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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.
QC-S1 SERIES
OPERATION MANUAL
DRIVE AND CONTROL INTEGRATED SINGLE-AXISMANIPULATOR CONTROL SYSTEM V1.0
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
I
Introduction
First of all, thank you very much for choosing the control system of single-axismanipulator with integrated drive- control system produced by Shenzhen Huacheng IndustrialControl Co., Ltd. This is the user manual of the system, which will provide you with relevantrules and precautions 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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QC-S1 Operation Manual of Single-Axis Manipulator V1.0
CONTENTS
INTRODUCTION....................................................................................................................................................IChapter 1 SYSTEM MODEL SELECTION...........................................................................................................11.1 System Model Description...........................................................................................................1Chapter 2 SYSTEM CONFIGURATION AND INSTALLATION........................................................................22.1 System Basic Configuration....................................................................................................... 22.2 Safety Reminders and System Installation........................................................................... 22.2.1 Precautions for Preservation and Removals............................................................. 22.2.2 Matters Needing Attention..............................................................................................22.2.3 Prohibited Operation....................................................................................................... 22.2.4 Precautions in Abandonment........................................................................................... 22.2.5 System Installation......................................................................................................... 32.2.6 Safety Precautions............................................................................................................42.3 Installation and External Wiring Requirements...............................................................62.3.1 Direction and Space Requirements for Installation............................................. 62.3.2 Requirements for Cable and Wiring............................................................................. 7Chapter 3 SYSTEM INSTALLATION AND WIRING INSTRUCTION................................................................103.1 System Wiring Diagram...............................................................................................................103.1.1 Machine Wiring..................................................................................................................103.1.2 Dimensional Drawing........................................................................................................113.2 Power Input Definition............................................................................................................. 183.3 I/O Port Wiring Diagram........................................................................................................... 193.4 Servo Motor Wiring Definition............................................................................................... 213.4.1 Power Cable Definition................................................................................................. 213.4.2 Encoder Cable Definition............................................................................................. 223.4.3 Wiring Diagram of Motor Band Brake......................................................................... 233.5 Connection of Manipulator and Injection Molding Machine....................................... 233.5.1 Wiring of Peripheral Fittings.................................................................................24Chapter 4 COMMISSIONING AND OPERATION MODE..................................................................................... 254.1 Appearance and Description of Manual Controller...........................................................254.2 Main Screen....................................................................................................................................254.3 Operation Mode..............................................................................................................................264.3.1 Pre-run Inspections....................................................................................................... 264.3.2 Test Run of Servo Axis................................................................................................. 264.3.3 Origin Point Reset......................................................................................................... 264.3.4 Manual Operation............................................................................................................. 27
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QC-S1 Operation Manual of Single-Axis Manipulator V1.0
4.3.5 Automatic Operation....................................................................................................... 30Chapter 5 FUNCTION SETTING..................................................................................................................... 315.1 Basic Function..............................................................................................................................315.2 Special Function......................................................................................................................... 32Chapter 6 PROGRAM SETTING....................................................................................................................... 406.1 Program Selection....................................................................................................................... 406.2 Program Teaching......................................................................................................................... 406.3 Fixed Program................................................................................................................................416.4 Program Update..............................................................................................................................426.5 Parameter Modification............................................................................................................. 43Chapter 7 OPERATION INFORMATION...........................................................................................................447.1 Alarm Record..................................................................................................................................447.2 I/O Monitor....................................................................................................................................45Chapter 8 SYSTEM SETTING......................................................................................................................... 488.1 Action Limit Time....................................................................................................................... 488.2 The Mechanical Parameter......................................................................................................... 488.3 Servo Parameter Setting........................................................................................................... 508.3.1 Gain Parameter Setting................................................................................................. 508.3.2 All Parameters Setting................................................................................................. 50Chapter 9 ALARM INFORMATION AND SOLUTIONS.......................................................................................529.1 Manipulator Alarm....................................................................................................................... 529.2 Servo Alarm....................................................................................................................................64APPENDIX 1 SERVO PARAMETER LIST...........................................................................................................65
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QC-S1 Operation Manual of Single-Axis Manipulator V1.0
Chapter 1 System Model Selection
1.1 System Model Description
Eg: QC- S1Z3- S03- - means control system of single- axis injection molding machine’smanipulator with integrated control- drive system; The servo is 400W/ AC220V;Theservo- power label corresponding to the upper cover is S3R0C。* Attention: This product does not support AC380V input for now.
Extended
models: 2
letters.
First:
software
version.
Second:
hardware
version
Number
of
axes: 1
letter
Industry
application
: 2 letters,
or one with
a “-” at
first
Series of
products
: 2
letters
Capacity: every2letters represents
an axis. Power
source:
S:AC220V
T:AC380V
Product series:
HC
Classic s ingle
board control system
QC
integrated
control- drive system
EC
EtherCAT Bus Drive
Control System
RC
RTEX bus control
system
......
Extended model description
of drive- control single or
two axes software：
X：X(X is the first axis)
Y：Y (Y is the first axis)
Z：Z (Z is the first axis)
A：YZ(Yis the first axis，Z is
the second axis)
B：YX(Yis the first axis，X is
the second axis)
C：ZX(Zis the first axis，X is
the second axis)
Description of other software
and hardware expansion
models：
Software Version:A、B....;
Hardware version:1\\2\\3....
Injection molding machines：
A standard B single arm
Number
Capacity
label
Commoncapacity02 S1R5C
100W,200W03 S3R0C 400W05 S4R5C 750W08 S7R5C
850W～1.3KW12 S012C 1.8KWQ C - S 1 Z 1 - S 0 3 0 0
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QC-S1 Operation Manual of Single-Axis Manipulator V1.0
Chapter 2 System Configuration and Installation2.1 System Basic Configuration
1) 8- inch color display operation panel( Transfer cable length optional，0.5 m standard length) ;
2) Control box with integrated drive and control system;
3) Servo motor(400 W/750 W) ;
4) Brake resistance;
5) Power supply unit( optional) ;
6) UVW power cable and encoder cable( optional, length is optional) ;
7) Electric positioning board( optional) ;
2.2 Safety Reminders and System Installation
The safety content of this manual is as follows. The description of the safetymarkis very important. Please abide by it.
