VECTECH ET9484E User manual

VECTECH ET9484E
TWXBCB79&80
4-Axis Desktop Soldering
Robot
Instruction Manual

2
Thank you very much for purchasing this Robot.
This operation manual describes the features and operation of the robot. The
detailed description about the teaching and processing may refer to the operation
manual of the “Teach Pendant”.
Before using, read the manual thoroughly for proper use of the robot. Store
the manual in a safe easily accessible place for future reference.

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Contents
Ⅰ.Safety Instruction ................................................................................................................ 5
1.1 Safety symbol .............................................................................................................. 5
1.2 Unpacking and inspection ........................................................................................... 7
Ⅱ.Introduction ......................................................................................................................... 9
2.2 Technical Data ........................................................................................................... 10
2.3 Part description ......................................................................................................... 11
2.4 Dimension ................................................................................................................. 12
Ⅲ.Connection ......................................................................................................................... 13
3.1 Connection ............................................................................................................... 13
3.2 I/O Socket Instruction ............................................................................................. 14
3.2.1 Circuit Instruction of I/O Socket .................................................................... 14
3.2.2 4-pin Socket instruction ................................................................................. 14
3.2.3 5-pin Socket instruction ................................................................................. 15
3.2.4 7-pin Socket Instruction ................................................................................. 16
3.3 Instruction about DB37 socket ............................................................................... 16
3.3.1 Pins Instruction of DB37 ................................................................................ 17
3.3.2 Circuit Instruction of DB37............................................................................ 18
3.4 Instruction about DB9 socket .................................................................................... 19
3.4.1 Pins Instruction of DB9 .................................................................................. 19
3.5 Instruction of Input & Output ................................................................................... 19
3.5.1 IO Function Definition ................................................................................... 20
4.5.2 IO Function Instruction .................................................................................. 22
Ⅳ. Commissioning ................................................................................................................. 26
4.1 Debug steps ............................................................................................................... 26
4.1.1 Security check before operation ..................................................................... 26
4.1.2 Operation of First Time (without heating controller) ..................................... 26
4.1.3 Operation of First Time (with heating controller) .......................................... 29
4.1.4 Debugging steps (take a point for example) ................................................... 29
4.2 Interrupt and continue ............................................................................................... 32
Ⅴ. Operation panel ................................................................................................................. 34
5.1 Introduction ............................................................................................................... 34
5.2 Main menu (with teach pendant) ............................................................................... 35
5.3 Main menu (disconnect teach pendant line) .............................................................. 35

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5.3.1 Loop menu ..................................................................................................... 36
5.3.2 S-point menu .................................................................................................. 37
5.3.3 Temperature calibration menu ........................................................................ 37
Ⅵ.Troubleshooting and maintenance...................................................................................... 38
6.1 Troubleshooting ........................................................................................................ 38
6.2 Daily check and maintenance .................................................................................... 40
6.2.1 Cooling fan maintenance ................................................................................ 42
6.2.2 Maintenance of emergency stop button .......................................................... 42
6.2.3 Maintenance of robot movement mechanism ................................................ 43
6.2.4 Oil-water separator maintenance .................................................................... 44
6.2.5 Linear guide maintenance .............................................................................. 44
6.2.6 Maintenance of ball screw.............................................................................. 45
6.2.7 Daily maintenance of heating controller ........................................................ 45
6.2.8 Soldering tip ................................................................................................... 45
6.2.9 Prolong the lifetime of soldering tip............................................................... 46
6.2.10 Consumable material list .............................................................................. 46

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Ⅰ.Safety Instruction
1.1 Safety symbol
Serious warning
 The product poses a risk of electric shock.
 Only authorized person can change settings.
 Push the red emergency switch for power off in an emergency
situation.
 Forbid working while the power wire was damaged.
 If the device remains unused for a long time, please pull the
power cord out of power socket.
 During maintenance and inspection of the robot, attention power
status and pull out the power plug of the controller.
 Install a Frame Ground to prevent electric shock.
 There is a dangerous voltage inside the device! Only be
authorized by the experienced and be an expert can repair the
equipment, or contact the agents, manufactures, when the system
fails to repair.
 Risk for injury.
 Do not extend your body to machine when it works well or
powers on.
 Do not wet and disassemble the machine when used. Also do not
pull power cord.
 Please keep the machine and table clean, which will help reduce
accidents.
 Unprofessional person can not change arbitrarily. When
performing maintenance, please turn off the power supply and air
pressure.
 This product is non-explosion-proof and is strictly prohibited for
potential explosive environment.
 Make sure that the heating controller parts are securely fastened
to the machine before using it.
 Flammable and explosive objects or gas solvents are strictly
prohibited in the working area.

