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ST1 Single Axis Servo Driven Robot User Manual

1. k Ay B 08 r E 07 gio GND _ PUL c s sot E sien fm S RDY Servo ready com S RDY lt ALM cm ALM clear ez EE clear led Sevro enabled 1 1 Lu Oe gt EX 2 Cy Or 1 Picture 8 3 85 100 44 HC ANI 8 4 Panasonic Servo Motor Wiring Diagram and Spare Wiring Diagram E gt _ a S s 5 5 1 3 e za icu 5 PE PEE 5 m an n i mis amp gt ___ gt lt Moc oa se cc nh Sk 4 Ny ex E RE 1 1 1 X 1 OI gt 1 1 l mE 7 La La 2 lt La La 1 o La i La ss s 1 mE c L 1 i La 2 s a ui gt Em 8 4 A 1 a 1 lt 1 a
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3. 80 7 10 Sub arm ST1 T Middle Telescopic 81 7 11 Crosswise Unit ST1 T Middle Telescopic Arm 82 Electri Control Chana 83 8 1 The Power Input Wiring Diagram 83 8 2 Main Control Panel and Wiring 84 8 3 Panasonic Servo Motor Wiring Diagram 1 85 8 4 Panasonic Servo Motor Wiring Diagram and Spare Wiring Diagram 86 8 5 YASKAWA Servo Motor Wiring Diagram 1 87 8 6 YASKAWA Servo Motor Wiring Diagram and Spare Wiring Diagram ASA ANI 88 8 7 Z axis Wiring 89 8 8 Main Arm Wiring Diagram titles tmr tnis 90 8 9 Main Arm Wiring Diagram 2 91 5 100 s SHIN 92 8 10 Sub Arm Wiring Diagram a 8 11 EM67 Signal Input Wiring 8 12 EM67 Signal Output Wiring Diagram 8 13 Main Control Board Component Layout 8 141 U2 Board Component 8 15Z ax
4. 23 2 2 2 Model Specification 25 2 2 3 Pneumatic Source 28 2 3 Electrical 29 2 3 1 Main Power Supply 29 2 3 2 Interface with the Injection Molding Machine 29 2 4 Adjusting the Axis Positions 29 2 4 1 Adjusting the X Position 30 2 4 2 Adjusting the Y Position 31 2 4 3 Adjusting the Z Position 31 2 5 Gripper and Suction Monitoring 32 3 100 w SuGi 32 2 5 1 Gripper eC 2 5 2 Suction GETING 32 2 5 3 Digital Pressure Switch Setting 33 2 6 Robot and IMM Interface 33 2 6 1 Euromap67 33 2 6 1 1 The Injection Molding Machine Output Signals 34 2 6 1 2 Robot Output Signals 35 2 6 2 Euromap12 Interface 37 2
5. Picture 8 9 910100 CImw ws SHIN 8 10 Sub Arm Wiring Diagram E z X 4 amp S m mE 031 gt 5 a 035 WA X032 4 5 a k gt n m E X E gt m TE u 8 5 E gt gt E Det Z 031 L z 02 E 2 m gt EJ 033 e 5 m 5 lt m 5 5 z 54 Picture 8 10 92 100 2 8 11 67 Signal Input Wiring Diagram 10200374 gt gt Mould area free 02003 3 44 Mould area free E Emergency stop robot channel 2 E gt Emergency stop robot channel 2 AS gt Emergency stop robot channel 1 E i gt Emergency stop robot channel 1 ee 55 M oo gt Enable cores 1 set IMM Pe Enable cores 1 pulled IMM Kam Enable ejector forward gt Enable ejector back BEER Enable full mould openi
6. 23 _22 21 02 04 06 08 10 12 14 16 18 20 22 24 Picture 7 82 100 Buffer fiking block 6 Cylinder holder frame on sub arm Crosswise cylinder fiking frame on sub arm Shock absorber Crosswise cylinder holder on main arm Crosswise cylinder fiking frame of main arm Main arm Right cover of Crosswise beam Buffer installing part Crosswise drag mounting plate Crosswise drag on main arm Cover of Crosswise 11 SHINI W plastics technologies ID iw X SHN 8 Electric Control Chart 8 1 The Power Input Wiring Diagram 0 75MM N 3 gt s 1 0 Power 0 15 MM ili vs 1 Control Power B ja YA Us Servo Driven Power Supply 0 15 2 HZ XL LINE LOAD Power Supply 1P 230V 50 Picture 8 1 83 100 8 2 Control Panel and Wiring Diagram T 1 1 6 1 XPS3 1 L xolas bi d lt BU BUI RD Picture 8 2 84 100 t plastics technologies 8 3 Panasonic Motor Wiring Diagram 1 nl MEC CL MEM _ a ____ _
7. Check the I O s connecting wire Whether having trouble on circuit board The speed of dais out slow or not Whether the arm having dais out Whether the servo driven rotating Check whether the connecting is right Whether having trouble on circuit board The speed of dais in slow or not Whether the arm having dais in Whether the servo driven rotating Check whether the connecting is right Whether having trouble on circuit board Loose emergency stop button on controller Loose emergency stop on IMM Check the connection line of emergency stop Reset teach program teaching the last action to be back to start point W plastics technologies Error Number 68 Current production has 1 Increase values of yield Up to set production reached the setting 2 Clear the current yield Error Number 69 Action not according with the program Error Number 70 The time of waiting open mould delay Error Number 71 Servo drive failure no pulse input Error Number 72 Servo driven alarm Error Number 73 The position of the safety door not set Error Number 74 The position of the placing lower than that of safe door Error Number 75 The position of the placing goods is more than the maximum Error Number 76 Outside waiting position is less than the initiation value position Error Number 77 The position of the placing goods is more than the maximum Error Number 78
8. Dimensions Note 1 M TENER ix middle mold detector suit for 3 plate mold EM12 stands for EUROMAP12 communication interface EM67 stands for EUROMAP 67 communication interface 2 Power supply 1 200 240V 50 60Hz 3 air consumption for suction device 60 2 2 3 Pneumatic Source Requirement Compressed air is connected by 3 8 12 trachea Filter pressure valve with a clear scale line convenient adjustment Bring adjustment knob upward and with a clockwise rotation pressure increases counterclockwise rotation air pressure decreases the pressure range between 0 to10bar After adjustment Please press the adjustment knob to lock pressure Required supply pressure 4bar 6bar When the pressure is equal or drop below than 4 bar the robot will stop working and alarm When the pressure up to 6bar It will affect the service life of pneumatic components Compressed air consumption depends on the robot accessories 28 100 2 3 Electrical Connection 2 3 1 Main Power Supply The power reguirements are given on the serial plate of the robot the power connection is provided through cable conductor and CEE plug N The power connection should be performed only by an authorized electrician and according to applicable electric utility regulations 2 3 2 Interface with the Injection Molding Machine The robot is equipped with standard electrica
9. Dais in gt Sub arm put gt Dais in 57 100 5 Error Connection Error Number 1 After mold opening signal off and the robot not back to original point Error Number 2 Middle plate limit OFF the robot not back to original point Error Number 3 Main arm up limit OFF the robot not back to original point Error Number 4 Sub arm up limit OFF the robot not back to original point Error Number 5 Main clip ON the robot not back to original point Error Number 7 Vacuum suck ON the robot not back to original point Error Number 8 Grasp ON the robot not back to original point Error Number 9 The middle plate total 3 plate no signal input Main arm up going no signal input the robot not in the stand by state Sub arm up going no signal input the robot not in the stand by state Main clip has signal input the robot not in the stand by state Sucker valve no action suck signal input Grasp valve no action signal of grasper input When robot waiting do not 58 100 IMM not in the mold opens state The signal of the mold open in IMM is abnormal Check the I O s connecting wire Whether circuit board having errors Whether the mid plate of mold open Whether having signal output of proximity switch in mid plate mould Check the I O s connecting wire Whether having errors on circuit board Whether the air pressure is too low Whether having t
10. Ejector forward The switch contact see pin contact No 16 is closed when the ejector has been advanced The signal is the acknowledgement signal for the enable ejector forward see pin contact No 22 It is recommended to close the switch contact when the ejector sequence not in use see pin contact No 16 6 optional Core pullers free for robot to travel in Switch see pin contact No 16 is closed when the core pullers regardless of the position of the movable tool plate are in position for free travel in of the robot 7 optional Core pullers in position for removal of injection moldings Switch pin contact No 16 is closed when the core pullers are in position for removal of the injection molding 8 optional Reject Switch see pin contact No 16 is closed when the molded piece is a reject the switch must be closed when the tool is open and must remain closed at least until enable mould close see pin contact No 17 Fully automatic mode injection molding machine Switch see pin contact No 16 is closed when the operating mode selector switch is on semi automatic or fully automatic mode Mold closed Switch see pin contact No 16 is closed when the mould closing has been completed the signal enable close is no longer necessary see pin contact No 17 13 optional Free 14 optional Mold at intermediate position Switch see pin contact No 16 is closed w
11. Pneumatic distribution block on main arm 21 Magnetic valve 22 Trunking mounting plate of main arm 23 Steel cover of main arm 1 24 Terminal bottom frame 1 25 Terminal bottom 2 26 Main arm mounting plate 27 Proximity switch mounting plate 28 Fixing plate of pulley 3 29 Proximity switch 30 Buffer mounting unit 31 Tooth plate 2 of arm 32 Up going fixing plate 1 of sub arm belt 33 Buffer 34 Proximity switch 35 Synchronous belt 36 Stack sensor sheet 37 Tooth plate 1 of arm belt 38 Up going fixing plate of belt 39 Tooth plate 2 of arm belt 40 Connection shaft of telescopic arm 41 Fixing plate of pulley 1 42 Pulley on telescopic arm 43 Fixing plate of pulley 2 44 Linear slides mounting plate 1 45 Shock absorber 46 Oylinder holder frame of main arm 47 Anti falling cylinder Picture 7 5 75 100 7 6 Sub arm ST1 T Telescopic Arm 33 32 01 Gripper 02 Aluminum profile of sub arm 03 Linear slides fixing plate 104 sensor sheet 05 Linear guide 06 Drag chain on sub arm up down 07 Drag connector 1 on sub arm 08 Cylinder up down on sub arm 09 Terminal bottom frame on sub arm 10 Trunking frame on sub arm 11 Steel cover 1 of sub arm 12 Magnetic valve 1
12. gt L 2 pa O Pin l0 e gt 11 4 19 28 20 mw e 9 sock Socket 13 6 9 q 2231 9 60 Ji S JJH Picture 2 4 The robot injection molding machine interface is designed according to Euromap12 which state Unless otherwise noted the signals are maintained during the described function 2 6 2 1 Injection Molding Machine Output Signals Emergency stop of machine The emergency stop switch of the injection molding machine is used to interrupt the emergence stop circuit of the robot Mold open The switch contact pin contact 16 is closed when mould opening position is equal or more than required position Inadvertent alteration to mould opening stroke smaller than that required for the handing device to approach must be impossible Safety system active The switch contact is closed when safety devices e g safety guard footboard safety etc on the injection molding machine are operative so that dangerous movements of the handing device robot are possible The signal is active in any operation mode Ejector back The switch contact is closed when the ejector has been retracted regardless of the moving platen position See pin contact No 16 acknowledgement f or 37 100 R the Enable ejector back signal see contact 21 when the ejector sequence is selected see pin contact No 16
13. 2 1 Dimensions unit mm 23 100 Ps SHIN SHINI Picture 2 1 ST1 Picture 2 2 ST1 T 24 100 a BETA N Picture 2 3 STI T medium telescopic arm 2 2 2 Model Specification Chart 2 1 Specification List ST1 571 550 100 571 550 100 STi 700 1400 571 700 14000 Traverse Stoke mm Crosswise Stoke mm suam Vertical Stroke mm Subam Maa s Net Weight kg Max Air 14 11 Consumption NL cycle Dimensions mm 25 100 Model 5 1 900 1600 6 1 900 16000 ST1 1100 1800 ST1 1100 1800D Application IMM ton 200 300 200 300 300 450 300 450 Traverse Stroke mm Crosswise Stroke mm Subam t Vertical Manam 900 900 no t Stroke mm Subam sw 11 mxo Min Pick out sec moya nase Air 15 17 NetWegh kg E 2350 B 1400 1600 160 1850 1850 2050 2050 Dimensions Note 1 M stands for middle mold detector suit for 3 plate mold EM12 stands for EUROMAP12 communication interface EM67 stands for EUROMAP 67 commun
