MUSASHI ENGINEERING SHOTMASTER QX Series SHOTMASTER SX Series User manual
SHOTMASTER ΩX series
SHOTMASTER SXseries
and customized products based on above products
* Model, please refer to the Model List of P.2
MODEL
Original instructions
2
Introduction
Thank you for purchasing the Musashi Desktop Robot ΩX/SX Series.
Please read this instruction manual thoroughly before using this robot and use the product properly.
The list of product models in this operation manual is shown in the table below.
100 200 300 400 500
-SM200ΩX-3A-SS SM300ΩX-3A-SS SM400ΩX-3A-SS SM500ΩX-3A-SS
-SM200ΩX-3A-EXT50-SS SM300ΩX-3A-EXT50-SS SM400ΩX-3A-EXT50-SS SM500ΩX-3A-EXT50-SS
-SM200ΩX-3A-EXT100-SS SM300ΩX-3A-EXT100-SS SM400ΩX-3A-EXT100-SS SM500ΩX-3A-EXT100-SS
-SM200ΩX-4A-SS SM300ΩX-4A-SS SM400ΩX-4A-SS SM500ΩX-4A-SS
-SM200ΩX-4A-EXT50-SS SM300ΩX-4A-EXT50-SS SM400ΩX-4A-EXT50-SS SM500ΩX-4A-EXT50-SS
-SM200ΩX-4A-EXT100-SS SM300ΩX-4A-EXT100-SS SM400ΩX-4A-EXT100-SS SM500ΩX-4A-EXT100-SS
SM100SX-3A SM200SX-3A SM300SX-3A SM400SX-3A SM500SX-3A
- SM200SX-3A-EXT50 SM300SX-3A-EXT50 SM400SX-3A-EXT50 SM500SX-3A-EXT50
- SM200SX-3A-EXT100 SM300SX-3A-EXT100 SM400SX-3A-EXT100 SM500SX-3A-EXT100
SM100SX-3A-SS SM200SX-3A-SS SM300SX-3A-SS SM400SX-3A-SS SM500SX-3A-SS
- SM200SX-3A-EXT50-SS SM300SX-3A-EXT50-SS SM400SX-3A-EXT50-SS SM500SX-3A-EXT50-SS
- SM200SX-3A-EXT100-SS SM300SX-3A-EXT100-SS SM400SX-3A-EXT100-SS SM500SX-3A-EXT100-SS
- SM200SX-3A-Z - - -
- SM200SX-3A-Z-EXT50 - - -
- SM200SX-3A-Z-EXT100 - - -
- SM200SX-3A-Z-SS - - -
- SM200SX-3A-Z-EXT50-SS - - -
- SM200SX-3A-Z-EXT100-SS - - -
- SM200SX-3A-SS-01 - - -
- SM200SX-3A-EXT50-SS-01 - - -
- SM200SX-3A-EXT100-SS-01 - - -
-
SM200SX-3A-STK (※1) SM300SX-3A-STK (※1) SM400SX-3A-STK (※1) -
-
SM200SX-3A-SS-01-STK (※1) SM300SX-3A-SS-STK (※1) SM400SX-3A-SS-STK (※1) -
- SM200SX-4A SM300SX-4A SM400SX-4A SM500SX-4A
- SM200SX-4A-EXT50 SM300SX-4A-EXT50 SM400SX-4A-EXT50 SM500SX-4A-EXT50
- SM200SX-4A-EXT100 SM300SX-4A-EXT100 SM400SX-4A-EXT100 SM500SX-4A-EXT100
- SM200SX-4A-SS SM300SX-4A-SS SM400SX-4A-SS SM500SX-4A-SS
- SM200SX-4A-EXT50-SS SM300SX-4A-EXT50-SS SM400SX-4A-EXT50-SS SM500SX-4A-EXT50-SS
- SM200SX-4A-EXT100-SS SM300SX-4A-EXT100-SS SM400SX-4A-EXT100-SS SM500SX-4A-EXT100-SS
Stroke X-Y direction (mm)
Model
ΩX
series
SX
series
This product includes the main unit and standard accessories. Be sure to see "Check Supplied Accessories" (p. 13) and
check that all items are included. If any item is missing, please contact the point of purchase or our sales department.
