K-Cut 520 Manual - Kawaguchi America, Inc.
Contents
1. 12 ADVANCE EDITING A STEP comia iii dei RENE RU 12 INSERTING A STEP tica AA EEE EEE nen Tee TREE EAS 12 DELETING oia ia ti ati aida iba 12 EDITING ON THE siii ide idad 12 CLEARING A 1 7 1 1 7212 4 4 Imm meme 13 RECOVERING A CLEARED 2 2 2 2 2 1 13 COPYING A PROGRAM INTO MULTIPLE 13 CHANNEL 0 TIMER 5 2 0 0 60 006 13 QUICK PROGRAM 1 nenn 14 QUIGK PENDANT REFERE NOE nr ER 15 LOADING BLADES cr ca 16 NIPPER CALL 16 NIPPER SECS 17 NIPPER EXAMPLES 18 19 SETUP Ao AA 20 How OFTEN DO BLADES NEED CHANGING asan 21 MODIFYING BLADES ERIT TE PEE TER TR 21 HAVING KAWAGUCHI TEST BLADES FOR YOU asas 21 LOCATING NON CONVENTIONAL TYPE BLADES a s 21 BLADE 22 23 24 MAKING CUSTOM CHUCKS o 24 CHUCKS i dee eure 24 PNEUMATIC TRAY2. 1 GB BLY RW 2 3 3 BL R DEE Y 4 BE np GE lo CCW i 1 B2 Muffler u San E zu D ZN EMT BL 2 4 o 4 gt YN 1 s B 5 103H47533 7051 D RN EJ D RP XN B v Y BL R W 103 6 22 702 cw P N 3 5 PMM P5 BA 5701 6 OUTP BES ds EL xu oor Ye 51 6 6 nu OUTP a R W Lo LL oe 03 7623 7061 106 110 128 AC100V 50 60Hz Wt On O NFBI 2PISA 070 BLIC Muffler PLPBI OUT Main ok 5 5 lt 8 Oo Power AK22 SELWICES AH22 MRO I RO LY2N D2 PYFOSA 1005001 488 018 L10 Teaching PV5 B Pendent v2 Honda 16 XEL 80 _ c EE XE L 9 gt d OUTP N A E Ce N lt a pa 1 m MU pods mods 2 IXEL 6 Efe E RORG 6 Cycle on OUT Cycle cancel our HMA IN Dual Link IN 10 7708 IN 20 Connector 48 7T8 IN 0 Over heatind IN 40 WHHL IN 50 Vacuum IN 80 Connector interrupt stop 79 Start signal IN 06 6 4 Connector 2 Index INIS E Nipper Cancel 118 b p INIT7O Connector
3. THE OTHER AXIS ERROR OFTEN You will need to watch the cycle to determine where the parts are hanging up If you are experiencing regular errors in the axis it is very likely that there is a snag somewhere When you find the snag you will need to program around it If the R axis is going out very often you may have a very heavy or long runner and you will need to program in rotations of the R axis to be slower AT THE END OF THE CYCLE IT CALIBRATES VERY SLOWLY The speed of the calibration is set in step 0 also known as the program origin To change the speed of the step press Origin while in Manual mode Press Enter Change press Hl and then press Change Entry Now test it THE PROGRAM INITIATES TOO SLOWLY OR AFTER THE CHUCK SHUTS IT SITS TOO LONG These are both timer delay issues to solve them refer to the section on timer delays THE HAND OFF IS INCONSISTENT First make sure the 520 s levelers are down and all contacting the floor then check to make sure that it is not walking Next check the height adjustment knobs to be sure that they are tight and finally restart the 520 so that it may recalibrate If the problem still exists then you can safely blame the sprue picker To solve this problem you will need to consider either a tray or a locating chuck For very in depth answers to trouble shooting questions you may need to contact the Kawaguchi Technical oervice department ELECTRICAL SCHEMATIC
4. N Chuck on 06 A gt Chuck 007 1 gt 4 Pull Nipper 0077 29 9 3 OPT 1 OUT SA A 3 Count up OUT 40 Y Count down 0UT Out 00 Em stop OUT 76 TIT 0UTIOO Opt 2 pull nip 007116 rN Opt 2 on 28 gt Em alarm 0UT130 e Wa dim y 00 146 1 007156 1 1 KAWAGUCHI AMERICA LTD TRIAL RUN AGREEMENT Leased to Phone Address Contact EQUIPMENT Model 520 Serial Sorter Nipper Blade type s Chuck type s Nipper Blade 1 1 2 2 3 3 4 4 5 5 CUSTOM ATTACHMENTS TRIAL CONDITIONS FOR THE ABOVE EQUIPMENT The customer assumes all responsibility for equipment while it is in their possession and promises to either purchase or return these items in good condition naturally wear from reasonable use is expected During the trial period the customer is liable for any loss theft damage or destruction of this property under this agreement All equipment lost or damaged beyond repair will be paid for by the customer at the regular replacement price All damaged equipment which may be repaired will be repaired upon return and the cost for such repairs will be paid by the customer The Kawaguchi America K cut 520 trial period 15 30 days unless otherwise agreed upon in writing by Kawaguchi America The trial period begins upon the signing of this contract and concludes within 30 days of that start date at which time the customer must either purchase the r
5. This is the recommended pressure for optimum use The knob on the top of the supplied regulator will the pressure to the 520 There are two green lines with a slot between them the pressure should be set to that point Temperatures of 0 to 40 C or 32 to 104 F are acceptable Humidity must be from 20 80 RH ACCURACY OF LOCATION Mechanical repeatability is 0 1mm In other words the axis will go to preset locations within 0 1mm With hardware enhancements this can be improved upon GROUNDING AND THE INCLUDED TRANSFORMER A transformer like the one to the right is supplied with your K cut 520 This transformer plugs into a 110V outlet and has the 100V output required for the 520 to function properly There is an on off switch on the transformer so that plugging and unplugging isn t necessary The transformer has a three plug socket built in but has a two plug connection to the wall To properly ground the transformer use the supplied green or black wire Attach the wire to the transformer at one end and attach the other end to an appropriate ground This is required for safe operation of the K cut 520 THE MEMORY CARD Your 520 comes standard with one memory card Each memory card has channels 0 thru 21 Channel 0 is for timer delays channel 21 is for recovery of the last cleared channel and 1 thru 20 hold programs If you need additional memory cards please call Kawaguchi America to place an
6. Entry The two steps involved in the hand off have been changed To change a cut on the fly you can leave the robot in automatic With the pendant in your hand and a thumb over the Manual button allow the robot to run the part up to where you want to make you adjustments As the robot is moving into the cut you want press the Manual button this will stop the robot Now press Step and SET The robot should not have moved as it always stops one step beyond what is indicated on the display when switching from auto to manual Now you can manually edit your cut Start the edit one step before the cut Press Enter Change and position the step before it moves into the blades Press Change Entry Press Step Enter Change and move the part into the blades Press Change Entry Press Step make sure that the nipper on is indicated on the display and press Enter Change and then Change Entry Press Step Enter Change and then Y out beyond the blades Press Change Entry You have now effectively changed a cut and its related steps CLEARING A CHANNEL To clear a channel go to the desired channel by pressing Manual Channel then Step or Step until the desired channel is indicated and then press SET Now press the Enter Change button and both of the lights to the left of the button should go on indicating that there is a program located in the channel If only the light next to Enter goes on then the channel is empty To clear it press the Clear bu
7. aol com Kawaguchi America LTD 964 Brooklyn Blvd Brooklyn Park MN 55445 Visit our web site at http members aol com kawaguchi9 home html 1997 BizTech Communicators All rights reserved Contents 5 0 nemen me heme eremi heme inse ere e 5 THE PENDANT 4 00 1 6 mmm nenne 6 OPERATING RANGE eee IH mI Rm mem mehrere eremi nennen 7 WORKING SPEED nennen rese nene 7 EXTERNAL 5 1 6 mmn nn rene rens 7 YAm Ci 06 ann nn ann nn anne 7 7 AIR REQUIREMENTS 7 OPERATING CONDITIONGS eene 7 ACCURACY OF REPEATED 1 1 6 6 7 GROUNDING AND THE INCLUDED TRANSFORMER 0 7 INSERTING THE CARD INTO THE ROBOT saan 8 CHANGING THE MEMORY CARD S BATTERY znnnnnunnununnunnunnnnnn nun nn RER ann En 8 WRI
