Shini ST1-700-1300 User manual

ST1
Single Axis ServoDrivenRobot
UserManual
Date:May. 2016
Version:V1.4(English)

3(147)
Contents
1. Safety............................................................................................................9
1.1 SafetyRegulations..................................................................................9
1.2 SafetyConcerns...................................................................................10
1.3 EmergencyStop...................................................................................12
1.4 Transportation andStorage..................................................................12
1.4.1 Transportation.............................................................................13
1.4.2 Transportation afterUnpacking...................................................13
1.4.3 Storage........................................................................................16
1.4.4 OperationEnvironment...............................................................16
1.4.5 Retirement...................................................................................17
1.5 ExemptionClause.................................................................................17
2. Installation..................................................................................................18
2.1 Instruction.............................................................................................18
2.1.1 SafetyIssue................................................................................18
2.1.2 Compressed Air Connection.......................................................18
2.1.3 ElectricPowerConnection..........................................................18
2.1.4 SafetyFence...............................................................................19
2.1.5 MountingPreparation..................................................................19
2.1.6 MountingInstruction....................................................................20
2.1.7 Robot Reversing..........................................................................20
2.2 Equipment Specification.......................................................................24
2.2.1 Dimensions(unit:mm)................................................................24
2.2.2 ModelSpecification.....................................................................25
2.2.3 PneumaticSourceRequirement.................................................28
2.3 ElectricalConnection............................................................................29
2.3.1 MainPowerSupply.....................................................................29
2.3.2 InterfacewiththeInjection MoldingMachine...............................29
2.4 AdjustingtheAxisPositions..................................................................29
2.4.1 AdjustingtheX-Position..............................................................30
2.4.2 AdjustingtheY- Position.............................................................31
2.4.3 AdjustingtheZ- Position.............................................................32

4(147)
2.5 Gripperand SuctionMonitoring............................................................32
2.5.1 GripperSetting............................................................................32
2.5.2 SuctionSetting............................................................................32
2.5.3 DigitalPressureSwitchSetting...................................................33
2.6 RobotandIMM Interface......................................................................33
2.6.1 Euromap67 Interface...................................................................33
2.6.1.1 TheInjectionMoldingMachine Output Signals.................34
2.6.1.2 RobotOutputSignals.......................................................35
2.6.2 Euromap12 Interface...................................................................37
2.6.2.1 InjectionMoldingMachine Output Signals........................37
2.6.2.2 RobotOutputSignals.......................................................38
3. General Description...................................................................................40
3.1 ST1-seriesAbstract..............................................................................40
3.2 Application............................................................................................40
3.3 Features................................................................................................41
3.4 Functions..............................................................................................41
3.4.1 FunctionDescription....................................................................41
3.4.2 Malfunctionprotection.................................................................41
3.4.3 Shock Absorber...........................................................................41
3.4.4 FunctionDetection......................................................................42
3.4.5 Pick andPlace............................................................................42
3.4.6 StackingFunction........................................................................42
3.4.7 Self-protection.............................................................................42
3.4.8 EmergencyStopFunction...........................................................43
3.5 DefaultSetting......................................................................................43
3.6 TheDescriptionof SingleAxisServoRobotST1Reversing.................43
4. Operating Instruction.................................................................................50
4.1 Hand Controller.....................................................................................50
4.1.1 OperationPanelofHand Controller............................................50
4.1.2 HomePositionSetting.................................................................50
4.1.3 ManualMode..............................................................................51
4.1.4 Automation Mode........................................................................52
4.2 TheFunctionInstructions......................................................................53
4.2.1 BasicFunction Setting.................................................................53

5(147)
4.2.2 SpecialFunction1.......................................................................55
4.2.3 MoldChoice................................................................................58
4.2.4 Teach..........................................................................................58
4.2.5 Parameters..................................................................................59
4.2.6 Monitor........................................................................................60
4.3 StandardActionProgram......................................................................61
5. Error Connection........................................................................................63
6. Maintenance...............................................................................................74
6.1 General.................................................................................................74
6.2 LubricationRequirements.....................................................................74
6.2.1 Maintenancecycle.......................................................................75
7. AssemblyDiagram.....................................................................................76
7.1 TraverseUnit (ST1andST1-T)............................................................76
7.1.1 PartsList.....................................................................................77
7.2 VerticalUnit (ST1)................................................................................88
7.2.1 PartsList.....................................................................................89
7.3 Mainarmunit (ST1)..............................................................................93
7.3.1 PartsList.....................................................................................94
7.4 Sub-Arm unit(ST1)...............................................................................98
7.4.1 PartsList.....................................................................................99
7.5 MainArm(ST1-T)...............................................................................101
7.5.1 PartsList...................................................................................102
7.6 Sub-arm(ST1-T:TelescopicArm)......................................................104
7.6.1 PartsList...................................................................................105
7.7 Vertical(ST1-T:TelescopicArm)........................................................107
7.7.1 PartsList...................................................................................108
7.8 Traverseunit(ST1-T:MiddleTelescopicArm)...................................110
7.8.1 PartsList...................................................................................111
7.9 MainArm(ST1-T:MiddleTelescopicArm).........................................115
7.9.1 PartsList...................................................................................116
7.10Sub-arm(ST1-T: MiddleTelescopicArm)...........................................120
7.10.1 PartsList.............................................................................121
7.11CrosswiseUnit (ST1-T: MiddleTelescopicArm)................................125

