4 Y36 Suction 4 vale
X37 Vertical 2 limit Y37 Conveyor
X40 X040 Y40 Reserve 7
X41 Z Beginning limit Y41 Reserve 8
X42 Z end limit Y42 Reservation 9/Stop
X43 Standby input 5 Y43 Reserve 10/Run
X44 Standby input 6 Y44 Y044
X45 Y suction stop Y45 Y045
X46 Pause Y46 Vertical 2 vale
X47 External descent safety signal Y47 Material Supply Machine
Input emergency stop signal Mold Open Permit
Mold Opened Mold Close Permit
Mold Closed Recycle
Safety door Ejection Forward Permit
Ejection Forward Ejection Backward Permit
Ejection Backward Output emergency stop signal
Mold Inter Core Out
IMM Reject Core In
IMM Auto
Core Out
Core In
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Terminal Definitions Explain Remarks
24V power port
24V
24V power
Usually used as digital input power supply24 V±10%, maximum output current 100mA.0V
Digital
Input
Optical
Coupling
Common
X10-X47 input Optical Coupling CommonInterface
Input terminal
X10-X47
Connection
to optical
coupling
The negative electrode of 24 V power supplyis effective(0 V).
Output terminal Y10-Y47
MOS tube
leakage
output
Through the load to 24 V of power supply,single output protection current 350mA,voltage 65 V. More current loads requirerelay isolation control
Injection
molding machine
output port
relay output
Always
open
relays
5A/250VAC/30VDC
Communication
port(by type)
CAN port Reserve
USB monitoring
port
DP/DM
USB
monitoring,
debugging
ports
Please use manufacturer's special cable,USB electrical interface, for servo systemhigh-performance debugging, monitoring.2.4 Servo Motor Connection Definition
2.4.1 Power Cable Definition
Plug：MOLEX-50361672
Pin：MOLEX-39000059
No. 1 2 4 5 3 6
DEF U V W
PE
ground
NC
air
NC
air
Color Red Blue Black
Yellow
&Green
750W below Motor power cable -
without brake
Plug：MOLEX-50361672
Pin：MOLEX-39000059
No. 1 2 4 5 3 6DEF U V W
PE
ground
Br
brake
BrbrakeColor Red Blue
Blac
k
Yellow
&Green
Brown White750W below Motor power cable - with brakeVision Vision
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视图方向视图方向2.4.2 Encoder Cable Definition
Plug model MS3102A 20-18P/9-pin
No. B I F G
DEF U V W
FG
ground
850W above Motor power cable - without
brake
Plug model MS3102A 20-18P/9-pin
No. B I F G C EDEF U V W
FG
ground
Brake
+
Brake-850W above Motor power cable - with brakeHost encoder DB9 interface
Motor encoder AMP-TE/
female terminal/170361-1
Pin
number
Description Pin number Description
8 SD+ 3 SD+
4 SD- 6 SD9 5V 9 5V
5 0V 8 0V
7 FG
1 Battery+
4 Battery- Note：95、84 twisted pair
Motor encoder cable under 750W
Host encoder DB9 interface
Motor encoder 17-pin
aviation plug interface
Pin
number
Description Pin number Description
8 SD+
A SD+
4 SD- B SD9 5V G 5V
5 0V H 0V
J FG
E Battery+
F Battery- Note：95、84 twisted pair
Motor encoder cable above 850W
D89 Interface
Motor
encoder
Vision
Vision Vision
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2.4.3 Wiring Diagram of Motor Band Brake
*Notice: It needs to connect external relay with brake port to control band brake.2.5 Connection between Manipulator and IMM
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Chapter 3 Commissioning and Operation Mode3.1 Appearance and Description
*Note: Please refer to“4.1 Basic Function”for detailed descriptions of keys.3.2 Main Screen
*Note: Please refer to“4.2 Main Screen”for details. 3.3 Operation Mode
3.3.1 Pre-run Inspections
To ensure safe and correct operation, please confirm and check the following itemsbefore running.
3.3.1.1 Control Host
1. Check connection terminals of the host and ensure them connected correctlyandtightly.
2. Check external power supply such as input voltage and output voltage. Ensurethevoltage kept in normal range.
3. Check the power cable, encoder cable and band brake cable between the host andtheservo to ensure that the wiring is correct and tight.