8. it into a program can take some time 3 NOOR ON With a four cavity family mold you will have four sorter positions The first position should be at 0 so you do not program the sorter until after the first part has dropped The sorter can move simultaneously with the other functions so there is no need to designate steps to the sorter After the first part has dropped the next step will most likely be Y to move out of the blade area Y out and then before setting that position in press INDEX until you are over the position of your next drop and then press SET Continue on to your next cut and after the cut repeat the procedure At the end of the cycle the sorter will automatically return to the program origin position Generally speaking the sorter is very easy to use If you need information on special catch chutes then look on our technical service web site or call our technical service department MAINTENANCE For the most part this is a very reliable piece of equipment that runs almost maintenance free This can cause neglect Despite the fact that it will run virtually without any attention you will still need to inspect it for loose bolts and nuts built up plastic shards blade sharpness condensation and lubrication Also frequent careful inspection of electrical and air functions tubes and cords is necessary Check all the external visible bolts nuts and screws frequently Make sure that there is no build up of plastic shards i
9. or with cutters located vertically at the bottom of the Z axis This is an option that is necessary when you can not make the hand off TiLTING CHUCK COMPONENTS The tilting chuck can be added to a 520 that does not already have one To the left you see the entire assem bly The Y axis that is customized the tilting chuck component and the solenoid This operation is pneumatic and operates on hard stops with a 90 range of movement The hard stops can be adjusted to increase or decrease the range of movement The Solenoid operates as an ON OFF function meaning that it can not be programmed to stop between the hard stops ACAUTION Use the pin valves to control the rate of the tilt so that it does not jar itself or move too slowly The motion of the tilting chuck should be smooth and it should not slam to either end The pin valves are located on the pneumatic lines connected to the solenoid PROGRAMMING WITH THE TILTING CHUCK The tilting chuck adds a great deal of versatility to your K cut but this manual is for general use so we will cover the most common scenario which is the tray hand off On your pendant the tilting chuck is OP1 and the tilting tray is OP2 For the purpose of the hand off the set the origin so that the chuck is set vertically and the tray raised to meet the pickers angle for accurate nesting Your first step should have the tray lowering and the chuck moving into position above it Next the Z axis
10. order They are in stock and avail able for overnight delivery dA CAUTION e This card is not recommended for use with other systems Never clean the card with volatile chemicals such as alcohol Use of such chemicals could cause the panels of the card to come off To clean the card use a blast of dry air or a dry cloth e Do not apply strong force to the card or bend it in any way Store the card in the supplied pouch and in a dry place Keep the card free from water and direct sun e Do not disassemble insert metals into or subject the card to magnetic forces This card is guaranteed for 1 year after shipment If the card is found to be defective during warrantee due to inadequate manufactur ing then it will be replaced at no cost stored data is outside of the warranty INSERTING THE CARD INTO THE ROBOT Always make sure that the power is off when inserting or removing a memory card The memory card inserts on the back panel of the K cut 520 The two graphics here show the appro priate way to insert the card Notice that the front of the card where is says MEMORY CARD is facing the power zl off button With the top edge of the card parallel to the floor and dicular to the 520 gently push it in k When the card contacts the plug in the robot there will be slight resistance Push gently until you feel that the card is completely seated If you are properly aligned the card should sl
11. the program at the wrong times you will either have to adjust its angle of view or reduce its gain On the front of the sensor there is a lens This lens must be kept clean to ensure proper function SORTER The optional sorter fixture is made to sort family molds into separate containers The Index button on the pendant controls its operation The sorter comes with a standard 1 upper funnel and a lower diverter Longer lower diverters can be attached to gain greater range The sorter mounts to the frame front and can be easily adjusted within the X axis range There are other fixture options that may solve sorting challenges but ultimately the sorting device is an excellent fixture that will add greater functionality to your K cut 520 The sorter comes with an installation manual which explains the connection process but A it is recommended that a Kawaguchi technician perform the installation to ensure that it is _4 done correctly The sorter can also be adjusted to perform within a limited range The end of stroke sensors can be manipulated by moving the metal stroke guides 6 s 4 The lower diverter Rotating mounting bracket Metal stroke guides gt End of stroke sensor oorter body Belt Stepping motor PS 2 1 PROGRAMMING WITH THE SORTER To program with the sorter the best suggestion we can give you is to say do not forget because adding
12. KAWAGUC HI K CUT 520 OWNERS MANUAL 11 01 97 T hank you Weappreciatethat you have chosen the K awaguchi K cut 520 for your degating and parts sorting needs We know that the K cut can bea great asset to your company and we are willing to proveit If you have just reca ved your cut then you areon a temporary trial During thistrial wecan work together to makethe K cut operate as smoothly as pos sible on all of the jobs that you have for it committed to offering superior technical support Y ou can reach us by mail phone fax or thel ntern amp Wesend a technician to help with the initial setup and to instruct people at your company on how to use every facet of the 5205 We suggest that you have appropriatetime set asidefor each person who will betrained After thetraining we follow up with continued technical support Weanswer your questions right away and if necessary we send you solutions in theform of drawings 3D animation video or complete hardware setups T his 15 not to say that we expect the 520 to be difficult to use as matter of fact it is extremey easy to program and run it 15 just to say that we are here before dur ing and long after your purchase A gain thank you for choosing theK cut and please let us know what you think of your product and service Mat Johnson aM d V P of Technical Service Satomi Kawaguchi Owner Phone 612 560 3462 Fax 612 560 3750 e mail Kawaguchi9
13. S idas 24 CUTTING FROM THE CHUCK IIR ETT 24 VACUUM CHUCK S Sassi a i Bea e a a a 24 TILTING CHUCK OPTION aida ina 25 TILTING CHUCK COMPONENTS 25 PROGRAMMING WITH THE TILTING CHUCK saan 25 CRUCK TYPES 26 PROPER es ci wee ces 27 CUSTOM LOCATORS oy 27 PROGRAMMING WITH THE SORTER tia 28 29 PIN VALVES nennen nenn anne nen 29 MAKE IT 5 80 29 29 ERROR CODES erre 30 TROUBLE 5 30 MECHANICAL cata 30 PROGRAM A ee LL IE E M LEM E E ren 31 THE 520 WILL NOT RETURN TO THE ORIGIN AFTER PROGRAMMING seen nnn nu nn uuu au 31 THE Y AXIS GOES OUT OF POSITION OFTEN aca 31 THE OTHER AXIS ERROR OFTEN ias 31 AT THE END OF THE CYCLE IT CALIBRATES VERY SLOWLY a s 31 THE PROGRAM INITIATES TOO SLOWLY OR AFTER THE CHUCK SHUTS SITS TOO LONG sss 31 THE HAND OFF IS INCONSISTANT aan 31 ELECTRICAL 32 TRIAL RUN 33 nenn nn nee en 34 SAFETY PRECAUTIONS HAZARD Improper grounding of this equip