*1 ： This product consists of some items below.
SHOTMINI 200SX[3 AXES] SM200SX-3A
○
SHOTMINI200SXMAIN UNIT [3AXES TYPE 01 SYNCHRO SPEED FUNCTIONFOR STK] SM200SX-3A-SS-01-MU-STK
○
WORK BASE [200MMM4] SMDS-WB200-M4
○ ○
SHOTMASTER 300SX[3AXES] SM300SX-3A
○
SHOTMASTER 300SX MAIN UNIT [3AXES SYNCHRO SPEED FUNCTION FOR STK] SM300SX-3A-SS-MU-STK ○
WORK BASE [300MMM4] SMDS-WB300-M4
○ ○
SHOTMASTER 400SX[3AXES] SM400SX-3A
○
SHOTMASTER 400SX MAIN UNIT [3AXES SYNCHRO SPEED FUNCTION FOR STK] SM400SX-3A-SS-MU-STK ○
WORK BASE [400MMM4] SMDS-WB400-M4
○ ○
HOLDER UNIT BRACKET [WITHPOSITIONING PIN] SMX-HB-2
○ ○ ○ ○ ○ ○
CHINESE STICKER [FOR SHOTMASTER OMEGAX/SX] SMX-BODY-STK-CN
○ ○ ○ ○ ○ ○
TEACHING PENDANT SET [FOR STK] SMX-TP-21-SET-STK ○ ○ ○ ○ ○ ○
HOLDER UNIT [COMPATIBLE FOR 20~70ML USE POSITIONING PIN] SMX-HS-50
○ ○ ○ ○ ○ ○
NOZZLE GUIDE [SHN] SM-NG-SHN
○ ○ ○ ○ ○ ○
DISPENSER CONNECT CABLE [TYPE 16 4PIN] SM-CB-1604P
○ ○ ○ ○ ○ ○
INSTRUCTION MANUAL [FOR SHOTMASTER OMEGAX/SX SERIES JPN] DOC-MN-SMX-CE-J
○ ○ ○ ○ ○ ○
INSTRUCTION MANUAL [FOR SHOTMASTER OMEGAX/SX SERIES ENG] DOC-MN-SMX-CE-E
○ ○ ○ ○ ○ ○
INSTRUCTION MANUAL [FOR SHOTMASTER OMEGAX/SX SERIES SC] DOC-MN-SMX-CE-SC
○ ○ ○ ○ ○ ○
INSTRUCTION MANUAL [FOR SHOTMASTER OMEGAX/SX SERIES K] DOC-MN-SMX-CE-K
○ ○ ○ ○ ○ ○
INSTRUCTION MANUAL [FOR SMX-HB JP] DOC-MN-SMX-HB-J
○ ○ ○ ○ ○ ○
INSTRUCTION MANUAL [FOR SMX-HB ENG] DOC-MN-SMX-HB-E
○ ○ ○ ○ ○ ○
INSTRUCTION MANUAL [FOR SMX-HB CN] DOC-MN-SMX-HB-SC
○ ○ ○ ○ ○ ○
INSTRUCTION MANUAL [FOR SMX-HB KOR] DOC-MN-SMX-HB-K
○ ○ ○ ○ ○ ○
INITIAL STARTUP PROCEDURE MANUAL [SHOTMASTER USE JP/EN/CN/KR] DOC-MN-SMX-ISP-JESCK
○ ○ ○ ○ ○ ○
○：Composed
SM400SX-3A
-SS-STK
SM200SX-3A-STK
SM300SX-3A-STK
SM400SX-3A-STK
SM200SX-3A
-SS-01-STK
SM300SX-3A
-SS-STK
Item name
Model
3
Features
User Friendly
This robot has excellent general-use application due to the newly developed teaching pendant, rich selection of
commands, and various interpolation functions so that it can be used in a wide range of applications from research
and development to mass production.
