00 - Servo Robot User Menual

SERVO HORIZONTAL-TYPE ROBOT
USER MANUAL
Serial no.：HILECTRO-ALL SERVO
Version：1.0
Liability procedures Compiler Auditor Approver
Signature
Date
NINGBO HAITIAN DRIVE SYSTEMS CO., LTD.

Preface
We feel grateful sincerely to buy the company’s SERVO horizontal-type robot.
The machine is designed and manufactured aiming at interlocking with injection molding machine, taking out
product from mold automatically and sending to appointed place by conveyor belt. The operating manual
records the functions, operation method and notes on use of the machine. Please read the operating manual
carefully to know the performances of machine fully and effectively use it.
* The machine is for standard type. As for option and special type, please refer to other manuals.
* If there’s something not clear in the manual, please consult our technical division.
 XTA-800
 XTA-900
 XTA-1100
 XTA-1300
 XTA-1500
 XTA-1700
 XTD-1800
 XTD-2500
Contents
1.Name and function of each part .............................................................................................................. 3
1.1 Name and function of each part ...................................................................................................... 3
1.2 EMS（Emergency Stop） ........................................................................................................................ 6
1.2.1 Emergency stop trigger .................................................................................................................. 6
1.2.2 Emergency stop release .................................................................................................................. 6
2. Screen description and operation ........................................................................................................ 7
2.1 Initial screen ...................................................................................................................................... 7
2.2 Running operation ................................................................................................................................ 9
2.3 Menu screen .......................................................................................................................................... 10
2.4 User switching screen .......................................................................................................................11
2.5 System setting .................................................................................................................................... 14
2.6 Maintenance screen ............................................................................................................................ 17
2.7 External storage ................................................................................................................................ 20
2.8 Mode setting (standard program in use) .................................................................................... 21
2.9 Manual operation ................................................................................................................................ 25
2.10 Position setting .............................................................................................................................. 26
2.11 Mechanical parameters .................................................................................................................... 28
2.12 Timer .................................................................................................................................................... 31
2.13 Counter ................................................................................................................................................ 33
2.14 Acceleration setting ....................................................................................................................... 35
2.15 Machine setting ................................................................................................................................ 36
2.15.1 Maximum value ................................................................................................................................ 36
2.15.2 Movable zone setting .................................................................................................................. 37
2.16 Program editing ................................................................................................................................ 38
2.16.1 Program editing initial screen .............................................................................................. 38
2.16.2 Program editing screen components ........................................................................................ 39
2.16.3 Instruction editing method ...................................................................................................... 41
2.16.4 External output instructions .................................................................................................. 42
2.16.5 Timer.Input .................................................................................................................................... 43
2.16.6 Call.jump ........................................................................................................................................ 47
2.16.7 Function ........................................................................................................................................ 51
2.17 Files .................................................................................................................................................... 60
2.17.1 File manage .................................................................................................................................... 60
2.17.2 New rules establishment ............................................................................................................ 62
2.17.3 Read out files .............................................................................................................................. 63
2.18 Monitoring function ........................................................................................................................ 64
2.18.1 I/O status ...................................................................................................................................... 64
2.18.2 Operation record .......................................................................................................................... 65
2.18.3 Alarm record .................................................................................................................................. 66
2.18.4 Production ...................................................................................................................................... 67
2.19 Help information screen ................................................................................................................ 68
2.20 Error message function .................................................................................................................. 69
2.21 Alarm information ............................................................................................................................ 71
3．Download screen descriptions .............................................................................................................. 79
4.Attachment: I/O table .............................................................................................................................. 80
※ Safety precaution
In order to use the machine correctly, the Safety Precaution has described the protection
precautions to prevent the harms and losses that may be caused to the bodies and properties
of you and others. Please read this manual carefully before using and keep it proper for your
reference in future.
※ Warning signs
Please fully understand the meanings of the following signs and marks before reading
through this manual.
If this sign is ignored and the machine is thus used incorrectly,

Danger death or serious injury accidents may be caused to personnel.

death or serious injury accidents may be caused to personnel.
Warning
injury accidents may be caused to personnel and the machine may
Caution be damaged.
※ Conditions for use
As this device is not provided in an explosion-proof, waterproof

or dustproof type, please avoid use in the following
Caution circumstances.
Failure to comply with this warning may cause faults or damages.
(1) Circumstances with combustible gas, pyrophoric liquid, etc.;

(2) Circumstances with flying or dispersing conductive metal chips due to matel processing
or cutting
(3) Circumstances with acid, alkali or other corrosive gas.
(4) Circumstances with spray or cutting fluid, grinding fluid, etc.;
(5) Circumstances near electrical noise sources like large-sized converters, devices with
large output of g higher harmonics, large conductors, welding machine, etc.;
(6) Circumstances where the operating temperature is beyond the range of 0 ~ 40 ℃;
(7) Circumstances with humidity more than 90%RH;
(8) Circumstances with occurrence of condensation.
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※ Prohibited matters
(1) Behaviors warned by the warning signs;
(2) Behaviors prohibited by this Operating Instruction Manual;
(3) Taking off the warning signs;
(4) Operations in a status with difficulty in making a normal judgment as a result of drinking,
taking drugs, disease and etc.;
(5) Operations in a circumstance with intermittent power supply due to lightning or other
causes;
(6) Transformation of the machine without the permission of the Company.
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1.Name and function of each part
1.1 Name and function of each part
Large-sized operation pendant

②Emergency stop switch
⑧ Linear feed axis action
①Mode Selecting switch
Front side key (take-outside/release
side)
1
⑨ Forward & Reverse

axis and upper & lower
axis action key
(forward/reverse/up/down
⑩
) Posture key
(reset/action)
⑨前后上下轴动作键
（前进／后退／上升／下降）
⑪Rotary key
(reset/action)
⑪回转动作键（复归／动作）
⑫Clamp key (ON/OFF)
⑭ LCD touch screen

⑤ Page feed/return key
⑦ Reset button
③ Menu ⑭液晶触摸屏
⑬ Pendent belt ④ Help button ⑥ Start/stop button
Back side
⑮ Safety switch
3
Names Functions
① MODE SELECTING SWITCH Conversion of automatic operation（AUTO）, manual

operation (MANU ) and original point reset (ORG).
② EMERGENCY STOP SWITCH Emergency stop of the robot.
To release the emergency stop, rotate the key along
the clockwise direction.
③ MENU key Turn to the MENU SCREEN.
④ HELP key Display the prompts for the screen currently
represented.
⑤ PAGE FEED /RETURN key Turn ascent/descent the page on the screen currently
represented.
⑥ START/STOP key Start/stop of automatic operation and original point
⑦ RESET key Clear the alarm currently represented. In addition,
return to the original screen from all screens.
⑧ WALKING AXIS ACTION key Move the X axis to the take-out side/placement side.
⑨ FORE/BACK/UPPPER/LOWER AXIS Move the axis Y or axis Y1 forward/backward, and move
ACTION key the axis Z and axis Z1 upward/downward.
⑩ POSTURE ACTION key Achieve the posture reset/action of the jig.
⑪ ROTARY ACTION key Achieve the rotary reset/action of the jig.
⑫ CLAMP ACTION key Achieve the hold/sorption ON/OFF action.
⑬ Operator belt Hung on the hand in use to prevent from falling
⑭ LCD TOUCH SCREEN Represent all screens and information for setting
purpose. As provided with a touch-screen mode, it is
also to conduct operation of all setting screen.
⑮ SAFETY SWITCH In the process of manual operation, if this key is

pressed down, the actions of all manual action key
can be executed. In the period of being pressed down,
the color on the top zone of the screen becomes
orange.
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Standard type operator
Front side
① SAFETY SWITCH ② EMERGENCY STOP SWITCH
③ MENU key ⑤ PAGE FEED/RETURN key ⑦ RESET key
⑨ Controller belt ④ HELP key ⑥START/STOP key ⑧ LCD TOUCH SCREEN
Back side
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Names Functions
① SAFETY SWITCH In the process of manual operation, if this key is pressed dwon, the
actions of all manual action keys can be executed.
In the period of being pressed down, the color on the top zone of the
screen becomes orange.
(For a standard operator, in the representation of error and alarm
state, use the SAFETY SWITCH + RESET key to convert the mode selection
to "MANU".)
② EMERGENCY STOP Emergency stop of the robot.
SWITCH To release the emergency stop, rotate the key along the direction of
the arrow.
③ MENU key Turn to the MENU SCREEN.
④ FELP key Display the prompts for the screen currently represented.
⑤ PAGE FEED /RETURN Conduct page-go operation and page-return operation on the screen
key currently represented.
⑥ START/STOP key Start/stop of automatic operation and original point
⑦ RESET key Clear the the alarm currently represented. In addition, return to the
original screen from all screens.
(For a standard operator, in the representation of error and alarm
state, use the SAFETY SWITCH + RESET key to convert the mode selection
to "MANU".)
⑧ LCD TOUCH SCREEN Represent all screens and information for setting purpose. As provided
with a touch-screen mode, it is also to conduct operation of all setting
screen.
⑨ OPERATOR BELT Hung on the hand in use to prevent from falling
1.2 EMS（Emergency Stop）
1.2.1 Emergency stop trigger
Press down the "Emergency Stop" switch at the top right of the pendant, and then all servo turn off
and the movement immediately stop.
1.2.2 Emergency stop release
① Turn the "emergency stop" switch to the direction of the arrow symbol and then release the
brake.
※ to release the emergency stop, firstly confirm the safety and then release it.
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2. Screen description and operation
Through the combination of operation buttons display on the human-machine touch panel and
various operating buttons, different functions will be realized.
2.1 Initial screen
After startup, the initial screen below will be shown.
① ② ③ ④
⑧
⑦
⑩ ⑪ ⑫
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Buttons in the initial screen：
Screen Name Function

