R6059323A-▓┘Î¸ã¬-Hilectro-HIR3000-EN

Language：English
Version:A
ROBOT USER MANUAL
operation
Hilectro
HIR-3000
NINGBO HAITIAN SMART SOLUTIONS

1 TECHNOLOGY CO.,LTD
1 Chapter VIIOperation Introduction .............................................................................1
1.1 Brief Introduction of the System ......................................................................................1
1.2 Connection ......................................................................................................................... 2
1.3 Controller ............................................................................................................................ 3
1.3.1 Controller Introduction ............................................................................................. 3
1.3.2 Controller Features ....................................................................................................3
1.3.3Controller port Introduction ...................................................................................... 4
1.4 TeachPendant .................................................................................................................... 5
1.4.1 TeachPendant Introduction ....................................................................................... 5
1.4.2 TeachPendant Features ............................................................................................. 5
1.5 I/O Module .......................................................................................................................... 7
1.5.1、HIR3000-TIO module .............................................................................................. 7
1.5.2、HIR3000-EXIO (EU) module .................................................................................... 8
1.5.3、HIR3000-EXIO module ............................................................................................ 8
1.6 HMI Interface Layout ........................................................................................................ 9
1.6.1 Main Screen ............................................................................................................... 9
1.6.2 Keys Interface .......................................................................................................... 10
1.6.3 Function Interface ................................................................................................... 10
1.7 Home ................................................................................................................................. 12
1.7.1 Home Operation ...................................................................................................... 12
1.7.2 Home Setup ............................................................................................................. 12
1.8 Manual Operation ............................................................................................................14
1.9 Free Operation .................................................................................................................15
1.10 Program Management ................................................................................................. 15
1.10.1 Create and Load Program ......................................................................................16
1.10.2 Template Program .................................................................................................16
1.10.3 USB Import and Export Functions ......................................................................... 17
1.11 Edit Program .................................................................................................................. 17
1.11.1 Enter Edit Mode .....................................................................................................17
1.11.2 Edit Program .......................................................................................................... 18
1.11.3 Exit Edit Mode and Compile Download ................................................................ 19
1.11.4 Program Online Modification ................................................................................20
1.12 Program Command Introduction ................................................................................ 22
1.12.1 Motion Command ................................................................................................. 22
1.12.2 Output Command ..................................................................................................25
1.12.3 Wait Command ......................................................................................................26
1.12.4 Control Command ................................................................................................. 26
1.12.5 Operation Command ............................................................................................. 27
1.13 Program Examples ....................................................................................................... 27
1.13.1 Example for Robot Take Product from Injection Moulding Machine ................... 27
1.13.2 Example for If Structure Program ..........................................................................28
1.13.3 Example for FORLoop Structure Program ............................................................. 30
1.13.4 Example for Group Command program ................................................................ 31
1.13.5 Example for Matrix Program ................................................................................. 32
1.13.6 Example for Palletizing Program ............................................................................33
1.14 Process Setup ............................................................................................................... 34
1.14.1 Position Setup ........................................................................................................34
1.14.2 Timer Setup ........................................................................................................... 35
1.14.3 Counter Setup ........................................................................................................36
1.14.4 Matrix Setup .......................................................................................................... 37
1.14.5 Palletizing Setup .................................................................................................... 38
1.15 Program Execution ....................................................................................................... 38
1.15.1 Step Debug .............................................................................................................39
1.15.2 Automatic Running ................................................................................................ 39
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1.16 Production Management ..............................................................................................40
1.17 Engineer Setup ..............................................................................................................41
1.17.1 Function Setup .......................................................................................................41
1.17.2 Polarity Setup ........................................................................................................ 43
1.17.3 Alarm Ignore Setup ................................................................................................43
1.17.4 Alarm Setup ........................................................................................................... 44
1.17.5 Mould Setup .......................................................................................................... 45
1.18 System Setup ................................................................................................................ 45
1.18.1 UI Setup ................................................................................................................. 45
1.18.2 Password Setup ..................................................................................................... 46
1.18.3 Version Information ...............................................................................................47
1.18.4 Maintain Setup ...................................................................................................... 47
1.18.5 Communication Setup ........................................................................................... 48
1.19 Machine Parameter Setup ...........................................................................................48
1.19.1 Machine Type Selection ........................................................................................ 48
1.19.2 Safety Setup ...........................................................................................................49
1.19.3 Stroke Setup ...........................................................................................................50
1.19.4 Acceleration Setup .................................................................................................50
1.19.5 Speed Setup ...........................................................................................................51
1.19.6 Axis Setup .............................................................................................................. 51
1.19.7 Restore Factory Setup ............................................................................................53
1.20 I/O Port Monitoring ........................................................................................................54
1.21 Alarm Record ................................................................................................................. 54
1.22 System Record .............................................................................................................. 55
1.23 System Config ............................................................................................................... 56
1.24 Software Upgrade ......................................................................................................... 57
Annex .......................................................................................................................... 58
Annex I: Interface Search ID Table ..................................................................................... 58
Annex II: Functional Authorization Table ............................................................................59
Annex III: Alarm Content and Solution Table .....................................................................60
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1 Chapter VIIOperation Introduction
1.1 Brief Introduction of the System
The HIR-3000 series controller platform integrates motion control, PLC control, and
network control. It includes a digital intelligent main controller, a digital intelligent teaching
pendant, a remote intelligent IO module, and PC terminal remote control software. Users
can use each functional module independently, and can integrate it to achieve various
complex automation control functions, as shown in Figure 7-1. Compared with existing
control systems, it has higher stability, openness, and cost performance, making it the
best choice for various motion control needs.
Figure 7-1 Schematic Diagram of System Introduction
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1.2 Connection
1）EtherCAT bus controller connection
Figure 7-2 Controller Connection Diagram
2
1.3 Controller
1.3.1 Controller Introduction

The main controller supports standard Ethernet interfaces, EtherCAT bus interfaces,
and RS-485 interfaces, facilitating digital communication between users and peripheral
automation devices. The software platform is based on an embedded real-time operating
system and adopts motion control algorithms based on CNC technology. It has functions
such as nanoscale linear interpolation, circular interpolation, linear/S curve acceleration
and deceleration control, pitch error compensation, and multi-axis synchronization. At the
same time, it supports G code interpretation, IEC6113-3 standard soft PLC, and various
bus (EtherCAT, Canopen, etc.) communication functions, which can ensure the operation
speed, accuracy, and synchronization with external IO signals and other performance
indicators of the controlled object.
1.3.2 Controller Features
1. Multi-axis linkage: The standard configuration is 3-axis linkage, with a maximum
support of 8-axis linkage.
2. High speed compliance: Support linear interpolation, circular interpolation, curve
interpolation, and linear/S curve acceleration and deceleration control before interpolation,
taking into account the high-speed and compliance of the control.
3. Accurate positioning: Support high-precision nano interpolation technology,
bidirectional pitch error compensation, and reverse clearance compensation functions,
ensuring accurate positioning.
4. High speed response: The distributed architecture based on EtherCAT bus
technology is designed and installed easily, and the system responds quickly
5. Good compatibility: Supports both analog and bus based servo systems.
6. Customizability: The system is embedded with a high-speed soft PLC mode,
allowing users to customize IO control and PLC axis control functions.
7. IO dedicated: integrated with Euro 12 standard interactive signals related to
injection molding machines
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1.3.3Controller port Introduction
Figure 7-3 Schematic Diagram of Main Controller

Port
name Function description
number
Used to connect the handheld box terminal, provide
Handheld box
① communication port
power supply, and establish communication between
the two
Ethernet port of
② EtherCAT master Used to connect EtherCAT bus slave devices
station
Used for debugging and remote monitoring,
③ Ethernet port supporting Modbus TCP protocol and OPC protocol IP:
192.168.1.6
CAN communication
④ port
Used to connect CAN bus slave devices
CAN2/RS485
⑤ communication port
(Reserved communication port)
⑥ I/O ports Digital input/output port
⑦ Power interface Power interface
4
1.4 TeachPendant
1.4.1 TeachPendant Introduction
The power interface teaching device uses a 7.0 inch IPS screen, equipped with an
emergency stop switch, and supports standard Ethernet interfaces, CAN, RS-422, USB
interfaces, as well as pulse hand cranking, analog rocker, and other functions, as shown
in Figure 2-4. User operation is safe and efficient. The software platform is based on the
embedded real-time LINUX operating system and adopts a teaching programming
method based on job sequences, which supports both full teaching programming and
user-defined framework programming.
Figure 7-4 Schematic diagram of teaching pendant