14. TE PROTECTION see asien EEmEEE 8 OVERVIEW aa een 9 THERE 2 ADDITIONAL CHANNELS 00 0 ii a EEE 9 PROGRAMMING CONCEPT ri ee EEE A 9 WHERE TO BEGIN nee seien ee E 9 TEST THE HAND OFF rante a REIHE RE 9 TEST THE CHUCK WERT O 9 TEST THE LOCATOR siii ii ton drama een nee Tee aa 9 TEST THE NIPPERS AND BLADES ovina nee era Eee Eee EEE 10 SETUP THE 10 SELECT YOU CANE en une na seen 10 INITIATE PROGRAM MODE znnnnununannunnnnunnnnunnn nun nn 10 SETTING THE OIC U a i ak 10 SETTING THE HAND OFF a 11 SETTING THE LOCATION a a 11 MAKING THE CUTS bei 11 DROPPING THE RUNNER AND SAVING THE PROGRAM nn nn nun nn AREE nn nn 11 TEST YOUR PROGRAM 2 0 1 6 6 6606 6 anne en 11 EDITING 0 6 6666 666 mene nene nenn 12 EDITING A STEP cd ia ote 12 CHANGING THE SPEED T E
15. ackets on alternative cutting systems Also refer to the Kawaguchi web site 31 Various Spec Blades Ever wil ihe game werk ve EAn Heen wilh dent rad be ised Ging an the Wo can manufac un any special Hede which m the mos fest and er Fer die beit da be cut Fee de not hesitate tada rin usus Dijo e no roster gabe ej aa Firm zie A ee Peer ami FH AA aL Fira lr po E oras cr Farrah sx Trail Tu cui mem lk iie Tel s Pn gs Hr A DO A 9 pala Lm ir a nts ric aia PE aream dred al parcel amd n a y Fa o5 ur aa cb eg 2 ae Md ei meer hum CA Hed for blada ra ipolshireg ani spe rin tels Puce warm um Tes A42 CHUCK OPERATION Many different types of chucks are available from Kawaguchi Some of the stock chucks are displayed on the following pages Centered and off set allow for different sprue lengths Locating chucks allow for variables in the hand off Bracketed chucks firmly hold flexible parts in place The chuck types are often very specific to individual applications so you may need to send a part to Kawaguchi for evaluation before ordering CUSTOM CHUCKS Most chucks are ma
16. ajority of our locators are made of heavy gauge sheet metal If you wish to have our Technical Service department evaluate your part and suggest a location method then please call If you have very long or flexible parts you may need to locate from the chuck position as well To do this you will need a chuck ring and brackets or a brackets mounted into the chuck Refer to the section on chucks MOTION SENSOR The motion sensor is how the 520 knows to start a program With Start selected the motion sensor detects the presence of the sprue picker and signals the 520 to begin the cycle The 520 will then run the steps leading up to the chuck ON When the chuck closes on the sprue the 520 then stops The when the sprue picker leaves the area the motion sensor then signals the 520 to continue with the cycle This feature is to avoid having tugging contests between robots that would throw one or both off of their axis This feature is also nice in that it allows the press to stop and start without operators having to stop the K cut There are two lights on the top of the sensor that indicate that something has entered the field of vision The reason that there are 2 is because it actually has two sensors One to see the picker come and one to see it leave There is a plastic gain screw adjustment on the top of the sensor that allows you to increase or decrease its range of vision If the sensor is picking up background movement and starting
17. as close as you can too Second make sure that Step 0 is set to HI If you are still not making it you should now go to channel 0 to minimize every possible timer delay The most gained time should be in St Stby and ChkOn These two steps will cut the time down in the hand off so be careful not to cause a collision If at this point you are still having problems you will now need to consider adding more nippers to solve the timer problem SETUP HINTS amp IMPROVING ACCURACY There are numerous methods of improving accuracy and all of them are very specific to the part In this case we can not offer an in depth answer so we have deemed it best to offer a continually updated file at our web site that shows accuracy improving methods for parts that we do know If you can not find your answer at the web site it is highly recommended that you call our Technical Service department with your questions an ERROR CODES ERROR CODES CAN BE RESET BY PRESSING CLEAR Code Meaning fix 02 Main channel step 99 exceeded Decrease the number of steps 20 Different mode activated Change the mode 22 Programming in a channel other than 1 20 Program only in channels 1 20 23 Origin is not restored Restore origin 25 A blank step or 00 step Return to origin 27 An attempt was made to insert a step at 00 Dont try to insert steps at 00 28 An attempt was made to delete step 00 otep 00 can not be deleted 77 Counter limit Clear the counter 82 X axis direction
18. at the sprue is parallel to the chuck Conclude the positioning by lowering the set feet with the supplied wrench to lock it into position Make sure that the robot is grounded has power and air connected and then you are ready to program SELECT YOU CHANNEL otand clear and power up the robot Take the teaching pendant and press Origin the robot will find its proper axis positions and default to the last channel used Select the channel that you want to program into To do this press the Channel button the channel number indicator on the display should begin to blink To move to the channel that you want press the STEP button until the number of the channel that you desire appears on the display press SET At this point the channel that you have selected should be indicated on the display and should not be blinking INITIATE PROGRAM MODE Press Origin and the robot will go to the channel origin To enter programming mode you press the Enter Change button The indicator light next to Enter should go on meaning that you are in program mode and are ready for the next step If the light next to Change goes on too then you are in edit mode meaning that there is already a program occupying this channel If both indicators are on you may want to change to an empty channel or you can clear the channel To clear the channel be sure Enter Change is selected and then press Clear The display will ask you to confirm do this by pressing the SET bu
19. be responsible for degating a specific mold Once in memory a program will stay there until you clear it it remains even if you unplug the robot for extended periods THERE ARE 2 ADDITIONAL CHANNELS Channel 0 holds the timer delays for functions such as Chuck On Start Delay Pull Nipper etc The program mable timer delays in this channel will effect all other channels A detailed description of when and how to use this channel is provided later in this section PROGRAMMING CONCEPT The K cut 520 uses the direct teaching method meaning that you give it a part teach it what movements to make save it and then it automatically repeats the movements In the program mode every time you press SET you lay in a point The 520 goes from step set point to step via the shortest route using simultaneous movement A good thing to understand about simultaneous movement and shortest route programming is that if you lay in a step on one side of an obstacle walk it around that obstacle and finally lay in the next step on the other side of the obstacle then the 520 will take the shortest route between the steps and hit the obstacle It doesn t remember any movements other than the positions of each laid in step WHERE TO BEGIN Before you begin programming you will need to consider the fixtures Fixtures being the chuck cutters locators and other pneumatics TEST THE HAND OFF Make sure that the sprue picker leaves at least half of an inch of solid sp
