Delta Electronics HMC Series User manual

June, 2015 1-1
Preface
Thank you for purchasing our product. You can find the information related to take-out
arm for injection molding machine in this application noteduring inspection, installation,
wiring, operation and examination.
The following information describes the purpose and application:
Control System (Chapter 1)
Operation (Chapter 2)
Program Usage and Editing (Chapter 3)
System Setting (Chapter 4)
Troubleshooting (Chapter 5)
Others (Chapter 6)
Examples (Chapter 7)
Product Features
Distributed fieldbus control: High precision and high speed motion, quick
response and can be easily constructed.
Built-in functions: Inhibited zone, protection in inner molding area, and
protection mechanism.
Smoothing function: Continuously smooth the interpolation.
Ejector protection: Protect the ejector when it moves forward.
Adaptive moving: Each axis can do adaptive moving with the setting of
torque limit.
Flexibly carry out stacking command
Template program: 10 program templates for customized setting
Provides huge amount of command program: With 1000 programs and up to
400 commands can be edited in one program.
Supports dual system
Technical Support
If you have any technical question, please contact local distributers or Delta’s
service center.

HMC Take-out Robot for Injection Molding Machine
2 June, 2015
(This page is intentionally left blank.)

HMC Take-out Robot for Injection Molding Machine
June, 2015 3
Table of Contents
Control System 控
1.1 Features···································································································· 8
1.2 System Specifications and Configuration ···························································9
1.2.1 Controller··························································································· 9
1.2.2 Servo System ····················································································· 11
1.2.3I/O Module ························································································· 17
1.3 Wiring Description······················································································· 21
Operation 操
2.1 Screen Configuration···················································································28
2.1.1 Main Screen······················································································· 28
2.1.2 Status Bar·························································································· 29
2.1.3 Function Keys····················································································· 29
2.2 Start-up Procedure······················································································ 31
2.3 Description of Authority for Different Users······················································· 33
2.3.1 User Level·························································································· 33
2.3.2 Login/Logout······················································································· 35
2.4 System Setting before Motion being Executed ··················································36
2.5 Homing / Return to Standby Point ··································································37
2.5.1 Homing ····························································································· 38
2.5.2 Return to Standby Point ········································································ 39
2.6 Operate in Manual Mode·············································································· 41
2.6.1 Troubleshoot in Jog Mode ····································································· 42
2.6.2 Jog with Unlimit Range ········································································· 43
2.6.3 Jog with Limit Range ············································································ 44
2.6.4 Jog with the Set Target ········································································· 45
2.6.5 Adaptive Moving·················································································· 46
2.7 Trail Run Operation····················································································· 47

HMC Take-out Robot for Injection Molding Machine
4 June, 2015
2.8Auto Operation···························································································49
2.9 Signal Monitoring························································································52
2.10 Auxiliary Key ····························································································· 52
Program Usage and Editing 程
3.1 Program Manager·······················································································55
3.2 Loading and Editing a Program······································································58
3.3 Description of Edit Function in Teach Mode ······················································58
3.4 Description of Program Setting ······································································ 60
3.5 Description of Program Command ··································································62
3.5.1 Motion for Each Axis············································································· 62
3.5.2 Program Motion···················································································70
3.5.3 Procedure ·························································································· 74
3.5.4 Others······························································································· 77
System Setting 系
4.1 Status Display about Motion Setting································································ 81
4.2 Servo Setting·····························································································82
4.3 Moving Distance and Safety Zone Setting························································ 83
4.3.1 Moving Distance·················································································· 83
4.3.2 Safety Zone························································································85
4.4Setting for System Operation ········································································ 85
4.4.1 Motion Setup ······················································································ 85
4.4.2 Motion Confirmation············································································· 86
4.5System Parameters Setting ·········································································· 87
4.5.1 Applied Mechanism·············································································· 87
4.5.2 Information about Operation···································································88
4.5.3 HMC Controller Setting ·········································································89
Troubleshooting 異
5.1 Screen of Alarm ·························································································92

HMC Take-out Robot for Injection Molding Machine
June, 2015 5
5.2 Servo Alarms and Troubleshooting·································································93
5.3 System Alarm and Troubleshooting ································································ 94
Others 其
6.1 Procedures of using USB Disk to [Export] / [Import]············································97
6.2 Update the System Screen via USB Disk·························································99
Examples 使
7.1 Applying New Program ················································································103
7.2 Applying Program Template··········································································106

HMC Take-out Robot for Injection Molding Machine
6 June, 2015
(This page is intentionally left blank.)