6(147)
7.11.1 PartsList.............................................................................126
8. ElectricControl Chart..............................................................................129
8.1 ThePowerInputWiring Diagram........................................................129
8.2 MainControlPanelandI/O WiringDiagram.......................................130
8.3 PanasonicServoMotorWiringDiagram1..........................................131
8.4 PanasonicServoMotorWiringDiagramand SpareWiringDiagram..132
8.5 YASKAWA ServoMotorWiringDiagram1.........................................133
8.6 YASKAWA ServoMotorWiringDiagramand SpareWiringDiagram.134
8.7 Z-axisWiringDiagram........................................................................135
8.8 MainArmWiringDiagram1................................................................136
8.9 MainArmWiringDiagram2................................................................137
8.10Sub ArmWiringDiagram....................................................................138
8.11EM67 SignalInputWiringDiagram.....................................................139
8.12EM67 SignalOutputWiringDiagram..................................................140
8.13MainControlBoardComponent Layout..............................................141
8.14I / O (U2)BoardComponent Layout...................................................142
8.15Z-axisTravel-inBoard(U3)Component Layout.................................143
8.16MainArm(U4)Layout.........................................................................144
8.17Sub-arm(U5)ComponentLayout.......................................................145
8.18PneumaticSchematicDiagram...........................................................146
Tableindex
Chart 2-1 Specification List(ST1)..............................................................25
Table7-1: PartsList.....................................................................................77
Table7-2: PartsList.....................................................................................80
Table7-3: PartsList.....................................................................................83
Table7-4: PartsList.....................................................................................86
Table7-5: PartsList.....................................................................................89
Table7-6: PartsList.....................................................................................91
Table7-7: PartsList.....................................................................................94
Table7-8: PartsList.....................................................................................96
Table7-9: PartsList.....................................................................................99
Table7-10:PartsList.................................................................................100

7(147)
Table7-11:PartsList.................................................................................102
Table7-12:PartsList.................................................................................105
Table7-13:PartsList.................................................................................108
Table7-14:PartsList.................................................................................111
Table7-15:PartsList.................................................................................113
Table7-16:PartsList.................................................................................116
Table7-17:PartsList.................................................................................118
Table7-18:PartsList.................................................................................121
Table7-19:PartsList.................................................................................123
Table7-20:PartsList.................................................................................126
Table7-21:PartsList.................................................................................128
Pictureindex
Picture1-1....................................................................................................14
Picture1-2....................................................................................................15
Picture1-3....................................................................................................15
Picture1-4....................................................................................................16
Picture2-1....................................................................................................24
Picture2-2....................................................................................................24
Picture2-3....................................................................................................25
Picture2-4....................................................................................................37
Picture4-1....................................................................................................50
Picture4-2....................................................................................................51
Picture7-1....................................................................................................76
Picture7-2....................................................................................................88
Picture7-3....................................................................................................93
Picture7-4....................................................................................................98
Picture7-5..................................................................................................101
Picture7-6..................................................................................................104
Picture7-7..................................................................................................107
Picture7-8..................................................................................................110
Picture7-9..................................................................................................115
Picture7-10................................................................................................120

8(147)
Picture7-11................................................................................................125
Picture8-1..................................................................................................129
Picture8-2..................................................................................................130
Picture8-3..................................................................................................131
Picture8-4..................................................................................................132
Picture8-5..................................................................................................133
Picture8-6..................................................................................................134
Picture8-7..................................................................................................135
Picture8-8..................................................................................................136
Picture8-9..................................................................................................137
Picture8-10................................................................................................138
Picture8-11................................................................................................139
Picture8-12................................................................................................140
Picture8-13................................................................................................141
Picture8-14................................................................................................142
Picture8-15................................................................................................143
Picture8-16................................................................................................144
Picture8-17................................................................................................145
Picture8-18................................................................................................146

