quadient AS-Orbit User manual

User guide
AS-Orbit Address Printer

Productspresentedinthisguideareconformto
requirementsofdirectivesnbr2006/42/EGand
2004/108/EG.
Quadient has implemented a program for the
recycling of worn machines and machines at
the end of their lifetime. Contribute in a res-
ponsible way to the environmental protection
by consulting your retailer internet site, or
by contacting him. He will inform you of the
collection and treatment processes of these
machines.

User Manual Version 3.1 3
Copyright
©Copyright 2011
All rights reserved. No part of this manual may be reproduced or transmitted in any form or
by any means, copied onto electronic media or translated into any language without the
manufacturer's express written permission.
The manufacturer is not liable for any damage resulting either from incorrect use or from
repairs and modifications carried out by a third unauthorized party. This manual was
produced with great care. However, liability for any errors which it may contain is excluded.
The manufacturer reserves the right to make any technical or design changes to the
equipment during the development process. All specified values are purely nominal.
Consequently, any legal claims made on the basis of this manual cannot be enforced.
The manufacturer is not liable for any damage or disturbance resulting from the use of
options or accessories which are not original products or do not have the express approval
of the manufacturer.
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Brands:
HP is a registered brand name of the Hewlett-Packard Company.
Microsoft and Windows are registered brand names of the Microsoft Corporation.
FlexMail is a registered brand name of Flex Systems B.V.
Bulk Mailer is a registered brand name of Satori Software Inc.
Manufacturer Address
Quadient Industrie
ZI Tivoli
72800 Le Lude
France
www.quadient.com
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Revision level
Version Change description Released
3.0 New document for graphic display and
firmware version 4.7 November 2010
3.1 •Added descriptions for new USB 2.0
and TCP/IP interface
•Changed description to firmware
version 4.8
•Added Device Class A note
•Corrected description for emergency
stop interface “EXTERN”
April 2011
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a

4 User Manual Version 3.1
Table of Contents
1Introduction .............................................................................11
1.1 Pictograms ............................................................................11
1.2 Notes for use of this manual.....................................................11
1.3 Terms and abbreviations .........................................................12
1.4 System requirements..............................................................12
2Safety notes .............................................................................13
2.1 General safety notes...............................................................13
2.2 Ink safety notice.....................................................................15
2.3 Location of the printer.............................................................15
2.4 Disposal ................................................................................15
3Scope of delivery and assembly................................................16
3.1 Scope of delivery....................................................................16
3.2 Delivery ................................................................................16
3.3 Device overview .....................................................................17
3.4 Assembly ..............................................................................19
3.4.1 Place of installation............................................................ 20
3.4.2 Determening the transport direction..................................... 20
3.4.3 How to mount the print unit(s)............................................ 22
3.4.4 How to mount the paper sensor (TOF sensor)........................ 24
3.4.5 How to mount the encoder wheel......................................... 26
3.4.6 How to place the control unit .............................................. 28
3.4.7 How to connect the Quadient AS-Orbit to the production line .... 29
3.4.8 How to connect all components ........................................... 30
3.4.9 Plug in the strapping plugs of the emergency stop system....... 31
3.4.10 Connecting the power cable................................................ 31
3.4.11 Quadient FD-13/FD-15 Feeder (optional) ............................... 31
3.4.12 Additional devices.............................................................. 31
4Description of device................................................................33
4.1 Application range....................................................................33
4.2 Description of functions...........................................................33
4.3 The Operator Panel.................................................................34
4.3.1 Key panel......................................................................... 35
4.3.2 Main Display..................................................................... 37
4.4 Interfaces..............................................................................41
4.5 Emergency stop connection......................................................43