20. ction on locators TEST THE NIPPERS AND BLADES With your hand firmly holding a part in the chuck simulate the robot s movements into the nippers to make sure that each cut can be reached Next make sure that the cuts are located over where you want them to fall Test to see that the parts can easily enter the blades without hitting or rubbing on them Take the part out of the chuck and simulate the robots chuck by holding the part by the sprue and placing it into the blades in position to degate one part Now with the air on press the button on the top of the solenoid connected to the nipper to make the blades cut refer to the graphic Another way to do this is to stand back and power up the K cut With the sprue in one hand and the pendant in the other simulate a cut by holding the part in the blades and then press ing the Nipper button twice If you need further information on nippers and blades then refer to the nipper and blades sections For other cuttings fixtures refer to the setups section or call Technical Service SETUP THE HAND OFF S M Run a part out on the sprue and stop it at the hand off position Roll the 520 into position and adjust the height to easily meet the hand off To adjust the height loosen the 4 set knobs 2 on either side of the frame and have one person on either side of Ls the K cut lift it up to the correct height and retighten the set knobs refer to the graphic Carefully position the K cut so th
21. d SET buttons to move to the step that you would like to edit With the step you want to change indicated on the display press the Enter Change button Manually make any adjustments that you want and then press the Change Entry button The lights will go off indicating that the change has taken place CHANGING THE SPEED To change the speed of steps put the 520 into manual mode Press Step and SET until the step you want to change the speed of is indicated on the display Press Enter Change and select the new speed To confirm the change press Change Entry ADVANCE EDITING A STEP Occasionally you may need to edit a step or number of steps without executing them first To do this manually move to the position before the one or ones that you want to change by pressing Step and SET When you are one step before the one that you wish to advance edit press Step do not press SET The number of the step that you wish to edit should now be indicated on the display Press Enter Change Move the axis to the new location for this step Press Change Entry The lights should go out making this the new position for this step To continue making advance edits press Step to move the display to the next step to advance edit do not press SET Now follow the procedure above INSERTING A STEP Insert will place a step in front of the one indicated on the display To insert a step manually move to the position just before where you wish to make the new s
22. de from cast aluminum stock or solid cast plastic Making a basic chuck takes only a little time for the average machinist so you may want to manufacture chucks in house CHUCKS THAT LOCATE When you have a problem making a hand off work due to a very inaccurate sprue picker you may need to use locating chucks The graphic here indicates the added V that can allow for a 2 variable The larger the the larger the variance it can handle PNEUMATIC TRAYS In cases where a hand off is not feasible you may need to use a pneumatic tray The 520 has extra pneumatic options already wired in so all that you have to do is add a solenoid The tray is on a tilting pneumatic piston that sits at the angle of the picker waiting for a part to a in When the program starts the tray lowers to horizontal and E gt Slide back into easy reach of the 520 saxis The 520 then pm the CUTTING FROM THE CHUCK With a bracket you can place either a 3 5 or size 10 nipper into the chuck position This is commonly used when cutting parts held by an accurate traversing robot This also allows for greater speed of the cycle VACUUM CHUCKS For cases of extremely flexible parts there is a vacuum chuck option If you feel that you may need this option then please contact Kawaguchi America MA TiLTING CHUCK OPTION The tilting chuck offers greater versatility to the 520 This option offers a 90 sway It is commonly used with a pneumatic tray system
23. duration OP 1 ON Option 1 on duration COUNTER Cumulative cycle count 1 2 UIUN FINUUINATY X 4 blade s for your first SI Press the Manual button cut and then press Set Es ocate the channel that you want to program into y pressing Channel and the Step until it is EE EE EEG lisplayed and then press Set a Use the Y X Z and R axis to carefully move into Press Origin position for your first cut s and then press Set ress the Enter Change button to enter program Press Nipper and press Set This will mode If both lights come on then you need 939 make the nipper operate so make sure 5 to clear the channel Press Clear Set Set that you are clear of its operation and then Enter Change to reenter pro jram mode Press Y until you are clear of the 5 Jse the X Y Z R axis to position the robot to where nipper and then press Set u ou would like the program origin Select the utton with the desired speed press Chuck Off Repeat the previous 4 steps for as many cuts as you nee ind press Set You may need to use the R axis to rotate for cuts EE EE Press Y until you are in position ger the hand off then press Set Use the Y X Z and R axis to carefully move into position to drop the runner and then press Set Press Chuck On and then press 5 Press Chuck Off and then press Set Jse th
24. e Y X Z and R axis to move the part to Press the Enter Change button to enter he edge of the locator and then press Set program into memory and then press Origin Your program is complete Press Chuck Free QUICK EDIT Select Manual mode Press Origin p wen Selec Med speed and use Y to move in to the desired depth Use Step and Set to navigate to the step that you wish to change Low Press Low and then press Set 78 Press the Enter Change button to enact the edit m mode Adjust the step as needed and then press m Press Chuck On and Set Change Entry With Enter Change selected Insert adds a step y press Med Press Y until the part ser before the one indicated on the display Delete Ta E Ab la dX EE E 0 A A eamn iviAc tha cetan indirstad an tha Alenls gt I Ill PULLON WII STIUL UII LO A cut There is also shut down button located on the back panel Press Origin then this to put the robot into 2 start position of the selected program and make it run automatically You must press this button to gain manual control over axis and programming You can press it while a program is running to stop it at a specific point then press Step and Set MANUAL This button allows you to program or edit programs If the light next to Enter goes on then you are entering a new program If the light next to Cha
25. f the stepping motor runs while the axis is selected If the motor is operating but that axis is not moving then you will have to check the belt If the motor is not operating when selected then you should make sure that all of the electrical wires connected to it are plugged in secure and functional If they are then you should remove the motor and test it if it works then there may be a problem with the sending unit If it does not work then clearly you will need to replace it If the robot is having problems with the pneumatics then you will first need to test all of the hoses then the pin valves the air in the air regulator and finally the manifolds and solenoids If a nipper blade closes but does not open then you will need to open the nipper check the blade return spring and grease Make sure that there is no obstruction or material contaminating the piston an PROGRAM There are limitless possibilities here but most of the solutions are simple If you watch your program closely you should notice that the hand off is smooth and consistent Make sure that the location is consistent Be sure the chuck is firmly grasping the part Check the approaches and retractions from all of the fixtures to make sure that they are smooth and do not bump Be sure that you are using the appropriate fixtures Are the blades large enough is the location fine is the chuck appropriate etc This portion is really quite basic The only difficulty usually come
