Axess sepro ROBOTIQUE User manual

USER MANUAL
Robots' Software Version 2.0 |->

S:\documentation\Docs\Axess\Utilisation\gb\EC_V2\Page_garde.fm
© Copyright SEPRO ROBOTIQUE, 2006, all rights reserved.
The contents of this document remains the industrial, intellectual and commercial property of SEPRO
ROBOTIQUE. According to L122-4 of the intellectual property code, any presentation or reproduction made
without the author’s or lawful owner’s permission is unlawful and may lead to penal sanctions.
The customer therefore agrees to only use the information and data contained in this document for his own needs,
within his company, and not to sell any of it, either directly or indirectly. Any reproduction used for
communicating to a third party, even if free, is forbidden.
This document is given to the customer when the ordered product is delivered. SEPRO ROBOTIQUE may change
it afterwards without warning. It is therefore the customer’s duty to contact SEPRO ROBOTIQUE’s technical
customer assistance department for any updates.
Logos definitions :
Warning, risk
Sepro robotique inventions
What to do ?
Document evolutions
Handy hints
Example
New function available
with the software version
marked
?

Axess Sepro User Manual
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CONTENTS
I - SAFETY INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
I - 1. Emergency stops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
I - 2. The pendant’s safety devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
I - 2. 1. The safeguard override key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
I - 2. 2. Working with the pendant out of its holder . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
I - 3. Peripheral units and safeguards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
I - 4. The work zones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
II - ROBOT / IMM DIALOGUE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
III - QUICK REFERENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
III - 1. The axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
III - 2. Powering up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
III - 3. Navigating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
III - 3. 1. The modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
III - 3. 2. The function keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
III - 3. 3. Returning to the previous screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
III - 3. 4. Locking the numeric pad .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
III - 3. 5. Entering a numeric value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
III - 3. 6. Entering text . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
III - 3. 7. Help key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
IV - MANUAL MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
IV - 1. Manually controlling a numeric movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
IV - 1. 1. Moving an axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
IV - 1. 2. Changing the movement speed - Kv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
IV - 1. 3. Changing the movement mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
IV - 2. Manually controlling a pneumatic movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
IV - 2. 1. Part grip and release . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
IV - 2. 2. Rotations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
IV - 3. Enabling a manual movement of the IMM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
IV - 4. Manually controlling an output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
IV - 5. Controlling the belt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
IV - 6. Teaching the points in manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
V - MOLD CHANGE - TEST MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
V - 1. Home page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
V - 2. Selecting a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
V - 2. 1. Selecting a program on the pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
V - 3. Creating a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
V - 3. 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
V - 3. 2. Creating a program from an EPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
V - 4. Teaching the points in cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
V - 4. 1. Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
V - 4. 2. Stacking sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
V - 5. Testing the program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

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V - 6. Home return. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
V - 6. 1. Simple Home return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
V - 6. 2. Total Home return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
VI - PRODUCTION - AUTOMATIC MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
VI - 1. Starting production . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
VI - 2. Operating and Stop modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
VI - 2. 1. Starting the robot and the IMM in automatic mode . . . . . . . . . . . . . . . . . . 21
VI - 2. 2. Production without the robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
VI - 2. 3. Requesting an immediate stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
VI - 2. 4. Requesting an end of cycle stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
VI - 2. 5. Quality sampling request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
VI - 3. Home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
VII - CYCLE OPTIMIZATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
VII - 1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
VII - 2. Changing the cycle’s parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
VII - 3. Points. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
VII - 4. Time delays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
VII - 5. Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
VII - 6. Tolerances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
VII - 7. Stacking and counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
VIII - TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
VIII - 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
VIII - 2. Cancelling a fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
VIII - 3. Standard messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
VIII - 4. Difficulties related to the part grip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
VIII - 4. 1. Causes and actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
VIII - 4. 2. Starting again after a fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
VIII - 4. 3. Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
VIII - 5. IMM - robot dialogue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
VIII - 6. Initializing the axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
IX - MAINTENANCE FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
IX - 1. Home page: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
IX - 2. Fault log book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
IX - 3. Axes’ maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
IX - 4. System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
IX - 5. Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

