Shini ST1-S User manual

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

3(142)
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

4(142)
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

5(142)
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

6(142)
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

7(142)
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

8(142)
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

9(142)
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

10(142)

11(142)
1. Safety
Beforestartingupthe robotforthe firsttime,pleasereviewthismanual
thoroughlyandfamiliarizeyourselfwiththeoperation ofthe robot.
Improperusemayinjurepersonneland/ordamagethe robot, moldor
moldingmachine.
1.1SafetyRegulations
●Pleasereviewthismanualthoroughlyand familiarizeyourself withthe
operation ofthe robot, beforestartinguptherobot forthe firsttime.
Maintenanceshouldbeperformedbyqualifiedpersonnelonly.
●TheST1-Sseriesrobot isdesignedforinjection moldingmachine (IMM)
ONLY.
●Anymodification orchangetotheoriginaldesignof therobot isforbidden.
●Anyimproperinstallation and operationmayresult ininjurytopersonnel
and/ordamagetoequipments.
●Pleasecontact the manufacturerorlocalagent immediatelyif thereisany
problemwithrobotwhen operateit.
●Pleasenotethatourrobotmustbecooperatedwithothersafetydevice(i.e.
safetydoor) inordertooperateinnormalcondition.
●Ensureall installationsaremet withsafetyrequirementsbeforeoperating.
●Without the written consentofthe manufacturer, anydamageorlostcaused
bythe modificationorusebeyondtheusermanual,themanufacturerwillnot
haveanyresponsibility.
1.2SafetyConcerns
●Themaintenance,repair, etc,must beexecuted byprofessionallytrained
personnel.
●Anyunrelatedpersonnelshouldkeep awayfromrobotworkingarea whileit
isoperating. All electricalwiringmust becompletedbyprofessionals, andin
accordancewithdesignofspecificationsandwiringinstructions.
●Usesafetyfencetoindicateworkingarea whileinstallation.
●Forthe safetyoperation,thehand controllershouldbeplaced outside the
robot workingarea.

12(142)
●Ensureboltsandnutsaretightened withtorque wrenchwhileinstallation.
●Ensurethereisnofollowingmattersinthecompressiveair suchas
phosphate-containingoil, organicsolvents, sulfitegas, chlorine,acidsand
stalecompressoroil.
●Theair pressureshouldbe keptat 6MPa ±0.1MPawhileoperation.
●Removeanythingfromthetopof therobot topreventfallingduetovibration.
●Press EMERGENCYSTOP buttonimmediatelywhen accident occurs.
●Donotmodifythe robotbodyand controlbox. Pleasecontactmanufacturer
orvendorifanychangeisrequired.
●Turnoff powersupplyand compressed air beforemaintenanceand
adjustment. Alsosetupwarmingsignsand safetyfences.
●PleaseusepartsofSHINI if thereisanyreplacement isrequired.
●Ourrobotsmeetall correspondingsafetystandards.
●Pleaseread theusermanualcarefullyasasafetyguideline.
●Unauthorized personnelmustinformthe relativesupervisor, and understand
all safetyrulesbeforeenteringrobot workingarea.
●Pleaseorderanewusermanualfromthemanufacturerorvendorifthe user
manualisdamaged.
Productownerhastheresponsibilitytoensuretheoperators,
maintenancestaffsandrelativestaffshaveread usermanualthoroughly.
Anymodificationsorotherapplicationstorobot shouldobtainthe written
consentfromthe manufacturer,forsafetypurpose.
Thesafeguardingrequired foroperationofthe robot isnot including in
ourstandardscopeofsupply(except specialequipment), since
adaptationtospecificsiteconditionsisrequired. Ifsuchsafeguardingis
provided byyou, pleasenotethatit mustbe installedpriortostartup of
the equipment inordertobeincludedinthe safetycircuit ofthe system
uponstartup.

13(142)
Thewarningmarks anditsmeanings:
No. Marks Meaning
1 DoNotTouch
2 Caution, danger
3
Caution!
Electricshock
4
Caution!
Mechanical
injury

14(142)
5
Caution!
High
temperature
6 NoFlame
1.3EmergencyStop
Theemergencystopbuttonislocatedon thehandcontroller.
When the emergencystop button ispressed,the poweristurnedoff. The
gripperand vacuumvalvesand thevacuumgeneratorarenotdisconnected,in
ordertoavoiddropping partsfromthegripper. Inaddition, the controlsystem
and thehand controllerwillremainunderpowertoallowindicationoferror
messages.
Theemergencystopbuttoncanbereleased byturningit clockwise.
Theemergencystopcircuit ofthe robotandthe injection moldingmachineare
connectedbythe Euromap12 orEuromap67interface.Thereforewhen the
emergencystopbutton on the moldingmachine ispressed therobotwillalso
stop andviceversa.
1.4TransportationandStorage
Duringtransportingthe robot,workingunderneaththerobot isforbidden.