High Precision
High repetitive positioning accuracy of ±0.005mm has been achieved for the XYZ direct-drive shafts (ΩX series).
High-Speed Operation
The maximum operation speed of 800 mm/s contributes to reduced tact time (SX series).
Wide range of product variations
This robot is applicable to wide variety of uses.
・ 100 mm - 500 mm stroke in the X - and Y - axes as standard lineup.
・ Line-up of the 3-axis model with the standard XYZ axes (hereinafter 3A) and the 4-axis model with the
additional W axis (hereinafter 4A).
CE Marking Compliance
This robot (SM100, SM200SX series) conforms to the Low Voltage Directive and EMC Directive.
This robot (SM300, 400, 500SX series, SMΩX series) conforms to the Machine Directive and EMC Directive.
Handling Instructions and Cautions
Description of the symbols shown on the product
Failure to follow the instructions described below can lead to serious injury or death.
This symbol indicates areas of dangerous levels of voltage.
Grounding Mark (shown inside the chassis)
This symbol indicates that the product cannot be disposed of as household waste.
For recycling, electric and electronic equipment and batteries must be handed over to an
appropriate collection organization for disposal. Follow the laws and regulations of each country
and region when disposing of the product and the supplied accessories.
Recycling of the materials helps conserve natural resources and protect human health and
environments.
A coin-type lithium primary battery is used in this product.
4
Handling Instructions and Cautions
WARNING
Failure to follow the instructions shown below can lead to death or serious injury.
Any operations not described in this instruction manual are prohibited.
Be sure to read this manual to use the product safely. Be
sure to read this manual to use the product safely.
When using the power cord, follow the instructions below.
Use only the standard power cord that comes with the
product. Do not modify it.
Make sure that the power cord is free from heavy load
and excessive tension.
Be sure to hold the plug while pulling out the power
cord.
Before connecting the power cord, make sure that the
robot power is turned off. Fully insert the plug into the
power outlet.
Periodically clean the power cord plug to remove any
dust.
Be sure to unplug the power cord before fuse
replacement, inspection or lubrication.
Before connecting the power cord, make sure that the
robot power is turned off. Fully insert the plug into the
power outlet.
Failure to follow any of the above instructions may cause a fire,
electric shock, or injury.
Do NOT disassemble or modify this product.
This may cause fire, electric shock or injury. Contact the Musashi
Sales Department for repairs.
Do not bring the robot near to any fire, explosive matter, or
flammable/corrosive gas atmosphere. Do not wash the robot
with water.
Doing so may cause an explosion, fire or electric shock.
Do NOT use liquid solvents to clean the robot.
Some types of liquid may erase the product marking,
resulting in a product failure due to a connection error or
an unexpected injury.
Do NOT place this robot on an unstable location.
The product may fall and cause injury.
Use a power supply meeting the power supply
specifications (100 to 240 V AC, single phase, 50/60 Hz).
Failure to follow this instruction may cause a burnout, fire, or
electric shock.
Be sure to ground the robot (type D grounding).
Failure to ground may cause a fire, electric shock, injury,
desktop robot malfunction or damage.
When connecting the ground wire, make sure that each
connector is not loose, has no leaks and is connected
appropriately.
If this check is omitted, you may be exposed to danger.
When handling liquid materials, work most carefully
following the Material Safety Data Sheet (MSDS).
When any volatile liquid material is used, install an
appropriate ventilation system.
Volatile liquid may cause an adverse effect to human health.
When installing a Musashi dispensing device to the
desktop robot, install the holder unit according to the
installation example. (Please see p. 21.)
Otherwise the liquid material may be applied incorrectly,
causing an injury or machine damage.
To use any tool or work prepared by the customer, the
customer must conduct a risk assessment, implement
appropriate safety measures, and provide warning labels
for any residual risks.
Failure to do so may cause danger.
Do NOT touch the product with your hand or move your
face near its operating area during operation.