3.3.1.2 Servo Motor
1. Check fixed parts of the servo motor and ensure them connected tightly.
2. Check the axis to ensure smooth rotation.（It’s normal for servo motor withoilseal that the axis is tight.)
3. Check the power cable, encoder cable and band brake cable between the host andtheservo to ensure that the wiring is correct and tight.
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3.3.1.3 Connection of Input and Output Terminals
1. Check wiring of input/output terminals and ensure it correct and tight. 24Vterminals and IO terminals are forbidden to access 220V.
2. Power on check. Enter system after the host is power on, and then confirm if thereis any alarm in manual controller. If it is, clear the faulty before continuing.For servo motor with brake, please do power on check with the motor and machineapart to avoid misoperation cause by gravity or external force such as verticalaxis dropping
3. Check output signal of band brake. Enter system after the host is power on and pressthe emergency stop button on the manual controller. Check whether the brake outputsignal is off. Then release the emergency stop button and press “STOP”to clearthe alarm.Check again to confirm the brake output signal is on. When the band brakeaction operated correctly, connect the servo motor and machine to continue running.3.3.2 Test Run of Servo Axis
In order to ensure the running of manipulator, it needs to confirm that the servoaxes can run correctly before the first power on. Please follow these steps:
Step 1, Log in as senior administrator(Refer to 4.2.1 Log-in Permission).Step 2, Turn on servo axis and turn status knob to STOP. Click Function togetmechanical parameters. Then open structure page to select axis definitionto set X1, Y1, Z as servo axes and C as pneumatic axis. Click Saveandexit.(*Note: Other actions in test run of three-axis are the sameasfive-axis)
Step 3, Create a new program(Refer to 6.1 Program Management), named as TEST,thenload it and cut the power to restart.
Step 4, Carry out motor positive/negative rotation test.
Motor positive/negative rotation test: Click“Machine Param”on the function settingpage to enter the machine parameters setting page, where you can settheparameters of each axis. After entering the page, go directly to the Xaxisparameter setting. As shown below:
Motor positive/negative rotation test scheme: Click“Positive”and motor will rotatea positive circle, at the same time the feedback shown is 1000; Click“Negative”and the motor will rotate a negative circle, at the sametimethe feedback shown is -1000.
Deal with“Motor code inconformity”: It is common that alarm of motor code inconformityoccurs at the first time when new machine is power on after connecting motorpower cable and encoder cable. If restarted, that is to choose motorcodestored as default selection. For products adopting absolute value mode,set Param9 as 1 after putting battery into encoder and restart.
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Servo parameters adjustment: Move each shaft slowly by hand. If it swings back and forth,enter servo parameter page to increase Param21 and Param22in same ratio. If there is any abnormal sound from motoror high frequency axis vibration, decrease Param21andParam22 in same ratio till there is only light ornovibration. 50% is commonly proper. When adjusting Param41to eliminate vibration, increase 50% every time and250%at most. If there is still any vibration, you can chooseset Param23 as 3 or increase Param42 for 50% eachtimeafter that. When the teaching position is in automaticmid-speed running, check if there is any vibration.Execute high-speed running if without vibration,
otherwise continue to adjust parameters accordingtostep2 or increase acceleration/deceleration time ofaction control.
Optional optimization step: Check position deviation of servo monitoring in automatichigh-speed running. Modify Param28, the max is 50 and30in common, to diminish deviation, that is to improve servofollowing performance. If there is vibration aftermodification, subtract 1 from Param23 and check servotorque. Increase Param30 if the torque is not over 7500,20 at each time and 100 as default value to avoid abnormalsound from motor. 3.3.3 Origin Point Reset
In order to make the manipulator run automatically and correctly, the origin resetaction will let the electric shaft of robot back to origin position, and the vacuumand fixture will return to the closed state. The ways back are divided into absolutevalue and incremental modes. Absolute value mode is to enter“Function—Machine Param--Structure--Origin Setting”and check ABS servo; if not checked, it is incrementalway. It needs to click“Save”after changing reset way and turn switch to thirdgearto make it effective. Ensure that each axis has accurate origin position before runningautomatically.
