Shini ST2 User manual

ST2
TwoAxes ServoDrivenRobot
KeypadHand ControllerUserManual
Date:September,2015
Version:V1.1(English)

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Contents
1. Transportation and Storage.........................................................................9
1.1 Transportation.........................................................................................9
1.2 Transportation afterUnpacking.............................................................10
1.2.1 Storage........................................................................................11
1.2.2 OperationEnvironment................................................................11
1.2.3 Retirement...................................................................................12
1.3 ExemptionClause.................................................................................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...............................................................................14
2.1.5 MountingPreparation..................................................................14
2.1.6 MountingInstruction....................................................................14
2.2 Equipment Specification........................................................................15
2.2.1 Dimensions(TelescopicArm)......................................................15
2.2.2 ModelSpecification.....................................................................16
2.2.3 PneumaticSourceRequirement..................................................19
2.3 ElectricalConnection............................................................................19
2.3.1 MainPowerSupply......................................................................19
2.4 Adjusting theAxisPositions..............................................................20
2.4.1 AdjustingtheX-position...............................................................20
2.4.2 AdjustingtheY-position...............................................................21
2.4.3 AdjustingtheZ-position...............................................................21
2.5 Gripperand SuctionMonitoring............................................................22
2.5.1 GripperSetting............................................................................22
2.5.2 DigitalPressureSwitch................................................................22
2.5.3 DigitalPressureSwitchSetting....................................................22
3. General Description...................................................................................24
3.1 ST2SeriesAbstract..............................................................................24

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3.2 Features................................................................................................24
3.3 Functions..............................................................................................25
3.3.1 Description...................................................................................25
3.3.2 MalfunctionProtection.................................................................25
3.3.3 Shock Absorber...........................................................................25
3.3.4 FunctionDetection.......................................................................25
3.3.5 Pick andPlace.............................................................................25
3.3.6 Self-protection.............................................................................25
3.3.7 EmergencyStopFunction...........................................................26
3.4 DefaultSetting.......................................................................................26
3.5 ST2Robot Reversing............................................................................26
4. Operating Instruction.................................................................................31
4.1 Hand Controller.....................................................................................31
4.1.1 OperationPanelofHand Controller.............................................31
4.1.2 Hand ControllerKeys..................................................................32
4.2 ServoAxesSettingandI/O Extend.......................................................33
4.2.1 ServoAxesSetting......................................................................33
4.2.2 I/O Extend....................................................................................33
4.3 Loop......................................................................................................34
4.4 SystemStartup......................................................................................36
4.5 ManualMode........................................................................................37
4.6 AutoMode.............................................................................................38
4.6.1 Select Current Program...............................................................38
4.6.2 Auto Running...............................................................................38
4.7 ProgramParameter...............................................................................39
4.7.1 MainMenu...................................................................................39
4.8 ProgramFileManagement....................................................................40
4.8.1 ProgramFileExplorer..................................................................40
4.8.2 ProgramRename........................................................................40
4.8.3 CopyProgram.............................................................................41
4.8.4 DeleteProgram...........................................................................41
4.9 ModifyProgramParameters.................................................................42
4.10ModifyProductionSchedule.................................................................42
4.11I/O Port Monitor.....................................................................................44