9(147)
1. Safety
Beforestartingupthe robotforthe firsttime,pleasereviewthis
manualthoroughlyandfamiliarizeyourselfwiththeoperationof the
robot. Improperusemayinjurepersonneland/ordamagetherobot,
moldormoldingmachine.
1.1 SafetyRegulations
●Pleasereviewthismanualthoroughlyandfamiliarizeyourselfwiththe
operation ofthe robot, beforestartinguptherobot forthe firsttime.
Maintenanceshouldbeperformedbyqualifiedpersonnelonly.
●TheST1seriesrobot isdesigned forinjection moldingmachine(IMM)
ONLY.
●Anymodificationorchangetotheoriginaldesignoftherobotisforbidden.
●Anyimproperinstallation and operationmayresult ininjurytopersonnel
and/ordamagetoequipments.
●Pleasecontact the manufacturerorlocalvenderimmediatelyifthereis
anyproblemwithrobotwhen operateit.
●Pleasenotethatourrobotmustbecooperatedwithothersafetydevice
(i.e. safetydoor) inordertooperateinnormalcondition.
●Ensureall installationsaremetwithsafetyrequirementsbeforeoperating.
●Without the written consent of themanufacturer, anydamageorlost
causedbythemodification orusebeyond theusermanual, the
manufacturerwill not haveanyresponsibility.

10(147)
1.2SafetyConcerns
●Themaintenance,repair, etc,mustbeexecutedbyprofessionallytrained
personnel.
●Anyunrelated personnelshouldkeepawayfromrobot workingarea while
it isoperating. All electricalwiringmust be completed byprofessionals,
and inaccordancewithdesignof specificationsandwiringinstructions.
●Usesafetyfencetoindicateworkingarea whileinstallation.
●Forthe safetyoperation,thehand controllershouldbeplaced outside the
robot workingarea.
●Ensureboltsandnutsaretightened withtorque wrenchwhileinstallation.
●Ensurethereisnofollowingmattersinthecompressiveair suchas
phosphate-containingoil,organicsolvents,sulfitegas,chlorine,acidsand
stalecompressoroil.
●Theair pressureshouldbe keptat 6MPa 0.1MPawhileoperation.
●Removeanythingfromthe topoftherobot topreventfallingdueto
vibration.
●Press EMERGENCYSTOP buttonimmediatelywhen accident occurs.
●Donotmodifythe robotbodyand controlbox. Pleasecontact
manufacturerorvendorifanychangeisrequired.
●Turnoff powersupplyand compressed air beforemaintenanceand
adjustment. Alsosetupwarmingsignsand safetyfences.
●PleaseusepartsofSHINI if thereisanyreplacement isrequired.
●Ourrobotsmeetall correspondingsafetystandards.
●Pleaseread theusermanualcarefullyasasafetyguideline.
●Unauthorized personnelmustinformthe relativesupervisor, and
understandall safetyrulesbeforeenteringrobot workingarea.
●Pleaseorderanewusermanualfromthemanufacturerorvendorifthe
usermanualisdamaged.
Productownerhastheresponsibilitytoensurethe operators,
maintenancestaffsandrelativestaffshaveread usermanual
thoroughly.

11(147)
Anymodificationsorotherapplicationstorobot shouldobtainthe
written consent fromthemanufacturer,forsafetypurpose.
Thesafeguardingrequired foroperationofthe robotisnotincluding in
ourstandardscopeofsupply(except specialequipment), since
adaptationtospecificsiteconditionsisrequired. Ifsuchsafeguarding
isprovided byyou,pleasenotethatitmustbeinstalled priortostartup
oftheequipment inordertobeincludedinthesafetycircuit ofthe
systemupon startup.
Thewarningmarks and itsmeanings
No. Marks Meaning
1 DO NotTouch
2
Caution, Danger
3 Caution!
Electricshock
4 Caution!
Mechanicalinjury
5
Caution!
Hightemperature

12(147)
6
NoFlame
1.3EmergencyStop
Theemergencystopbuttonislocatedon thehandcontroller.
When theemergencystop button ispressed,the poweristurned off.The
gripperandvacuumvalvesandthevacuumgeneratorarenotdisconnected,
inordertoavoiddroppingpartsfromthe gripper.Inaddition,the control
systemand thehandcontrollerwill remainunderpowertoallowindicationof
errormessages.
Theemergencystopbuttoncanbereleased byturningit clockwise.
Theemergencystop circuitofthe robotandthe injection molding machine
areconnected bythe Euromap12 orEuromap67interface.Thereforewhen
the emergencystop buttonon themoldingmachine ispressed therobotwill
alsostopand viceversa.
1.4TransportationandStorage
Duringtransportingtherobot, workingunderneaththe robot is
forbidden.
If it isnecessarytoremoveorreinstall therobot, pleasecontactthe
agent ormanufacturerforhelp.Themanufacturerandagentdonot
haveanyresponsibilityforinjuriesordamageifthecustomersremove
robotsthemselves.