(1) Absolute value mode
In manual state, use axis action button to move manipulator to the target position.In stop state, enter“Function—Machine Param --Structure--Origin Setting”and click“Start Origin”, then click“Set origin”to set the target position as origin andallcoordinate positions are 0. The system will record positions of each axis automaticallybefore power off and it will show the recorded position after restarting, so thereisno need for repeated reset. Repeat steps above to set new origin position.
Steps: In stop state: Function→Machine Param→Structure→Origin Setting→ChooseABSServo→Save→Start Origin→Set origin
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*Note: Absolute value way back to origin can only use the“Start origin”and“Setorigin”buttons in Function-Machine Param-Structure-Origin Setting, not the“Origin”and“Start”buttons on panel.
(2) Incremental mode
After confirming that all parts of machine are normal with power on, turn the stateknob to Stop and press origin button, then click start key or enter Machine Param-Structure-Origin Setting page. Click“Start origin”and press Start button on manualcontroller, then the manipulator will return to origin as Y1,Y2→X1,X2→Z by default.To customize the way to return, enter Machine Param-Structure-Origin Setting pagetoset.
When all axes, vacuums and fixtures return to the origin position, automatic operationand manual electric shaft operation can be carried out after the icon at thetopright of the screen turns green.
The user can not carry out manual, auto operation and set parameters while originreset. Press Stop button to stop origin rest or press emergency stop key in caseofemergency.
*Note: Incremental way back to origin can use“Start origin”in Machine Param--Structure--Origin Setting and“Start”button on panel to execute, as wellasusing“Origin”and“Start”buttons on panel.
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3.3.4 Manual Operation
Turn the status selector switch to the manual gear, and the manipulator entersthemanual page, as shown below;
After rotating the state knob, enter the manual screen to carry on the manualoperation, operate the manipulator to do separate action, and adjust each part ofthemachinery (confirm that there is a mold opened signal in manual state, and ensure thatthemold is not touched). In order to ensure the safety of manipulator and injection moldingmachine, there are following restrictions:
The manipulator can not do vertical or horizontal action after descending in the shape.After the manipulator drops, can not do horizontal action in the non-safe zone.Without mold opened signal, manipulator can not do internal descending.
3.3.4.1 Axis Manual Operation
For single-board system, the servo axis of manipulator cannot be operated beforeorigin reset, because the positions of electric control axes are not accurate, but manualoperation to pneumatic actions is allowed. For drive-control system and RTEX, bothareallowed before origin rest. The max speed of servo axis in manual state can be setto50.
Pneumatic: in use, the main arm rises to the starting position.
Electric: hold the key, main arm move up, and release to stop.
Pneumatic: press the key and the main arm drops to the end point.
Electric: hold the key, the main arm moves down, release to stop.
Pneumatic: press the key and the jib rises to the start position.
Electric: hold the key, the arm moves up, release to stop.
Pneumatic: press the key and the accessory arm drops to the end point.
Electric: hold the key, the arm moves down, release to stop.
Pneumatic: press the key, the main arm back to the start position.
Electric: hold the key, the main arm moves backward, release to stop.
Pneumatic control: press the key, the main arm forward to end position.Electric: hold the key, the main arm moves forward, release to stop.
Pneumatic: press the key, the accessory arm back to the start position.Electric: hold the key, the arm moves backward, release to stop.
Pneumatic: press the key and the accessory arm advances to the end point.Electric: hold the key, the arm moves forward, release to stop.
Y1-
Y1+
Y2-
Y2+
X1-
X1+
X2-
X2+
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Pneumatic: press the key and turn the fixture vertical until the stop position.Electric: hold the key, the fixture moves vertically, release to stop.
Pneumatic: press the key and turn the fixture horizontal until the stop position.Electric: hold the key, the fixture moves horizontally, release to stop.