I -Safety instructions Axess Sepro User Manual
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I - SAFETY INSTRUCTIONS
The robot must only be used on an injection machine in a safe environment. Safeguards must be
installed so that the robot’s work zone is inaccessible. Access for operations such as maintenance
or part manipulation by operators must only be carried out after a shut-down procedure or if the
safeguards have been specifically adapted.
A robot which is immobile is not stopped. A robot which is stopped is not shut-down.
I - 1. Emergency stops
An emergency stop does not necessarily cut the pneumatic air supply, which means that:
• the pneumatic movements being executed are finished,
• it is necessary to dump the pressure before intervening on the robot.
When the robot’s emergency stop button is pressed:
• the actuators’ electric power supply is cut. The numeric movements are therefore stopped
brutally.
• the IMM stops.
I - 2. The pendant’s safety devices
I - 2. 1. The safeguard override key
This key authorizes the robot movements in manual mode and in test mode, even if the safeguards
are not installed. When requesting a movement, you must also push one of the 2 push buttons
called enabling devices. The speed of the axes’ movement is reduced.
I - 2. 2. Working with the pendant out of its holder
When the pendant is out of its holder, only the manual and test modes are authorized. Automatic
mode is prohibited.
Enabling
devices
Pendant holder
Emergency stop
Safeguard override key

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I - 3. Peripheral units and safeguards
After any intervention on the peripheral units (conveyor ...) and/or safeguards, you MUST then
check that they are correctly installed and connected. To do this, you may need to refer to the
electrical drawings or to the application’s specific documentation.
I - 4. The work zones
These zones limit the robot movements when it’s in automatic or test mode. The purpose of these
zones is to avoid mechanical interference.
In manual mode, the robot no longer manages these zones. It’s the operator who controls the
movements.
• 2 zones are defined on the X axis, Machine Axis AM and Arm Free Zone ZBD.
• 2 zones are defined on the Z axis, Arm Up BH and Arm Outside Mold BHM.
AM : the Machine Axis zone is placed on either side of the IMM axis. It is marked on the robot
beam with a blue arrow . In this zone, the robot is authorized to work in the IMM.
ZBD: the Arm Free Zone is placed outside the IMM. The release area is in this zone. All
movements are authorized.
BH: Arm Up zone. The Z arm must be in this zone for all robot movements between AM and ZBD.
BHM: Arm Outside Mold zone. This zone is used if the robot is in the AM zone. It enables you to
place the robot in a waiting position just above the mold, to reduce the mold unloading time.
Outside this zone, the arm can only descend if the IMM gives the Mold Open (MO) information.
X axis
IMM axis
Z axis
BH
BHM
ZBD
AM

II -Robot / IMM dialogue Axess Sepro User Manual
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II - ROBOT / IMM DIALOGUE
The robot / IMM interface is the definition of the dialogue between the robot and the IMM.
Example with a EUROMAP 12 interface :
To see the status of this information, see:
• “Enabling a manual movement of the IMM”, page 11.
• “Production - Automatic mode”, “Home page”, page 22.
- Mold open
- Door closed
- IMM in Auto / Semi-Auto
- Mold closed (part made)
- Ejectors back
- Ejectors forward
- Cores in position 1
- Cores in position 2
- Emergency stop
- Intermediate mold open position
- Bad part (reject)
- Arm Free Safety
- Enable IMM cycle
- Enable ejectors back
- Enable ejectors forward
- Enable core movement to position 1
- Enable core movement to position 2
- Enable end of opening
- Emergency stop
- Without robot
Information sent by the robot
to the IMM
Information sent by the IMM
to the robot

Axess Sepro User Manual III -Quick reference
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III - QUICK REFERENCE
III - 1.The axes
III - 2.Powering up
• When you power up, the screen displays: NO POWER
• Press to power up again and cancel the fault.
Y-
X+
Z+
Z-
Y+
X-

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III - 3.Navigating
III - 3. 1. The modes
• Automatic mode for production. This mode is used when the selected
program has been fine-tuned. It allows you to start production, after a cycle
optimization phase.
• Test mode for mold changes. This mode is used for selecting the cycle to be
run, creating and fine-tuning new cycles.
• Manual mode for carrying out movements that are controlled by the user.
This mode is used in particular for the following operations:
- Initializing the axes.
- Setting the EOATs and the peripheral units.
• Without robot mode . This mode is used for operating the IMM without
the robot, in particular when fine-tuning IMM cycles, without the robot unloading
the parts.
• Programming mode for creating programs. This mode is described in the
Programming Manual.
Note: When you select a mode, you stop the mode currently running.

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III - 3. 2. The function keys
• Each mode has its own distinct home page. Various functions are displayed on the bottom
of each screen. To access these functions, you must select the corresponding function key
on the keyboard:
• If there are more than 5 functions, to access the functions that are not visible,
select .
• When a function is active, the tab is "lit up". Example:
• In general, a function contains sub-functions. The same principles apply.
III - 3. 3. Returning to the previous screen
To exit a function or a sub-function, use until you get to the screen you want.
III - 3. 4. Locking the numeric pad .
By pressing the key, you get:
• Led on and numeric pad locked -> for entering figures.
• Led off and numeric pad unlocked -> for using the arrows.
-> /2
PARAM 1mm... CONT. Kv15%
Only the CONT. function is active