Shini ST3 Series User manual

ST3/5
FullyServoDrivenRobot
UserManual
Date: Jun,2016
Version:V1.5(English)

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Contents
1. Safety...............................................................................................................................13
1.1 SafetyRegulations.......................................................................................................13
1.2 SafetyConcerns...........................................................................................................13
1.3 EmergencyStop...........................................................................................................15
1.4 Transportation andStorage..........................................................................................15
1.4.1 Transportation.......................................................................................................15
1.4.2 Transportation afterUnpacking.............................................................................16
1.4.3 Storage.................................................................................................................18
1.4.4 OperationEnvironment.........................................................................................18
1.4.5 Retirement............................................................................................................18
1.5 ExemptionClause........................................................................................................19
2. Installations.....................................................................................................................20
2.1 Instructions...................................................................................................................20
2.1.1 SafetyIssue..........................................................................................................20
2.1.2 Compressed Air Connection.................................................................................20
2.1.3 ElectricPowerConnection....................................................................................20
2.1.4 SafetyFence.........................................................................................................21
2.1.5 MountingPreparation............................................................................................21
2.1.6 MountingInstructions............................................................................................22
2.2 RobotSpecifications.....................................................................................................23
2.2.1 ST3Small ModelRobot (Single-StageArm).........................................................23
2.2.2 ST3-TSmall ModelRobot (TelescopicArm).........................................................25
2.2.3 ST3-TMediumTelescopicModelRobot (Stationary-BeamType)........................27
2.2.4 ST3-MTMediumTelescopicModelRobot (Movable-BeamType)........................28
2.2.5 ST3-LTLargeTelescopicModelRobot(Movable-BeamType)............................30
2.2.6 ST5Small ModelRobot (Single-StageArm).........................................................31
2.2.7 ST5-TSmall TelescopicModelRobot...................................................................32
2.2.8 ST5MediumTelescopicModelRobot..................................................................33
2.2.9 PneumaticSourceRequirement...........................................................................34
2.3 ElectricalConnection....................................................................................................34
2.3.1 MainPowerSupply...............................................................................................34
2.3.2 InterfacewithThe Injection MouldingMachine.....................................................34
2.4 Gripperand VacuumMonitor.......................................................................................35
2.4.1 GripperSettings....................................................................................................35
2.4.2 PressureSwitchSettings......................................................................................35
2.4.3 CKDDigitalPressureSwitchSettings...................................................................35
2.5 RobotandIMM Interface..............................................................................................36
2.5.1 Euromap67 Interface.............................................................................................36
2.5.1.1 IMM Output Signals(EM67)..............................................................................37
2.5.1.2 RobotOutputSignals(EM67)............................................................................39
2.5.2 Euromap12 Interface.............................................................................................41
2.5.2.1 IMM Output Signals(EM12)..............................................................................41
2.5.2.2 RobotOutputSignals(EM12)............................................................................43
3. General Description........................................................................................................44

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3.1 ST3(5)SeriesRobotsSummary..................................................................................44
3.2 ST3(5)SeriesRobotApplicationRange......................................................................45
3.3 Features.......................................................................................................................45
3.4 Functions......................................................................................................................45
3.4.1 Introduction...........................................................................................................45
3.4.2 Limitation Senseand Limit Function.....................................................................45
3.4.3 SimultaneousFunction..........................................................................................45
3.4.4 ElectricalSelf-protectionFunction.........................................................................45
3.4.5 EmergencyStop....................................................................................................46
3.5 DefaultSettings............................................................................................................46
3.6 ST3(5)Robot Reversing...............................................................................................46