① Screen Description The description of the current screen.
② Module data Display the designation and notes of module data
in the current. If the data be used is different
from the loaded data, the display will be flashed.
③ Mode action Display the action mode, there are three actions
Description Auto, manual, original.
④ Time Display the date and time in the current.
⑤ Display the choice Switch to the monitor display screen, about
button 「I/O」、「Axis」
⑥ Page up/down switch 1 Used for paging display of screen page.
⑦ Monitor screen The current position shows the current value of
display all axises.
⑧ Action button to achieve the action. To perform a certian
action, its corresponding mode should be set as
ON.
⑨ Page up/down switch 2 Used for paging display of screen page.
⑩ Choice the mode Switch the action mode, there are three actions
action Auto, manual, original.
⑪ Adjustment of speed Speed of free operation,all axises. It can be
adjust as
0.01mm、0.1mm、1mm、Low、Mid、High。
⑫ Axis switch button To switch the display of primary arm and secondary
arm according to an order shown above.
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2.2 Running operation
Automatic operation:
Press the AUTO button to get into the automatic ready status, press the START button
to start the automatic operation.
But the following circumstances can't start working automatically:
・ The arm is not in the rising position;
・ The product confirmation is in the ON status;
・ The original point is not reset;
・ Before entering into the take-out action, automatic operation stop;
Origin return
Press the ORG button to get into the original point ready status, and press the START button
to start the original reset. In the following situations, however, the origina point reset
can not be conducted.
・ Full stop alarm and axis stop alarm occur;
・The arm is inside the mould;
・ Mould outside standby mode is ON and mould unloading over is (X32) OFF;
・ The arm goes down to a position other than the take-out side and placement side.
Manual operation
Press the MANU button to get into the manual mode and simultaneously press the safety switch
and the manual operation key to conduct the manual (free) operation.
The screen is divided into manual operation/free operation/non-free and non-manual
operation.
The screen available for manual operation
・ Initial screen
・ On the free operation screen, press the "manual" button
The screen available for free operation
・ Free operation screen
・ Position setting
・ stack screen
・ The screen on the instruction screen for axis setting
The non-free or manual operation screen
・ The screen other than the above-mentioned screen.
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2.3 Menu screen
Press the MENU button to get into the main screen.

The menu icon will change according to user's setting.
Switch to
other user
level
According to 4 levels, the setting will be deference between each level. Please see the
table as below:
Names Items User1 User2 User3 User4

Files manage √ √ √
Timer √ √ √
Counter √ √ √
Std stack √ √ √
Free stack √ √ √
Teaching
Prog edit √ √
&Setting
Mode √ √ √
Movable zone √ √
Max value √ √
Position √ √ √
I/O status √ √ √ √
I/O I/O record √ √ √
Record Alm record √ √ √
OPE record √ √ √
User switch √ √ √ √
System
System √ √ √
setting
Mechanical √
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Maintenance √ √ √
Acce/dec √ √ √
External √
2.4 User switching screen
On the main screen, press the「User switch」button in the monitoring fuction group to switch to the
screen below and hereby conduct the current user login validation and change.
② ①
① User login expression: Display the current logged-in user level.

② User change button: Switch to the user at level 1 ~ 4.
Click the user button and then input a 4-digit password on the digital input soft keyboard as
shown in the figure below:
User switching refers to switching between different user permissions in accordance with a
user switching process flow shown in the following table.
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When users change the permissions:
① The current files have been changed, when switching the user, prompt the user whether to save
the current file.
② If no change, prompt the user to enter a password (in case of needing a password switching).
③ In case of ①, select "yes" in the prompt, enter the screen for reading files.
④ Select "NO" and then enter the screen for inputting password (in case of needing a password
switching).
⑤ After saving operation, enter the screen for inputting password (in case of needing a password
switching).
⑥ If a correct password is input, immediately switch to a new user.
⑦ When the new user operational file attributes are different from the current file attributes,
jump to the file reading screen.
⑧ If the document is not found, constrainedly clear the temporary data.
⑨ When reading documents, if user switching leads to a problem of inconsistent attributes,
a prompt for repeating reading files will appear.
⑩ Such as ⑨, in case that the use switch screen can return, or in case of "YES" or "NO", there
also is only "yes".
⑪ Select "YES", and jump to the file reading screen.
⑫ Select "NO" and return to the original user.
⑬ On the file reading screen, before the end of the reading files, no screen jumping can be
conducted (prompt in ⑨ will appear once again).
⑭ When the backup is deleted, information will appear firstly to confirm whether or not the
backup has been deleted.
⑮ Select "yes" to delete the backup.
⑯ Select "NO" to return to original user.
After the power supply restart, make confirmation once again according to the above mentioned
steps.
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User switching flow chart：
User switching screen

Current User A
Is the currently used file has

YES been changed?
NO
The setting value has
been changed, do the NO Input the password of the Back button
files need to be saved User B to be switched
before witching to
User B?
YES
After saving,
need to
manually
enter the user Is the current use's file
YES attributes are consistent
switching YES
screen with the switched User
Enter the file B's file attributes?
page operation
NO
After a
After a power-cut
power-cut Under User B's processing
processing permission, is there here, if there
here, if any usable file? is no screen
there is no YES NO
recovered
screen when
recovered reenergizing,
when NO the option
reenergizi Whether to read any Whether or not to
files corresponding constrainedly "NO" will not
ng, the appear
option to User B's level? delete User A?
NO (Non-user
"NO" will switching and
not appear Back
button/clear YES other
(Non-user button conditions)
switching
and other Enter the file
conditions page operation
) YES
NO
Loading Conduct backup clearing

implemented？
YES
Read files
Processing end
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2.5 System setting
On the main screen, press the “system setting” button in the system group to switch to setting
screen. The screen includes the following information:
1. System
2. User setting
3. Password setting
4. Version expression
「System」
：
Language
change
On this screen, a pop-up keyboard will appear, if an item is related with the digit and press
the item of ON/OFF, it will change between ON/OFF automatically. After the completion of setting,
press the "save" button to save. The setting will take effect immediately.
STSTEM
Auto(MA) off ,stop Molding machine automatic(MA) OFF gets ON when
automatic movement is stopped.
No use of robot Turn the mode on when the robot is not in use.
Y axis origin ON/OFF
S-arm cylinder ON/OFF
Injection signal type Select different of injection molding machine
Time setting Set the display time of the machine.
Screen saver time Set the closing time of the screen.
Screen brightness Set the display brightness of the screen.
Language switch Select languages, as Chinese/English/Japanese/etc.
Additional: When servo in safe position,

1、 Expect automatic，I/O of the injection machine will be off.
2、 When automatic start, the signal of ON/OFF will be normal.
3、 In manual screen, press the key that is “injection machine signal IO ON” to
release the situation
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4、 After release, the injection machine signal will be ON in the normal interlock.
5、 At this time, meet the following conditions will appear user message.
A. When MA is OFF…?
B. module unloading over
C. In automatic
6、 In manual, press the “injection machine I/O OFF”to be OFF.
7、 In the system setting screen, when “injection machines no use” mode is ON, it
will firstly be done and injection machine signal will be ON as X18 ON.
Additional：Servo release function: In manual, if the signal of servo is closed, encode

communication will be done continued in system.
「User setting」：
On the system setting screen, press the “users setting” button to switch to the user setting
screen.
Note: Only the system administrator has the right to do the operation.
「Password setting」：
You can modify password at each level from this screen.
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「Version expression」：
On the system setting screen, press the "version expression" button to switch to the version
expression screen.
On the menu screen, enter into the system setting and press the "version" button to display
the following screen which is used to browse the version information of various data that are
being used currently. After the file is downloaded, if the running or display is abnormal, a
confirmation can be made here to check if the data have been correctly downloaded to the controller.
items Expression content