HMC Take-out Robot for Injection Molding Machine
June, 2015 7
Control System
Please select the servo drives and motors from the list mentioned in this chapter when
applying this control system. Pay attention to the safety precautions during installation,
wiring, operation and examination. As for the detailed information of each product,
please refer to the corresponding user manual.
1.1 Features·····························································································8
1.2 System Specifications and Configuration···················································9
1.2.1 Controller······················································································9
1.2.2 Servo System ··············································································11
1.2.3 I/O Module ··················································································17
1.3 Wiring Description··············································································21

HMC Take-out Robot for Injection Molding Machine
8 June, 2015
1.1 Features
This system adopts Delta’s HMC distributed motion control framework for easier and
more flexible multi-axis control.

HMC Take-out Robot for Injection Molding Machine
June, 2015 9
1.2 System Specifications and Configuration
1.2.1 Controller
Model name of HMC controller
HMC Model
Applicable System
HMC07-N411H5C/
HMC07-N411H5A
12 axes and below
Definition of color thread
Part Number for Wiring
N411H5C5:Type A: Wire length (5M)
N411H5CA: Type B: Wire length (10M)
Color
Name
Description
White/Purple
EMG_1
Emergency switch-B contact; users can connect this contact to
the safety device.
White/Green
EMG_1
Emergency switch-B contact; users can connect this contact to
the safety device.
Blue
EMG_2
Emergency switch-B contact; users can connect this contact to
the safety device.
White/Blue
EMG_2
Emergency switch-B contact; users can connect this contact to
the safety device.
Red
Power
System power 24V+
Black
PGND
Ground for system power 0V
White
EGND
Grounding
Yellow
RS485_+
Modbus RS-485+
White/Yellow
RS485_-
Modbus RS-485-
Black/White
CGND
Grounding for communication
Brown
CGND
Grounding for communication
Brown/White
CGND
Grounding for communication
Red/White
N/A
(Reserved)
RJ45 Blue
DMC
DMCNET. Connect to DMCNET communication port.
Note: For safety concerns, please connect contact A and B to system loop
Wiring for Peripheral Devices
(1) Use DMCNET (RJ45-blue) to connect servo drive or DMCNET modules.

HMC Take-out Robot for Injection Molding Machine
10 June, 2015
Note:
1. Select one port for connection.
2. DMCNET wiring is a serial communication loop. Please connect to a terminal
resistor at the end of the loop.
(2) Use DMCNET I/O (a RJ45 line from servo driver) to connect I/O module

HMC Take-out Robot for Injection Molding Machine
June, 2015 11
1.2.2 Servo System
Please refer to ASDA series user manual for further information:
Website:
http://www.deltaww.com/services/DownloadCenter2.aspx?secID=8&pid=2&tid=0&CI
D=06&itemID=060201&typeID=1&downloadID=,&title=--%20Select%20Product%20
Series%20--&dataType=2;4;&check=1&hl=en-US
Model Type and Definition
Axial Name
Station Number (P3-00)
Note
Horizontal axis of primary
arm
1
ASD-M-F/ ASD-A2-F servo drive
Vertical axis of primary arm
2
ASD-M-F/ ASD-A2-F servo drive
Travel axis of primary arm
3
ASD-M-F/ ASD-A2-F servo drive
Horizontal axis of secondary
arm [5-axis take-out arm]
4
ASD-M-F/ ASD-A2-F servo drive
Vertical axis of secondary
arm [5-axis take-out arm]
5
ASD-M-F/ ASD-A2-F servo drive
Encoder Wiring
Servo Drive
Motor
CN2 Connector
Three groups of
CN2 port
Connector of
encoder cable
Connector of
motor encoder
Quick
Connector

HMC Take-out Robot for Injection Molding Machine
12 June, 2015
CN2 connector and 9 pins (3*3) on encoder side shall be connected as the following
ways:
CN2 Connector:
View from
this side
CN2 rear view of the terminal block
Encoder connector(military connector and quick connector):
Quick
Connector
View from
this side View from
this side
HOUSING：AMP (1-172161-9)
1
2
34
5
67
8
9
1 2 3
45 6
7 8 9
Military
Connector
A
E
B
D
C
HF G
LK
J
M
N
P
R S
T
3106A-20-29S
The definition of each signal is as follows:
Drive Connector
Encoder Connector
Pin No
Terminal
Symbol
Function and Description
Military
connector
Quick
connector
Color
5
T+
Serial communication
signal input/output (+)
A
1
Blue
4
T-
Serial communication
signal input/output (-)
B
4
Blue & Black
-
-
Reserved
-
-
-
-
-
Reserved
-
-
-
14,16
+5V
Power +5V
S
7
Red/Red &
white
13,15
GND
Power ground
R
8
Black/Black &
white
Shell
Shielding
Shielding
L
9
-