4. Operating Instructions....................................................................................................51
4.1 Hand Controller............................................................................................................51
4.2 MainScreen.................................................................................................................52
4.3 FunctionPage..............................................................................................................56
4.3.1 Teach....................................................................................................................57
4.3.1.1 ProgramMonitor................................................................................................57
4.3.1.2 ProgramEditor..................................................................................................58
4.3.1.3 Variables...........................................................................................................71
4.3.2 StandbySetup.......................................................................................................72
4.3.3 PalletiseSetup......................................................................................................72
4.3.4 SafetySetup.........................................................................................................74
4.3.5 Check Setup.........................................................................................................75
4.3.6 ProduceSetup......................................................................................................76
4.3.7 SystemSetup........................................................................................................77
4.3.7.1 SystemSettings.................................................................................................77
4.3.7.2 Timeand Language...........................................................................................78
4.3.8 ServoSetup..........................................................................................................79
4.3.8.1 ServoAxisAssignment......................................................................................80
4.3.8.2 AxisConfiguration.............................................................................................81
4.3.8.3 Servooperatingparametersetup......................................................................82
4.3.9 Filesmanager.......................................................................................................84
4.3.10 ManualSettings....................................................................................................85
4.3.11 Gripper..................................................................................................................86
4.3.12 Vacuum/Air Blow..................................................................................................87
4.3.13 EM12 Inputs..........................................................................................................88
4.3.14 EM12 Outputs.......................................................................................................88
4.3.15 RobotIn................................................................................................................89
4.3.16 RobotOut..............................................................................................................89
4.3.17 EM67 inputs..........................................................................................................90
4.3.18 EM67 Outputs.......................................................................................................91
4.3.19 Jog........................................................................................................................91
4.3.20 Inputs....................................................................................................................93
4.3.21 Output...................................................................................................................93
4.4 Time.............................................................................................................................94

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4.5 Alarmsand Logs..........................................................................................................95
4.5.1 HistoryLogs..........................................................................................................97
4.5.2 Message...............................................................................................................98
5. HardwareConfiguration list(I/O)...................................................................................99
5.1 ST3I/O.........................................................................................................................99
5.2 ST5I/O.......................................................................................................................101
6. Maintenance...................................................................................................................104
6.1 General......................................................................................................................104
6.2 LubricationRequirement............................................................................................104
6.3 Maintenance...............................................................................................................104
7.AssemblyDiagram........................................................................................................105
7.1 ST3& ST3-TtraverseUnit.........................................................................................105
7.2 ST3& ST3-TCrosswiseUnit.....................................................................................107
7.3 ST3& ST5-D Main-armUnit (single-stagearm).........................................................109
7.4 ST3-T& ST5-DTMain-armunit(Telescopicarm)......................................................111
7.5 ST5-D & ST5-DTTraverseUnit.................................................................................113
7.6 ST5-D & ST5-DTCrosswiseUnit...............................................................................115
7.7 ST5-D Sub-Armunit (Single-stagearm).....................................................................117
7.8 ST5-DTSub-armunit (Telescopicarm)......................................................................119
7.9 ST3-MTTraverseunit................................................................................................121
