Shini SS-S1 User manual

SS-S1
Standard Swing-arm Robot1
UserManual
Date:August, 2017
Version:V1.0(English)

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Contents
1. SAFETY............................................................................................................................7
1.1 SAFETY REGULATIONS .....................................................................................................7
1.2 SAFETY CONCERNS..........................................................................................................7
1.3 THE WARNING MARKS AND ITS MEANINGS .........................................................................9
1.4 EMERGENCY STOP.........................................................................................................10
1.5 TRANSPORTATION AND STORAGE ....................................................................................10
1.5.1 Transportation......................................................................................................10
1.5.2 Storage.................................................................................................................11
1.5.3 UnpackingTransportation....................................................................................11
1.5.4 OperationEnvironment.........................................................................................11
1.5.5 Retirement............................................................................................................12
1.6 EXEMPTION CLAUSE.......................................................................................................12
2. INSTALLATION..............................................................................................................13
2.1 INSTRUCTION.................................................................................................................13
2.1.1 SafetyIssue..........................................................................................................13
2.1.2 Compressed Air Connection.................................................................................13
2.1.3 ElectricPowerConnection...................................................................................13
2.1.4 SafetyFence........................................................................................................13
2.1.5 MountingPreparation...........................................................................................14
2.1.6 MountingInstruction.............................................................................................14
2.2 DIMENSIONS (UNIT:MM).................................................................................................14
2.2.1 ModelSpecification..............................................................................................15
2.2.2 PneumaticSourceRequirement...........................................................................15
2.3 ELECTRICAL CONNECTION ..............................................................................................16
2.3.1 MainPowerSupply...............................................................................................16
2.3.2 InterfacewiththeInjection MoldingMachine........................................................16
2.4 AXES ADJUSTMENT ........................................................................................................17
2.4.1 AdjustingtheX-Position.......................................................................................17
2.4.2 AdjustingtheY-Position.......................................................................................17
2.4.3 AdjustingtheZ-Position........................................................................................18
2.5 GRIPPER AND SUCTION SETTING.....................................................................................19
2.5.1 GripperSetting.....................................................................................................19
2.6 ROBOTAND IMM INTERFACE ..........................................................................................19
2.6.1 Euromap67 Interface............................................................................................19
2.6.1.1 TheInjectionMoldingMachine Output Signals.................................................20
2.6.1.2 RobotOutputSignals........................................................................................21
2.6.2 Euromap12 Interface............................................................................................22
2.6.2.1 InjectionMoldingMachine Output Signals........................................................23
2.6.2.2 RobotOutputSignals........................................................................................24
3. GENERALDESCRIPTION.............................................................................................25
3.1 SS-S1 SERIES ABSTRACT ..............................................................................................25
3.2 SS-S1 APPLICATION ......................................................................................................25
3.3 SS-S1 FEATURES..........................................................................................................26