Attention!
Operations against regulations may lead to moderate injury, minor injuryordamage to machine. 2.2.1 Precautions for Preservation and Removals
* Attention：Do not store or place in the following environment, otherwise it mayleadto fire, electric shock or machine damage.
1) Places where has direct sunlight, places where the ambient temperature and relativehumidity exceeds the standard storage level, places where the temperaturedifference is large and dewy.
2) Places close to corrosive gases or flammable gases, places with more dust, dust,salt and metal dust, places where water, oil and medicine drip, vibration or shockcan be transmitted to the main place. Do not hold the cable during removals,otherwise the machine will be damaged or malfunction. 2.2.2 Matters Needing Attention
1) Do not pile this product together too much, otherwise it will cause damageorfailure.
2) This product is a general industrial product. Don't use machines and systemstohurt people's life and health.
3) If applied to devices that may cause major accidents or damage due to the failureof this product, please configure the safety device.
4) If used in an environment of sulfur or high concentrations of sulfur, pleasetakecare that chip resistance may be broken or poor contact due to vulcanization.5) If input voltage far exceeds the rated range of power supply of this product, smokeand fire may occur due to the damage of internal components, please pay fullattention 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. 2.2.3 Prohibited Operation
Do not take apart or fix unless by our company. 2.2.4 Precautions in Abandonment
Attention!
When the product needs to be treated as waste after normal use, please abidebyrelevant department's legal regulations on the recycling of electronic informationproducts.
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QC-S1 Operation Manual of Single-Axis Manipulator V1.0
2.2.5 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 the system in metal and other flame retardants and be awayfromcombustible.
4) Be sure to connect the grounding terminal with the ground wire.
5) If the external power supply is abnormal, the control system will fail. Besureto set a safety circuit outside the control system to guarantee normal running.6) Must be familiar with the contents of this manual before installation, wiring,operation and maintenance. Cautions related to machinery, electronics and etcarealso necessary.
7) The electric box to install controller should be well ventilated, oil- freeanddust- free. If it’s pressurized, there should be a draft fan to avoid hightemperature. The proper temperature is under 50℃. Frozen or dewy places arealsoshould be avoided.
8) When installing the electronic board, it shall avoid placing it too close tothecontactor,frequency converter and other AC devices to avoid unnecessary surgeinterference.
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QC-S1 Operation Manual of Single-Axis Manipulator V1.0
2.2.6 Safety Precautions
Attention
Encoder must use shield wire. Ensure that shield layer is single- endgrounded! Do not install devices that generate electromagnetic wavesorinterference near the servo driver such as transformer, otherwise the servodriver may do wrong action. If there is still a need, do set an anti-jammingshield between.
Please follow steps specified in electrostatic discharge( ESD) protectionwhen operating the servo driver, otherwise the inside circuit will be damagedby static electricity.
Please follow the local standard for branch and short circuit protection.Ifnot protected properly, the servo driver may be damaged.
Do not share ground wires with welding machines or power machines thatrequire high current, otherwise the servo driver or machine will not runningwell.
When using several servo drivers, please operate in accordance with thismanual. Do not wrap the ground wire into a circle, otherwise the servo driveror machine will not running well.
Do not connect or operate if there are obvious damages or lost parts.Letthe professional staff do the wiring and check.
Rotating electrical machines feed power to servo drives, so the servo driveris still live even when motor stops and the power supply is cut off. Besureservo driver is safely disconnected before maintenance.
Danger
Do not connect when the power supply is on, otherwise there will be riskofelectric shock. Please cut off the power of all equipment before checking.Do wait at least 10 minutes after cutting off the power for there is residualvoltage in the internal capacitor.
Make sure that the servo driver is well grounded because the contact currentof it is more than 3.5mA, otherwise there will be risk of electric shock.Power on
Do not open the cover plate after power on. Be careful of electric shock.Do not touch any input or output ports of servo driver. Be careful of electricshock.
Do not remove the cover plate of the servo driver or touch the printed circuitboard when the power is on. Be careful of electric shock.
Do not change the manufacturer parameters of servo driver arbitrarily,otherwise it may cause damage to the equipment!
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QC-S1 Operation Manual of Single-Axis Manipulator V1.0
* Attention：Improper handling may cause risks, including injury or equipment accident.In service
Non-professional staff shall not detect signals in operation, otherwise itmaycause injury or equipment damage!
Do not touch the cooling fan and discharge resistance to test the temperature,otherwise it may cause burns!
Make sure there is nothing fallen into the equipment while the servo driveris running, otherwise it may cause damage.
Maintenance
Do not repair or maintain servo drivers without professional training,otherwise it may cause injury or equipment damage!
Do not maintain with power on. Be careful of electric shock. Beforemaintenance, do wait at least 10 minutes after cutting off the power of servodriver, for there is residual voltage in the internal capacitor.
Make sure that all power supplies are cut off before maintenance.
All plug-ins must be plugged in power failure.
The parameters must be set and checked after changing the servo driver.Do not power up the damaged machine, otherwise the damage will be severer.Attention
Ensure that the motor terminals are consistent with the servo driver’sterminals. If the phase sequence is inconsistent, it will make the motor rotatein reverse.
Do not connect the power supply with the output terminal of servo
driver,otherwise it may cause damage or even fire.
Some systems may act suddenly when electrified. Be careful of the riskofserious injury or even death.
Make sure the cover plate is firmly installed and the motor allows restartbefore turning on the servo driver.
Make sure the rated voltage of servo driver is consistent with the powersupply before turning on it. Or it may cause fire.
Do not connect the input power with output terminals of servo
driver( U,V,W),otherwise it may cause damage to machine.
Non-professional staff shall not do installation, maintenance, inspectionand components replacement. Be careful of electric shock.