1.4.2 TeachPendant Features
1. Teaching programming based on task sequences, flexible and powerful teaching expression
capabilities (supporting variable definition, jump, judgment, comparison, mathematical
operations, etc.);
2. PLC programming based on IEC61131-3 standard makes peripheral automation equipment
control more flexible and efficient;
3. It has the functions of condition judgment, circular call, matrix stacking, free stacking, function
block customization, zero return customization, model setting, remote access, and one click
upgrade;
4. Five types of authority levels, clear authority configuration, and convenient workshop
management;
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5. Support program single step debugging, slow single loop debugging, and efficient program
verification;
6. Real-time recording of parameter changes, operational processes, and other information
facilitates machine fault tracing.1.4.3 eachPendant Operation
1. Status lamp
Green（on） Indicate that power supply is normal
Indicate that the communication between teachpendant and
Yellow（on）
controller is normal
Red（on） Indicate that the robot is alarming
2. USB
External USB disk for file operations or software upgrades (Note: not to be used for
charging).
3. Emergency stop
When pressing the emergency stop button, the robot will stop and output the emergency stop
signal; after the cause of emergency stop resolved, rotate the emergency stop button according
to the arrow direction marked on the emergency stop button to release emergency stop.
4. Operation keys
Operational keys can be used to operate manipulator under manual mode or free mode (The
safety enable switch must be in the enabled state).
Key’s name Function description Key’s name Function description
Move along the negative X Move along the positive X
【X-】【X+】
axis axis
Move along the negative Y Move along the positive Y
【Y-】【Y+】
axis axis
Move along the negative Z Move along the positive Z
【Z-】【Z+】
axis axis
【 Posture 【 Posture
Posture action Posture reset
action】 reset】
【 Fixture 【 Fixture
Open all the fixtures Close all the fixtures
open】 close】
Move along the negative Move along the positive Y1
【Y1-】【Y1+】
Y1 axis or negative A axis axis or positive A axis
Move along the negative Move along the positive Z1
【Z1-】【Z1+】
Z1 axis or negative C axis axis or positive C axis
5. Function keys
【main interface】key: Enter the main interface
【Function】key: Enter the function interface
【Run】key: Enter the run interface
【Operation】key: Enter the manual operation interface
【Monitor】key: Enter the monitor interface
【Alarm】key: Enter the alarm record interface
【Reset】key: Clear system alarm (safety enable switch must be in enabled state)
【Return】key: Return to previous interface
6. Safety switch
In order to avoid the dangerous action caused by the misoperation of the user, the safety switch
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is arranged on the teachpendant. The safety switch is a 3-state enable switch. The area marked in
Figure 2-9 will be green when the safety switch is pressed down half-way to get into enable state.
Enable definition is as follows:
Release the switch：Disabled state, manual operation of manipulator is not allowed
Press down half-way：Enabled state, manual operation of manipulator is allowed.
Press down fully：Disabled state, manual operation of manipulator is not allowed
Figure 7-9Schematic diagram of the interface when the safety switch is pressed down
1.5 I/O Module
1.5.1、HIR3000-TIO module
Figure 7-5 Schematic diagram of HIR3000-TIO module

This module is standard. It is used to interact with peripheral automation
devices at IO points, with 32 inputs and 24 outputs. The output points can be divided
into three gears according to power, namely, large, medium, and small, to accommodate
a variety of different power devices.
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1.5.2、HIR3000-EXIO (EU) module
Figure 7-6 Schematic diagram of HIR3000-EXIO (EU) module

This module is optional. This module interacts with host devices at IO points
and has 8 inputs and 8 outputs. In order to meet the application scenarios in the
all European signal (Euro 67) scenario, this module provides users with the option
of switching between NPN and PNP inputs, which can take into account the use standards
of different countries such as Europe, the United States, and Japan.
1.5.3、HIR3000-EXIO module
Figure 7-7 Schematic diagram of HIR3000-EXIO module

This module is optional. It is used to expand IO point interaction with
peripheral automation devices, with 16 inputs and 16 outputs. According to different
application scenarios, it can be expanded in multiple blocks as required
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1.6 HMI Interface Layout
1.6.1 Main Screen
Figure 7-13 Main screen

1） Overall speed ： To modify and adjust the speed (real time), it will impact
automatic, manual and free operation speed.
2） Status bar：Display system status, including home, mode, running status and
alarm information; Click on this area to enter the keys interface. The status of
each icon in status bar and keys interface are as follows:
The system is not homed The system is homed
Free mode Manual mode Auto mode
Running Pause Stop
Non Edit mode Edit mode

3） Current interface name display.
4） Currently loaded program ： Display the name of the program loaded by
system currently; Click this area to enter the program file interface.
5） User level：Click this area to pop up the keyboard to enter the corresponding
password to enter different user levels. (The initial password: user level 1 (1111),
user level 2 (2222), user level 3 (3333), user level 4 (4444))
6） Production information ： Real time display production information, click this
area to enter the produce interface.
7） States of each axis：Real-time display the coordinates of each axis and status
information.
8） Manual speed adjustment ： Adjust the speed of the moving axle in manual
mode. There are 5 levels, which are "5%", "10%", "15%", "20%", "25%" .
9） Inching distance adjustment：Adjust the distance of inching in manual mode.
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There are 4 levels, which are "0.01mm", "0.1mm", "1.0mm", "10.0mm".
1.6.2 Keys Interface
Click 【Status bar】 to enter Keys interface, as shown in Figure 3-14.
Figure 7-14 Keys interface

1） Homing：Click the button to home automatically (See 7.7 for details).
2） Manual：Click the button to switch to Manual mode.
3） Auto：Click the button to switch to Auto mode and enter the Run interface.
4） Run / Pause：Run or pause the program in Auto mode.
5） UI Search：Click the button to pop up the number keyboard, key in the interface
ID to enter the corresponding interface (see Annex I for details).
6） Enter / Quit Edit mode：(See 5.2 for details)
7） Teach：Click the button to enter Teach interface.
8） Position：Click the button to enter the Position interface.
9） Timer：Click the button to enter the Timer interface
10） Robot Enable：Click the button to switch to Teachpendant control.
1.6.3 Function Interface
Function interface includes 11 menus, which are run, operation, program, process,
produce, engineer setup, system setup, machine config, record, file manager and upgrade,
the tree menu is shown in Figure 7-15.
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Figure 7-15 Function menu tree
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1.7 Home
1.7.1 Home Operation

Click 【Status bar】to enter Keys interface, then click 【Homing】, the system will pop
up “Homing” dialog box and perform home operation. During the process of home, we
can click 【cancel】to stop home process, as shown in Figure 7-16.
Figure 7-16Schematic diagram of system home procedure

If the Z axis or the Z1 axis of the robot is not in the upper safety zone, enter
【Function】 with 【User level 2】or higher level identity, then click 【Free operation】to enter
Free Operation interface, move Z axis or Z1 axis up to upper safety zone (See 7.9 Free
operation for details).
1.7.2 Home Setup
Click 【Function】——>【Engineer setup】——>【Home Setup】 to enter Home Set up
interface, as shown in Figure 7-17.
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Figure 7-17Home Setup interface
1） Home selection：Click the drop-down button, pop up the list, select the required
home type, and display them in the list.
2） List：Display the current home type, including the home order, the action name
and the action execution state.
3） Add：Insert a new action after the currently selected home action.
4） Delete：Delete the currently selected home action.
5） Up：Move from the current home action position to the upper position.
6） Down：Move from the current home action position to the lower position.
1. According to different production requirements, click home type drop-down box,

select the correct home type. The home type can be divided into the following 4 types, as
shown in Figure 7-18 (Note: User can not choose to use the "home type (0)"):
2. For the dual-arm five-axis robot, please set the Y offset to avoid collision.
3. After the selection, the home type will be displayed, save after confirmation.
13
Figure 7-18Home type
1.8 Manual Operation
Click 【Operation】to enter Manual Operation interface, as shown in Figure 7-19.
Figure 7-19Manual Operation interface

1） Manual operation ： Include 8 parts, which are fixture operation, servo axis
signal, injection moulding machine input, injection moulding machine output,
input, output, and function.
2） Coordinate value：Display current robot coordinate position.
3） Operation content：
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Input port valid：（Green） Input port invalid：（Gray）
Output port on： Output port off：
4） Manual speed adjustment ： Adjust the speed of the moving axle in manual
mode. There are 5 levels, which are "5%", "10%", "15%", "20%", "25%"
5） Manual fine adjustment：Adjust the distance of inching in Manual mode. There
are 4 levels, which are "0.01mm", "0.1mm", "1.0mm", "10.0mm".
6） Pulse output ： Set pulse output time for each pulse output port in Manual
operation mode, the default time of the system is 5.00s.
1.9 Free Operation
Click 【Function】——>【Free Operation】 to enter free operation interface, and the

system will switch to free mode, as shown in Figure 7-20.
Figure 7-20Schematic diagram of the steps of entering the Free Operation interface
Warning：The system does not perform any safety detection protection in the
free mode, please be careful!
*******************************************************************************
1.10 Program Management
Click 【 Function 】——> 【 File Manager 】——> 【 Program File 】 to enter program file
interface.
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1.10.1 Create and Load Program
Figure 7-21 Teach dir interface

1） Program list： Display all the program files in the directory, the file type is “.xml”,
as shown in Figure 7-21.
2） Load ： Load the selected program file in the program list as the current
executable file.
3） New ： Pop up the keyboard and please enter the file name to create a new
program file.
4） Save as：Copy and save the selected program in the program list as another file.
5） Rename ： Rename the selected program in the program list (The current
executing file cannot be renamed).
6） Delete：Delete the selected program in the program list (The current executing
file cannot be deleted).
7） Export： Export the selected program in the program list into template program
or to the directory of USB.
1.10.2 Template Program
Figure 7-22 Template dir interface
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1） Program list：Display all the program files in the directory, as shown in Figure
7-22.
“#*.tep”：The tep files with # are teaching standard template program, which can
not be deleted or renamed.
“*.tep” ： The tep files without # are user defined teaching template program,
which can be deleted or renamed.
1） Export：Export the selected template program in the program list into teaching
program directory or into USB device.
2） Delete：Delete the selected template program file.
3） Rename：Rename the selected template program file.
1.10.3 USB Import and Export Functions
Figure 7-23 USB dir interface

1） Program list：List the program files in the USB device, as shown in Figure 7-23.
“*.xml”：xml files will be imported into the directory of teaching program.
“TEP#*.zip” ： ZIP compressed files with TEP# will be imported into directory of
template program after decompression.
2） Export：The program file in the USB device is imported as the teaching program
into the teachpendant.
3） Delete：Delete program files in USB device
4） Eject：Eject USB device.
5） Refresh：Refresh USB device.
1.11 Edit Program
1.11.1 Enter Edit Mode