26. g Step or Step until it is indicated Now press SET If you are overwriting a program you will have to press SET again Now press Enter Change and the lights should go off indicating that you have copied it into the current channel CHANNEL O TIMER DELAYS The timer delays in channel 0 effect all channels 1 20 Common reasons to change the timers include Delay ing the program initiation to allow the sprue picker more time to position for the hand off speeding the cycle and controlling the pull nipper To edit Channel O first go to it and press set You will see a list of self explana tory functions and delays for each in 0 1 second increments To scroll through all of them press Tab Use the Step and Step to adjust the delays as you wish You can change as many at a time as you wish To lay in the changes press Enter Change The robot should return to the last channel used before these edits and be ready to run The list below indicates the timers and their effects OP 1 OF Option 1 off duration CHUCK ON Time needed to close the chuck OP 2 ON Option 2 on duration CHUCK OFF Time needed to open the chuck OP 2 OF Option 2 off duration PULL NIP Time period between pulling and cutting ST STBY Time period between step 0 and 1 CUT ON ime period with the blade closed CHU STBY Time before chuck closes CUT OF Time period between open and return 1 TR The time of operation Power shuts NIP RET Return duration off automatically after this
27. has been exceeded Restart and restore the origin 83 X axis direction has been exceeded Restart and restore the origin 84 Z axis direction has been exceeded Restart and restore the origin 85 Z axis direction has been exceeded Restart and restore the origin 86 Y axis direction has been exceeded Restart and restore the origin 87 Y axis direction has been exceeded Restart and restore the origin 88 R axis direction has been exceeded Restart and restore the origin 89 R axis direction has been exceeded Restart and restore the origin 90 OP axis counter clockwise Restart and restore the origin 91 OP axis clockwise Restart and restore the origin TROUBLE SHOOTING For updated information on trouble shooting please refer to our web site Before checking any electrical or moving you must first make sure that the 520 is unplugged and that the air is disconnected MECHANICAL If the 520 stops operating check all electrical connections and air connections Remove and carefully reinsert the memory card Make sure that it is not erroring and restart it Be sure that all of the bolts and fixtures are tight Make sure that the robot has been properly grounded Make sure that all of the axis have operational stepping motors and belts that they are free of obstructions and that they are well lubricated If an axis stops operating first check for an obstruction in the track Next check to see i
28. hould you have Kawaguchi test your parts with different blades and select the best choice for you The following 2 pages have many blade types and sizes for you to consider All of the blades come in sizes to fit sizes 3 5 10 15 20 and 25 nippers When ordering refer to the part numbers and the pages that they are located on To order you may either call us or order on line at our web site refer to the inside cover How OFTEN DO BLADES NEED CHANGING Unfortunately there is no reliable formula for figuring out blade life time It may be a good idea to always have a spare set available You may also resharpen blades or increase pressure to the cut to lengthen their lifetime MODIFYING BLADES You can modify your current blades by using files and grinders You will need to be sure not to introduce too much heat as it may cause the blades to warp HaviNG KAWAGUCHI TEST BLADES FOR YOU The Technical Service departments in the U S and Japan have amassed a great deal of experience when it comes to setups and we may be able to give you insight into the best way to degate your parts We will test your parts with our selected setup record the test and make the recording available to you either via the Internet or VHS LOCATING NON CONVENTIONAL TYPE BLADES If your setup requires a cutting system other than the ones offered in this manual you may need to contact a custom tooling company or you may contact our Technical Service departments for informational p
29. ide in with only a little resistance Now you may power up the 520 and test to see if it is functioning properly If there are problems then turn the power off remove and reinsert the card and try again If there are still problems your card may be damaged you will need to call Technical Service to determine this l CHANGING THE MEMORY 5 BATTERY Each memory card comes with a battery so that you can remove it or turn the power off on the 520 without effecting the stored programs Each battery has a 5 year life expectancy To remove the battery without loosing your programs leave it plugged into the K cut with the K cut s power on While the power is on slide the lock switch to unlock Slide the battery tray out take note of the tray and battery position then remove the battery Replace the battery only with one made specifically for this card and then replace the tray Slide the lock on and test the card WRITE PROTECTION To protect the programs so that they will not be edited you can use the write protection option on the card The graphics here show E how you can turn the write protection on and off This works just like a computer floppy disk PROGRAMMING OVERVIEW The K cut 520 has 20 programmable channels per memory card Each channel is capable of holding an individual program of up to 100 steps The programs in the memory are independent of each other Each program will
30. igin With manual selected press this button and Step to scroll to a channel and then press Set to select one With manual selected this allows you to scroll the steps Press this button operates as a Confirm command Use it to lay in steps when pro gramming or in manual mode use it with Step to manually run steps m On these buttons the letters indicate the axis that are affected With Manual selected you press these to manipulate the axis Index is for the sorter ME This button controls the chuck func tions SET This button operates the nipper control Be careful when you use it These buttons control optional pneumatic attachments NIPPERS The operation of the standard nippers are allthe same an air piston with a return spring The standard nip pers come in a variety of sizes You can view the nippers and their specifications on the following page The nippers also come in either push or pull In the first graphic below the nipper on the left is the standard pull direction and the one on the right is an R style push direction Rseries YOU of course are not limited to the standard nipper styles There are many different types of cutting fixtures available Guillotine style electric cutters air dremmels punch blades and many more can be made to cut your parts The K cut 520 will deliver to the same place you just need to decide how best to cut If you wish to have cust