Doing so may cause an injury.
When using our desktop robot (SM300, 400, 500SX series,
SMΩX series) conforming to the Machine Directive in a region
requiring CE marking certification, also use the protective
cover (SMX-CV-DR-CE, SMX-CV-OP-CE) provided as our
standard option.
If you prepare another protection mechanism instead of our
protection cover, install an appropriate safety
fence/safeguard or provide an interlock mechanism
corresponding to the safety category 3 (please see p.249).
In addition, install an earth leakage breaker (rated current 10
A, rated voltage 100 to 240 V, rated breaking capacity 2.5 kA)
before the AC power outlet.
Failure to follow these instructions may cause a fire, electric
shock, injury or machine damage.
Before starting an operation or work, be sure to check the
following items.
Record the check results in a record sheet and store the
sheet.
There shall be no obstacle or person in the safeguard
area.
The [URGENCY STOP] or [EMERGENCY STOP] button
shall function correctly.
The interlock mechanism shall function correctly.
The fan at the back of the desktop robot shall operate.
If this check is omitted, you may be exposed to danger.
When the customer constructs an interlock mechanism,
the work must be performed only by a technician who is
familiar with the related safety standards as well as the
contents of this manual.
Failure to follow this instruction may cause an injury or
machine damage.
Do not put your hand under the head or the mounting unit.
Before taking out a work, confirm that all axes are located
at their origins.
If the Z axis lowers, your hand may be caught between the
head/head mounting unit and the work base/desktop robot main
body, resulting in an injury.
The robot surfaces may be hot.
When an optional temperature controlling work base is used,
there is a risk of being burnt depending on the setting.
Use protective gloves as necessary.
5
CAUTION
Failure to follow the instructions shown below can lead to injury or damage to items in
the vicinity of this robot.
Be sure to always follow the cautions.
Do NOT use this robot in any place where it is
subject to d irect sunlight, high temperatures or
sudden temperature changes, or in any humid or
dusty place.
Doing so may result in a device failure.
This robot may generate a large momentary thrust
force depending on the settings.
Securely fix the robot so that it cannot tip over.
Fix the robot using anchor brackets or similar parts if using for
high-speed or rapid acceleration applications.
Use a power supply line different from the line used
for an air conditioner or power system.
Eliminate power supply noise, if present, by using a
device such as a noise filter.
Noise may result in an operating fault or device failure.
Do NOT use the robot at a speed that exceeds the
operating speed indicated in this manual.
Exceeding the maximum speed may result in a device
misoperation or failure.
Do NOT apply excessive pressure to a container.
Maintain the applied pressure of a plastic syringe less than the
maximum of 500kPa at normal temperature.
Do NOT drop or bump this robot.
Be careful not to drop or bump the robot while carrying it.
USE in a proper environment by observing the use
temperature and humidity (no condensation)
indications.
Use in a proper use environment according to the use
temperature and environment as indicated under
"Specifications" (p. 192).
Do NOT place any heavy items on the robot.
Use the robot within the maximum payload
Failure to do so may deform the robot, resulting in a device
failure.
Do NOT place any items in front of the fan (rear of
main unit).
Doing so may result in impaired heat radiation or a device
failure.
Ensure space of at least 200 mm between the rear of the unit
and a wall.
Be very careful that liquids, dust, bolts/nuts and
other foreign material do NOT mistakenly get into the
robot.
The structure of this robot is not completely sealed.
Failure to do so may result in a device failure.
Move each axis slowly when moving by hand.
Failure to do so may result in a device failure.
Always be sure to disconnect the power cord before
moving this robot.
Moving the robot with the power cord still connected may result
in fire, electric shock or injury.
Always be sure to fix all moving parts before moving
this robot.
Failure to do so may result in the head unit, slider or other parts
moving when the robot is tilted with the power turned off.
When lifting this robot, be sure to give consideration
to the weight of the robot and perform work with the
proper amount of persons.
Failure to do so may cause injury.