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Warning
 Do not move the movements by hands to avoid damaging
the robot.
 Do not touch the moving parts in your work, or you may
damage the machine or accident.
 During the operation of the machine, please do not put your
hand into the device, which may cause the user to get
injured or cause substantial damage to the object involved.
 During the suspension of the machine, please check the
condition carefully for manual operation, otherwise it may
cause the user to get injured or cause substantial damage to
the object involved.
 Avoid falling the fittings or having an accident, please take
the device and fittings by help.
 Mind head, attention about the sheet metal.
 Carry to an applicable place, install the device on a flat
floor.
 The product must be used or stored in an applicable
environment.
 Working ambient temperature is 0~40℃, relative humidity
is 20%~90%.
 The equipment is heavy and huge, do not pile up.
 Do not pile up items in the scope of the machine
 Before moving and carrying, make sure the movements is
fixed (for example the X-axis may be fixed by sheet metal
or lines for safety).
 Unfold the packaging, before using the robot, make sure the
movements’ fixture (for example the X-axis may be fixed by
sheet metal or lines for safety) is torn down.
 Regularly inspect and maintain will increase durability and
performance.
 Must operate the robot by standard procedure.
 Before starting a repetitive operation, make sure that there is
no obstacle in the robot’s working area.

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 Please use robot within the standard requirements (such as
voltage, air pressure, power frequency) as stated in the
specification.
 Make sure the air source is clean and dry.
 Suggest the air pressure is less than 0.7Mpa.
Attention
 Do not throw the packaging and foamed plastic.
 If the robot should come back to the manufacture or agency,
it must be folded by initial package.
 The robot must be placed vertically.
 The robot can be packet after fold by foamed plastic.
 The robot can not get wet in transit or stored procedures.
1.2 Unpacking and inspection
Wooden case packing：
① Put wooden case packing on the floor vertically, tear up the fixed film.
② Take the screw out of the wooden case by drill and unfold the wooden case.
③ Take and carry the device by two or more people, put firmly on appropriate station.
④ Unfold the packaging, before using the robot, make sure the movements’ fixture (for example
the X-axis may be fixed by sheet metal or lines for safety) is taken down.
⑤ All fittings are in the table as follow.
Item Part Name Model Quantity Figure
1 Heating controller 378FA 1
2 Teach pendant 9011D 1
3 Teach pendant cord DB9 1

8
4 Power cord 1
5 Manual
Manual
instructions
2
6 Tin slag box 9026GP 1
7 Key box 8031A 1
Check the machine carefully, if you have any problem, please contact manufacturer immediately!

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Ⅱ.Introduction
The robot is high-precision automatic soldering equipment with four shafting. The system
provides users with convenient programming instruction, larger storage space, fast processing
speed, rich parameter setting and effective flow control, which can improve production capacity.
According to actual production requirement, on the premise of meet the motion performance index,
the optimization design was carried out on the product structure, to meet the requirements of
flexible.
 Comprehensive 3-dimensional drawings support, such as 3-dimensional linear interpolation,
capabilities of teaching 3D graphics and user-defined 3D array and so on.
 Group function: This function allows users copy, delete, modify, array, and pan multi-points.
 Excellent teach pendant. Supporting advanced function, such as array, group edit,
sub-procedure, condition-call procedure etc.
 Unique merge function: Easy resolution to process complex multi-layers irregular array and
non-array graphics.
 Capable to control the length of feeding solder wire at single point, and to edit the parameters
of any multi-points at one time.
 Smooth functions of changing speed and hi-speed trajectory on the moving. User-definable
speed parameters.
 Multiple processing modes, such as single-step operation, overall processing, and automatic
loop processing.
 Smooth movement speed ensures product reliability
 Manual debugging, control the whole production process
 High power heating controller, high heat capacity tip, guarantee welding quality and stability

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2.2 Technical Data
Model VECTECH ET9484E-TWXBCB79&80
Input power 100V-240VAC 50/60HZ
Power consumption 250W
Number of controllable axis 4Axis
Axis movement
range (max)
X axis (mm) 400
Y axis (mm) 400
Z axis (mm) 100
R axis (°) 300
Movement
speed(max)
X (mm/s) 0.1～800
Y (mm/s) 0.1～800
Z (mm/s) 0.1～300
R (°/s) 0.1～800
Repeatable
accuracy
X/Y/Z axis (mm) ±0.01
R axis (°) ±0.02
Resolution ratio
X/Y/Z axis(mm) 0.01
R axis (°) 0.01
Z&R Axis payload(Kg) 3
Y Axis payload (Kg) 8
Noise ＜70dB（Measure in the distance of 1m）
Working
ambient
Temperature 0～40℃
Relative humidity 20％～90％ (No condensation)
Temperature stability ±3°
Weight（Kg） 75Kg
NOTE: 1. Ensure that your power supply data agrees with the information on the nameplate of the
machine!
2. The TWXBCB79 machine is 371L wire feeder device, and the TWXBCB80 machine is
371LI wire feeder device

