Syntec R41-LXC100-917Y User manual

R41-LXC100-917Y Product Manual
匯出日期：2023-08-25
修改日期：2023-05-19

联达产品/LEANTEC Products
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About Manual
     Thank you for buying our movable trolley serial product.
The manual records the precautions of correct installation and use the solution.
Please read the manual and other related manuals carefully before install and use the
solution.
Preserve carefully after reading for future accessible.
Unauthorized copying or reproduction of part or all of the contents of this manual is
prohibited.
The contents of this manual are subject to change at any time without prior notice.
If you found any error or room for improvement, feel free to correct.
Except as expressly stated in this manual, nothing in this manual shall be construed as
any warranty or guarantee by the Company for personal loss, damage to property, or
specific fitness for purpose.
The Company shall not be liable for accidental or consequential injury arising out of the
use of this manual and the products described therein.
Content
The manual including：
The download and preservation of the product solution.
The product solution and robot use condition.
Produced for
This manual is oriented toward:
Installer

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Operator
Technician
Warranty
The robot and its optional components are delivered after the company's strict quality
control, testing and inspection, and the performance is confirmed to meet the
company's standards.
Within the warranty period of the delivered products, the company will only repair the
faults that occurred during normal use for free. (Please consult a salesperson in your
area for the warranty period.)
However, the customer will be charged for repairs (even within the warranty period) if:
1. Damage or failure caused by improper use and improper use of the manual.
2. Failure caused by the customer's unauthorized disassembly. 
3. Damage caused by improper adjustment or unauthorized repair.
4. Damage caused by natural disasters such as earthquake and flood.
Warning
1.If the use of robots or related equipment exceeds the conditions of use and product
specifications described in this manual, the warranty will be invalid.
2. The Company shall not be liable for any fault or accident, or even personal injury or
death caused by the use of the products.
3. The Company cannot foresee all possible risks and consequences. Therefore, this
manual cannot warn the user of all possible risks.
1 Safety
1.1 About this chapter
1.2 Safety term
1.2.1 Safety Logo
1.2.2 Risk Reminder
1.2.3 Emergency Stop
1.2.4 Enabling Switch
1.3 Work Safety Guide
1.3.1 Overview
1.3.2 Self Safety
1.3.3 Operate the teach pendant
1.3.4 Recover from Emergency Stop
1.3.5 Safety Considerations for Manual/Auto Mode
2 Double-Layer Trolley Robot Product Overview
2.1 Product Highlights
2.2 Product Operation Description
2.2.1 Precautions before operation
2.2.2 Operation Description
2.2.3 Alarm Description
2.3 Plate Setting Screen Description
3 Communication
3.1 Communication Description
3.2 NETPLC communication

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3.2.1 Robot NETPLC setting
3.2.2 Machine NETPLC Setting
3.3 IO Communication Description
4 Technique Specification
4.1 Specification Parameter
4.2 Product Size Schematic Diagram
4.3 Output Flange
4.4 Electrical Box Specification
4.5 Auxiliary Equipment
5 Install
5.1 Environment Condition
5.2 Install On-Site
5.2.1 Delivery
5.2.2 Download
5.3 Electric Connection
5.3.1 Cable connection
5.3.2 User wiring double layer trolley robot product
5.3.3 IO connection way
5.4 Pipeline Package Solution
5.4.1 Solenoid valve and terminal block definition
5.4.2 Tube Package Solution Operation
5.5 Function Test
6 Maintenance & Preservation
6.1 Maintenance Safety
6.2 Maintenance Plan
6.2.1 Inspection Interval and Inspection Item
6.2.2 Repair Maintenance Tool Description
6.2.3 Change Battery
6.2.4 Mechanical arm change lubricate oil
6.3 Mechanical Arm Synchronous Belt Maintenance
6.4 Trolley Component Maintenance
6.4.1 Rodless railway cylinder maintenance
6.4.2 Trolley Robot Product Vulnerable List
7 Robot Zero Point
7.1 About Robot Mechanical Zero-point
7.2 Zero Point Calibration
7.3 Standard Steps

