User Manual TOPⅣ Swing Robot
Contents
1. U Motion L Motion In Mold y R g Default i i pan Ss AS i OutSid Z 58 TOPIV Series User Manual 4 Operation 2i Down as TOPIV Series User Manual 59 4 Operation Chuck Reject Setting the Chucking Reject Open Location when reject signal received from IMM Default set is In Mold M11ChuRej M12VacRej U Motion L Motion wl 7 In Mold is Default i Ji OutSid e pe WA J AS 60 TOPIV Series User Manual 4 Operation nd 2 Down own on Up Wa orn TOPIV Series User Manual 61 4 Operation 2 Vacuum Reject Setting the Chucking Reject Open Location when reject signal received from IMM Default set is In Mold For XC Twin type M11ChuRej In Mold M12VacRej In Mold U Motion L Motion SS RS In Mold i Default pa i OutSid 62 TOPIV Series User Manual 4 Operation ond Down ond Up TOPIV Series User Manual 63 4 Operation 2 Each Button Function in the Mode NO Button Description Aly Pressing Up and Down arrow key will scroll P icon and select line RIC Press Right and Left arrow key will change Mode Setting and Blink P icon Numeric Key For Input Numeric Number Pressing Enter key wi2. STEP2 Displays Logo and moves to manual mode HYhosoric amp TOPIV Ver1 00 5 3 Timer setting T9 NO Default Setting Name TS 0 5 sec 0 3 sec Chuck T4 O 5sec 0 3 sec Kick return T8 0 5sec 0 6 sec Open LIE T9 0 5sec 0 4 sec 2 Down Conveyor i T13 3 sec 2 sec Conveyor ee a ha ASO T4 Ejector om T3 104 TOPIV Series User Manual T3 Chuck T4 KicRt T5 Up T3 Chuck T4 KicRt T5 Up T3 Chuck T4 KicRt T5 Up T3 Chuck T4 KicRt T5 Up T6 Swing T7 2Down T8 Open T6 Swing T7 2Down T8 Open 0 5 lt 0 0 0 5 0 0 0 5 0 0 0 3 lt 0 3 0 5 0 0 0 5 0 0 0 5 0 0 0 5 lt 0 3 0 5 0 0 0 5 0 0 0 3 lt 0 3 0 5 0 0 0 5 lt 0 0 0 5 0 0 0 5 0 0 0 5 0 0 0 5 0 0 0 6 lt 0 6 5 Follow Up STEP3 Move to timer screen set T3 chuck delay to 0 3 sec TIMER 5 Press COUNT move to timer screen ChuRot Press and press to save data y STEP4 Setting T1 Kick Return to 0 3 sec Press v move cursor to Kick Return Delay Press and input 0 3sec P ress and input 0 3sec Press J to save data STEP5 Set T8 to 0 6 sec Press v move the cursor to MaiRel O Swing Press to Input 0 6 sec and press to save data RtNoR TOPIV Series User Manual 105 5 Follow U TO92Up 0 5 lt 0 4 T10 ChuRt 0 0 0 0 T11 SwRt 0 5 0 0 T09 2Up 0 4 lt 0 4 T10 ChuRt 0 0 0 0 T11 SwRt 0 5 0 0 T13 Conve 3 0 lt 0 0 T13 Conve 2 0 lt
3. 88 TOPIV Series User Manual 4 Operation 4 3 9Input Output 1 Description Confirm Input Output Interlock Output 032 Y20 Down Y21 Kick Y22 MArmGrip X11 MArmUpOK X16 ChuckOK lt Input Screen gt lt Output Screen gt Input Output X11 Main Arm Up Confirm MArmUpOk Y20 Down Down Y21 Kick Kick X16 Chuck Confirm ChuckOk Y22 Chuck Chuck X14 Swing Confirm SwingOk Y23 Swing Swing X15 Swing Return Confirm SwingRtOk Y2F Swing Return SwingRt Y24 Chuck Rotation ChuckRo X17 Vacuum Confirm VacuumOk Y25 Vacuum Vacuum Y26 Nipper Cutting NipperCut X1G Sub Arm Up Confirm Y2D Sub Arm Up SArmUp Y2E Sub Arm Kick SArmKick X1F Sub Arm Grip Confirm Y27 Sub Arm Grip SArmGrip Y28 Alarm Alarm Y2G Main Power MainPower Interlock Input Interlock Output X1H FullAuto FullAuto DC Y29 Cycle Start CycleStart Relay X19 Auto Injection Injection Relay Y2A ee MoldOp Cl Relay Open Close X18 Mola Open MoldOpen Relay Y2B Ejector Ejector Relay Complete X1A Safety Door SafetyDoor Relay Y2C Conveyor Conveyor DC X1B Reject Reject DC Y28 Buzzer Buzzer DC X1I EMO from IMM IMM EMO Relay TOPIV Series User Manual 89 4 Operation 2 Button Function NO Button Description 1 Aly Displays 3 information in one page and move to next page 2 P Change Input Info
4. Solenoid Valve Box Solenoid Valve and Signal LO and Vacuum Sensor are installed Control and Interface Box IMM Interlock Relay board and Power supply units are installed Sub Kick Cylinder The sub kick cylinder moves Main Kick Cylinder The main kick cylinder moves The sub arm forward and backward The main arm forward and backward Regulator Air Filter and Regulator Function j IRTO TRTO Twin Type TOPIV Series User Manual 5 1 Introduction 1 1 2 Handy Controller Function ROBOT EMO Button Press ROBOT EMO Stop will stop operation of Robot and Activate IMM EMO Stop LED Display Display current operation status error message initial settings Function Keys These keys are used to access each setting screen and to switch between Auto and Manual Mode To use the function on the bottom half of a key Hold down the S Shift key and then press the function key n i Arrow Key Up Down Left Right 1 G Ee Y i Up Down key move cursor to each item A le G Ee J Left Right key select each mode MAIN ARM Wi Ascon 6 Kick Eu F Mode Selection 2 rales a zy Y RR Z2 Alarm Product Verification Ejector Reject Bad H Chuck i ChuRot Gr ipper Parts Manual Opeation Key Also Numeric Key Pad Operate each axis or robot in manual mode For Timer setting Search mold number and Input Numeric number E