Click 【Status bar 】 to enter keys interface, click 【Enter Edit 】 button to enter edit
mode, the icon will be displayed in status bar, and the name of currently loaded
program will flickering, as shown in Figure 7-24.
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Figure 5-4 Enter edit mode
1.11.2 Edit Program
Click 【Function】——>【Program】——>【Teach】 to enter teach interface, as shown
in Figure 7-25.
Figure 7-25 Program teaching interface

1） Program command list：Display the list of commands for the current program
2） Command parameters：Display the parameters of the current command in the
program command list
3） Jump to：Click this button to pop up number keyboard, type in the correct row
number of the program command, it will jump to the command automatically.
4） Insert：Insert a new command below the current command.
5） Delete：Delete the currently selected command.
6） Up：Swap the position of the currently selected action command with the upper
command.
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7） Down ： Swap the position of the currently selected action command with the
lower command.
8） Save：Save the modified program commands and parameters.
Steps to insert command, as shown in Figure 7-26:

（ 1 ） Select the command in the program list where you want to insert command
（The new command will be inserted below the currently selected command）——>
（2）Click 【Insert】 button, the command selection dialog box will be popped up—>
（3）Select command to insert——>
（4）Click 【Confirm】 button to insert new command——>
（5）Modify the parameters of the new command on the right——>
（6）Click 【Confirm】 button to save the parameters of the new command——>
（7）Repeat above steps until the program is complete——>
（8）Click 【Save】button to save the program.
Figure 7-26 Schematic diagram of command insertion procedure

1.11.3 Exit Edit Mode and Compile Download
When the program finishes edit and is successfully saved, click 【status bar】 to enter
keys interface, click 【Quit Edit】, the system will exit program edit mode, and compile and
download the program, as shown in Figure 7-27. After successful download, the icon in
status bar will be , and the name of currently loading program will not flicker.
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Figure 7-27 Program compile and download
1.11.4 Program Online Modification
Steps for program online modification, as shown in Figure 7-28:
（1）In the automatic mode, click the 【status bar】 to enter the keys interface, click
【Enter Edit】 button, the system will enter the online modification mode——>
（2）Enter teaching interface, at this time the program command can not be inserted,
deleted, moved up or moved down——>
（ 3 ） Select the command need to be modified, and modify the command
parameters on the right （ Note ： The adjustment value of position coordinate is
±5mm）——>
（ 4 ） After the parameter modification, click 【 Confirm 】 button to save
parameters——>
（5）Repeat step 3 and step 4 until the program is completed——>
（ 6 ） Click 【 Save 】 button to save the program, and compile and download the
program automatically——>
（ 7 ） Click 【 Status bar 】 to enter keys interface, click 【 Quit Edit 】 to quit online
modification mode——>
（8）The modified program will be executed in the next cycle.
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Figure 7-28 Schematic diagram of program online modification
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1.12 Program Command Introduction
1.12.1 Motion Command

1 MoveJoint command
Figure 7-29 MoveJoint command

1） Name position point.
2） Choose one motion axis.
3） Input position value.
4） Input current position coordinates of robot.
5） Set running speed.
6） Set running acceleration.
7） Confirm the parameters to complete the command parameter modification.
2、MoveLine command
Figure 7-30 MoveLine command

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2） Choose one or more motion axis.
3 MoveRelative command
When executing this command, the servo axis moves with the coordinate position
when starting to execute this command as the starting point, and the moving distance is
that user writes in the program. For example, when the system executes the following
program, the X axis will stop at 660mm.
Figure 7-31MoveRelative command

3） Inhibit input current position coordinates of robot.
4 MoveSearch command
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Figure 7-32MoveSearch command
6） Set low speed.
8） Slow port: During the execution of search command, when there is a signal
input this port, the running speed is reduced to a low speed;
9） Stop port: During the execution of search command, when there is a signal
input this port, the motion will stop.
5 Matrix command
Provide 8 matrixes, see 5.5.4 for parameter setting.
6 Palletizing command
Provide 8 palletizing, see 5.5.5 for parameter setting.
7 AxisPass command
When the system executes the following program, the trajectory of the fixture is
shown as the solid line in Figure 5-15, the direction of movement is the direction of the
arrow in the figure, and finally stops at the coordinate position (300,200).
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Figure 7-33AxisPass command
（0,0）（200,0）（300,0）
（300,100）
（300，200）
Figure 7-34Schematic diagram of AxisPass trajectory
1） For all the motion commands between AxisPass Open and AxisPass Close,
execute AxisPass function according to transition control parameters, there is an
approximate arc transition between motions choose one or more motion axis.
2） Choose open or close.
3） CornerBlend: Set transition control value.
1.12.2 Output Command
Command Function Parameter Action (unit)
name
Posture Posture selection action/ reset
command （ action / Delay out Delay a certain time to perform
reset） the action（S）
Out delay Wait for a certain time after
executing the action（S）
Time out Time for waiting for the
confirmation signal（S）
Fixture Fixture on/off Output port Vacuum 1~4，gripper 1~4
command
Action selection On / off
Input port Vacuum confirmation 1~4 ，
gripper confirmation 1~4
Delay out Delay a certain time to perform
the action（S）
25
Check Whether to turn on the input signal
real-time detection
EuromapOut Set output to Molding Support output signal of Europe
command injection machine output 12, Europe 67, Japanese
moulding port standard and other injection
machine moulding machine
Delay time Delay a certain time to perform
the action（S）
SetOut Output port Output port Select output port
command action Action selection On / off
PulseOut Output port Pulse output 1~4
command
Pulse time The time of the action execution
（S）
1.12.3 Wait Command
name
WaitEuromapIn Wait for Injection Support output signal of Europe
command injection moulding 12, Europe 67, Japanese
moulding machine input standard and other injection
machine input port moulding machine
signal
WaitIn Wait for port Input port Select signal input port
command input signal Input type High level, low level, rise, fall
detection
WaitOut Wait for port Output port Select signal output port
command output signal Output type High level, low level, rise, fall
detection
Delay Wait for the Delay time （S）
command delay time
CheckIn Input signal Input port Select the input port of the
command real-time real-time detection signal
detection on/off Check action On / off
1.12.4 Control Command
name
If command Signal condition Signal selection Include output, input, counter
judgment Judgment value ON/OFF
Variable variable Counter, user variables
condition selection
judgment Logical >、<、=、>=、<=、!=
operation
Comparison
26
value
Else command Conditional In conjunction with If command
negation
Endif command End of In conjunction with If command
conditional
judgment
For command The number of The number of
loops is a loops
constant
The number of loop variable User variables U1~U20
loops is a
variable
Break Break out of the In conjunction with FOR
command loop
Endfor End of loop In conjunction with FOR
command
GroupStart The commands There must be only one motion
command between the command at most between Group
combined commands.
commands will
be executed
simultaneously
GroupEnd In conjunction with GroupStart
command
ProgramEnd End of the program, skip to the
command beginning of the program
Label Insert label In conjunction with Jump
command command.
Jump Jump to label to Jump label Command jump to the specified
command executing location to start execution.
command.
1.12.5 Operation Command
name
Variable Calculate the Variable U1~U20
command user variable selection
Operator “=”、“+”、“-”、“*”、“/”
Numerical
value
Counter Counter Counter C01~C20
command calculation selection
Operator “+1”、“-1”、“reset”
1.13 Program Examples

1.13.1 Example for Robot Take Product from Injection Moulding Machine
Example 1：The basic process of manipulator picking up product from molding machine
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is shown in Figure 7-36.
Figure 7-36 Schematic diagram of process of robot picking up product

Teaching program：
1. Robot homing completely and
switch to auto mode to start
automatically.
2. Moves to standby position
3. Wait for mould open completed

signal of injection machine.
4, 5. Move down to take –out point
6. Open vacuum 1 to pick product
7, 8. Move back to the origin of the
Z axis.
9. Send mould close enable signal

to injection machine.
10. Move to out-mould and above

the product drop point.
11. Posture action.
12. Move down to the product drop
point.
13. Close vacuum 1 to drop the
product.
14. Move back to Z origin.
15. Posturereset.
16. The program is end and returns
to the start of the program to
execute next cycle.
1.13.2 Example for If Structure Program

Conditional judgment commands must be paired, it must be started with If and end
with Endif command. Else command can not be used alone, it must be placed between If
and Endif.
Conditional judgment commend can be nested. The so-called nested is that a pair of
conditional judgment commands contain another pair of conditional judgment commands
between them.
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Figure 7-37 Conditional judgment 1 Figure 7-38 Conditional judgment 2
Figure 7-39 Conditional judgment 3

Teaching program：
Schematic diagram 1：As shown in Figure 7-37, if the condition is true, A is executed,
and then C is executed; if the judgment is not true, C is executed directly.
If the condition judgment is true,
then execute opening vacuum 1
and then execute linear motion. Or
else, do not execute opening
vacuum 1, but execute linear
motion directly.
Schematic diagram2:As shown in Figure 7-38, if the condition is true, A is executed, and
then C is executed; if the judgment is not true, then B is executed, and then C is executed.
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If the conditional judgment is true,
then execute opening vacuum 1
and then execute linear motion.
If the conditional judgment is not
true, then execute opening vacuum
2 and then execute linear motion.
Schematic diagram 3：As shown in Figure 7-39, if condition 1 is true, then A is executed,
and continue to judge condition 2, if condition 2 is true, then B is executed, and then E is
executed, if condition 2 is not true, then E is executed directly after A is executed; if
condition 1 is not true, then continue to judge condition 3, if condition 3 is true, then C is
executed, and then E is executed, if condition 3 is not true, then D is executed, and then E
is executed.
If condition 1 is true ： Execute
opening gripper 1, and continue to
judge condition 2; if condition 2 is
1, if condition 2 is not true, then the
judgment of condition 2 is end.
If condition 1 is not true ：