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1 1 Safety
1.1 1.1 About this chapter
Description
This chapter explains the content that must be observed in the safe use of the robot.
Please read this chapter and carefully before using the robot system.
The chapter introduce the safe regulation and procedure when using LEANTEC industrial
robot.
User introduction
Users can be divided into 3 types:
Operator：
Turn on or off the system power.
Enable or stop the program.
Recover system alarm status.
Programmer：
In addition to the operator’s work.
Teach new robot program.
Technician：
In addition to the programmer’s work.
Repair and maintain the robot system.
Programmer and technician are required to take professional training from the
original manufacturer.
1.2 1.2 Safety term
1.2.1 1.2.1 Safety Logo
About safety logo
When operating the robot in accordance with the contents of this manual, different degrees of
danger may be encountered. Therefore, near the operation instructions that may cause
danger, there will be a special safety mark prompt box to remind users to pay attention to
precautions. The contents of the prompt box include:
An icon representing the safety level and corresponding name, such as warning,
danger, prompt, etc.
A simple description of what could happen if the operator did not eliminate the
hazard.
Instructions on how to eliminate hazards.
Safety level

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Logo Name Description

Danger The contents marked with this symbol will cause serious or even fatal injury to
personnel and will/may cause serious damage to the robot if not operated in
accordance with the regulations.
Operations associated with such hazards include access to high-voltage
devices in the control cabinet, entering the robot's work area while it is in
operation, etc.
Warning Remind that the operation may cause safety risk to operator, causing serious
even fatal injury.
Electric
shock
Remind the current operation may be a risk of electric shock to personnel,
resulting in serious or even fatal injury.
Caution The machine with the logo may cause human injury and machine damage
without regular operation.
Anti-static
(ESD)
The current operation involves parts that are sensitive to static electricity and
that failure to follow the specifications may result in damage during the
period.
Reminder Used to suggest important information or prerequisites.
Warning
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The robot may execute unexpected and unreasonable motion in operating. in addition, the robot will carry
a huge energy in the motion. When a collision occurs, it may cause serious injury and damage to personnel
and equipment in its working range.

All robot in motion can be fatal

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1.2.2 1.2.2 Risk Reminder
Elimination of danger
Nu
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Operation Reference
1 Check all emergency stop devices
have been properly configured and
installed before starting to operate
the robot.
Emergency stop equipment
includes a safety gate, safety
grating, safety light blanket, etc.
2 Ensure the personnel in robot work
area hold teach pendant in robot
programming.
To avoid the personnel operates
the robot from the outside without
notice someone is inside the robot
work area.
3 Ensure there is no personnel in robot
work area before start operating
robot program.
4 Stop the robot when replacing the
finished product or workpiece.
The robot has to reach the safety
height in order to switch the tray.
Robot logo description
Logo Name Description
Collision hazard
sign
Keep a safe distance when the
robotic arm is in operation to
avoid a collision.

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Logo Name Description
Specification label Label the specifications of the
robotic arm and manufacture
dates.
Grounding sign The robotic arm must be
connected to the ground to
prevent electrical shock.
Electrical shock
hazard sign
The robotic arm might have
potential electrical shock risks.
Operate carefully
sign
Be careful when operating the
robotic arm, and predict the
movement of the robotic arm.
1.2.3 1.2.3 Emergency Stop
Definition of emergency stop
Emergency stop is the highest priority function in the robot system. Press the emergency
stop button would trigger emergency stop. All robot controlling function would stop and
all joints would decelerate to zero. The motor power of each joint will be cut off and
contracting brake. The controlling system would switch to emergency stop status until
the manual reset. 
The system would recover to normal status with manual reset. Release the emergency
stop button and press the servo ready button on the teach pendant.