HMC Take-out Robot for Injection Molding Machine
June, 2015 13
Wiring for Motor Power Cable:
(1) Power cable (without brake). See the terminal as below:
Motor Side
1
2
3
4
Drive Side
U
V
W
Grounding(GND)
(2) Power cable (with brake). See the terminal as below:
Motor Side
1
2
3
4
5
6
Drive Side
U
V
Brake 1
W
Grounding(GND)
Brake 2
Homing sensor/Limit sensor/Brake wiring:
CN1 connector and its definition:

HMC Take-out Robot for Injection Molding Machine
14 June, 2015
1
NC
Reserved
26
NC
Reserved
2
DO3-
Digital output
27
NC
Reserved
3
DO3+
Digital output
28
NC
Reserved
4
DO2-
Digital output
29
/HPULSE
High-speed
position
command
pulse (－)
5
DO2+
Digital output
30
NC
Reserved
6
DO1-
Digital output
31
NC
Reserved
7
DO1+
Digital output
32
DI6-
Digital input
8
DI4-
Digital input
33
DI5-
Digital input
9
DI1-
Digital input
34
DI3-
Digital input
10
DI2-
Digital input
35
PULL
HI_S
(Sign)
Pull-high
voltage of
sign
11
COM+
Power input
（12~24V）
36
SIGN
Position
command
signal (+)
12
GND
Analog input
signal ground
37
/SIGN
Position
command
signal ( - )
13
GND
Analog input
signal ground
38
HPULSE
High-speed
position
command
pulse (＋)
14
NC
No connection
39
PULL
HI_P
(Pulse)
Pull-high
voltage of
pulse
15
MON2
Analog
monitor
output 2
40
/HSIGN
High-speed
position
command (－)
16
MON1
Analog
monitor output
1
41
/PULSE
Position
command
pulse ( - )
17
VDD
+24V power
output (for
external I/O)
42
V_REF
Speed analog
command input
(＋)
18
T_REF
Torque analog
command
input
43
PULSE
Position
command
pulse ( + )
19
GND
Analog input
signal ground
44
GND
Analog input
signal ground
20
VCC
+12 power
output (for
analog
command)
45
COM-
VDD（24 V）
power
ground
21
OA
Encoder/
A pulse output
46
HSIGN
High-speed
position
command (＋)
22
/OA
Encoder/
A pulse output
47
COM-
VDD（24 V）
power
ground
23
/OB
Encoder/
B pulse output
48
OCZ
Encoder
Z pulse
open-collector
output
24
/OZ
Encoder/
Z pulse output
49
COM-
VDD（24V）
power
ground
25
OB
Encoder/
B pulse output
50
OZ
Encoder
Z pulse
differential
output
(1) Wiring diagram for homing/limit sensor
Please refer to the followings for wiring methods of homing sensor and limit
sensor on each axis. NPN method is applied in this example. Please refer to
ASDA series user manual for PNP wiring method.

HMC Take-out Robot for Injection Molding Machine
June, 2015 15
(2) Wiring diagram for servo motor with brake (vertical axis)
Set parameter P2-20 of vertical axis to 2108 or 2008. 2108 is set as normally open
(it is usually set as normally open) while 2008 is normally close.
Parameters setting list of each axis:
Primary arm
Horizontal Axis (M)
Vertical Axis (M)
Travel Axis (M)
Original Point
P2-11 = 1124 or
1024
P2-11 = 2124 or
2024
P2-11 = 3124 or
3024
Position limit
P2-12 = 1123 or
1023
P2-12 = 2123 or
2023
P2-12 = 3123 or
3023
Negative limit
P2-13 = 1122 or
1022
P2-13 = 2122 or
2022
P2-13 = 3122 or
3022
Servo operating
direction
P1-01 = B or 10B
P1-01 = B or 10B
P1-01 = B or 10B
Parameter for
station number
P3-00 = 1
P3-00 = 2
P3-00 = 3
Communication
Rate
P3-01 = 203
P3-01 = 203
P3-01 = 203
Brake setting in
non-volatile area
P3-10 = 11
P3-10 = 11
P3-10 = 11
E-gear ratio
setting in
non-volatile area
P3-12 = 100
P3-12 = 100
P3-12 = 100
Software limit stop
P4-25 = 11
P4-25 = 11
P4-25 = 11
No parameter is
applied
P2-10 = 1100
P2-10 = 2100
P2-10 = 3100
No parameter is
applied
P2-14 = 1100
P2-14 = 2100
P2-14 = 3100
No parameter is
applied
P2-15 = 1100
P2-15 = 2100
P2-15 = 3100