6
Handling Instructions and Cautions
Notes
Follow the instructions shown below for proper use of this product.
Use only the parts and accessories specified by Musashi. Select
containers and nozzles according to specifications such as
dispensing and consumption amounts.
Wait for three minutes or more before turning the robot power on
again after turning it off.
Repeatedly turning the power on and off more than is necessary
may result in a device failure. Only turn the power off when
necessary.
Prevent adhesion of liquid material and dirt on the robot as well
as corresponding parts and accessories. Wipe off the robot when
dirty. Store the robot, parts and accessories in a well-ventilated
location avoiding direct sunlight.
Turn the desktop robot power off before connecting to and
removing various types of connectors (T.P., USB, OPTION, I/O 1,
I/O 2 and Synchro-Speed).
Residual liquid material in the container should be stored in a
specified location after transferring into another container or in a
container sealed with a specialized cap (optional accessories).
Wait for three seconds or more after turning on the robot power
before performing origin return.
Prepare spare consumables such as disposable syringes and
nozzles in advance, and clean reusable parts such as adapter
tubes after use.
(Clogged nozzles cannot be reused.)
Wait for three seconds or more after releasing
urgency/emergency stop before performing origin return.
Vibration may be produced during operation.
Securely fix the robot in order to prevent it from moving or tipping
over. If considerable vibration is produced, specify a longer
acceleration/deceleration setting and fix the robot by using anchor
brackets or similar parts.
Always be sure to use parts specified by Musashi if connecting or
mounting other connectors or devices to this robot.
Please see materials provided by Musashi for details
Perform inspection periodically.
This robot uses consumables for some parts. Musashi
recommends performing inspection periodically and promptly
replacing parts in order to prevent malfunctions and provide
preventive maintenance.
Do not disassemble or modify this robot.
This may cause fire, electric shock or injury. Modification of this
robot nullifies the warranty.
Be sure to always back up the data in this desktop robot if
returning it to Musashi for necessary repairs or modifications.
Contact the Musashi Sales Department if for some reason you
are not able to back up your data.
Settings of this robot have been specified assuming indoor
usage.
Do not use in any of the following environments.
Areas where corrosive or explosive gas is generated.
Areas with large amounts of dust.
Areas with insufficient ventilation.
Vacuum environment
When disposing of the desktop robot, follow the relevant national
laws or rules of the municipal body.
The operating noise of SM300, 400, 500SX series, SMΩX series
is 70 dB (A weighting). If the operating noise exceeds 70 dB (A
weighting), implement a soundproof measure.
7
Contents
Introduction.................................................................................................... 2
Features ........................................................................................................ 3
Handling Instructions and Cautions ............................................................... 3
Contents ........................................................................................................ 7
PART 1 Preparation ......................................................................................11
Compliance to Safety Standards....................................................................................12
0. CE Marking............................................................................................................12
1. UL Standards ........................................................................................................12
Check Supplied Accessories ..........................................................................................13
The name of each part ...................................................................................................14
0．The name of each part ...........................................................................................14
Installation ......................................................................................................................17
0. Installation Place ...................................................................................................17
1. Carrying Method....................................................................................................17
2. Installation of I/O PD short connector....................................................................17
Device Connections .......................................................................................................18
0. Power Source Connection.....................................................................................18
1. Teaching Pendant Connection...............................................................................18
2. PC Connection ......................................................................................................19
3. Dispenser Connection ...........................................................................................19
4. Dispensers Used and Corresponding Connection Cables ....................................20
Holder Unit Installation ...................................................................................................21
0. Holder Unit Installation ..........................................................................................21
PART 2 Operation........................................................................................ 23
Operations Performed Using this Desktop Robot...........................................................24
0. Example Movement Trajectories ...........................................................................24
1. Operating Directions of Axes and Coordinates System.........................................25
Startup and Shutdown Procedures.................................................................................26
0. Startup and Shutdown Procedures........................................................................26
1. Temporary Stop Procedures..................................................................................27
Startup and Shutdown Procedures.................................................................................28
2. How to operate urgency/emergency stop ............................................................28
3. Immediate Stop Procedures..................................................................................30
4. Operation Prohibition Procedures (Safety Specification).......................................30
Desktop Robot Operation Buttons..................................................................................31
Teaching Pendant Operation Keys.................................................................................32
8
Configuration of Modes ..................................................................................................33
Programming..................................................................................................................37