Operator IPL Express the version information of the operator IPL.
Operator program Display the version information of operator program of
operator.
Action IPL Express the version information of motion IPL.
Action program Express the version information of action program.
Screen data Express the version information of data file.
Axis data Display the version information of the axis data files
Program data Display the version information of the program data files
Information1 Display the version of the information files
NVP: Display the version information of the user program files.
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2.6 Maintenance screen
On the main screen, press down the 「maintenance」in the system group button to switch to the
following display.
④ ⑤ ⑥
②
③
Maintenance screen expression description:
Item Functions
① Machine type Display type of the machine.
② Control Version Display the controller type.
③ Machine setting The date when the machine is firstly put into
date operation.
④ Check list Display the items to be checked and record the
inspection record
⑤ Oiling Display the necessary degree of oiling according to
information the moving distance of each axis. The oiling results
can be used as history records. And also express the
accumulative distance of each axis.
⑥ Return Return to the screen at the next higher level.
On the maintenance screen, press down ④「Check List」to display a screen as follows:
④ ②
⑤
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③ ④
Check List display expression:
Items Expression contents

① Regular check list Display the contents of each item to be checked.
② Page feed/back Paging display.
③ Check completed After the checked contents have
Been confirmed, press the button.
④ Save Press to save the check records. After saving operation,
the check date will be displayed in ⑤.
⑤ Final check data Items that have been checked will be marked with their check
dates.
Unchecked items will be marked with * *.
On the maintenance screen, press down ⑤「Oil」 button to display the following screens:
② ③ ④
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⑥ ⑦
Oiling information descriptions：
Items Expression contents

③ Axis name Express the name of each axis.
② Oiling distance Display the walking distance after oiling.
③ Cumulative The walking distance of each axis
distance
④ The last oiling The date will be displayed after oiling operation is
date Completed.
⑤ Oiling completed Items that have been oiled will be marked with their
check date.
Items that have not been oiled will be marked with
* *.
⑥ Save Press this button to save the oiling records of this
time. After saving, the date of the last time will
be displayed in column (4). After saving, recalculate
the oiling distance.
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2.7 External storage
On the main screen , press the「external storage」 button in the files group to switch to the following
screen and conduct data exchange between the U disk and the internal storage.
Item No. Items Functions

2 Save prog The temporary data within the controller will be written into USB
root directory "NCP" folder.
3 Read prog Transfer the user program under the USB root directory "NCP"
folder to the controller.
4 Save file Save one or more files into USB

5 Read file Read one or more files in the USB and save them into the main body.
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2.8 Mode setting (standard program in use)
On the main screen, press the 「mode」 button in the instruction and setting group to switch
to the following screen. Select the required mode to make its corresponding action mode get ON.
21
The selected mode will be highlighted in green. For the details on the mode, please refer to
the 「List of mode」.
To make selection, click on the corresponding mode, and to give up selection, click on the
same once again.
List of mode
MODE Functions
Plate conf use If it is need to confirm the medium plate of mold,please
turn the mode on.
Fixed mode extrc used when extracting product from fixed side platen or
medium plate.be careful when mounting chuck plate,and for
the posture direction.
Go-down standby edit the program,let the vertical arm descent/standby
close to the mold before mold open is completed. this
function is used to reduce the ext cycle time.
Outside standby edit the program,let robot standby at the position where
there is no obstacle,and move to take-out zone when mold
open is completed.
Posture org when do the ORG action,the jig must be posture to avoid
the interference to across the safety gate.set the
forward posture position.
Posture standby posture standby to avoid the interference before mold
open is completed.
Posture stack turn the mode on,when use instruction "function-standard
stack & free stack",the robot will do posture action
first, then go down to the stack position.
Rotate in use to use rotation.
22
Product conf in-m turn the mode on ,when the product has not been taken out
of mold,the robot will give an alarm in the mold.
Run after s&c conf turn the mode on,when suction or chuck act,the robot will
check the status of suction and chuck first,then continue
running.
MD off pause in-m turn the mode on,in the automatic,when the arm is in mlod
the robot will stop when the safety gate is open,and the
robot will continue to run when the safety gate is close.
MD off pause out-m turn the mode on,in the automatic,when the arm is out mlod
the robot will stop when the safety gate is open,and the
robot will continue to run when the safety gate is close.
Lub use turn the mode on,the robot will lubricate when the
lubrication count ends.
Lub detect turn the mode on,the robot will check the lubricants ample
signal(IN001).
Interfer area use if it is need to set an area of X axis where is danger
to go down,please turn on the mode.
Buzzer no use turn the mode on,buzzer will not action.
Bad discharge the defective products should be released products by the
signal (bad unit mould) from mold,need to edit
program"003 bad product",set up the"bad discharge"
counter.
Sample dicharge it is use to put sample product to other positon,need to
edit program"005 sample product", set up the"sample
cycle" counter.
Early discharge it is use to put initial products to other positon,need
to edit program"004 early stage", set up the"early
discharge" counter.
RY7 off when mo if it is need to control ejecter,turn the mode on,RY7
signal will off when injection mold open.
RY8 off when mo if it is need to control ejecter,turn the mode on,RY8
signal will off when injection mold open.
RY9 off when mo if it is need to control core,turn the mode on,RY9 signal
will off when injection mold open.
RY10 off when mo if it is need to control core,turn the mode on,RY10 signal
will off when injection mold open.
Eject&core ON manu turn the mode on,RY7、RY8、RY9、RY10 will ON when robot
is in a manual action mode.
Ch no open bef aut turn the mode on,chuck will not open before automatic
running.
Su no open bef aut turn the mode on,suction will not open before automatic
running.
Std 1-8 convey use if it's need to use conveying when std stack 1-8 over,
please turn the mode on.
23
Std cl before auto if it's need to reset the std stack before auto running,
Free 1-8 convey use if it's need to use conveying when free stack 1-8 over,
Free cl before auto if it's need to reset the free stack before auto running,
24
2.9 Manual operation
On the initial screen, press the [manual] button to display the following screen. Manual
operation can give off action command for each axis alone.
After release the interlocking of each action, manual operation through each button does not
relate to the model setting and axis position setting. Change to the axis free movement speed
can conduct subtle movements. Because there is no interlocking, be sure to ensure that the arm
is at a safety status when operating.
① ② ③
Press the "Axis expression" button ② to switch to the axis expression screen.
The far right buttons ⑤ are a candidate list of manual action buttons (including total eight
preset actions) and user insert program buttons (user manual 01 ~ user manual16 ).The button
⑥are paging expression buttons.The basic operation is to press the safety switch and at the same
time press the action button to perform the desired action. To perform a user insert program,
press the "user manual" button，⑤ to achieve the action. To perform a certain action, its
corresponding mode should be set as ON. When the action is in need to be monitored, press the
"monitor switch" button.
Press “I/O signal”, “Axis expression” key to switch the screen. ③ is paging expression
bottom.
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「The current position」
The current position, it displays all current values of axis. In addition, I/O situation
of「X」，「Y」，「Z」will be displayed.
「origin」 : Sensor of original
「limit」 : Sensor of limit
「break」 : Mechanical brake sensor
「Alarm」 : Alarm output
「Position finished」 : Position finished sensor
「Current position /encode」: Encode data
2.10 Position setting
On the main screen, press the「position」button in the mode selection group to switch to the
screen as follows, where it is possible to set the value and speed of some positions.
You can use this position through editing program.
① ② ③ ④
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①「Position」 : Display position screen.
②「Speed」：Display speed screen.
③「Page feed/back」：The current page and total pages.
④「Return」：Return to the menu or previous page.
⑤「Current value」：Display the current position of each axis.
⑥「Name of point」 :Display name of each point.
⑦「Value of area setting」：The set points are displayed with numbers, and unset points
are displayed with "‐ ‐ ‐ ‐. ‐".
To manually input setting value:
Input the
Press
current value
Input
To manually input setting value:

Click the position in need to be set, the selected position to be input with the numerical
value is displayed in light blue. Through the keypad, input values between 0 and 20000, with
the unit in 「mm」.
To set the speed:
Press the speed button to switch to the speed expression screen. Select the axis desired
to be set, as shown in the figure below, the selected position to be input with numerical value
is displayed in light green.
Through the keypad, input values between 0 and 100 (the ratio of the maximum speed) and the
unit is "%", the proportion of the highest speed.
27
2.11 Mechanical parameters
「Mechanical parameters」
① The 「selector switch to」switches to (MANU) state.
② On the 「axis para」 screen, press the 「mechanical」button to switch to the mechanical parameters
screen.
③ Press the 「return」button to switch previous page.
⑥ ③
④ Press the 「Initialise」button to let the setting value to become the initial value. The
initialization value needs to restart to take effect.
⑤ Press the 「save」button to save the setting data, the saved setting data will also need to
restart
⑥ Paging feed/back button.
28
Item
Buttons Descriptions
No.
1 Distance one circle Unit: mm
(mm) Set the the actual walking distance motor of the mechanism after
the motor rotates one circle.
(The walking distance corresponding to the motor's one circle)
2 Pulses number one Unit: Number of pulses
circle(PALSE) Set the number of pulses for the motor to rotate one circle
3 Max rotation
Unit: circle
(rpm)
The setting of the revolutions per minutes corresponding to the
maximum speed of the motor
4 In-place detecting
Set the in-place detection distance.
amount(mm)
5 ORG correction Unit: mm
The setting will be made when the original point is in need to
be adjusted when the original point reset.
6 ORG speed Unit: ％
(％) The original reset speed setting when the current position is
unable to be confirmed(the position cannot be checked out) .
Make the setting according to the percentage of the maximum speed
of the motor (100%).
7 Free (low speed) Unit : ％
（％） All the speed settings when free operating (low speed).
8 Free (medium speed) Unit : ％
（％） All the speed settings when free operating (medium speed).
9 Free (high speed) Unit : ％
（％） All the speed settings when free operating (high speed).
10 Min acc/dec time Unit: 10 ms
(0.01 second) Set the minimum acceleration and deceleration time. In order to
achieve the maximum speed and deceleration stops, the speed will
change according to the setting time herein. The smaller the
numerical value is, the more obvious the speed changes.
11 Max acc/dec time Unit: 10 ms
(0.01 second) Set the maximum acceleration and deceleration time. In order to
achieve the maximum speed and deceleration stops, the speed will
change according to the setting time herein. The smaller the
numerical value is, the more obvious the speed changes.
12 Oiling distance Unit: km
(km unit setting) Set the walking distance to prompt the oiling information.
29
「Machine type selection」
Press the 「series」button to switch the screen.
○
11
⑧ Page feed/back button

⑨ Select the machine series by arrow.
⑩ Parameter reference display
⑪ Display name of axis
30
2.12 Timer
On the main group ,press the 「timer」 button in the mode selection group to switch to the
following screen to set the usually timers. The timers can also be set in automatic operation.
① ② ③ ④ ⑤ ⑥
Items Descriptions
① Usually t The timers usually use.
② Jig conf Timer of suction monitor and chuck monitor.
③ Reserved1 Reserved timer.
④ Reserved2 Reserved timer.
⑤ action co Timer of action monitor.
⑥ Return key Return to current page.
⑦ Display screen Display timer which can be selected, if you press it,
referenced screen can be displayed.
Press buttons marked with ①②③④⑤ to switch and select the timer type; in zone marked with
⑦, when the timer that has been set is selected, it will be displayed in green, and at the same
time, a keypad will pop up; enter a numbers between 0 and 99.99, with the unit in second.
31
In addition, when the timer is started up (ON), as shown in ⑦ in the above figure, [T] *
* is shown in red word. When the timer’s time is up, as shown in screen showed in right, [T *
* names] will all be displayed in red word.
List of timers
T1 posture action setting time from posture action until action completed
T2 posture return setting time from posture return until return completed
T3 rotation action setting time from rotate action until action completed
T4 rotation return setting time from rotate return until return completed
T5 conveyor time set the output time of conveyor start (O03)
T6 lubrication time set the output time of lubricate start (RY4)
T7 spray start set the output time of spray start (V1DH)
T8 spray keep set the output time of spray keep (V1DH)
T9 s-arm go down time before runner side arm descent
T10 s-arm retreat time before runner side arm retreat
T11 s-arm forward time before runner side arm advance
T12 s-arm rise time before runner side arm rise
T17-T20 ch1-4 close MT monitoring time,chuck1-4 close
T21-T24 suc1-4 on MT monitoring time,suction1-4 action
T25-T28 ch1-4 open MT monitoring time,chuck1-4 open
T29-T32 suc1-4 off MT monitoring time,suction1-4 stop
T33 s-ch close MT monitoring time,runner chuck close
T34 s-ch open MT monitoring time,runner chuck open
T35-T39 input wait overtime when input signal wait(overtime alm) is used, it's the time to monitor
input signal.
T53 mold close er when the product was taken out from mold, the timer start acting,mold
open signal(MO) is still on,the robot will give an alarm
T54 plate detect "plate conf use"mode is on,when mold open signal(MO) is on,but medium
plate signal(IBSIN) is off,the robot will give an alarm
T55 mold open er in automatic,the mold open signal(MO) keep off a long time,the robot
will give an alarm
T56 RY3 on time injection signal type is "JAPAN",it is the time mold zone safe
signal(RY3) keep on
T57 RY1 on time the time mold open signal(RY1) keep on
T58 posture monitor monitoring time,posture
T59 rotate monitor monitoring time,rotate
T60 L3S on monitor "s-arm cylinder" is on,when s-arm rise,it is the monitoring time to
check the s-arm rise limit signal(L3S)
T61 L3S off monitor "s-arm cylinder" is on,when s-arm descent,it is the monitoring time
to check the s-arm rise limit signal(L3S)
T62 L6S on monitor "s-arm cylinder" is on,when s-arm retreat,it is the monitoring time
to check the s-arm back limit signal(L6S)
T63 L6S off monitor "s-arm cylinder" is on,when s-arm advance,it is the monitoring time
to check the s-arm back limit signal(L6S)
32
2.13 Counter
On the main screen, press the 「counter」 button in the mode selection group to switch to
the following screen. On this screen, set the counters of various actions and reset the counter
values.
①
④
②
③
Setting key
Counter screen expression：
Item Display contents Descriptions

No.
① Total counter Display the total number of products taken out.
② Counter Name Display the name of the counter.
（Starting from column
33
the left column） Count Display the current value of the counter.
value
③ Reset Counter numerical value reset.
Automatic operation: Before manual operation, confirm the
counter’s value, and reset if necessary.
It is possible to reset in both manual operation and
automatic operation.
According to the selection operation setting, set the
reserved counter’s value.
Click on the black zone, and use the he keypad to input
④ Number key window
values.
The reserved counter’s value can only be set in manual
mode
⑤ Return Return to the previous menu.
34
2.14 Acceleration setting
On the main screen, press the「acc/dec」button in the axis para group to switch to the following
screen. On this screen, set the counters of various actions and reset the counter values.
① Set all the acceleration,100% is the acceleration set by②③.

④ Set the acceleration of each axis.
⑤ Set the acceleration when the movement is based on the correction command.
②③ Display the time spend to get maximum speed
35
2.15 Machine setting
2.15.1 Maximum value
Turn the “selection” switch to MANU.

On the menu screen, click the 「max value」 button to switch to the maximum value screen.
Item NO. Names Purposes

① Axis Switch Directly press the corresponding button to switch
each axis.
② Current Display the current position of each axis.
value
③ Maximum Set the maximum moving distance of each axis and
Value/The display status of point/ limit.
original
point and
limit of
each axis
Maximum value description：
Maximum Description
X Axis Maximum value of X axis.
Y Axis Maximum value of Y axis.
Z Axis Maximum value of Z axis.
36
2.15.2 Movable zone setting
Item Name Purpose

① Current position Display each axis value.
display
② Movable Set the value of zone.
The movable area setting ：

