Shini ST5-1300-2000DT-S User manual

ST3/5-S
UserManual
Date:Nov, 2015
Vision:V1.1(English)

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Contents
1. Safety...........................................................................................................11
1.1 SafetyRegulations................................................................................11
1.2 SafetyConcerns....................................................................................11
1.3 EmergencyStop....................................................................................14
1.4 Transportation andStorage..................................................................14
1.4.1 Transportation.............................................................................15
1.4.2 Transportation afterUnpacking...................................................15
1.4.3 Storage........................................................................................18
1.4.4 OperationEnvironment................................................................18
1.4.5 Retirement...................................................................................18
1.5 ExemptionClause.................................................................................19
2. Installaiton...................................................................................................20
2.1 Instruction.............................................................................................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 MountingInstruction....................................................................22
2.2 Equipment Specification........................................................................23
2.2.1 ThreeAxesServoSignalTelescopicSpecification......................23
2.2.2 ThreeAxesServoTelescopicArm (Small type)Specifications...25
2.2.3 ThreeAxesServoMediumTelescopicSpecifications.................27
2.2.4 ThreeAxesServoLargeTelescopicSpecifications.....................29
2.2.5 FiveAxesServoSignalTelescopicSpecification........................30
2.2.6 FiveAxesServoTelescopicArm (Small type)Specifications.......31
2.2.7 FiveAxesServoMediumTelescopicSpecifications....................32
2.2.8 PneumaticSourceRequirement..................................................33
2.3 ElectricalConnection............................................................................33
2.3.1 MainPowerSupply......................................................................33
2.3.2 InterfacewiththeInjection MoldingMachine...............................33
2.4 Gripperand VacuumMonitor................................................................34
2.4.1 GripperSetting............................................................................34

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2.4.2 VacuumSetting...........................................................................34
2.4.3 CKDDigitalPressureSwitchSetting...........................................35
2.4.4 SMC DigitalPressureSwitchSetting...........................................35
2.5 RobotandIMM Interface.......................................................................36
2.5.1 Euromap67Interface....................................................................36
2.5.1.1 TheInjectionMoldingMachine Output Signals.................37
2.5.1.2 RobotOutputSignals........................................................38
2.5.2 Euromap12 Interface...................................................................39
2.5.2.1 InjectionMoldingMachine Output Signals........................40
2.5.2.2 RobotOutputSignals........................................................41
3. General Description...................................................................................43
3.1 ST3/5-SAbstract...................................................................................43
3.2 Features................................................................................................44
3.3 Function................................................................................................44
3.3.1 FunctionDescription....................................................................44
3.3.2 Malfuction Protection...................................................................44
3.3.3 ContinuousPath..........................................................................44
3.3.4 Sel-protection..............................................................................44
3.3.5 EmergencyStop..........................................................................44
3.4 DefaultSetting.......................................................................................45
3.5 ST3/5-S Robot Reversing.....................................................................45
4. Operating Instruction.................................................................................49
4.1 Hand Controller.....................................................................................49
4.2 MainScreen..........................................................................................50
4.3 Menu TitleBar.......................................................................................51
4.4 FunctionMenu......................................................................................52
5. UserManagement.......................................................................................54
5.1 UserLevel.............................................................................................54
5.2 Login.....................................................................................................55
5.3 ModifyPassword...................................................................................55
5.4 Input Password.....................................................................................56
6. SystemProgramManagement..................................................................58
6.1 Introduce...............................................................................................58

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6.2 Export Program.....................................................................................59
6.3 Import Program.....................................................................................59
7. SystemDateand Time...............................................................................60
8. ManuallyOperate........................................................................................61
8.1 ManualEnableSwitch...........................................................................61
8.2 ServoHomePositionSetting................................................................61
8.3 ServoSetting.........................................................................................62
8.4 Port MonitorSetting..............................................................................63
9. ProgramSetting..........................................................................................65
10. TeachProgram...........................................................................................67
11. Function Page.............................................................................................68
11.1FunctionMenu......................................................................................68
11.2SystemSetup........................................................................................69
11.2.1 SystemParameter.................................................................69
11.2.2 RunningParameter...............................................................69
11.2.3 SignalsPolarity......................................................................70
11.2.4 AlarmIgnore..........................................................................71
11.2.5 Initialization...........................................................................71
11.3ServoSetting.........................................................................................72
11.3.1 ServoParameters.................................................................72
11.3.2 SafetySetup..........................................................................72
11.3.3 Shortcut.................................................................................73
11.3.4 ServoMachine Parameter.....................................................74
11.3.5 ServoDirection......................................................................74
11.4UserInterfaceSetup.............................................................................75
11.5Position Adjustment..............................................................................76
11.6SoftwareUpdating.................................................................................76
11.6.1 UpdateInformation................................................................78
11.6.2 UpdatePortName.................................................................78
11.6.3 UpdateParameters...............................................................79
11.6.4 UpdateSoftware....................................................................79
11.6.5 SystemLog...........................................................................80

