HYRobotics TSa-200SI User manual

Read this manual completely prior to installing, operating or
Per performing maintenance on this equipment
User Manual
TSα Take-out Robot
TSα-200SI/DI ■ TSα-300SI/DI
TS-200SI/DI ■ TSα-350S/D
TSα-450S/D ■ TSα-550S/D
TSα-650S/D ■ TSα-850S/D
TSα-1300S/D ■ TSα-2000S
TSα-3000S

i
Selling, Installing and Using the Product not in Manufacturing Country
zWhen the products and any parts of the products is to be taken foreign country after delivery
to the original purchaser, the purchaser should obtain legal permission to export the products
according the laws in both exporting and importing country. HY Robotics Co,. Ltd. will not
have any responsibility whatsoever if seller, purchaser and user exports the products without
following the requirement procedure.
Disclaimers
zEvery effort was made to ensure that the information in this manual was complete and
accurate at the time of printing. However the content and any information in this manual is
subject to change without notice.
zHY Robotics Co,. Ltd. assume no responsibility for any errors or omissions in this document
zAny recommendation about manual amendment is always welcomed.
zThe content include in this manual is intended to serve as reference data concerning the
machine in this manual. HY Robotics Co. Ltd is not legally bound in any way whatsoever by
these data.
zHY Robotics Co,. Ltd. assumes no responsibility whatsoever for damage or lost profits
resulting from modification, disassembly, misuse, inadequate installation environment, or any
other situation beyond our control.
zHY Robotics Co,. Ltd assumes no responsibility whatsoever for damage or lost profits
resulting from the use of this equipment.
zThe information contained herein is the property of HY Robotics Co., Ltd. and shall not be
reproduced in whole or in part without prior written approval of HY Robotics Co., Ltd.
TSα User Manual
Ver 2.00

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Attention Marks
Danger, Warning, Caution, Notice
This document use following attention mark for the safety of operation
A “ NOTICE “ provides supplementary information, emphasized a point or
procedure, or gives a tip for easier operation.
If the actions indicated in a “ DANGER” are not compiled with, death or
serious damage of major equipment could results.
If the actions indicated in a “ WARNING” are not compiled with, serious
injury or major equipment damage could results.
If the actions indicated in a “ CAUTION” are not compiled with, some injury
or damage could results.

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OPERATIONAL WARNINGS
zThe robot must be installed in as safe and secure manner by professionals familiar with
zThe robot must be installed in a safe and secure manner by professionals familiar with the
structural engineering principles related to the installation of large industrial equipment.
The information on the following pages can be used as a guide to help you install your
robot. The customer must have the installation plan for the selected site verified to be
adequate by a structural engineer or a similarly qualified professional. HY Robotics Co.Ltd
can not accept any responsibility for damage due to improper installation
zThe robot motion area is as follows, this area is the dangerous area of the robot. Be sure
to operate the robot outside the safety fence. If you enter the robot motion area during
Operation, a serious accident could result.
DANGER
!

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zDo not enter robot motion area or inside the safety guard during robot operation. Do not
touch or do not allow other objects interfere with the safety fence.
zDo not remove or open safety guard during robot operation. Do not operate robot inside
of the safety guard .
zDo not place any cups or bottle that containing water or liquid on the top of robot or
controller. It may cause of electric shock.
zDo not place any small metal (Clip, Screw, Tool, etc) on the robot body and control box.
If such a piece of metals get in to the inside of robot body or controller, a electric short
may occur and cause of fire.
zDo not place any heavy obstacle or object on the robot body and controller. It may
damage the robot surface as well as deform the structure of robot and it may fall directly
to the person.
zDo not use an extremely flammable spray near by the robot. It may cause a fire.
zIf any air leakage is detected from robot , stop immediately the robot or activate E-Stop
function. Lock out and Tagout until the problem fixed.
zWhen an error occur during operation, stop the robot immediately, find the cause of
error and follow the step to re-start robot.
zMake sure following before turn on the power of robot
Confirm there in no person in the motion area of robot
Confirm the location of handy controller and tool is required place
Confirm there is no obstacle on the robot and in the area of robot motion
WANRING
!