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QC-S1 Operation Manual of Single-Axis Manipulator V1.0
2.3 Installation and External Wiring Requirements
2.3.1 Direction and Space Requirements for Installation
Direction：the normal direction of installation is vertical and upright. The intervalbetween the servo driver, box and other equipment must be 10cm at least, as the followingpicture. The dimension marked is the minimum value. Make sure the intervals are long enough.Space requirements for installation
Heat elimination:
The servo driver uses the fan to abstract heat. It is best to install a ventilationslot or a heat dissipation fan in the electrical control cabinet to ensure thatthedrive-control integrated machine in the chassis is in a place where is cool and airy.Inlet
Inlet
Inlet
Outlet
Outlet
Outlet
>10cm
>10cm
>10cm >10cm
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
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2.3.2 Requirements for Cable and Wiring
2.3.2.1 Shielded cables
To meet the requirements of EMC, it must use shielded cables with shielding layerforencoder cable. It’s recommended to use shielded cables with shielding layer for power cableor install a magnetic ring( suggested spec is R3H 22×28×7.0). Shielded cable is shownas P1. Power cable with magnetic ring is shown as P2. As we suggest, installing magneticring is more recommended.
P1 Shielded cable requirements(for encoder cable)
P2 Power cable with magnetic ring
In order to suppress RF interference emission and conduction effectively, the shieldinglayer of the shielding wire is composed of coaxial copper braided wire. To increasetheshielding efficiency and conductivity, the braid density of the shield layer should be greaterthan 90% as the following picture.
Woven density of shielding layer
Installation cautions：
● Shielded symmetrical cables are recommended for all shielded cables, and four-core cablescan also be used as input cables;
● Cables and PE shielded conductor should be as short as possible to decrease EMR, straycurrent and capacitive current outside;
Core
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
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● It is recommended to use shielded cables as control cables;
● It is recommended to use shielded cables or steel pipe shielded power cables as outputpower cable of driver with the shielding layer well grounded. Cables for equipment underinterference shall use shielded twisted-pair with the shielding layer well grounded.2.3.2.2 Requirements for wiring
1) Motor cables should be far away from others; Motor cables of drivers can be wiredparalleled.
2) It is recommended to place motor cables, input power cables and control cablesindifferent chutes. Long-distance parallel wiring should be forbidden to avoid EMR causedby fast change of driver’s output voltage.
3) Try to keep perpendicular if the control cable has to cross power cable. Do notletother cables cross the driver.
4) Try not to wire input power cable, output power cable of driver and weak signal cablessuch 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 or equipment).The installed part should be painted and make conductive metal fully contacted.7) Wiring diagram is shown as bellow:
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
9
2.3.2.3 Common EMC problems and solutions
Driver products can cause strong interference. It may happen if there are problemsinwiring or grounding. Solutions in this chart can be used.
Common EMC 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 happens the momentpower on;(disconnect the ground terminals of internal or external filterand earth Y capacity in input port)
For running or enable trip, it needs to take current leakage restrainingmeasures (current leakage filter, safety guage capacitor + wound magneticring);
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 load terminal;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;
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
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Chapter 3 System Installation and Wiring Instruction3.1 System Wiring Diagram
3.1.1 Machine Wiring
* Attention: If equipped with a brake motor, a single power supply is required forseparate supply.
Attention: Power supply of main
loop is internal HVP. It needs to
use 3-pin multi-strand copper
cables for main power cable. The
cross-sectional area of each pin
is 2.5 mm ² and the dielectric
strength of power cable is ≥
600V.
Circuit
breaker
Filter
Contactor
Relay
24V power supply
24V power supply
IO port for injection molding
DO
output
port
Ground
Servo motor
brake cable
Servo motor
main circuit
cable
Servo
motor
encoder
cable
Braking
resistance
DI
input
port
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
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3.1.2 Dimensional Drawing
3.1.2.1 Main control dimensions
Installation
way
Screw
specification
Screw length(max)
Installation
torque(max)
Fixed by screw M5 8mm 7.5kgf.cm
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
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3.1.2.2 Installation dimensions and wiring of single switching power supply
* Note：User shall evaluate whether the power supply specification meets the IO current.3.1.2.3 Brake resistance dimension
Installation
way
Position
number
Screw
specification
Screw
length(max)
Installation
torque(max)
Fixed by
screw
①--②
⑦--⑨
M3 5mm 6.5kgf.cm ③--⑥
⑩--⒓
M3 3mm 7kgf.cm
Installation
way
Screw
specifica
tion
Screw
length
(max)
Installationtorque(max)Fixed by
screw
M5 8mm
7.5kgf.cm
Model
25℃-40℃
Power
rating(W)
Dimensions(mm)
Resistancerange
Resistor
A±1.0 B±1.0 c±1.0 D±1.0 E±0.5 F G±1.0
0.1～20K
RXLG 120 185 170 20 40 5.6 45° 155
C
G
F
A
B
E D
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
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3.1.2.4 Motor parameters and dimension
（400W Motor Dimensional Drawing）
400W Motor Parameters
Spec
Model
LL LC LR LA LZ LH LG LE LJ
400W with
brakes
<180 60 30 70 φ4-5.5 ≤50 NA 3±0.5 1±0.35
400W no brakes <130 60 30 70 φ4-5.5 ≤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
Shaft end sketch
Shaft end with key
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
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750W Motor Parameters And Dimensions:
Motor
Spec
Model
LL LC LR LA LZ LH LG LE LJ
750W with brakes <190 80 35 90 φ4-7 ≤55 NA 3±0.5 1±0.35
750W no brakes <140 80 35 90 φ4-7 ≤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
(750W Motor Dimensional Drawing)
Shaft end sketch
Shaft end with key
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3.1.2.5 Manual controller dimension
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
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3.1.2.6 Electric positioning plate dimension
C
Safety
tube Main down+Main downMain back+Main backMain forw+Main forwVice down+Vice downVice back+Vice backVice forw+Vice forwMain
Control
board
terminal
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3.1.2.7 Supporting cables and models
Cable 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
PMXB1-1301051 0.5M
PMXB1-1301101 1M
Drag chain
manual
controller
cable
PMXB1-1303250 2.5M
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
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3.2 Power Input Definition
Single phase 220V power supply connection
L1 Null L1C 220V-L
L2 220V-L L2C 220V-N
L3 220V-N
Terminal
identification
Terminal
name
Function Remarks
L1C
Auxiliary
power
terminal
AC single-phase
220V
50/60HZ
The auxiliary power supply isforinternal control circuit. Mainpower supply cables use 3-coreand multi-strand copper cable,single core cross-sectional area2.5 square millimeter,
insulation voltage > = 600 VL2C
BP
Brake
resistance
terminal
External brake
resistance access
point
External resistance（68Ω120W）。L1
Main
circuit
power
terminal
AC single-phase/
three-phase 220V
50/60HZ
The main circuit power supplyis the internal high-voltagepower supply. Main power supplycables use 3-core and
multi-strand copper cable,
single core cross-sectional area2.5 square millimeter,
insulation voltage > = 600 VL2
L3
U Servo motor
access
terminal
1-2
Connect
three-phase servo
motor
Connect according to the UVWcorresponding access, otherwisethe motor does not turn or hasgalloping problem.