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3.4 FUNCTIONS....................................................................................................................26
3.4.1 FunctionDescription.............................................................................................26
3.4.2 Shock Absorber....................................................................................................26
3.4.3 FunctionsAdjustment...........................................................................................27
3.4.3.1 MoldChange.....................................................................................................27
3.4.3.2 Reversing..........................................................................................................27
3.5 SAFETY FUNCTION .........................................................................................................27
3.5.1 SafetyProtection..................................................................................................27
3.5.2 EmergencyStop...................................................................................................28
3.6 ADJUSTINGAND SETTING................................................................................................28
3.6.1 DefaultSetting......................................................................................................28
3.6.2 AdjustingtheHeightof the Gripper.......................................................................28
3.6.3 ChangeMoldandMaintenance............................................................................28
3.6.4 Air PressureAdjustment.......................................................................................29
3.6.5 ThePosition ofSwinging-inAdjustment...............................................................29
3.6.6 AdjustingtheSwing-out Angle..............................................................................30
3.7 CHECK BEFORE USING...................................................................................................30
4. OPERATIONINSTRUCTIONS.......................................................................................31
4.1 HAND CONTROLLER .......................................................................................................31
4.1.1 ThePanelofHand Controller...............................................................................31
4.1.2 Keys.....................................................................................................................31
4.2 MANUALLY OPERATION...................................................................................................31
4.3 AUTOMATIC OPERATION .................................................................................................32
4.4 SYSTEM OPERATION ......................................................................................................32
4.4.1 Stand-byMode.....................................................................................................32
4.4.2 Language.............................................................................................................32
4.4.3 TheFunctionSetting............................................................................................33
4.4.4 SpecialFunction...................................................................................................33
4.4.5 MoldsSelect.........................................................................................................35
4.4.6 MoldSet...............................................................................................................35
4.4.7 Teach...................................................................................................................35
4.4.8 TimeSetting.........................................................................................................36
4.4.9 I/O Monitor............................................................................................................37
4.5 STANDARD ACTION PROGRAM.........................................................................................37
5. ERRORCORRECTION..................................................................................................39
6. MAINTENANCE..............................................................................................................44
6.1 GENERAL ......................................................................................................................44
6.2 LUBRICATION REQUIREMENTS.........................................................................................44
6.3 MAINTENANCE ...............................................................................................................45
6.4 ELECTRICAL CONTROL CHARTS ......................................................................................46
6.4.1 TheMainControlBoardInputWiringDiagram.....................................................46
6.4.2 TheMainControlBoardOutputWiringDiagram..................................................47
6.4.3 TheMainControlSignalWiringDiagram.............................................................48
6.4.4 TheMainControlPanelLayout............................................................................49

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TableIndex
Table2-1: SS-S RobotSpecification List................................................................................15
PictureIndex
Picture1-1: LiftUpRobot.......................................................................................................11
Picture2-1: DrilingSticker......................................................................................................14
Picture2-2: SS-S1Dimensions..............................................................................................14
Picture2-3: Stop Package......................................................................................................17
Picture2-4: YStopPackage..................................................................................................18
Picture2-5: RotateCylinder...................................................................................................18
Picture2-6: MagneticSwitch..................................................................................................19
Picture3-1: Shock AbsorberonCrosswise............................................................................26
Picture3-2: Handle.................................................................................................................27
Picture3-3: PneumaticProtection Device..............................................................................27
Picture3-4: Emergency Stop Button......................................................................................28
Picture3-5: Robot Base.........................................................................................................29
Picture3-6: FilterRegulator....................................................................................................29
Picture3-7: RotateCylinder...................................................................................................29
Picture4-1:ThePanelofHandController..............................................................................31
Picture6-1:TheMainControlBoardInputWiringDiagram....................................................46
Picture6-2:TheMainControlBoardOutputWiringDiagram.................................................47
Picture6-3:TheMainControlSignalWiringDiagram............................................................48
Picture6-4:TheMainControlPanelLayout...........................................................................49