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4.12SystemSetupParameters....................................................................44
4.13SetupSystemParameter......................................................................47
4.14Current Alarmsand AlarmResume......................................................50
4.15SystemInformation...............................................................................51
4.16TeachMode..........................................................................................51
4.16.1 EnterTeachMode.................................................................51
4.16.2 Insert Actions.........................................................................52
4.16.3 ProgramBranchControl........................................................56
4.17Program/SystemValue.........................................................................58
5. Alarm Message...........................................................................................59
6. Maintenance................................................................................................62
6.1 General.................................................................................................62
6.2 LubricationRequirements.....................................................................62
6.3 MaintenanceCycle................................................................................62
7. AssemblyDiagram.....................................................................................63
7.1 TraverseUnit.........................................................................................63
7.2 PartsList...............................................................................................64
7.3 MainArmUnit.......................................................................................65
7.4 PartsList...............................................................................................66
7.5 CrosswiseUnit......................................................................................67
7.6 PartsList...............................................................................................68
8. ElectricControl Chart................................................................................69
8.1 ThePowerInputWiring Diagram..........................................................69
8.2 ThePanasonicServoMotorWiringDiagram........................................70
8.3 ThePanasonicServoMotorandI/O BoardWiringDiagram.................71
8.4 TheDeltaServoMotorandServoDriverWiringDiagram.....................72
8.5 TheDeltaServoMotorandI/O BoardWiringDiagram.........................73
8.6 TheCuinsicoServoMotorand ServoDriverWiringDiagram...............74
8.7 TheCuinsicoServoMotorand I/O BoardWiringDiagram....................75
8.8 Z-axisI/O BoardWiring Diagram..........................................................76
8.9 MainArmWiringDiagram1..................................................................77
8.10MainArmWiringDiagram2..................................................................78
8.11Sub-armWiringDiagram.......................................................................79

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8.12IMM (injection moldingmachine)WiringDiagram1..............................80
8.13IMM (injection moldingmachine)WiringDiagram2..............................81
8.14MainControlBoardComponent Layout (U1)........................................82
8.15PneumaticSchematicDiagram.............................................................83
TableIndex
Table2-1: SpecificationList..............................................................................16
PictureIndex
Picture2-1 Xand ZAxesServoTelescopic...................................................15
Picture2-2 Yand ZAxesServoTelescopic...................................................15
Picture2-3 Xand ZAxesServo.....................................................................16
Picture3-1: beforemodified..............................................................................27
Picture3-2: aftermodified.................................................................................27
Picture3-3 beforemodified............................................................................27
Picture3-4 aftermodified...............................................................................28
Picture3-5 beforemodified............................................................................28
Picture3-6 aftermodified...............................................................................29
Picture3-7 beforemodified............................................................................29
Picture3-8 aftermodified...............................................................................29
Picture7-1:TraverseUnit.................................................................................63
Picture7-2: MainArmUnit................................................................................65
Picture7-3: CrosswiseUnit..............................................................................67
Picture8-1:ThePowerInputWiringDiagram..................................................69
Picture8-2:ThePanasonicServoMotorWiring Diagram................................70
Picture8-3:ThePanasonicServoMotorandI/O BoardWiringDiagram.........71
Picture8-4:TheDeltaServoMotorandServoDriverWiringDiagram.............72
Picture8-5:TheDeltaServoMotorandI/O BoardWiringDiagram.................73
Picture8-6:TheCuinsicoServoMotorand ServoDriverWiringDiagram........74
Picture8-7:TheCuinsicoServoMotorand I/O BoardWiringDiagram............75
Picture8-8: Z-axisI/O BoardWiringDiagram...................................................76
Picture8-9: MainArmWiringDiagram1..........................................................77
Picture8-10: MainArm WiringDiagram2........................................................78

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Picture8-11:Sub-armWiringDiagram.............................................................79
Picture8-12: IMM (injection moldingmachine)WiringDiagram1....................80
Picture8-13: IMM (injection moldingmachine)WiringDiagram2....................81
Picture8-14: MainControlBoardComponentLayout (U1)..............................82
Picture8-15:PneumaticSchematicDiagram...................................................83

