Abstract

The manual, stop, automatic are three operating status of the robotic arms for injection molding machines, which the operator can choose by the switch to the top left of the hand controller. Here in this chapter we'll discuss how to operate and program the robotic arm in testing, programming, parameter setting and running it automatically.

5.1 Origin Position Returned

To make the robot can run automatically correctly after power on an Origin Position Returned (ORI), driving the robot return to the home position for each axis, sucker and fixture return to the closed is needed.

In the stop mode, press the "Home" button once, then press the "Start" button to return to the home position with each axis Y1(Y2), X1(X2), Z by order. At the same time, a page box comes to remind you that you're ongoing OPR operation and all back to their origin that each electric axis position is 0.

When all axes, sucker and fixture return to the home position, there is an icon on the top right of the screen , you can operate automatic and manual mode.

You can not operate manual, automatic and modiify setting when OPR, please press the stop button or emergency stop button in case of emergency to stop the OPR.

5.2 Manual Operation

Turn the knob to the left, the robot will go into Manual Status. As shown below:

5.2.1 Axis Action

Users can not move the arms before set origin, but can operate pneumatic valves.

	Pneumatic control: Main arm up with pressed once Electric control: Main arm up with pressed. The moving stopped when pressing released.
	Pneumatic control: Main arm down with pressed once. Electric control: Main arm down with pressed. The moving stopped when pressing released.
	Pneumatic control: Vice arm up with pressed once. Electric control: Vice arm with pressed. The moving stopped when pressing released.
	Pneumatic control: Vice arm down with pressed once. Electric control: Vice arm down with pressed. The moving stopped when pressing released.
	Pneumatic control: Main arm backward with pressed once. Electric control: Main arm backward with pressed. The moving stopped when pressing released.
	Pneumatic control: Main arm forward with pressed once. Electric control: Main arm forward with pressed. The moving stopped when pressing released.
	Pneumatic control: Sub arm backward with pressed once. Electric control: Sub arm backward with pressed. The moving stopped when pressing released.
	Pneumatic control: Sub arm forward with pressed once. Electric control: Sub arm forward with pressed. The moving stopped when pressing released.
	Pneumatic control: The posture turned to vertical position with pressed once. Electric control: The posture moving towards the vertical position when pressed. The moving stopped when pressing released.
	Pneumatic control: The posture of the robotic arm turned to horizontal position with pressed once. Electric control: The posture of the robotic arm turned to horizontal position when pressed. The moving stopped when pressing released.
	Traverse In
	Traverse Out

5.2.2 Fixture Action

In the manual page click the Fixture button on the buttom right to go into the manual fixture page as shown below:

Ther are four fixtures. Press ON button to turn it on and press the OFF button to turn it off.
Attention: Input signal shows red and output signal shows green. The input or output indicator is off if there is no signal.

5.2.3 Sucker Action

In the manual page click the sucker button [Sucker] on the bottom right to go into the manual sucker page as shown below:

There are four suckers. Press the ON button to turn it on and press the OFF button to turn it off.

Attention: Input signal shows red and output signal shows green. The input or output indicator is off if there is no signal.

5.2.4 Auxiliary Action

In the manual page click the Other button on the bottom right to go into the manual other page as shown below:

The operation is the same as Fixture

5.2.5 Reserve Action

The operation is the same as Fixture

5.3 Auto Mode

5.3.1 Monitor Auto Running Status

Turn the knob to the right to go into the auto run page. The robot will turn to Auto Ready Status. In this status, press the start button will let the robot turn to Auto Running Status. You can monitor the running status, as shown below.

• Period: Time suspend in the Auto carry out cycle.
• Extract Time: The time that robot dropped to get and take out the product in the Auto.
• Setted Products: The amount of product per-set. Alarm occurs when product counter reached.
• Qualified: The number of parts took out by the robotic arm.
• Stacking Number: The number of products had been stacked by the robot.
• Loop Time: The time after a carry out cycle in the Auto.
• Finished Count: The number of finished products.

5.3.2 Adjust Running Configures

In the auto running status, you can modify the action of program configures. Just select a step and then click the edit button will show an editor dialog, after you click "OK", those data would be accepted and in the next cycle will be run according to your setting, if you press "Cancel" to cancel the operation.

To ensure that those setting won't make the robot, machine, mold damage, within 5mm range is allowed. As shown below:

After you finished, just click the OK button to confirm your change.

5.3.3 Single Step Running

On the auto running status, you can click the single button to run a step. Click again will run the next step, as so on. This feature is very useful when debug your program.

5.3.4 Speed Adjustment

Click "Speed button" so that it becomes "Speed display" to adjust the overall speed by pressing "Speed adjustment" on the Key board and the panel on the lower left corner.