Movable zone Description
③ Take-out side setting zone(maximum
Do not use currently.
value and minimum, minimum)
④
Placement side setting zone Set the allowed moving range when the placement
(maximum value and minimum, minimum side release finished products. out of setting
value) area will not moveable. (axis will be stopped but
alarmed.）
⑤ When mode 「go-down standby」 is in use,edit the
Decline standby program,let the vertical arm descent/standby
（maximum value） close to the mold before mold open is completed.
beyond the setting area will not moveable.
37
2.16 Program editing
2.16.1 Program editing initial screen
In the main screen, press the 「prog edit」 button in the prog edit group to switch to the screen below for
automatic action editing.
② ③
No. purpose
① Display NO.1-NO.99 program
In automatic Edition of automatic program for
selected user setting.
button of original Original program.
②
group manual Manual program group.
grogram System system of internal processing
program group。
New New program. (NO.1-99）
③
Delete Delete program.(Can not delete NO.1 program)
38
2.16.2 Program editing screen components
③ Program ⑤ program
① Program step
function list confirm
number ④ Manual
②program
⑥ return for
operator
instruction
finished
⑦ page forward
⑧ line forward
⑧ line forward
⑦ page forward
⑰ Program
⑨Insert program ⑮ M arm ⑯ S arm
label
⑩ delete program lines
⑫help
⑬hide button
⑭cancel
⑪ program group
39
Item No. Names Functions
① Program step number The line number where the current line program is
Program instruction
② Instruction expression
expression
Program function
③ Action expression of program completion
expression
④ One-step operation Manual one-step forward and one-step back operation
Program confirmation Change Confirmation after the program editing
⑤
revision completion
Editing completion and
⑥ Return and exit after of editing completion
return
⑦ Page feeding Program page feeding
⑧ Line feeding Program line feeding
⑨ Insert program line Insert one or more line of programs
⑩ Delete program line Delete one or more line of programs
⑪ Instruction set Collect commonly used commands
⑫ Help Helpful tips for instruction information
Hide the instruction set screen display (hidden when
⑬ Hide button
pressed down )
⑭ Cancellation Cancel instruction inserting
In axis moving operation, press this button to switch
⑮ Primary arm switching
to the primary arm
Secondary arm In axis moving operation, press this button to switch
⑯
switching to the secondary arm
⑰ Program label program label editing place
⑱ Manual Operation Button Manual operation screen for the operation of all IO
※ On the screen expression, there is end-user oriented "Basic instruction expression"

and manufacturer oriented "Extended instruction expression" for. Press the upper button ④
to switch the "Basic instruction expression"/ "Extended instruction expression". The types
of instruction that can be input under two modes are different.
※ On the user setting screen, when the "extend instruction button" is set as "OFF", the
switch button is not displayed. In addition, by setting user, set the "Extended instruction
expression" to set the default display status.
40
2.16.3 Instruction editing method
The specific meaning of each instruction is described in detail in the [Appendix I: Command
List] detailed description. Please refer to the same for details.
「Line move」 instruction
① ② ③
④
Click on the position input box
⑤ and directly input numbers.
Item
Names Functions
No.
Axis ① ①翻
① To select an operational axis
selection 翻页按
Position To set the targeted页 position
钮 of the moving
②
input axis, with an unit 按in mm
钮
To set the speed of the moving axis, with an
③ Speed input
unit in % for speed
④ All speed All speeds for setting free operation
Position To set the current position into the selected
⑤
memory axis
⑥ Arm selection Switch between primary arm and secondary arm
41
2.16.4 External output instructions
「Line move」 instruction
To select external output instructions, as shown on the screen on the left, select the
output point from type ①, and press 『▲』『▼』keys to change pages.
③ Edit window
② select ON/OFF
Or continuous edit
During the plural output, press the ②「and（，）」 key to continuously input instructions.
Press the "decide" after instruction input is completed.
Press the "cancel" key to cancel the input one by one.
42
2.16.5 Timer.Input
「Timer.Input」instructions includes five types: time waiting variable timer, time waiting
direct timer, time waiting specified timer,all axis over,input waiting.
The foregoing is introduced one by one below.
■ Timer.Input —— time waiting variable timer (direct input time)
After ① is selected, directly enter the time needed to be delayed by the numeric key,
and then press the “decide” to confirm the input instructions.the timer can be changed during
automatic running.
■ Timer.Input —— time waiting direct timer (direct input time)
After ① is selected, directly enter the time needed to be delayed by the numeric key,
43
and then press the “decide” to confirm the input instructions. the timer can not be changed
during automatic running.
■ Timer.Input —— time waiting specified timer (by means of the timer)
① ②
In ①, select the type of the timer; in ② timer, select the specified timer, and the
yellow means selected. Press the "decide" button to confirm the input instructions; press the
"cancel" button to cancel the instructions input.
44
■ Timer.Input —— all axis over
“Waiting all axises over” meaning: Have to wait for all servo axis operation completed
before the next program is conducted.
Select the “Waiting all axises over”, with the yellow meaning selected. Press the
"decide" button to confirm the input instructions, and press the "cancel" button to cancel
the instructions input.
■ Timer.Input —— input waiting
① ② ③
① is the first order type, including 3 selectable items.

② is the second order type, including N selected items
③ is the final selected item, including N selected items
The user can find input conditions by means of order-based access.
45
④ Select
condition
ON/OFF
or continuous
editing
To increase input conditions, press (4) "and (,)" or "or "is to achieve continuous input.
After the instructions input is completed, press the "decide"; press the "cancel" key to
cancel the inputs one by one.
cancel the inputs.
46
2.16.6 Call.jump
「Call.jump」 instruction includes six types: call, conditional call, return, jump,
conditional jump, program start.
Description on the foregoing will be made hereinafter one by one.
■ Call.jump —— Call
① To set up a new program number that is called, press ① and then use the the numeric keys
to input a program number.
② Select a programs that has already existed in the system; after the instruction input has
been completed, press the "decide"; press the "cancel" button to cancel the input.
47
■ Call.jump —— Conditional call
① ② ③
① is the first order type, including 3 selectable items.

② is the second order type, including N selected items
③ is the final selected item, including N selected items
Select the condition ON/OFF; press ③「and（，）」to increase the conditional input or press
「or」to achieve a continuous input
After the conditional selection is completed, click on the GOSUB in ④ to jump into the
above screen, and then select a program number. For specific operation method, please refer
to [Call.jump - Call].
48
cancel the inputs.
■ Call.jump —— return
Click on the "return" button to select the return instruction, and press the "decide" button
after the instruction input is completed.
■ Call.jump —— Jump
Click the "jump" button to select the jump instruction and switch to the screen on the right.
Click on the "new" to set up a new label; it is also possible to select some existing labels
directly. After the instructions input is completed, press the "decide"; press the "cancel"
key to cancel the inputs.
49
■ Call.jump —— Conditional jump
Please refer to the editing methods for [Call.jump——Conditional call] and

[Call.jump——Conditional jump].
■ Call.jump —— Program startup
Select 『Program start』 or 『Program stop』to jump to the screen below.
The screen jumps to the above screen and then a program number or set up a new program
may be selected. For specific operation method, please refer to [Call.jump——Call].
cancel the inputs.
50
2.16.7 Function
The convenience function includes eight types: injection control, jig, Posture control,
standard stack, free stack, rotation control,S-clamp cylinder control,spray start.
The foregoing will be introduced one by one as follows.
■ Function —— injection control
Select the instruction as required by the function and then press directly the "decide"
button to complete the editing.
51
■ Function —— Jig
The jig includes the operation of m-arm chuck 1-4, m-arm suction 1-4 and s-arm clamp.
m-arm jig editing screen

正臂治具编辑画面
s-arm clamp editing screen
m-arm jig editing screen s-arm clamp editing screen
① ②
① Select the required jig, with the yellow meaning the selected state. At the same time when
selected, the signal confirmation will also be defaulted as selected.
② Select the jig signal to confirm the selection, with the red circle meaning selected.
③ S-arm clamp delay time setting
③ S-arm clamp confirmation selection, with the yellow meaning selected.
After the instructions input are completed, press the "decide" key; press the "cancel" key
to cancel the inputs.
52
■ Function —— posture control
Posture editing
screen
Posture action editing screen Posture return editing screen
Select the "posture control" instruction to show the screen as above and input the timer
values.
After the instruction input is completed, press the "decide" key; press the "cancel" key
to cancel the inputs.
53
■ Function —— standard stack
The standard stack includes 8 stacks as shown in the the following screen.
① ②
③
⑤
④
⑥
⑩ ⑧ ⑨
After the screen setting is completed, press the "decide" key; press the "cancel" key to
cancel the setting.
54
Item
Names Functions
No.
① Stack number Display the currently used stack number
② Position
current servo memory
memory
③ Current
Current location servo
position
④ Starting
Set the starting position of a stack
position
⑤ Full reset Reset the values of the current counters of the stack 1-8
Reset the current stack’s counter value and keep pressing for a period
Reset
of time will reset the starting position, all timer’s values and spacing
⑥ Sequence Set the stack sequence
⑦ Function using
In stacking, use the posture, with the selected getting gray
button
⑧ Medium
slowdown slowdown moving distance and speed when the placement side goes down,
position
⑨ Placement
The distance on the rising midway after the placement side goes down and
rising
place materials ( effective when multipoint placement)
position
■ Function —— free stack
The standard stack includes 8 stacks as shown in the the following screen.
55
①
⑥
②
⑤
⑦
Item
Names Functions
No.
① Position
Current servo position memory, by clicking on the corresponding
memory
button to memory the position
② Current
Current servo position
position
③ Correction
Servo axis correction value
value
④ Speed Speed for free stack, set in %
⑤ The stack position of each axis（The number of positions will
FP001 be decided according to the stack number in ⑥, from
FP001-FP200）
⑥ Current stack
The current stacked number
number
Stack number Set the required stack number
⑦ Full reset Reset the values of the current counters of the stack 1-4
Reset the current stack’s counter value and keep pressing for
Reset a period of time will reset the starting position, all timer’s
values and spacing
After the screen setting is completed, press the "decide" key; press the "cancel" key to
cancel the setting.
■ Functions —— rotation control