14. 6 2 1 Injection Molding Machine Output Signals 37 2 6 2 2 Robot Output Signals 38 3 General Description 2 U J 41 3 1 ST1 series oHm 41 cms eio Mete 41 3 3 Features TTC 42 3 4 FUNCIONS oo m 42 3 4 1 Function Description 42 3 4 2 Malfunction protection 42 3 4 3 Shock Absorber 4 42 3 4 4 Function Detection a 43 3 4 5 PICK Place u u aa 43 3 4 6 Stacking Function 43 3 4 7 43 3 4 8 Emergency Stop Function 44 3 5 Default Setting coa ioannis ua acid eoa ne rm esten uit eren 44 4 Operating Instruction J 45 45 4 1 1 Operation Panel of Hand Controller 45 4 1 2 Home Position Setting 45 4 1 3 Manual Mode 46 4 1 4 Automation Mode 47 4 2 The Function Inst
15. In pressure setting mode P 1 and the current setting value alternately flashing press SET key will display settings value at this time enter into value setting mode by pressing UP and DOWN key b In the value setting mode the first value in a flashing state press UP or DOWN key can change values After setting the first one press the SET key to set the second value at this time the second value flashing c After the value setting press the SET key 1 second or stay in 10 seconds without pressing any key it will return to testing mode 3 In testing mode press SET key at least 2 seconds enter into initial set mode the initial setting including output patterns response time display color and so on the step as flowing a In testing mode press SET key at least 2 seconds into the display color settings press UP or DOWN key to change display color press SET key again will toggle to action mode settings b In testing the mode press SET key twice or in the display color setting mode press SET key once to enter into action mode setting at this time press UP or DOWN key can select action mode then press SET key 32 100 again the output patterns can set up press UP DOWN key to select the output form NO meanings normally open NC for normally closed In the output mode press SET to set will enter the response time setting mode press UP or DOWN key to set response time presses SET to enter prese
16. Points of cycle placing position is more than safe limits Error Number 79 Travel out limit is abnormal Manual to move arm up down inside not according with the automatic program The time of the IMM open mould cycle is too long Electric receive servo drive feedback pulse or not Servo driven alarm The position of the safety door not set Setting the position of the placing lower than that of safe door The position of the placing goods is set more than the maximum The outside waiting position is less than the initiation position The outside waiting position is more than the maximum Maximum of Cycle placing position is more than safe limits The travel out limit switch has no signal input 66 100 1 Manual operation make arm rise inside and fall in forward or backward position which corresponding automatic process otherwise may damage the mold Lengthen the cycle time of electronic control of robot and make the time longer than that of open mold of injection molding machine Check servo drive setting parameter Check servo drives and electric control connecting Check setting parameter of electric control Whether having trouble on circuit board Check whether the servo driven alarm Check servo driven and electric control connecting Whether having trouble on circuit board Set the position of the safety door Reset the position of the place the position
17. alarm 7 ProRel realistic production Take the quantity that the thing completes the production physically Note Remove product without alert please remove failures of IMM Then allow robot to move again 4 2 The Function Instructions 4 2 1 Basic Function Setting In STOP display press toggle the display to set function use cursor SA key press Or to desires function Press to switch options 48 100 m Lang English Prozero OFF ProSet 5000 SNipCHKs OpenT 05 VacuCHK 0 5 HoldC Hk Picture 4 4 1 Lang language Press to choice Chinese and English page 2 ProSet production setting When reach the set production then alarming 3 OpenT mould open delay Setting the time which is from mold stop to cut off the signal of close mode it will cut off the signal when the time ends 4 Ejectenable ejector delay When itis the time of mold opened set delay time when time end the signal of ejector output Signals of ejector choose to use 5 M ClampCHK main clamp check Positive To clip an object successfully the switch positive testing and get a signal of gripper switch Reverse To clip an object successfully the switch reverse testing and get a signal of gripper switch OFF NOUSE The switch of the gripper no testing the gripper clip the object or not it should not be recognized signal test 6 S ClampCHK sub clamp
18. at intermediate position HIGH signal when the mold opening has reached the specified intermediate position and remains HIGH until the mold is completely open the signal may be used in two ways 1 The mold stops the intermediate position whereupon a signal is sent to the robot Complete opening of the IMM takes place through the signal complete mold opening enabled see pin A7 2 The IMM transmits the signal but does not remain in the intermediate position Signal is LOW when the intermediate ZA9 Signal voltage robot 24V DC Fully automatic mode injection molding machine ZB2 HIGH signal when operating the injection molding machine tighter with the robot is possible Ejector back position 783 HIGH signal when the ejector is back regardless the position the tool plate The signal acknowledges ejector back enabled see pin contact No B3 Ejector forward position ZB4 HIGH signal when the ejector is forward The signal acknowledges ejector forward enabled see pin contact No B4 Core pullers 1 free for robot to approach ZB5 HIGH signal when the core pullers are in position for removal of the injection moiling see pin contact No B5 Core pullers 1 in position to remove molding ZB6 HIGH signal when the core pullers are in position for removal of the injection molding see pin contact No B6 Core pullers 2 free for robot to approach b m HIGH signal
19. clean the hoses by compressed air To ensure that there is no cuttings sealing tapes in it 2 Check the air connection of control box in good conditions without bending conditions 2 1 3 Electric Power Connection 1 The electrical connection should be performed only by authorized electrician 2 Shut off the power supply before connecting 3 Set up the safety electrical outside of the control system to keep the control 18 100 system works in normally 4 Before installation wiring operation and maintenance must be familiar with instructions guide as well as machinery electronics and security attentions 5 Ground the wire before robot operating 6 Wire grounding should connect to metal and keep away from inflammable matter The power requirements are given on the type plate of the robot the power connection is provided through a normal power cord and a CEE plug N The power connection should be performed only by authorized electrician and should be in accordance with any applicable regulations 2 1 4 Safety Fence 1 After installing the robot indicate the safety fence outside the scope of the robot working area 2 The hand controller should be fixed outside of the safety fence 3 Stick the warning signals on outstanding place of the fence 2 1 5 Mounting Preparation 400 350 m 190 1 1 Before drilling switch off the injection molding machine and then turn
20. forward the signal of main arm backward limit input After main arm go back the signal of main arm forward limit input After main arm go back no signal of main arm backward limit input After sub arm go forward no signal of sub arm forward limit input After sub arm forward sub arm back ward having signal input 63 100 signals Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether sub arm go down Whether sub arm down switch having signals Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether main arm go forward Whether the main arm go forward having signals Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether main arm go forward Whether the main arm go backward switches having signals Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether main arm go backward Whether the main arm go forward switches having signals Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether main arm go backward Whether the main arm go backward switches having signals Check the I O
21. must be higher than safe door Reset the position of the placing goods make it less than the maximum Reset the outside waiting position must more than the initiation position Reset the outside waiting position must more than the maximum Reset points of cycle placing or distance of cycle placing Check whether having the signal of the limit switches Check the connecting wire R R plastics technologles 3 Whether having trouble circuit board Error Number 80 Travel in limit is abnormal Error Number 81 Machine is not in the origin position travel back to the origin manually Error Number 82 Machine is not in the waiting position travel back to the waiting position manually Error Number 83 Before travel in out the arm is not in horizontal position horizontal actions first Alarm No 84 Robot is not at the ends of the traverse beam Alarm No 85 Insufficient inlet pressure Alarm No 86 Mould area free position setting is smaller than starting position Alarm No 87 Mould area free position setting is greater than safety door position Alarm No 88 Mould area descend position is not safe Alarm No 89 The travel in limit switch has no signal input Machine is not in the origin position travel back to the origin manually Machine is not in the waiting position travel back to t
22. of the robot are equipped with shock absorber devices and magnetic sensor switch there is a die locking device with high security features on the arms The main arm with quickly pick accurately put function it is not only guarantee the glove extract speed also ensure that the object is not damaged For the convenience of users packaging this series robot with stack function users can achieve two stack the X axis and Y axis and Z axis direction of an arbitrary stack 3 4 2 Malfunction protection Both the origin position and end position of the robot s stroke parts are with limited sensor switch The devices of the limited position are on the two ends of the stroke axis Z axis and vertical axis X axis prevent robot anti falling 3 4 3 Shock Absorber 42 100 There are shock the main up down position sub arm up down position and the position of main arm forward and sub arm backward The main arm backward position and the forward position of sub arm with air cushion devices which can reduce the impact of the robot when it is operating 3 4 4 Function Detection ST1 series robot with one magnetic reed switch and one proximity switch on vertical cylinder forward and backward proximity switch on both up and down cylinders on arm One magnetic reed switch on gripper of sub arm and two on rotation board on main arm protect gripper clip pats and operate normally If any parts of robot o