0. Basic Operations...................................................................................................37
1. Programming Procedures .....................................................................................42
2. Commands............................................................................................................49
3. Editing Functions.................................................................................................114
4. Parameters..........................................................................................................119
5. Channel List ........................................................................................................137
Data Initialization..........................................................................................................141
0. Initializing Speed Parameters..............................................................................141
1. Initializing User Parameters 1..............................................................................141
2. Initializing User Parameters 2..............................................................................142
3. Initializing the Channel List..................................................................................142
Check Mode .................................................................................................................143
0. CHECK I/O..........................................................................................................143
1. CHECK COUNT..................................................................................................144
2. TIME COUNTER .................................................................................................145
Program Input ..............................................................................................................146
0. Practice ...............................................................................................................146
1. Program Input......................................................................................................148
Program Examples.......................................................................................................157
0. Dotted Application ...............................................................................................157
1. Line-Drawing Application.....................................................................................159
2. Circular Application..............................................................................................160
3. Curved-Line (Arc) Application..............................................................................161
4. Grid Pattern Dot Application Using Variables ......................................................162
5. Program Using Palletize......................................................................................164
6. Program Using IN JUMP .....................................................................................166
7. Program Using Screw-Tightening Application .....................................................167
Program Sheet (Supplementary Information)...............................................................169
Transfer between robots...............................................................................................170
0. Robot→ TP...........................................................................................................170
1. TP → Robot ..........................................................................................................171
2. TP Preview ...........................................................................................................172
3. Parameters Available for Transfer.........................................................................173
PART 3 Troubleshooting ............................................................................ 175
Troubleshooting............................................................................................................176
0. Error Message Causes and Measures ................................................................176
1. Other Error Message Causes and Measures ......................................................178
2. Causes and Measures for Other Problems .........................................................182
9
Part 4 Maintenance.................................................................................... 187
Maintenance.................................................................................................................188
0. Maintenance Parts ..............................................................................................188
1. Consumables ......................................................................................................188
2. Periodical inspection ...........................................................................................189
3．Fuse Replacement Procedure..............................................................................190
Part 5 Specifications .................................................................................. 191
Specifications ...............................................................................................................192
0. Product Specifications.........................................................................................192
1. External View and Dimensions............................................................................224
2. Interface ..............................................................................................................233
4. Optional Accessories...........................................................................................252
Part 6 After-Sales Service.......................................................................... 253
After-Sales Service.......................................................................................................254
11
PART 1 Preparation
Preparation
PART 1
SM-ΩX/SX Desktop Robot - Part 1 Preparation
12
Compliance to Safety Standards
0. CE Marking
Any specified product sold in the EU area is required to display the CE marking.
The CE marking indicates that the product conforms to the mandatory safety requirements of the EU (EC) directives.
It must be displayed by the manufacturer based on the self declaration.
For the desktop robots SX series and SMΩX series, we declare the compliance to the following EU (EC) directives.
SM100, SM200SX
series
SM300, 400, 500SX
series
SMΩX
series
Directive
Low Voltage Directive
2014/35/EU
Machine Directive 2006/42/EC
EMC Directive
2014/30/EU
EMC Directive 2014/30/EU
The Low Voltage Directive compliant products are considered to conform to the Low Voltage Directive on the
condition that they are used under the environment conditions described in the product specifications (please see p.
192 and later).
The Machine Directive compliant products are considered to conform to the Machine Directive on the condition that
they are used under the environment conditions described in the product specifications as well as in combination
with the protection cover provided as our standard option (SMX-CV-DR-CE, SMX-CV-OP-CE).