For the editing method of rotating group control instruction, please refer to [function ——
posture control].
56
■ Function —— s-arm cylinder.other
Additional control will be effective only when the s-arm is controlled by a cylinder, including
secondary arm up and down, forward and backward action control.
Input the value of timer and command, then press confirm key. You also can press cancel key
to give up your setting.
57
Spraying control action.
Periphery signal(OD) minitor.
58
■ Function ——input wait(overtime alm)
Wait input signal ON,when timeout occurs,the robot will give an alarm.
59
2.17 Files
2.17.1 File manage
On the main screen, press「File manage」button in the files group to switch to the following
screen and conduct management on the data in use and the mold data saved in the internal storage.
① ② ③
The above screen ① includes five selectable operating buttons for operation of [read
files], [save as new files], [delete], [compare] and [cover].
The zone ④ for the storage of files, including file NO, date and file names. Click to select
a file, with the selected one displayed in green display, and then select the button ① to
conduct corresponding operation.
To delete the mold data, select the "Delete" button. Click on the [Yes] button to confirm
the deletion, and automatically return to the file management screen after the operation is
60
completed.
Click on the [Compare] button to compare and find if there is any change to the files.
Comparison results as shown in the above screen will be displayed. If the comparison results
are consistent, the displayed information will be “comparison consistent” and if the
comparison results are not consistent, the displayed information will be “comparison
inconsistent”. Click the "return" button to return to file management screen.
Select the "cover" Button to cover the existing saved data, select the [Yes] button to perform the
operation.Automatically return to the file management screen after the operation is completed.
61
2.17.2 New rules establishment
1. To establish/write a new program, press the [save as new files] button.

2. To add any remarks, press the remark column and enter comments.
3. Click the [saving] button to saves the file into the internal memory.
Input English letter or marks for name a file. After the in put has been confirmed, press
the [ENTER] key.
62
2.17.3 Read out files
On the file management screen, press the [read files] button to switch to the following
screen, and then read the saved mould data.
① ② ③ ④
Select the file to in need to be read, and click on the [Read files] button.
Complete the file loading operation and then return to the previous screen.
63
2.18 Monitoring function
2.18.1 I/O status
On the main screen, press the [I/O status] button in the monitoring fuction group to
switch to the following screen to hereby confirm each IO point and internal storage condition,
which can also be displayed in operation.
① ②
By means the buttons in①, it is possible to look over and check the IO status of the robot1,
robot2 and injection molding machine, with the IO points as ON and the internal data thereof
displayed in yellow, and IO points as OFF and internal data thereof displayed in grey.
64
2.18.2 Operation record
On the main screen, press the [OPE record] in the production management group button to
switch to the following screen, where the operations that have been implemented will be
displayed, with the displayed contents such as power supply ON/OFF, errors in manual operation,
setting value change and other record. Use “page feed/back” key to turn pages.
Press the "Manu/Auto" button to display operation record. Confirm the contents and the
execution time of operation.
Press the "setting" button to display the records operated by the setting values. Confirm
the setting contents and the setting time.
65
Press the "Save" button to save the operation records to the internal storage. In the pop-up
dialog box as above, select "Yes" button to perform the savie operation. After the operation
is completed, return to the previous screen.
2.18.3 Alarm record
In the monitoring fuction group, press the [Alarm record] button to display the following
screen.
On the alarm record screen, the two label "usual alarm" and "system alarm" can be switched
from each other for display, using the “Page feed/back” key to turn the pages for display,
where it is possible to view the latest 30 items of alarm occurring currently and to confirm
the happening time and trend of the alarm.
66
2.18.4 Production
In the system group, press the [Production] button to display the following screen.
By setting the currently produced finished products and finished products

information, the production number and production performance can be confirmed
in the diagram/chart (time units, day unit).
1 time take-out number: the number of moulds that are molded in one time.
Scheduled production number: the schedule number of finished products produced.

According to this item's ettings, it can be expressed as "yield rate" and
"defective rate".And according to the current molding cycle, the "scheduled end moment" is
predictable.
67
2.19 Help information screen
On each screen, press the "Help" button to find the help/prompt information for each
screen.
Taking the menu screen as an example, press the "Help" button to display the information
reacted to each menu item:
Press the key to display the current page related help/prompt
Press the "Page feed/back" key to display the previous or

the next page.
At the end of the reading, press the [ ] button to return to
the original screen.
68
2.20 Error message function
When an abnormal operation has been conducted, the system will prompt an error message
and ban the current operation!
Error number
Error contents
Please see the appendix for the error descriptions.
Operation error list：
No. Display content

Operation error 1 "Outside standby" mode is on,mold open(MO) signal is off.
Reason and operation:
please open the mold.
Operation error 2 "Posture standby" is in use,please open the mould.
Operation error 3 m-arm or s-arm is outside the safe area

Please operate carefully,let axis Z rise.
Operation error 4 1、"Plate conf use" mode is off,mold open(MO) signal is off,
2、"Plate conf use" mode is on,medium plate(IBSIN) signal is off.
please open the mold,then operate.
Operation error 5 Please perform home position return operation.
Operation error 6 Reason and operation:

Please move the arm to the upper position,then operate.
69
Operation error 8 m-arm is not in safe area,can not do posture operation,
m-arm is not at upper position,not in place zone,Please move m-arm to the
upper position or place zone.
Operation error 10 can not go down
Please rise the robot to a safe area.If interfer area is no need,please
turn the mode'X interfer area use' off.
Operation error 11 can not traverse
Please rise the robot to a safe area.If interfer area is no need,please
turn the mode'X interfer area use' off.
Operation error 12 Reason and operation:
Not in a manual action mode.please change to a manual mode.
Operation error 30 If the program compilation is not completed,the original point actions or
automatic operation are forbidden.
Operation error 32 Please turn injection machine to a manual mode,then open the safety door
to confirm whether or not there is residual products inside the mould.
Operation error 33 System mode "no use of robot" is on.
Please turn off the mode.
Operation error 44 "【Posture standby】and【Go-down standby】mode can not be selected at the
same time.
Operation error 46 Mold open(MO) and place zone(L12) are both off,【posture standby】can not
be selected.
Operation error 47 Robot standby error!!!
1、At the robot standby position,take out zone(L10) is off,pleast adjust
the position or check the signal L10.
2、Pleast close the safety gate.
Operation error 48 【S-arm cyclinder】mode is on,【Go-down standby】 mode can not be selected.
Operation error 100 Mold open(MO) signal is off,"outside standby"mode can not be selected.
70
2.21 Alarm information
When switching on the power supply, if an exception occurs in the system in the course of
manual operation or automatic operation, stop the current operation status. As shown in the
screen below:
Alarm number &