Cross back key: hold the key manipulator moves to origin, and release to stop.Cross out key: hold the key manipulator moves to the end, and release to stop.3.3.5 Teaching Page
Turn the status selection button to the manual state, then click“Teaching”to enterthe program teaching page, as shown below：
*Note: Please refer to 5.2 Teaching Page for details of teaching methods and actions.C+
ZZ+
C-
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3.3.5.1 Teaching of Axis Action
Click the“axis action” button to enter the servo axis action teaching page, wheretheX1, X2, Y1, Y2, Z, C axis (side pose) actions can be edited. As shown below：3.3.6 Automatic Status
The state selection switch is rotated to the automatic gear and the manipulator entersthe automatic standby state. Press Start button again and the manipulator will startto run automatically. The operation data of the manipulator can be monitored in automaticstate. The Auto Run page is shown below：
Injection cycle: Automatically record the molding time of the previous cycle.Fetch Time: Time from mold opened signal detected to program of mold-locked finished,that is time from the mold closable signal lamp on to off.
Setting products: Number of target output set currently.
Good products: Number of qualified products that the robot has fetched.(If no rejectsignal shows before mold opened, that means good product.)
Stacked products: Number of products the manipulator has stacked when using stack.
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3.4 Procedure of Fast Operation
3.4.1 Test Run Program of Three-axis
The procedure in the chart below is for internal fetching and external placement.Themold number is default and no modification to default mechanical settings.
Actions taught Note
Start* Posture vertical 1: Delay time: 0.00
Standbypoint
Start*X1: 100.00 Speed:80 Delay time:0.00
Start*Y1: 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 mold opened2 *X1:400.00 Speed:80 Early end enable: End: 150 Delay time：0.00
3 *Y1: 250.00 Speed:80 Early deceleration enable: Speed:5 End :100 Fetch pointDelay time：0.00
4 * Suction1 ON: Delay time:0.00
Fetch
5 * Suction2 ON: Delay time:0.00
6 *Wait thimble in place ON limit time:10.0
7 *Clip 1 ON: Delay time:0.00
8 *Clip 2 ON: Delay time:0.00
9 *X1:50.00 Speed:80 Delay time:0.00
Rise to outside10 *Y1: 0.00 Speed:80 Delay time:0.00
11 * Suction1 test ON Delay time:0.00
Fetch test12 * Suction2 test ON Delay time:0.00
13 *Fixture 1 test ON Delay time:0.00
14 *Fixture 2 test ON Delay time:0.00
15 *Mold lock ON: Delay time:0.50 Mold closable16 *Z:1400.00 Speed:80 Delay time:0.00
17 *X1:213.00 Speed:80 Delay time:0.00 Placement point18 *Y1:352.00 Speed:80 Delay time:0.00
19 *Clip 1 OFF: Delay time:0.00
Put
20 *Clip 2 OFF: Delay time:0.00
21 * Suction1 OFF: Delay time:0.00
22 * Suction2 OFF: Delay time:0.00
23 *Y1: 00.00 Speed:80 Delay time:0.00
Manipulatorrises. Conveyorworks.
24 *Conveyor ON: Mold interval :5 Action time:2.00
25 *Module ends : Delay time:0.00
*Note：
1. This is a common procedure of“Internal fetching-External placement”action.Someparameters shall be modified according to facts.
2. Alarms in running can be removed according to 8.4 Alarms and Solutions.
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3.4.2 Test Run Program of Five-axis
The procedure in the chart below is for internal fetching and external placement.Themold number is default and no modification to default mechanical settings.
Actions taught Note
Start* Posture vertical 1: Delay time: 0.00
Standbypoint
Start*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 mold opened2 *X1:400.00 Speed:80 Delay time：0.00
Fetch point3 *Y1: 250.00 Speed:80 Deceleration enable: Speed:5 End :100 Delay
time：0.00
4 *X2:500.00 Speed:80 Delay time：0.00
5 *Y2: 350.00 Speed:80 Deceleration enable: Speed:5 End :100 Delay
time：0.00
6* Suction1 ON: Delay time:0.00
Fetch
7 * Suction2 ON: Delay time:0.00
8 *Wait thimble in place ON limit time:10.0
9 *Clip 1 ON: Delay time:0.00
10 *Clip 2 ON: Delay time:0.00
11 *X1:50.00 Speed:80 Delay time:0.00
12 *Y1: 0.00 Speed:80 Delay time:0.00
13 *Y2: 0.00 Speed:80 Delay time:0.00 Rise to outside14 *X2:50.00 Speed:80 Delay time:0.00
15 * Suction1 test ON Delay time:0.00
Fetch test16 * Suction2 test ON Delay time:0.00
17 *Fixture 1 test ON Delay time:0.00
18 *Fixture 2 test ON Delay time:0.00
19 *Mold lock ON: Delay time:0.50 Mold closable20 *Z:1400.00 Speed:80 Delay time:0.00
Placement point21 *X1:213.00 Speed:80 Delay time:0.00
22 *Y1: 352.00 Speed:80 Delay time:0.00
23 * X2: 210.00 Speed:80 Delay time:0.00
24 * Y2: 362.00 Speed:80 Delay time:0.00
25 *Clip 1 OFF: Delay time:0.00
Put
26 *Clip 2 OFF: Delay time:0.00
27 * Suction1 OFF: Delay time:0.00
28 * Suction2 OFF: Delay time:0.00
29 *Y1: 00.00 Speed:80 Delay time:0.00 Manipulatorrises. Conveyorworks.