23. off the power avoid the scrap iron into the mold 2 Stick the drilling picture on the installing surface of IMM 3 Use the center punch to assist drilling 4 Place the magnetic drill on the fixing plate use drill bits 14 to drill 6 19 100 R N SHIN holes about 30mm depth 5 Tapping Use M16 tap to produce internal 6 screws threads about 25mm depth 2 1 6 Mounting Instruction 1 Should avoid vibration collision and falling when transfer the top of IMM 2 Alignment holes using the 8mm torque wrench turn to 77Nm tightens the M16 30 hex socket screws Note if with the connection base fix it on the injection molding machine then fix robot on connection base 2 1 7 Robot Reversing The following paragraph is the instruction for changing robot dropping side Operation side non operation side For safety purpose please turn off the electrical power and pneumatic supply before carry on the instruction 1 Unscrew the proximity sensor X024 and move it up to the same level as X025 then screw X024 Unscrew the proximity sensor X025 and move it down to the same level as where X024 was and then screw X025 See picture 2 1 1 picture 2 1 2 Picture 2 1 1 Before modified 20 100 SHINI Was 26 technologies Picture 2 1 2 Modified 2 Move all Outside IMM safety zone blocks from the right end of the beam to the left end of the beam See picture 2 1 3 Move the origin block from the left e
24. pose changes need to ensure that automatic procedures match the set function 4 2 3 Mold Choice In WAITING page press enter the mold choice of action program page CopyMode Read 0 99 00 Writ 20 99 220 Picture 4 7 Choose one program from the 0 99 to read or then put it into 20 99 to memory as the code of the mold 4 2 4 Teach Read the standard action program 0 19 set or user defined program 20 99 53 100 ee Sum rn set press enter the teach program page 20 1 Dbl Down SetDist SetSpe Set Time 0 1 Picture 4 8 Move the cursor to teach movement to teach current action steps by steps and then press key confirmation the robot do the action Input one no action orders in the teach program Delete current instruction 20 The current module it is the currently selected of mode number 1 Current sequence it is the number of the current action Down two arms down Teach action it is the current action Set Dist set the distance Transverse movement to be taught the arm will be moved to the position Set Spe set the speed Transverse movement to be taught it is the speed of the arm moving to the sequence Set Time set the time The current action delay time that is the action after the delay time 4 2 5 Parameters In WAITING page press 2 enter the parameters 54 100 4 SHIN 20 1 0 Down SetD
25. range with the Y axis for the first time you must check whether the X positions can be reached without damaging the mold and the Y axis First the end position of the X axis must be adjusted Adjusting the End Position of X1 Axis Run the X1 axis to its end position Release bracket Push bracket to shock absorber in the compression state Fix the stop package 1 2 3 2 2 4 Adjusting the 0 Position of X1 Axis the length of stroke 1 Release stop package B 2 Run the X1 axis to the 0 3 Manually push cylinder piston rod to the fully extended state 4 Fix the stop package B 30 100 Adjusting the 0 Position of X2 axis Run the X2 axis to its 0 position Release bracket Manually push bracket to ole strut in the compression state Fix the stop package 1 2 3 4 Adjusting the End Position of X2 Axis the length of stroke 1 Release stop package 2 Run the X2 axis to its end position 3 Manually push cylinder piston rod to the fully extended state 4 Fix the stop package B 2 4 2 Adjusting the Y Position Set the end position of Y axis by adjusting up going shock absorber Adjusting the End Position of Y axis 1 Loosen shock absorber on the end position 2 Push the cylinder on Y axis to its end position 3 Rotate the up going shock absorber to the in the fully compression state 4
26. removal operation has been performed far enough for the motion ejector back to be carried out the signal is HIGH for the duration of the motion ejector back the signal must be maintained at least until the signal ejector back from the molding machine see pin contact No ZB4 B5 optional Enable movement of core pullers 1 to position for the robot to approach freely HIGH signal when the motion of the core pullers is to the position for the robot to approach freely is enabled see pin contact No ZB5 B6 optional Enable movement of core pullers 1 to position for removal of the molding When the motion of the core pullers is to the position for removal of the molding is enabled B7 optional Enable movement of core pullers 2 to position for the robot to approach freely HIGH signal when the motion of the core pullers is to the position for the robot to approach freely is enabled see pin contact No ZB7 B8 optional Enable movement of core pullers 2 to position for removal of the molding When the motion of the core pullers is to the position for removal of the molding is enabled see pin contact No ZB8 C5 C8 Free C6 Reserved for future Euromap signal 36 100 R Pm C9 Reserved for future Euromap signal 2 6 2 Euromap12 Interface The interface consists of the plug connection between the injection molding machine and the robot f I
27. s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether sub arm go forward Whether the sub arm go forward switches having signals Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether sub arm go forward Whether the sub arm go backward switches having signals Check the l O s connecting wire f plastics Error Number 52 Sub arm forward valve OFF Sub arm forward limit ON Error Number 53 Sub arm forward valve OFF Sub arm backward limit OFF Error Number 54 Main clip valve ON Main clip limit OFF Error Number 55 Main clip valve OFF Main clip limit ON Error Number 56 Sub clip valve ON Sub grip limit OFF Error Number 57 Sub clip valve OFF Sub clip limit ON Error Number 58 Vacuum valve ON Vacuum limit OFF Error Number 59 Vacuum valve OFF Vacuum limit ON Sub arm back sub arm has signal for forward Sub arm back signal of sub arm back no input Main clip signal of main clip no input Main put clip having signal input Main clip sub clip no signal sub clip sub clip has signal After sucking and putting the signal of suck not input After sucking and putting the signal of suck input 64 100 SHINI f plastics Whether the air pressure is too low Whether sub ar
28. safety NOUSE When stop the safe signal of switch mode still output USE When stop in order to ensure machine safety open mold to cut off the safe signal of switch mode after closing the safe door and then the safe signal of switch mode output again 12 Trans Cnt Conveyer Interval Conveyor output once every number of model time setting 13 Prep 1 Cnt Reservation 1 every number set output once 14 Prep 2Cnt Reservation 2 every number set output once 15 PressCHK pressure check NoUse Air pressure signal not to check Usage when the air pressure is not reach the setting arm stop working The control box will show that the pressure is not enough 16 Badprdct Reject Parts NOUSE Controller does not detect the signal of bad product USE Controller defect the signal of bad product 17 AutoCHK auto check NOUSE Robot in automatic state does not test the alarm signal USE Robot in automatic state need test the alarm signal or will alarming 18 Dot dots When need to stack it is for the Z axis placing points 99 52 100 m Sum points can set most 19 Dist distance When setting the stack this for the distance between each points of Z axis points 20 X axes NOUSE X axis does not use the stack Use X axis using the two points stacks 21 Y axes NOUSE Y axis does not use the stack Use Y axis using the two points stacks Note When the waiting poses waiting position down
29. when the ejector is back regardless of the position of the movable P tool plate are in position for the robot to approach see pin contact No B7 Core pullers 2 in position to remove molding ZB8 ile optional HIGH signal when the core pullers are in position for removal of the injection molding see pin contact No B8 ZC5 ZC6 ZC7 Reserved for future Euro map signal ZC8 Free ZC9 Signal ground robot 0 2 6 1 2 Robot Output Signals Emergency stop of robot channel 1 Opening of the switch contacts of the robot must shut off the control system of the molding machine Emergency stop of robot channel 2 Opening of the switch contacts of the robot must shut off the control system of the molding machine Mold Ares Free Signaling is effected by the limit switch at the travel in rail the switch is opened when the travel in rail in the region of the injection molding machine leaves its starting position before it is moved into the tool area If the switch is 35 100 open closing nor opening of the tool take place Even when the control system of the robot is shut off the switch must work as described Reserved for future Euromap signal free Complete mold opening enabled HIGH signal when the robot is far enough out of the tool that it can be closed and when other robot control systems enable closing of the tool the signal remai
30. 3 Pneumatic distribution block on sub arm 14 Sub arm mounting plate 15 Belt fixing plate 1 16 Pulley fixing plate 1 17 Pulley fixing plate 3 18 Pulley on telescopic arm 19 Pulley fixing plate 2 20 Up going fixing plate 1 of sub arm belt 21 Tooth plate 2 of Arm belt 22 Sub arm down going baffler 23 Synchronous belt 24 Tooth plate 3 of Arm belt 25 Belt fixing plate 26 Aluminum profile of sub arm 27 Proximity switch 28 Cylinder supporting frame on sub arm 29 Sensor fixing plate 30 Up going sensor plate of main arm 31 Steel cover 2 of sub arm 32 Shock absorber 33 Mounting plate of proximity switch 34 Anti falling cylinder Picture 7 6 76 100 SHIN 77 100 7 7 Vertical ST1 T Telescopic Arm 01 03 05 07 09 11 13 15 17 19 21 Drag supporting frame vertical Vertical drag of sub arm Vertical cylinder of sub arm Drag cover of vertical Piston rod Aluminum profile of vertical Fixing frame of vertical cylinder Main arm Right cover of vertical arm Vertical cylinder holder frame of main arm Vertical drag frame of main arm 02 04 06 08 10 12 14 16 18 20 22 78 100 Drag chain of main arm Vertical drag frame of sub arm Vertical cylinder of main arm Left cover of vertical arm Cylinder holder frame of sub arm Linear guide Sub arm Limit baffler Lift ring Fixing block Shock absorber Picture 7 7 SHINI W plastics technol
31. E Allow the ejector output USE After mold open in place the delay allow the ejector output 5 Safe door NOUSE A signal does not be checked USE Before machine descends to take out object the signal is checked 6 MidMold middle mold Use Remove the machine down extract it will detect the signal in the formwork NOUSE The signal of mid mode is not for testing USE The robot down to pick objects it will test the signal of the mid mode 7 Sound Off No sound while pressing On Sound while pressing 8 Waitpos wait posture Vertical Robot in standby modes the gripper group in the vertical position Horizontal Robot in standby modes the gripper group in the horizontal position If subject the mold and can not in the vertical position then can choose vertical stand when injection molding machine mold open completed the robot to vertical down pick things then doing horizontal actions 9 Waitpos wait position Waiting inside Waiting inside injection moulding machine The waiting position is normal Waiting outside Waiting outside injection moulding machine If the 51 100 subject can stand inside can choose stay outside In Auto mode the arm travel out to the outside waiting position 10 Downpos down posture Vertical Robot fall down vertical pose horizontal down will alarm Horizontal Robot fall down by horizontal pose vertical drop will alarm 11 StopSafety stop