V
W
PE
Ground
point
Security
protection access
point
This point must be grounded.
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
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3.3 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
Input Definition Output Definition
X10 Horizontal limit Y10 Horizontal valve
X11 Vertical limit Y11 Vertical valve
X12 Main fixture limit Y12 Main fixture valve
X13 Hold limit Y13 Hold valve
X14 Vacuum suction limit Y14 Vacuum suction valve
X15 Main forward limit Y15 Main forward valve
X16 Main reverse limit Y16 Main reverse valve
X17 Main drop limit Y17 Alarm
X20 Reserve Y20 Main rise valve
X21
Medium position
object
Y21 Main drop valve
X22 Pressure detection Y22 Low air pressure
X23 Internal safety Y23 Deceleration valve
X24 External safety Y24 Reserve 1 valve
X25 Origin signal Y25 Reserve 2 valve
X26 Transverse limit Y26 Transverse valve
X27 Cross out limit Y27 Cross out valve
X30
Auxiliary forward
limit
Y30
Auxiliary forward
valve
X31
Auxiliary reverse
limit
Y31
Auxiliary reverse
valve
X32
Auxiliary rise
limit
Y32
Auxiliary rise
valve
X33
Auxiliary drop
limit
Y33
Auxiliary drop
valve
X34
Auxiliary arm
fixture limit
Y34
Auxiliary fixture
valve
Load
Sensor
Power
supply
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X35 Main rise limit Y35 Machining 1 valve
X36 Machining 1 limit Y36 Scissor valve
X37 Reserve 2 limit Y37 Conveyor Valve
X40
Lower limit of main
shift
Y40
Main position up and
down
X41
Main position
reverse limit
Y41
Main position
forward and reverse
X42
Main process forward
limit
Y42
Main process forward
and reverse
X43
lower limit of
auxiliary position
Y43
Auxiliary position
up and down
X44
Auxiliary position
reverse limit
Y44
Auxiliary position
forward and
reverse
X45
Auxiliary process
forward limit
Y45
Auxiliary process
forward and reverse
Y46 Forward and reverse
Safety gate Y47
Emergency stop
output
Mold Opened
Mold
Close
Permit
Mold
Closed
Mold Open
Permit
Unqualified
product
Recycle
Fully auto Thimble
Medium plate
mould
YReserve1
Top limit YReserve2
Emergency
stop input
YReserve3
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3.4 Servo Motor Wiring Definition
3.4.1 Power Cable Definition
Terminal Definition Explanation Remarks
24V power port
24V 24V power
Usually used as digital input power
supply 24 V±10, maximum output current100mA.
0V
Common port for
digital input
optical
coupling
X10-X47 common port for input opticalcoupling common interface
Input terminal X10-X47
Connection to
optical
coupling
The negative electrode of 24V powersupply is effective( 0 V) .
Output
terminal
Y10-Y37
MOS tube
leakage output
Connect to 24V of power supply throughtheload, protection current is 350mA,
voltage is 65V. More current loads
require relay isolation control.
IMM output port
Relay
output
Always open
relay
5A/250VAC/30VDC
Communication
port（by type）
CAN port Reserve
USB monitoring
port
DP/DM
USB
monitoring,
debugging port
Please use manufacturer's special cableand USB electrical interface, for servosystem high-performance debugging andmonitoring.
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 6
DEF U V W PE ground
Br
brake
Br
brake
Color Red Blue Black
Yellow
&Green
Brown White 750W below Motor power cable - with brakeVision Vision
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3.4.2 Encoder Cable Definition
Host 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
750W below Motor encoder cable
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
850W above Motor encoder cable
视图方向Plug model MS3102A 20-18P/9 pins
No. B I F G
DEF U V W FG ground
850W above Motor power cable - without
brake
视图方向Plug model MS3102A 20-18P/9 pins
No. B I F G C E
DEF U V W FG ground Brake + Brake - 850W above Motor power cable - with brakeD89 Interface
Motor encoderVision Vision
Vision
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3.4.3 Wiring Diagram of Motor Band Brake
* Notice：Brake port must control the operation by external relay. 3.5 Connection of Manipulator and Injection Molding MachineWiring diagram of
injection molding machine
Injection molding machine Manipulator Injection molding machineBrake terminal
IO port for injection
molding
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3.5.1 Wiring of Peripheral Fittings
Electrical positioning plate（optional）
Y40
Y41
Y42
Y43
Y44
Y45
Y46
+24V
主下位置+主下位置220N主后位置+主后位置220N主前位置+主前位置220N副下位置+副下位置220N副后位置+副后位置220N副前位置+副前位置220NN
L
主控板端子保险管1A电容Safety tube Main down+Main downMain back+Main backMain forw+Main forwVice down+Vice downVice back+Vice backVice forw+Vice forwCapacitance
Main
control
board
terminal
25
QC-S1 Operation Manual of Single-Axis Manipulator V1.0
Chapter 4 Commissioning and Operation Mode4.1 Appearance and Description of Manual Controller
4.2 Main Screen
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4.3 Operation Mode
4.3.1 Pre-run Inspections
Do check following parts carefully before running.
4.3.1.1 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.
4.3.1.2 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.
4.3.1.3 Connection of input and output terminals
1. Check wiring of input/output terminals and ensure it correct and tight. 24V shortcircuit and 220V access are forbidden.
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.Forservo motor with brake, please do power on check with the motor and machine apartto avoid misoperation cause by gravity or external force such as verticalaxisdropping.