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1. Safety
Beforestartingupthe robotforthe firsttime,pleasereviewthismanualthoroughly
and familiarizeyourself withthe operationof the robot. Improperusemayinjure
personneland/ordamagetherobot, moldormoldingmachine.
1.1SafetyRegulations
Pleasereviewthismanualthoroughlyand familiarizeyourself withthe operation ofthe
robot, beforestartinguptherobotforthefirsttime. Maintenanceshouldbeperformed by
qualifiedpersonnelonly.
TheSS-Sseriesrobotisdesigned forinjectionmoldingmachine(IMM) ONLY.
Anymodification orchangetotheoriginaldesignof therobot isforbidden.
Anyimproperinstallation and operationmayresult ininjurytopersonneland/ordamage
toequipments.
Pleasecontact the manufacturerorlocalvenderimmediatelyif thereisanyproblemwith
robot when operateit.
Pleasenotethatourrobotmustbecooperatedwithothersafetydevice(i.e. safetydoor)
inordertooperateinnormalcondition.
Ensureall installationsaremet withsafetyrequirementsbeforeoperating.
Without the written consentofthe manufacturer, anydamageorlostcausedbythe
modificationorusebeyond theusermanual, the manufacturerwill not haveany
responsibility.
1.2SafetyConcerns
Themaintenance,repair, etc,must beexecuted byprofessionallytrainedpersonnel.
Anyunrelatedpersonnelshouldkeep awayfromrobotworkingarea whileit isoperating.
All electricalwiringmust be completed byprofessionals.
Pleaseusesafetyfenceindicateworkingarea whilerobot installation.
Forthe safetyoperation, thehandcontrollershouldbe placedoutsidetherobot working
area.
Ensureboltsandnutsaretightened withtorque wrenchwhileinstallation.
Ensurethereareno followingmattersinthecompressiveair: phosphate-containingoil,
organicsolvents, sulfitegas, chlorine, acidsand stalecompressoroil.
Theair pressureshouldbekept at6MPa ±0.1MPa whileoperation.
Removeanythingfromthe topoftherobot topreventfallingduetovibration.
Press EMERGENCYSTOPbuttonimmediatelywhen accident occurs.
Donotmodifythe robot bodyand controlbox. Pleasecontactmanufacturerorvendorif
anychangeisrequired.
Turnoff powersupplyand compressedair beforemaintenanceandadjustment. Alsoset
up warmingsignsand safetyfences.
PleaseusepartsofSHINI if thereisanyreplacement isrequired.
Ourrobotsmeetall correspondingsafetystandards.
Pleaseread theusermanualcarefullyasasafetyguideline.

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Unauthorized personnelmust informthe relativesupervisorand understandall safety
rulesbeforeenteringrobotworkingarea.
Pleaseorderanewusermanualfromthemanufacturerorvendoriftheusermanualis
damaged.
Productownerhasthe responsibilitytoensurethe operators,maintenancestaffsand
relativestaffshavereadusermanualthoroughly.
Anymodificationsorotherapplicationstorobot shouldobtainthe written consent
fromthe manufacturer,forsafetypurpose.
Electricalsystem!
If not complywithsafetyrecommendationsasdescribedinthe electricalsystem
symbolswill result inanelectricshock personneloccur.
Thesafeguardingrequired foroperationofthe robot isnot including inourstandard
scope ofsupply(except specialequipment), sinceadaptationtospecificsite
conditionsisrequired.If suchsafeguardingisprovided byyou, pleasenotethatit
must beinstalledpriortostartup ofthe equipmentinordertobeincludedinthe safety
circuit ofthesystemupon startup.
Pleasepress downemergencystop button immediatelyifanyaccidentoccurs
(clampedbythegripper), and turnoff air supplytoopenthegripper.

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1.3The WarningMarks andItsMeanings
No. Marks Meaning
1 DoNotTouch
2 Caution, danger
3
Caution!
Electricshock
4
Caution!
Mechanicalinjury
5
Caution!
Hightemperature
6 NoFlame