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Emergency stop button
By default, the robot system is equipped with two emergency stop buttons that trigger
an emergency stop when pressed. One is mounted on the control cabinet and the other
is mounted on the teach pendant.
In addition, your system integrator may install additional emergency stop buttons
during the robot deployment process. Please contact your system integrator or consult
the robot workstation documentation for more information.
1.2.4 1.2.4 Enabling Switch
Description
The emergency stop is used only to stop the robot immediately in case of a hazardous situation. The
emergency stop should not be stopped as a normal procedure. Otherwise, it will cause extra and
unnecessary wear to the brake system and transmission system of the robot, and reduce the service life of
the robot.

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The enabling switch is a switch withtwo presses and three positions, which only works if
the enable switch been pressed and kept in the middle position.If the switch is released
or fully pressed, the robot movement will be stopped. It needs to be pressed together
with other keys to prevent mistouch.
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Enabling switch is installed on the back of teach pendant. Only press the switch and
preserve at the medium status could jog or operate. Loose or fully press would be
invalid. In order to use the pendant safely, the following requirements must be observed
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Ensure the switch can work properly in any time.
In the programming or tuning, release the switch when robot movement is not
required.
Warning


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1.3 1.3 Work Safety Guide
1.3.1 1.3.1 Overview
About robot
No matter how fast they move, industrial robots are potentially dangerous. A pause or
wait in a program may be followed by a very fast and dangerous motion command. Even
if you are already familiar with the current robot's trajectory and mode, the robot's
trajectory in automatic mode can still be changed by external signals without warning.
Therefore, safety regulations must be followed when entering the working area of the
robot.
About robot installation environment
Ensure the robot installation area is large enough and the joint can fully expand. The
wrist tool or workpiece edge would not reach the wall, safety fence and robot control
cabinet. Otherwise, the robot may collide, cause human injury and equipment damage. 
The section is referred to GB 11291.1 and GB 11291.2 safety standard. However, it cannot
cover every specific situation due to the space limitation.
Anyone entering the robot's workspace must carry the teach pendant with them to prevent others
from starting the robot while person is inside. It is strictly forbidden to use an external device to jam the
enabling switch to remains in the middle position!

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1.3.2 1.3.2 Self Safety
There are a few simple principles that must be followed in order to operate a robot safely：
All of the operating procedures must beprofessionally evaluated and based on
relevant industrial safety regulations.
Operators who work with robots must wear safety equipment suitable for the
working environment before performing operations, such assafety vests, safety
shoes andsafety helmets.
When personnel encounter danger or other emergency and abnormal
situations due to the robot, please press the emergency stop button for the first
time, and use the manual mode to move the robot away from the dangerous
situation at low speed.
Keep an eye out for moving tools, such as drills, saws, etc. installed on the
robot. Make sure the tools stop working before approaching the robot.
Pay attention to work piece surface or robot body. The temperature of robot
motor and outer shell may be very high after long working hours.
Pay attention to the robot'sgripperand the objects it is holding. If the gripper is
opened, the workpiece may fall and cause injury to personnel or damage to
equipment. In addition, the grippers used by the robot can be very powerful
and can cause damage if not used properly.
Pay attention to the electrical components inside the robot and control
cabinet. Even if the power has been cut, the energy retained in the device can
be very dangerous.
Prohibit any move of a climbing robot.
1.3.3 1.3.3 Operate the teach pendant
Description
The teachpendantequipped with Syntec system is manufactured with advanced
electronic components. In order to avoid failure or damage during use, please follow the
following requirements.
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Warning
Relevant education training and permission is a must for the person installing the robot. In order to
protect personal safety, the installation procedures in this manual and related industrial safety
regulations must be followed.
Control box should be away from high voltage and other component that generate electromagnetic
field, to prevent the electromagnetic interference which may cause deviation or malfunction of the
robot.
The robot may damage or malfunction with not original factory repair component.
Do not excessively bend the power signal cable. Otherwise, it may cause unexpected danger.
The teach pendant removed from the control cabinet should be properly stored away from the
robot workstation or control cabinet. It is needed to prevent that the operator might be misled to
think that the teach pendant is still connected to the control cabinet and try to use the
unconnected teach pendant to stop the robot when danger happened.
When using hydraulic and pneumatic in operation, the clamped workpiece may fall due to
insufficient pressure or gravity. 