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.4.3.2 Test Run of Servo Axis
In order to ensure the running of manipulator, it needs to confirm that the servoaxescan run correctly before the first power on.
1. Enter system after the host is power on. If there is no alarm, press the keyto enter the manual screen.
2. When cursor is at【TravMode】, press to switch to【InchMode】.
3. Press continually. The transverse axis of manipulator would move towardexternal(opposite to origin switch), and stop when the key is released. If theaxismoves toward internal( origin point), it needs to modify the directionofservo.(Enter 7752 password screen and reset the value of【Motor Direction】. Changeto 1 if it is 0 and vice versa.)
4. Press continually. The transverse axis of manipulator would move towardinternal(origin switch), and stop when the key is released. 4.3.3 Origin Point Reset
In order to ensure the running of manipulator, every time the power is turned on,theorigin reset action must be carried out in the stop state. The origin reset action resetsthe electric axis of the driving manipulator to the origin position and the vacuumandfixture to the closed state.
In the stop state, press the key to reset origin. The electric axis will returnto the original position. Only after the origin point is reset, can the automatic running
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and manual operation can be carried out. While the origin is being reset, the user cannotcarry out manual operation, automatic operation and parameter setting for the manipulator.In case of emergency, press the“STOP”button to stop the reset or press emergencystopswitch. 4.3.4 Manual Operation
Press the key to enter the manual screen for manual operation. Operate each singleaction of the manipulator and adjust each part of the machine(Confirm the mold opened signalbefore manual operation and ensure no touch to the mould). Following restrictions areforthe safety of the manipulator and injection molding machine mould： The manipulator can not do the vertical or horizontal movement after descendinginside. The manipulator cannot do the transverse movement after descending inside.(Exceptforinternal safe zone)
The manipulator cannot do the internal descending movement without mold opened signal.4.3.4.1 Manual screen
1、 TravMode：Press the key to select manual or inching mode.
Manual：Press“Out”key once and the manipulator will stop at the manual position;press“In”key once and the manipulator will stop at the pickup position.
Inching ： Press and hold the OUT(IN)key, and the manipulator will performtheout(in)action. The robot stops once release the key.
2、 ManuSpd：Monitor the set speed of the manipulator in manual mode. 3、 ManuPos：Monitor the set position of the manual spinning out, count in mm.
4、 DotSpd：Monitor the set speed of the manipulator in inching mode. 5、 FnshCnt：The actual number of products taken.
4.3.4.2 Manual key
Main arm/auxiliary arm/double arm selection key, after selecting the arm, press otheraction keys to perform the corresponding action.
Arm up key. Press once, arm up to the starting position.
Arm down key. Press once, arm down to the end position.
Arm forward key. Press once, arm moves forward to the end position.
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Arm backward key. Press once, arm moves backward to the starting position.
Fixture key. Press once to perform the clamping action, and then press again to releaseit.
Sucker key. Press once to perform the suction action, and then press again to release.The jig flip button. Press once, the jig gets flattened, and then press againtostraighten it.
Spin in key. Manual mode: press once and the arm will spin in to the fetch position.Spin in key. Inching mode: press and hold, the arm will spin in; release the keytostop.
Spin out key. Manual mode: press once and the arm will spin out to the set position.Spin out key. Inching mode: press and hold, the arm will spin out; release thekeyto stop.
Origin reset key. Press the key once, the manipulator will perform the origin resetaction(Must be in the stop state.)When the signal of the molding machine can be taught,this key can be selected in the teaching mode: after the mold is opened, themoldis allowed to close and the thimble is allowed, waiting for X37, synchronous startand synchronous end.
Reserve action selection key. Press this key to select: reserve 1, reserve 2, scissors,conveyor, processing 1 and other reserved actions.
The on/off key of the reserved action. After selecting the reserved action, pressthis key to control the execution and stop of the action.
4.3.4.3 Manual parameter
Press the parameter key in manual state to enter the screen of manual parameteradjustment. The screen is shown as following:
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1. ManuSpd: Set the horizontal speed in manual mode. Move the cursor to this positiontochange the setting value.
2. ManuPos: Set the terminal position of manual spinning out. Move the cursor tothisposition to change the setting value.
3. DotSpd：Set the horizontal speed in inching mode. Move the cursor to this positiontochange the setting value.
4. TackPos：Press the “ENTER” key to set the current position as the fetch position,and press the “HP” key to confirm.
5. DotRange (Need to be customized. Standard program does not have this function.)：Pressthe axis key, the axis moves for the set length.
4.3.4.4 Electric positioning
After pressing the key twice, enter the electric positioning screen. The screenis shown as following:
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Move the cursor up and down to the position to be adjusted. Press the key andthemanipulator will adjust the position in the direction.
* Note：The machine must have the mechanical structure of electric position adjustmentto have this function. 4.3.5 Automatic Operation
Press the key to enter the automatic screen, and then press the “START”buttonto enter the automatic operation mode. The manipulator will drop down to take the objectimmediately after the injection molding machine finishes mold opening.
1. SetProNo：Production quantity preset. When the actual output reaches the number,analarm will be sent.
2. ActProNo：The actual number of finished products.
3. AutoCycl：Time taken to run an auto complete mode.
4. TakeTime：Time taken by the manipulator from starting fetch to the allowable injectionmold when running automatically.
5. ProcTime：Time set for current action in teaching mode.
6. CurrAct：The action currently executed.
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Chapter 5 Function Setting
5.1 Basic Function
Press the key in the stop screen to enter the function selection screen, andtheup/down cursor key can be pressed to move to each function setting item. Press the keyto change the option.
1. Language：Press the “ENTER” key to select Chinese and English display.
2. ChkVFix：
PP: Positive phase detection of fixture signal. When the fixture switch signalhasinput, it means the fixture has successfully taken the object；On the contrary,the fixture failed to fetch if there is no signal input.
RP: Reverse phase detection of fixture signal. When the fixture switch signalhasinput, it means the fixture failed to take the object；On the contrary, the fixturefetched successfully if there is no signal input.
No Use：Do not detect the fixture signal whether the fixture fetch the object ornot.3. SetMold: The number of products planned to produce. When the actual output reachestheset value, an alarm will be sent.