Continue to judge condition 3, if
2, if not true, then execute opening
vacuum 3. And
the judgment of condition 3 is end.
The judgment of condition 1 is

end.
Execute linear motion at last.
1.13.3 Example for FORLoop Structure Program

Loop structure is the repeated execution of a part of operation. Loop structure
commands must be paired, it must be started with FOR loop commend and end with
ENDFOR loop end command.
BREAK loop break commendcan not be used alone, it must be placed between FOR
and ENDFOR. Loop command can be nested.
As shown in Figure 7-40, when the given number of loop times <N, A is executed, and
the number of loop times is judged again, if the number of loop times <N, A is executed
again. Repeated the execution of A like this, until the number of loop times >=N, at this
time A is not executed, the program skips out of the loop structure, and B is executed.
As shown in Figure 7-41, if we meet BREAK command in the loop structure, the
program will skip out of the loop structure to execute B.
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Figure 7-40 Loop structure 1 Figure 7-41 Loop structure 2
Example 4 ： As shown in Figure 7-42, after the robot picking up the product from
injection machine, the products are put in the box on the conveyor belt, five products for
each box, and control the movement of conveyor belt.
Figure 7-42 Schematic diagram of conveyor belt

Teaching program：
Program start
2. Execute 5 loops
3—16. In the loop there is

basic process of
manipulator picking up
products from injection
machine.
17. Judge that 5 loops are

completed, then break the
loop.
18 、 The conveyor belt to

open, close
automatically after 10
seconds.
1.13.4 Example for Group Command program

The function of the group command is to let some of the actions perform
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simultaneously. They must be paired, start with GroupStart command, and end with
GroupEnd command. There should not be two motion commands in combined command.
And there should not be two commands of same type.
As shown in Figure 7-43, after A is executed, we meet the composite structure, B to N
are executed simultaneously, and Z is executed after B to N are all completed.
Figure 7-43 Schematic diagram of group structure

Example：Teaching program：
Between GroupStart and
GroupEnd：
Simultaneously execute
opening vacuum 1, opening
vacuum 2, opening gripper 1,
opening gripper 2.
And it is not affected by the
delay time
1.13.5 Example for Matrix Program
Example 2 ： As shown in Figure 7-44, then robot packs the products after picking
products from the injection moulding machine. Requirements: Robot automatically
complete 4*3*3 product packing, product interval in the X\Y\Z direction is all 50mm.
Figure 7-44 Schematic diagram of matrix process

Teaching program：
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Figure 7-45 Parameter table of matrix stack 1
1） Matrix 1, the position to release the first product.
2） The Z axis is stacked in negative direction, so the value is negative.
1.13.6 Example for Palletizing Program
Example 3 ： As shown in Figure 7-46, then robot packs the products after picking
products from the injection moulding machine. Requirements: Robot places the product in
four positions as shown in the figure, and the four positions are random.
Figure 7-46 Schematic diagram of palletizing process

Teaching program：
Figure 7-47 Parameter table of palletizing1

3） Set the total palletizing number to be 4
4） Set the coordinates of 4 points
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1.14 Process Setup
1.14.1 Position Setup
Click 【 Function 】 ——> 【 Process 】 ——> 【 Position 】 to enter position interface, as

shown in Figure 7-48.
Figure 7-48 Position interface

1 Position setting
1）Current coordinate value：Display the current coordinate value of the robot.
2）Position setting list：Show the position value of the point used by the program
currently loaded by the system, which can be also modified. "****.*" means that the
position value has not been used by the program, so it can not be edited.
3）Position memory：Input current coordinate value, there are two methods:
（ 1 ） Integral input ： As shown in Figure 5-29, click the “order number” or
“name” of the coordinate value to be modified, select the whole row of the position
point, click “Position memory” button, enter the real-time coordinates of the current
manipulator for each axis of the position.
Figure 7-49 Schematic diagram of position integral input

（2）Single input：As shown in Figure 7-50, select single position value, enter
the coordinate value with the popped little keyboard; or click “Position memory” button,
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input the selected position to the coordinate value corresponding to the axis of the current
position value of the manipulator.
Figure 7-50 Schematic diagram of position single input

2 Vel setting
Display the speed of the motion to the point used by the program currently loaded by
the system, as shown in figure 7-51.
Figure 7-51 Speed setting interface of position setting

1） X/Y/Z/A/B/C axis speed ： Represent the speed value of a single axis motion
command;
2） Linear speed：Represent the speed value of a linear motion command.
1.14.2 Timer Setup
Click 【Function】——>【Process】——>【Timer】 to enter timer interface, as shown in
Figure 7-52. Timer setting is divided into four parts, which are fixture, IM input, IM output
and user timer.
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Figure 7-52 Timer setting interface
1） Fixture
Display relevant timer parameters of pneumatic command used by the program
currently loaded by the system. Delay time, delay time after execution, time out, input
detection port can be modified.
2） IM input
Display relevant timer parameters of injection moulding machine input used by the
program currently loaded by the system. Time out can be modified.
3） IM output
Display relevant timer parameters of injection machine output used by the program
currently loaded by the system. Delay time can be modified.
4） User timer
Display relevant custom timer parameters used by the program currently loaded by
the system. The time can be modified.
1.14.3 Counter Setup
Click 【 Function 】 ——> 【 Process 】 ——> 【 Counter 】 to enter counter interface, as
shown in Figure 7-53. Relevant custom counter parameters used by the program currently
loaded by the system are displayed, and the value can be modified.
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Figure 7-53 Counter interface
1.14.4 Matrix Setup
Click 【Function】——>【Process】——>【Matrix】 to enter matrix interface, as shown
in Figure 7-54.
Figure 7-54 Matrix interface

1） Matrix ： Display relevant matrix parameters used by the program currently
loaded by the system, 8 matrixes can be supported at most.
2） First position：Set position value of the first point to release.
3） Sequence：Set the order of the placement of each axis when releasing product.
4） Number：Set the quantity of placement along each axis.
5） Space：Set interval of placement along each axis (the interval can be set to be a
negative, which means to place along the negative direction of each axis).
6） Posture reset ： If selected, then the posture should be reset when releasing
product (default is horizontal release).
7） Current: Display the number of products along each direction.
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8） Run vel：Set running speed of matrix, default is 100%.
9） Acc：Set running acceleration of matrix, default is 100%.
10） Low vel：Set terminal speed of releasing along Z axis, default is 20%;
11） Distance：Set the distance from starting to decelerate to the releasing point,
default is 0mm.
1.14.5 Palletizing Setup
Click 【Function】——>【Process】——>【Palletizing】 to enter palletizing interface, as
Figure 7-55 Palletizing interface

1） Palletizing ： Display relevant palletizing parameters used by the program
currently loaded by the system, 8 palletizing can be supported at most.
2） Current：Display current quantity of palletizing.
3） Quantity ： Set the total number of the placed products of the palletizing in a
stack cycle. At most 50 position points can be supported.
4） Position point：Set the coordinates of each position point.
5） Posture reset ： If selected, then the posture should be reset when releasing
product (default is horizontal release).
6） Run vel：Set running speed of palletizing, default is 100%.
7） Acc：Set running acceleration of palletizing, default is 100%.
8） Low vel：Set terminal speed of releasing along Z axis, default is 20%;
9） Distance ： Set the distance from starting to decelerate to the releasing point,
default is 0mm.
10） Update position：Input current position point.
1.15 Program Execution
Click 【 Run 】 or click 【Function 】——> 【 Run 】 to enter run interface, as shown in
38
Figure 7-56.
Figure 7-56 RUN interface

1） Current program command list ： Display the command list of the program
currently loaded by the system.
2） Injection moulding machine signal ： Display relevant signal of injection
moulding machine, which is convenient for users to control system operation
information at any time.
3） Follow ： If selected, the dark display area in the program command list will
change with the current command during the program's execution.
1.15.1 Step Debug
In the current manual mode, click 【Step】 button, the system will enter step mode, as
Figure 7-57 Step mode

1） Click 【 Step 】 button ： Start to execute the action command of the current
program, enter the pause state when this action is finished, continue to click the
【Step】 button to execute the next action command.
2） Click 【 Pause 】 button ： During the process of execution, pause the current
action.
3） Click 【Manual】 button：Stop running and switch to manual mode.
4） In step mode, it is recommended to adjust 【 Overall speed 】 to below 20% to
execute in low speed.
1.15.2 Automatic Running
In the current manual mode, click 【Auto】 button, the system will enter auto mode, as
39
Figure 7-58 Full-automatic running mode
1） Click 【Run】 button：The system will enter automatic running state, and start
loop execution of current program.
2） Click 【 Pause 】 button ： The system will enter automatic suspended state, be
suspended at current executing action; at this time, click 【 Run 】 button, the
system will continue to execute the program, and enter automatic running state.
3） Click 【Manual】 button：Stop running and switch to manual mode.
4） During automatic running, 【 Overall speed 】 can be adjusted to improve or
reduce the speed of automatic running.
1.16 Production Management
Click 【 Function 】 ——> 【 Produce 】 to enter produce interface, as shown in Figure

7-59.
Figure 7-59 Produce interface

1） Total part ： Total number of products taken out when the system is running
automatically.
2） Good part：Total number of good finished products taken out when the system
is running automatically.
3） Reject part ： Total number of reject products taken out when the system is
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running automatically.
4） Cycle time ： The time of a cycle to take out a product when the system is
running automatically.
5） Fetch time：The time for robot to take out products from the injection moulding
machine when the system is running automatically.
6） Part setup ： Arrange the production plan of the product. When the number of
products reaching the set value, the system will stop running automatically and
remind that the production plan has been completed, as shown in Figure 7-60. 0
represents that there is no production plan.
7） Once out setup ： Number of products produced by each die of injection
moulding machine.
8） Reject alarm interval：Set the total number of defective products to alarm that
the number of defective products exceeds the standard. 0 represents that there
is no defective product alarm.
9） Production schedule ： When the system is running automatically, the
proportion of the total number of products produced in the planned production,
and how long it will take to complete the planned yield.
10） Reset：Reset total part, good part, reject part, cycle time, and fetch time.
Figure 7-60 Production progress completion reminder interface
1.17 Engineer Setup