User Manual Version 3.1 5
4.5.1 Stand-alone operation........................................................43
4.5.2 Operation with one additional Quadient device ........................43
4.5.3 Operation with several additional Quadient devices..................43
4.5.4 Operation with other, non-Quadient devices............................44
4.5.5 How to activate the emergency stop function.........................44
5Initial start-up of the device .................................................... 45
5.1 How to power-on the device.....................................................45
5.2 How to install the ink cartridges ...............................................46
5.2.1 How to setup the transport direction.....................................47
5.2.2 How to setup the TOF to print unit 1 distance ........................47
5.2.3 How to setup the distances between the print units ................48
5.2.4 How to setup the paper sensor (TOF)....................................49
5.2.5 Positioning of the paper sensor (TOF) ...................................50
5.3 Adjusting the printer to the material thickness............................51
5.3.1 How to perform a speed measurement..................................53
5.4 How to measure the print media size ........................................53
5.5 How to set the print direction (orientation).................................54
5.5.1 How to perform a test print.................................................54
5.5.2 Mark printer speed levels on production line ..........................56
6Printer menu (firmware V4.8).................................................. 58
7How to connect the printer to the PC ..................................... 121
7.1 How to install the printer driver.............................................. 121
7.1.1 Windows XP and Windows Vista ......................................... 121
7.1.2 Windows 7...................................................................... 122
7.2 How to use the USB interface................................................. 125
7.3 How to use the Ethernet interface........................................... 125
7.3.1 Adding a TCP/IP port to a printer driver .............................. 126
7.3.2 Connecting the printer to a local area network ..................... 128
7.3.3 Direct Ethernet connection between the printer and the PC.... 131
8Service ................................................................................... 134
8.1 Maintenance and support....................................................... 134
8.1.1 How to clean the printer ................................................... 134
8.1.2 How to clean an ink cartridge ............................................ 134
8.1.3 How to clean the pen board contacts .................................. 135
8.1.4 How to reset the printer.................................................... 137
8.2 Troubleshooting ................................................................... 138
8.2.1 The device cannot be turned on ......................................... 138
8.2.2 No or only very weak printout with new ink cartridges........... 138

6 User Manual Version 3.1
8.2.3 Printed elements positioned incorrectly................................139
8.2.4 Emergency system cannot be released ................................140
8.2.5 The printer doesn't detect a connected Feeder......................140
8.2.6 How to proceed with a print job after an error ......................141
8.2.7 White streaks in printed text or graphic...............................142
8.2.8 White streak in printed text or graphics (in between cartridges)...
.....................................................................................143
8.2.9 The printed ink doesn’t dry on the substrate ........................144
8.3 Error Messages.....................................................................145
8.3.1 How to read an error message entry ...................................145
8.4 Warning Messages................................................................163
8.4.1 How to read a warning message entry.................................163
8.4.2 Additional Error Messages..................................................171
8.5 Technical Support.................................................................175
9Consumables and Accessories ................................................176
9.1 Consumables .......................................................................176
9.1.1 Standard inks for Quadient address printers ..........................176
9.1.2 Cleaning Towels ...............................................................177
9.2 Accessoires..........................................................................178
9.2.1 Additional print unit for Quadient AS-Orbit/AS-Orbit Base........178
9.2.2 Tower Lamp ....................................................................178
9.3 Accessory devices.................................................................179
9.3.1 Quadient FD-13.................................................................179
9.3.2 Quadient CS-800 conveyor .................................................179
10 Technical Specifications .........................................................181
11 Appendix ................................................................................183
11.1 How to completely remove printer drivers from Windows Vista
and Windows 7 ..........................................................................183
11.2 How to completely remove printer drivers from Windows XP and
Windows 2000 ...........................................................................184
11.3 How to use a pre-installed printer driver.............................185
11.3.1 USB connection................................................................185
11.3.2 Ethernet connection..........................................................186
11.3.3 How to identify the USB port used by the printer ..................187
11.4 How to test the Ethernet connectivity.................................188
11.4.1 Sample settings for Ethernet connection..............................190
11.5 How to create a print file..................................................192
11.6 How to update the flashware.............................................193