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zIf any of the following cases should occur, stop the operation with E-Stop button
immediately and turn off the power. If you continue the operation of machine under such
conditions, a fire may result in the worst case.
When fume rises from the robot body or control box, or the outside surface of the
robot emits abnormal heat.
When there is any abnormal noise from the robot.
When any water, or foreign obstacle is inside of the robot
zStop the robot immediately when abnormal symptom happens during operation. When an
error occurs during operation, the robot stops and alarm sounds and the error code displays
on the handy controller. Press Stop button to silence the alarm. Check error table for a
description of the error.
WANRING
!

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zIf the following items are contained to the air, do not use it. Use only clean air.
Acid
Organic solvents
Chlorine gas
Sulfur dioxide
Compressor oil
zDo not drop or give any strong shock the the handy controller. It may be cause of
malfunction.
zHandle with care with pneumatic line. It may be cause of leaks.
zMake sure the operation environment (Motion area, Safety Guard) should be proper for
operation of machine equipments.
zOperate the robot with only healthy , good and normal body and mental condition.
zDo not use handy teach palm pendant (Controller) which contact with water or oil
zMake sure the operating environment is as follows
Operation Temperature : 0℃ ~+40℃ (32℉ ~+104℉)
Storage Temperature : –25℃ ~+55℃ (-13℉ ~ +131℉)
Humidity : 35 % RH ~85 % RH (without condensation ).
CAUTION
!

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zWhen setting up the robot arm in the mold area by Manual Mode, take really care that the
robot arm does not contact with the mold or tie bar. Make sure to operate the robot
outside the safety guard.
zDo not use an operation fluid other than clean compressed air
zRegulate the air pressure as specified.
zIf don’t operate the robot for several days or long period of the time due to plant shutoff
or vacation, Turn OFF the control power.
zProper working clothes, helmet and protective shoes required for operating and setting up
the robot (Personal protective Equipment)
Do not operator robot without safety helmet or shoes.
Do not wear necktie and necklace, bracelet etc
CAUTION
!

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MAINTENANCE WARNINGS
zBefore cleaning, inspecting, repairing, adjusting, or performing maintenance on the take-
out, be sure to turn OFF the control power and pull out the plug and follow Lock out / Tag
out Procedure. If you attempt to perform the cleaning without turning OFF the control
power, electric shock. may happen.
zOnly a qualified person is allowed to open the cover or panel of the take-out robot.
zAssign one qualified person who will control safety of the robot. and need to be trained by
the manufacturing company or agency how to control robot and about safety
zBe sure to release pneumatic pressure before replacing a filter bowl.
zBefore handling ROM, turn off the control power. Use ROM Remover to pull the ROM out.
Do not drop the ROM and expose it to strong shock.
WARNING
!

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POWER RELATED WARNINGS
zHandle with care with power cable, do not pull and bend. Do not place heavy object on the
cable (No folk lift passing on the power cable). Use cable tie to organize power cable for
safety. (Damaged cable could be the cause of fire or electric shock.
zUsing unspecified Extension cable cause abnormal symptoms including heat and fire.
zOnly qualified personal should try to install Electrical power and ground to the robot.
zConnect the earth terminal of the plug to the earth terminal of the plug socket
WARNING
!

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zPower off when connect or disconnect any connector of robot
zLockout / Tagout before opening the control box
zConnect the earth terminal of the plug to a class D grounding terminal
WARNING
!

xi
Safety Signs
There are safety signs on the robot like below figures. Respect and follow the messages on these
signs when operating or performing maintenance on the robot. Do not peel off these labels or signs