1.17.1 Function Setup
Click 【 Function 】 ——> 【 Engineer Setup 】 ——> 【 Func Setup 】 to enter func setup
41
图 1-61 功能设定界面
1） Standby beside mould：The robot must wait the mould open signal of the injection
machine in the safety zone at the mould side, otherwise the robot will stop and alarm;
the default is standby in the mould.
2） Middle mould signal use： The mould open is completed when the medium plate
mould signal and mould open signal are input simultaneously. The robot can get into
the injection moulding machine to take product; the default is “not use”.
3） Allow posture action in mould：The posture is allowed to be in action state in the
mould of the injection machine; the default is “not allowed”.
4） Mould close signal use ： The default is “use mould close signal”, if there is a
mould close signal input, use the falling edge of the mould close completed signal to
cut off the mould close output enable signal; if not use mould close signal, then use
rising edge of mould open signal to cut off the mould close output enable signal.
5） Open safety door to pause auto：The default is to pause the running when opening
the safety door. When the safety door is closed, the system will continue to run
automatically.
6） Allow X moving with posture reset：When the X axis moving broadwise, posture is
allowed to be in reset state.
7） Mould open middle use：When there is a mould open middle signal input, the robot
is allowed to descend into the injection moulding machine to take product.
8） Ejector back use, Ejector forward use, Core 1 pos in use, Core 1 pos out use,
Core 2 pos in use, Core 2 pos out use: To control the related functions of injection
moulding machine through the output enable signal of the program; default is “not
use”, and output signal of the injection moulding machine is always on.
42
9） Homing need mould open signal ： When the system homing, mould open signal
needs to be detected.
10） Robot disable：Default is “enable”, if select “robot disable”, then the robot
will output the entire output signal to the injection moulding machine.
1.17.2 Polarity Setup
Click 【 Function 】 ——> 【 Engineer Setup 】 ——> 【 Polarity Setup 】 to enter polarity
setup interface, as shown in Figure7-62.
Figure 7-62 Polarity setup interface

The input polarity of IO signal can be set in this interface, that signal input is valid or
no signal input is valid can be chosen; the default is “signal input is valid”.
1.17.3 Alarm Ignore Setup
Click 【Function】——>【Engineer Setup】——>【Alarm Ignore】 to enter alarm ignore

43
Figure 7-63 Alarm ignore interface
Select the signal need to be ignored, for the alarm caused by the ignored signal, the
system can only continue to run by opening and closing safety door for 1 time; if the alarm
is not caused by the ignored signal, the system must run again after troubleshooting and
homing. The default is “not to ignore”.
1.17.4 Alarm Setup
Click 【Function】——>【Engineer Setup】——>【Alarm Setup】 to enter alarm setup
Figure 7-64 Alarm setup interface

Select the signal need alarm setup. These signals will not alarm in the mould until that
Z axis reaches upper safety zone, and stop the robot. The default is “no alarm in
mould”
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1.17.5 Mould Setup
Injection moulding machine integration function, set program for mould number of
injection moulding machine (according to the needs of the manufacturers to complete the
configuration open), as shown in Figure7-65.
Figure 7-65 Mould setup interface
1.18 System Setup
1.18.1 UI Setup
Click 【Function】——>【System Setup】——>【UI Setup】 to enter UI setup interface,
as shown in Figure 7-66.
Figure 7-66 UI setup interface

1） Language choice：Choose the language of the interface.
2） Date and time setup：Modify system date and time.
3） Buzzer time：The total beep time of buzzer when system alarming.
45
4） Buzzer pulse time：The time of each beep of buzzer when system alarming.
5） Screen brightness ： Adjust the brightness of the screen, the darkest is 1, the
brightest is 9.
6） Screensaver time ： Set the boot screen saver time, the longest is 30 minutes, 0
minute means no screensaver.
7） Touch screen recalibration：Clicking this button to recalibrate the touch screen. If
the location of the touch screen of the teachpendant is found deviating in the course
of use, you can click the recalibration button. After the restart of the power system,
click the relevant area to re calibrate the touch screen.
8） Safety switch ： If select enable safety switch, then the safety switch need to be
pressed down when performing some operations. (The default is enable, it is not
recommended user to close this option)
9） Button beep：If you select the tone option, then when you touch the screen, there
will be a voice prompt.
10） Press safety switch when homing：If the option is selected, the system needs
to long press the safety switch until homing finished.(The default is enable, it is not
recommended user to close this option)
1.18.2 Password Setup
Click 【Function】——>【System Setup】——>【Password Setup】 to enter password
setup interface, as shown in Figure 7-67.
Figure 7-67 Password setting interface

1） Current user level： Display current user level of the system.
2） Choose to modify the user level password ： Click the user level need to be
modified, modify in the popped password modification interface. (Initial password：
User level 1 （ 1111） , User level 2（ 2222 ） , User level 3（ 3333 ） , User level 4
（4444）)。
3） See Annex 2 for corresponding functional permissions of user levels.
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1.18.3 Version Information
Click 【Function】——>【System Setup】——>【Version】 to enter version information
interface to check current version information of the system, including the teachpendant
version, the motion controller version, the PLC version, and the database version, as
shown in figure 7-68.
Figure 7-68 Version information interface

1.18.4 Maintain Setup
Click 【 Function 】 ——> 【 System Setup 】 ——> 【 Maintain 】 to enter maintain setup
Figure 7-69 Maintain setup interface

1） Mileage(L) ： Modify or set the motion distance of each axis to start a lubrication
maintenance;
2） Use automatic lubrication ：Set whether to use automatic lubrication maintenance
47
function;
3） Lubricate：Manually start a lubrication maintenance;
4） Lubrication duration time：Modify and set the duration time of a lubrication;
5） Lubricating oil pressure: Display whether oil pressure is normal or not.
6） Last lubrication datetime: Display the datetime of last lubrication.
1.18.5 Communication Setup
Click 【 Function 】 ——> 【 System Setup 】 ——> 【 Communication 】 to enter
communication interface, as shown in Figure 7-70.
Figure 7-70 TCP setup interface

1.19 Machine Parameter Setup
1.19.1 Machine Type Selection
Click 【 Function 】 ——> 【 Machine Config 】 ——> 【 MachineType 】 to enter machine
type interface, as shown in Figure 7-71.
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Figure 7-71 Machine type interface
According to the current manipulator model to select the corresponding machine type
files, click the save, then the system will automatically import the machine parameters and
automatically restart. （The system can not run without machine type configuration）
1.19.2 Safety Setup
Click 【Function】——>【Machine Config】——>【Safety Setup】 to enter safety setup
Figure 7-72 Safety setup interface

Safety setup：Input mode：
1. Click the white area and enter the coordinates on the pop-up numeric keypad.
2. Click ，input the current robot coordinates position.
1) X axis in-mould safety（1st safety zone of X axis）：Set the range of X axis that
the robot is allowed to take product inside the mould of injection moulding machine.
When setting this safety zone, the sensor signal of X axis safety zone inside mould
must be on, in order to prevent user misoperation that may affect the safety of the
system.
2) X axis out-mould safety（2nd safety zone of X axis）：Set the range of X axis
that the robot is allowed to take product outside the mould of injection moulding
machine. When setting this safety zone, the sensor signal of X axis safety zone
outside mould must be on, in order to prevent user misoperation that may affect the
safety of the system.
3) X axis beside-mould safety（3rd safety zone of X axis）：Set the safety zone of
X axis when the robot standing by on the side of mould.
4) Y axis in-mould safety（1st safety zone of Y axis ）：According to the opening
width of the mould of injection moulding machine, set the safety zone of the Y axis.
5) Z axis upper safety （1st safety zone of Z axis）：Set the lower position of Z axis
under the condition that the mould closing is not affected. When setting this safety
zone, the sensor signal of Z axis upper safety zone must be on, in order to prevent
49
user misoperation that may affect the safety of the system.
1.19.3 Stroke Setup
Click 【Function】——>【Machine Config】——>【Stroke Setup】 to enter stroke setup
Figure 7-73 Stroke setup interface

Software stroke：Set the maximum software stroke of each servo axis. The software
stroke limits the maximum run distance when servo is running manually/automatically.
Input mode：
1. Click the white area and enter the coordinates on the pop-up numeric keypad.
2. Click ，input the current robot coordinates position.
1.19.4 Acceleration Setup
Click 【 Function 】 ——> 【 Machine Config 】 ——> 【 Acc Setup 】 to enter acceleration
setup interface, as shown in Figure 7-74.
Figure 7-74 Acceleration setup interface

The acceleration time of each axis can be changed by changing the acceleration
50
value of each axis, the setting value has 1-26 totally 26 levels.
1.19.5 Speed Setup
Click 【Function】——>【Machine Config】——>【Speed Setup】 to enter speed setup
Figure 7-75 Speed setup interface