User Manual Version 3.1 7
11.6.1 How to update the flashware ............................................. 193
11.7 Mounting two print units on one mounting bar .................... 197
11.8 Determining the minimal possible paper format................... 198
11.9 How to position the print unit guide bars ............................ 199
11.10 How to position the paper sensor guide bar ........................ 199
11.11 How to position the encoder wheel mounting ...................... 202
12 Sample applications ............................................................... 203
12.1 AS-Orbit mounted on a web.............................................. 203
12.2 AS-Orbit mounted on a production line............................... 205
12.3 How to connect the Quadient FD-13/FD-15 Feeder................ 207
12.4 How to adjust the Quadient FD-13/FD-15 Feeder to the medium..
.................................................................................... 208
12.5 Additional display texts .................................................... 210
12.6 Ink package ID number ................................................... 212
12.6.1 ID: 6030206 ................................................................... 212
12.7 Declaration of conformity ................................................. 214
13 Glossary ................................................................................. 216
14 Index ..................................................................................... 222
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8 User Manual Version 3.1
Table of Figures
Figure 1: Quadient AS-Orbit components.................................................................... 17
Figure 2: Control Unit front...................................................................................... 18
Figure 3: Control Unit backplane .............................................................................. 18
Figure 4: Print Unit................................................................................................. 18
Figure 5: Sample installation ................................................................................... 19
Figure 6: Changing the transport direction for a print unit............................................ 21
Figure 7: Installation with four print units.................................................................. 23
Figure 8: Alignment of print units on transport system ................................................ 23
Figure 9: Print unit and mounting with dimensioning (in mm)....................................... 24
Figure 10: Mounting the paper sensor....................................................................... 25
Figure 11: Paper Sensor on mounting bar and profiles................................................. 25
Figure 12: Mounting of the encoder .......................................................................... 27
Figure 13: Direction of rotation of the encoder wheel .................................................. 27
Figure 14: Position of the encoder wheel on the belt (schematical)................................ 28
Figure 15: Control unit............................................................................................ 29
Figure 16: Output interfaces.................................................................................... 30
Figure 17: The operator panel.................................................................................. 34
Figure 18: Main display........................................................................................... 37
Figure 19: Interfaces Control unit............................................................................. 41
Figure 20: Interfaces Base conveyor......................................................................... 42
Figure 21: Inserting the ink cartridge into the pen stall................................................ 46
Figure 22: Lock the restraining lever......................................................................... 46
Figure 23: Distance TOF to Unit 1............................................................................. 47
Figure 24: Measuring the distance between print units ................................................ 48
Figure 25: Paper sensor.......................................................................................... 49
Figure 26: Teach-in modes, rotary switch.................................................................. 49
Figure 27: Positioning of paper sensor (schematical)................................................... 51
Figure 28: Print unit, height adjustment.................................................................... 52
Figure 29: Keep Alive function ................................................................................. 68
Figure 30: Distances between TOF sensor (LS) and U1-U4 ........................................... 70
Figure 31: DIST. TOF-U1 service test page ................................................................ 70
Figure 32: Distances between the units U1-U4 ........................................................... 71
Figure 33: Adjustment of encoder necessary.............................................................. 73
Figure 34: Encoder Adjustment................................................................................ 73
Figure 35: Adjusted encoder.................................................................................... 74

User Manual Version 3.1 9
Figure 36: PRINT CORR.PATT. for systems with two print units (6 cartridge positions)...... 75
Figure 37: Horizontal alignment U1-U2......................................................................76
Figure 38: Regular print / Direction Nor.....................................................................79
Figure 39: Mirrored print / Direction Nor.................................................................... 79
Figure 40: Regular print / Direction Rev .................................................................... 79
Figure 41: Mirrored print / Direction Rev ...................................................................79
Figure 42: Order of print units..................................................................................83
Figure 43: Difference Nor/Rev.................................................................................. 99
Figure 44:LEFT MARGIN, transport direction...............................................................99
Figure 45: Encoder Pattern.................................................................................... 112
Figure 46: Simult. PrintUnits service print................................................................ 112
Figure 47: Overlapping service print ....................................................................... 113
Figure 48: Pattern A ............................................................................................. 114
Figure 49: Pattern A with defects............................................................................ 114
Figure 50: Cartridge contacts................................................................................. 115
Figure 51: Pattern B ............................................................................................. 115
Figure 52: Pattern C ............................................................................................. 116
Figure 53: Sample character set print ..................................................................... 116
Figure 54: Sample setting dump print ..................................................................... 117
Figure 55: Sample Input Buffer Dump print.............................................................. 118
Figure 56: New Hardware Wizard ........................................................................... 122
Figure 57: Recommended install procedure.............................................................. 122
Figure 58: Properties of unspecified device .............................................................. 124
Figure 59: Update the printer driver........................................................................ 124
Figure 60: Update Driver Software Wizard ............................................................... 124
Figure 61: Select the driver source ......................................................................... 124
Figure 62: Ferrite with plastic case ......................................................................... 125
Figure 63: Adding TCP/IP Port................................................................................ 126
Figure 64: TCP/IP Printer Port Wizard...................................................................... 126
Figure 65: IP address of the printer ........................................................................ 126
Figure 66: Custom settings.................................................................................... 127
Figure 67: Custom settings of printer port ............................................................... 127
Figure 68: Address printer port settings................................................................... 128
Figure 69: DHCP Table on server............................................................................ 130
Figure 70: Test of fix IP (ping test on server)........................................................... 131
Figure 71: Local Area Connection Properties............................................................. 133