For further details, refer to the instruction manual of the protection cover provided as our standard option (SMX-CV-
DR-CE, SMX-CV-OP-CE).
If you prepare another protection mechanism instead of our protection cover, install an appropriate safety fence or
safeguard or provide an interlock mechanism corresponding to the safety category 3 (please see p. 249).
If our desktop robot is assembled into a customer system delivered or used in the EU area, the customer must
check if the system conforms to the CE marking.
1. UL Standards
None of our desktop robots SX series and ΩX series are certified by the UL standards.
SM-ΩX/SX Desktop Robot - Part 1 Preparation
14
The name of each part
0．The name of each part
0-0. SM100SX-3A / SM100SX-3A-SS
< Front View >
Work Base
(Optional
Accessory)
URGENCY STOP
Button
T.P. Connection Connector
Operation
Button
Power Switch
USB Connection
Connector
Head Unit
<Rear View >
AC Connector
(100 to 240 V)
Fuse Holder
I/O 2 Connector
OPTION Connector
I/O 1 Connector
FNW / Synchro-Speed
Connector (-SS only)
SM-ΩX/SX Desktop Robot - Part 1 Preparation
15
0-1. SM200SX-3A / SM200SX-3A-SS
SM200SX-3A-SS-01
< Front View >
Head Unit
Work Base
(Optional
Accessory)
EMERGENCY STOP
Button
T.P. Connection Connector
Operation
Button
Power Switch
USB Connection
Connector
<Rear View >
AC Connector
(100 to 240 V)
Fuse Holder
I/O 2 Connector
OPTION Connector
I/O 1 Connector
FNW / Synchro-Speed Connector
(-SS only)
SM-ΩX/SX Desktop Robot - Part 1 Preparation
16
The name of each part
0-2. SM200ΩX-3A-SS
0-3. SM300ΩX-3A-SS SM300SX-3A / SM300SX-3A -3A-SS
0-4. SM400ΩX-3A-SS SM400SX-3A / SM400SX-3A -3A-SS
0-5. SM500ΩX-3A-SS SM500SX-3A / SM500SX-3A -3A-SS
<Front View >
Head Unit
Work Base
(Optional
Accessory)
EMERGENCY Stop
Button
T.P. Connection Connector
Operation
Button
Power Switch
USB Connection
Connector
<Rear View >
AC Connector
(100 to 240 V)
Fuse Holder
I/O 2 Connector
OPTION Connector
I/O 1 Connector
FNW / Synchro-Speed
Connector (-SS only)
I/O PD Connector
SM-ΩX/SX Desktop Robot - Part 1 Preparation
17
Installation
0. Installation Place
Install the desktop robot at the center of a level bench located at a height of 600 mm or more from the floor level.
Do not enter the movement range of this robot while in operation. Doing so may cause injury or accident.
Moving parts may protrude beyond the main unit external dimensions depending on the shape of the work base
(please see the figure below and A in the table below).
When installing the robot near a wall, provide a sufficient clearance between any accessible operation component
and the wall.
To avoid crush of human body part, be sure to provide a clearance larger than the specified minimum value in the
table below.
Musashi recommends installing safety devices and similar parts in order to prevent accidents.
The following diagram illustrates the SM200SX model.
Minimum clearance necessary to
avoid crushing human body
parts
Human body
part
Minimum
clearance
[mm]
Finger
25
Hand, wrist, fist
100
Arm
120
Work base max. operating range
XY axes
stroke
A
[mm]
100
0
200
200
300
270
400
390
500
390
1. Carrying Method
When carrying the desktop robot, have another person help the work or use a lifting device.
If no lifting device is used, the appropriate number of persons specified in the table below must be involved in the
work.
For the product mass, please see Product Specifications (p. 192 and later).
Type of
desktop robot
SM100SX
SM200SX
series
SM200ΩX
series
SM300ΩX/SX
series
SM400ΩX/SX
series
SM500ΩX/SX
series
No. of persons
1
2
3
3
4
2. Installation of I/O PD short connector
When a Machine Directive compliant product (SM300, 400, 500SX series, SMΩX series) is used in a country outside
the CE area (Japan, Asia), the short connector that comes with the product must be fitted to the I/O PD connector
(P. 246) (please see p. 250).