1） Default trajectory speed：Generally the same as the max trajectory speed
2） Max trajectory speed：Set the maximum speed allowed by the system during
trajectory motion.
3） Default trajectory acc：Generally the same as the max trajectory acceleration.
4） Max trajectory acc ： Set the max acceleration allowed by the system during
trajectory motion.
1.19.6 Axis Setup
Click 【 Function 】 ——> 【 Machine Config 】 ——> 【 Axis Setup 】 to enter axis setup
51
Figure 7-76 Axis setup interface
1） Elec gear ratio：The moving distance of mechanical structure while the motor
running 1 circle (Electronic gear ratio = pitch / reduction ratio).
2） Encoder input：The number of read pulses corresponding to the motor running
1 cycle （For Panasonic servo the default is 10000）。
3） Encoder output ： The number of output pulses corresponding to the motor
running 1 cycle （For Panasonic servo the default is 10000）
4） Max motor speed：Set the maximum rotation speed of each servo motor.
5） Max speed ： Set the maximum speed of each servo axis. (Maximum speed =
motor speed * electronic gear ratio /60, where the motor speed must not exceed
the rated speed of the motor).
6） Axis type：Set the type of motion of each axis.
7） Max acc time：Set the max acceleration time for each servo axis.
8） Max acc：Set the maximum acceleration of each servo axis (Determined by the
max acc time).
9） Min acc time：Set the min acceleration time for each servo axis.
10） Min acc：Set the minimum acceleration of each servo axis (Determined by
the min acc time).
11） Origin：The final position of the servo axis after homing.
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12） Offset：The position value of reference point which is established after the
Servo axis found motor Z-direction pulse signal.
13） Search vel ： The speed of the servo axis when searching home signal
(generally a negative).
14） Final vel：The speed when the servo axis runs from origin to final position
(generally a positive).
15） Latch vel ： The speed of the servo axis when it is searching motor
Z-direction pulse signal (generally a positive).
16） Static follow err：Set static tracking error of each servo axis.
17） Dynamic follow err：Set dynamic tracking error of each servo axis.
1.19.7 Restore Factory Setup
Click 【 Function 】 ——> 【 Machine Config 】 ——> 【 Default Param 】 to enter default
param interface, as shown in Figure 7-77.
Figure 7-77 Default param interface

1） Backup parameters ： Save the current machine parameters as a backup
parameter and store it in the system.
2） Revert parameters：The system parameters are automatically restored into the
system backup parameters, and automatically restart the system (if there is no
backup, then automatically restore the default machine type parameters).
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1.20 I/O Port Monitoring
Click button 【Monitor】to enter monitor interface, the states of all the IO ports can be
real-time displayed, as shown in Figure 7-78.
（Green）means there is input or output signal at IO port;
（Gray） means there is no input or output signal at IO port
Figure 7-78Monitoring interface
1.21 Alarm Record
Click button 【Alarm】 or click 【Function】——>【Record】——>【Alarm Record】 to

enter alarm record interface, as shown in Figure 7-79.
Figure 7-79Alarm record interface

1） Display interface：Display all alarm records of the system, including alarm time,
alarm content.
2） Detailed：Show the details of the selected alarm (see Annex three).
54
3） Port：Display the port state of the selected alarm.
4） Parameters：Display the parameters of the selected alarm.
5） Solution：Display solution of selected alarm.
1.22 System Record
Click 【 Function 】 ——> 【 Record 】 ——> 【 System Record 】 to enter system record
Figure 7-80System record interface

1） Display interface ： Display all records of the system, including system time,
record content.
2） Detailed：Show the details of the selected record.
3） Port：Display the port state of the selected record.
4） Parameters：Display the parameters of the selected record.
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1.23 System Config
Click 【 Function 】 ——> 【 File Manager 】 ——> 【 Config File 】 to enter config file
Figure 7-81 config file interface

1） System file：
（1） Port name “*.ptn”: Configure the system input and output port names.
（2） Language setup: Configure the language of the the system.
（3） Machine type “RMD#*.zip”: Update the machine type file of the system.
（4） System param “*.sys”: Configure relative parameter of the system.
（5） System record “*.db”: Configure the content of database.
2） File list：List all files in the USB device
3） Import：Import selected files from USB into the system.
4） Export：Export the parameters in the system to save in USB directory.
5） Delete：Delete the selected file from the USB device.
7） Remove：Safely remove the USB device.
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1.24 Software Upgrade
Click 【 Function 】 ——> 【 Upgrade 】 to enter upgrade interface, as shown in Figure

7-82.
Figure 7-82 Upgrade interface

1） Software upgrade：
（1）. One-key upgrade “%*.zip”：Include database file (*.db), interface file
(*.op), controller file (*.cnt), PLC file (*.bin) and upgrade check file
(%ok_uplicence.txt). The system will automatically restart after successful
one-key upgrade.
（2）. Controller “*.cnt” ： Upgrade the motion controller software, and
restart the system after upgrading.
（3）. PLC“*.bin”：Upgrade the PLC software, t and restart the system after
upgrading.
（4）. Teachpendant “*.op” ： Upgrade the teachpendant software, and
restart the system after upgrading.
2） File list：List all files in the USB device
3） Upgrade：Select the file, click the upgrade button, upgrade in the popped dialog.
4） Restart：Restart the system after the upgrade.
6） Remove：Safely remove the USB device.
57
Annex
Annex I: Interface Search ID Table
Interface Search ID Interface Search ID

Main Screen 10000 System Setup 20700
Function 20000 UI Setup 20701
Run 20100 Maintain 20702
Operation 20200 Version 20703
Free Operation 20201 Password 20704
Program 20300 Communication 20706
Teach 20301 Machine Config 20800
Process 20400 Safety Setup 20801
Position 20401 Stroke Setup 20802
Timer 20402 Axis Config 20803
Counter 20403 Speed Config 20804
Matrix 20404 Machine Type 20805
Palletizing 20405 Acc Setup 20806
Produce 20500 Record 20900
Engineer Setup 20600 Alarm Record 20901
Function Setup 20601 System Record 20902
Polarity Setup 20602 File Manager 21000
Alarm Ignore 20603 Program File 21001
Alarm Setup 20604 Config File 21002
Mould Setup 20605 Upgrade 21100
Home Setup 20606 Monitor 30000
58
Annex II: Functional Authorization Table
Authorization Level 1 Level 2 Level 3 Level 4 Level 5

Homing √ √ √ √ √
Auto Operation √ √ √ √ √
Operation √ √ √ √ √
Free Operation √ √ √ √ √
Teach √ √ √
Position √ √ √
Timer √ √ √
Counter √ √ √
Matrix √ √ √
Palletizing √ √ √
Produce √ √ √
Function Setup √ √ √
Polarity Setup √ √
Alarm Ignore √ √
Alarm Setup √ √
Home Setup √ √ √
Mould Setup √ √
UI Setup √ √ √ √ √
Password √ √ √ √ √
Version √ √ √ √ √
Maintain √
Safety Setup √ √
Stroke Setup √ √
Acc setup √ √
Axis Config √ √
Speed Config √
Machine Type √
Default Param √
Alarm Record √ √ √ √ √
System Record √
Program File √ √ √
Config File √
Upgrade √
Monitor √ √ √ √ √
59
Search ID √ √ √ √ √
Annex III: Alarm Content and Solution Table
NO. Alarm Content Alarm Solution