10 User Manual Version 3.1
Figure 72: TCP/IPv4 settings ................................................................................. 133
Figure 73: Cleaning the nozzle plate ....................................................................... 135
Figure 74: Nozzle plate and contacts....................................................................... 135
Figure 75: Pen board contacts................................................................................ 136
Figure 76: Pivoted print unit .................................................................................. 137
Figure 77: Position of element on material............................................................... 139
Figure 78: White streaks in text ............................................................................. 142
Figure 79: White streaks in between two cartridges .................................................. 143
Figure 80: New hardware detected ......................................................................... 186
Figure 81: Found New Hardware Wizard.................................................................. 186
Figure 82: Device Manager.................................................................................... 188
Figure 83: Device Properties - Details ..................................................................... 188
Figure 84: Command Prompt reply OK .................................................................... 189
Figure 85: Command Prompt reply NOT OK ............................................................. 189
Figure 86: Print dialog window............................................................................... 192
Figure 87: Print to file dialog.................................................................................. 192
Figure 88: Printer port properties ........................................................................... 193
Figure 89: Two print units on one mounting bar ....................................................... 198
Figure 90: Paper sensor........................................................................................ 200
Figure 91: Teach-in modes, rotary switch................................................................ 200
Figure 92: Sample position of the encoder wheel on the belt (schematical)................... 202
Figure 93: Sample application: Web........................................................................ 204
Figure 94: Sample application: Production line ......................................................... 206
Figure 95: Serial connection between printer and feeder............................................ 207
Figure 96: Separator system ................................................................................. 208
Figure 97: Feeder adjustment I.............................................................................. 208
Figure 98: Feeder adjustment II............................................................................. 208
Figure 99: Feeder adjustment III............................................................................ 208
Figure 100: Adjusting the paper feed ramp and the slide, side view............................ 209
Figure 101: Filing the stack with a fanned out pile, side view..................................... 209
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User Manual Version 3.1 11
1Introduction
In order to ensure both long service life of the AS-Orbit and its
components, as well as safe conditions of use, we recommend that
you read carefully and comply with the operating instructions and
safety notes. Always be aware of all warnings and notes that are
affixed to or printed on the machine itself.
All persons who are to handle this machine must also be familiar with the operating manual.
Store this manual in a safe place where it is easily accessible for future reference at any
time.
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1.1 Pictograms
General warnings
Warning of danger from electricity or electrical shock
Warning of possible fire
Information / Note indicating important information regarding
the handling of the machine.
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1.2 Notes for use of this manual
This manual is structured chronologically, and therefore ordered sequentially from the
receipt of the machine packed up to its ready-for-use state.
If you are unfamiliar with the machine, it is best to read through the manual from beginning
to end, where you can follow easy step by step instructions to allow you to fully and
correctly operate the machine.
If you are already familiar with the AS-Orbit, it will make things easy if you to use this
manual as a reference work.
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12 User Manual Version 3.1
1.3 Terms and abbreviations
This User Manual uses the following terms and abbreviations related to the Quadient
AS-Orbit:
•cartridge = Crt = C, C1, C2, C3
•print unit = Unit = U, U1, U2
A print unit always consists of three ink cartridges.
•print media width = expansion of the print media in transport direction.
•print media height = expansion of the print media across the transport direction.
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1.4 System requirements
The Quadient AS-Orbit is designed to be used in connection with a PC. To connect the
AS-Orbit to the PC one free USB port or one free Ethernet (TCP/IP) port is required.
The PC should be an up-to-date model and must have enough processing power and free
disk space to run the Quadient Addressing Solutions Software.
We recommend using one of the following operating systems:
•Microsoft Windows 2000 (SP4)
•Microsoft Windows XP (SP3)
•Microsoft Windows Vista (SP2) (32- or 64-bit)
•Microsoft Windows 7 (32- or 64-bit)
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User Manual Version 3.1 13
2Safety notes
Prior to initial operation, please carefully read the following instructions for the sake of both
your own safety and the printer operating safety. Always observe any warnings and
instructions directly attached to the device. Keep this manual available in order to be able to
check back at any time.
Disregarding this manual may cause
•electric shock,
•injury by being drawn into the transport belt or transport rollers,
•damage to the equipment.
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2.1 General safety notes
Caution!
Please read these notes with care.
Keep this manual for future reference.
All notes and warnings found on the machine are to be followed.