4. ChkVaccu：
Use：Detect the vacuum switch signal. When the vacuum suction limit has signal input,it means the sucker has successfully taken the object; On the contrary, the suckerfailed to fetch if there is no signal input.
No Use：Do not detect vacuum switch signal.
5. OpenDly：While running automatically till the mold opened signal is given, it needsto wait for the set delay time before the mold closing signal is disconnectedfrom the output. The mold opening delay time is valid when set within 0~0.5s.6. ChkHold：Same as vacuum detection.
7. ThimbDly：While running automatically till the mold opened signal is given, it needsto wait for the set delay time before starting to output thimble signal.【Only when the thimble on the 2011 password page is selected for use】
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8. ClearPro：When set as “ON”, the actual number of products is cleared. Set as “OFF”fornormal use.
9. ChkMFix：Same as vice fixture detection.
10. KeyTone：
ON：There is a sound when pressing keys.
OFF：There is no sound when pressing keys. 5.2 Special Function
Press the key twice in the stop screen to enter the password screen.
Enter the password “2011” and press the key to enter the screen of specialfunction 1. There are four setting screens. The up/down cursor keys can be used tomoveto each setting item. Press the key again after modifying parameters to changesetvalues.
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1. CycleTime: Manipulator action monitoring time. After the completion of manipulatoraction, it takes time to wait for the mold opened signal of injection moldingmachine to input again. If the time exceeds the set value, the alarmwillbe sent.
2. Thimb
No Use: Allow a thimble signal to be output all the time.
Use: After the mold is in place, the delay output allows the thimble signal.3. SafeDoor
Use: Detect whether there is safety gate signal input while running automatically.Alarm if there is no input.
No Use: Do not detect whether there is safety gate signal input while runningautomatically.
4. MidMold
No Use: When the manipulator descends to fetch the object, it does not detecttheplate mold signal.
Use: Detect the plate mold signal when the manipulator descends to fetch the object.5. StdbyGes
Verti: When manipulator is automatically standby, the jig is in vertical position.Hori: When the manipulator is automatically standby, the jig is in the horizontalposition. If the jig cannot be vertical because of the mould, horizontalposition is an option. After the injection molding machine opened mold,therobot goes vertical and then down to fetch. Do horizontal action standby afterfinishing placement.
6. StdbyPos
Inside: The manipulator stands by to fetch on the top of the mold.
Outside: If the manipulator cannot do internal standby because of the mould, externalis an option.The arm does transverse movement to external standby positionin automatic state.
7. StopSafe
NoLockM: In stop state, to ensure the safety of the machine, when the mold openingis at the ending position, the allowable on/off signals shall be cut offtillthe safety door is opened and closed once.
AllowLkM: In the stop state, mold opening/closing switch signal can be outputallthe time.
8. SubPutDe: Start timing when the middle object signal is detected in the spin in/outprocess. When the time is up, the auxiliary arm clamping and releasing actionwill be executed.(Only used for frequency conversion crosswalk manipulator.)9. StartPos: The transverse axis standby position when the manipulator descends to fetchin the mold.
10. EmbInMld: Use this to teach the manipulator program to take objects from the externalinto the mold. The transverse axis can be taught to move many times inthemold.
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11. PointCnt: Number of points that can be set when cyclic arrangement placement is used.32767 is the maximum number. Set as 1 if not used.
12. Space: Interval between placement points when cyclic arrangement placement is used.13. ConvCnt: When the program teaches the conveyor to operate automatically, the mold numberset between each time the conveyor outputs.
14. Reserv1: When the program teaches reserve 1 action in the automatic state, themoldnumber set between each time the reserve 1 outputs.
15. ClScrTim: Time the screen can keep light for if there is no operation for manualcontroller to perform.
16. Reserv2: When the program teaches reserve 2 action in the automatic state, themoldnumber set between each time the reserve 2 outputs.
17. ChckPress
No Use: No not detect the intake air pressure of manipulator。Use: Detect the intake air pressure of manipulator. If the pressure is lowerthanset, an alarm will be sent.
18. ChckDfPrd
No Use: Controller does not detect the reject signal.
Use: Controller does detect the reject signal. If there is a signal, run the modulenumber 44 program. The reject signal must be input before mold opened signaltojump to the 44 mold number.
19. ChckClsMld
No Use: The manipulator does not detect the clamping stop signal.
Use: When the manipulator is running automatically, the clamping stop signalmustbe detected first and when the mold opening stop signal is detected,the robotcan descend and fetch objects. If chosen but not connected to mold closed signal,the robot will not operate after receiving mold opened signal！20. ClpAbDect
TravOut: Clamping and suction confirmation signals are detected both in the moldandin the process of spinning out.
InMold: Clamping and suction confirmation signals can be detected only in the mold.FullRun: The manipulator detects the clamping and suction confirmation signalsinthe whole automatic operation process.
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21. SafeDoor: Set the position of safety gate. The placement position of the manipulatormust be greater than the set value.
22. OutStdby: When the standby position is set external, the manipulator is in the externalstandby position. When started automatic, the arm does transverse movementto the external standby position.
23. SafeInMld: The maximum allowable range for the manipulator to descend and run sidewaysin the mold. Beyond this position, the arm cannot descend and run sidewaysin the mold.
24. SlowDelay: Time of transverse movement in spin in/out. When the deceleration signalis output, the mechanical hand runs slowly to the end/starting position.(Onlyused for frequency conversion crosswalk manipulator.)
25. StartPoint: Set the start position of cyclic arrangement placement. It must beconsistent with placement position of main arm or auxiliary arm.
26. AutoLimit:
No Use: The manipulator does not detect the automatic signal of the injection moldingmachine.
Use: Automatic signal of injection molding machine can be detected by the manipulator.If there is no automatic signal, the alarm will be triggered.
27. PressSw:
NomOpen: When using the air pressure detection, the pressure switch is normally open.NomClo: When using the air pressure detection, the pressure switch is normally close.28. SlowDown:
No Use: Do not use the main arm outside the mold slow down function.
Use: Use the main arm outside the mold slow down function.
When the function is working, the main rising valve and the main descending valvehave signals at the same time. That is, the main rising valve for the exhaust valve.29. TrvOutPst:
NotRst: When the manipulator spins out, do not limit the vertical or horizontalposition of the jig.