5. Input Mold Number 32 MoldMgr 105 gt 032 MOLD32 033 MOLD33 036 MOLD36 Manual 032 0 T gt S F e AH OutWai No Use lt 4 MArmDn Clamp ChuOff 2Down 86 TOPIV Series User Manual STEP 1 Set Mold Number 32 which is similar with Example except Part Open STEP2 Press and cal moves to Mold Search Screen STEP3 ChuRot 2 Pressing will input 32 and Press A move to mold maintenance screen STEP 4 ENTER Cursor is located at 32 mold press moves to manual mode with 32 Mold Motion Pattern STEPS Pressing ca button moves to mode screen STEP6 Press v move P to ChuOff Chuck Off and Press P change change 2Down to OutSid 4 Operation OutWai No Use STEP7 MArmDn Clamp Press to move to Manual Screen ChuOff OutSid lt i TOPIV Series User Manual 87 4 Operation 4 3 8 Step Run 1 Description of Step Run Step operation will operate the robot step by step of each motion After origin will not displays gt cursor pressing A will displays gt at the first step 032 2 Button Function NO Button Description 1 A Press Up Arrow Key will Operate Step Operation 2 Move to Manual Mode 3 Step Operation STEPI i STEP y E f EE Press moves to Step Operation Screen mz STEP Pressing A button will operate one step stop Press will move to manual mode MANUAI
6. 2 0 STEP6 Set T9 2 Up to 0 4 sec Press v moves the cursor to 2 Up Delay 2Up Descent Press to input 0 4 sec Press to save data STEP7 Set T10 to 2 sec Press v moves the cursor to Conveyer Conve Suction 0 p ENTER Press gt and to input 2 sec press J saves data stor Press to move to manual mode MANUAI 106 TOPIV Series User Manual 5 4 Mold Create Molino Input Mold Number O Momor gt 000 FREEMODE 022 MOLD22 023 MOLD23 MOOArmSet M amp S P gt M01Chuck Use MOVacuum NoUse MO3ChuRot Use NewMold FILE100 130 NewMold 130A J 5 Follow Up STEP8 SHIFT Hold S and press displays mold search mode Press moves to mold maintenance screen and cursor will be on O STEP9 ENTER Pressing on the O Mold Free mode and moves to mode screen Press v to confirm motion pattern and mode STOP Press to move to mold maintenance screen STEP 10 Set Mold Number to 130 Chuck 3ChuRot 0 Press to input 130 Press to save data STEP 11 Set Mold Name to AB Press P cursor will move to first character and blinking CLEAR Press B select A with pressing A v pressing Pje to next character space press A v select B and Press to save data Press will create Mold File and moves to Manual mode TOPIV Series User Manual 107 5 Follow U 5 5 Step Operation S PARI To confirm the motion pat
7. 00 TOPIV A 1 Version Information Version STEPI SHIFT TEAVA ISUD Press and v at the same time displays version SC V01 00 information TOPIV A STEP2 To move to manual mode press To move to auto mode press eae 96 TOPIV Series User Manual tO eration 4 8 Error Recovery 1 Error Description Displays error recovery method 152SwingErr X14 Conflrm Swing Sensor 2 Error Recovery STEPI CLEAR 152SwingErr Pressing Cc Stop Buzzer X14 Conflrm Swing Sensor STEP2 CLEAR Pressing again will close message screen TOPIV Series User Manual 97 4 Operation 4 9 Change Language SHIFT Press and P at the same time change Korean English Chinese 98 TOPIV Series User Manual tO ration Turn power on with pressing 4 10 Robot and Program maintenance Screen FindError AutoInput SafetyDoor Injection ls NoRun Run Run NO Button Description 1 Aly Move cursor gt and displays setting i i Enter i 2 lt gt Pressing right and left arrow button will change mode and pressing J will save data 3 Numeric Input Number 4 Save data 5 Moves to Manual Mode NO Screen Mode Order Default Setting Description Etc 1 Error Default lsec Selecting O will not Sec Evaluation use Error Evaluation 1 Unit Function Second 2 Auto Use Full Auto Signal is Signals Required FindError ls
8. Chuck Chuck Press again Chuck Off 21 Press Suction Suction Press again Suction Off 29 F3 Press Chuck Rotation Rotate Chuck Press again Chuck Rotate Return 23 t2 Press Descent Button for Sub Arm ay Move Sub Arm Down Press again Move Sub Arm up 24 Press Gripper Grip and Grip Off TOPIV Series User Manual 35 4 Operation 4 3 1Timer Set Up 1 Timer Description Timer setup will control the Robot motion smoothly with Injection Molding Machine Operation Timers will not be saved separately with Mold Files For examples setting A DANGER 6 as a 0 2 Seconds will make all other mold file use TO as 0 2 Seconds TO Down 0 2 0 0 T1 Kick 0 0 lt 0 0 T2 Eject 0 0 0 0 Lo Rez Sub Arm Main Arm Conveyor E u T13 a ee Ejector po 36 TOPIV Series User Manual tO ration NO Default Name Display Description sec TO 0 5 Down Down After Mold Open Complete delay time for move arm down Tl 0 5 Kick Kick After starting Down Delay time for Kick Movement T2 0 5 Ejector Eject After starting Kick Delay time for Ejector Operation T3 0 5 Chuck Chuck Ejector After Ejector On Delay time for Chuck Function On No Ejector Fun After Kick On Delay time for Chuck On T4 0 5 Kick Return KicRt After Suction or Grip the Parts Delay time for Kick Return T5 0 5 Up Up After Suction or Grip the Parts Delay time for Up T6 0 5 Swing Swing After Up Complete D