Please press the reset button to clear the
10000 [10000] System exceptions error, if not clear [cleared] please restart
the system.
10001 [10001] System exceptions error, if not clear please restart the
system.
Please check the connection between teach
10002 [10002] Teach Pendant disconnection!
pendant and controller, then restart.
[10004] Production task has been
10004 Please setup produce quantity.
completed
10005 [10005] Reject part exceeded Please setup reject part.
system.
system.
system.
system.
system.
system.
system.
system.
system.
10110 [10110] IO operation timeout Please press reset button to clear error.
[10111] Wait for the injection Please check whether the signal with
10111
machine signal timeout injection machine is connected correctly.
Please check whether the corresponding IO
10112 [10112] Wait for IO signal timeout
point is connected correctly.
[10115] Failed to modify system
10115 error, if not clear please restart the
parameters
system.
system.
10117 [10117] System exceptions Please press the reset button to clear the
60
error, if not clear please restart the
system.
[10118] Failed to read machine Please reconfigure the machine parameters
10118
parameters and restart the system.
[10119] Failed to read system Please reconfigure the system parameters and
10119
parameters restart the system.
[10120] Failed to configure machine Please reconfigure the machine parameters
10120
parameters and restart the system.
system.
system.
system.
system.
system.
system.
Please check the teach pendant emergency
10127 [10127] System emergency stop stop or external equipment emergency stop
switch
system.
system.
Please check the connection between teach
10130 [10130] TeachPendant disconnection!
pendant and controller.
10131 [10131] Security application alarm Please check the AL alarm content
Please restart the system. if restart, there
20000 [20000] PLC failed to stop running is still an alarm, please contact customer
service.
20001 [20001] PLC failed to load program is still an alarm, please contact customer
service.
20002 [20002] PLC failed to start running is still an alarm, please contact customer
service.
20003 [20003] PLC is in stop state is still an alarm, please contact customer
service.
system.
system.
20018 [20018] System exceptions
error, if not clear please restart the
61
system.
system.
system.
system.
system.
system.
system.
system.
system.
system.
system.
system.
20104 [20104] Failed to load PLC is still an alarm, please contact customer
service.
[20200][0.0] Low pressure alarm Please check whether the air pressure in the
20200
[5600] normal range, and reset the alarm.
[20201][0.1] Safety door open alarm Please turn off injuction machine safety
20201
in auto mode door
20202 [20202][0.2]
[20203][0.3] Vacuum 1 real-time Please check whether the vacuum 1 can suck
20203
detection alarm [5603] the product or not
20204
20205
[20206][0.6] Vacuum 4 real time Please check whether the vacuum 4 can suck
20206
[20207][0.7] Gripper 1 real-time Please check whether the gripper 1 can grip
20207
detection alarm [5607] the product or not.
20208
20209
20210 [20210][1.2] Gripper 4 real-time Please check whether the gripper 4 can grip
62
[20211][1.3] Down side real-time Please check if there is a safety input
20211
detection alarm [5613] signal downside.
[20212][1.4] Down side falling Please check if there is a safety decline
20212
real-time detection alarm [5614] input signal downside.
[20213][1.5] Real-time detection Please check if there is a [5615] port signal
20213
alarm [5615] input
20214
alarm [5616] input
20215
alarm [5617] input
20216
alarm [5620] input
20217
alarm [5621] input
20218
alarm [5622] input
20219
alarm [5623] input
20220
alarm [5624] input
20221
alarm [5625] input
20222
alarm [5626] input
20223
alarm [5627] input
20224
alarm [5630] input
20225
alarm [5631] input
20226
alarm [5632] input
20227
alarm [5633] input
20228
alarm [5634] input
20229
alarm [5635] input
[20230][3.6] Nozzle gripper Please check whether the nozzle gripper can
20230
real-time detection alarm [5636] grip the product or not.
[20231][3.7] Runner gripper Please check whether the runner gripper can
20231
real-time detection alarm [5637] grip the product or not.
20232
alarm [5640] input
20233
alarm [5641] input
20234
alarm [5642] input
20235
alarm [5643] input
20236
alarm [5644] input
20237
alarm [5645] input
20238
alarm [5646] input
63
20239
alarm [5647] input
20240
alarm [5650] input
20241
alarm [5651] input
20242
alarm [5652] input
20243
alarm [5653] input
20244
alarm [5654] input
20245
alarm [5655] input
20246
alarm [5656] input
20247
alarm [5657] input
20248
alarm [5660] input
20249
alarm [5661] input
20250
alarm [5662] input
20251
alarm [5663] input
20252
alarm [5664] input
20253
alarm [5665] input
20254
alarm [5666] input
20255
alarm [5667] input
20256
alarm [5670] input
20257
alarm [5671] input
20258
alarm [5672] input
20259
alarm [5673] input
20260
alarm [5674] input
20261
alarm [5675] input
20262
alarm [5676] input
20263
alarm [5677] input
[20264][8.0] Posture action, but no Please check posture device, and press reset
20264
posture action signal input button.
[20265][8.1] Posture action, but Please check posture device, and press reset
20265
posture reset signal input button.
[20266][8.2] Posture reset, but no Please check posture device, and press reset
20266
posture reset signal input button.
[20267][8.3] Posture reset, but no Please check posture device, and press reset
20267
posture action signal input button.
64
Please check the interactive signal between
[20268][8.4] Mould open and mould
20268 robot and injection molding machine, and
close signal input at the same time
press reset button.
[20269][8.5] X axis is in the in-mould Please check whether the in-mould safety
20269 safety zone, the A axis is not in the area of the X axis and the A axis is set
software safety zone correctly.
[20270][8.6] X axis is in the Please check whether the out-mould safety
20270 out-mould safety zone, the A axis is area of the X axis and the A axis is set
not in the software safety zone correctly.
[20271][8.7] X axis is in the zone of
Please check whether the neither in-mould
neither in-mould nor out-mould, the A
20271 nor out-mould safety area of the X axis and
axis is not in the software safety
the A axis is set correctly;
zone
[20272][9.0] System is not homed, X
20272 Please press reset button to clear alarm.
axis negative limit alarm
[20273][9.1] System is not homed, Y
[20274][9.2] System is not homed, Z
[20275][9.3] System is not homed, A
[20276][9.4] System is not homed, B
[20277][9.5] System is not homed, C
[20278][9.6] System is not homed, Y1
[20279][9.7] System is not homed, Z1
[20280][10.0] When enable function
"Standby beside mould", no mould open Pleas confirm the injection machine mould
20280
signal, the system is not allowed to open signal, then home.
home
[20281][10.1] Z axis is not in the
Move Z axis to the origin position and then
20281 upper safety zone, the system is not
home.
allowed to home
"Homing need mould open signal", no Pleas confirm the injection machine mould
20282
mould open signal, the system is not open signal, then home.
allowed to home
[20283][10.3] Z1 axis is not in the
Move Z1 axis to the origin position and then
20283 upper safety zone, the system is not
home.
allowed to home
[20284][10.4] X axis is in the Please check whether the in-mould safety
20284 in-mould safety zone, the C axis is area of the X axis and the C axis is set
[20285][10.5] X axis is in the Please check whether the out-mould safety
20285 out-mould safety zone, the C axis is area of the X axis and the C axis is set
Please check whether the neither in-mould
neither in-mould nor out-mould, the C
20286 nor out-mould safety area of the X axis and
axis is not in the software safety
the C axis is set correctly.
zone
[20287][10.7] Mould area is not safe
Please close the fixture, and move robot to
20287 or fixture is not closed, the system
mould safe position.
is not allow to switch to auto mode
[20288][11.0] X axis is in the Please check the injection machine mould
20288
in-mould safety zone, no mould open open signal, and move Z axis to original
65
signal, the Z axis is not in the upper position in free mode.
safety zone
"Middle mould signal use", X axis is Please check the injection machine middle
20289 in the in-mould software security mould signal, and move Z axis to original
zone, no middle mould signal, the Z position in free mode.
axis is not in the upper safety zone
Please check the injection machine mould
"Mould open middle signal use", X axis
open signal or mould open middle signal, and
20290 is in the in-mould software security
move Z axis to original position in free
zone, no mould middle signal, the Z
mode.
"Standby beside mould", no mould open
20291 open signal, and move X axis to mould side
signal, the X axis is not in
safety zone in free mode.
mould-side safety zone
"Standby beside mould" and "Middle Please check the injection machine middle
20292 mould signal use", no middle mould mould signal, and move X axis to mould side
signal, the X axis is not in safety zone in free mode.
mould-side safety zone
"Standby beside mould" and "Mould
20293 open middle use", no mould open signal
move X axis to mould side safety zone in free
or mould open middle signal , the X
mode.
axis is not in mould-side safety zone
20294 [20294][11.6]
20295 "Robot nonuse", the system is not Please check the state of "Robot nonuse".
allowed to switch to auto mode
X axis in-mould software safety zone must be
[20296][12.0] X axis is in the
within the effective scope of the in-mould
20296 in-mould software safety zone, no
induction signal, please reset the X axis
sensor signal input
in-mould safety zone.
X axis out-mould software safety zone must
be within the effective scope of the
20297 out-mould software safety zone, no
out-mould signal, please reset the X axis
sensor signal input
out-mould safety zone.
Superior software security zone set interval
[20298][12.2] Z axis is in the upper
must be in the effective range of the
20298 software safety zone, no sensor
superior signal, please reset the Z axis
signal input
superior security zone.
[20299][12.3] Z axis is in the
Please check Z axis origin signal input,
20299 software origin, no sensor signal
restart system and home.
input
[20300][12.4] Z axis is in the region
of in-mould, the posture is not Move Z axis to origin in free mode and postrue
20300
allowed to action or in the action reset.
state
neither in-mould nor out-mould, the
20304 Posture action in free mode.
posture is not allowed to reset or in
the reset state
20305 neither in-mould nor out-mould, the Z Move Z axis to origin in free mode.
axis is not in the origin
20306 Move Z axis to origin in free mode.
neither in-mould nor out-mould, the Z
66
[20307][13.3] X axis signal of
in-mould safety zone signal and Please check the X axis safety zone signal,
20307
out-mould safety zone input at the or contact customer service.
same time
in-mould safety zone and the Y axis is The Y axis is out of the safe zone, please
20308
not in the in-mould safety zone, the reset the Y axis in-mould safety zone.
Z axis is not in the upper safety zone
[20309][13.5] Tip: robot runs
Confirm whether the injection machine
20309 automatically, waiting for automatic
automatic signal is outputting or not.
signal from injection machine
Injection machine and robot interactive
[20310][13.6] Mould area is not safe,
20310 signal error, please contact customer
but mould open output is on
service.
Injection machine and robot interactive
[20310][13.6] Mould area is not safe,
20311 signal error, please contact customer
but mould close output is on
service.
Z1 axis upper software security zone must be
[20312][14.0] Z1 axis is in the upper
within the effective range of the upper
20312 software safety zone, no sensor
signal, please reset the Z1 axis upper
signal input
security zone.
[20313][14.1] Z1 axis is in the
Check Z1 axis origin signal input, restart
20313 software origin, no sensor signal
the system and home.
input
20314 neither in-mould nor out-mould, the Move Z1 axis to original point in free mode.
Z1 axis is not in the origin
20315 neither in-mould nor out-mould, the Move Z1 axis to original point in free mode.
Z1 axis is not in the upper safety zone
in-mould safety zone, no mould open
20316 open signal, and move Z1 axis to original
signal, the Z1 axis is not in the upper
position in free mode.
safety zone
"Middle mould signal use", X axis is Please check the injection machine middle
20317 in the in-mould software security mould signal, and move Z1 axis to original
zone, no middle mould signal, the Z1 position in free mode.
in-mould safety zone and the Y axis is The Y1 axis is out of the safe zone. Please
20318
not in the in-mould safety zone, the reset the Y1 axis in-mould safety zone.
Z1 axis is not in the upper safety zone
"Mould open middle signal use", X axis
20319 is in the in-mould software security
move Z1 axis to original position in free
zone, no mould middle signal, the Z1
mode.
[20320][15.0] Tip: lubricate
20320 Lubricate completely
completely
[20321][15.1] Lubrication detection
20321 Please check the lubrication device.
alarm
20322 [20322][15.2]
20323 [20323][15.3]
20324 [20324][15.4]
67
20325 [20325][15.5]
20326 [20326][15.6]
20327 [20327][15.7]
system.
[30001] Switch to step mode after
pause
system.
[30002] Please home first before
switch to auto mode
system.
system.
30004 [30004] Please home in free mode error, if not clear please restart the
system.
system.
system.
system.
system.
system.
Please check whether the servo driver is
30100 [30100] Servo driver is not ready
installed correctly.
system.
[30102] Motion controller is not Please check the system alarm, and use the
30102
enabled reset button to clear it.
[30103] Axis moves beyond the Please check whether the software stroke
30103
software stroke range range is set correctly.
[30104] Axis moves beyond the Please check whether teach program is
30104
hardware stroke range correct.
system.
system.
system.
system.
68
system.
30200 [30200] Servo driver alarm Please check the servo drive alarm.
[30201] Motion internal data Please check whether EtherCAT cable is loose
30201
communication exceptions or not.
[30202] Motion communication bus Please check whether EtherCAT cable is loose
30202
error or not.
[30203] Motion communication bus Please check whether EtherCAT cable is loose
30203
error or not.
30204
30205
30206
30216 [30216] System exceptions is still an alarm, please contact customer
service.
service.
service.
30224 [30224] Linear motion anomaly Please check teach program.
30225 [30225] Arc motion anomaly Please check teach program.
30226 [30226] System exceptions Please check teach program.
[30227] Axis moves beyond the
30227 Please check teach program.
software stroke range
30228 [30228] Security application alarm View AL alarm content.
[31000] X axis has exceeded the
Move X axis toward the negative direction in
31000 positive hardware limit and continues
free mode.
to run in the positive direction
Move X axis toward the positive direction in
31001 negative hardware limit and continues
free mode.
to run in the negative direction
Move X axis toward the negative direction in
31002 positive software limit and continues
free mode.
Move X axis toward the positive direction in
31003 negative software limit and continues
free mode.
service.
service.
service.
service.
69
service.
[31000] Y axis has exceeded the
Move Y axis toward the negative direction in
free mode.
Move Y axis toward the positive direction in
free mode.
Move Y axis toward the negative direction in
free mode.
Move Y axis toward the positive direction in
free mode.
service.
service.
service.
service.
service.
[31200] Z axis has exceeded the
Move Z axis toward the negative direction in
free mode.
Move Z axis toward the positive direction in
free mode.
Move Z axis toward the negative direction in
free mode.
Move Z axis toward the positive direction in
free mode.
service.
service.
service.
service.
service.
31300 [31300] A axis has exceeded the Move A axis toward the negative direction in
70
positive hardware limit and continues free mode.
[31301] A axis has exceeded the
Move A axis toward the positive direction in
free mode.
Move A axis toward the negative direction in
free mode.
Move A axis toward the positive direction in
free mode.
service.
service.
service.
service.
service.
[31400] B axis has exceeded the
Move B axis toward the negative direction in
free mode.
Move B axis toward the positive direction in
free mode.
Move B axis toward the negative direction in
free mode.
Move B axis toward the positive direction in
free mode.
service.
service.
service.
service.
service.
[31500] C axis has exceeded the
Move C axis toward the negative direction in
free mode.
[31501] C axis has exceeded the Move C axis toward the positive direction in
31501
negative hardware limit and continues free mode.
71
Move C axis toward the negative direction in
free mode.
Move C axis toward the positive direction in
free mode.
service.
service.
service.
service.
service.
[31600] Y1 axis has exceeded the
Move Y1 axis toward the negative direction
in free mode.
Move Y1 axis toward the positive direction
in free mode.
Move Y1 axis toward the negative direction
in free mode.
Move Y1 axis toward the positive direction
in free mode.
service.
service.
service.
service.
service.
[31700] Z1 axis has exceeded the
Move Z1 axis toward the negative direction
in free mode.
Move Z1 axis toward the positive direction
in free mode.
Move Z1 axis toward the negative direction
in free mode.
72
Move Z1 axis toward the positive direction
in free mode.
service.
service.
service.
service.
service.
[32000] X axis positive hardware Move X axis toward the negative direction in
32000
limit error free mode.
[32001] X axis negative hardware Move X axis toward the positive direction in
32001
[32002] X axis positive software Move X axis toward the negative direction in
32002
[32003] X axis negative software Move X axis toward the positive direction in
32003
32004 [32004] X axis servo alarm error Check X axis servo drive
[32005] X axis following error Modify the following error of machine
32005
mistake parameters
[32100] Y axis positive hardware Move Y axis toward the negative direction in
32100
[32101] Y axis negative hardware Move Y axis toward the positive direction in
32101
[32102] Y axis positive software Move Y axis toward the negative direction in
32102
[32103] Y axis negative software Move Y axis toward the positive direction in
32103
32104 [32104] Y axis servo alarm error Check Y axis servo drive
[32105] Y axis following error Modify the following error of machine
32105
mistake parameters
[32200] Z axis positive hardware Move Z axis toward the negative direction in
32200
[32101] Z axis negative hardware Move Z axis toward the positive direction in
32201
[32102] Z axis positive software Move Z axis toward the negative direction in
32202
[32103] Z axis negative software Move Z axis toward the positive direction in
32203
32204 [32104] Z axis servo alarm error Check Z axis servo drive
[32105] Z axis following error Modify the following error of machine
32205
mistake parameters
[32300] A axis positive hardware Move A axis toward the negative direction in
32300
[32301] A axis negative hardware Move A axis toward the positive direction in
32301
[32302] A axis positive software Move A axis toward the negative direction in
32302
73
[32303] A axis negative software Move A axis toward the positive direction in
32303
32304 [32304] A axis servo alarm error Check A axis servo drive
[32305] A axis following error Modify the following error of machine
32305
mistake parameters
[32400] B axis positive hardware Move B axis toward the negative direction in
32400
[32401] B axis negative hardware Move B axis toward the positive direction in
32401
[32402] B axis positive software Move B axis toward the negative direction in
32402
[32403] B axis negative software Move B axis toward the positive direction in
32403
32404 [32404] B axis servo alarm error Check B axis servo drive
[32405] B axis following error Modify the following error of machine
32405
mistake parameters
[32500] C axis positive hardware Move C axis toward the negative direction in
32500
[32501] C axis negative hardware Move C axis toward the positive direction in
32501
[32502] C axis positive software Move C axis toward the negative direction in
32502
[32503] C axis negative software Move C axis toward the positive direction in
32503
32504 [32504] C axis servo alarm error Check C axis servo drive
Modify the following error of machine
32505 [32505] C axis following error
parameters
[32600] Y1 axis positive hardware Move Y1 axis toward the negative direction
32600
limit error in free mode.
[32601] Y1 axis negative hardware Move Y1 axis toward the positive direction
32601
[32602] Y1 axis positive software Move Y1 axis toward the negative direction
32602
[32603] Y1 axis negative software Move Y1 axis toward the positive direction
32603
32604 [32604] Y1 axis servo alarm error Check Y1 axis servo drive
32605 [32605] Y1 axis following error
parameters
[32700] Z1 axis positive hardware Move Z1 axis toward the negative direction
32700
[32701] Z1 axis negative hardware Move Z1 axis toward the positive direction
32701
[32702] Z1 axis positive software Move Z1 axis toward the negative direction
32702
[32703] Z1 axis negative software Move Z1 axis toward the positive direction
32703
32704 [32704] Z1 axis servo alarm error Check Z1 axis servo drive
32705 [32705] Z1 axis following error
parameters
74
75