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1.4EmergencyStop
Theemergencystopbuttonislocatedon thehandcontroller.
When the emergencystop button ispressed,the poweristurnedoff. The gripperand
vacuumvalvesand thevacuumgeneratorarenotdisconnected inordertoavoiddropping
partsfromthe gripper.Inaddition, the controlsystemandthehandcontrollerwill remain
underpowertoallowindicationof errormessages.
Theemergencystopcircuitsoftherobotandoftheinjectionmoldingmachineareconnected
bythe Euromap12and Euromap67 interface.Thereforewhen theemergencystop button on
the moldingmachine ispressedtherobot will alsostopand viceversa.
AnyproblemduringusingShinirobots,pleasecontact ourcompanyorthe localvendor.
Headquarters&TaipeiFactory:TEL [phone]
China ServiceHotline:TEL [phone]
Dongguan Factory:TEL [phone]
Ningbo factory:TEL [phone]
1.5TransportationandStorage
Prohibitpersonsunderneaththe robotduringtransportation.
If thereiscompellingreasonformovingorre-installingthe robot, pleaseenquirefor
assistancefromthe manufactureroragents.If you donot complywiththismandatory
requirement, result inthe injurytoanypersonneland equipment,therobot
manufacturerwill not haveanyresponsibility.
1.5.1Transportation
1.Theseriesrobotbeforesendingoutpackageincrates,andat thebottomofthecratewith
gap left, convenient touseforklifttomove.
2. Beforethetransporting, lock thearmanti-fallingbolter, preventarmout during
transportation.
3.Thearm mayswing,beforetransporting, turnthe shock absorberon rotationcylinderto
the limitingposition, andfixed thearm, prevent damagetothe arm.
4. Duringthetransporting, prevent collision todamagetherobot.
5. Inthelong-distancetransport, shouldincreaseplasticbag,andifnecessaryvacuum
pumpingandputdesiccant in.
6.Thetemperaturebetween -25to55duringthe transportation,forshorttransportation
(in24 hours), the temperaturecannothigherthan 70.
Therobot you orderbeforesendingoutthefactory,itisconfirmedingood workingcondition,
pleasecheck whetherthereisanydamageduringcarryingortransporting.Pleasebe
carefully,when dismantlingofcomponentsand packaging,ifthe robothasfound theinjury,
you can usethe packageagain.

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Anydamagecaused bytransportation, please:
1)Feedback immediatelytothe transportingcompaniesandourcompany.
2)Claimtotheshipping company; fill inthefilerequestsforcompensation.
3)Retaindamaged itemsfortesting.Duringthe waitfortests,donotreturnthe damaged
items.
1.5.2Storage
1. Switchofftheair supplyand mainpower, iftherobot isnot inuseforalongtime.
2.Robotsshouldbestored inventilated,dryroomtoprevent rustanddamping.
3. Ifnotuseforalongtime,anti-rustofthe robot, andifnecessaryplacefilmtoprevent dust
and rainwatercorrosion.
1.5.3Unpacking Transportation
1. Useaspecialstrapand hook(cotton non-slipstrap, the minload80kg)tolift uprobot.
Recommendsorderthemfromthemanufacturer.
2. Liftuprobot asthepicture1-1shows.
3.All personnelkeep1meterawayfromrobotatleastwhenlifting uprobot.Forbidsany
personnelenterintothebottomof robot.
Picture1-1: LiftUpRobot
1.5.4OperationEnvironment
1.Temperature: Between +5to+40
2. Humidity: Temperature+40 ,relativehumidity50%
3. Elevation: Under1000 metersabovesea level
4. Inordertoensuretherobot operatenormally, pleasestopusingwhen:

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Powerwireisbroken.①
Air hoseisbroken.②
Robot goeswrongordismantleswithoutprofessional, beforethe③professional
overhauling.
Air pressureisnotenoughortoohigh(normal:0.6mpa±0.1mpa).④
Thereareorganicsolvent, acidicphospholipids, sulfurousacid, chlorine andflammable⑤
and explosivedangerousmatterinthecompressed air.
1.5.5Retirement
When therobotgoestothe end ofservicelifeand cannotbemaintenance,dismantleit.
When dismantlethe componentpartsaccordingtoitsnaturemistrials(metal,oil and
lubricants,plastics,rubber,etc.)indifferentways.Entrusttheauthorized commission
companyandabide thelocallawsandregulationsof solidindustrialwastetreatment.
1.6ExemptionClause
Thefollowingstatementsclarifythe responsibilitiesandregulationsbornbyanybuyeror
userwho purchasesproductsandaccessoriesfromShini(includingemployeesandagents).
Shiniisexemptedfromliabilityforanycosts,fees,claimsandlossescaused byreasons
below:
1.Anycareless orman-made installations,operationandmaintenancesuponmachines
without referringtothe Manualpriortomachineusing.
2.Anyincidentsbeyond human reasonablecontrols,whichincludeman-made viciousor
deliberatedamagesorabnormalpower,andmachine faultscausedbyirresistiblenatural
disastersincludingfire,flood, stormand earthquake.
3.Anyoperationalactionsthatarenotauthorized byShiniupon machine,includingadding
orreplacingaccessories, dismantling, deliveringorrepairing.
4. Employingconsumablesoroil mediathatarenotappointed byShini.