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1 Introduction ........................................................................................................................................................... 1
1.1 Robot Assembly......................................................................................................................3
1.2 Robot Body .............................................................................................................................4
1.3 Handy Controller Function .....................................................................................................5
1.4 Interlock and Control Box ......................................................................................................6
1.5 Each Axis................................................................................................................................7
2 Before Operation ................................................................................................................................................... 9
2.1 Before Operation ................................................................................................................. 11
2.1.1 Air regulator .............................................................................................................. 11
2.1.2 Vacuum Verification Sensor Adjustment .................................................................. 12
2.2 Before Starting (Preventative Maintenance Schedule) ....................................................... 13
2.3 Adjust Kick/Return Cylinder ............................................................................................... 15
2.4 Down Stroke Adjustment..................................................................................................... 17
2.5 Speed Control for Down, Kick, Rotation............................................................................. 18
3. START UP / STOP............................................................................................................................................... 21
3.1 STEP FOR START-UP........................................................................................................ 23
3.2 Start Up .............................................................................................................................. 24
3.3 Stop Operation ..................................................................................................................... 25
3.4 Emergency Stop ( EMO Stop ) ............................................................................................ 26
3.5 Restoring Emergency Stop.................................................................................................. 26
4 OPERATION ....................................................................................................................................................... 27
4.1 Screen Structure.................................................................................................................. 29
4.2 Initial Screen........................................................................................................................ 30
4.3 Searching Robot Origin Point .............................................................................................. 31
4.4 Manual Mode........................................................................................................................ 32
4.1.1 Timer Set Up ............................................................................................................. 35
4.1.2 Counter ...................................................................................................................... 39
4.1.3 Motion Mode.............................................................................................................. 41
4.1.4 Creating Mold File..................................................................................................... 63
4.1.5 Delete Mold File ........................................................................................................ 68
4.1.6 Setting Basic Motion Pattern .................................................................................... 70
4.1.7 Step Run .................................................................................................................... 75
CONTENTS

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4.1.8 Input and Output signal check................................................................................... 76
4.1.9 Position Set with Number Input ................................................................................ 78
4.1.10 Position Setting with Jog Input ................................................................................. 81
4.1.11 Speed Setting ............................................................................................................ 83
4.5 Auto Mode............................................................................................................................ 85
4.6 Error Log ............................................................................................................................. 86
4.7 Version Information............................................................................................................. 87
4.8 Time for Arm Slow Down.................................................................................................... 88
4.9 Error Recovery .................................................................................................................... 89
4.10 Change Language ................................................................................................................ 90
4.11 Robot and Program maintenance Screen............................................................................ 91
4.12 Waiting Device (Option) ...................................................................................................... 93
5 Follow Up ............................................................................................................................................................. 95
5.1 Motion Pattern Selection ..................................................................................................... 97
5.2 Start Up................................................................................................................................ 98
5.3 Move to Origin ..................................................................................................................... 98
5.4 Set Position.......................................................................................................................... 99
5.5 Speed Setting..................................................................................................................... 102
5.6 Timer Setting..................................................................................................................... 103
5.7 Mold Create ....................................................................................................................... 104
5.8 Step Run............................................................................................................................. 105
5.9 Auto Mode.......................................................................................................................... 105
6 Error................................................................................................................................................................... 107
6.1 Error Screen ...................................................................................................................... 109
6.2 Error List ........................................................................................................................... 109
6.2.1 Communication Related........................................................................................... 109
6.2.2 Motor Related .......................................................................................................... 110
6.2.3 Pneumatic ................................................................................................................ 111
6.2.4 Sol valve .................................................................................................................. 112
6.2.5 Machine Abnormality............................................................................................... 112
6.2.6 Interlock Related ..................................................................................................... 113
6.2.7 Operation Error ....................................................................................................... 113
6.2.8 Internal Program Error............................................................................................ 113
Appendix ....................................................................................................................................................................... 115
A. Specification ......................................................................................................................... 117
B. External Dimension .............................................................................................................. 118

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B.1 TSα-200DI dimension................................................................................................. 118
B.2 TSα-300DI dimension................................................................................................. 119
C. Safe guarded space .............................................................................................................. 120
C.2 TSα-200DI .................................................................................................................. 120
C.2 TSα-300DI .................................................................................................................. 121
H. Air Chart............................................................................................................................... 122