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12. Alarm Message...........................................................................................81
12.1Current Alarms......................................................................................81
12.2AlarmResume......................................................................................81
12.3AlarmMessageInstruction....................................................................82
13. Maintenance................................................................................................85
13.1General.................................................................................................85
13.2LubricationRequirements.....................................................................85
13.3MaintenanceCycle................................................................................85
14. AssemblyDiagram.....................................................................................86
14.1 TraverseUnit (ST3/5-SandST3/5-T-S)...........................................86
14.2 CrosswiseUnit (ST3-S)....................................................................87
14.3 CrosswiseUnit (ST5-S)....................................................................88
14.4 MainArm(ST3/5-S)..........................................................................89
14.5 Sub-arm Unit (ST5-S).......................................................................90
14.6 TraverseUnit (ST3/5-S-T)................................................................91
14.7 CrosswiseUnit (ST3-S-T).................................................................93
14.8 CrosswiseUnit (ST5-S-T).................................................................94
14.9 MainArm(ST3/5-S-T).......................................................................95
14.10 Sub-arm(ST5-S-T)...........................................................................97
14.11 TraverseUnit (ST3/5-S MediumTelescopic)....................................99
14.12 CrosswiseUnit (ST3-SMediumTelescopic)..................................100
14.13 CrosswiseUnit (ST5-SMediumTelescopic)..................................101
14.14 MainArm (ST3/5-S MediumTelescopic)........................................102
14.15 Sub-arm(ST5-S MediumTelescopic)............................................104
14.16 TraverseUnit (ST3-S-L-T)..............................................................106
14.17 CrosswiseUnit (ST3-S-L-T)...........................................................107
14.18 MainArm (ST3-S-L-T)....................................................................108
15. PneumaticSchematicDiagram...............................................................110
15.1 ST3-S..............................................................................................110
15.2 ST5-S.............................................................................................111
16. Electrical Control Charts(ST3-S)............................................................112
16.1 PowerSupplyWiringDiagram..........................................................112
16.2 DC PowerSupplyDiagram...............................................................113

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16.3 TraverseInput and OutputWiringDiagram....................................114
16.4 MainArmSignalInputWiringDiagram...........................................115
16.5 MainArmSignalOutputWiringDiagram........................................116
16.6 PneumaticSub-armSignalI/OWiringDiagram..............................117
16.7 Z-axisPanasonicServoDriveI/O WiringDiagram.........................118
16.8 Z-axisPanasonicServoMotorWiringDiagram..............................119
16.9 X-axisPanasonicServoDriveI/O WiringDiagram.........................120
16.10 X-axisPanasonicServoMotorWiringDiagram..............................121
16.11 Y-axisPanasonicServoDriveI/O WiringDiagram.........................122
16.12 Y-axisPanasonicServoMotorWiringDiagram..............................123
16.13 Z-axisDeltaServoDriveI/O WiringDiagram.................................124
16.14 Z-axisDeltaServoMotorWiringDiagram......................................125
16.15 X-axisDeltaServoDriveI/O WiringDiagram.................................126
16.16 X-axisDeltaServoMotorWiringDiagram......................................127
16.17 Y-axisDeltaServoDriveI/O WiringDiagram.................................128
16.18 Y-axisDeltaServoMotorWiringDiagram......................................129
16.19 Z-axisCuinsicoServoDriveI/O WiringDiagram............................130
16.20 Z-axisCuinsicoServoMotorWiringDiagram.................................131
16.21 X-axisCuinsicoServoDriveI/O Wiring Diagram............................132
16.22 X-axisCuinsicoServoMotorWiringDiagram.................................133
16.23 Y-axisCuinsicoServoDriveI/O Wiring Diagram............................134
16.24 Y-axisCuinsicoServoMotorWiringDiagram.................................135
16.25 SignalInputWiringDiagram...........................................................136
16.26 SignalOutputWiringDiagram........................................................137
17. Electrical Control Charts(ST5-S)............................................................138
17.1 PowerSupplyWiringDiagram........................................................138
17.2 DC PowerSupplyDiagram.............................................................139
17.3 TraverseInput and OutputWiringDiagram....................................140
17.4 MainArmSignalInputWiringDiagram...........................................141
17.5 MainArmSignalOutputWiringDiagram........................................142
17.6 Sub-armSignalI/O WiringDiagram................................................143
17.7 Z-axisPanasonicServoDriveI/O WiringDiagram.........................144
17.8 Z-axisPanasonicServoMotorWiringDiagram..............................145
17.9 X-axisPanasonicServoDriveI/O WiringDiagram.........................146