7.10 ST3-MTCrosswiseUnit.............................................................................................123
7.11 ST3-MTMain-armunit...............................................................................................125
7.12 ST3-LTTraverseUnit.................................................................................................127
7.13 ST3-LTCrosswiseUnit..............................................................................................130
7.14 ST3-LTMain-arm unit................................................................................................132
8. PneumaticSchematicDiagram....................................................................................134
8.1 ST3& ST3-Tpneumaticschematicdiagram...............................................................134
8.2 ST5pneumaticschematicdiagram............................................................................135
9. ST3Electrical-PneumaticControl Diagram.................................................................136
9.1 ST3Powersupplywiringdiagram..............................................................................136
9.2 ST3EachI/Omoduleelectricalwiringdiagram..........................................................137
9.3 ST3TraverseunitI/O signalwiringdiagram..............................................................138
9.4 ST3Main-armunitinput signalwiringdiagram..........................................................139
9.5 ST3Main-armunitoutput signalwiringdiagram........................................................140
9.6 ST3Axis-ZservodriverI/O signalwiringdiagram.....................................................141
9.7 ST3Axis-XservodriverI/O signalwiringdiagram.....................................................142
9.8 ST3Axis-YservodriverI/O signalwiringdiagram.....................................................143
9.9 ST3Intermediaterelaywiringdiagram.......................................................................144
9.10 ST3Axis-Zservomotorwringdiagram......................................................................145
9.11 ST3Axis-Xservomotorwiringdiagram.....................................................................146
9.12 ST3Axis-Yservomotorwiringdiagram.....................................................................147
9.13 ST3EM67input signalwiringdiagram.......................................................................148
9.14 ST3EM67output signalwiringdiagram.....................................................................149
9.15 ST3SIGMATEK moduleboard..................................................................................150
9.16 ST3Traverseunitboard.............................................................................................152

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9.17 ST3Main-armunitboard............................................................................................153
10 .ST5Electrical-PneumaticControl Diagram..................................................................154
10.1 ST5Powersupplywiringdiagram..............................................................................154
10.2 ST5EachI/Omoduleelectricalwiringdiagram..........................................................155
10.3 ST5TraverseunitI/O signalwiringdiagram..............................................................156
10.4 ST5Main-armunitinput signalwiringdiagram..........................................................157
10.5 ST5Main-armunitoutput signalwiringdiagram........................................................158
10.6 ST5Sub-arm unitinput signalwiringdiagram............................................................159
10.7 ST5Axis-XservodriverI/O signalwiringdiagram.....................................................162
10.8 ST5Axis-YservodriverI/O signalwiringdiagram.....................................................163
10.9 ST5Axis-X2servodriverI/O signalwiringdiagram...................................................164
10.10 ST5Axis-Y2servodriverI/O signalwiringdiagram................................................165
10.11 ST5Intermediaterelaywiringdiagram...................................................................166
10.12 ST5EM67input signalwiringdiagram...................................................................167
10.13 ST5EM67output signalwiringdiagram.................................................................168
10.14 ST5Axis-Zservomotorwiringdiagram..................................................................169
10.15 ST5Axis-Xservomotorwiringdiagram..................................................................170
10.16 ST5Axis-Yservomotorwiringdiagram..................................................................171
10.17 ST5Axis-X2servomotorwiringdiagram................................................................172
10.18 ST5Axis-Y2servomotorwiringdiagram................................................................173
10.19 ST5SIGMATEK moduleboard...............................................................................174
10.20 ST5Traverseunitboard.........................................................................................176
10.21 ST5Main-armunitboard........................................................................................177
10.22 ST5Sub-arm unitboard.........................................................................................178
TableIndex
Table2-1: ST3small modelspecifications1.....................................................................23
Table2-2: ST3small modelspecifications2.....................................................................24
Table2-3: ST3-Tsmallmodel(telescopicarm) specifications1.......................................25
Table2-4: ST3small model(telescopicarm)specifications2...........................................26
Table2-5: ST3-Tmediumtelescopicmodel(stationary-beam)specifications...................27
Table2-6: ST3-MTmediumtelescopicmodel(movable-beam)specifications1...............28
Table2-7: ST3-MTmediumtelescopicmodel(movable-beam)specifications2...............29
Table2-8: ST3-LTlargetelescopicmodelspecifications..................................................30
Table2-9: ST5small modelrobot (single-stagearm)specifications.................................31
Table2-10:ST5small telescopicmodelrobotspecifications............................................32
Table2-11:ST5mediumtelescopicmodelrobot specifications........................................33
Table2-12:SignalsfromIMM (EM67)...............................................................................37
Table2-13:Signalsfromrobot (EM67).............................................................................39