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1. Transportationand Storage
Duringtransportingtherobot, workingunderneaththe robot isforbidden.
Ifitisnecessarytoremoveorreinstall the robot, pleasecontacttheagent
ormanufacturerforhelp.Themanufacturerand agent donot haveany
responsibilityforinjuriesordamageif thecustomersremoverobots
themselves.
1.1Transportation
1. ST2seriesrobot isfixon asteelstructurebaseand packagedwithcrate.
2. Beforetransporting,fastentheslidingbasetopreventanycollision.
3.Thearmsarefree toslide when electricpowerand pneumaticsupplyareoff.
Beforepackaging, pusharmsupwardsand lock arms.
4. Duringtransporting,pleasekeeptherobotawayfromotherobjects, inorder
toavoiddamages.
5. Shouldincreaseplasticbagout of therobot, andifnecessary, pumping
vacuumand putdesiccant inthepackingduringthe long-distance
transporting.
6.Thetemperaturebetween -25℃to55℃duringthe transportation,forshort
transportation(inner24hours), thetemperaturecannot higherthan70℃.
Therobot you orderbeforesendingout the factory, it isconfirmedingood
workingcondition,pleasecheck whetherthereisanydamage duringcarryingor
transporting. Pleasebecarefully,when dismantlingofcomponentsand
packaging, if therobothasfoundthe injury, you canusethe packageagain.
If thereisanydamagecausedbytransport, please:
1)Feedback immediatelytothe transportationcompaniesandourcompany.
2)Claimdamagestothe shippingcompany; fill inthe filerequestfor
compensation.
3)Retainthedamageitemswaitfortesting. Until thetestingiscompleted, do
not returnthe damageditems.

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1.2Transportationafter Unpacking
1. Aftertakingapartthepackage,first removed the supportingplate. Todoas
following:
1)Release6fixed screwson the supportingboard, removethe packing
support plate.
2)Rotatebeamsand armslowly, sothat thearmandthe beamwasvertical.
3)Lock the armconnectingplateandtheslidingseatbythe 6screwson the
supportingplate.
Note:1)Removethe packingsupportplateshouldbe carefultopreventthe arm
wrist and the machine damageorpersonalinjury.
2)Lockthearm connectingplateandtheslidingseat,ensurethatthearm
inverticalstate.
2.Thereisaringinthepartsboxwhen the robot sent,aftertakingapart the
package,theringisinstalled on the T-blockof the verticalbeam, usingwith
the twoendsofthe beam.(see the picture)
Note:afterhoisting,pleasekeepringsofthe verticalbeam,anduseagainnext
time.
PackingofST2-T

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HangingTransportationofST2-T
1.2.1Storage
1. Switchoffthemainair sourceand power, ifrobotisnot useforalongtime.
2. Robotsshouldbestored inventilated, dryroomtoprevent rust anddamping.
3. Ifnotuseforalongtime,pleaseanti-rust, and ifnecessaryplacefilmto
prevent dust and erosion.
1.2.2OperationEnvironment
1.Temperature: between +5℃to+40℃.
2. Humidity: temperature+40℃, relativehumidity50%.
3. Elevation: under1000 metersabovesea level.
4. Stop usingtheproduct immediatelywhen the followingoccurs:
Ⅰ.Powercableisdamaged.
Ⅱ.Air tubeisdamaged.
Ⅲ. Air pressureisnot enoughortoohigh.
Ⅳ.Machine breaks downordissembledbyunauthorized personal.
Ⅴ.Thereareorganicsolvent, acidicphospholipids, sulfurousacid,and chlorine,
flammableand explosivedangerousmatterincompressedair.

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1.2.3Retirement
When the robot goestoitsend ifservicelife,it shouldbedemolishedaccording
todifferentmartial(metal, oil, lubricants,plastic, rubber,etc.)tosplitindifferent
ways. Dealwiththe machineaccordingtolocalrequirements;ensurethe
commission companyasthebest.
1.3ExemptionClause
Thefollowingstatementsclarifythe responsibilitiesand regulationsbornbyany
buyeroruserwho purchasesproductsand accessoriesfromShini(including
employeesandagents).
Shiniisexemptedfromliabilityforanycosts,fees,claimsandlossescausedby
reasonsbelow:
1. Anycarelessorman-madeinstallations,operation andmaintenancesupon
machineswithoutreferringtothe Manualpriortomachineusing.
2. Anyincidentsbeyondhumanreasonablecontrols, whichincludeman-made
viciousordeliberatedamagesorabnormalpower,and machine faultscaused
byirresistiblenaturaldisastersincludingfire,flood,stormand earthquake.
3. Anyoperationalactionsthatarenotauthorized byShiniuponmachine,
includingaddingorreplacingaccessories, dismantling,deliveringorrepairing.
4. Employingconsumablesoroil mediathatarenotappointed byShini.
Anyproblemspleasecontact withShiniagentorShinicompany:
Headquarters&TaipeiFactoryTEL [phone]
China ServiceHotline:TEL [phone]
Dongguan FactoryTEL [phone]
Nongbo FactoryTEL [phone]