30 * Y2: 00.00 Speed:80 Delay time:0.00
31 *Conveyor ON: Mold interval :5 Action time:2.00
32 *Module ends : Delay time:0.00
*Note：
1. This is a common procedure of“Internal fetching-External placement”action. Someparameters shall be modified according to facts.
2. Alarms in running can be removed according to 8.4 Alarms and Solutions.
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Chapter 4 Function and Main Screen
4.1 Basic Function
4.1.1 Function Keys
Start：
Function 1: Press“Start”button in automatic state, the manipulator enters automaticrunning state;
Function 2: Press“Origin”in stop state, and then press“Start”key to find the originof the manipulator;
Function 3: Press“Reset”key and then press“Start”key to reset the origin.Stop：
Function 1: Press this key in automatic state, then the program runs until module stops.Function 2: Press this key twice in automatic state, then the program runs thisstepand pauses.
Function 3: Press this key in stop state to clear the resolved alarm when alarm appears.Origin: Only for origin reset action. Please refer to 3.3.3 Origin Point Reset.Reset: Press this key and then press“Start”key, then all axes return to point inY1,Y2, Z, X1, X2 order. Y1, Y2 back to 0 position, Z, X1 and X2 axes back tothestarting point of the program.
Acceleration/deceleration key: These two keys can be used to adjust the overall speedin manual and automatic states.
Emergency stop button：Press the emergency stop button in case of emergency, itwillbreak all the shaft energy and the system sends“emergencystop”alarm. Turn out the knob and press“stop”buttontoeliminate the alarm. 4.1.2 Fine Tuning Knob
Function: Used to move shafts in accurate positioning under manual state.
How to operate: Click the button and check“Handwheel selection”to select thehandwheel speed and the axis that needs to be fine-tuned, or press theaxiskey that needs to be fine-tuned(on the manual controller). Then scrollthe fine-tuned knob to move the axis to the target point.
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Hand wheel speed description:
X1：move a lattice axis translation 0.01 mm or axis rotation 0.01 degrees.X5：move a lattice axis flat 0.05 mm or axis rotation 0.05 degrees.
X10：move a lattice axis flat 0.1 mm or axis rotation 0.1 degrees.
X20: move a lattice axis flat 0.2 mm or shaft rotation 0.2 degrees.
X50：move a lattice axis flat 0.5 mm or axis rotation 0.5 degrees. 4.2 Main Screen
State: Gray indicates that not return to origin, green indicates that has returnedto origin.
Current module number: Display according to the mold number established by differentprocesses. Can be created, copied, deleted, loaded, exportedinthe file.(Refer to 6.1 Program Management for details)
Hover button: Auxiliary buttons are virtual keys to provide auxiliary measures. Thereare start, stop, origin, return,acceleration, deceleration, hand wheel-,hand wheel+, manual, stop, automatic and servo parameter monitoring keys.Current axis position: Display the coordinate of the current machine in real time.Alarm information: Display alarm information when alarm occurs. Press the help buttonthen it will pop up the solution dialog box. Follow the noticetosolve.
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4.2.1 Login Permission
Permission to login：Click“logon”to enter the login screen. First select theusertype, enter the password, and then click“login”. If you needtoexit to the lowest permission, directly click“logout”, andtheoperation diagram is shown as following:
*NOTE: Please login first before set system for that different user name containsdifferent admissions.