31. ince you are already aligned for the cut you now only need to press Y until you are back into cut position Select your speed and press SET Press Nipper once and press SET this will cause the nipper to y Back the parts out 2 inches beyond the outside edges of the blades using Y and press SET Repeat this for as many cuts as are needed The reason for pre aligning the cuts is to assure smooth approach into the blades DROPPING THE RUNNER AND SAVING THE PROGRAM After your last cut make sure that you have backed out far enough and press then SET Now use the X Z Y and R axis to position the runner to where you want to drop it Make sure that there are no obstructions be tween this position and the origin Select your speed and press SET Press Chuck Off Press SET Now you should be at the conclusion of your program so you will need to save and exit program mode To do this press the Enter Change button The light should go off and the program will be entered into memory Stand back and press Origin TEST YOUR PROGRAM You probably would like to test your program for errors and cycle time before starting the press To do this first make sure that you are in Manual and at the program origin Now to manually walk through the steps you press Step once and the display should indicate step 1 then press SET to execute it The robot should have moved from the origin to your first programmed position You can continue to press Step
32. ing the X Y Z and R axis align the part to the locator by moving it until it barely touches the center bolt and then back it off should about 1cm using Y Press SET Proper alignment means that it is centered so the center bolt will press on the end of the sprue and the will move X same Into the center of the locator s V simultaneously tima Press Chuck Free this will loosen the chuck without opening it allowing the sprue to move freely within Press SET Press Y to move the part into a zispecific depth while aligning the runner When you have reached a proper depth usually all of the way in make sure the speed indicator is LOW and press SET Press Chuck On to firmly grab the part in its new location Se lect your speed and press SET you can now return to MED HI speed Press Y until you are easily clear of the locator Select your speed and press SET THE CUTS Your nipper s should be located further down the tray From your current position use the X Z Y and s axis to align the part into the first cut Proper alignment means that the is about half way gd into the blades so that when the nipper cuts it will push the flat edge of the blade flush 72 to the part and then cut refer to the graphic Back the part s out of the nipper s far enough so there are obstructions between its current location and the last set location Select your speed and press SET S
33. med by Kawaguchi America Ltd or an authorized service dealer Repairs or attempted repairs by anyone other than Kawaguchi America Ltd or an authorized service dealer will not be covered by this warranty Kawaguchi America Ltd is not responsible for any costs or expenses of providing substitute equipment or service during periods of malfunction or nonuse Some states do not allow exclusion of incidental or consequential damages or limitations on how long an implied warranty lasts therefore those limitations may not apply to you This limited warranty gives you specific legal rights and you may also have other rights which vary from state to state KAWAGUCHI AMERICA 7964 BROOKLYN BLVD BROOKLYN PARK MN 55445 PHONE 612 560 3462 FAX 612 560 3750 E MAIL KAWAGUCHI9 AOL COM QA
34. ment could result in a risk of electrical shock HAZARD Moving parts can cause harm to operators and passersby HAZARD High pressure pneumatic lines can cause skin injection or other harm to befall personnel PREVENTION his product must be grounded to avoid the possibility of electrical shock In the event of an electrical short circuit grounding reduces the risk of electrical shock by providing an escape wire for the electric current e This equipment comes with a blue and white power reducer surge protector box that should be used as the robots power source The wall outlet that you use with the included power reducer surge protector must be properly installed and grounded in accordance with all local codes and ordinances e f the cord or electrical connections become damaged then call a qualified electrician or service person to make the necessary repairs PREVENTION e Only trained personnel should operate and adjust the robot All personnel should stay clear of the robot during operation e During operation and programming all person nel should stay clear of the pneumatic functions particularly the cutting devices e Guards or diverters should be set into place to disallow the opportunity for plastic parts to fly out and hit passersby e Frequently check all bolts and screws on the robot and fixtures to ensure that they stay tight e Perform regular maintenance PREVENTION e Frequently check the air hoses for p
35. n on and around the 520 s axis and that it and the sensor are clean Keep the axis of motion clean and lubricated use the supplied aerosol lubricant Check to be sure that the blades are sharp enough to function properly Check the regulator moisture trap if it contains water then press the button on the bottom to drain it Check all cords and hoses PIN VALVES The pin valves can be an integral part of your cutting success You can use them to increase or reduce the air pressure to the pneumatics In the case of the tilting chuck you will need to reduce the air flow until the motion is smooth To reduce the flow turn the knob clockwise and to increase turn the knob counter clockwise If when the nippers cut your parts fly off too fast you may use pin valve to reduce the air flow to the nipper throw This will cause it to move more slowly and that will solve the problem If your nipper is tearing your parts off rather than cutting you may first reduce the throw distance with the set screw located on the nipper and then use a pin valve to reduce the air flow to the cut MAKE IT FASTER To improve speed there are a few helpful tips To perform these tips you should first be familiar with channel 0 and editing steps First minimize your movements cut out any extra motion For instance make the hand off direct so Step 1 is Chuck On Then put your locators as close to the Step 1 position as possible Finally make your nipper s
36. nge also goes on then you are editing the step indicated on the display Press Enter Change make your changes and then press this button to confirm the edit If the edit is made the lights next to Enter Change will shut off With the Enter Change option selected this button will insert a step before the one indicated on the display With the Enter Change option selected this button will delete the step indicated on the display With the Enter Change option selected this button will clear the program from the current channel You must press Set to confirm With the Enter Change option selected this button will allow you to copy the selected program to another channel Use Step until the destination channel is indicated on the display then press SET to confirm This button enacts the auto program function This button will tab you through the axis locations that are indicated on the display or Channel 0 options This button will offer the time delay option to insert at steps These buttons set the speed that at which MEI axis will move The speed is se lected when you enter a step is the speed that the step will perform at when the pro B Low gam is run KAWAGUCHI J KOUSAN LTD Li iw VALULUI I ww ww zw vA m LT e point of the selected program Press it m once for mechanical origin twice then Manual for program or
