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

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Fig.10-21: ST5SIGMATEK moduleboard1...................................................................174
Fig.10-22: ST5SIGMATEK moduleboard2...................................................................175
Fig.10-23: ST5Traverseunitboard.................................................................................176
Fig.10-24: ST5Main-armunitboard................................................................................177
Fig.10-25: ST5Sub-armunit board.................................................................................178

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1. Safety
Beforestartingup therobotforthe firsttime,pleasereviewthismanualthoroughly
and familiarizeyourselfwiththe operation ofthe robot. Improperusemayinjure
personneland/ordamagetherobot, mouldormouldingmachine.
1.1 SafetyRegulations
lPleasereviewthismanualthoroughlyand familiarizeyourself withthe operation ofthe
robot, beforestartinguptherobotforthefirsttime. Maintenanceshouldbeperformed by
qualifiedpersonnelonly.
lTheST3/5-S seriesrobot isdesigned forinjection mouldingmachine(IMM) ONLY.
lAnymodification orchangetotheoriginaldesignof therobot isforbidden.
lAnyimproperinstallation and operation mayresultininjurytopersonneland/ordamageto
equipment.
lPleasecontact the manufacturerorlocalagent immediatelyif thereisanyproblemwith
robot when operateit.
lPleasenotethat ourrobotmustbecooperatedwithothersafetydevice(i.e.safetydoor) in
ordertooperateinnormalcondition.
lEnsureall installationsaremet withsafetyrequirementsbeforeoperating.
lWithout the written consentofthe manufacturer, anydamageorlostcausedbythe
modificationorusebeyond theusermanual, the manufacturerwill not haveany
responsibility.
1.2 SafetyConcerns
lThemaintenance,repair, etc,must beexecuted byprofessionallytrainedpersonnel.
lAnyunrelatedpersonnelshouldkeep awayfromrobotworkingarea whileit isoperating.
All electricalwiringmust be completed byprofessionals, andinaccordancewithdesignof
specificationsand wiringinstructions.
lUsesafetyfencetoindicateworkingarea whileinstallation.
lForthe safetyoperation, thehandcontrollershouldbe placedoutsidetherobot working
area.
lEnsureboltsandnutsaretightened withtorque wrenchwhileinstallation.
lEnsurethereisnofollowingmattersinthecompressiveair suchasphosphate-containing
oil, organicsolvents, sulfitegas, chlorine,acidsandstalecompressoroil.
lTheair pressureshouldbekept at6MPa 0.1MPa whileoperation.
lRemoveanythingfromthe topoftherobot topreventfallingduetovibration.
lPress EMERGENCYSTOPbuttonimmediatelywhen accident occurs.
lDonotmodifythe robot bodyand controlbox. Pleasecontactmanufacturerorvendorif
anychangeisrequired.
lTurnoff powersupplyand compressedair beforemaintenanceandadjustment. Alsoset
up warmingsignsand safetyfences.

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lPleaseusepartsofSHINI if thereisanyreplacement isrequired.
lOurrobotsmeetall correspondingsafetystandards.
lPleaseread theusermanualcarefullyasasafetyguideline.
lUnauthorized personnelmust informthe relativesupervisor, and understandall safety
rulesbeforeenteringrobotworkingarea.
lPleaseorderanewusermanualfromthemanufacturerorvendorifthe usermanualis
damaged.
Productownerhastheresponsibilitytoensurethe operators,maintenancestaffsand
relativestaffshavereadusermanualthoroughly.
Anymodificationsorotherapplicationstorobotshouldobtainthewrittenconsentfrom
the manufacturer,forsafetypurpose.
ElectricalSystem
Asaresultofnon-compliancewithsafetyrecommendationselectricalsystemsymbols
described, will lead torisk ofelectricshock personsinthe event.
Thesafeguardingrequired foroperationofthe robotisnotincludinginourstandard
scopeof supply(except specialequipment),sinceadaptationtospecificsiteconditions
isrequired.Ifsuchsafeguardingisprovided byyou,pleasenotethatitmustbe
installed priortostartupofthe equipmentinordertobe includedinthe safetycircuitof
the systemupon startup.
No. Marks Meaning No. Marks Meaning
1 DoNot Touch 4
Caution!
Mechanicalinjury
2
Caution,
dangerous 5
Caution!
High temperature
3
Caution!
Electricshock 6
NoFlame

