Shini ST1-S User manual

ST1-S
UserManual
Date:May, 2016
Vision:V1.0(English)

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Contents
1. Safety...........................................................................................................11
1.1 SafetyRegulations................................................................................11
1.2 SafetyConcerns....................................................................................11
1.3 EmergencyStop....................................................................................14
1.4 Transportation andStorage..................................................................14
1.4.1 Transportation.............................................................................15
1.4.2 Transportation afterUnpacking...................................................15
1.4.3 Storage........................................................................................17
1.4.4 OperationEnvironment................................................................17
1.4.5 Retirement...................................................................................18
1.5 ExemptionClause.................................................................................18
2Installation...................................................................................................19
2.1 Instruction.............................................................................................19
2.1.1 SafetyIssue.................................................................................19
2.1.2 Compressed Air Connection........................................................19
2.1.3 ElectricPowerConnection...........................................................19
2.1.4 SafetyFence...............................................................................20
2.1.5 MountingPreparation..................................................................20
2.1.6 MountingInstruction....................................................................20
2.2 Equipment Specification........................................................................21
2.2.1 ST1-S Dimensions(unit: mm)......................................................21
2.2.2 ModelSpecification.....................................................................21
2.2.3 PneumaticSourceRequirement..................................................22
2.3 Electrical Connection .........................................................................23
2.3.1 MainPowerSupply......................................................................23
2.3.2 InterfacewiththeInjection MoldingMachine...............................23
2.3.3 AdjustingtheAxisPositions.........................................................24
2.3.4 AdjustingtheX-Position..............................................................24
2.3.5 AdjustingtheY-Position..............................................................25
2.3.6 AdjustingtheZ-Position...............................................................26
2.4 Gripperand SuctionMonitoring............................................................26

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2.4.1 GripperSetting............................................................................26
2.4.2 SuctionSetting............................................................................26
2.4.3 DigitalPressureSwitchSetting....................................................26
2.5 RobotandIMM Interface.......................................................................28
2.5.1 Euromap67Interface....................................................................28
2.5.1.1 TheInjectionMoldingMachine Output Signals.................29
2.5.1.2 RobotOutputSignals........................................................30
2.5.2 Euromap12 Interface...................................................................32
2.5.2.1 InjectionMoldingMachine Output Signals........................32
2.5.2.2 RobotOutputSignals........................................................33
3General Description...................................................................................34
3.1 Features................................................................................................34
3.2 Functions..............................................................................................35
3.2.1 FunctionDescription....................................................................35
3.2.2 MalfunctionProtection.................................................................35
3.2.3 Shock Absorber...........................................................................35
3.2.4 Fuction Detection.........................................................................35
3.2.5 Pick andPlace.............................................................................35
3.2.6 StackingFunction........................................................................35
3.2.7 Self-protection.............................................................................36
3.2.8 EmergencyStopButton...............................................................36
3.3 DefaultSetting.......................................................................................36
3.4 ST1-S Robot Reversing........................................................................36
4Operating Instruction.................................................................................41
4.1 Hand Controller.....................................................................................41
4.1.1 OperationPannelof Hand Controller...........................................41
4.1.2 Action Marks................................................................................42
4.1.3 HomePosition.............................................................................43
4.1.4 ManualMode...............................................................................43
4.2 FunctionInstructions.............................................................................46
4.2.1 SelectParameter.........................................................................46
4.2.2 ModfyParameter.........................................................................47
4.2.3 Input values.................................................................................47
4.2.4 AdjustServoPositionand Speed................................................48

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4.2.5 SaveParameters.........................................................................49
4.3 ManualandAutomaticOperation..........................................................49
4.3.1 Introduction..................................................................................49
4.3.2 RobotArmOperation...................................................................49
4.3.3 AutomaticOperation....................................................................51
4.4 SwitchManualand AutoMode.............................................................54
4.5 SystemSetup........................................................................................54
4.5.1 SetupPage..................................................................................54
4.5.2 Action Setting..............................................................................54
4.5.3 ProgramSetting...........................................................................55
4.5.4 LoopParameters.........................................................................58
4.5.5 SystemSetup..............................................................................60
4.5.6 IO Monitor....................................................................................60
4.5.7 HistoryAlarm...............................................................................62
4.5.8 TeachProgram............................................................................63
4.5.9 SystemSafetySetup...................................................................74
4.5.10 SystemInformation...............................................................77
4.5.11 StandardPrograms...............................................................78
5Error Connection........................................................................................86
6Maintenance................................................................................................92
6.1 General.................................................................................................92
6.2 LubricationRequirements.....................................................................92
6.3 Maintenancecycle................................................................................92
7AssemblyDiagram.....................................................................................94
7.1 TraverseUnit (ST1-S and ST1-T-S)......................................................94
7.1.1 PartsList......................................................................................95
7.2 VerticalUnit (ST1-S).............................................................................99
7.2.1 PartsList....................................................................................100
7.3 MainArmUnit (ST1-S)........................................................................102
7.3.1 PartsList....................................................................................103
7.4 Sub-armUnit (ST1-S).........................................................................105
7.4.1 PartsList....................................................................................106
7.5 MainArm(ST1-T-S)............................................................................108