Verti: When the manipulator spins out, the jig must be vertical cross out, horizontalcross out will alarm.
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Hori: When the manipulator spins out, the jig must be horizontal cross out, verticalcross out will alarm.
30. TrvInPst:
NotRst: When the manipulator spins in, do not limit the vertical or horizontalposition of the jig.
Verti: When the manipulator spins in, the jig must be vertical cross in, horizontalcross in will alarm.
Hori: When the manipulator spins in, the jig must be horizontal cross in, verticalcross in will alarm.
31. OpenSafeD:
Conti: When the alarm fails to fetch the object, the safety door switch manipulatorcontinues to complete the current cycle.
Rest: When the alarm fails to fetch the object, the safety door switch manipulatorreleases the fixture and sucker, and then return to the automatic standby state,waiting for the next mold opened signal to descend and fetch.
Stop: When the alarm fails to fetch the object, the safety door switch manipulatorstops running. Only when it exits the automatic state and enter again,theautomatic running can be started.
32. OpenDAlar:
Stop: When the safety door alarm occurs in automatic state, close the safetydooralarm to stop the alarm, but the manipulator can not continue automaticoperation. Press“STOP”to restart.
Conti: When the safety door alarm occurs in automatic state, close the safetydoormanipulator to continue.
33. Reserv1Tim: Time for reserve 1 on action in active mode after the program teachestoreserve 1 on action.
34. ConveyOn: Time for conveyor on action in active mode after the program teachestheconveyor on action.
35. StkClear: When the setting is changed from OFF to ON, the product count of stackisreset. The manipulator will stack again from the first point. It needstobe set as OFF for normal use, otherwise the robot will stack the first pointonly.
36. testMould: Product module needed for trial production. Every time the automaticmodeis started, robot will execute actions in trial mold No.43 progress withintrial production mould, and when set as 0, it means this function is not used.
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37. StkDrt:
REVS: When using stacking, the transverse axis decreases the stacking objectsfromstarting point to the origin.
PSTV: When using stacking, the transverse axis increases the stacking objectsfromstarting point to the ending point.
* Note：when the standby posture, standby position, spin out posture and spin in postureare changed, it needs to ensure that the automatic program is consistent with the settingfunction, or the manipulator cannot run normally.
Press twice in the stop screen to enter password screen. Enter password “****” and then press to enter the special function 2 screen. Press the up/down cursorkey to move to function setting items and change the set value.
*1. MaxPos：
Set the maximum position of system, which shall be used in conjunction withtheactual position of machine. All positions shall be set no lager than this value.*2. PolseIn：
Ratio of the number of command pulses required per revolution of the servo motorto the distance the machine moves per revolution of the servo motor.(The servo drivercan be set to 10000 pulses for one cycle, or can be modified as needed.)
Assuming that the servo motor needs 10,000 pulses per revolution and the motor moves20 mm per revolution, then:
10000 /（20×10）= 50 ( 20×10 represents converting 20 mm to 0.1 mm units.Then gear ratio is set as 50.
*3. FeedBack: After selected for use, the actual position of finished products will displaythe number of feedback pulses received for debugging the machine.
*4. DownGset：
Verti：when the manipulator descends, it must be in a vertical position. When itisin a horizontal position, it will give an alarm.
Hori：when the manipulator descends, it must be in a horizontal position. Whenitis in a vertical position, it will give an alarm.
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*5. OriSpeed: Speed of the electric axis when the origin is reset.
*6. FBPulseIn: The pulse ratio numerator that servo driver feeds back to the controller.(This function is not available in the integrated drive-control system.)*7. FBPulseOut:
The pulse ratio denominator that servo driver feeds back to the controller.(Thisfunction is not available in the integrated drive-control system.) Feedback pulsesreceived by the controller﹦servo driver feedback pulse×feedback pulse in／feedbackpulse out
*8. AlarmTime: Set the alarm time, and stop the alarm when the time is up, but the alarmscreen remains.
*9. AccDecTime: Set the acceleration and deceleration time of the servo motor.
*10. MaxSpeed: The maximum running speed of the servo motor that can be set, counted in%.*11. WholeSpeed: The overall running speed of the servo motor, counted in %.
E.g：The whole speed is set as 80%, and the transverse speed is set as 50%.Thenthe actual transverse speed is 80% × 50% = 40%.
*12. WaitSig：
NoTeach: The program is not allowed to teach the associated signal of the manipulatorand the injection molding machine.(E.g：wait for mold opened, mold closingallowed)The program operates as normal requirements.
Teach: The program is allowed to teach the associated signal of the manipulatorandthe injection molding machine.【E.g：wait for mold opened, mold closingallowed】Users can teach program to control.
*13. FixReverse:
No Use: The jig is in the position of fetching the moving die.
Use: The jig is in the position of fetching the fixed model. The horizontalandvertical posture will be automatically reversed.
*14. TravOutPre:
The program teaches that the transverse exit position is 1000, and the transverseexit early end position is 100. When running automatically, it will start to runthenext program if the transverse exit position reaches 900.
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*15. TravInPre:
The program teaches that the transverse entry position is 0, and the transverseentry early end position is 100. When running automatically, it will start to runthenext program if the transverse entry position reaches 100.
* Note：Ensure that the setting is correct when setting the descending positionandjig reverse, or it may cause damage to mould.
Parameters with * are set by the manufacturer. Do not adjust them while using.
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Chapter 6 Program Setting
6.1 Program Selection
Press the key in the stop screen to enter the mold program selection screenandprogram teaching screen.
Enter stored mold number(0-99) in the input box next to “READ(0-99)”and pressthe key to load the program it represents. Operate the program in auto mode.
Pick one from No.0-99 mold program to read and enter one from No.20-99 that needsteaching. Enter the program teaching screen and press“START”again to enter teaching mode.6.2 Program Teaching
While teaching program, press the key to move the cursor to the taught action. Pressthe manual buttons to teach current step sequence action. Press “ENTER”at the sametimeand move to Time, Speed and Position respectively to set current step sequence action.Whenaction set is over, press the key to make the robot execute.