32. Fix the shock absorber The withdrawal position can be set using the stop package Adjusting the Withdrawal Position 1 Run the Y axis to its end position 2 Seal off the compressed air 3 Loosen the Y axis stop package 4 Manually push Y axis to the desired position 5 Push stop package to ole strut in the compression state 6 Fix the Y stop package Note The down shock absorber completely compressed the top position of shock absorber shall not be lower than the origin of position sensor switch if not when arm down the down block will damage the origin sensor switch 2 4 3 Adjusting the Z Position 31 100 The Z axis position can be set using servo control system 2 5 Gripper and Suction Monitoring 2 5 1 Gripper Setting If the gripper didn t clamp parts in opened state or in the closed state the light of the magnetic switch is off If the gripper clamed parts the magnetic switch is on Adjusting the Magnetic Switch 1 Loosen the screw which is fixed on the magnetic switch 2 Make the light on when gripper clamp the parts if not make the light off 3 Tighten the fixing screw after finishing adjustment During the robot working if the grippers not clamp the part the robot will stop operating and alarm 2 5 2 Suction Setting 1 The default mode of vacuum switch of is testing mode 2 In testing mode press the SET key toggle the display into pressure setting mode the step as flowing a
33. In addition the controllers will remain under power to allow indication of error messages If robot goes out of order or need emergency stop for examinations press the emergency stop button to ensure safety operation 3 5 Default Setting 1 Speed of transverse the initial setting is 85 2 Pressure sensor the initial setting is 4bar if air pressure is less than 4bar the robot will stop working and alarm 3 Filter regulating valve the factory setting is 6bar 4 Vacuum pressure switch the factory setting is 50 44 100 R www plastics technologies 4 Operating Instruction 4 1 Controller 4 1 1 Operation Panel of Hand Controller Picture 4 1 4 1 2 Home Position Setting After power press H key at state of rest to origin 45 100 C SuaONi 4 1 3 Manual Mode Press A key show the display as picture 4 2 then can set and adjust robot function manually Ensure mold opened signal is on If at the manual mode please forbidden touching the mold 0 0 Bm TraversMode Manually Speed 50 Act NoActione Picture 4 2 1 Current Position Meanings robots current position unit mm lt 2 TraversMode traverse mode press to select the manual mode or adjusting micro inching mode Manual Press or after robot operate traverse traverse out stop press the keys the robot will stop the start origin point Inching Press a or r
34. ST1 Single Axis Servo Driven Robot User Manual Date Jan 2011 Version V1 2 English SHINI W plastics technologies Contents s S S A 9 1 1 Safety Regulations r 9 1 2 Safety 10 1 3 Emergency 12 1 4 Transportation and Storage 12 1 4 1 Transportation 13 1 4 2 Transportation after Unpacking 13 1 4 3 16 1 4 4 Operation Environment 16 1 4 5 17 2 JlnstallallOD osiiainax inan ixe xdi ada siii a xao aa daba as a a a EVER ODD A X ERR KD ad 18 21 iie T ua a 18 RRESCILUMIIODM 18 2 1 2 Compressed Air Connection 18 2 1 3 Electric Power Connection 18 2 1 4 Safety Fence c 19 2 1 5 Mounting Preparation 19 2 1 6 Mounting Instruction itp Ro er 20 2 1 7 Robot Reversing 20 2 2 Equipment Specification epe eo dades ptus 23 2 2 1 Dimensions unit
35. ased by turning it clockwise The emergency stop circuit of the robot and the injection molding machine are connected by the Euromap12 or Euromap67 interface Therefore when the emergency stop button on the molding machine is pressed the robot will also stop and vice versa 1 4 Transportation and Storage N During transporting the robot working underneath the robot is forbidden AX If it is necessary to remove or reinstall the robot please contact the agent or manufacturer for help The manufacturer and agent do not have any responsibility for injuries or damage if the customers remove robots themselves 12 100 1 4 1 Transportation 1 ST1 series robot is fix on a steel structure base and packaged with crate 2 Before transporting fasten the sliding base to prevent any collision 3 The arms are free to slide when electric power and pneumatic supply are off Push the arms upwards to lock them 4 During the transporting please keep the robot away from other objects in order to avoid damages 5 Should increase plastic bag out of the robot and if necessary pumping vacuum and put desiccant in the packing during the long distance transportation 6 The temperature between 25 to 55 during the transportation for short transportation inner 24 hours the temperature can not higher than 70 C The robot you order before sending out the factory it is confirmed in good working condition please check whethe
36. bricants plastics rubber etc to split in different ways Deal with the machine according to local requirements ensure the commission company as the best Any problem during using the SHINI ST1 Series Robot please contact the company or the local vendor Headquarters 8 Taipei Factory TEL 02 26809119 China Service Hotline TEL 800 999 3222 Dongguan Factory TEL 0769 83313588 Ningbo factory TEL 0574 86719088 17 100 2 Installation 2 1 Instruction 2 1 1 Safety Issue Before installation please read this chapter carefully Fix robot the base before operating After installing robot indicate the working area with safety fence The hand controller should be placed outside of the safety fence Keep the air pipe in good way during installation The power connection should be performed only by authorized electrician Connecting cable and the grounded should obey the local rules and regulations 8 The grounded wire can not attach to the water pipes gas pipes telephone lines or television cables 9 Use the independent cable and power switch the diameter of main power wire can not be less than the wire of control box 10 The end of the power wire must be safety and immobility OI gt 2 1 2 Compressed Air Connection 1 According to the filter specifications to choose a suitable hose connected between the air source and the filter Note Before connecting hoses
37. cal drag on sub arm 3 Cover of drag 4 Vertical cylinder on sub arm 5 Shock absorber 6 Vertical drag frame on sub arm 7 Left cover of vertical arm 8 Vertical aluminum profile 9 Piston rod 10 Vertical cylinder holder frame of sub arm 11 Sub arm 12 Main arm 13 Limit block 14 Linear guiding rail 15 Lifting rings16 Right cover of vertical 17 Cylinder holder frame on main arm 18 Fixing frame of vertical cylinder 19 Vertical cylinder on main arm 20 Vertical drag frame on main arm 21 Vertical drag supporting frame Picture 7 2 72 100 m sum 7 3 Main arm unit ST1 06 05 04 Set pt 5 ex 3 4 03 02 Zl 1 Rotation board 2 Spare frame for air pipe 3 Steel covers of main arm 4 Cylinder holder frame on main arm 5 Aluminum cover of main arm 6 Stack sensor sheet 7 Drag chain connector on main arm 8 Drag chain on main arm up down 9 Main arm aluminum profile 10 Down sensor sheet on main arm 11 Linear guiding rail 12 Cylinder on main arm up down 13 Pneumatic distribution block on main arm 14 Magnetic valve 15 Connection mounting plate on main arm 16 Terminal bottom frame on main arm 17 Digital display pressure switch 18 Main arm mounting plate 19 Shock absorber 20 Proximity switch 21 Buffer unit 22 Buffer cap 23 Proximity switch 24 Falling proof cylinder 25 Up going sensor sheet on main arm Picture 7 3 73 100 w hini Was 26 techno
38. ccur accidents it will stop working and alarm 3 4 5 Pick and Place The arm with quickly pick and accurately put function you can adjust the flow regulating valve on the main arm to change the putting speed 3 4 6 Stacking Function This series robot with the stack function choose the stack function of X axis and axis in the control system Stack on X axis can make two layer start point and end point stacked The end point and middle point can be stacked through Y axis stack while the middle point can be adjusted as your needed 3 4 7 Self protection There is a cylinder anti falling cylinder at below of the arm which can effectively prevent the personal injury or machine damage caused by arm down or lack of air pressure If air pressure is insufficient the pressure sensor output signal the arm back to up limited the arm was locked by ejected 43 100 anti falling cylinder piston rod If the pressure is enough anti fall cylinder piston rod returns back When the robot s arm in locked state if need manually push arm up and down use flat tool to move anti falling cylinder piston rod back avoid damage to the arm or anti falling cylinder 3 4 8 Emergency Stop Function The emergency stop button is located on the hand controller When an emergency stop button is pressed the power is turned off The gripper and vacuum valves and the vacuum pump are not disconnected to avoid dropping parts from the gripper
39. ch in mid plate mould Check the l O s connecting wire Whether having trouble on circuit board Whether the door of IMM had closed Whether having signal of safety door Check the l O s connecting wire Whether having trouble on circuit board Whether the mid plate mould open Whether having signal of proximity switch in mid plate mould Check the l O s connecting wire Whether having trouble on circuit board Whether main arm up down having troubles Check the l O s connecting wire Whether having trouble on circuit Error Number 18 Main arm forward limit ON Main arm backward ON Error Number 19 Main arm up limit ON Main arm downward ON Error Number 20 Main arm forward limit ON Main arm backward ON Error Number 21 Dais out limit ON Dais in limit ON Error Number 22 horizontal limit Pose vertical limit ON Error Number 23 Before arm down the signal of the mould open OFF Error Number 24 Before arm down the signal of mild plate OFF Error Number 25 Before arm down The signal of the safety door OFF Error Number 26 Before arm downing the pose vertical limit OFF Both forward limit and backward limit of main arm have signals input at the same time Both up limit and down limit of sub arm have signals input at the same time Both forward limit and backward limit of sub arm have signals input at the same time Both dais ou
40. e performed by qualified personnel only N Maintenance should responsibility for safety equipment becomes the responsibility of the system operator once he accepts the robot Please note in particular that safety instructions marked with must be observed according to regulations so that fully functionality of this eguipment can be guaranteed N Before carrying out maintenance work and entering the safety zone of the robot the main switch and compressed air must be disconnected and the compressed air system must be evacuated 6 2 Lubrication Requirements Remove the old grease from the guide shafts and scraper rings of the bearing using a cloth Then apply the new grease to the guide shafts using a brush As well as all roller bearing greases according to DIN 51825 69 100 6 2 1 Maintenance cycle S HINI W plastics technologies In accordance with the maintenance cycle make work in the best way Daily Maintenance Monthly Maintenance Quarterly Maintenance 1 Swab robot 2 Filter drainage 3 Check the air pressure 4 Check bolt connection robot and injection molding machine whether tighten 5 Check all block settings whether tightened 1 Use air clean filter 2 Check the screws on all part whether tightened 3 Confirm whether the pipelines break or loose 4 Check and adjust the operating speed 70 100 Brush oil on to the axis _____ SHIN 7 Asse
41. g 7 N m v 5 MET 1 i m s n 2 m NE 5 e gt WA gt 4 RB gt 1 wn 1 un PB 1 ex RBI gt 1 1 1 oc Picture 8 4 86 100 ee SHIN 8 5 YASKAWA Servo Motor Wiring Diagram 1 peesseendoessc F q it L pus s L Pus 5 475 sN _ L G SIGN S RDY 5 RDY AIM ALM clear ALM RST 5 bled S 0N A EZ 75 i pz jim TET 5 Lis P BJ gt VC Picture 8 5 87 100 SHINI W plastics technologies 8 6 YASKAWA Servo Motor Wiring Diagram and Spare Wiring Diagram See q Picture 8 6 88 100 gt i 1 5 ES XOLO a E ra 1 EE i amp i d uy m 3 na Sg 1 i MN phesenetnebnemuee noie i i jy SS WA 1 1 ii