13(147)
1.4.1Transportation
1.ST1-seriesrobotisfixon asteelstructurebaseand packaged withcrate.
2. Beforetransporting,fastentheslidingbasetopreventanycollision.
3.Thearmsarefreetoslidewhen electricpowerand pneumaticsupplyare
off.Pushthearmsupwardstolock them.
4. Duringthetransporting, pleasekeepthe robotawayfromotherobjects,
inordertoavoiddamages.
5. Shouldincreaseplasticbagout of therobot, andifnecessary, pumping
vacuumand putdesiccant inthepackingduringthe long-distance
transportation,
6.Thetemperaturebetween -25 to55 duringthe transportation,for
short transportation(inner24hours), thetemperaturecannot higher
than70 .
Therobot you orderbeforesendingout the factory, it isconfirmedingood
workingcondition,pleasecheckwhetherthereisanydamageduring
carryingortransporting. Pleasebe carefully, when dismantlingof
componentsandpackaging, ifthe robothasfoundtheinjury, you canuse
the packageagain.
If thereisanydamagecausedbytransport, please:
1)Feedback immediatelytothe transportationcompaniesandour
company.
2)Claimdamagestothe shippingcompany; fill inthe filerequestsfor
compensation.
3)Retainthedamaged itemswaitfortesting.Until the testingiscompleted,
do not returnthe damaged items.
1.4.2Transportation afterUnpacking
1.Aftertakingapartthepackage,firstremoved the supportingplate,sothat
the armrotated90degrees,andtheverticalwithbeams(seethepicture).
Todo asthe following:
1)Release6fixed screwson the supportingboard, removethe packing
support plate.
2)Rotatingbeamsandarmslowly, sothatthearmandthebeamwas

14(147)
vertical.
3)Lock thearmconnectingplateandtheslidingseatbythe 6screwson the
supportingplate.
Note:1)Removethepackingsupport plateshouldbecarefultoprevent the
armwrist and the machine damageorpersonalinjury.
2)Lockthearmconnectingplateand theslidingseat,ensurethat the
arminverticalstate.
2.Thereisaringinthe partsboxwhen the robotsent, aftertakingapartthe
package,theringisinstalled on the "T"-type block ofthe verticalbeam,
usingwiththe twoendsofbeam. (See the picture)
Note: Afterhoisting, pleasekeepringsofthe verticalbeam,anduseagain
next time.
Packsupporting plate
Fixing screw
Picture1-1
Packing of ST1andST1-T

15(147)
Picture1-2
Packing of ST1-T(medium telescopicarm)
Picture1-3
Hanging transportation of ST1 and ST1-T

16(147)
Picture1-4
Hanging transportation of ST1-T(medium telescopicarm)
1.4.3Storage
1. Switchoffthemainair sourceand power, ifrobotisnot inuseforalong
time.
2. Robotsshouldbestored inventilated, dryroomtoprevent rustand
damping.
3. Ifnotuseforalongtime,pleaseanti-rust, and ifnecessaryplacefilmto
prevent dust and erosion.
1.4.4OperationEnvironment
1.Temperature: between+5 to+40
2.Humidity: Temperature+40, relativehumidity50%
3.Elevation: Under1000metersabovesea level
4.Stop usingtheproductimmediatelywhen the followingoccurs:
I. Powercableisdamaged
II. Air tube isdamaged

17(147)
III. Machine breaks downordissembledbyunauthorized personnel.
IV. Thereareorganicsolvent, acidicphospholipids, sulfurousacid,and
chlorine,flammableandexplosivedangerousmatterincompressedair
. Air pressureisnot enoughortoohigh.
1.4.5Retirement
When the robot goestoitsendofservicelife,it shouldbedemolished
accordingtodifferentmartial(metal,oil, lubricants, plastics, rubber,etc.)to
split indifferent ways. Dealwiththe machine accordingtolocal
requirements;ensurethe commission companyasthe best.
Anyproblemduringusingthe SHINIST1SeriesRobot, pleasecontact the
companyorthe localvendor.
1.5Exemption Clause
Thefollowingstatementsclarifytheresponsibilitiesandregulationsbornby
anybuyeroruserwho purchasesproductsand accessoriesfromShini
(includingemployeesand agents).
Shiniisexemptedfromliabilityforanycosts,fees,claimsandlossescaused
byreasonsbelow:
1. Anycareless orman-madeinstallations, operationandmaintenancesupon
machineswithoutreferringtothe Manualpriortomachineusing.
2. Anyincidentsbeyondhumanreasonablecontrols, whichinclude
man-made viciousordeliberatedamagesorabnormalpower,and machine
faultscausedbyirresistiblenaturaldisastersincludingfire,flood,stormand
earthquake.
3. Anyoperationalactionsthatarenotauthorized byShiniuponmachine,
includingaddingorreplacingaccessories,dismantling, deliveringor
repairing.
4. Employingconsumablesoroil mediathatarenotappointed byShini.
Headquarters&TaipeiFactory TEL [phone]
China ServiceHotline TEL [phone]
Dongguan Factory TEL [phone]
Ningbo factory TEL [phone]