Table2-14:SignalsfromIMM (EM12)...............................................................................41
Table2-15:Signalsfromrobot (EM12).............................................................................43
Table4-1: Servomotorcommandslist..............................................................................59
Table4-2: Producesetup details.......................................................................................76
Table4-3: Systemsettingsdetails.....................................................................................77

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Table4-4: Axisconfiguration details..................................................................................83
Table4-5: Servoaxisparameterconfigurationdetails......................................................84
Table4-6: Alarmdetails.....................................................................................................95
Table5-1: ST3I/Oconfigurationlist..................................................................................99
Table5-2: ST5I/Oconfigurationlist................................................................................101
Table7-1: PartsBOMforST3traverseunit....................................................................106
Table7-2: PartsBOMforST3crosswiseunit..................................................................108
Table7-3: PartsBOMforST3main-armunit(single-stagearm).....................................110
Table7-4: PartsBOMforST3Main-armUnit(TelescopicArm).......................................112
Table7-5: PartsBOMforST5&ST5-Ttraverseunit......................................................114
Table7-6: PartsBOMforST5crosswiseunit..................................................................116
Table7-7: PartsBOMforST5-Tcrosswiseunit(telescopicarm).....................................116
Table7-8: PartsBOMforST5sub-arm unit....................................................................118
Table7-9: PartsBOMforST5-DTsub-armunit (telescopicarm)....................................119
Table7-10:PartsBOMforST3-MTtraverseunit............................................................122
Table7-11:PartsBOMforST3-MTcrosswiseunit.........................................................124
Table7-12:PartsBOMforST3-MTmain-armunit..........................................................126
Table7-13:PartsBOMforST3-LTtraverseunit 1..........................................................127
Table7-14:PartsBOMforST3-LTtraverseunit 2..........................................................129
Table7-15:PartsBOMforST3-LTcrosswiseunit..........................................................131
Table7-16:PartsBOMforST3-LTmain-armunit...........................................................133
PictureIndex
Fig.1-1: PackingofST3-TandST5-T................................................................................16
Fig.1-2: PackingofST3-LT................................................................................................17
Fig.1-3: Hangingtransportationof ST3-T..........................................................................17
Fig.1-4: Hangingtransportationof ST3-LT........................................................................17
Fig.2-1: DrillingforST3/5small model(traversestroke<1100mm)...................................21
Fig.2-2: DrillingforST3/5small Model(traversestroke 1100mm)................................21
Fig.2-3: DrillingforST3/5mediummodel(traversestroke<1500mm)..............................21
Fig.2-4: DrillingforST3/5mediummodel(traversestroke 1500mm)............................22
Fig.2-5: DrillingforST3/5largemodel...............................................................................22
Fig.2-6: ST3small model(single-stagearm).....................................................................23
Fig.2-7: ST3-Tsmall model(telescopicarm)dimensions..................................................25
Fig.2-8: ST3-Tmediumtelescopicmodel(stationary-beamtype)dimensions..................27
Fig.2-9: ST3-MTmediumtelescopicmodel(movable-beamtype)dimensions.................28
Fig.2-10: ST3-LTlargetelescopicmodeldimensions........................................................30
Fig.2-11: ST5small modelrobot(single-stage arm)dimensions........................................31
Fig.2-12: ST5small telescopicmodelrobotdimensions...................................................32
Fig.2-13: ST5mediumtelescopicmodelrobot..................................................................33
Fig.2-14: Euromap67interfaceplug.................................................................................36
Fig.2-15: Euromap12interfaceplug.................................................................................41
Fig.3-1: ST3robotappearance..........................................................................................44
Fig.3-2: ST5robotappearance..........................................................................................44

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Fig.3-3: Sensorpositionbeforemodifying.........................................................................46
Fig.3-4: Sensorpositionaftermodifying............................................................................46
Fig.3-5: Sensorplateposition beforemodifying................................................................47
Fig.3-6: Sensorplateposition aftermodifying...................................................................47
Fig.3-7: OutsideIMM safetyzone blocks aftermodifying..................................................47
Fig.3-8: BeforeexchangingX102 withX103.....................................................................48
Fig.3-9: AfterexchangingX102 withX103........................................................................48
Fig.3-10: Servomotordirection beforereversing..............................................................49
Fig.3-11: Traverseservodriverlocation............................................................................49
Fig.3-12: Panasonicservodriversettinginstructions........................................................50
Fig.4-1: Hand controllerfront view.....................................................................................51
Fig.4-2: Hand controllerrearview.....................................................................................51
Fig.4-3: MainScreen.........................................................................................................52
Fig.4-4: Mainscreenfunction............................................................................................53