Install the connector following the instructions in the "Desktop robot ΩX/SX first startup procedure" that comes with
the product.
６００ｍｍ
ワークベース Ａ
Work Base
Work Base
SM-ΩX/SX Desktop Robot - Part 1 Preparation
18
Device Connections
0. Power Source Connection
Connect the desktop robot and dispenser power cords to an AC 100 to 240 V power supply.
Remarks:
•Be sure to use power cords compliant with the requirements in each region.
•Please see p. 252 for the power cord types.
Warning:
•Use only the standard power cord that comes with the product. Do not modify it.
•Be sure to ground the robot (type D grounding).
•When using our desktop robot (SM300, 400, 500SX series, SMΩX series) conforming to the Machine
Directive in a region requiring CE marking certification, install an earth leakage breaker (rated current 10 A,
rated voltage 100 to 240 V, rated breaking capacity 2.5 kA) before the AC power outlet.
Failure to do so may cause a fire, electric shock, injury, or robot malfunction.
1. Teaching Pendant Connection
Use the teaching cable to connect the desktop robot and teaching pendant.
You cannot simultaneously connect the teaching pendant and a PC.
The teaching cable connector has a one-touch lock mechanism. When removing or inserting the cable, always hold
the connector, check its orientation, and insert or remove it straight and securely. Do not hold the cable, as doing so
may cause damage.
The desktop robot may not operate normally if the firmware versions of the desktop robot and teaching pendant do
not match.
背面図
ティーチングケーブル（オプション）
T.P.接続コネクタ I/O 1コネクタ
Rear View
Rear View
AC Outlet
(100 to 240 V)
AC Outlet
(100 to 240 V)
Dispenser (Optional Accessory)
Dispenser (Optional Accessory)
Dispenser Power Cord
(Optional Accessory)
Dispenser Power Cord
(Optional Accessory)
*If using a two-prong outlet, use the
supplied AC cord conversion plug (for
two-prong).
(Always be sure to connect to ground.)
*If using a two-prong outlet, use the
supplied AC cord conversion plug (for
two-prong).
(Always be sure to connect to ground.)
Power Cord (Ground Connection)
Power Cord (Ground Connection)
AC Cord Conversion Plug (for two-prong)
AC Cord Conversion Plug (for two-prong)
AC 100 V to 240 V Outlet
AC 100 V to 240 V Outlet
Front View
Front View
T.P. Connection Connector
T.P. Connection Connector
Teaching Cable (Optional Accessory)
Teaching Cable (Optional Accessory)
Teaching Pendant
(Optional Accessory)
Teaching Pendant
(Optional Accessory)
SM-ΩX/SX Desktop Robot - Part 1 Preparation
19
2. PC Connection
Use the connection cable to connect with a PC (if using MuCAD dispensing pattern editing software).
You cannot simultaneously connect the teaching pendant and a PC.
3. Dispenser Connection
Use the dispenser connection cable to connect the desktop robot and dispenser (dispenser-side connector varies
depending on the model).
接続ケーブル（オプション）
USB接続コネクタ I/O 1コネクタ
パソコン
MuCAD（オプション）
ティーチングケーブル（オプション）
T.P.接続コネクタ I/O 1コネクタ
Front View
Front View
PC
MuCAD (Optional Accessory)
PC
MuCAD (Optional Accessory)
USB Connection Connector
USB Connection Connector
Connection Cable (Optional Accessory)
Connection Cable (Optional Accessory)
Rear View
Rear View
Dispenser
(Optional Accessory)
Dispenser
(Optional Accessory)
I/O 1 Connector
I/O 1 Connector
Dispenser Connection Cable (Optional Accessory)
*Varies depending on the dispenser.
Dispenser Connection Cable (Optional Accessory)
*Varies depending on the dispenser.
This manual suits for next models
3
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