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2. Installation
2.1Instruction
2.1.1SafetyIssue
1．Beforeinstallation,pleasereadthischaptercarefully.
2．Followthe installation guide toprevent accidents.
3．Pleasecheck robotandall partsingoodcondition.
4．Check anti-fallingcylinderisnormally.
5．Fixthe robot basebeforeoperating.
6．Indicatethesafetyfenceoutsideof therobot operationarea.
7．Placethehand controlleroutsideof thesafetyfence.
8．Keepthe air hoseingood condition wheninstallingrobot.
9．The powerconnection shouldbe performedonlybyan authorized electrician.
10．Cableconnectionshouldobeythe localregulations.Thegrounded wirecannotattachto
the waterpipe, gaspipe, television cablesortelephonelines.
11．Usethe independent cablewireandpowerswitch. Thediameterofmainpower’swire
cannot beless thanthecontrolbox’swire.
2.1.2CompressedAirConnection
1．Accordingtothe filterspecificationtochooseasuitablehose,thenconnectitbetween the
gassourceand thefilter.
Note: Beforeconnecting hoses, clean the hosebycompressedair.Toensurethatthereis
no cuttings, sealtapes,andsoon inthehose.
2．Check the compressed air connectionincontrolboxwithout bendingconditions.
3．Turnonthe air supplyand adjust the air pressureto5baratthefilterregulatorvalve.
2.1.3ElectricPower Connection
1.Thepowerconnection shouldbe performedonlybyan authorized electrician.
2. Beforeconnecting, cut off themainpowersupply.
3.Set upsafetyelectricaltoprotect thecontrolsystem. Becausethepowersupplyinformally
will destroythe controlsystem.
4. Beforeinstallation,wiring, operation,andmaintenancepleasefamiliarwithinstallation
guide aswell asmachinery, electronics and securityattentions.
5. Ground thewirebeforerobot operating.
6.Wiregroundingshouldconnecttometaland keep awayfrominflammablematter.
2.1.4SafetyFence
1. Indicatethesafetyfenceoutsideof therobot operationarea,afterinstallingrobot.The
safetyfenceshouldmeet the EN294requirements.
2. Placethehandcontrolleroutsideofthesafetyfence.
3. Stick warninglogoson the safetyfence.

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2.1.5MountingPreparation
Picture2-1: Driling Sticker
1. Beforedrilling, switchoff theIMM then turnoffthe powersupplyinordertoprevent any
damagetothemold.
2. Put the drillingsticker(asthepicture)on the installingsurfaceofIMM.
3. Usethe centerpunchtofixthepositions.
4. Placeelectricaldrill withmagnet baseon the fixingplate,use8.5drill bitstodrill 6holes
about 30mmdepth.
5. UseM10taptoproduce6internalscrewthreadsabout 25mmdepth.
2.1.6MountingInstruction
1. Avoidsharppounding; collision andfallingwhen transferthe robot tothe topofIMM.
2. Adjust the torque spannerto77Nm aftertherobot hasbeenfixed on the right position;
tighten the M10 ×30hexsocket bolt screws.
2.2Dimensions(Unit: mm)
Picture2-2: SS-S1Dimensions