9. Full Auto Sienal i 0 u uto Signal 1s Autolnput NoRun 3 Sati y D Run Use default not required 3 Injection Ruti Safety D Use default Safety Door Signal is Door required Signals o Use Safety Door Signal is not required 4 Injection Use default Injection Signal is required No Use Injection Signal is not required TOPIV Series User Manual 99 4 Operation Reject No Use Rejection signal is from IMM default not required RejectIMM NoRun Use IMM Rejection signal ProceTim Os required to reject Dat 00 00 00 parts Tim 00 00 00 Process Setting Process time HH Time to O will not use 00 process time Second Date Setting Date Time Setting Time All Mold Yes Pressing Enter will file Delete delete all mold file DelAIIMold Yes No Pressing Enter will DelErrHist No not delete all mold file All Error Yes Enter will delete all history Error History Delete No Enter will not delete all Error History 100 TOPIV Series User Manual 5 Follow Up Oooo Cee 8 5 1 Motion Pattern Selection Down Kick Ejector Chuck ON Kick return Up Swing 2 Down Chuck Off O S74 aw Ejector al 5 Follow Up ee W 2 Up Swing Return TOPIV Series User Manual 103 o Follow Up 5 2 Start Up JEZE STEPI Ty LG Vi 5 AN W Turn On Power
10. Manual Mode 28 TOPIV Series User Manual 4 OPERATION 4 Operation 4 1 Screen Structure Initial Screen Manual Mode Timer huck Counter T2 Ejector Delay cope Motion T3 Chuck Delay uck Rotation Mold Maintenance T4 Kick Return Delay ipper Step Run T5 Up Delay utside Waiting Input Output T6 Swing Delay Main Arm Cycle Operation T7 2 Down Sub Arm Main Arm Down Timer Sub Arm Down Counter 10 Chuck Rotation Chuck Off Motion Return Vacuum Off Input Output 11 Swing Return Sub Arm Off 12 Nipper On Chuck Reject Vacuum Reject T13 Conveyor Detection Fail Error History TOPIV Series User Manual 31 4 Operation 4 2 Initial Screen Power on displays Logo and Robot Name type Robot Initiation and Move Origin Point NOTICE Selecting Outside Waiting Option will initiate Robot with Swing Operation HYhosoric amp TOPIV Ver1 00 32 TOPIV Series User Manual tO ration 4 3 Manual Operation 1 Manual Operation Description Selecting Outside Waiting Option will initiate Robot with Swing Operation CLEARING ROBOT MOTION AREA It is the responsible of the operator A DANGER to verify that the robot motion area is clear before any robot operation 7 gt 7 H i gt 2 AH INPUT OUT PUT NO Icon Description No Icon Description 1 4 Main Arm Down 12 3 Vacu
11. for Take Out Default setting is Use MOOArmSet M01 Chuck MO2Vacuum MO3ChuRot Name Description Motion Use Ry EENT Take out Parts with Chuck Operation S t ei SeS Chuck ae va Take Out Parts without Chuck gt NoUse i Operation Vacuum 44 TOPIV Series User Manual tO ration 3 Vacuum Setting for using Vacuum Operation for Take Out Default setting is No Use This function is only for XC type and Twin MOOArmSet M amp S M01 Chuck Use MO2Vacuum NoUse gt MO3ChuRot Use Name Description Motion Take Out Parts without Vacuum Nouse Operation Using Chuck Use Take Out Parts with Vacuum DA ne Default Operation a Ol lt i Vacuum Dri TOPIV Series User Manual 45 4 Operation Chuck Rotation Setting for using Chuck Rotation Operation Default setting is Use This function is only for X XC type and Twin In Twin Robot When Arm Set is MainSub Both arm should be Move to NOTICE the End of Axis Kick in order to operate Chuck Rotation MOOArmSet M01 Chuck MO2Vacuum MO3ChuRot Name Description Motion Use Chuck Rotation If parts is wide attached with sprue taking out parts Use with sprue and Open after chuck rotation Default Epa j LPs will be a good application for use this ke function W cS No Use Chuck Rotation is not in Use mode 46 TOPIV Series User M
12. EP4 gt Down 0 0 0 0 Kick 0 0 0 0 to Auto Operation Chon 0 0 0 0 26 TOPIV Series User Manual 3 Start up Stop 3 3 Stop Operation Follow the next step to stop the robot Power off and Disconnect air might A WARNING able to cause serious problem E TRE 2N 2o EE gt Down 0 0 0 0 Kick 0 0 0 0 Chon 0 0 0 0 pu ee a gt F A It will not stop in the middle of step If robot runs any step it will finish the step and stop before next step Due to Pneumatic E 4h H E pE Operation Pressure stop Press for Auto Mode It will stop the operation after finish to run last step And moves to manual mode A WARNING Turn Off Handy Controller Power off Molding Machine STEP2 Turn Off Power STEP3 Disconnect Air Pressure TOPIV Series User Manual 27 3 Start up Stop 3 4 Emergency Stop Press ROBOT EMO button in any dangerous situation Protect People Robot Mold Etc STEP 1 Pressing ROBOT EMO button Robot will move to waiting position and stop Operation Alarm and buzzer will be on and Error message will appear in the handy controller 097 ROBOT EMO Restore ROBOT EMO Button 3 5 Restoring Emergency Stop Eliminate Emergency Stop Environment before restoring ROBOT EMO A WARNING button STEPI Eliminate Emergency Stop Situation Rotate ROBOT EMO button to Clock Wise STEP 2 CLEAR Press and stop Alarm and Buzzer moves to