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2. Installation
2.1Instruction
2.1.1SafetyIssue
1．Beforeinstallation,pleasereadthischaptercarefully.
2．Fixrobot onthebasebeforeoperating.
3．Afterinstallingrobot, indicatethe workingarea withsafetyfence.
4．The handcontrollershouldbeplaced outside of thesafetyfence.
5．Keepthe air pipe ingood wayduringinstallation.
6．The powerconnection shouldbe performedonlybyauthorized electrician.
7．Connectingcableand the groundedshouldobeythe localrulesand
regulations
8．The groundedwirecan notattachtothewaterpipes, gaspipes,telephone
linesortelevision cables.
9．Usetheindependent cableand powerswitch, the diameterofmainpower
wirecan not beless than the wireofcontrolbox.
10.Theend ofthe powerwiremust besafetyand immobility.
2.1.2Compressed Air Connection
1．Accordingtothefilterspecificationstochooseasuitablehoseconnected
between the air sourceandfilter.
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. Shutoffthepowersupplybeforeconnection.
3. Set upthesafetyelectricaloutsideof thecontrolsystemtokeep thecontrol
systemworks innormally.
4. Beforeinstallation,wiring, operation,andmaintenancemust befamiliarwith
instructionsguideaswell asmachinery, electronics and securityattentions.
5. Ground thewirebeforerobot operating.
6.Wiringgroundingshouldconnect tometaland keepawayfrominflammable
matter.

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Thepowerrequirementsaregiven on the type plateifthe robot, thepower
connection isprovided throughanormalpowercordandaCEE plug.
Thepowerconnectionshouldbeperformedonlybyauthorized
electrician and shouldbe inaccordancewithanyapplicableregulations.
2.1.4 SafetyFence
1. Afterinstallingthe robot, indicatethe safetyfenceoutsidethescope of the
robot workingarea.
2.Thehand controllershouldbe fixed outsideofthe safetyfence.
3. Stick the warningsignalson outstandingplaceof thefence.
2.1.5 MountingPreparation
1. Beforedrilling, switchoff theinjection moldingmachine andthen turnoff the
power, avoidthe scrap-iron intothe mold.
2. Stock the drillingpictureontheinstallingsurfaceofIMM.
3. Usethe centerpunchtoassist drilling.
4. Placethemagneticdrill on thefixingplate,usedrill bits( 14)todrill holes
about 30mmdepth.
5.Tapping. UseM16tap toproduceinternal6screwsthreadsabout 25mm
depth.
2.1.6 MountingInstruction
1. Shouldavoidvibration, collision andfalling, when transferthetop ofIMM.
2. Alignmentholes,usingthe 8mmtorque wrenchturnto77Nmtightensthe
M16×30 hexsocket screws.

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Note: ifwiththetransition plate, fixit on the injection moldingmachine, then fix
roboton transitionplate.
2.2EquipmentSpecification
2.2.1Dimensions(TelescopicArm)
Picture2-1 Xand ZAxesServoTelescopic
Picture2-2 Yand ZAxesServoTelescopic

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Picture2-3 Xand ZAxesServo
2.2.2 Model Specification
Table2-1: SpecificationList
Model ST2-700-1400T ST2-900-1600T ST2-1100-1800T ST2-700-1400
IMM (ton) 100-200 200-300 300-450 100-200
Traverse(mm) 1400 1600 1800 1400
Mainarm 460 580 700 480Crosswise
stroke(mm)
Sub-arm / / / /
Mainarm 700 900 1100 700Vertical
stroke(mm)
Sub-arm / / / /
Max Load(withtool)(kg) 3 3 3 3
MinPick-outTime（sec） 2.0 2.2 2.5 2.0
MinCycleTime（sec）6.3 6.5 7 6.3
Airpressure range（bar） 4-6 4-6 4-6 4-6
MaxAirConsumption
(NL/cycle)* 7.5 9.5 11.5 9
NetWeight(kg) 260 280 300 240
A 2300 2500 2700 2300
B 1430 1550 1670 1430
C 1250 1350 1450 1600
D(max) 700 820 940 690
E(max) 700 900 1100 700
F(max) 1400 1600 1800 1400
G(max) / / / /
H(max) / / / /
Dimensions
(mm)
I(max) / / / /