Operator：This permission can only move the axis in manual state and cannot entertheteaching page. In automatic state, it can start the manipulator and adjustthe speed. In the stop or manual state, it can reset the origin.
Admin: This permission can only move the axis in the manual state and cannot
enter the teaching page for teaching. In the automatic state, it can startthemanipulator and adjust the speed. In other states, it can reset the origin.Senior admin：All operations except user management can be performed. 4.3 State Knob
The manipulator has three operating states: manual, stop and automatic. The stateselection switch is rotated to the left gear as manual state, in which the manipulatorcan be manually operated; the state selection switch is rotated to the middle gearasstop state, and the manipulator stops all actions in this state. Turn the state selectionswitch to the right gear and press the start button once, then the manipulator entersthe automatic running state.
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Chapter 5 Manual Status
5.1 Operation of Manual Pages
5.1.1 Fixture Page
Click“fixture”and“suction”buttons in the lower right corner of the touch screento enter the manual operation page of the fixture, as shown below:
There are two kinds of fixtures,“fixture”and“suction”, four groups for each.Click“ON”and the corresponding tool signal output. Click“OFF”and the correspondingtool signal is disconnected.
Note: The red light is the input limit signal and the green light is the output signal.If there is no signal input or output, the indicator is gray. 5.1.2 Manual Operation of Auxiliary Equipment
Click“Other”button in the lower right corner of the touch screen to enter the manualoperation page of the auxiliary device, as shown below:
Click the injection button“ON”and the injection output point is ON. Clickthebutton “OFF”and the injection output point is disconnected.
Click the conveyor belt button“ON”and the conveyor belt output point is ON. Clickthe button“OFF”and the conveyor belt output point is disconnected.
Click the Feed Machine button“ON”and the Feed Machine output point is ON. Clickthe button“OFF”and the Feed Machine output point is disconnected.
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5.1.3 Manual Operation of Reserve Action
Click“Reserve”button in the lower right corner of the touch screen to enterthemanual operation page of reserve action, as shown below:
Click“ON”and the corresponding reserved point signal output is on. Click“OFF”andthe corresponding reserved point signal output is off. The system has six sets of fixedreservation and two sets of optional reservation (Reserve 9 and Reserve 10 can besetin the reservation setting. Refer to 6.2.6.2 Reserve Define Page of Structure for details).Users can choose according to their needs.
Warn: Reserve 1 and Reserve 2 can be checked without interlocking and the output ofonedoes not affect the other. If not checked, the default Reserve 1 and Reserve2 interlock, that is, the output of Reserve 1 will be cut off if Reserve2ison after Reserve 1. Please connect carefully if there is a need!(Interlockingand reservation functions can be set in reservation settings. Refer to section6.2.6.2 Reserve Define Page of Structure for details.)
5.2 Teaching Page
Turn the status selection button to the manual state, then click“Teaching”buttontoenter the program teaching page, as shown below:
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Main Menu: The action menu divides the program editing into 12 kinds. Clickcorresponding button to enter the teaching page for that type of action, and
click“Main Menu”button to return to the main screen of the teaching action.(Ifthere are no condition and sequence action buttons in the main menu and no quicksettings on the left side of the teach selection, please set them in the advancedadministrator. Refer to 6.2.10 System Setting for details.)
Edit: Select the action and click the Edit button to modify the parameters of the action.Delete: Select action, click Delete button, then this action is deleted.(*Notice:Thestarting point can be edited but cannot be deleted.)
Cop: Select Y1, click Cop in the figure above, then the Y1 axis step order becomes 3.Y1and X1 axis start running at the same time in automatic running.(*Notice：Donotcombine the same actions or it will alarm, such as two X axis action, two waitactions.)
Dep: After decomposing two actions, actions running together will run as sequence.Function: Click the Function button to enter the function page, as shown below:Up: Select step4 above, click“up”button, it will move up, step order turns to 3.Down: Select step2 above, click“down”button, it will move down, step order turnsto3.Copy, Paste：Select step4 above, click“copy”button, then select step2 and clickpastebutton, it will be above step2.
Try: Click one action, hold“Try”button to execute the action and release to stop.(Dueto the trial run function can not follow the sequence of procedures. Please payattention to anti-collision when using!)