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7.5.1 PartsList....................................................................................109
7.6 Sub-arm(ST1-T-S).............................................................................110
7.6.1 PartsList....................................................................................111
7.7 Vertical(ST1-T-S)...............................................................................113
7.7.1 PartsList....................................................................................114
7.8 TraverseUnit (ST1-T-S: MiddleTelescopicArm)................................115
7.8.1 PartsList....................................................................................116
7.9 MainArmST1-T-S (MiddelTelescopicArm).......................................119
7.9.1 PartsList....................................................................................120
7.10Sub-arm(ST1-T-S: MiddelTelescopicArm)......................................123
7.10.1 PartsList.............................................................................124
7.11CrosswiseUnit (ST1-T-S: MiddleTelescopicArm).............................127
7.11.1 PartsList.............................................................................128
8ElectricControl Chart..............................................................................130
8.1 Non-euromapElectricControlChart...................................................130
8.1.1 ThePowerInputWiring Diagram...............................................130
8.1.2 ThePanasonicServoMotorandServoDriverWiringDiagram.131
8.1.3 ThePanasonicServoMotorandI/O BoardWiringDiagram.....132
8.1.4 TheDeltaServoMotorandServoDriverWiringDiagram.........133
8.1.5 TheDeltaServoMotorandI/O BoardWiringDiagram..............134
8.1.6 TheCuinsicoServoMotorand ServoDriverWiringDiagram....135
8.1.7 TheCuinsicoServoMotorand I/O BoardWiringDiagram........136
8.1.8 Z-axisI/O BoardWiring Diagram...............................................137
8.1.9 MainArmWiringDiagram..........................................................138
8.1.10 Sub-armWiringDiagram.....................................................139
8.1.11 MainArmOutputWirng Diagram........................................140
8.1.12 SignalsInputWiringDiagram..............................................141
8.1.13 SignalsOutputWiringDiagram...........................................142
TableIndex
Chart 2-1 Specification List1(ST1-S)............................................................21
Chart 2-2 Specification List2(ST1-S)............................................................22
Table7-1 TraveseUnit PartsList..................................................................95

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Table7-2 TraveseUnit PartsList..................................................................97
Table7-3 TraveseUnit PartsList..................................................................98
Table7-4 ST1-SVerticalPartsList.............................................................100
Table7-5 ST1-SVerticalPartsList.............................................................101
Table7-6 ST1-SMainArmPartsList..........................................................103
Table7-7 ST1-SMainArmPartsList..........................................................104
Table7-8 ST1-SSub-armPartsList...........................................................106
Table7-9 ST1-SSub-armPartsList...........................................................107
Table7-10 ST1-T-SMainArmPartsList....................................................109
Table7-11 ST1-T-SSub-armPartsList......................................................111
Table7-12 ST1-T-SVerticalPartsList........................................................114
Table7-13 ST1-T-S(MiddelTelescopicArm)TraversePartsList..............116
Table7-14 ST1-T-S(MiddelTelescopicArm)TraversePartsList..............118
Table7-15 ST1-T-S(MiddelTelescopicArm)MainArm.............................120
Table7-16 ST1-T-S(MiddelTelescopicArm)MainArm.............................122
Table7-17 ST1-T-S(MiddelTelescopicArm)Sub-arm..............................124
Table7-18 ST1-T-S(MiddelTelescopicArm)Sub-arm..............................126
Table7-19 ST1-T-S(MiddleTelescopicArm)CrosswiseUnit....................128
Table7-20 ST1-T-S(MiddleTelescopicArm)CrosswiseUnit....................129
PictureIndex
Picture1-1PackingofST1-S and ST1-T-S......................................................16
Picture1-2Hangingtransportationof ST1-Sand ST1-T-S...............................17
Picture2-1: ST1-SDimensions........................................................................21
Picture3-1 beforemodified............................................................................37
Picture3-2 aftermodified...............................................................................37
Picture3-3 beforemodified............................................................................38
Picture3-4 aftermodified...............................................................................38
Picrure3-5 beforemodified............................................................................39
Picture3-6 aftermodified...............................................................................39
Picture3-7 beforemodified............................................................................40
Picrue 3-8 aftermodified................................................................................40
Picture4-1........................................................................................................41

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Picture4-2........................................................................................................43
Picture4-3........................................................................................................46
Picture4-4........................................................................................................46
Picture4-5........................................................................................................47
Picture4-6........................................................................................................47
Picture4-7........................................................................................................47
Picture4-8........................................................................................................51
Picture4-9........................................................................................................52
Picture4-10......................................................................................................53
Picture4-11......................................................................................................55
Picture4-12......................................................................................................56
Picture4-13......................................................................................................57
Picture4-14......................................................................................................58
Picture4-15......................................................................................................59
Picture4-16......................................................................................................59
Picture4-17......................................................................................................60
Picture4-18......................................................................................................62
Picture4-19......................................................................................................62
Picture4-20......................................................................................................63
Picture4-21......................................................................................................63
Picture4-22......................................................................................................64
Picture4-23......................................................................................................64
Picture4-24......................................................................................................73
Picture4-25......................................................................................................74
Picture4-26......................................................................................................75
Picture4-27......................................................................................................76
Picture4-28......................................................................................................77
Picture7-1........................................................................................................94
Picture7-2........................................................................................................99
Picture7-3......................................................................................................102
Picture7-4......................................................................................................105
Picture7-5......................................................................................................108
Picture7-6......................................................................................................110
Picture7-7......................................................................................................113

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Picture7-8......................................................................................................115
Picture7-9......................................................................................................119
Picture7-10....................................................................................................123
Picture7-11....................................................................................................127
Picture8-1......................................................................................................130
Picture8-2......................................................................................................131
Picture8-3......................................................................................................132
Picture8-4......................................................................................................133
Picture8-5......................................................................................................134
Picture8-6......................................................................................................135
Picture8-7......................................................................................................136
Picture8-8......................................................................................................137
Picture8-9......................................................................................................138
Picture8-10....................................................................................................139
Picture8-11....................................................................................................140
Picture8-12....................................................................................................141
Picture8-13....................................................................................................142

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