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Setting up the
machine
A safe, level position is necessary, when installing the machine.
Injuries may be caused by tipping, rolling away or falling.
The machine is to be protected from moisture.
The machine is not suitable for outdoor use.
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Electrical
Hazards
The power cable must only be connected to a socket with protective
grounding contact! The protective effect must not be compromised by
the use of an extension cable without a protective grounding
conductor. All interruptions of the protective grounding conductor,
within or outside of the machine, are prohibited.
When fuse failure occurs, electrical machine parts can still carry
voltage.
When making the connection to the mains power, be aware of the
connection values on the rating plate.
Run the power cable in such a way, that no one can trip over it. Do
not place any objects on the power cable.
When the machine is not in use over a long period of time, it should
be disconnected from the power supply in order to avoid any damage
in the event of a voltage surge.
Protect the device from moisture. When moisture enters the machine,
there is a danger of electrical shock.
Never open the machine. For reasons of electrical safety, the machine
should only be opened by authorized service personnel.
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14 User Manual Version 3.1
Operating
safety
Never put your hands inside the machine when it is running!
There is a danger that injuries can occur through being pulled in and
being crushed on the transport belt or the rotating rollers. In addition,
keep long hair and parts of loose clothing away from the machine
while it is in operation.
In order to prevent damage to the machine, only factory authorized
accessory parts should be used.
Cleaning the
machine
Prior to cleaning the machine, it should be disconnected from the
power outlet. When cleaning the machine, do not use liquid or spray
cleaners, but only a cloth dampened with water.
Additional information concerning the cleaning of the device can be
found in chapter „Maintenance and support“.
Machine
inspections
only by
authorized
Service
Partners!
In the following cases, you should unplug the machine from the
power outlet and contact an authorized service technician:
•When the power cable or its plug is worn or damaged.
•When water or other liquid has entered the device.
•When the device has been dropped/knocked over or the housing is
damaged.
•When there is a significant change in the performance of the
machine.
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Spare parts When repair work is carried out, only original spare parts or spare
parts approved by the manufacturer may be used.
Repairs Do not disassemble the machine any further than it is described in
this manual. The opening of the machine by unauthorized personnel
is not permitted. Repairs may only be carried out by authorized
service personnel.
Modification is
not permitted
For safety reasons, your own reworking and modifications to the
machine are not permitted.
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Please contact your authorized Quadient dealer or service partner,
for all questions relating toservice and repair. In this way, you
ensure the operational safety of your machine.
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User Manual Version 3.1 15
2.2 Ink safety notice
Keep ink cartridges away from children. If you get into skin contact
with the ink, immediately clean off the ink under running water. In case
ink has entered your eye, immediately rinse it with plenty of water.
•The ink cartridge should not be shaken, dropped or hit against the palm or hard
surfaces.
•Install the ink cartridge immediately after removing the protective tape. The cartridge
may not be used after date of expiry!
•Do not try to open or refill a cartridge. This can damage the printer and reduce the
print quality.
•For further information regarding the cleaning of the ink cartridge, please see chapter
8.1.2, on page 140.
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2.3 Location of the printer
Be aware when installing the machine that it must stand on a smooth and level surface that
is larger than the printer.
When placing the machine, make sure that there is enough clearance around it, so that you
can access all connections easily.
The floor space for the printer must be sufficiently stable. The tipping over or falling of the
machine can lead to injuries, as well as damage to the machine.
When selecting the installation or storage location for the printer, keep in mind that it must
be protected from strong temperature and humidity changes, direct sunlight and excessive
heat.
The printer must not be subject to vibrations or shocks.
Install the printer near a power outlet, so that the power cable can be disconnected trouble-
free at all times.
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2.4 Disposal
The printer may not be disposed of in the conventional manner of household waste. Please
dispose the printer in accordance with the regulations in force.
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16 User Manual Version 3.1
3Scope of delivery and assembly
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3.1 Scope of delivery
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•1x AS-Orbit printer
•1x control unit
•1x encoder wheel
•1x mounted paper sensor (TOF = Top of form sensor)
•1x, 2x, 3x or 4x mounted print units* (Standard or Centaur**)
•1x, 2x, 3x or 4x SCSI-3 cable*
•1x Addressing Solution software CD-ROM
•1x power cable
•1x grounding cable flat/flat
•1x grounding cable eye/flat
•2x strapping plugs for emergency-stop INTERN/EXTERN
•1x strapping plug for emergency-stop OUT
•1x 5-pin emergency-stop cable for external devices
•3x, 6x, 9x or 12x Black Dye ink cartridges*
•1x, 2x, 3x or 4x Inxdinx ink cartridge boxes*
•1x USB connection cable
•1x Network cable
•1x Ferrit
* The amount depends on the chosen AS-Orbit model. The AS-Orbit can be equipped with
one, two, three or four print units in a row.
** Centaur is an optional ink supply system, that requires an additional ink control unit and
special ink cartridges. The standard print units are equipped with standard HP TIJ 2.5 ink
cartridges.
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3.2 Delivery
The Quadient AS-Orbit is delivered in appropriate packaging so that it reaches its destination
without damage via a regular mode of transport.