name
Alarm contents
Please see the appendix for the alarm descriptions.
Alarm list：
No. Alm name Display content
Alarm 1 s-arm clamp Please confirm s-arm's stub bat drop down or not and L4S signal.
confirmation off Please open the safety door to take out the products,then close the
safety door,and continue to work.
The stub bar drop in crossing out,please turn to manually reset
alarm.
Alarm 2 chuck 1 Please confirm whether or not the product is falling and L4 signal.
detect(L4) off Please open the safety door to take out the product,then close the
The product drop in crossing out,please turn to manually reset
alarm.
Alarm 3 chuck 2 Please confirm whether or not the product is falling and L4T signal.
detect(L4T) off Please open the safety door to take out the product,then close the
alarm.
71
alarm.
alarm.
Alarm 6 suction 1 Please confirm whether or not the product is falling and L4V1
detect(L4V1) off signal.
Please open the safety door to take out the product,then close the
alarm.
alarm.
alarm.
alarm.
Alarm 10 Mold open(MO) In automatic operation,mold open(MO) signal is still on after a
signal is not off period of time.
Please check relative wiring and monitoring time T53.
Alarm 12 Mold open(MO) There is no mold open(MO) signal for a long time.
signal is not on Please check the molding machine for wiring.
Alarm 13 posture action is Please check the posture valve (V4R, V4P) and sensor (L8, L9).
not over yet Make confirmation of the setting the value for the lateral posture
movings and reset time (T1, T2) and lateral posture monitoring time
(T58).
72
Alarm 14 Lateral posture return signal(L8) and posture signal(L9) is on at the same time.
cylinder is Please check the posture sensor (L8, L9).
abnormal
Alarm 15 s-arm rise Please check the rising limit sensors (L3S) and wiring.If the s-arm
limit(L3S) is not is in a cylinder model,check the going down at the same time solenoid
on valve (V1S) wiring.
Alarm 16 s-arm rise Please check rising limit sensors (L3S) and s-arm going down valve
limit(L3S) is not and confirm the wiring.
off
Alarm 17 Lateral posture Lateral posture group cylinder sensor signal is off for a short time
cylinder sensor Please check the Lateral posture group cylinder and output points
off (V4R V4P) and sensors(L8，L9).
Alarm 18 Rotating action After rotare action, sensor L17 is not ON.
is abnormal After rotare reset, sensor L16 is not ON.
Please check the cylinder and sensor and time T59.
Alarm 19 Rotating cylinder The rotary cylinder's sensor L16 and L17 is ON at the same time
is abnormal Please check the sensor.
Alarm 20 Air pressure is Air pressure is low, please check the air pressure and confirm
low whether the airline has been connected.
Alarm 21 Rotating cylinder Rotating group cylinder sensor is OFF for a short time,please check
group sensor is the rotation group cylinder and output points (V9, V10) and
OFF sensors(L17,L16).
Alarm 25 Injection the system mode "auto(MA) off,stop"is in use,injection machine
machine's automatic(MA) signal is off,
automatic(MA) robot stop running .
signal is off Please check the injection machine's automatic (MA) signal.
Alarm 27 s-arm back Please check the s-arm forward(V2S) signal and sensor (L6S) for
limit(L6S) is off wiring.
Alarm 28 s-arm back Please check the s-arm forward(V2S) signal and sensor (L6S) for
limit(L6S) is not wiring.
OFF
Alarm 29 no "mold No molding start processing actions occur,please check whether or
allowance not the instruction program have been written as a permitted molding
program" process.
Alarm 31 S-chuck s-arm chuck detect is not off.
detect(L4S) is Please check s-chuck output (V3S) sensor(L4S).
not off
Alarm 32 chuck 1 chuck 1 detect(L4) signal is still on after chuck 1 open.
detect(L4) is not Please confirm chuck 1 open output (V31) and sensor (L4).
off
Alarm 33 chuck 2 chuck 2 detect(L4T) signal is still on after chuck 2 open.
detect(L4T) is Please confirm chuck 2 open output (V18) and sensor (L4T).
not off
73
detect(L14) is Please confirm chuck 3 open output (V5) and sensor (L14).
not off
detect(L15) is Please confirm chuck 4 open output (V7) and sensor (L15).
not off
Alarm 36 suction 1 Suction 1 detect(L4V1) signal is still on after suction 1 stop.
detect(L4V1) is Please confirm suction 1 open output (V3V1) and sensor (L4V1).
not off
not off
not of
not off
Alarm 40 standby position At standby position,posture sensor is abnormal.
posture sensor 1、Please check the program.
abnormal 2、"Posture standby" mode is on or off.
Alarm 41 mold open(MO) Reason:
signal is off 1、"Go-down standby" mode is not selected,When m-arm rise limit(L3)
or s-arm rise limit(L3S) is off, mold open(MO) signal is off too.@
2、"Go-down standby" mode is selected,but the down standby position
edit in program is beyond the decline standby maximum.@
operation:
1、Check the connection between the robot and the injection machine.
2、Check the down standby potion edit in program,check the decline
standby maximum in "movable zone".
Alarm 42 outside the Arm is moving outside the safety zone, please check the following
safety zone sensors.
Take-out zone (L10),place zone (L12),m-arm rise limit(L3) and s-arm
rise limit (L3S).
Please check the setting value of the axis and the safety zone.
Alarm 43 mold close(MC) mould close(MC) signal and mould open(MO) signal is on at the same
and mold open(MO) time,please check.
is on at the same
time
Alarm 44 mold zone safety In take-out zone,arm going down, mold close(RY2) or mold zone
signal is safe(RY3) is still on.
abnormal
Alarm 45 "mold completed" No mold unloading over function processing,the arm going
is abnormal down.Please check whether or not the program contains the
74
descrption of [mold completed].
Alarm 46 medium plate Already has the mould unloading over signal,but the medium plate
signal is missing signal is not ON,please confirmthe mode status of 【medium detection
in use】,if there is no medium plate detection signal,please put
this mode to ON,if there is a medium plate detection, please confirm
the sensor position and wiring,in addition, the setting time of
time T54 should
also be reasonably set.
(there is mould unloading over signal, but after a period of T63
time,if there is still no medium plate signal, the alarm will be
given off).
Alarm 49 m-arm is outside When the sensors on the take-out side or the placement side is not
the safety zone on, the m-arm is ready to go down.
At a position beyond the take-out zone or the place zone, the m-arm
is ready to go down.
Please check the take-out side sensor (L10) and the placement side
sensor (L12),in addition, please confirm whether or not the
settings of the take-out side zone and placement side zone are
appropriate.
Alarm 50 s-arm is outside When the sensors on the take-out side or the placement side is not
the safety zone on, the s-arm is ready to go down.
At a position beyond the take-out side area or the placement area,
the s-arm is ready to go down.
Please check the take-out side sensor (L10) and the placement side
sensor (L12),in addition, please confirm whether or not the
settings of the take-out side zone and placement side zone are
appropriate.
Alarm 51 place zone is If the arm is in a state of going down, the running axis has a
abnormal,X axis tendency to move beyond the zone.
Please check the program and the X axis moving setting value, in
addition,please also check the setting of the movable zone.
Alarm 52 take-out zone is In take-out zone, when the arm is under a state of going down,Y axis
abnomal,Y axis has a tendency to move beyond the zone.
Please check the program and the Y axis moving setting value, in
Alarm 53 placement side In placement side zone, when the arm is under a state of going down,
action zone is the m-arm' front and back axis has a tendency to move beyond the
abnomal,Y axis zone.
Please check the program and the Y axis moving setting value, in
75
Alarm 54 take-out side In take-out zone, when arm is under a state of going down, the Y1
zone is axis has a tendency to move beyond the zone.
abnomal,Y1 axis Please check the program and the Y1 axis moving setting value, in
Alarm 55 place zone is In place zone, when the arm is under a state of going down,Y1 axis
abnomal,Y1 axis has a tendency to move beyond the zone.
Please check the program and the Y1 axis moving setting value, in
Alarm 56 take-out zone is In take-out zone, Z axis has a tendency to move beyond the zone.
abnomal,Z axis Please check the program and the Z axis moving setting value, in
Alarm 57 place zone is In place side zone, Z axis has a tendency to move beyond the zone.
abnomal,Z axis Please check the program and the Z axis moving setting value, in
Alarm 58 take-out zone is In take-out zone, Z1 axis has a tendency to move beyond the zone.
abnomal,Z1 axis Please check the program and the Z1 axis moving setting value, in
addition,please also check the setting of the@ movable zone.
Alarm 59 place zone is In place zone, Z1 axis has a tendency to move beyond the zone.
abnomal,Z1 axis Please check the program and the Z1 axis moving setting value, in
Alarm 60 decline standby Z axis "down standby position" is beyond the "decline standby zone".
zone is Please check the program,Check the "decline standby zone".
abnormao,Z axis
Alarm 61 decline standby Z1 axis "down standby position" is beyond the "decline standby
zone is zone".
abnormao,Z1 axis Please check the program,Check the "decline standby zone".
Alarm 62 take-out zone and take-out zone(L10) and place zone(L12) is on at the same time.
place zone Please check the sensor state or the line is abnormal or not.
signalare
abnormal
Alarm 63 #001 program #001 program used unconditional jump instruction,lead to the
instruction is program is cycle endlessly.
wrong Please check the #001 program JUMP instruction
Step Label Instruction Action treatment program
001 lin move Z(0.0mm,100%)
002 L053 lin move Y(10.0mm,100%)
. . . .
. . . .
. . . .
025 Jump L053
026 Return
Alarm 64 X axis sense the X axis moved to the maximum position.
maximum limit Please check the X axis limit sensor.
And use the free operation to move X axis in the negative direction.
76
Alarm 65 Y axis sense the Y axis moved to the maximum position.
maximum limit Please check the Y axis limit sensor.
And use the free operation to move Y axis in the negative direction.
Alarm 66 Z axis sense the Z axis moved to the maximum position.
maximum limit Please check the Z axis limit sensor.
And use the free operation to move Z axis in the negative direction.
Alarm 67 Y1 axis sense the Y1 axis moved to the maximum position.
maximum limit Please check the Y1 axis limit sensor.
And use the free operation to move Y1 axis in the negative direction.
Alarm 68 Z1 axis sense the Z1 axis moved to the maximum position.@
maximum limit Please check the Z1 axis limit sensor.
And use the free operation to move Z1 axis in the negative direction.
Alarm 71 【S-arm cylinder】The current program is S-arm cylinder,but【S-arm cylinder】type is
type is not not selected.
selected Please switch to the user 4,enter system setting and select the
【S-arm cylinder】type.
Alarm 72 S-arm cylinder In the automatic running,without mould open or medium plate,S-arm
dropping is cylinder dropping is prohibited.
prohibited Please check the program, 【 S-arm cylinder down 】 program edit
position is right or not.
Alarm 73 outside of the In the automatic running,neither take-out zone nor place zone,s-arm
safe area s-arm cylinder dropping is prohibited.
cylinder dropping Please check the program, 【 S-arm cylinder down 】 program edit
is prohibited position is right or not.
Alarm 78 Lubricate alarm Please check the lubrication pump lubricants ample signal IN001.
Alarm 97 safety gate(MD) When the robot is in the mould,please don't open the safety gate.
signal is off
Alarm 99 s-arm clamp Please confirm s-arm's stub bat drop down or not and L4S signal.
confirmation off Please open the safety door to take out the products,then close the
The stub bar drop in crossing out,please turn to manually reset
alarm.
Alarm 100 "no use of ** "no use of robot" mode is on. **
robot"mode please operate carefully.
for safety,please do the traverse advance operation.
Alarm 103 ls defect.mold when "outside standby" mode is in use,the mold close safe position
close safe and mold open (MO) signal are off at the same time.input from the
position and mold imm error.
open are off. check item：
check the imm mold-open-complete circuit and interlock signal
wiring between the imm and unloader.
77
Alarm 110 RD signal RD signal off,timeout occurs,please check relative wiring.check
offposition and the imm mold-open-complete circuit and interlock signal wiring
mold open are off. between the imm and unloader.
Alarm 111 SP10 signal SP10 signal off,timeout occurs,please check relative wiring.check
Alarm 112 SP11 signal SP11 signal off,timeout occurs,please check relative wiring.check
Alarm 113 I02 signal I02 signal off,timeout occurs,please check relative wiring.check
Alarm 114 L11 signal L11 signal off,timeout occurs,please check relative wiring.check
78
3．Download screen descriptions
① Download the updated programs to a position under the root directory in the USB flash disk,
as shown in the screen below:
Choose and Press the Button