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17.10 X-axisPanasonicServoMotorWiringDiagram..............................147
17.11 Y-axisPanasonicServoDriveI/O WiringDiagram.........................148
17.12 Y-axisPanasonicServoMotorWiringDiagram..............................149
17.13 X2-axisPanasonicServoDriveI/O WiringDiagram.......................150
17.14 X2-axisPanasonicServoMotorWiring Diagram............................151
17.15 Y2-axisPanasonicServoDriveI/O WiringDiagram.......................152
17.16 Y2-axisPanasonicServoMotorWiring Diagram............................153
17.17 Z-axisDeltaServoDriveI/O WiringDiagram.................................154
17.18 Z-axisDeltaServoMotorWiringDiagram......................................155
17.19 X-axisDeltaServoDriveI/O WiringDiagram.................................156
17.20 X-axisDeltaServoMotorWiringDiagram......................................157
17.21 Y-axisDeltaServoDriveI/O WiringDiagram.................................158
17.22 Y-axisDeltaServoMotorWiringDiagram......................................159
17.23 X2-axisDeltaServoDriveI/O WiringDiagram...............................160
17.24 X2-axisDeltaServoMotorWiringDiagram....................................161
17.25 Y2-axisDeltaServoDriveI/O WiringDiagram...............................162
17.26 Y2-axisDeltaServoMotorWiringDiagram....................................163
17.27 Z-axisCuinsicoServoDriveI/O WiringDiagram............................164
17.28 Z-axisCuinsicoServoMotorWiringDiagram.................................165
17.29 X-axisCuinsicoServoDriveI/O Wiring Diagram............................166
17.30 X-axisCuinsicoServoMotorWiringDiagram.................................167
17.31 Y-axisCuinsicoServoDriveI/O Wiring Diagram............................168
17.32 Y-axisCuinsicoServoMotorWiringDiagram.................................169
17.33 X2-axisCuinsicoServoDriveI/O WiringDiagram..........................170
17.34 X2-axisCuinsicoServoMotorWiringDiagram...............................171
17.35 Y2-axisCuinsicoServoDriveI/O WiringDiagram..........................172
17.36 Y2-axisCuinsicoServoMotorWiringDiagram...............................173
17.37 EM12/EM67 SignalInputWiringDiagram......................................174
17.38 EM12/EM67 SignalOutputWiringDiagram...................................175
PictureIndex
Picture1-1: Packingof ST3-T-SandST5-T-S..................................................16
Picture1-2: Packingof ST3-LT-S.....................................................................17

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Picture1-3: Hangingtransportationof ST3-T-S................................................17
Picture1-4: Hangingtransportationof ST3-LT-S..............................................18
Picture2-1:ThreeAxesServoSignalTelescopicDimensions.........................23
Picture2-2:ThreeAxesServoTelescopicArm(Small type)Dimensions........25
Picture2-3:ThreeAxesServoMediumTelescopicDimensions......................27
Picture2-4:ThreeAxesServoLargeTelescopicDimensions..........................29
Picture2-5: FiveAxesServoSignalTelescopicDimensions............................30
Picture2-6: FiveAxesServoTelescopicArm(Small type)Dimensions...........31
Picture2-7: FiveAxesServoMediumTelescopicDimensions.........................32
Picture3-1: Sensorposition beforemodified....................................................45
Picture3-2: Sensorposition aftermodified.......................................................46
Picture3-3: Outside IMM safetyzone blocks beforemodified..........................46
Picture3-4: Outside IMM safetyzone blocks aftermodified.............................46
Picture3-5: Beforemodified.............................................................................47
Picture3-6: Aftermodified................................................................................47
Picture3-7 DirectionBeforeModified.............................................................48
Picture3-8 DirectionAfterModified................................................................48