18(147)
2. Installation
2.1Instruction
2.1.1SafetyIssue
1. Beforeinstallation,pleaseread thischaptercarefully.
2. Fixrobot onthe basebeforeoperating.
3. Afterinstallingrobot,indicatetheworkingarea withsafetyfence.
4.Thehand controllershouldbe placedoutside of thesafetyfence.
5. Keep theair pipeingood wayduringinstallation.
6.Thepowerconnection shouldbe performedonlybyauthorized electrician.
7. Connectingcableandthegrounded shouldobeythelocalrulesand
regulations.
8.Thegrounded wirecan notattachtothewaterpipes, gaspipes, telephone
linesortelevision cables.
9. Usethe independent cableandpowerswitch, thediameterofmainpower
wirecan not beless than the wireofcontrolbox.
10.Theend ofthe powerwiremust besafetyand immobility.
2.1.2CompressedAirConnection
1.Accordingtothefilterspecificationstochooseasuitablehoseconnected
between the air sourceandthefilter.
Note: Beforeconnecting hoses, clean the hosesbycompressedair.To
ensurethat thereisnocuttings, sealingtapesinit.
2．Check the air connection ofcontrolboxingood conditions,withoutbending
conditions.
2.1.3ElectricPower Connection
1.Theelectricalconnection shouldbe performedonlybyauthorized
electrician.
2. Shutoffthepowersupplybeforeconnecting.
3.Setupthesafetyelectricaloutsideofthecontrolsystemtokeepthecontrol

19(147)
systemworks innormally.
4. Beforeinstallation,wiring, operation,andmaintenancemust befamiliar
withinstructionsguide aswell asmachinery, electronics andsecurity
attentions.
5. Ground thewirebeforerobot operating.
6.Wiregroundingshouldconnecttometaland keep awayfrominflammable
matter.
Thepowerrequirementsaregiven on thetype plateof therobot, thepower
connection isprovided throughanormalpowercordandaCEE plug.
The powerconnectionshouldbeperformedonlybyauthorized
electrician and shouldbe inaccordancewithanyapplicable
regulations.
2.1.4SafetyFence
1. Afterinstallingthe robot, indicatethe safetyfenceoutsidethescope of the
robot workingarea.
2.Thehand controllershouldbe fixed outsideofthe safetyfence.
3. Stick the warningsignalson outstandingplaceof thefence.
2.1.5Mounting Preparation
1. Beforedrilling, switchoff theinjection moldingmachine andthen turnoff
the power, avoidthescrap-iron intothemold.
2. Stick the drillingpictureontheinstallingsurfaceof IMM.
3. Usethe centerpunchtoassist drilling.
4. Placethemagneticdrill on thefixingplate,usedrill bits(Ф14)todrill 6

20(147)
holesabout 30mm depth.
5.Tapping. UseM16tap toproduceinternal6screwsthreadsabout 25mm
depth.
2.1.6MountingInstruction
1. Shouldavoidvibration, collision andfalling, when transferthetop ofIMM.
2. Alignmentholes,usingthe 8mmtorque wrenchturnto77Nmtightensthe
M16 ×30 hexsocketscrews.
Note:ifwiththeconnection base,fixitontheinjection moldingmachine,then
fixroboton connection base.
2.1.7Robot Reversing
Thefollowingparagraph istheinstructionforchangingrobotdroppingside.
(Operationside/non-operation side)Forsafetypurpose,pleaseturnoff the
electricalpowerandpneumaticsupplybeforecarryon theinstruction.
1.Unscrewthe proximitysensorX024 and moveitup tothesamelevelas
X025,thenscrewX024.UnscrewtheproximitysensorX025andmoveit
downtothesamelevelaswhereX024 was,andthen screwX025.See
picture2-1-1, picture2-1-2.
Picture2-1-1 Beforemodified