Fig.4-5: Mainscreenshort-keyfunction.............................................................................54
Fig.4-6: Functionpage......................................................................................................56
Fig.4-7: Teachmode page................................................................................................57
Fig.4-8: Programmonitorpage..........................................................................................57
Fig.4-9: Programeditorpage.............................................................................................58
Fig.4-10: Standardprogramcommand 1...........................................................................65
Fig.4-11: Standardprogramcommand 2...........................................................................65
Fig.4-12: Standardprogramcommand 3...........................................................................65
Fig.4-13: Standardprogramcommand 4...........................................................................66
Fig.4-14: Standardprogramcommand 5...........................................................................66
Fig.4-15: Standardprogramcommand 6...........................................................................66
Fig.4-16: Standardprogramcommand 7...........................................................................66
Fig.4-17: Standardprogramcommand 8...........................................................................67
Fig.4-18: Standardprogramcommand 9...........................................................................67
Fig.4-19: Standardprogramcommand 10.........................................................................67
Fig.4-20: Standardprogramcommand 11.........................................................................67
Fig.4-21: Standardprogramcommand 12.........................................................................68
Fig.4-22: Standardprogramcommand 13.........................................................................68
Fig.4-23: Standardprogramcommand 14.........................................................................68
Fig.4-24: Standardprogramcommand 15.........................................................................68
Fig.4-25: Standardprogramcommand 16.........................................................................69
Fig.4-26: Standardprogramcommand 17.........................................................................69
Fig.4-27: Standardprogramcommand 18.........................................................................69
Fig.4-28: Standardprogramcommand 19.........................................................................69
Fig.4-29: Standardprogramcommand 20.........................................................................70
Fig.4-30: Standardprogramcommand 21.........................................................................70
Fig.4-31: Standardprogramcommand 22.........................................................................70
Fig.4-32: Standardprogramcommand 23.........................................................................70
Fig.4-33: Standardprogramcommand 24.........................................................................71
Fig.4-34: Variablespage...................................................................................................71
Fig.4-35: StandbySetuppage...........................................................................................72

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Fig.4-36: Palletiseprogramsetuppage.............................................................................72
Fig.4-37: Noprogramiseditingatthemoment.................................................................73
Fig.4-38: Startposition. PutZ, X, Ypositionof the firstproduct........................................73
Fig.4-39: SafetySetup page..............................................................................................74
Fig.4-40: Safetyspace......................................................................................................75
Fig.4-41: Check Setup page..............................................................................................75
Fig.4-42: Producesetuppage...........................................................................................76
Fig.4-43: SystemSetuppage............................................................................................77
Fig.4-44: Timeandlanguagebarwindow.........................................................................78
Fig.4-45: Servosetuppage...............................................................................................79
Fig.4-46: Axisassignmentpage........................................................................................80
Fig.4-47: ReferenceSetupbardetails...............................................................................80
Fig.4-48: Axisconfiguration page......................................................................................81
Fig.4-49: Axissettingpage................................................................................................82
Fig.4-50: Axisconfiguration window..................................................................................83
Fig.4-51: Filemanagerpage.............................................................................................84
Fig.4-52: Manualpage......................................................................................................85
Fig.4-53: Gripperpage......................................................................................................86
Fig.4-54: Vacuum/AirBlowpage........................................................................................87
Fig.4-55: EM12Inputspage..............................................................................................88
Fig.4-56: EM12Outputspage...........................................................................................88
Fig.4-57: Robot Inpage.....................................................................................................89
Fig.4-58: Robot out page...................................................................................................89
Fig.4-59: EM67signalinputspage....................................................................................90
Fig.4-60: EM67signaloutputspage..................................................................................91
Fig.4-61: Jogpage............................................................................................................91
Fig.4-62: Rotationalaxisbarpage.....................................................................................92