HMC Take-out Robot for Injection Molding Machine
16 June, 2015
Assistant Arm
Horizontal Axis (A2)
Vertical Axis (A2)
Original Point
P2-11 = 1124 or
1024
P2-11 = 2124 or
2024
Position limit
P2-12 = 1123 or
1023
P2-12 = 2123 or
2023
Negative limit
P2-13 = 1122 or
1022
P2-13 = 2122 or
2022
Servo operating
direction
P1-01 = B or 10B
P1-01 = B or 10B
Parameter for
station number
P3-00 = 4
P3-00 = 5
Communication
Rate
P3-01 = 203
P3-01 = 203
Brake setting in
non-volatile area
P3-10 = 11
P3-10 = 11
E-gear ratio
setting in
non-volatile area
P3-12 = 100
P3-12 = 100
Software limit stop
P4-25 = 11
P4-25 = 11
No parameter is
applied
P2-10 = 1100
P2-10 = 2100
No parameter is
applied
P2-14 = 1100
P2-14 = 2100
No parameter is
applied
P2-15 = 1100
P2-15 = 2100
Note:
1. The above setting is for reference only. Please setup parameters according to the servo
drive you applied.
2. P2-11 (for setting the original signal) is set to 1124. It means this sensor is a normal
open signal and 1024 represents normally close.

HMC Take-out Robot for Injection Molding Machine
June, 2015 17
1.2.3 I/O Module
Applied Model
Model
Communication Interface
HMC-RIO3232RT5
DMCNET
Product Appearance and Introduction of Each Part
Power Supply and Wiring
(1) Power supply for I/O Module

HMC Take-out Robot for Injection Molding Machine
18 June, 2015
For protecting the circuit, please connect right.

HMC Take-out Robot for Injection Molding Machine
June, 2015 19
(2) Input Point Wiring
DC Signal IN
Wiring Circuit
Note
SINK Mode
1) The module shall connect to
external +24V power.
2) Please switch the SWITCH to
H as the input mode.
3) Use SINK mode to connect
the external output / input
contact to X input point.
SOURCE
Mode
1)The module shall connect to
external +24V power.
2) Please switch the SWITCH to
L as the input mode.
3) Use SOURCE mode to
connect the external output /
input contact to X input point.
(3) Output Point Wiring
DC Signal IN
Wiring Circuit
Note
Transistor
NPN Mode
1) The module shall connect to
external +24V power.
2) Y16 ~ Y31 are transistor type
output. Connect it to the control
device or load. DO NOT connect to
AC power and AC load and exceeds
the specification.
Relay Mode
1)The module shall connect to
external +24V power.
2) Y0 ~ Y15, YC0 ~ YC15 are relay
type output. Connect it to the control
device and load. It can connect to
AC power and AC load. DO NOT
exceeds the electrical
specifications. It might shorten the
lifetime of relay.
(4) I/O number and defintion of each point
Output
point
Function
Output
point
Function

HMC Take-out Robot for Injection Molding Machine
20 June, 2015
Y0
Allow mould close
X0
Mould open finish
Y1
Allow mould open
X1
Safety door
Y2
Mould area free
X2
Automatic
Y3
Allow ejector forward
X3
Ejector forward position
Y4
Allow ejector back
X4
Ejector back position
Y5
IMM emergency stop
X5
Mid-plate mould
Y6
Spray release agent
X6
Intermediate mould opening
Y7
Conveyor operation
X7
Emergency stop of IMM
Y8
PA. Horizontal
X8
PA. Horizontal Sensor
Y9
PA. Vertical
X9
PA. Vertical Sensor
Y10
Clamp/vacuum 1
X10
Clamp/vacuum 1
Y11
Clamp/vacuum 2
X11
Clamp/vacuum 2
Y12
Extend output 5
X12
Peripheral Input 3
Y13
Clamp/vacuum 4
X13
Clamp/vacuum 4
Y14
SA. Fall
X14
Reserved
Y15
Sub Clamp/vacuum
X15
Sub Clamp/vacuum
Y16
SA. Forward
X16
SA. upper safety sensor
Y17
Alarm buzzer
X17
Inside mould sensor
Y18
Clamp/vacuum 5
X18
Clamp/vacuum 5
Y19
Clamp/vacuum 6
X19
Peripheral Input 5
Y20
Extend output 1
X20
Peripheral Input 1
Y21
Extend output 2
X21
Peripheral Input 2
Y22
Operation lights
X22
Peripheral Input 3
Y23
Extend output 6
X23
Pressure Monitor
Y24
Extend output 7
X24
SP. outside mold
output Allow mould close
Y25
Extend output 8
X25
Peripheral Input 6
Y26
Extend output 9
X26
Peripheral Input 7
Y27
Extend output 10
X27
Reject
Y28
Allow Core 1 In
X28
Core 1 In sensor