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Teach pendant controller lecturers are developed, manufactured and tested in
accordance with relevant industry standards and are intended for use only as described
in this manual. If you follow the requirements in this manual, the teach pendant
controller will not cause personal injury or damage in normal use. 
Operation and cleaning
Handle it gently and avoid falling, throwing or a strong impact on the tech
pendant. Otherwise, it may cause the pendant to malfunction.
If the teach pendant experiences a strong shock, verify the enabling switch and
emergency button are still in normal working conditions before using again.
When you do not use the teaching device, please store it properly to avoid
accidental dropping.
Avoid tripping over the teach pendant cable when using it.
Strictly forbidden to operate the touch panel with sharp objects, such as
screwdrivers, pen tips, etc. Otherwise, the touch screen may be damaged.
Operate with a finger or a stylus on top of the pointer.
Clean the touch screen frequently, dust and small particles of impurities may
cause touch screen to malfunction.
Strictly forbidden to use chemical solvents, detergents and washing surfaces to
clean the teach pendant. Use a soft cloth and a small amount of water to scrub.
When not using the USB interface, the protective rubber cap must be properly
fastened. Otherwise, exposure to dust may cause interface failure.
Pendant cable
Ensure that staff do not trip over the pendant cable and cause the pendant to
fall.
Do not squeeze the pendant cable. Otherwise, it may damage the inner core.
Do not put place the pendant cable near at sharp edge in case of the cable
sheath damage.
1.3.4 1.3.4 Recover from Emergency Stop
Description
The reset operation must be performed when the system is in an emergency stop state
in order to return to the normal state. The reset process is very simple but very
important to ensure that the robot system is not put into production operation in a
dangerous state.
Emergency stop button.
All button-type emergency stop devices have a safety lock mechanism that must be
manually released after being pressed to reverse the emergency stop state of the device.
The LEANTEC robot emergency stop button is released by rotation, with the direction of
rotation marked on the surface of the button.
Reset the external stop device
Danger
When a staff member enters the safety fence, the pendant must be brought along to ensure that the robot
is under your control and only manual mode can be used to operate the robot.


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1 Safety–14
All external safety devices such as safety gates, safety gratings, etc. have some type of
safety locking mechanism. If your robot workstation uses an external safety device,
consult your system integrator for more device reset information.
Recovery from emergency stop
Numbe
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Operation
1 Confirm that the hazardous condition causing the emergency stop has
been addressed and that the hazard source is no longer present.
2 Reset a safety device that causes an emergency stop
3 Press the "Servo Ready" button on the teach pendant to restore the
system from a non-ready state.
1.3.5 1.3.5Safety Considerations for Manual/Auto Mode
About manual mode
In manual mode, the movement of the robot is under manual control. Jog or run the
robot only if the enable switch is in the middle position.
Manual mode is used to write and commission robot programs and participate in the
commissioning of the workstation.
In manual mode, signals from external safety devices such as safety doors and safety
grating will be bypassed. The system will not be in emergency stop even if the safety
door is opened in manual mode to facilitate commissioning.
About auto mode
The automatic mode is used to run the robot program during the official production
process.
The enable switch will be bypassed in automatic mode, so the robot can operate
automatically without human involvement.
Safe handling of production breakdowns
Most of the time, robots are part of a production line, so robot failures do not only affect
the workstation itself butwhen problems occur in other parts of the production line, the
robot workstation may also be affected.Therefore, it is up to those familiar with the
entire production line to design fault recovery solutions to improve safety.
For example, on a production line, the robot needs to grab the workpiece from a
conveyor belt.In case of a robot failure, in order to ensure that the production process is
not interrupted, the conveyor belt should be kept in operation while the robot is being
repaired. At this time, the robot maintenance personnel should consider additional
safety measures for working beside the conveyor belt in operation.