42. g position Alarm No 90 Traverse out position is greater than makimum position Alarm No 91 Robot does not receive automation signal from IMM Alarm No 92 Communication fails between control board and hand controller Alarm No 93 Before arm descend outside IMM does not receive outside IMM safe zone Use robot is not selected smaller than starting position Traverse out position is greater than maximum position receive from Robot does not automation signal IMM Communication fails between control board and hand controller Before arm descend outside IMM does not receive outside IMM safe zone W plastics technologles value must be greater than starting position 1 Reset traverse out position this value must be less than maximum position Check automation signal from IMM Check the wiring for automation signal Check main control robot Check the wiring between control board and hand controller Check the control board board of 1 Change the descend position to outside IMM safe zone Use robot is not selected 1 Select use robot from IMM 68 100 6 Maintenance 6 1 General Please observe the prescribed maintenance intervals Proper maintenance ensures trouble free functioning of the robot Proper maintenance is necessary in order that the warrantee be fully enforceable N Maintenance should b
43. he signal of main arm up going proximity switch Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether having the signal of sub arm up going proximity switch Check the I O s connecting wire Whether having trouble on circuit board Whether having the signal of main clip Main clip testing right or not check the main clip whether clip the products Check the I O s connecting wire Whether having trouble on circuit board Whether having the signal of suck Whether having the actions of magnetic valve Check the I O s connecting wire Whether having trouble on circuit board Whether having the signal of grasper Whether having the actions of magnetic valve in grasper Check the I O s connecting wire Whether having trouble on circuit board 1 Whether the power on servo motor Machine outside the mould the robot not back to original point Error Number 10 Stop inside the robot not back to original point Error Number 11 Pose vertical limit OFF the robot not back to original point Error Number 12 Pose horizontal limit OFF the robot not back to original point Error Number 13 Robot go down to pick objects the signal mold open OFF Error Number 14 Robot go down to pick the objects signal of mild plate OFF Error Number 15 Mould open ON Signal of safety door OFF Err
44. he waiting position manually Before travel in out the arm is not in horizontal position horizontal actions first Robot is not at the ends of the traverse beam Insufficient inlet pressure Mould area free position setting is smaller than starting position Mould area free position setting is greater than safety door position Mould area descend position is not safe Traverse out position is 67 100 1 Check whether having the signal of travel in limit switch 2 Check the I O s connecting wire 3 Whether having trouble on circuit board 1 Manual back to the origin 1 Manual traverse out to waiting position 1 Manually make wrist cylinder in a horizontal position 2 Check whether the level of limit switch having troubles 1 Use manual to traverse in out the robot to the end 2 Check the traverse in limit sensor signal is available 3 Check the traverse out limit sensor signal is available 1 Check inlet pressure 2 Check the signal of pressure sensor 1 Reset Mould area free position this value must be greater than starting position 1 Reset Mould area free position this value must be smaller than safety door position 1 Reset mould area descend position this value must be smaller than Mould area free position 1 Reset traverse out position this Traverse out position is smaller than startin
45. heck Same means as main clip the examination 7 VacuCHK vacuum check NOUSE The signal of the vacuum switch no testing USE To suck an object successfully and get a limit signal ON 49 100 Cau SHIN 8 HoldCHK holder check Same means as vacuum testing 9 Prozero the number of productions to zero Setting ON the number of current production shows 0 usually set OFF 4 2 2 Special Function 1 In WAITING display press key 4 times to enter the password page input 5488 then press to enter the special function page1 Press to move the cursor to each item Press to change and confirm CycIT 60 0 Eje USE AlamT 20 0 Safe Door USE AccTime 20 0 MidMold USE Sound USE Waitpos Vert Transcnt 1 Waitpos In Prep 1Cnt 1 Downpos vert Prep 2Cnt 1 Stop safe NOUSE PressCHK USE Dot 1 BadPract USE Dist 50 0 AutoChk USE NOUSE Y axes NOUSE Picture 4 5 1 CycleTime cycle time Time set for system check action Means the maximum time from current cycle complete to the next Injection Machine mold opened limit If waiting time exceed the set value alarm raise 2 AlarmTime alarm time for the alert time period while panel shows the alarm page unchanged 50 100 3 AccTime accelerated time Set the time of servo motor speedup slowdown Note the unit of the time of the speedup and slowdown is 10ms 4 Eje ejector NOUS
46. hen the IMM has reached the specified intermediate position and remains closed until the IMM is completely open the signal may be used in two ways 1 Mould opening stops on intermediate position and gives start signal to handling device robot mould opening restarts with the signal Enable full mould opening see contact No 28 2 Mould opening doesn t stop on intermediate position however gives the signal to handling device robot see pin contact No 16 The switch contact is open when intermediate mould opening position is not in use 15 optional Free 16 Signal voltage of robot 2 6 2 2 Robot Output Signals Plug Contact NO Function AAA Enable mould close The switch contact see pin contact No 32 is closed when the robot is retracted enough for start of mould closure the switch contact must remain 38 100 closed at least until mould closed see contact 12 Mould area free The switch contact is closed when the robot is retracted enough for start of mould closure If the switch contact opens as result of a fault mould closing must be interrupted The switch contact must be closed if the robot is switch off It is recommended to close the switch contact when the robot is unselected Emergency stop of robot Opening of the switch contacts of the robot must shut off the control system of the molding machine Operation with robot The switch contact see p
47. ication interface 2 Power supply 1 200 240V 50 60Hz 3 max air consumption for suction device 60NI min Chart 2 2 Specification List ST1 T st1 700 1400T 5 1 700 14000 STI 900 1600T ST1 900 1600DT Traverse Stroke mm Crosswise Stroke mm _ Vertical Stroke mm _ Air 10 16 12 19 Consumption N cycle Netweightkg 20 280 Dimensions 2150 2150 2350 E 38 B 1300 1300 1400 10 26 100 Note 1 M stands for middle mold detector suit for 3 plate mold 12 stands for EUROMAP12 communication interface EM67 stands for EUROMAP 67 communication interface 2 Power supply 10 200 240V 50 60Hz 3 max air consumption for suction device 60NI min Chart 2 3 Specification List ST1 T middle telescopic arm Model ST1 1100 1800T ST1 1100 1800DT ST1 1300 2000T ST1 1300 2000DT 300 450 Crosswise 00 Stroke mm Vertical Stroke mm Sub arm Min Cycle Time sec 7 6 Air Pressure Range bar Max Air Consumption N cycle Net Weight kg 420 A 2550 2550 2750 2750 Dimension mm Modet ST1 1500 2200T_ STi 1500 2200DT Crosswise Stroke mm 20 27 100 E SHINI Stroke mm AA Load kg Min Pick out Time sec Min Time seo Air Pressure Range bar Max Air 29 45 Consumption N cycle Net Weightikg
48. in arm up gt Pose horizontal gt Dais out gt Main arm down gt Main arm put gt Main arm up gt Pose vertical gt Dais in Program 4 Sub arm down gt Sub arm forward gt Sub arm clip gt Sub arm backward gt Sub arm up gt Dais out gt Sub arm put gt Dais in Program 5 Double arms down gt Double arms forward gt Vacuum suck gt Sub arm clip gt Double arms backward gt Double arms up gt Dais out gt Sub arm put gt Dais out gt Pose horizontal gt Main arm down gt Vacuum put gt Main arm up gt Pose vertical gt Dais in Program 6 Double arms down gt Double arms forward gt Vacuum suck gt Sub arm clip 56 100 ee Sumu gt Double arms backward gt Double arms up Pose horizontal gt Dais out gt Main arm down gt Vacuum put gt Main arm up gt Pose vertical gt Dais in gt Sub arm put gt Dais in Program 7 Double arms down gt Double arms forward gt Main arm clip gt Sub arm clip gt Double arms backward gt Double arms up gt Dais out gt Sub arm put gt Dais out gt Pose horizontal gt Main arm down gt Main arm put gt Main arm up gt Pose vertical gt Dais in Program 8 Double arms down gt Double arms forward gt Main arm clip gt Sub arm clip gt Double arms backward gt Double arms up Pose horizontal gt Dais out gt Main arm down gt Main arm put gt Main arm up gt Pose horizontal gt
49. in contact No 32 is open when the robot mode switch is Operation with injection molding machine The switch contact is closed when the handling device mode switch is No operation with injection molding machine the switch contact see pin contact No 32 is closed when the robot is switched off Enable ejector back The switch contact see pin contact No 32 is closed when the handling device enables the movement for ejector back the switch contact must remain closed at least until Ejector back signal is given by injection molding machine see contact No 4 Enable ejector forward The switch contact see pin contact No 32 is closed when the handing device enable the movement for ejector forward the switch contact must remain closed at least until ejector forward signal is given by the injection molding machine see contact No 5 23 optional Enable motion of core pullers for removal of injection moldings The switch contact contact no 32 is closed when the enable motion of core pullers for removal of injection moldings is recommended that the switch contact remains closed at least until the core back to end signal is given by injection molding machine see contact No 7 24 optional Enable motion of core pullers for removal of injection moldings The switch contact contact no 32 is closed when the enable motion of core pullers for removal of injection moldings It is recommended that the sw
50. is Travel in Board Component Layout 8 16Main U4 8 17 Sub arm U5 Component Layoult 8 18 Pneumatic Schematic 1 Table index Chart 2 1 Specification List ST1 Picture index TU PI n o 1011 37 CROCO al Ul 12 o c O a PIA uuu uuu E RR aus Qasaqa wiesen eC isi Z P X TDI o iN O S gei 4 aisi T ATETA MA Picture 7 80 I e ene Picture FO ia T gt Picture S Ee E A Pietre d 22 MA AAA FICIUEG BO eet skies eee br aa REUS E PV teens Picture 22 IAA PIA AA Pictu
51. ist SetSpe Set Time 0 1 This page can be set the action position horizontal speed and delay time but can not teach Setting distance and speed should only in the horizontal movement page 4 2 6 Monitor Press enter the input monitor page Press OG key to switch monitor pages x036 MDownL mt X035 MUpL mt X037 MUpMidd X022 MoriginSP Picture 4 9 Press enter the output monitor page Press key to switch monitor pages Y023 MainDown 022 MainUp Y024 DownSlow 025 Unslow O means no signal means having signal Picture 4 10 55 100 43 Standard Action Program Program 0 Main arm down gt Main arm forward gt Vacuum suck gt Main arm backward gt arm up gt Dais out gt Pose horizontal gt Main arm down gt Vacuum put gt Main arm up gt Pose vertical gt Dais in Program 1 Main arm down gt Main arm forward gt Vacuum suck gt Main arm backward gt Main arm up gt Pose horizontal gt Dais out gt Main arm down gt Vacuum put gt Main arm up gt vertical gt Dais in Program 2 Main arm down gt Main arm forward gt Main arm clip gt Main arm backward gt Main arm up gt Dais out gt Pose horizontal gt Main arm down gt Main arm put gt Main arm up gt Pose vertical gt Dais in Program 3 Main arm down gt Main arm forward gt Main arm clip gt Main arm backward gt Ma