13. Grip L Type or Down Grip and Kick Return U Type Default Setting is L Type Mo5O0utWai No Use MO6M Arm LType S Arm LType P gt MO7MArmDn_ Nozzle Name Description Motion b Sub Arm Type Down Kick Chuck Kick Return Up a Default y Se b Sub Arm U Type Down Chuck Kick Return Up Kick i 50 TOPIV Series User Manual tO eration Sub Arm I Type Down Chuck Up TOPIV Series User Manual 51 4 Operation Main Arm Down MarmDn and Sub Arm Down SArmDn Main Arm Down Setting Main Arm Down Position to Nozzle Side Mold Platen or Clamp Side Mold Platen MO50utWai NoUse MO6MArmDn LMotion SArmDn LMotion MO7MainDst Nozzle gt Name Description Motion Nozzle MainArm will descent at the Nozzle Side Default jr Clamp MainArm will descent at the Clamp Side p gt 52 TOPIV Series User Manual tO ration Sub Arm Down Setting Sub Arm Down Position to Nozzle Side Mold Platen or Clamp Side Mold Platen SADown Clamp gt MO8ChuOff 2 Dst MOo9VacOff 2 Ast M10SChOff InMold Motion Name Description Clamp i SubArm will descent at the Clamp Side Default LA i 2 Nozzle SubArm will descent at the Nozzle Side j gt TOPIV Series User Manual 53 4 Operation Chuck Off Setting the step of Part Open in Normal Production No Rejected Parts from
14. IMM Default is 2 Down When use Chuck and Suction motion at the same time and if Chuck NOTICE Release Motion and Suction Release step is different there will be different Delay time SArmDn Clamp MO8ChuOff 2Down gt MO9VacOff 2Down M1O0SChOff In Mold L Type SSIS Hie H Thk i l In Mold x a fof EARREEEIENE a A Me OutSid i a LI 54 TOPIV Series User Manual 4 Operation 2Down Default EESE E P K Cht f 2Up 3 lt f ae q fait Kir ara X Y E TOPIV Series User Manual 55 4 Operation Vacuum Off Setting the step of Vacuum Off in Normal Production No Rejected Parts from IMM Default is 2 Down XC Twin Type Only SArmDn Clamp MO8ChuOff Moo9VacOff M10SChOff 2Down 2Down gt In Mold L Type SAT UE In Mold n I a T Wii 7 i ii l Uke j 5 Dam Sey N 56 TOPIV Series User Manual 4 Operation 2 Down Default Wi Na grd Up TOPIV Series User Manual 57 4 Operation Sub Chuck Off Setting Sub Chuck Off Position Twin Type Only Sub Arm Gripper releases with Chuck when Chuck is in Use Mode NOTICE Sub Arm Gripper releases with Vacuum when Chuck is Not in Use Mode SArmDn Clamp MO8ChuOff 2 Des MO9VacOff 2 Des M10SChOff In Mold
15. OMER IS RESPONSIBLE FOR PROPER INSTALLATION AND Rated Frequency 50 60 Hz GUARDING REFER TO ALL ANSI FEDERAL STATE LOCAL OR OSHA EUFOMAP REGUALTIONS THAT APPLY PERFORM REGULA MAINTANENCE WHEN CHANGE THE MOLD MAKE SURE THERE IS NO INTERFERENCE BETWEEN MOLD AND ROBOT CRANE STOP THE OPREATION IMMEDIATELY WHEN ABONORMAL CONDITION OCCUR HYROBOTICS Co Ltd O A DANGER Robot will descent Do not enter robot operation area HYROBOTICS Co Ltd O ae HY cX 173 228 GAJWA DONG SEO GU INCHON KOREA lt FROBOTI TEL 82 32 582 5040 FAX 82 32 584 7040 CE Model Name TOPIV TWIN 550 Serial NO Product Code Manufacture Date Rated Voltage 100Vac 240Vac Rated Current 0 6A Rated Frequency 50 60 Hz Weight 45 kg Do not disassemble Do not disassemble A CAUTION PROTECTIVE Establish and maintain protective earth ground according to the user s manual A DANGER HIGH VOLTAGE Before servicing turn off lock out tag out Read and understand manual before installing and servicing this machine Warning OPERATION OF THIS MACHINE WITHOUT PROPERLY READING THE INSTRUCTION GUIDE COULD RESULT IN INJURY ALWAYS MORE THAN TWO QUALIFIED PERSONAL TOGETHER MUST WORK THE MAINTENANCE SET UP INSPECTION AND REPAIR THE ROBOT ALWAYS WEAR PERSONAL SAFETY EQUIPMENT SAFETY HELMET SAFETY GLASS SAFETY SHOE
16. S FOR OPERATION OF THE ROBOT DO NOT ENTER WORKING RANGE WITH MACHINE IN OPERATION ROBOT MOTION CAN CAUSE SEVERE PERSONAL INJURY THIS MACHINE WILL OPERATE AUTOMATICALLY CUSTOMER IS RESPONSIBLE FOR PROPER INSTALLATION AND GUARDING REFER TO ALL ANSI FEDERAL STATE LOCAL OR OSHA EUROMAP REGUALTIONS THAT APPLY PERFORM REGULA MAINTANENCE WHEN CHANGE THE MOLD MAKE SURE THERE IS NO INTERFERENCE BETWEEN MOLD AND ROBOT CRANE STOP THE OPREATION IMMEDIATELY WHEN ABONORMAL CONDITION OCCUR xi 1 Introduction 1 1 Robot Assembly This Robot is consisted of Robot Body Interlock and Control Box Handy Controller Interlock and Control Box D Injection Molding Machine Handy Controller TOPIV Series User Manual 3 1 Introduction 1 1 1Robot Body Solenoid Valve Box Swing Cylinder BA a Solenoid Valve and Signal The swing cylinder swings Input Output are installed the entire arm unit Control and Interface Box IMM Interlock Relay board and Power supply units are installed Main Arm 5 For Up Down Movement Main Kick Cylinder The kick cylinder moves The main arm forward and backward Regulator Air Filter and Regulator Function A X XC XN Type 4 TOPIV Series User Manual 1 Introduction Sub Arm Taking out for Sprue Main Arm For Up Down Movement Vacuum Sensor Confirm Products verification with Vacuum