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Press “INS” in teaching mode to insert a line of no action instruction beforetheselected teaching action. At the same time, press action key to be executed and then pressthe “ENTER” to insert a group of action.
Delete a line of action instruction in teaching program to delete redundant action.Sequence number：Step sequence number of current action.
Action：Action command taught currently.
Time：Delay time of current action. The action will not be executed until delaytimeis over.
Speed：Speed at which the robot moves to current position.
Position：While teaching actions, the position to which the robot will move. 【Important】While programming, It needs to press “ENTER” to carry out current actionand then write the opposite action to complete programming. 【Tips】While programming, it needs to press “ENTER” twice for pneumatic action andthreetimes for axis action. 6.3 Fixed Program
01 Main arm L-type male suction mold：
Main Down -> Main Forw -> Vac Suck -> Main Back -> Main UP ->Main Forw -> Horizon-> Spin Out -> Main Down -> Vac Put - >Main Up - >Spin In ->Vertical ->Main Back02 Main arm L-type female suction mold：
Main Forw -> Main Down -> Main Back -> Vac Suck -> Main Forw -> Main Up -> Horizon-> Spin Out -> Main Down -> Vac Put ->Main Up - >Spin In - > Vertical
03 Main arm U-type male suction mold：
Main Forw -> Main Down -> Vac Suck -> Main Back ->Main Up ->Main Forw -> Horizon-> Spin Out-> Main Down -> Vac Put ->Main Up - > Spin In - > Vertical
04 Main arm U-type female suction mold：
Main Down -> Vac Suck -> Main Forw -> Main Up -> Horizon-> Spin Out -> MainDown->Var Put ->Main Up -> Spin In -> Vertical -> Main Back
05 Auxiliary arm L-type female clamping mold：
Sub Frow-> Sub Down -> Sub Back -> Sub Fix -> Sub Frow -> Sub Up-> Spin Out->Sub Put -> Spin In
06 Auxiliary arm L-type male clamping mold：
Sub Down -> Sub Forw -> Sub Fix ->Sub Back -> Sub Up -> Sub Forw -> Spin Out->Sub Put -> Spin In ->Sub Back
07 Auxiliary arm U-type female clamping mold：
Sub Down -> Sub Fix -> Sub Forw -> Sub Up -> Spin Out -> Sub Put -> Spin In ->SubBack
08 Auxiliary arm U-type male clamping mold：
Sub Forw -> Sub Down -> Sub Fix -> Sub Back -> Sub Up -> Sub Forw ->Spin Out ->SubPut -> Spin In
09 Internal material of auxiliary arm L-type female clamping mold：Sub Forw -> Sub Down -> Sub Back -> Sub Fix -> Sub Forw -> Sub Put ->Sub Up10 Internal material of auxiliary arm L-type male clamping mold：Sub Down -> Sub Forw -> Sub Fix -> Sub Back -> Sub Put -> Sub Up
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11 Internal material of auxiliary arm U-type male clamping mold：Sub Forw -> Sub Down -> Sub Fix -> Sub Back -> Sub Put -> Sub Up
12 Internal material of auxiliary arm U-type female clamping mold：Sub Forw -> Sub Down -> Sub Fix -> Sub Back -> Sub Put
13 Double arms L-type clamping and suction：
Dob Down -> Dob Forw -> Vac Suck -> Sub Fix -> Dob Back -> Dob Up -> Dob Forw->Horizon -> Spin Out -> Sub Put -> Spin out -> Main Down - > Vac Put - > MainUp- > Spin In -> Vertical ->Dob Back
14 Double arms U-type clamping and suction：
Dob Forw -> Dob Down -> Vac Suck -> Sub Fix -> Dob Back -> Dob Up -> Dob Forw->Horizon -> Spin Out -> Sub Put - > Spin Out - > Main Down - > Vac Put - > MainUp- > Spin In - > Vertical
15 Main arm L-type male clamping mold：
Main Down -> Main Forw -> Main Fix -> Main Back -> Main Up -> Main Forw -> Horizon->Spin Out -> Main Down -> Main Put -> Main Up - > Spin In - > Vertical->MainBack16 Main arm L-type male clamping and suction mold：
Main Down -> Main Forw -> Main Fix -> Vac Suck -> Main Back -> Main Up ->MainForw -> Horizon -> Spin Out -> Main Down -> Main Put - > Vac Put - > Main Up->Spin In -> Vertical -> Main Back
17 Double-arm L-type clamping：
Dob Down -> Dob Forw> Main Fix -> Sub Fix -> Dob Back -> Dob Up -> Dob Forw->Horizon -> Spin Out ->Sub Put -> Spin Out - >Main Down -> Main Put-> Main Up->Spin In - > Vertical ->Dob Back
6.4 Program Update
1. Update manual control program
Insert USB flash disk into the interface right to manual controller and presstheemergency stop button to cut the power and restart. Enter the main screen and 2014 passwordscreen to check the version number.（USB disk can not be pulled out before enteringthemain screen.）
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2. Update host program
Insert USB flash disk and click program button to enter the program screen. Updateas following steps.
(1) Refresh：Click“Refresh”on the right. If no USB is detected, the left lamp is stillgray; If USB is detected, the lamp turns green, and then click“Update”.
(2) Update：If the left lamp turns red from green, operation lamp of host flickers frequentlyand the updating rate is increasing, the update will be completed when the rate turnsto 100% and the note （Update Completed!）shows on the bottom of the screen.
(3) Pop up：Click “Pop Up” to disconnect the USB. Pull out when the left lamp turnsredand end the update.
* Notice：
1.Host program update takes about 2 minutes.
2.Once click “Pop Up” or pull out USB disk, it needs to restart to detect USBdiskagain. 6.5 Parameter Modification
Press the parameter key in the stop screen to enter the screen of action parametersetting. Action delay time and other parameters can be modified here, but it can notdoteaching.
Press the up/down key to move cursor to the action option that needs modification.Then press the key to enter when finished and modify the next one.
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Chapter 7 Operation Information
7.1 Alarm Record
Press the key in the standby screen to enter the alarm record screen.The latest15 alarm records are kept here.
Press the key again to enter the automatic cycle time recording screen, whichcanrecord the cycle time of the latest 5 modules.