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ROBOT USER MANUAL

NINGBO HAITIAN SMART SOLUTIONS

1.1 Brief Introduction of the System

Figure 7-1 Schematic Diagram of System Introduction

1）EtherCAT bus controller connection

Figure 7-2 Controller Connection Diagram

1.3.1 Controller Introduction

Figure 7-3 Schematic Diagram of Main Controller

⑥ I/O ports Digital input/output port

⑦ Power interface Power interface

Figure 7-4 Schematic diagram of teaching pendant

1.5 I/O Module

Figure 7-5 Schematic diagram of HIR3000-TIO module

Figure 7-6 Schematic diagram of HIR3000-EXIO (EU) module

Figure 7-7 Schematic diagram of HIR3000-EXIO module

1.6.1 Main Screen

Figure 7-13 Main screen

The system is not homed The system is homed

Free mode Manual mode Auto mode

Running Pause Stop

Non Edit mode Edit mode

Figure 7-14 Keys interface

1.7.1 Home Operation

Figure 7-16Schematic diagram of system home procedure

1. According to different production requirements, click home type drop-down box,

Click 【Operation】to enter Manual Operation interface, as shown in Figure 7-19.

Figure 7-19Manual Operation interface

1.9 Free Operation

Click 【Function】——>【Free Operation】 to enter free operation interface, and the

1.10 Program Management

Figure 7-21 Teach dir interface

Figure 7-22 Template dir interface

Figure 7-23 USB dir interface

1.11 Edit Program

1.11.1 Enter Edit Mode

Figure 7-25 Program teaching interface

Steps to insert command, as shown in Figure 7-26:

Figure 7-26 Schematic diagram of command insertion procedure

1.12.1 Motion Command

Figure 7-29 MoveJoint command

Figure 7-30 MoveLine command

Figure 7-31MoveRelative command

（0,0） （200,0） （300,0）

1.13 Program Examples

Figure 7-36 Schematic diagram of process of robot picking up product

3. Wait for mould open completed

9. Send mould close enable signal

10. Move to out-mould and above

1.13.2 Example for If Structure Program

Figure 7-39 Conditional judgment 3

If condition 1 is not true ：

The judgment of condition 1 is

1.13.3 Example for FORLoop Structure Program

Figure 7-42 Schematic diagram of conveyor belt

3—16. In the loop there is

17. Judge that 5 loops are

18 、 The conveyor belt to

（0,0）（200,0）（300,0）