Fig.4-63: Inputpage..........................................................................................................93
Fig.4-64: Outputpage.......................................................................................................93
Fig.4-65: Timesettingspage.............................................................................................94
Fig.4-66: Alarm page.........................................................................................................95
Fig.4-67: Protocolpage.....................................................................................................97
Fig.4-68: Scroll thehorizontalbartotheright side............................................................97
Fig.4-69: Alertforrequiringhigherlevelpassword............................................................98
Fig.7-1: ST3& ST3-Ttraverseunit (small model) explodedview....................................105
Fig.7-2: ST3Crosswiseunit(single-stagearm)explodedview.......................................107
Fig.7-3: ST3-TCrosswiseunit (telescopicarm) exploded view.......................................107
Fig.7-4: ST3Main-armunit (single-stagearm)exploded view........................................109
Fig.7-5: ST3-TMain-armunit(telescopicarm)exploded view.........................................111
Fig.7-6: ST5& ST5-Ttraverseunit explodedview..........................................................113
Fig.7-7: ST5crosswiseunit(single-stagearm)exploded view.........................................115
Fig.7-8: ST5-T: Crosswiseunit (telescopicarm)explodedview......................................115
Fig.7-9: ST5Sub-arm unit (single-stagearm)exploded view..........................................117
Fig.7-10: ST5-DTsub-armunit(telescopicarm)explodedview.......................................119
Fig.7-11: ST3-MTtraverseunitexplodedview................................................................121

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Fig.7-12: ST3-MTcrosswiseUnit exploded view.............................................................123
Fig.7-13: ST3-MTMain-armunit(telescopicarm)explodedview....................................125
Fig.7-14: ST3-LTtraverseunitexplodedview.................................................................127
Fig.7-15: ST3-LTcrosswiseunit exploded view..............................................................130
Fig.7-16: ST3-LTmain-armunitexplodedview...............................................................132
Fig.8-1: ST3& ST3-Tpneumaticschematicdiagram......................................................134
Fig.8-2: ST5& ST5-Tpneumaticschematicdiagram......................................................135
Fig.9-1: ST3powersupplywiringdiagram......................................................................136
Fig.9-2: ST3EachI/O modulewiringdiagram.................................................................137
Fig.9-3: ST3Traverseunit I/Omodulewiringdiagram....................................................138
Fig.9-4: ST3Main-armunit inputsignalwiring diagram..................................................139
Fig.9-5: ST3Main-armunitoutput signalwiringdiagram................................................140
Fig.9-6: ST3Axis-ZservodriverI/O signalwiringdiagram.............................................141
Fig.9-7: ST3Axis-XservodriverI/O signalwiringdiagram.............................................142
Fig.9-8: ST3Axis-YservodriverI/O signalwiringdiagram.............................................143
Fig.9-9: ST3Intermediaterelaywiringdiagram...............................................................144
Fig.9-10: ST3Axis-Zservomotorwiringdiagram...........................................................145
Fig.9-11: ST3Axis-Xservomotorwiringdiagram...........................................................146
Fig.9-12: ST3Axis-Yservomotorwiringdiagram...........................................................147
Fig.9-13: ST3EM67 input signalwiringdiagram.............................................................148
Fig.9-14: ST3EM67 output signalwiringdiagram...........................................................149
Fig.9-15: ST3SIGMATEK Moduleboard1.....................................................................150
Fig.9-16: ST3SIGMATEK Moduleboard2.....................................................................151
Fig.9-17: ST3Traverseunitboard...................................................................................152
Fig.9-18: ST3Main-armunit board..................................................................................153
Fig.10-1: ST5Powersupplywiringdiagram....................................................................154
Fig.10-2: ST5EachI/Omoduleelectricalwiringdiagram................................................155
Fig.10-3: ST5TraverseunitI/O signalwiringdiagram....................................................156
Fig.10-4: ST5Main-armunit input signalwiringdiagram................................................157
Fig.10-5: ST5Main-armunit output signalwiringdiagram..............................................158
Fig.10-6: ST5Sub-armunitoutput signalwiringdiagram................................................159
Fig.10-7: ST5Sub-armunitoutput signalwiringdiagram................................................160
Fig.10-8: ST5Axis-ZservodriverI/O signalwiringdiagram............................................161
Fig.10-9: ST5Axis-XservodriverI/O signalwiringdiagram...........................................162
Fig.10-10: ST5Axis-YservodriverI/O signalwiringdiagram.........................................163
Fig.10-11: ST5Axis-X2 servodriverI/O signalwiringdiagram.......................................164
Fig.10-12: ST5Axis-Y2 servodriverI/O signalwiringdiagram.......................................165
Fig.10-13: ST5Intermediaterelaywiringdiagram...........................................................166
Fig.10-14: ST5EM67inputsignalwiringdiagram...........................................................167
Fig.10-15: ST5EM67output signalwiringdiagram.........................................................168
Fig.10-16: ST5Axis-Zservomotorwiringdiagram.........................................................169
Fig.10-17: ST5Axis-Xservomotorwiringdiagram.........................................................170
Fig.10-18: ST5Axis-Yservomotorwiringdiagram.........................................................171
Fig.10-19: ST5Axis-X2 servomotorwiringdiagram.......................................................172
Fig.10-20: ST5Axis-Y2 servomotorwiringdiagram.......................................................173