User Manual Version 3.1 17
Transportation and storage should be carried out in suitable condition. That means an
ambient temperature between +10°C and +31°C at 20-80% relative humidity (non-
condensing). Conditions outside of these ranges may harm the machine. Damages from
wrong transportation and storage conditions may not be visible on the packaging.
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If the printer has to be shipped again, please retain the packaging. If the packaging is no
longer needed, then please dispose it in an environmentally suitable manner.
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3.3 Device overview
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Figure 1: Quadient AS-Orbit components
1 Print unit with mounting bar and
mounting profiles (number of
units depends on configuration)
6 Green emergency release button
2 Control Unit 7 Main Display
3 Encoder wheel with mounting 8 Control panel / Key panel
4 Paper sensor (TOF) on mounting
bar and mounting profiles 9 Connectors for print units (number depends on
configuration)
5 Emergency button 10 Main switch on/off
1
4
3
2

18 User Manual Version 3.1
Figure 2: Control Unit front
Figure 3: Control Unit backplane
11 Print unit guide bar 14 Print bar hinge
12 Clamp lever 15 Print unit
13 Scaled adjustment wheel 16 Ink cartridge
Figure 4: Print Unit
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5 6 7 8 10
9
11
12
13
15
14
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User Manual Version 3.1 19
3.4 Assembly
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The Quadient AS-Orbit is a print system designed to be integrated into an
existing production line. The feeding, transport and delivery of the material will be
handled by the existing equipment. Therefore the installation of an AS-Orbit always
depends on the specific conditions at your site. In the following chapters you will find
detailed instructions on how to install the different components of the AS-Orbit onto an
existing system. For an overview of all components please see Figure 5 below and
chapter 3.3 Device overview, on page 17. Figure 5 shows an sample installation of the
Quadient AS-Orbit.
Chapter 12 „Sample applications”, on page 203 shows additional sample applications and
the according settings that have to be made in the AS-Orbit.
Figure 5: Sample installation
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Encoder wheel
Print units
Paper sensor (TOF)
Control unit

20 User Manual Version 3.1
3.4.1 Place of installation
The place of installation of the AS-Orbit within a production line should fulfil the following
requirements:
•Enough free space to accommodate the control unit, all print units, the paper sensor
(TOF sensor) and the encoder wheel. Detailed information about each of these
components can be found in the following chapters.
•The place for the installation should be a straight and even section of the transport
system.
•The place for the installation should be easily accessible for the operator.
•Machine parts onto which the AS-Orbit gets mounted on must be vibration-free.
•No heat should be radiated to the place of installation (e.g. from a dryer or a shrink
tunnel).
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3.4.2 Determening the transport direction
The AS-Orbit can work in a left to right or in a right to left transport direction. The transport
direction depends on the existing production line onto which the AS-Orbit is to be installed.
Check the planned installation and proceed accordingly.
The printer is pre-assembled for a transport direction from left to right. If the transport
direction in your installation is left to right you can proceed with chapter 3.4.3