Multi select: Click Multi-Select.“start/end”button are able to click. Select step2,click start key, click step4, and click end key, step2-4 are selected.Insert: Check an action, select the position to insert, click the insert button to teachtheaction to the desired position.(Note: The position of inserting is abovetheaction selected.)
Find:
1) Click the Find button and enter the Find page, as shown below:
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2) Enter the keyword you want to find in the left input box. To browse all actionsrelated to 1, you can enter“1”directly, then select the search range asall,and then click the“Find”button to appear all the actions related to 1,asfollowing:
3) Click the action searched, you can jump directly to the action where the programand click the Clear Search button to clear the content.
4) In this system, we need to teach an action to the program, check the box ontheleft side of the action, select the program step on the left side, and click“insert”. The indicator is green to indicate the corresponding valve output.*Notice: If there are no special circumstances, please note the followingtwopoints:
1. The time set by the delay is the time to wait before the actionisperformed, and when waiting for the action, the next program willnotbe run.
2. The interval modules is to perform an action once every few moldsinthe automatic state running time.
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5.2.1 Teaching of Axis Actions
Click“axis action”to enter the teaching page of the servo axis action, wheretheX1, X2, Y1, Y2, Z, C axis (side pose) action can be edited. As shown below:
The position, speed and delay time of the servo axis can be taught on this page,and the horizontal or vertical state of the pneumatic axis can be selected.
There are two ways to set the position of the servo shaft:
1. Enter the coordinate value of the target position directly in the text boxofthe position.
2. Press the manual axis action key to move the axis to the target position,thenclick the“set in”button to set the current position of the axis to thetextbox. 5.2.2 Teaching of Program Starting Point
The starting point displayed corresponds to“Safety Point”in Axis definition,thatis, the number of chosen starting points is the same as number of axes. If the numbersor types of axes in starting point and axis definition are different, it will alarm“standby point position error”. Then it needs to create new mold number or choosecorrect axis definition.
*Note: The starting program can be edited but can not be deleted.
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5.2.3 Stack Instruction
The teaching program of stacking is shown as below:
By Function, Up, Down, Decompose, Compose and other
keys, the stack program can be set as two kinds shown
on the left:
Notice:
1. Z axis, X axis and stack program must be combined
together.
2. Y axis action must be next step to stack program. Scan the QR code for accurate
stacking course.
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Check the box on the left of the stacking program to be inserted, e.g. select the1ststacking program, then click“Insert”button to insert the stacking program beforetheprogram step that is going to start stacking, and the robot will stack the dischargesaccording to this stacking program when it runs automatically. If you want to usetheY axis for stacking, be sure to insert the stacking program one step before the Yaxisdescent action. Each automatic program can insert 7 groups of stacking programs, whichcan be stacked in 7 different positions to discharge products; when using stacking7groups of stacking, the starting position of all 7 groups of stacking should be0.Important: The Y axis is selected in the system design as the end between stacks.Thestacking procedure must be inserted before the Y axis action. If therearemultiple stacks, the Y axis must be inserted between the multiple stackstoisolate them. 5.2.4 Teaching of Fixture and Detection Program
The following are“Fixture”and“ Detect”pages ,“Fixture”and“Detect”functionsare usually used together, where actions can be set. As shown below:
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The controller can control four groups of fixture, four groups of suction cup actionand the teaching of fixture and fixture detection function. For coaxial action teaching,detection program should be taught after the fixture action.
When running to the jig on in automatic running, the jig fetches the item, andwhenrunning to the action of“jig start to detect”, if the corresponding jig confirmsthatthe limit signal state is correct, the program continues to run, otherwise thealarm“take the item failed”and a pop-up box appear. If click the“Give up”buttonin the pop-up box (at this time the Y axis is at the home position), the programwillreturn to the starting position and fetch the item again. If click“Continue”button,the program will continue to run to the next step. When running to jig off, thetoolwill put the item, and the“Jig off”action will detect relative confirmation limitsignal in about 0.5s. If the signal is correct, the program will continue, otherwisethe alarm will be“Fetching failure”.
Important: When the output of the fixture is cut off, the system will delay 0.5S beforedetecting the signal. If there is still a signal in the fixture detection,the system will alarm. If the teaching program is finished, the systemnolonger detects whether the fixture has a signal. When the detection signalis normal, there is no need to teach the detection end signal!