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Model ST2-900-1600 ST2-1100-1800 ST2-Y700-1400T ST2-Y700-1400DT
IMM (ton) 200-300 300-450 100-200 850-1600
Traverse(mm) 1600 1800 1400 1400
Mainarm 600 720 150 150Crosswise
stroke(mm)
Sub-arm / / / 100
Mainarm 900 1100 700 700Vertical
stroke(mm)
Sub-arm / / / 750
MaxLoad(withtool)(kg) 3 3 3 3
MinPick-outTime（sec） 2.2 2.5 2 2.2
MinCycleTime（sec）6.8 7 6.6 6.6
Air pressurerange（bar） 4-6 4-6 4-6 4-6
MaxAirConsumption
(NL/cycle)* 11 13.5 7 12
NetWeight(kg) 250 260 250 270
A 2500 2700 2300 2300
B 1550 1670 1430 1430
C 1800 2000 1350 1350
D(max) 810 930 700 700
E(max) 900 1100 / 750
F(max) 1600 1800 1400 1400
G(max) / / / 110
H(max) / / / 180
Dimensions
(mm)
I(max) / / 680 1200
Model ST2-Y900-1600T ST2-Y900-1600DT ST2-Y1100-1800T ST2-Y1100-1800DT
IMM (ton) 200-300 200-300 300-450 300-450
Traverse(mm) 1600 1600 1480 1480
Mainarm 250 250 300 300Crosswise
stroke(mm)
Sub-arm / 150 / 150
Mainarm 900 900 1100 1100Vertical
stroke(mm)
Sub-arm / 950 / 1150
MaxLoad(withtool)(kg) 3 3 3 3
MinPick-outTime（sec） 2.1 2.3 2.2 2.5
MinCycleTime（sec）7 7 7.2 7.5
Air pressurerange（bar） 4-6 4-6 4-6 4-6
MaxAirConsumption
(NL/cycle)* 9 15 11 18
NetWeight(kg) 260 280 270 290
A 2500 2500 2700 2700
B 1550 1550 1730 1730
C 1450 1450 1550 1550
D(max) 900 900 1100 1100
E(max) / 950 / 1150
F(max) 1600 1600 1800 1800
G(max) / 170 / 170
H(max) / 180 / 180
Dimensions
(mm)
I(max) 800 800 920 920

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Model ST2-Y1300-2000T ST2-Y1300-2000DT
ST2-Y1500-2200T ST2-Y1500-2200DT
IMM (ton) 450-650 450-650 650-850 650-850
Traverse(mm) 2000 2000 2200 2200
Mainarm 400 400 400 400Crosswise
stroke(mm)
Sub-arm / 200 / 200
Mainarm 1300 1300 1500 1500Vertical
stroke(mm)
Sub-arm / 1350 / 1550
MaxLoad(withtool)(kg) 10 10 12 12
MinPick-outTime（sec） 3.2 3.2 3.5 3.5
MinCycleTime（sec）8.5 8.5 9 9
Air pressurerange（bar） 4-6 4-6 4-6 4-6
MaxAirConsumption
(NL/cycle)* 10 10 12 30
NetWeight(kg) 500 750 550 850
A 2700 2700 2900 2900
B 1890 1890 1950 1950
C 1600 1600 1700 1700
D(max) 1300 1300 1500 1500
E(max) / 1350 / 1550
F(max) 2000 2000 2200 2200
G(max) / 120 / 120
H(max) / 170 / 170
Dimensions
(mm)
I(max) 1100 1100 1150 1150
Model ST2-Y1800-2400T ST2-Y1800-2400DT
IMM (ton) 850-1600 850-1600
Traverse(mm) 2400 2400
Mainarm400 400Crosswisestroke
(mm) Sub-arm / 200
Mainarm 1800 1800
Verticalstroke(mm)
Sub-arm / 1850
Max Load(withtool)(kg) 14 14
MinPick-outTime（sec）3.8 3.8
MinCycleTime（sec）9.5 9.5
Air pressurerange（bar）4-6 4-6
MaxAirConsumption(NL/cycle)* 14 32
NetWeight(kg) 600 1000
A 3100 3100
B 2010 2010
C 1850 1850
D(max) 1800 1800
E(max) / 1850
F(max) 2400 2400
G(max) / 120
H(max) / 170
Dimensions
(mm)
I(max) 1200 1200
Note:1. “M”stands formiddlemolddetector, suit for 3-patemold.
“EM12”stands for Euromap 12 communication interface.
“EM67”stands for Euromap 67 communication interface.
2. “*”max air consumption for suction device60Nl/min.
3. Power supply: 1 , 200~240V.