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1. Safety
Beforestartingupthe robotforthe firsttime,pleasereviewthismanual
thoroughlyandfamiliarizeyourselfwiththeoperation ofthe robot.
Improperusemayinjurepersonneland/ordamagethe robot, moldor
moldingmachine.
1.1 SafetyRegulations
Pleasereviewthismanualthoroughlyand familiarizeyourself withthe
operation ofthe robot, beforestartinguptherobot forthe firsttime.
Maintenanceshouldbeperformedbyqualifiedpersonnelonly.
●TheST3/5-S seriesrobot isdesigned forinjection moldingmachine (IMM)
ONLY.
●Anymodification orchangetotheoriginaldesignof therobot isforbidden.
●Anyimproperinstallation and operationmayresult ininjurytopersonnel
and/ordamagetoequipments.
●Pleasecontact the manufacturerorlocalagent immediatelyif thereisany
problemwithrobotwhen operateit.
●Pleasenotethatourrobotmustbecooperatedwithothersafetydevice(i.e.
safetydoor) inordertooperateinnormalcondition.
●Ensureall installationsaremet withsafetyrequirementsbeforeoperating.
●Without the written consentofthe manufacturer, anydamageorlostcaused
bythe modificationorusebeyondtheusermanual,themanufacturerwillnot
haveanyresponsibility.
1.2 SafetyConcerns
Themaintenance,repair, etc,must beexecuted byprofessionallytrained
personnel.
●Anyunrelatedpersonnelshouldkeep awayfromrobotworkingarea whileit
isoperating. All electricalwiringmust becompletedbyprofessionals, andin
accordancewithdesignofspecificationsandwiringinstructions.
●Usesafetyfencetoindicateworkingarea whileinstallation.
●Forthe safetyoperation,thehand controllershouldbeplaced outside the
robot workingarea.

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

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

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

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Ifit isnecessarytoremoveorreinstall the robot, pleasecontacttheagent
ormanufacturerforhelp.Themanufacturerand agent donot haveany
responsibilityforinjuriesordamageif thecustomersremoverobots
themselves.
1.4.1 Transportation
1. ST3/5-S seriesrobot isfixon asteelstructurebaseand packaged withcrate.
2. Beforetransporting,fastentheslidingbasetopreventanycollision.
3.Thearmsarefree toslide when electricpowerand pneumaticsupplyareoff.
Pushthe armsupwardstolock them.
4. Duringthetransporting, pleasekeepthe robotawayfromotherobjects, in
ordertoavoiddamages.
5. Shouldincreaseplasticbagout of therobot, andifnecessary, pumping
vacuumand putdesiccant inthepackingduringthe long-distance
transportation,
6.Thetemperaturebetween -25to55duringthe transportation,forshort
transportation(inner24hours), thetemperaturecannot higherthan70.
Therobotyou orderbeforesendingoutthefactory,itisconfirmed ingood
workingcondition,pleasecheck whetherthereisanydamageduring carryingor
transporting.Pleasebe carefully,when dismantlingofcomponentsand
packaging, if therobothasfoundthe injury, you canusethe packageagain.
If thereisanydamagecausedbytransport, please:
1)Feedback immediatelytothe transportationcompaniesandourcompany.
2)Claimdamagestothe shippingcompany; fill inthe filerequestsfor
compensation.
3)Retainthedamageditemsstand-byfortesting. Until thetestingiscompleted,
do not returnthe damaged items.
1.4.2 Transportation afterUnpacking
1. Aftertakingapartthepackage,first removed the supportingplate, sothatthe
armrotated90degrees, andtheverticalwithbeams(seethepicture). Todo

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asthefollowing:
1)Release6fixed screwson the supportingboard, removethe packingsupport
plate.
2)Rotatingbeamsandarmslowly, sothatthearmandthebeamwasvertical.
3)Lock the armconnectingplateandtheslidingseatbythe 6screwson the
supportingplate.
Note:
1)Removethe packing supportplateshouldbe carefultopreventthearm wrist
and themachinedamageorpersonalinjury.
2)Lock the armconnectingplateandtheslidingseat, ensurethat thearm in
verticalstate.
2.Thereisaringinthepartsboxwhen the robot sent,aftertakingapart the
package,theringisinstalledonthe"T"-typeblock of the verticalbeam,using
withthe twoendsofbeam.(See thepicture1-1)
Note: Afterhoisting, pleasekeepringsofthe verticalbeam,anduseagainnext
time.
Picture1-1: Packingof ST3-T-SandST5-T-S