37. obot pay lease cost or return it The customer agrees that charges for repair replacement damage or other adverse changes to the condition of the equipment from the time that it was entered into the trial run will be paid by them upon termination of the trial run Kawaguchi America LTD reserves the right to terminate the trial run without advance notice Date Customer Signature Kawaguchi Technician This contract is not valid without both the customer s and a Kawaguchi America LTD technician s signatures THE K CUT 520 ONE YEAR LIMITED WARRANTY Kawaguchi America Ltd will repair your K cut if it is defective in materials or work manship The warranty is good for one year from the date of purchase Should you feel that your K cut is defective and want to take advantage of this warranty then contact your nearest authorized technical service representative by either fax phone e mail or mail to inform them of your problem Kawaguchi America Ltd will then schedule the proper warranty work necessary to repair your K cut Kawaguchi America Ltd will assume the cost of parts and labor involved in repair or replacement cost the owner will be responsible only for the shipping costs This warranty covers only parts or components which are defective and does not cover repairs due to normal wear misuse accidents defective power supply or lack of proper maintenance All warranty repairs done to the K cut 520 must be perfor
38. om cutters made then contact our Technical Service department and we will help you from step one There are sample nipper styles and setups for you to consider on the pages following the standard nipper types LOADING BLADES Remove 3 of the 4 screws on the silver face of nipper Slightly loosen the fourth Slide the panel open and remove the blades Insert the new blades so that the flat edge is facing in the direction of the pull NIPPER CALL OUT adjusts how far the blades open 2 opens blade chamber mounting 24 3 block ES grease Q hose Blade hose S va AYALA NYA ie ann OD Im 03 NU m E _NTOS 925 NTOS am lai war zur ro ne Iu ss BD ost tas o NIPPER EXAMPLES NIPPER EXAMPLES J 7 IS KASK X X av gt SETUPS BLADES Your choice of blades can make the difference between acceptable and unacceptable cuts They can also help allow for greater variable in the program with out failure When considering blades you should consider the following e f you intend to cut polycarbonate glass reinforced plastics you will need carbide blades Your blade size must match your nipper type e Can you modify your current blades to meet your needs e S
39. or Step and SET to navigate through your program When you get to the step where the chuck closes you may wish to manu ally feed a part to the robot to get a better idea of how accurate your program is If there are problems then refer to the editing section Once you have moved through manually and found the program to be sound you can test the cycle time Press Origin Press Start When you are ready put your hand in front of the motion sensor and hold it there The 520 will run the first couple steps and then should stop and wait at the step were the chuck closes Start your timer and pull your hand away from the motion sensor s view The 520 will now run through the program cycle If there are problems then refer to the editing or trouble shooting sections of this manual If all is well then start your press EDITING A PROGRAM It is common for programs to need slight adjustments In some cases you can achieve a solution to a step being off position by simply moving a piece of the tooling a little For example you can achieve tighter cuts by adjusting the position of the nipper or the set bolt for the nipper pull for further information refer to the Nipper section Barring mechanical adjustments you can make quick edits to your program in minimal time Before you edit a program it is suggested that you copy it into another channel see copying a program into multiple channels on the follow page EDITING A STEP In Manual mode use Step an
40. rue hanging out for the K cut to grab Check to make sure that it delivers the part out to a position low enough for the K cut to reach and that it will hold that position for at least 1 second If these needs can not be met you may need a pneumatic tray tilting chuck or other accessories Refer to the appropriate sections of this manual for further information TEST THE CHUCK To do this disconnect the air and power source to the K cut Take a part that you intend to degate and test it in the chuck Do this by grabbing the chuck with it still on the robot open it and with one hand hold the sprue within the chuck s jaws and use your other hand to close the chuck jaws onto the part Now you can make sure that the sprue sits firmly in the jaws Test to make sure that the sprue is held firmly enough to not allow the part to rotate easily that with the chuck held loosely the part will slide smoothly in and out and that the runner or parts do not droop If problems with the chuck exist then refer to the sections on the chuck and setups later in this manual TEST THE LOCATOR hic With the part still held firmly in the chuck with your hand mimic the movement of the robot and make sure the part can reach the locator Make sure that the locator is set to a good width that the center bolt is in the correct position and that the Vs or other location does not interfere with the runner or parts For further information refer to the se
41. s in meeting vestige requirements Here you will need to determine if your cutting system is adequate Check the blades first Check the nipper throw and the pin valves Determine if you will need a backer for the blades to push against If you are having problems with the cuts you can check your program to be sure that you have found the middle ground to the approaches and allowed for the greatest level of variable Sometimes you will find that your program is fine and all of the editing you do does not seem to solve the problem Avoid the time wasted editing by carefully watching a number of cycles to make sure that the errors are consistent If they are consis tent then you can edit in a simple solution You can assume that the 520 is repeating to within 0 03 of an inch so if the errors are not reasonably consistent then your problem is elsewhere We suggest that you be sure that the location is adequate and that the parts are firmly held by the chuck If you still can t isolate the prob lem then you better call technical service THE 520 wiLL NOT RETURN TO ORIGIN AFTER PROGRAMMING If after you have programmed you can not get it to back to the origin then most likely you have not exited program mode by pressing the Enter Change button THE Y AXIS GOES OUT OF POSITION OFTEN In your approach to the location you have not selected Chuck Free Edit the steps involved in sliding the part into the chuck so that the chuck is Free before moving in
42. should lower so the chuck is in position to grab the sprue At this point the chuck should go grabbing the sprue then FREE loosening its grip Now the chuck should lower onto the part for location of sprue depth and runner position and then the chuck should go back ON grabbing it in its new located position Next the Z axis should raise up Now the axis should be positioned so that the chuck can raise without hitting anything Finally the chuck should raise up leaving the chuck and parts in a position for the cuts If Option raises too fast or slow you should first try to solve this with the pin valve air regulators on the pneumatic lines connected to the solenoid If this doesn t solve the problem then look to the timer delays in channel 0 and set them AE SAMPLE CHUCKS LOCATORS Location is the most critical factor in achieving repeatability If you are noticing your 520 occasionally missing parts but with no consis tency then your locator is most likely the culprit Locators are commonly like the one pictured here You can also locate from a tray chuck or traversing robot p Should PROPER LOCATION x contact The graphic here shows how your locator is properly used The V of at the the locator should connect with the runner at the same time as the end of the sprue contacts the center bolt time CUSTOM LOCATORS You may need to make custom locators for certain parts The m