52. itch contact remains closed at least until the core back to end signal is given by injection molding machine see contact No 7 Reserved for future use by EUROMAP 28 optional Enable full mould opening The switch contact see pin contact No 32 is closed when the handling device has taken the part and allows to continue mould opening The switch contact must remain closed until mould open signal is give by the injection molding machine see contact No 2 If the switch contact is not used it must be open Reserved for future Euromap signal Free Free Voltage of IMM 39 100 R SHIN 40 100 m SHIN 3 General Description 3 1 ST1 series Abstract It can quickly and accurately carry out the parts from inside of mold and place at accurately position It has a compact attractive appearance running smoothly and user friendly features In addition the series can also increase the single arm and double arm normal arm and telescopic arm according the customers requirements It is the best choice for the 2 plate 3 plate mold users and hot runner mold plate users Model ST1 3 2 Application 1 2 3 ST1 550 1000 D suitable for the use with plastics injection molding machine under 100T ST1 700 1400 D suitable for the use with plastics injection molding machine 100T to 200T ST1 900 1600 D suitable for the use with plastics injection molding
53. l La 11 011 5 O i En 1 1 t 2 Vui i 5 p O E 1 1 5 2 La i 11 La poy La fe i La La E P O T WA 5 1 m 1 1 m a gt m s 2 i a m 5 i A 2 e i gt O 4 m SHIN 8 7 Z axis Wiring Diagram Wr u 52 X04 gt e HE 8 Sy b 5 i 5 gt 06 pare NE gt a 4 c E gt n 5 m 5 Picture 8 7 89 100 ee SHIN 8 8 Main Arm Wiring Diagram 1 YU 8 E yor gt z gt gt 3p E 5 iH 5 2 al RS Pul 5 yos gt So gt lt _ 5 oo gt ti n gt
54. l interfaces according to Euromap12 and Euromap67 Connection of the interface plug to the machine testing of all signals must be done by a specialist in injection molding machines and robots Preferably this should be done by one of our service engineers together with a qualified service engineer for the injection molding machine N The interface signal functions must be carefully tested as improper operation may cause malfunction or damage to the robot and molding machine N In particular the functions of the safety circuits must be thoroughly checked Testing the emergency stop signals to and from the IMM When press the emergency stop switch on hand controller the error message emergency stop must also be indicated at the IMM And when press the emergency stop on IMM the emergency stop signal must also be indicated at the robot 2 4 Adjusting the Axis Positions While adjusting the position make sure that robot can not run and the compressed air supply is shut off 29 100 2 4 1 Adjusting the K Position The X positions are determined by the stops Bracket on X1 axes arm is for adjusting the end position and stop package is for adjusting the stroke length and the O position Bracket on axes X2 sub arm is for adjusting the O position and stop package B is for adjusting the stroke length and the end position Before running in to the mold
55. limit ON Error Number 62 Pose horizontal valve ON Pose horizontal limit OFF Error Number 63 Pose vertical valve ON Pose vertical limit OFF Error Number 64 The time of dais out is too long Error Number 65 The time of dais in is too long Error Number 66 Emergency stop Error Number 67 Action programs incomplete no action After grasping the signal of the grasp not input After grasping the signal of the grasp input Pose horizontal pose horizontal limit no signal input Pose vertical Pose vertical limit no signal input The time of dais out is longer than that of defining The time of dais in is longer than that of defining Emergency stop on IMM or robot Teach programs incomplete 65 100 R SHINI f plastics Whether the air pressure is too low Whether having grasp action Whether grasping objects Check the I O s connecting wire Whether having trouble on circuit board Whether having grasp and put actions Check the I O 5 connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether having pose horizontal action Whether the switch of pose horizontal having signal Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether having pose vertical action Whether the switch of pose vertical having signal
56. logies 7 4 Sub Arm unit ST1 1 Gripper 2 Up going buffer block 3 Cylinder holder frame on sub arm 4 Aluminum profile of sub arm 5 Linear guide 6 Drag chain connector on sub arm 7 Down baffle on sub arm 8 Drag chain connector unit on sub arm up down 1 9 Drag chain on sub arm up down 10 Steel cover on sub arm 11 Terminal mounting plate on sub arm 12 Terminal bottom frame on sub arm 13 Magnetic valve 14 Cylinders on sub arm up down 15 Pneumatic distribution block on sub arm 16 Proximity switch 17 Sub arm mounting 18 Shock absorber 19 Anti falling cylinder Picture 7 4 74 100 m Sum 7 5 Main Arm ST1 T 01 Upturning setup 02 Spare frame for airtube 03 Steel cover of main arm 2 04 Aluminum cover of main arm 05 Fixing plate 06 Origin sensor plate 07 Sensor fixing plate 08 Stack sensor sheet 09 Drag chain connector parts of main arm 1 10 Drag chain connector parts of main arm 2 11 Drag chain on main arm up down 12 Aluminum profile of main arm 13 Down buffer plate 1 of main arm 14 Sensor fixing plate 15 Belt fixing plate 1 16 Cylinder on main arm up down 17 Aluminum profile of main arm 18 Linear guide 19 Pressure switch with digital display 20
57. lve OFF Main arm down limit ON Error Number 39 Main arm down valve ON Main arm down limit OFF Error Number 40 Main arm down valve OFF Main arm go up OFF Error Number 41 Main arm down valve OFF Main arm down limit ON Error Number 42 Sub arm down valve ON Sub arm uplimt ON Error Number 43 Sub arm down valve ON Sub arm down limit OFF Error Number 44 Sub arm down valve OFF Sub arm uplimt OFF Before jig horizontal and vertical moving main arm down valve ON After the main arm down the signal of main arm up limit input After the main arm down the signal of main arm down limit input After the main arm down no signal of main arm up limit input After the main arm up signal of main arm down limit input After the sub arm down signal of sub arm up limit input After the sub arm down no signal of sub arm down limit input After the sub arm UP no signal of sub arm up limit input 62 100 R S HINI plastics technologles 1 Whether sub arm down 1 Whether the air pressure is too low 2 Whether arm down 3 when main arm down the switch of up limit ON or OFF 4 Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether main arm down Whether the down switch having the signal Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether mai
58. m go backward Whether the sub arm go forward switches having signals Check the l O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether sub arm go backward Whether the sub arm go backward switches having signals Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether main gripper clip Whether main gripper clip the products Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether main gripper clip Whether main gripper clip the products Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether sub gripper clip Whether sub gripper clip the products Check the I O s connecting wire Whether having trouble on circuit board Whether having sub put action Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether sucking Whether suck the objects Check the I O s connecting wire Whether having trouble on circuit board Whether having suck and put actions Check the l O s connecting wire Whether having trouble on circuit Error Number 60 grasper limit ON grasper limit OFF Error Number 61 grasper limit OFF grasper
59. machine 200T to 300T ST1 1100 1800 D suitable for the use with plastics injection molding machine 300T to 450T ST1 700 1400T DT is suitable for the use with plastics injection molding machine 200T to 300T 41 100 www Skini 6 ST1 900 1600T DT is suitable for the use with plastics injection molding machine 300T to 450T 7 ST1 1100 1800T DT is suitable for installed on the injection molding machine with mold clamping force within 300T 450T 8 ST1 1300 2000T DT is suitable for installed on the injection molding machine with mold clamping force within 450T 600T 9 ST1 1500 2200T DT is suitable for installed on the injection molding machine with mold clamping force within 650T 850T 3 3 Features 1 Appearance European style streamline with compact and attractive appearance 2 Conveniences O circuit connection using convenience plug in design easy to installation and maintain 3 Security With safety switches on each limited positions 4 Function With stack function 5 Withdrawal Pick out the spure quickly and accurately place spure precision ensure not to collision products 6 Humanization Use the humanization control system easy to operate 7 Package Mainly used wrist packing designs which can save room avoid damage during transportation 3 4 Functions 3 4 1 Function Description ST1 series robot is mainly used for injection molding product and the spure removed all major parts
60. manufacturer will have any responsibility 1 2 Safety Concerns The maintenance repair etc must be executed by professionally trained personnel Any unrelated personnel should keep away from robot working area while it is operating All electrical wiring must be completed by professionals and in accordance with design of specifications and wiring instructions Use safety fence to indicate working area while installation For the safety operation the hand controller should be placed outside the robot working area Ensure bolts and nuts are tightened with torque wrench while installation Ensure there is no following matters in the compressive air such as phosphate containing oil organic solvents sulfite gas chlorine acids and stale compressor oil The air pressure should be kept at 6MPa 0 1MPa while operation Remove anything from the top of the robot to prevent falling due to vibration Press EMERGENCY STOP button immediately when accident occurs e Do not modify the robot body and control box Please contact manufacturer or vendor if any change is required Turn off power supply and compressed air before maintenance and adjustment Also set up warming signs and safety fences Please use parts of SHINI if there is any replacement is required Our robots meet all corresponding safety standards Please read the user manual carefully as a safety guideline Unauthorized personnel must inform the relative supervisor and
61. mbly Diagram 7 1 Traverse Unit ST1 and ST1 T 40 39 37 36 35 34 33 32 31 30 LI 1 47 50 lt 1 2 Fixing plate of beam installation 3 End cover of beam 4 Fixing sliding block 5 Limited sensor panel 6 Linear guiding rail 7 Belt fixing frame 2 8 Buffer unit 9 Buffer cap 10 Belt holding plate 11 Belt splint connecting piece 12 Synchronous belt 13 Servo motor 14 Speed reducer 15 Fixing plate of traverse drag chain 16 Vertical aluminum profile connection board 17 Fixing shaft on vertical beam 18 Washer 19 Sliding seat 20 Proximity switch 21 Motor supporting frame 22 Connection shaft 23 Pulley bearing 24 Pulley 25 Special washer 26 synchronous pulley 27 supporting cover 28 Brake resistor 29 Fixing plate of pressure switch 30 Pressure switch 31 Hinge 32 Exhaust fan 33 Driven mounting plate 34 Servo drive 35 Traverse terminal installation frame 36 Traverse terminal bottom frame 37 Lock 38 Trapezoid plastic handle 39 Sliding seat cover 40 Traverse drag chain 41 Belt fixing frame 1 42 Safety sensor panel of mold 43 End cover of traverse beam 44 Aluminum profile of traverse 45 Traverse drag chain supporting frame 46 Cover of control box 47 Connection plate of grounder 48 Filter mounting plate 49 Control box 50 Filter regulating valve 71 100 7 1 7 2 Vertical Unit 5 1 1 Vertical drag on arm 2 Verti