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Picture1-2: Packingof ST3-LT-S
Picture1-3: Hangingtransportationof ST3-T-S

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Picture1-4: Hangingtransportationof ST3-LT-S
1.4.3 Storage
1.Switchoff the mainair sourceandpower, if robotisnotinuseforalongtime.
2. Robotsshouldbestored inventilated, dryroomtoprevent rustanddamping.
3. Ifnotuseforalongtime,pleaseanti-rust, and ifnecessaryplacefilmto
prevent dust and erosion.
1.4.4 OperationEnvironment
1.Temperature: between+5to+40
2.Humidity: Temperature+40, relativehumidity50%
3.Elevation: Under1000metersabovesea level
4.Stop usingtheproductimmediatelywhen the followingoccurs:
I. Powercableisdamaged
II. Air tube isdamaged
III. Machine breaks downordissembledbyunauthorized personnel.
IV. Thereareorganicsolvent, acidicphospholipids,sulfurousacid,and chlorine,
flammableand explosivedangerousmatterincompressedair
Ⅴ. Air pressureisnot enoughortoohigh.
1.4.5 Retirement
When therobot goestoitsendofservicelife, itshouldbedemolishedaccording

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todifferentmartial(metal,oil,lubricants,plastics,rubber,etc.)tosplitindifferent
ways. Dealwiththe machineaccordingtolocalrequirements;ensurethe
commission companyasthebest.
Anyproblemduringusingthe SHINIST3/5-SSeriesRobot, pleasecontactthe
companyorthelocalvendor.
1.5 ExemptionClause
Thefollowingstatementsclarifythe responsibilitiesand regulationsbornbyany
buyeroruserwho purchasesproductsand accessoriesfromShini(including
employeesandagents).
Shiniisexemptedfromliabilityforanycosts,fees,claimsandlossescausedby
reasonsbelow:
1.Anycarelessorman-made installations,operationandmaintenancesupon
machineswithoutreferringtothe Manualpriortomachineusing.
2.Anyincidentsbeyond humanreasonablecontrols,whichincludeman-made
viciousordeliberatedamagesorabnormalpower,and machine faultscaused
byirresistiblenaturaldisastersincludingfire,flood,stormand earthquake.
3.Anyoperationalactionsthatarenotauthorized byShiniuponmachine,
includingaddingorreplacingaccessories,dismantling, deliveringorrepairing.
4. Employingconsumablesoroil mediathatarenotappointed byShini.
Headquarters&TaipeiFactory TEL [phone]
China ServiceHotline TEL [phone]
Dongguan Factory TEL [phone]
Ningbo factory TEL [phone]

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2. Installaiton
2.1 Instruction
2.1.1 SafetyIssue
1. Beforeinstallation,pleaseread thischaptercarefully.
2. Fixrobot onthe basebeforeoperating.
3. Afterinstallingrobot,indicatetheworkingarea withsafetyfence.
4.Thehand controllershouldbe placedoutside of thesafetyfence.
5. Keep theair pipeingood wayduringinstallation.
6.Thepowerconnection shouldbe performedonlybyauthorized electrician.
7. Connectingcableandthegrounded shouldobeythelocalrulesand
regulations.
8.Thegrounded wirecan notattachtothewaterpipes, gaspipes, telephone
linesortelevision cables.
9. Usethe independent cableandpowerswitch, thediameterofmainpower
wirecan not beless than the wireofcontrolbox.
10.Theend ofthe powerwiremust besafetyand immobility.
2.1.2 CompressedAirConnection
1.Accordingtothefilterspecificationstochooseasuitablehoseconnected
between the air sourceandthefilter.
Note: Beforeconnecting hoses, clean the hosesbycompressedair.Toensure
thatthereisnocuttings, sealingtapesinit.
2. Checktheair connection of controlboxingood conditions, without bending
conditions.
Air hoses:V1,V2standsforvacuum.G1,G2standsforgripper. HI1, HO1
standsforone pair of air cylinders. HI2, HO2standsfortwopairsofair
cylinders.
2.1.3 ElectricPower Connection
1.Theelectricalconnection shouldbe performedonlybyauthorized electrician.
2. Shutoffthepowersupplybeforeconnecting.
3. Set upthesafetyelectricaloutsideof thecontrolsystemtokeep thecontrol
systemworks innormally.