17. TEPI TO Down 0 5 lt 0 0 T1 Kick 0 5 0 0 Press move to Timer Mode in Manual Mode T2 Eject 0 5 0 0 oz j STEP TO Down 0 5 0 0 T1 Kick 0 5 lt 0 0 T2 Eject 0 5 0 0 Press v Move lt to the T1 Kick STEP3 TO Down 0 5 0 0 ChaRot T1 Kick 05 lt 03 Press a input 0 3 sec T2 Eject 0 5 0 0 STEP4 TO Down 0 5 0 0 T1 Kick 03 lt 03 Press the to save the change T2 Eject 0 5 0 0 STEPS i Press Move to Manual Mode TOPIV Series User Manual 39 4 Operation 4 3 2 Counter 1 Description Counter can be viewed and changed using handy controller Counter Mode displays Total Production Quantity Rejected Quantity Detection Failure Quantity gt CO TotQty C1 RejQty C2 DetFai NO Name Description Total Operation Production Q ty Robot Operation Cycle after CO TotQty Reset C1 RejQty Displays Rejected Q ty Need Signal from IMM C2 DetFai Detection Failure Q ty 2 Each Button Function in Counter Mode NO Button Description 1 Aly Pressing arrow key scroll the gt key through the list 9 Press Clear Key will Reset the item on gt key Press more than 2 C seconds z 3 Press Stop button to change Manual Operation mode AUTO m 4 E Press Auto button to back to Auto Operation Mode 40 TOPIV Series User Manual 4 Operation 3 Counter Reset Method Counter can be changed during Auto Mode but can not be changed durin
18. TOPIV Swing Robot MTOPIV 450 W TOPIV 550 MPOPIV 650 W TOPIV 750 WETOPIV 950 We N Eie EN A Read this manual completely prior to installing operating or performing maintenance on this equipment HYkosoric Safety Signs There are safety signs on the robot like below figures Respect and follow the messages on these signs when operating or performing maintenance on the robot Do not peel off these labels or signs A DANGER Robot will descent Do not enter robot operation area A CAUTION PROTECTIVE EARTH Establish and maintain protective earth ground according to the user s manual A DANGER HIGH VOLTAGE Before servicing turn off lock Read and understand manual Warning OPERATION OF THIS MACHINE WITHOUT PROPERLY READING THE INSTRUCTION GUIDE COULD RESULT IN INJURY ALWAYS MORE THAN TWO QUALIFIED PERSONAL TOGETHER MUST WORK THE MAINTENANCE SET UP INSPECTION AND REPAIR THE ROBOT O HY cX 173 228 GAJWA DONG SEO GU INCHON KOREA rd ROBOTI TEL 82 32 582 5040 ALWAYS WEAR PERSONAL SAFETY EQUIPMENT SAFETY FAX 82 32 584 7040 HELMET SAFETY GLASS SAFETY SHOES FOR OPERATION OF Model Name TOPIV A550 THE ROBOT C Serial NO DO NOT ENTER WORKING RANGE WITH MACHINE IN OPERATION a ROBOT MOTION CAN CAUSE SEVERE PERSONAL INJURY THIS MACHINE WILL OPERATE AUTOMATICALLY Rated Voltage 100Vac 240Vac Rated Current 0 6A CUST
19. anual tO eration Outside Waiting The Robot can wait at the outside position with swing until mold completely open when other auxiliary attached movable platen Clamp Side Mold After mold completely open robot arm will swing and descent to take out parts Default setting is No Use MoO50utWai NoUse gt MO6M Arm LType S Arm LType MO7MArmDn Nozzl Name Description No Use Waiting without swing until mold open complete Default Use Waiting with swing until mold open complete TOPIV Series User Manual 47 4 Operation Main Arm and Sub Arm Main Arm M Arm Setting Arm whether will Down Kick Grip L Type or Down Grip and Kick Return U Type Default Setting is L Type With Down of Main Arm and Sub Arm Kick motion is moving to Parts and NOTICE B Kick Return Motion is Moving back to Up Position MO50utWai NoUse MO6M Arm LType P gt S Arm LType MO7MAinDn Nozzl Motion Name Description RER Main Arm 2 ps N ht L Type Down Kick Chuck or Suction Kick 4 Default Return Up a 48 TOPIV Series User Manual tO eration Main Arm H H i H H R R Down Chuck or Suction Kick Return U Type Up Kick Main Arm w4 hi j li R s B I Type Decent Chuck Up TOPIV Series User Manual 49 4 Operation Sub Arm Only in Twin Type Setting Arm whether will Down Kick