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2.2.3PneumaticSourceRequirement
Compressed air isconnectedby3/8- 12 trachea.Filterpressurevalvewitha
clearscaleline,convenientadjustment. Bringadjustmentknob upwardand with
aclockwiserotation,pressureincreases;counterclockwiserotation,air pressure
decreases, the pressurerangebetween 0to10bar.Afteradjustment,please
press theadjustment knob tolockpressure.
ST2robot requirementsupplypressure:4barto6bar.
When the pressureisequalordropbelowthan 4bar, the robotwill stop working
and alarm.Whenthepressureupto6bar, it will affect the servicelifeof
pneumaticcomponents.
2.3Electrical Connection
2.3.1MainPowerSupply
Thepowerrequirementsaregiven ontheserialplateoftherobot,thepower
connection isprovided throughcableconductorandCEE plug.
Thepowerconnectionshouldbeperformedonlybyan authorized
electrician and accordingtoapplicableelectricutilityregulations.
Connection ofthe interfaceplugtothemachine and testingof all signals
mustbe done byaspecialist ininjectionmoldingmachinesandrobots.
Preferably, thisshouldbe donebyoneofourserviceengineerstogether
withaqualifiedserviceengineerfortheinjection moldingmachine.
Theinterfacesignalfunctionsmustbe carefullytested,asimproper
operation maycausemalfunctionordamage tothe robotandthemold.
Inparticular, the functionsof thesafetycircuitsmust bethoroughly
checked.
●Testingtheemergencystop signalstoand formtheIMM.
●Whenpresstheemergencystop switchonhandcontroller, theerror
messageemergencystop mustalsobe indicated at the iMM.Andwhen press
the emergencystop on IMM, the emergencystop signalmustalsobeindicated
at therobot.

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2.4 Adjusting theAxisPositions
Whileadjustingthe position,makesurethatrobot can notberun and the
compressed air supplyisshutoff.
2.4.1AdjustingtheX-position
TheX-positionsaredetermined bythe stopsA, B.
BracketAonX1-axis(mainarm)isforadjustingtheend-position,andstop
packageBisforadjustingthe strokelengthand the 0-position.
BracketBon X2-axis(sub-arm)isforadjusting the 0-position,and stop package
B isforadjustingthestrokelengthandtheend-position.
Beforerunningintothemoldrangewiththe Y-axisforthe fristtime,you must
check whethertheX-positionscanbereachedwithoutdamagingthemoldand
the Y-axis, the end position of theX-axismust be adjusted
Adjustingtheend-position of X1-axis:
1)Run the X1-axistoitsendposition
2)Releasebracket A
3)Pushbracket A toshock absorber, inthe compression state
4)Fixthe stoppackageA
Adjustingthe0-positionofX1-axis(the lengthofstroke)
1)ReleasestoppackageB
2)Run the X1-axistothe 0-position
3)Manuallypushcylinderposition rodtothefullyextended state
4)Fixthe stoppackageB