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2.3 Part description
Item Part Name Item Part Name
1
Z Axis stepper motor + lead
screw
8 Emergency stop button
2
R Axis stepper motor +
synchronous belt
9 Operation panel
3 Soldering iron 10
Y Axis hybrid servo motor +
synchronous belt
4 Soldering tip 11 Heating controller
5 Teach pendant 12
X Axis stepper motor + synchronous
belt
6 Tin slag box 13 Wire feeder device
7 Start/Pause button
1
2
3
4
5
6
7
8
9
10
11
12
13

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2.4 Dimension
Front view
Left view
Top view
Unit：mm

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Ⅲ.Connection
3.1 Connection
1. Power switch: it’s a power connecting or disconnecting device.
2. Power inlet module: connect 110V/220V AC power cord to power inlet module.
3. ESD Port
4. Power socket: it’s 220V AC power supply.
5. 5-pin socket: connect to light curtain, refer to 3.2.3 5-pin socket instruction.
6. 5-pin socket: reserved socket, refer to 3.2.3 5-pin socket instruction.
7. DB9 port: reserved socket, refer to 3.4 Instruction about DB9 socket.
8. 7-pin socket: connect to heating controller refer to 3.2.4 7-pin socket instruction.
9. RJ45Socket: connect to heating controller, it follows RS485 Standard Communication Protocol.
10. DB37 port: reserved socket, refer to 3.3 Instruction about DB37 socket.
11. 4-pin socket: connect to key box, refer to 3.2.2 4-pin socket instruction.
12. 6-pin socket: connect to soldering iron.
13. 8-pin socket: connect to wire feeder device.
14. 5-pin socket: connect to light house, refer to 3.2.3 5-pin socket instruction.
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1
2
3 4 5 6 7 8 10 11
12 13
14

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3.2 I/O Socket Instruction
3.2.1 Circuit Instruction of I/O Socket
3.2.2 4-pin Socket instruction
4-pin socket is connected to key box, pin’s functions refer to following table.
4-pin socket Pin NO. Pin Name Function
4P-1 Min4 It’s used to connect to
“START/STOP” operation button.
4P-2 GND “0V” Power supply

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4P-3 Min1 It’s used to connect to “ORG”
operation button.
4P-4 Min2 It’s used to connect to emergency
stop operation button.
NOTE: * If the customers need special function, the input and output signal can be set again.
3.2.3 5-pin Socket instruction
5-pin socket is reserved socket, pin’s functions refer to following table.
5-pin socket Pin NO. Pin Name Function
5P-1 24V “24V” Power supply
5P-2 0V “0V” Power supply
5P-3 Min 3 It’s used to connect safety signal.
5P-4 Ein13 It’s used to alarm when solder wire
is lacking.
5P-5 Ein14 It’s used to control temperature
alarm.
5-pin socket is reserved socket, pin’s functions refer to following table.
5-pin socket Pin NO. Pin Name Function
5P-1 24V “24V” Power supply
5P-2 0V “0V” Power supply
5P-3 Min 3 It’s used to connect safety signal.
5P-4 Ein13 It’s used to alarm when solder wire
is lacking.
5P-5 Ein14 It’s used to control temperature
alarm.
5-pin socket is connected to light house, pin’s functions refer to following table.
5-pin socket Pin NO. Pin Name Function
5P-1 24V “24V” Power supply
5P-2 Eout5 Buzzer/light house
5P-3 Eout6 Green light/light house
5P-4 Eout7 Yellow light/light house
5P-5 Eout8 Red light/light house
5-pin socket is connected to light curtain, pin’s functions refer to following table.
5-pin socket Pin NO. Pin Name Function

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5P-1 24V “24V” Power supply
5P-2 0V “0V” Power supply
5P-3 Min 3 Connect to light curtain
5P-4 NC No connection
5P-5 NC No connection
NOTE: * If the customers need special function, the input and output signal can be set again.
3.2.4 7-pin Socket Instruction
7-pin socket is connected to heating controller, pin’s functions refer to following table.
7-pin socket Pin NO. Pin Name Function
1
2
3
4
5
6
7
7P-1 24V “24V” Power supply
7P-2 GND “0V” Power supply
7P-3 Mout1 It is used to feeding signal.
7P-4 Mout4 It is used to cylinder movement
signal.
7P-5 Ein12 It is used to connect to block
material sensor.
7P-6 Mout2 It is used to output working status
signal.
7P-7 Mout5 In effective only in pulse signal.
NOTE: * If the customers need special function, the input and output signal can be set again.
3.3 Instruction about DB37 socket
NOTE: DB37 socket is an optional fitting. It must be ordered if you need it to do information
input or output.