Warn: If the same fixture action in the program requires several on/off actions,theend detection must be taught.
For example: In Suction 1 ON, Suction 1 OFF, Suction 1 ON, Suction 1 OFF, it needstoteach end detection in the first Suck 1 OFF. Please do teach fixtureandsuction cup detection, otherwise the module may be damaged.
Tip: Because the negative pressure detection switch action takes time, and the programrunning speed is within 1 μs, if to teach the detection action immediately afterthe fixture action, the system will alarm the failure of fetching.
Solutions:
1. Put the detection action after the rise (after a few steps).
1. Delay start detection, generally more than 0.5S. It does not affect the cycle.
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5.2.5 Teaching of IMM Signal
Click the “IMM Signal” button to enter the signal editing page of the controlinjection molding machine, where the control injection molding machine lock, thimble,core pulling action can be set. As shown below:
The indicator light is green for ON and gray for OFF. Teach an action on, thenthe signal starts to output. Teach an action off, then the signal stops
output.“Ejection EN”and “Ejection backward enable”don't cost cycle time.
E.g. Set the“Ejection EN”delay to 5s, then program will not stay in this stepbutdirectly run to the next program and start output after 5s. 5.2.6 Teaching of Auxiliary Equipment
Click Periphery button to enter the edit page of the auxiliary device. As shown below:Time: Set the execution time of this auxiliary device, the auxiliary device is alltimecontrol, just teach the through action and reach the set execution After reachingthe set execution time, the output will be automatically disconnected(thetimewill not occupy the cycle time at this time).
The number of interval modules: The auxiliary device outputs every few modules duringthe automatic operation. If the interval module is set as 3 and the executiontime is 5s, the auxiliary device will output every 3 modules during the automaticoperation, and will be automatically disconnected after every 5s.
*Note: The actual count of the conveyor belt is related to the conveyor belt counter.For details, refer to the description of the belt counter in 6.2.2 Product Settings.
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5.2.7 Reserve
Click“Reserve”to enter the teaching page for reserve actions, as shown below：This system sets up 8 groups of reserve output points. If the program teachesthereserved action, when running automatically, after running to the reserved pass action,the reserve point starts to output, after running to the reserve break action,thereserve point disconnects the output. 5.2.8 Wait
Click“Wait”button to enter the teaching page waiting for the input signal, insertthe waiting input signal, automatically run to the step, only when the input pointhassignal input or no signal input can perform the next action. As shown below：Each automatic running program must contain“Wait Mold Opened”program step.Anewprogram already contains this program step by default and it cannot be deleted.The waiting action can be inserted into the main program after the waiting time,ON or OFF is set in the delay box of the waiting page, or after the waiting actionisinserted into the program, the waiting action can be selected, and then the edit buttoncan be clicked to modify the time limit.
Limit Time：When program executes the waiting step, if the waiting signal is onandthe limit time is set as 10 s, it will alarm after the waiting signal keepslonger than 10s in automatic running. If there is a signal input within10s, the program continues.
*Notice: Wait mold opened limit time can only be set in“Edit”- “Product Settings”-“Wait Mold Opened Limit Time”function.
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5.2.9 Other
Click“Other”button to enter other pages for teaching.
Product clear: This function is inserted into the program, automatically run, eachtimethis step, the system will complete the product number zero, startcounting again.
Stack clear: If this function is inserted into the program, automatically run,eachstep, the system will set the corresponding stack group zero, startcounting again.
Deviation preparation: Select offset preparation and set offset positive/negativedirection(positive if negative is not checked). Select axis that needstobe offset, such as X1 axis, then click insert to teach X1 axis action afterbias action. The action here is to move a relative position. 5.2.10 Sequence Action
Click“Sequence action”to enter the page.
The sequence action is divided into the main arm internal fetching and thesubarm internal fetching, as shown below. This function is to take a series of actionsof internal fetching as a secondary program to form a program block, in whichthecomplete movement of internal fetching can be done.
The common use is to combine the two sequence actions as shown in the followingfigure. Because each sequence completes a series of actions, the two series of actionsare executed at the same time, and the secondary program in the sequence doesnotinterfere with each other, the main and sub arms can be independent but completethefetching action at the same time.