15(142)
Ifit isnecessarytoremoveorreinstall the robot, pleasecontacttheagent
ormanufacturerforhelp.Themanufacturerand agent donot haveany
responsibilityforinjuriesordamageif thecustomersremoverobots
themselves.
1.4.1Transportation
1. ST1-Sseriesrobot isfixon asteelstructurebaseand packagedwithcrate.
2. Beforetransporting,fastentheslidingbasetopreventanycollision.
3.Thearmsarefree toslide when electricpowerand pneumaticsupplyareoff.
Pushthe armsupwardstolock them.
4. Duringthetransporting, pleasekeepthe robotawayfromotherobjects, in
ordertoavoiddamages.
5. Shouldincreaseplasticbagout of therobot, andifnecessary, pumping
vacuumand putdesiccant inthepackingduringthe long-distance
transportation,
6.Thetemperaturebetween -25 to55duringthe transportation,forshort
transportation(inner24hours), thetemperaturecannot higherthan70.
Therobotyou orderbeforesendingoutthefactory,itisconfirmed ingood
workingcondition,pleasecheck whetherthereisanydamageduring carryingor
transporting.Pleasebe carefully,when dismantlingofcomponentsand
packaging, if therobothasfoundthe injury, you canusethe packageagain.
If thereisanydamagecausedbytransport, please:
1)Feedback immediatelytothe transportationcompaniesandourcompany.
2)Claimdamagestothe shippingcompany; fill inthe filerequestsfor
compensation.
3)Retainthedamageditemsstand-byfortesting. Until thetestingiscompleted,
do not returnthe damaged items.
1.4.2Transportation afterUnpacking
1.Aftertakingapartthepackage, firstremoved the supportingplate,sothat the
armrotated 90degrees,and theverticalwithbeams(see thepicture).Todo
asthefollowing:

16(142)
1)Release6fixed screwson the supportingboard, removethe packingsupport
plate.
2)Rotatingbeamsandarmslowly, sothatthearmandthebeamwasvertical.
3)Lock the armconnectingplateandtheslidingseatbythe 6screwson the
supportingplate.
Note:1)Removethe packingsupportplateshouldbe carefultopreventthe arm
wrist and the machine damageorpersonalinjury.
2)Lockthearm connectingplateandtheslidingseat,ensurethatthearm
inverticalstate.
2.Thereisaringinthe partsboxwhen therobotsent,aftertakingapartthe
package,theringisinstalledonthe"T"-type block of theverticalbeam,using
withthe twoendsofbeam.(See thepicture)
Note:Afterhoisting,pleasekeep ringsofthe verticalbeam,and useagainnext
time.
Pack supportingplate
Fixingscrew
Picture1-1PackingofST1-S and ST1-T-S

17(142)
Picture1-2Hangingtransportationof ST1-Sand ST1-T-S
1.4.3Storage
1.Switchoff the mainair sourceandpower, if robotisnotinuseforalongtime.
2. Robotsshouldbestored inventilated, dryroomtoprevent rustanddamping.
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:
5. Powercableisdamaged
6. Air tube isdamaged
7. Machinebreaks downordissembledbyunauthorized personnel.
8.Thereareorganicsolvent, acidicphospholipids, sulfurousacid,and chlorine,
flammableandexplosivedangerousmatterincompressedair pressureisnot
enoughortoohigh.

18(142)
1.4.5Retirement
When therobot goestoitsendofservicelife, itshouldbedemolishedaccording
todifferentmartial(metal,oil,lubricants,plastics,rubber,etc.)tosplitindifferent
ways.Dealwiththemachine accordingtolocalrequirements;ensurethe
commission companyasthebest.
Anyproblemduringusingthe SHINIST1-SSeriesRobot, pleasecontactthe
companyorthelocalvendor.
1.5ExemptionClause
Thefollowingstatementsclarifythe responsibilitiesand regulationsbornbyany
buyeroruserwho purchasesproductsand accessoriesfromShini(including
employeesandagents).
Shiniisexemptedfromliabilityforanycosts,fees,claimsandlossescausedby
reasonsbelow:
1.Anycareless orman-made installations,operationandmaintenancesupon
machineswithoutreferringtothe Manualpriortomachineusing.
2.Anyincidentsbeyond human reasonablecontrols,whichinclude man-made
viciousordeliberatedamagesorabnormalpower,and machinefaults
causedbyirresistiblenaturaldisastersincludingfire,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]

19(142)
2Installation
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.
2.1.2Compressed Air Connection
1.Accordingtothefilterspecificationstochooseasuitablehoseconnected
between the air sourceandthefilter.
Note: Beforeconnecting hoses, clean the hosesbycompressedair.Toensure
thatthereisnocuttings, sealingtapesinit.
2．Check the air connection ofcontrolboxingood conditions, without bending
conditions.
2.1.3ElectricPowerConnection
1.Theelectricalconnection shouldbe performedonlybyauthorized electrician.
2. Shutoffthepowersupplybeforeconnecting.
3. Set upthesafetyelectricaloutsideof thecontrolsystemtokeep thecontrol
systemworks innormally.
4. Beforeinstallation,wiring, operation,andmaintenancemust befamiliarwith
instructionsguideaswell asmachinery, electronics and securityattentions.
5. Ground thewirebeforerobot operating.
6.Wiregroundingshouldconnecttometaland keep awayfrominflammable
matter.

20(142)
Thepowerrequirementsaregiven on thetype plateoftherobot, thepower
connection isprovided throughanormalpowercordandaCEE plug.
Thepowerconnection shouldbe performedonlybyauthorized
electrician andshouldbe inaccordancewithanyapplicableregulations.
2.1.4SafetyFence
1. Afterinstallingthe robot, indicatethe safetyfenceoutsidethescope of the
robot workingarea.
2.Thehand controllershouldbe fixed outsideofthe safetyfence.
3. Stick the warningsignalson outstandingplaceof thefence.
2.1.5MountingPreparation
1. Beforedrilling, switchoff theinjection moldingmachine andthen turnoff the
power, avoidthe scrap-iron intothe mold.
2. Stick the drillingpictureontheinstallingsurfaceof IMM.
3. Usethe centerpunchtoassist drilling.
4. Placethemagneticdrill on thefixingplate,usedrill bits( 14)todrill 6holes
about 30mmdepth.
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,fixit ontheinjectionmoldingmachine,thenfix
roboton connectionbase.