20. ck 0 0 0 0 Pressing E2 will stop auto operation and moves to ChuOn 0 0 0 0 manual Ee TOPIV Series User Manual 93 4 Operation 4 5 Cycle Operation 1 Cycle Operation SHIFT _ Manual Mode Pressing S and moves the robot to the origin point and operate 1 cycle Uf Outside waiting has been selected robot arm will swing oe toe gt Down 0 0 0 0 Kick 0 0 0 0 ChuOn 0 0 0 0 Cycle Screen 2 Each Button Function NO Button Description f 1 Stop Operation and Moves to Manual mode 3 Cycle Operation M OTERI SHIFT AUTO 3 Press and moves to the cycle operation mode Operate 1 Cycle and moves to manual mode gt Down 0 0 gt Kick 0 0 0 0 ChuOn 0 0 0 0 94 TOPIV Series User Manual at Oration 4 6 Error History 1 Description 04 12 15 13 11 25 152Swing Error 2 Each Button Function NO Button Description 1 Aly Move the cursor to different error history 9 Change to the manual mode 3 Change to the Auto Mode 3 Checking Error History S oe 04 12 15 Press and A at the same time displays error 13 11 25 history screen 1 5 2 SwingError T SAER 04 12 05 Find error with pressing A or v button 04 12 26 161ChuDetFail STEP3 To move to manual mode press T To move to auto mode press vae TOPIV Series User Manual 95 4 Operation 4 7 Version Information Version TP VO1 00 SC V01
21. d Number 2 Change to Manual Mode CLEAR 3 c Cancel the Input Number ENTER 7 s 4 J Change to Mold Maintenance Screen with selected Number TOPIV Series User Manual 67 4 Operation 3 Mold Maintenance Select Create and Delete Mold File MoldMgr 032 gt 00 FREE MODE 22 MOLD22 23 MOLD23 4 Each Button Function in Mold Maintenance Screen NO Button Description Select O file can create any motion pattern and mode to create by user and 1 pe move to New Mold Screen and save with Mold Number and name 1 99 Basic Motion Pattern which is in system 100 999 User can create motion pattern SHIFT 2 Move to Manual Operation Mode 3 C Move to Delete screen for file with gt Mold Number can use only 2 Number Mold Name can use 8 NOTICE Character with Number 68 TOPIV Series User Manual 4 Operation 5 New Mold Save the motion pattern in the mode with new mold number and name Mold Number Auto Create NewMold Ween FILE105 Mold Name 6 Button Function in New Mold NO Button Description Numeric Key Pressing the numeric key while blinking Mold Number will Input Number Pressing Enter to save Mold Number and Name gt Press P to scroll the cursor on the mold number Aly Selecting Mold Name Character Change to Manual Mode TOPIV Series User Manual 69 4 Operation 7 C
22. elay time for Swing Motion T7 0 5 2 Down 2Down After Swing Complete Delay time for 2 Down T8 0 5 Open Open After Swing Complete Delay time for Part Open T9 05 2 Up 2Up After Parts Open Delay time for 2 Up T10 0 0 Chuck Rot CRoRt After 2 Up Complete Delay time for Chuck Rotation Return Return T11 0 5 Swing Return SwRt After 2 Up Complete Delay time for Swing Return T12 0 5 Nipper ON NipOn Delay time for Nipper Cutting Operation With Open Delay TIS 3 0 Conveyor Conve After 2 Up Delay time for Conveyor Operation TOPIV Series User Manual 37 4 Operation 2 Timer Button Function NO Button Description 1 Aly lt key moves up and down to select each Timer 2 Numeric Key Displays Delay Time 3 Press the Enter Button to save the change CLEAR 4 c Cancel the Input 5 Press Stop Button to change to Manual Mode 6 Press Auto Button to change to Auto Mode 38 TOPIV Series User Manual tO ration 3 Programming Timer Settings Timer settings can be viewed and changed using the handy controller under two conditions 1 When the robot is in Timer Mode 2 During Auto Mode While Robot is running Timer can be changed during Auto Mode but cannot be changed during NOTICE Cycle and Step Operation Press the Timer button to move Timer Mode while in Auto Mode Setting T1 Kick Delay to 0 3 Seconds S
23. g NOTICE Cycle and Step Operation Resetting CO to 0 oar SHIFT TIMER Press CS at the same time displays Counter Screen STEP2 gt COTotQty 10000 CLEAR C1 Reject 2 Press for 2 seconds Total will be O Reset C2 DetFai STEES stop Press displays manual mode MANUAI TOPIV Series User Manual 41 4 Operation 4 3 3Mode 1 Mode description Robot motion pattern can be decided by selecting of Each Motion Mode M amp S P gt Use NoUse Use MOOArm Set M01 Chuck MO2Vacuum MO3ChuRot The below icons uses for robot motion in this book 4 OS NOTICE Ly N gt 42 TOPIV Series User Manual Origin Chuck Chuck Off Vacuum Vacuum Off tO ration Robot Arm Setting Setting for Take Out Motion Arm Default setting is M amp S This setting required in only Twin After Main arm Down pressing Kick button in MainSub Arm Setting will NOTICE operate only Main arm Kick Motion MOOArm Set M amp S gt M01 Chuck Use MO2Vacuum No Use MO3ChuRot No Use Name Description Motion Main Arm LS Sub Arm M amp S Select Main and Sub for Both Arm Default opeartion ao Z or Main Arm X Select Main for Main Arm Operation Zf Me Taking Out Parts a or Sub Arm ae Select Sub for Sub Arm Operation Sprue or Gate Picking TOPIV Series User Manual 43 4 Operation Chuck Setting for using Chuck Operation