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2.2.1Model Specification
Table2-1: SS-S RobotSpecification List
Model SS-650-S1 SS-650T-S1 SS-750T-S1
IMM (ton) 50-200 50-200 150--250
Vertical Stroke(mm) 0--650 0—650 0--750
Crosswise Stroke(mm) 0--120 0—120 0--200
Swing Angle (deg) 50--90 50-90 50--90
Wrist Angle(deg) 90 90 90
MaxLoad (kg) 0.5 0.5 0.5
Min Pick-outTime(sec) 0.9 0.9 1
Min CycleTime(sec) 4.4 4.2 4.8
MaxAir Consumption (Nl/cycle)*13 12 13
Air Pressure(bar) 4--6 4--6 4--6
Weight (kg) 36 48 49
A 1460 1200 1250
B 320
C 820
D 100
OutlookDimension (mm)
E 430
Note:1. “V”standsfor vacuumdevice.
“M”standsformiddlemold detector,suitable for three-platemold.
“EM12”standsfor Euromap12communication interface.
“EM67”standsfor Euromap67communication interface.
2. Power supplyrequirement: 1Ф, 230V, 50Hz.
3. “*”Maxair consumption for vacuumdevice30Nl/min.
2.2.2PneumaticSourceRequirement
Thisisconnected tothe regulatorwith1/4-Ф10 air hose.Ashutoff
valveprovide offthe maincompressed air line.
Required supplypressure: 5bar
When thepressuredrop below4bar,the robotwill stopworkingand
alarm.
Compressed air consumptiondependsontherobotaccessories.

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2.3Electrical Connection
2.3.1Main Power Supply
Thepowerrequirementsaregiven on theserialplateoftherobot. The powerconnectionis
provided throughanormalpowercordandaCEE plug.
Thepowerconnection shouldbeperformedonlybyan authorized electrician
accordingtoapplicableelectricutilityregulations.
2.3.2InterfacewiththeInjection Molding Machine
SS-Sseriesrobotsareavailablewith2differentinterfaceversionstocommunicatewiththe
injection moldingmachine:
Euromap12
Euromap67
Bothversionsaredescribed inthe chapter2.6.
Connection ofthe interfaceplugtothemachine and testingof all signalsmustbe
donebyaspecialist ininjection moldingmachinesand robots.Preferably, thisshould
be donebyoneofourserviceengineerstogetherwithaqualifiedserviceengineerfor
the injection moldingmachine.
Theinterfacesignalfunctionsmustbe carefullytested,asimproperoperation may
causemalfunction ordamagetothe robotandmoldingmachine.
Inparticular, the functionsof thesafetycircuitsmust bethoroughlychecked:
Testingthe EmergencyStop signalsfromand totheIMM.
When theEmergency Stop switchisactivatedonthe handcontroller,theerrormessage
emergencystopmustalsobeindicatedatthe IMM.Afteracknowledgingthe errormessage,
the emergencystopmustbeactivated attheIMM.Emergencystopmustalsooccuratthe
handcontrollerdeviceand be indicated on thedisplay.

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2.4Axes Adjustment
Whileadjusting,makesurethattherobot cannot berunandthatthe compressed air
supplyisshutoff.
2.4.1AdjustingtheX-Position
Picture2-3: Stop Package
Thex-position isdeterminedbythestoppackage.
Thestopperisforadjustingthe 0-position.
BeforerunningintothemoldrangewiththeY-axisforthefirsttime, you mustcheckwhether
the X-positionscanbereachedwithoutdamagingthe mode andtheY-axis.
First, the endpositionoftheX-axismust beadjusted.
Adjustingtheend position
1)Run the X-axistoitsendposition
2)Pushtheaxistothe desired positionmanually
3)Fixthe stoppackage
Adjustingthe0-position(strokelength)
5)Run the X-axisto0-position
6)Releasestoppackage
7)Pushtheaxistothe desired 0-position
8)Fixthe stoppackage
2.4.2AdjustingtheY-Position
Theupperpositionisgiven bythe end-position-damper.Thewithdrawposition can be set
usingthe stopblock.
Adjustingthewithdrawalposition
1)Run the Y-axistoitsendposition
2)Sealoffcompressedair
3)Loosen Y-axisstop package
4)PushtheY-axistothe desired positionmanually
5)PushY-stop toitslowest position
6)Fixthe Y-stop-package