62. n arm go up Whether main arm up switch having signals Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether main arm go up Whether main arm down switch having signals Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether sub arm go up Whether sub arm up switch having signals Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether sub arm go up Whether sub arm down switch having signals Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether sub arm go up Whether sub arm up switch having Error Number 45 Sub arm down valve OFF Sub arm up limit ON Error Number 46 Main arm forward valve ON Main arm forward limit OFF Error Number 47 Main arm forward valve ON Main arm backward limit ON Error Number 48 Main arm forward valve OFF Main arm forward limit ON Error Number 49 Main arm forward valve OFF Main arm backward limit OFF Error Number 50 Sub arm forward valve ON Sub arm forward limit OFF Error Number 51 Sub arm forward valve ON Sub arm backward limit ON After the sub arm down signal of sub arm down limit input After main arm go forward no signal of main arm forward limit input After main arm go
63. nd of the beam to the right end of beam 100mm away from the limit block See picture 2 1 4 Picture 2 1 4 21 100 3 Open the sliding seat on the Z axis and then exchange the socket position of X024 and X025 on the circuit board U3 See picture 2 1 5 picture 2 1 6 Picture 2 1 6 Modified 4 Adjust the parameter of transverse servo drive Pr41 from 0 to 1 and Pr46 from 1 to 0 1 Press S key toggle the display to dp_5pd the press M key to PR 00 Use A V to selected number use lt to move cursor Press S again to set the parameter Use A V to adjust parameter lt to move cursor S to confirm the setting Do this for Pr41 and Pr46 2 Save setting Press M and follow by S toggle the display to EE SEE press and hold A key until show on the display 22 100 Sum SEE Set Up then switch off the power for at least 3 seconds if less than 3 seconds cannot save the setting then switch on the power picture 2 1 7 Servo motor traverse position 5 Check the result of reversing 1 When press HP back to origin the traverse direction of robot will opposite with reversing 2 When press HP back to origin the proximity sensor X024 should light up end limit sensors X041 and X042 should light up if robot operates 2 2 Equipment Specification 2
64. ng _ gt Enable mould closure gt IMM potential 24V gt IMM potential 9 Operation with robot Picture 8 11 93 100 HE Sn 8 12 EM67 Signal Output Wiring Diagram SaN contour 48 o sev con san contour lt san 6 SGN lt SOV EFI ES se AUTO lt SON REJECT lt SON ER 44 SGN lt SGN 4 Cores 1 are set IMM eject Mould open Mould closed a Safety door 2 Picture 8 12 5 YA gt YANI 4 nua TAN gt E amp Safety door 2 Safety door 1 Safety door 1 mergency sra mergency sto mergency sto mergency STO MM in full auto Ejector back position Robot potential OV DC c Cores 1 are pulled IMM Ejector forward position obot potential 24V DC anne channe anne termediate mould opening position channel 2 8 13 Main Control Board Component Layout Picture 8 13 95 100 8 14 1 0 U2 Board Component Layout je4uoziJ0 oP ZA ZX qx 95240 A Mn pJEPapec X 015 UMOP A 5 dn J oP LA 470 2407 ayes uibJo SIXe 7 J
65. ns HIGH signal for the duration of the tool closing operation in the event of a LOW signal due to a disturbance the tool closing motion must be absorbed Note the signal close tool enabled may not be linked with other or signals in any operating mode see pin contact No ZA47 A7 optional Complete mold opening enabled HIGH signal when the robot is far enough out of the tool that it can be closed and when other robot control systems enable closing of the tool the signal remains HIGH signal for the duration of the tool closing operation in the event of a LOW signal due to a disturbance the tool closing motion must be aborted Note the signal close tool enabled may not be linked with other or signals in any operating mode see pin contact No ZA47 Reserved for future Euromap signal Signal ground IMM 24V DC Robot operation mode LOW signal when the robot mode switch is operation with injection molding machine HIGH signal when the robot mode switch is no operation with injection molding machine HIGH signal when the robot is switched off Ejector back enabled HIGH signal when the removal operation has been performed far enough for the motion ejector back to be carried out the signal is HIGH for the duration of the motion ejector back the signal must be maintained at least until the signal ejector back from the molding machine see pin contact No ZB3 Ejector forward enabled HIGH signal when the
66. obot traverse in or traverse out if stop press keys robot will stop this action 3 Speed manual speed set the robot s speed of traverse 4 Act action present act aA Main arm Sub arm Double arm Arm down a Arm forward backward 46 100 S HINI b plastics technologies Clip put Vacuum suck put Vertical Horizontal moving Traverse in Traverse out Home Position using it in stop state Spare for action Spare action ON OFF In order to ensure the safety of robot and injection molding machine please pay attention to the following 1 After robot s arm going down it can not go vertical or horizontal 2 After robot s arm going down it can not traverse except the inside of IMM security zone 3 No mold open signal the robot can not go down inside of IMM 4 1 4 Automation Mode Press twice to enter into auto mode display Press or to set the desired functions Posi 1000 0 mm Mold 20 AutoT 25 05 Time 00 055 ProSet 5000 OpenDly propel 10 47 100 Picture 4 3 Posi position the position of the robot arm on the beam axis 2 AutoT automation time record current automatic cycle time use 3 Time The delay time of the current action 4 Act Current act 5 Mold Current mold 6 ProSet production quantity setting Anticipate the production quantity of the enactment When the current yield arrives to the set the yleld it will
67. ogies 7 8 Traverse unit ST1 T Middle Telescopic Arm 01 Base 02 Beams fixed block 03 Pressure switch 04 Beam 05 Proximity switch 06 Beam s end cover 07 Origin sensor plate 08 Limitation sensor plate 09 Sliding base 10 Exhaust fan 11 Driver mounting plate 12 Servo driver 13 Cover of sliding base 14 Belt fixing supporting frame 2 15 Braking resistor 16 Connection shaft 17 Pulley 18 Cover of motor supporting frame 19 Synchronous pulley 20 Motor supporting frame 21 Speed reducer 22 Servo motor 23 Transverse Terminal mounting plate 24 Transverse terminal bottom supporting frame 25 Synchronous belt 26 Linear guide 27 Belt pressing plate 28 Belt cleat connecting parts 29 Buffer cap 30 Belt fixing frame 1 31 Buffer 32 Safety mold sensor plate 33 Fixing plate 34 End cover of transverse beam 35 Traverse drag supporting frame 36 Traverse drag 37 Cover of control box 38 Connecting plate of grounded 39 Control box 40 Wave filter fixing plate 41 Filter regulating valve Picture 7 8 79 100 7 9 Main Arm ST1 T Middle Telescopic Arm gt OLN WA nd yA 01 arm mounting frame 02 Rotation unit 03 Aluminum profile of main arm 04 Spare frame for air tube 05 Up going sensor plate 06 Mounting plate of proximity switch 07 Pulley tightening plate 08 Cylinder holder frame of main arm up do
68. or Number 16 Mould open ON Signal of mild plate OFF Error Number 17 Main arm uplimit ON Main arm downlimit ON stay inside When robot waiting do not stay outside The signal of vertical limit no input The signal of horizontal limit no input Robot go down to pick objects the signal mold open OFF Robot go down to pick the objects signal of mild plate open OFF Safety door no signal output Signal of mould open input Signal of mild plate no input Both up limit and down limit of main arm have signals input at the same time 59 100 Whether having dais in action by electric control Whether having trouble on circuit board Whether the power on servo motor ON Whether having dais out action by electric control Whether having trouble on circuit board Whether the air pressure is too low Whether having vertical action by electric control Check the I O s connecting wire Whether having trouble on circuit board Whether the air pressure is too low Whether having horizontal action by electric control Check the connecting wire Whether having trouble on circuit board Whether having the signal mould open output from IMM Check the I O s connecting wire Whether having trouble on circuit board Whether the mid plate mould open Whether having signal of proximity swit
69. please keep rings of the vertical beam and use again next time Picture 1 1 Packing of ST1 and ST1 T 14 100 SHINI 26 technologies Picture 1 2 Packing of ST1 T medium telescopic arm UD UT 4 Swinging ring WA Fii Fixed ring Picture 1 3 Hanging transportation of ST1 and ST1 T 15 100 SHINI b plastics technologies Picture 1 4 Hanging transportation of ST1 T medium telescopic arm 1 4 3 Storage 1 Switch off the main air source and power if robot is not in use for a long time 2 Robots should be stored in ventilated dry room to prevent rust and damping 3 If not use for a long time please anti rust and if necessary place film to prevent dust and erosion 1 4 4 Operation Environment 1 Temperature between 5 C to 40 C 2 Humidity Temperature 40 C relative humidity 50 3 Elevation Under 1000 meters above sea level 16 100 4 Stop using product immediately when following Power cable is damaged Air tube is damaged Machine breaks down or dissembled by unauthorized personnel IV There are organic solvent acidic phospholipids sulfurous acid and chlorine flammable and explosive dangerous matter in compressed air V Air pressure is not enough or too high 1 4 5 Retirement When the robot goes to its end of service life it should be demolished according to different martial metal oil lu
70. r frame on sub arm 04 Gripper 05 Aluminum profile of sub arm 06 Stack sensor sheet 07 Sensor fixing plate 08 Connection aluminum profile of sub arm 09 Linear guide 10 Pulley tightening plate 11 Cylinder up down on sub arm 12 Pulley fixing plate 2 13 Connecting shaft of telescopic arm 14 Pulley on telescopic arm 15 Pulley fixing plate 1 16 Synchronous belt 17 Pulley fixing plate 3 18 Drag up down on sub arm 19 Drag up down connector on sub arm 20 Belt down going fixing plate on sub arm 21 Belt pressing plate 22 Arm down going baffler 23 Cylinder fixing plate 24 Terminal mounting plate on sub arm 25 Terminal bottom frame on sub arm 26 Belt up going fixing plate on sub arm 27 Magnetic valve 28 Pneumatic distribution block on sub arm 29 Air tube connection plug on sub arm 30 Shock absorber 1 31 Vertical drag connector on sub arm 32 Shock absorber 2 33 Steel cover of sub arm 34 Proximity switch 35 Anti falling cylinder supporting frame of sub arm 36 Anti falling cylinder Picture 7 10 81 100 7 11 Crosswise Unit ST1 T Middle Telescopic Arm 01 03 05 07 09 11 13 15 17 19 21 Crosswise beam base Buffer fiking block 5 Crosswise cylinder rod clamping device Linear guide Crosswise cylinder on sub arm Sensor fiking sheet Crosswise cylinder on main arm Sub arm Limitation baffler 3 Buffer cap Crosswise drag supporting frame 23 Crosswise drag on sub arm
71. r there is any damage during carrying or transporting Please be carefully when dismantling of components and packaging if the robot has found the injury you can use the package again If there is any damage caused by transport please 1 Feedback immediately to the transportation companies and our company 2 Claim damages to the shipping company fill in the file requests for compensation 3 Retain the damaged items wait for testing Until the testing is completed do not return the damaged items 1 4 2 Transportation after Unpacking 1 After taking apart the package first removed the supporting plate so that the arm rotated 90 degrees and the vertical with beams see the picture To do as the following 1 Release 6 fixed screws on the supporting board remove the packing support plate 2 Rotating beams and arm slowly so that the arm and the beam was 13 100 vertical 3 Lock the arm connecting plate and the sliding seat by the 6 screws on the supporting plate Note 1 Remove the packing support plate should be careful to prevent the arm wrist and the machine damage or personal injury 2 Lock the arm connecting plate and the sliding seat ensure that the arm in vertical state 2 There is a ring in the parts box when the robot sent after taking apart the package the ring is installed on the T type block of the vertical beam using with the two ends of beam See the picture Note After hoisting