24. ll stop Blinking of the P icon and save input data Stop Auto Operation and Back to Manual Mode Pressing Auto Button will back to Auto Operation Mode 64 TOPIV Series User Manual 4 Operation 3 Mode Confirmation Press ca will move to mode screen from Manual Mode Mo1 Chuck STEP2 MO5Outwai NoUse i Press gt icon will scroll down MO6M Arm LType MO7MarmDn_ Nozzl MO8ChuOff 2Down P STEP3 M11ChuRej In Mold Confirm Robot Operation in Mode and Press will move to manual mode Pressing while in Auto Mode will move to Mode screen NOTICE AUTO and Press nove back to Auto Mode TOPIV Series User Manual 65 4 Operation 4 3 4Mode Setting 2 NOTICE To use Reject Release Motion Contact Factory e e NO Button ees Description Use No Use Buzzer 1 t K ki Buzzer On or Off Change only in Manual Mode B Detect lon j i 9 Ei 55 Detection function On or Off Change only in Manual Mode 9 Eject b FC Br Ejector Control On or Off E Change only in Manual Mode i N N Reject Motion On or Off Change only in Manual Mode 66 TOPIV Series User Manual 4 Operation 4 3 5Creating Mold File 1 Mold Search Description Search Mold Number Input Mold Number to Search 000 2 Each Button Function in Mold search Mode NO Button Description 1 Numeric Key Input Mol
25. nter Key Store the number and selected mode C Clear Key Cancel Clear Error S Shift Key S key will use for upper case commend 6 TOPIV Series User Manual 1 Introduction 1 1 3 Interlock and Control Box This box included Power Tranformer Relay Relay board Power trans receive power from IMM and supply the power to robot and handy Controller Each relay interlock for operation communicate handy controller CPU I O Cable l For Handy Controller Interlock Control Box 5 a Communicate between Interlock box and Ny Z A e Handy Controller A o Molding Machine Interlock Cable Power Cable TOPIV Series User Manual 7 1 Introduction 1 1 4Each Axis Chuck Vacuum Chuck 2 DJ A X XC XN Type Sub Arm Up Down Descent Main Arm Up Down Adescent Z1 t Chuck Vacuum om o Gripper ij W Chuck 2Suction ame Gripper oie Twin Type 8 TOPIV Series User Manual 3 Start up Sto 3 1 STEP FOR START UP Follow step for Auto Operation Manual Mode Auto Mode TOPIV Series User Manual 25 3 Start up Stop 3 2 Start Up NOTICE Make sure the proper voltage to be supplied to the Robot STEPI Turn On Power STEP2 APESE It will display System Version and go to Origin Point and Stop at Manual Mode TOPIV Ver1 00 Press Auto and STEP3 Move to Auto Mode Press and move to Auto Mode Auiovod ose ST
26. old Number Openi and Create Delete Mold File Press Step Button 5 LCD displays Step Motion Mode Screen Robot can operate Step by Step Operation 6 Ei Press Step Button with Shift Button 1 0 S LCD display Input Output Signal 7 Press Auto Button LCD displays Auto Mode Screen 8 Sh Press Auto Button with Shift Button Cycle S LCD displays One Cycle Operation Screen 9 Ei Press Up Arrow with Shift Button S LCD displays Error History Screen 10 Sh Press Down Arrow with Shift Button S LCD displays Rom version Information 12 Sh Press Right Arrow with Shift Button S LCD displays the commend in the screen with selected Language 34 TOPIV Series User Manual 4 Operation NO Button Description 13 m Press Buzzer Button Only in Manual Mode LCD Screen displays setting for Buzzer On Off 14 Sh Press Detection Button with Shift Only in Manual Mode S Eas On Off Screen for Parts Verification Function 15 Be Press Ejector Button Only in Manual Mode C LCD Screen displays Selection for Ejector Control Function 16 ve Press Reject Button Only in Manual Mode Robot will separate Rejected Part Signal From IMM 17 T Press Descent Button tib Move Main Arm Down Press again Move Main Arm up 18 Press Kick Button ye Move Main Arm Kick Press again Move Main arm Kick Return 19 Gi Press Swing Button RHR Robot arm will Swing Press again Robot arm swing return 20 Di4 Press
27. reating Mold File Creating Mold file with new motion pattern O B E 032 MoldNo Input Mold number 000 032 MoldMgr gt 00 FREE MODE 22 MOLD22 23 MOLD23 M01 Chuck Use MO50utWai NoUse MO6M Arm LType MO7MArmDn Nozzl NewMold FILE106 032 032 NewMold 106 gt 70 TOPIV Series User Manual STEPI i SHIFT MODE Press S and move to mold search Screen STEP2 Press to change mold maintenance mode STEP3 Move cursor gt to OO and press a STEP4 Press A or W B icon to the mode to select ENTER Press to change mode and press to set STEPS Input Mold Number with Numeric Key and Press to save data STEP 6 Press button will move cursor to first character of Mold Name 4 Operation NewMold LEE d Press Aly select Character 106 A B It will displays A Z 0 9 _ NewMold LES Press P move to next Character Press to save 106 AB data Press K will move cursor to left side and Change the text MOTE sity oraina AIG i erat ioe Td STEPS stop Press will create mold name save and move to MANUA manual mode TOPIV Series User Manual 71 4 Operation 4 3 6 Delete Mold File 1 Delete Mold File Delete Mold File that created before NOTICE Currently open mold file can not be deleted Selected MoldDel 032 gt 105 FILE105 Mold File Delete LY N Stop 2 B