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Picture2-4: YStopPackage
If theY-axisisshifted, alsothe withdrawalposition changes.
2.4.3AdjustingtheZ-Position
TheZ-positionisdeterminedbyadjustingthepositionof theshockabsorber.
Beforeadjusting, releasethecompressed air.
1)Loosen thenutsonthe rotatecylinder
2)Adjusttherotatecylinderintothe desired position
3)Tightenthe nutsinplace
TheZ-position mustbeadjusted sothattheY-axiscan be fullyrun out. IntheZ0-position,
the Y-axismust berunouttooutsidethe modearea.
Picture2-5: RotateCylinder

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2.5Gripper andSuction Setting
2.5.1GripperSetting
Whenthe gripperisopened(didnotpick upparts),the lightofthe magneticswitchshouldbe
off.Whenthe gripperpicks up parts,thelightofthe magneticswitchshouldbeon.Whenthe
gripperisclosed (didnot pick up parts), the light ofmagneticswitchshouldbe off.
Adjustingthemagneticswitch
1. Loosenthe fixingscrewon the magneticswitch
2.When gripperpicks partsthelightofmagneticswitchon,ifgripperhasn’tpicks parts,the
light off.
3.Tighten thefixingscrewafterfinishingadjustment.
Duringthe robotoperation,ifthegrippernotclampsthe parts,the robotwill stop operating
and alarm.
Picture2-6: MagneticSwitch
2.6Robotand IMM Interface
SS-S1seriesrobotsareavailablewith2differentinterfaceversionstocommunicatewiththe
injection moldingmachine:
Euromap67
Euromap12
Bothversionsaredescribed inthe followingchapters.
2.6.1Euromap67 Interface
Euromap67 interfacedefinestheconnectionplugbetween theinjection moldingmachine
and therobot:

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Therobot-injection moldingmachineinterfaceisdesigned accordingtothedirectivesof
Euromap67, whichstates:
Unless otherwisenoted, thesignals, whicharemaintainedduringthedescribed function.
2.6.1.1TheInjectionMoldingMachine Output Signals
ContactNo. Function
ZA1
ZC1
Emergencystop channel 1
The emergencystop switchoftheinjection molding machine isused tointerrupt
the emergencystop circuitofthe robot.
ZA2
ZC2
Emergencystop channel2
The emergencystop switchofthe injection moldingmachine isused tointerruptthe
emergencystopcircuit ofthe robot.
ZA3
ZC3
Safetysystem activechannel 1
Forprotecting againsthazardousmotionsofthe robot.The switchisclosed when thesafety
systemof the injection moldingmachine isactive.
ZA4
ZC4
Safetysystem activechannel 2
Forprotecting againsthazardousmotionsofthe robot.The switchisclosed when thesafety
systemof the injection moldingmachine isactive.
ZA5
Optional
Reject
The signal isHIGHwhen the molded pieceisareject. The switchis closed when the toolis
open and must remainHIGH at least until “closetoolenabled”(see pincontact No.A6).
ZA6 Moldclosed HIGHsignalwhen tool closinghasbeen completed,thesignal “closetoolenabled”is no
longernecessary(see pin contact No.A6).
ZA7
Moldopen
HIGHsignalifthe mold opening positionisequal ormorethan the required position.
Inadvertentalterationtomold openingstrokesmallerthanthatrequiredforthe robotto
approachmust beimpossible.
ZA8
Optional
Moldat intermediateposition
HIGH signalwhen themold openinghasreached thespecifiedintermediateposition and
remainsHIGH untilthe mold is completelyopen. the signal maybe used in twoways:
1) The mold stopsintheintermediateposition, whereupon asignal is sent tothe robot.
Completeopening of theIMMtakesplacethroughthe signal “completemold opening
enabled”(see pinA7).
2) The IMMtransmitsthesignal, but doesnot remain intheintermediateposition.
SignalisLOWwhentheintermediate.
ZA9 Signal voltagerobot24V DC
ZB2 Fullyautomaticmode injection molding machine
HIGH signal, when operating the injectionmolding machinetighterwiththe robotis possible.
ZB3 Ejectorback position
HIGHsignalwhen theejectorisback,regardlessofthe positionofthemovabletoolplate.