[BACKUP CLEAR ]
[DOWNLOAD ]
② When you press [BACKUP CLEAR] button, will be to [YES].

③ Press [YES] button begin to backup clear.
④ Back clear is finished，be to “Backup Clear Complete”。You can touch the screen back
to previous page.
➁ DO [2．DOWNLOAD],it will display [Install Now Installing．．．],when you see it means
begin downloading.
※Auction※
Do not move USB when it is downloading.
79
When you see the screen displays “Install Complete!]”, it will be completed. Then you
can restart system to return menu.
4.Attachment: I/O table
Input I：
Series
NO. Signal Items Position
M-arm rise
1 L3 limit CN404-5
2 L10 Take-out zone CN403-6
3 L12 Place zone CN403-7
S-arm rise
4 L3S limit CN406-5
S-arm back
5 L6S limit CN405-11
6 PS Air pressure CN408-2
Anti-collisio
7 L33 n CN406-14
Lubricants
8 Robot Input IN001 ample CN407-7
9 L8 Return signal CN404-8
10 L9 Posture signal CN405-9
11 L4 Chuck 1 detect CN405-8
12 L4T Chuck 2 detect CN404-10
15 L4S S-chuck detect CN406-13
16 L16 Rotate reset CN410-2
17 L17 Rotate action CN411-2
18 L4V1 Suc 1 detect CN409-2
22 L11 Input 1 CN405-3
80
Input II:
Series
No. Signal Item Position
1 MD Safety gate CN301-2
2 MC Mold close CN301-4
3 MO Mold open CN301-3
4 MA Automatic CN301-9
5 MN Bad unit mold CN301-8
6 IBSIN Medium plate TB302-3
7 injection ME Eject in end CN301-7

Input
8 I01 Eject out end TB302-12
9 I03 Core in end TB302-13
10 I04 Core out end TB302-15
11 RD Input 2 TB302-5
12 OD Periphery signal TB302-4
13 SP10 Input 3 TB302-6
14 SP11 Input 4 TB302-7
15 I02 Input 5 TB302-13
81
Output I:
No. Signal Items Position

1 V4R Ruturn CN412-1
2 V4P Posture CN412-2
3 V31 Chuck 1 open CN412-3

7 V1S S-arm go down CN413-15
8 V2S S-arm forward CN413-6
9 V3S S-chuck open CN412-11
10 V10 Rotate reset CN414-2
11 V9 Rotate action CN414-1
12 Robot V3V1 Suction 1 on CN415-1
13 Output V3V2 Suction 2 on CN413-3
14 V3V3 Suction 3 on CN413-13
15 V3V4 Suction 4 on CN413-4
16 V1U Suction 1 off CN413-11
17 V1D Suction 2 off CN413-1
18 V2B Suction 3 off CN413-12
19 V2A Suction 4 off CN413-2
20 V1DH Output 1 CN413-16
21 V6 Output 2 CN412-8
22 V8 Output 3 CN412-10
23 V11 Output 4 CN414-3
24 V12 Output 5 CN414-4
25 V16 Output 6 CN413-14
26 V17 Output 7 CN416-1
27 V32 Spray CN412-4
82
Output II:
No. Signal Items Position

1 RY1 Mold open CN302-1、5
2 RY2 Mold close CN302-2、6
3 RY3 Mold zone safe CN302-3、7
4 RY4 Output 8 TB301-1、2
5 RY5 No use of robot TB301-3、4
6 Injection RY6 Output 9 TB301-5、6
7 Output RY7 Eject in CN302-4、8
8 RY8 Eject out TB301-7、8
9 RY9 Core in TB301-9、10
10 RY10 Core out TB301-11、12
11 BZ2 Buzzer TB302-18
12 O02 Lubrication TB302-19
13 O03 Conveying start TB302-20
83

00 - Servo Robot User Menual

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SERVO HORIZONTAL-TYPE ROBOT

Serial no.：HILECTRO-ALL SERVO

Liability procedures Compiler Auditor Approver

NINGBO HAITIAN DRIVE SYSTEMS CO., LTD.

If this sign is ignored and the machine is thus used incorrectly,

If this sign is ignored and the machine is thus used incorrectly,

※ Conditions for use

As this device is not provided in an explosion-proof, waterproof

(1) Circumstances with combustible gas, pyrophoric liquid, etc.;

1.1 Name and function of each part

Large-sized operation pendant

⑨ Forward & Reverse

⑭ LCD touch screen

① MODE SELECTING SWITCH Conversion of automatic operation（AUTO）, manual

⑮ SAFETY SWITCH In the process of manual operation, if this key is

① SAFETY SWITCH ② EMERGENCY STOP SWITCH

③ MENU key ⑤ PAGE FEED/RETURN key ⑦ RESET key

⑨ Controller belt ④ HELP key ⑥START/STOP key ⑧ LCD TOUCH SCREEN

1.2 EMS（Emergency Stop）

1.2.1 Emergency stop trigger

1.2.2 Emergency stop release

2.1 Initial screen

After startup, the initial screen below will be shown.

Screen Name Function

Press the MENU button to get into the main screen.

Names Items User1 User2 User3 User4

2.4 User switching screen

① User login expression: Display the current logged-in user level.

User switching screen

Is the currently used file has

Loading Conduct backup clearing

Additional: When servo in safe position,

Additional：Servo release function: In manual, if the signal of servo is closed, encode

items Expression content

Maintenance screen expression description:

Check List display expression:

Items Expression contents

Oiling information descriptions：

Items Expression contents

Item No. Items Functions

4 Save file Save one or more files into USB

2.10 Position setting

To manually input setting value:

To manually input setting value:

Press the 「series」button to switch the screen.

⑧ Page feed/back button

④ Reserved2 Reserved timer.

⑤ action co Timer of action monitor.

⑥ Return key Return to current page.

Counter screen expression：

Item Display contents Descriptions

① Set all the acceleration,100% is the acceleration set by②③.

2.15.1 Maximum value

Turn the “selection” switch to MANU.

Item NO. Names Purposes

Maximum value description：

Item Name Purpose

The movable area setting ：