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1.3 EmergencyStop
Theemergencystopbuttonislocatedon thehandcontroller.
When the emergencystop buttonispressed,the poweristurnedoff. Thegripperandvacuum
valvesand the vacuumgeneratorarenot disconnected, inordertoavoiddroppingpartsfrom
the gripper. Inaddition,the controlsystemandthehand controllerwill remainunderpowerto
allowindication of errormessages.
Theemergencystopbuttoncanbereleased byturningit clockwise.
Theemergencystopcircuitoftherobotand theinjectionmouldingmachineareconnected by
theEuromap12orEuromap67interface.Thereforewhentheemergencystop buttononthe
mouldingmachineispressed the robotwill alsostopand viceversa.
1.4 Transportation and Storage
Duringtransportingthe robot,workingunderneaththerobot isforbidden.
Ifitisnecessarytoremoveorreinstallthe robot, pleasecontactthe agentor
manufacturerforhelp.Themanufacturerandagentdonothaveanyresponsibilityfor
injuriesordamageif thecustomersremoverobotsthemselves.
1.4.1Transportation
1)ST3/5-S seriesrobot isfixon asteelstructurebaseandpackaged withcrate.
2)Beforetransporting,fasten the slidingbasetoprevent anycollision.
3)Thearmsarefree toslide when electricpowerand pneumaticsupplyareoff. Pushthe
armsupwardstolock them.
4)Duringthe transporting, pleasekeep the robotawayfromotherobjects, inordertoavoid
damages.
5)Shouldincreaseplasticbagout of therobot, and if necessary, pumpingvacuumandput
desiccant inthe packing duringthe long-distancetransportation,
6)Thetemperaturebetween -25to55duringthe transportation,forshort transportation
(inner24hours), thetemperaturecan nothigherthan 70.
Therobotyou orderbeforesendingoutthefactory,itisconfirmedingood workingcondition,
pleasecheck whetherthereisanydamageduringcarryingortransporting.Pleasebecarefully,
when dismantlingofcomponentsandpackaging,iftherobothasfound theinjury,you can use
the packageagain.
If thereisanydamagecausedbytransport, please:
Feedback immediatelytothe transportationcompaniesandourcompany.

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Claimdamagestothe shippingcompany;fill inthefilerequestsforcompensation.
Retainthedamageditemsstand-byfortesting.Until thetestingiscompleted,donotreturnthe
damaged items.
1.4.2Transportation afterUnpacking
1)Aftertakingapart thepackage,first removed the supportingplate, sothatthearmrotated
90 degrees, and theverticalwithbeams(see the figure).Todo asthefollowing:
i.Release6fixed screwson the supportingboard, removethepacking supportplate.
ii.Rotatingbeamsand armslowly, sothat the armand the beamwasvertical.
iii.Lock the armconnectingplateandthesliding seat bythe6screwson the
supportingplate.
Note:
i.Removethepackingsupport plateshouldbe carefultopreventthearmwrist and
the machine damageorpersonalinjury.
ii.Lock the armconnectingplateandthesliding seat, ensurethat thearminvertical
state.
Thereisaringinthe partsboxwhen the robot sent, aftertakingapart the package, the ring is
installed onthe"T"-type block ofthe verticalbeam,usingwiththe twoendsofbeam.(See
Fig.1-1)
Note: Afterhoisting, pleasekeepringsofthe verticalbeam,anduseagainnext time.
Fig.1-1: PackingofST3-TandST5-T

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Fig.1-2: PackingofST3-LT
Fig.1-3: Hangingtransportationof ST3-T
Fig.1-4: Hangingtransportationof ST3-LT