72. re 8 NR RTT ee ee ee eee Picture 9 1 Ai e i SAA Picture 8 18 000 00 000 00000 100 7 100 SHIN 8 100 1 Safety Before starting up robot for the first time please review this manual thoroughly and familiarize yourself with the operation of the robot Improper use may injure personnel and or damage the robot mold or molding machine 1 1 Safety Regulations e Please review this manual thoroughly and familiarize yourself with the operation of the robot before starting up the robot for the first time Maintenance should be performed by qualified personnel only e The ST1 series robot is designed for injection molding machine IMM ONLY e Any modification or change to the original design of the robot is forbidden e Any improper installation and operation may result in injury to personnel and or damage to equipments e Please contact the manufacturer or local vender immediately if there is any problem with robot when operate it e Please note that our robot must be cooperated with other safety device i e safety door in order to operate in normal condition e Ensure all installations are met with safety requirements before operating e Without the written consent of the manufacturer any damage or lost caused by the modification or use beyond the user manual the 9 100
73. ring the described function 2 6 1 1 The Injection Molding Machine Output Signals Contact NO Function Emergency stop channel 1 ZA1 ZCi The emergency stop switch of the injection molding machine is used to interrupt the emergency stop circuit of the robot Emergency stop channel 2 ZA2 762 emergency stop switch of the injection molding machine is used to interrupt the emergency stop circuit of the robot ZA3 Safety system active channel 1 For protecting against hazardous motions of the robot The switch is closed when ZC3 mo E safety system of the injection molding machine is active ZA4 Safety system active channel 2 For protecting against hazardous motions of the robot The switch is closed ZC4 MNA when the safety system of the injection molding machine is active Reject ZA5 The signal is HIGH when the molded piece is a reject The switch is closed when optional the tool is open and must remain HIGH at least until close tool enabled see pin contact No A6 Mold closed ZA6 HIGH signal when tool closing has been completed the signal close tool enabled is no longer necessary see pin contact No A6 Mold open ZA7 HIGH signal if the mold opening position is equal or more than the required position Inadvertent alteration to mold opening stroke smaller than that required 34 100 for the robot to approach must be impossible Mold
74. ructions 48 4 2 1 Basic Function 48 4 2 2 Special Function 1 50 4 23 Mold EET 53 Aa SHIN 53 4 2 4 THIN SBa ggllId 54 4 2 6 MONnItOTF 55 4 3 Standard Action PEOGEFBITI oet teen edes lc re 56 5 Error Connection 58 aida 69 69 6 2 Lubrication 44 44 0 69 6 2 1 Maintenance cycle 70 7 Assembly Diagram dla VR FE Rad aaa 71 7 1 Traverse Unit ST1 and ST1 T 71 7 2 Vertical Unit ST1 72 7 3 73 7 4 Sub Arm unit 74 7 5 Man Arm 5 3 rr CERTE 75 7 6 Sub arm ST1 T Telescopic 76 7 7 Vertical ST1 T Telescopic Arm 78 7 8 Traverse unit ST1 T Middle Telescopic Arm 79 7 9 Main Arm ST1 T Middle Telescopic Arm
75. signal input Before jig horizontal and vertical moving main arm down valve ON 61 100 S HINI f plastics Whether jig horizontal state Whether the horizontal testing switch having troubles Check the I O s connecting wire Whether having trouble on circuit board Whether having main clip action Whether having trouble on main clip testing Check the I O s connecting wire Whether having trouble on circuit board Whether having sub clip action Whether having trouble on sub clip testing Check the I O s connecting wire Whether having trouble on circuit board Whether sucking Whether having troubles of suck testing switch Check the I O s connecting wire Whether having trouble on circuit board Whether sucking Whether having troubles of suck testing switch Check the I O s connecting wire Whether having trouble on circuit board Whether main arm down Whether sub arm down Whether main arm at the up going station Whether main arm down Check the I O s connecting wire Whether having trouble on circuit board Whether sub arm at the up going station Whether sub arm down Check the I O s connecting wire Whether having trouble on circuit board Whether main arm down Error Number 37 Before changing pose sub arm down valve ON Error Number 38 Main arm down va
76. t limit and dais in limit having signal input at the same time Both pose horizontal limit and pose vertical limit having signal input at the same time Before arm down to pick the signal of the mould open OFF Before robot down to pick up the subjects the signal of middle mode OFF Before arm down the safety door have no signals When choosing Pose vertical before arm downing Pose vertical limit no signal input 60 100 Whether the switch on main arm up down having troubles Check the I O s connecting wire Whether having trouble on circuit board Whether sub arm up down having troubles Check the I O s connecting wire Whether having trouble on circuit board Whether the switch on sub arm up down having troubles Check the l O s connecting wire Whether having trouble on circuit board Whether Dais out limit and Dais in limit having troubles Check the l O s connecting wire Whether having trouble on circuit board Whether the switch of pose horizontal limit and pose vertical limit having troubles Check the l O s connecting wire Whether having trouble on circuit board Whether having signal mould open output Check the I O s connecting wire Whether having trouble on circuit board Whether the mid plate mould open Whether having signal of proximity switch in mid plate mould Check the l O s connecting wire Whether having tro
77. t mode automatically d In response time setting mode press SET key to enter into auto preset mode now press UP or DOWN key to select manual mode or automatic mode After selecting press SET key it will return to the testing mode 2 5 3 Digital Pressure Switch Setting 1 The default setting is 4bar it can be adjusted according to the actual needs 2 Digital pressure switch marked with scale the internal of the digital pressure switch has a red ruler which connected with the adjustment screw when the rotation adjustments screw the red ruler will move too 3 Need to adjust the pressure the user can rotate red ruler to set the value by the hex key clockwise rotation the value increased counter clockwise rotation the value decrease 2 6 Robot and IMM Interface ST1 series robots are available with 2 different interface versions to communicate with the injection molding machine eEuromap67 eEuromap12 Both versions are described in the following chapters 2 6 1 Euromap67 Interface Euromap67 interface defines the connection plug between the injection molding machine and the robot 33 100 S b plastics technologies Robot Plug Plug on Injection Molding machine The robot injection molding machine interface is designed according to the directives of Euromap67 which states Unless otherwise noted the signals which are maintained du
78. uble on circuit board Whether the safety door close Whether having the signals of safety door Check the I O s connecting wire Whether having trouble on circuit board Whether jig in vertical state Whether the vertical testing switch having troubles Check the I O s connecting wire Whether having trouble on circuit board Error Number 27 Before arm downing Pose horizontal limit OFF Error Number 28 Before arm down Main clip limit ON Error Number 29 Before arm down Sub clip limit ON Error Number 30 Before down the vacuum suck limit ON Error Number 31 Before arm down grasp limit ON Error Number 32 Before dais out Main arm down valve ON Error Number 33 Before dais out Main arm down valve ON Error Number 34 Before dais out Main arm up limit OFF Error Number 35 Before dais out sub arm up limit OFF Error Number 36 Before changing pose main arm down valve ON When choosing Pose horizontal before arm downing vertical limit no signal input Before arm down the main arm check switch has signal input Before arm down the sub arm testing switch has signal input Before arm down suck testing switch has signal input Before arm down grip testing switch has signal input Before dais out main arm down Before dais out sub arm down Before dais out main arm up limit no signal input Before dais out sub arm up limit no
79. un auoz ayes 1 40141509 plui 4 94205 015592044 Picture 8 14 96 100 nologles 8 15 Z axis Travel in Board U3 Component Layout Picture 8 15 97 100 8 16 Main Arm U4 Layout Picture 8 16 98 100 8 17 Sub arm U5 Component Layout Picture 8 17 99 100 uu 8 18 Pneumatic Schematic Diagram Picture 8 18 100 100
80. understand all safety rules before entering robot working area Please order a new user manual from the manufacturer or vendor if the user manual is damaged Product owner has the responsibility to ensure the operators maintenance staffs and relative staffs have read user manual thoroughly 10 100 SHIN N Any modifications or other applications to robot should obtain the written consent from the manufacturer for safety purpose N The safeguarding required for operation of the robot is not including in our standard scope of supply except special equipment since adaptation to specific site conditions is required If such safeguarding is provided by you please note that it must be installed prior to startup of the equipment in order to be included in the safety circuit of the system upon startup The warning marks and its meanings Caution Mechanical injury Caution High temperature 4 x 3 Caution Electric shock SHINI W plastics technologies No Flame 1 3 Emergency Stop The emergency stop button is located on the hand controller When the emergency stop button is pressed the power is turned off The gripper and vacuum valves and the vacuum generator are not disconnected in order to avoid dropping parts from the gripper In addition the control system and the hand controller will remain under power to allow indication of error messages The emergency stop button can be rele
81. wn 09 Cylinder on main arm up down 10 Arm belt fixing plate 11 Drag connector of main arm 12 Drag chain on main arm up down 13 Linear guide 14 Arm down going baffler 15 Sensor fixing plate 16 Aluminum profile of main arm 17 Terminal bottom frame on main arm 18 Terminal mounting plate of main arm 19 Steel cover of main arm 20 Pulley fixing plate 2 21 Pulley fixing plate 3 22 Pulley on telescopic arm 23 Connecting shaft of telescopic arm 24 Pulley fixing plate 1 of pulley 25 Belt pressing plate 26 Belt down going fixing plate on main arm 27 Magnetic valve 28 Pneumatic distribution block on main arm 29 Vertical drag connector on main arm 30 Air tube connection plug on main arm 31 Main arm belt up going fixing plate 32 Synchronous belt 33 Anti falling cylinder frame on main arm 34 Anti falling cylinder 35 Shock absorber 1 36 Shock absorber 2 37 Proximity switch Picture 7 9 80 100 CIWiai lli i SHIN ger technologies 7 10 Sub arm ST1 T Middle Telescopic Arm 16 P x E 12 11 10 N 09 E gt al 06 05 04 03 01 Sub arm mounting plate 02 Fixing plate of proximity switch 03 Cylinder up down holde

ST1 Single Axis Servo Driven Robot User Manual

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