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3.3.1 Pins Instruction of DB37
(socket of DB37)
NO. Pin’s port
Corresponding I/O
interface of DB37 NO. Pin’s port
Corresponding I/O
interface of DB37
1 GND P01 20 GND P20
2 Eout8 P02 21 Ein8 P21
3 Eout7 P03 22 Ein7 P22
4 Eout6 P04 23 Ein6 P23
5 Eout5 P05 24 Ein5 P24
6 Eout4 P06 25 Ein4 P25
7 Eout3 P07 26 Ein3 P26
8 Eout2 P08 27 Ein2 P27
9 Eout1 P09 28 Ein1 P28
10 COM P10 29 GND P29
11 GND P11 30 Ein16 P30
12 Eout16 P12 31 Ein15 P31
13 Eout15 P13 32 Ein14 P32
14 Eout14 P14 33 Ein13 P33
15 Eout13 P15 34 Ein12 P34
16 Eout12 P16 35 Ein11 P35
17 Eout11 P17 36 Ein10 P36
18 Eout10 P18 37 Ein9 P37
19 Eout9 P19

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3.3.2 Circuit Instruction of DB37
Connection of DB37 plug

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3.4 Instruction about DB9 socket
3.4.1 Pins Instruction of DB9
Item Pins Function Item Pins Function
1 9P-1 No connection 6 9P-6 No connection
2 9P-2 TX(transmitter signal ) 7 9P-7 2-485A
3 9P-3 RX(receiver signal) 8 9P-8 2-485B
4 9P-4 No connection 9 9P-9 No connection
5 9P-5 GND(power supply “0V”)
3.5 Instruction of Input & Output
 The following input interfaces and output interfaces are corresponding to the signal pins
which are defined as “Min, Mout, Ein, Eout” at the above socket. Also, it is corresponding to
the interface at the “IO Test” displaying window.
 After setting, it can test the function of IO interface at the “IO Test” displaying window.
 The interfaces in following table can be set at the “Input Config” or “Output Config” of
“System Config 2” of teaching pendant. It can define the special function for the following
input & output interfaces which are corresponding to the above sockets.
Board Port Function
Expansion output port Eout5 Buzzer/light house

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Eout6 Green light/light house
Eout7 Yellow light/light house
Eout8 Red light/light house
Expansion input port
Ein12 Wire block alarm signal
Ein13 Wire lack alarm signal
Ein14 Temperature alarm signal
Main input port
Min1 Reset button signal
Min2 Emergency stop button signal
Min4 Left start/pause button signal
Main output port
Mout1 Wire feeder device motor pulse
Mout3 Blow (tin slag box enable signal)
Mout5 Wire feeder device motor direction
3.5.1 IO Function Definition
1. In the “Input Config 2” displaying window, it can set the input interface:
Port Optional Function
Min1 --, Shortcut1, Origin BTN, safe flag-1, safe flag-2
Min2 --, Shortcut 2, Stop BTN, safe flag-1, safe flag-2
Min3 --, Shortcut 3, Start BTN, safe flag-1, safe flag-2, Lack fault, Block fault, Temp
fault, Temp\Feed fault, Upper CS, Nether CS
Min4 --, Shortcut 4, Foot BTN, safe flag-1, safe flag-2
Min5
--, Origin BTN, Stop BTN，Start BTN , Foot BTN，safe flag-1, safe flag-2, Lack
fault, Block fault, Temp fault, Temp\Feed fault, Upper CS, Nether CS, pressure
flag.
Min6
--, Origin BTN, Stop BTN，Start BTN , Foot BTN，safe flag-1, safe flag-2, Lack
fault, Block fault, Temp fault, Temp\Feed fault, Upper CS, Nether CS, pressure
flag.
Min7
--, Origin BTN, Stop BTN，Start BTN , Foot BTN，safe flag-1, safe flag-2, Lack
fault, Block fault, Temp fault, Temp\Feed fault, Upper CS, Nether CS, pressure
flag.
Min8
--, Origin BTN, Stop BTN，Start BTN , Foot BTN，safe flag-1, safe flag-2, Lack
fault, Block fault, Temp fault, Temp\Feed fault, Upper CS, Nether CS, pressure
flag.
Ein1~Ein8 --, Shortcut 5-259