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2 Double-Layer Trolley Robot Product Overview–15
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2 2 Double-Layer Trolley Robot Product Overview
2.1 2.1 Product Highlights
The double-layer trolley robot adopts our company's independent brand six-axis industry robot for automatic
material pick and place, which improves factory efficiency and replaces manual operations in complex and harsh
environments.
The flexible and multifunctional gripper adopts multiple three-jaw pneumatic cylinders for
precise gripping and stable release. It also features optional air blowing function and
workpiece detection module and can be equipped with extended rods of various lengths to
meet actual arm extension requirements.
The double-layer automatic material tray adopts self-contained sliding rails and piston rod-
less cylinders which integrate dynamic and stability. With a simple and reliable structure, one
supply of materials satisfies several hours of automated production.
The body double-layer trolley utilizes square tubes with a unique structural design, making
the equipment lightweight and easy to move, while also ensuring smooth and stable
operation without shaking. The trolley can be pushed by a single person to move it to a
different workstation, achieving rapid mobility.
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
提示
A double layer trolley robot system including：
Trolley small car main body
Handy box controlling
L-shape support
Controlling button
Material plate component
Safety fence
Three color light
End side gripper
LEANTEC robot
Pneumatic combination unit
For more detail, please check the above figure.


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2 Double-Layer Trolley Robot Product Overview–16
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1.
2.
The electrical control module is highly integrated, combining robot control driver with
movable trolley, saving space for electrical component layout. Additional I/O module
interfaces are available outside the trolley to meet customer's IO communication
requirements. At the same time, for SYNTEC systems, NETPLC is used to communicate with
just one network cable, realizing fast connection function.
The operation control system adopts robot handheld pendant operation, without the need for
additional integration of PLC and human-machine interface. The movable trolley has a
dedicated operation screen, making monitoring information and operation more direct.
Customers can have a more comprehensive understanding of industrial robots.
The double-layer trolley has pre-set locations and programs for picking up and placing
materials on the material tray. At the customer's site, they only need to update the internal
processing locations of the machine to conduct trial production runs, which simplifies the
tuning process, reduces the difficulty of tuning, and is easy for customers to operate.
2.2 2.2 Product Operation Description
2.2.1 2.2.1 Precautions before operation
When powering on the device, please note that this small car product is compatible with the Leantec
industrial robot models LA917-6-Y and LA1206-10A-R, and requires a voltage of single-phase 220V for
power supply. For detailed information, please refer to the product manual of the corresponding Leantec
robotic arm.
The double-layer tray solution of Leantec has its own positioning device. It is used in conjunction with the L-
shaped fixture and the support. When the running speed is greater than 60%, the L-shaped fixture must
be connected to the ground bolt and the designated position of the tray in order to fix it on the ground
and achieve the purpose of positioning, as shown in the following figure:
Users can transfer workstations conveniently and quickly according to the production plan and achieve the
requirement of line-changing production after simple tuning.

联达产品/LEANTEC Products
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2 Double-Layer Trolley Robot Product Overview–17
1.
2.
3.
4.
5.
6.
7.
3. The material tray and pneumatic gripper need to be supplied with air during operation. The air pressure for
equipment supply is (0.5~0.6Mpa). Air source process combination unit is located at the base position of its
robotic arm, as shown in the figure below:
    
Button function introduction：
Break release：If the arm is motionless after the crash, press the button to open each axis break. Release
from crisis through another people increasing crash place；（the product is not connected by default, but
there is reserved interface. Contact our company technique if there is the demand for use the function.）
Operating indicator light：The light would on after the arm is power-on；
Power-on rotary button：Rotate the button could power on/odd the robot.
Emergency stop button：To stop the robot operation under emergency. The robot become unready status
after press the button and have STO alarm protection；
Upper plate ready：The button with indicator light is to state whether the plate is machining available
status；
lower plate ready：The button with indicator light is to state whether the plate is machining available
status；
Change plate：To change the upper and lower plate position. It generally used for take finished product
and blank work piece.