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1.4.3Storage
1)Switchoff themainair sourceand power, if robot isnot inuseforalongtime.
2)Robotsshouldbestored inventilated,dryroomtoprevent rustanddamping.
3)If not useforalongtime, pleaseanti-rust, and ifnecessaryplacefilm topreventdust and
erosion.
1.4.4OperationEnvironment
1)Temperature: between+5to+40
2)Humidity: Temperature+40, relativehumidity50%
3)Elevation: Under1000metersabovesea level
4)Stop usingtheproductimmediatelywhen the followingoccurs:
i.Powercableisdamaged
ii.Air tubeisdamaged
iii.Machine breaks downordissembledbyunauthorized personnel.
iv.Thereareorganicsolvent, acidicphospholipids, sulfurousacid,andchlorine,flammable
and explosivedangerousmatterincompressed air
v.Air pressureisnotenoughortoohigh.
1.4.5Retirement
When therobotgoestoitsendofservicelife,itshouldbedemolished accordingtodifferent
martial(metal,oil,lubricants,plastics,rubber,etc.)tosplitindifferentways.Dealwiththe
machine accordingtolocalrequirements;ensurethecommission companyasthebest.
AnyproblemduringusingtheSHINIST3/5-SeriesRobot,pleasecontactthecompanyorthe
localvendor.

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1.5Exemption Clause
Thefollowingstatementsclarifythe responsibilitiesandregulationsbornbyanybuyeroruser
who purchasesproductsandaccessoriesfromShini(includingemployeesand agents).
Shiniisexemptedfromliabilityforanycosts,fees,claimsandlossescausedbyreasons
below:
Anycareless orman-madeinstallations,operation and maintenanceuponmachineswithout
referringtotheManualpriortomachine using.
Anyincidentsbeyondhumanreasonablecontrols,whichincludeman-madeviciousor
deliberatedamagesorabnormalpower,andmachine faultscaused byirresistiblenatural
disastersincludingfire,flood, stormand earthquake.
Anyoperationalactionsthatarenotauthorized byShiniuponmachine,includingaddingor
replacingaccessories,dismantling, deliveringorrepairing.
Employingconsumablesoroil mediathatarenotappointed byShini.
Headquarters&TaipeiFactoryTEL：[phone]
China ServiceHotline TEL：[phone]
Dongguan FactoryTEL：[phone]
Ningbo factoryTEL：[phone]

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2. Installations
2.1Instructions
2.1.1SafetyIssue
1)Beforeinstallation,pleasereadthischaptercarefully.
2)Fixrobot on the basebeforeoperating.
3)Afterinstallingrobot,indicatetheworkingarea withsafetyfence.
4)Thehandcontrollershouldbe placedoutsideofthe safetyfence.
5)Keeptheair pipeingood wayduringinstallation.
6)Thepowerconnection shouldbe performedonlybyauthorized electrician.
7)Connectingcableandthe groundedshouldobeythe localrulesand regulations.
8)Thegrounded wirecannotattachtothewaterpipes, gaspipes,telephonelinesor
television cables.
9)Usetheindependent cableand powerswitch, the diameterofmainpowerwirecan notbe
less thanthe wireofcontrolbox.
10)Theend ofthe powerwiremustbe safetyand immobility.
11)Wireterminalsshouldbe safeandsecure
2.1.2CompressedAirConnection
1)Accordingtothefilterspecificationstochooseasuitablehoseconnected between the air
sourceand thefilter. (Note: Beforeconnecting hoses, clean the hosesbycompressedair.
Toensurethatthereisno cuttings, sealingtapesinit.)
2)Check theair connection of controlboxingood conditions, withoutbendingconditions.
3)Check theair connection of controlboxingood conditions, withoutbendingconditions.
2.1.3ElectricPower Connection
1)Theelectricalconnection shouldbe performedonlybyauthorized electrician.
2)Shut off thepowersupplybeforeconnecting.
3)Set upthe safetyelectricaloutsideof thecontrolsystemtokeepthecontrolsystemworks
innormally.
4)Beforeinstallation, wiring, operation,andmaintenancemustbe familiarwithinstructions
guide aswell asmachinery, electronics and securityattentions.
5)Groundthewirebeforerobotoperating.
6)Wiregroundingshouldconnect tometalandkeep awayfrominflammablematter.
7)Thepowerrequirementsaregiven on the type plateof therobot, thepowerconnectionis
provided throughanormalpowercordandaCEE plug.
Thepowerconnection shouldbe performed onlybyauthorized electrician and should
be inaccordancewithanyapplicableregulations.