43. tep Now press Step so that the next step is indicated on the display do not press SET Press Enter Change and position the axis to were you want the new step to locate Press Insert The step has been inserted as the number on the display All of the steps that follow it have been bumped up one number DELETING A STEP Delete removes the step indicated on the display Manually move to the step just before the one you wish to delete Now press Step do not press SET The step you want deleted should now be indicated on the display Press Delete The lights should go off indicating that the step has been deleted EDITING ON THE FLY If you have the press running and the 520 cutting and you just want to make one or two changes to the pro gram you can do so without stopping the press This may not be a very good idea when it comes to changing the location as it is possible to have a collision between the 520 and the picker If you suspect a collision is nearing you can usually avoid it by pressing Origin this will not work with the Enter Change button selected To change the hand off position on the fly press Manual when it is in the origin position Press Step to get to the step just before the chuck closes the hand off position and press Enter Change When the sprue picker delivers the next part carefully adjust as needed and press Change Entry Now you will need to edit the Chuck On step Press Step then Enter Change and finally Change
44. tes that it is on will perform its pneumatic function he next three numbers are for options 1 2 and 3 In each case 0 indicates that they are on will perform their pneumatic function COMPONENTS Mode M direct teaching Channel 0 21 Step 4 1 99 Axis location tab changes dicated axis Error code Pneumatic options and the sorter are not indicated here For information on the options and sorter see those sections later in this manual Chuck Manifold Ah Extra pneumatic j um options gt Teaching pendan Height adjustment Knob Pneumatic regulator Height adjustment K no b T er 5 Photoelectric sensor y Mounting bracket Tray Gas piston Leveler set bolt ns rs Levelers Stabilizers SPECIFICATIONS OPERATING RANGE X axis longitudinal 470mm 18 5in Y axis transverse 200mm 7 9 in Z axis vertical 200mm 7 9 in R axis rotation 220 WORKING SPEED X axis longitudinal 750mm sec 28 8 in sec Y axis transverse 50mm sec 28 8 in sec Z axis vertical 50mm sec 28 8 in sec EXTERNAL DIMENSIONS L 865mmX W 650mm H 1 430 1 845mm L 34 0 in X W 25 6 in H 56 3 72 6 in WEIGHT 110kg 240lbs POWER Requires 100VAC 50 60Hz Consumes 200W hr AIR REQUIREMENTS OPERATING CONDITIONS Air input from the built in regulator should be 4 5kg or about 70lbs in The regulator pictured here indicates the factory preset
45. tton If after you press the Enter Change button and before you press Clear you change your mind and do not want to clear the program then press Enter Change again the lights should go out If you have cleared the channel and change your mind you may still recover the program from channel 21 This procedure is explained later in this section SETTING THE ORIGIN With the light next to Enter of the Enter Change button on you are ready to set the program origin Press Chuck On chuck should close firmly Using the 7 and R axis position the chuck so that its groove aligns with the end of the sprue refer to the graphic Now press Y to back away from the sprue at least 4 inches Press Chuck Off Press the HI button this sets the speed of the origin so at the end of the cycle it will return quickly to this position So far none of you movements have an been entered into memory To make your current position the channel origin press Chuck Off and then the SET button The step number on the display should have changed 0 to 1 SETTING THE HAND OFF In the previous step you already aligned the hand off so all you need to do now is press Y until the chuck is in the position to grab the sprue Press SET and the display indicator should move to step 2 Now press Chuck On and press SET Have the sprue picker release the part and retract SETTING THE LOCATION Your locator should be relatively close to your current position Us
46. tton and it will ask you to confirm do this by pressing SET The lights to the left of the Enter Change button should now be off and the channel cleared If after pressing Enter Change you decide not to clear it you can just press Enter Change again and leave it untouched If you have already cleared it and want it back you can still recover it from channel 21 RECOVERING A CLEARED CHANNEL The last channel cleared will be stored into channel 21 by default To recover it you should first determine a destination channel in 1 20 Put the 520 into Manual mode and press the Channel button Press Step until channel 21 is indicated on the display and then press SET Now press Enter Change and then Copy This display will request that you select the destination channel Do this by pressing Step until it is indicated Now press SET If you are overwriting an existing program you will have to press SET twice Finally if the Enter Change buttons are still on then press Enter Change once to turn them off COPYING A PROGRAM INTO MULTIPLE CHANNELS If you have open channels it is a good idea to make a copy of a program before you edit it so that if you make a mistake you will not loose ground To do this set the 520 into Manual mode and press Channel Use Step or Step to get to the channel that you wish to copy Press SET Now press Enter Change Press Copy The display will request that you locate the channel that you desire to copy into do this by pressin
47. unctures wear If you locate damage do not attempt to repair it replace the damaged part s Never operate the robot and pneumatics above recommended pressures Follow all OSHA federal and local ordinances required for this equipment COMPONENTS THE PENDANT DISPLAY The pendant is used as an interface between the user and the robot Included with the robot and in this manual is a detailed description of each button s functions In the top left of the display is the Mode P is displayed when the robot is returning to the origin R is displayed when the robot is in automatic operation M indicates that it is in direct teaching mode for manual operation and programming The number immediately to the right of the mode is the channel There are channels 0 to 21 with 1 to 20 designated for programs To the right of the channel and separated by a is the step number Each channel has steps O to 99 e he far right of the display indicates the location of the axis By pressing the TAB button on the pendant you can see the location of each of the axis The numbers represent the distance from the origin The 5 numbers in the lower left indicate the pneumatic functions On the far left is the chuck For the chuck indicates that the chuck is free of pneumatic pressure indicates that is forced open and 0 indicates that it is forced shut e The next number is the for the nipper function When there is a 0 there it indica
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