联达产品/LEANTEC Products
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2 Double-Layer Trolley Robot Product Overview–18
8.
1.
2.
3.
Spare button: This button hole is left open for customers to customize other required functions.
Operation steps：
After the arm providing voltage is sure, the operator needs to rotate the red button of robot controlling
cabinet in front of the arm to ON to power on the equipment（If the power-on is fail, check the power
voltage or contact our technician. ）；
The operator would place two plate full of blank piece respectively on upper and lower plate. Press upper/
lower plate to light up the corresponding signal light. The blank piece plate ready signal could feedback to
hexagon industrial robot. When the robot machining is finished, the signal would turn off to represent the
plate work piece is finished piece.
Hint
When the finished product is replaced with blank piece, press the corresponding ready button. Reflect
the change plate signal to the robot, or the machining could not keep processing.

The on-site operator needs to check the correctness of the plate number for first machining piece of the day,
whether the equipment is under auto-mode. If the machining process and point        document is correct,
enable the machining process through handy box operation panel. The robot would catch the blank piece
and send into machine inside on the plate one by one. After the machining completed, catch the finished
product and place on the previous blank piece place position（blank piece and finished product is the same
plate）. Then catch next blank work piece；

联达产品/LEANTEC Products
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2 Double-Layer Trolley Robot Product Overview–19
4.
5.
When all plate blank piece are finished, it would carry out change plate process. When the current plate is
automatically withdrawn by the pneumatic device and the corresponding signal light is off (representing the
completion of processing), and the robot continues to pick up work from the first work piece by making
another blank plate advance through whether the plate is ready or not, as a repeating cycle of processing；
When the operator took the finished plate, and reposition the blank piece, it is required to press the
corresponding plate ready button to light up the signal light. And you could complete the replace of finished
product and blank piece.
2.2.2 2.2.2 Operation Description
Button function introduction：
Break button：Stop robot operation under emergency. The operation would be
unready status after press the button and protected by STO alarm；
Power-on rotary button：Rotate the switch could power on/off the robot equipment；
Operation indicator light：The light would be on after the arm is power on
successfully；
Break release：When the arm could not move after the collision, press the button to
open respective axis break. Another people lift up the collision machine to prevent
danger；
Ready upper/down plate：The button equipped with indicator light shows whether
the plate could process or not. Program internal change plate program need to wait
A10/A11 ON status；

联达产品/LEANTEC Products
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2 Double-Layer Trolley Robot Product Overview–20
Plate Change：To switch upper and down plate position. Usually used for finished and
rough workpieces.
Operation step：
1、After the arm power-on checked, the operator in front of the arm have to rotate the
red rotary switch on the robot controlling cabinet to on to power-on the equipment.
（Check the power voltage or contact our technical staff if the power-on is fail）；
2、The operator place two plate with full of blank piece respectively on upper plate and
down plate. Press upper/down plate ready button to light up the signal light. The blank
piece plate ready signal would give feedback to hexapod robot. The signal light turned
off represents the work is completed and the work piece is finished.
3、The operator need to check whether work piece material plate number is correct and in
auto mode in the first machining of the day. When the program and file is incorrect, start the
program via handy box operating panel, The robot would take blank piece one by one on the
plate, sending into the machine. Take out the finished product and place is on the blank piece
position before（blank piece and finished product is the same material place）. Take the
next blank piece；
Hint
When the finished piece is removed and replace with blank piece, press the ready button and inform the
robot change finished. Or the machining would not continue.