28. rmation screen to Output Information Screen 3 K Change Output Information screen to Input Information Screen 4 Move to manual mode 5 m Move to Auto Mode 90 TOPIV Series User Manual 4 Operation 3 Confirm Input Output Signal STEPI kl C i Press and ca displays Input Output screen STEP2 X11 MArmUpOK UES Pressing K or P change Input or Output X16 ChuckOK Pressing A or v select signal to confirm A Sea eee Press Sree move to manual mode Y21 Kick AUTO Y22 MArmGrip Press wag Move to auto mode TOPIV Series User Manual 91 4 Operation 4 4 Auto Operation 1 Description button to gt Down 0 0 0 0 operateAuto Kick 0 0 0 0 Mode ChuOn Auto Message Auto Mode Screen Order of Origin NO In Mold Outside of Mold 1 Kick Return Up 2 Up Kick Return 3 Swing Return 2 Button Function NO Button Description i Stop Auto Operation and move to Manual Mode MODE 2 Move Mode Screen SHIFT 3 sh Move I O Screen TIMER 4 Move Timer Screen SHIFT TIMER 5 S Move Counter Screen COUNT 92 TOPIV Series User Manual 4 Operation 3 Auto Operation tau oe Pa PER Pressing button displays Auto Messages Press Auto STEP2 Button to AUTO Pressing AUTO moves the robot to origin and start auto operate CYCLE Auto Mode operation oz 0 STEPS gt Down 0 0 0 0 l Ki
29. tern is right operate step operation Pressing A will operate motion step by step stor Press and moves to manual mode MANUAI 5 6 Auto Operation STEP 13 Press Auto PUTERAN Press change to Auto Message Screen Operate Auto Mode Press again will start Auto Operation AutoMod e gt Down 0 0 0 0 STEP 14 Kick 0 0 0 0 i ChuOn 0 0 0 0 To Stop Operation press 108 TOPIV Series User Manual Appendix D Optional features The swing type take out robot consists of A X XC and Twin Contact us for details e A type Sprue Picker with Gripper es xXtype Sprue Picker with Gripper 90 Rotation P Releasing product onto a conveyor or a chuck off t iL with scratch prevented ae e XC type om Pan Sprue Picker with Gripper 90 Rotation all Spl Vacuum Unit wo D I Multiple product take out with suction SD sy P Twin type Correspond to 3 Plate Mold Sprue Picker for 3 plate Mold With Gripper 90 Rotation Vacuum Unit 122 TOPIV Series User Manual x es HYROBOTICS Co Ltd 173 228 GAJWA DONG SEO GU INCHON KOREA TEL 82 32 582 5041 FAX 82 32 584 7040 www hyrobot com
30. um On 2 ft Main Arm Up 13 Vacuum Off 3 Main Arm Up Complete 14 4p Chuck Rotation 4 Kick 15 AP Chuck Rotation Return 5 Kick Return 16 amp Sub Arm Down 6 amp Swing 17 Sub Arm Up 7 Swing Complete 18 4 Sub Arm Up Complete 8 sA Swing Return 19 Sub Arm Kick 9 lt Swing Return Complete 20 Sub Arm Kick Return 10 le IChuck 21 W Sub Arm Gripper 11 Chuck Off 22 W Sub Arm Gripper Off Interlock Signal Input Output NO Icon Description NO Icon Description 1 fl Full Auto 5 JAC Mold Open Close Complete Signal 2 lt Auto Injection 6 fk Ejector Signal 3 BK Mold Open Complete 4 Safety Door TOPIV Series User Manual 33 4 Operation 2 Button Function in Manual Mode A DANGER NOTICE Do not enter robot motion area If anyone enter the robot motion area during Auto operation or Manual Operation serious accident could results Robot arm will not descent if mold is not open NO Button Description 1 Press the Timer button LCD displays timer mode for delay time settings a Press the Timer button with Shift button Counter 2 Bie LCD displays Counter screen Counter screens display Total Q ty Reject Q ty Detection Fail 3 Press Mode button LCD displays Mode screen Motion Mode F Press Mode Button with Shift Button Mold 4 Bie LCD displays Mold Maintenance Screen Search M
31. utton function in Mold Delete Mode NO Button Description 1 Delete Mold Selected file and move to manual mode 2 FR cancel ti d Move t mod ancel operation an ove to manual mode 72 TOPIV Series User Manual 4 Operation 3 Delete Mold File _Manuai 032 D SPTE S Pr P m mol rch screen ess S ove to mold search scree MoldNo STEP 2 Input Press and move to mold maintenance screen Mold Number 0 ga SEEES gt 1 1 GOERS Select mold file to delete with pressing A W 106 AB 107 MOBIL G i S TERS 105 FILE105 Delete IY 4 No Stop _Manuai 032 O STEPS FoF z T gt Press will delete selected file and moves to e i T HW Press displays lt Mold Number gt lt Name gt Delete manual mode TOPIV Series User Manual 73 4 Operation 4 3 7Setting Basic Motion Pattern 1 Description of Basic Motion Pattern The Motion pattern for simple and popular operation are already memorized in the system Can change some mode from the similar operation that want to create and setting LA X XC XN Twin type Motion 22U Main Arm Only Robot Operation La ee 5 Main Arm a Screen OutWai NoUse gt MarmDn Clamp ChuOff Nozzl 74 TOPIV Series User Manual 4 Operation 2 Selecting Basic Motion Pattern Example Main Arm Only LType Take Out parts with Chuck and Swing and Release MoldNo
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