Robots User Manual (CE) - English

Original Instruction
ROBOTS FOR INJECTION MOULDING MACHINE

User Manual
Version: A
Machine Model:
XTA-800 XTA-900 XTA-1000 XTA-1100 XTA-1300 XTA-1500 XTA-1700
XTA-2000 XTA-2500
V-800 V-900 V-1000 V-1100 V-1300 V-1500 V-1700
XTD-1100 XTD-1300 XTD-1500 XTD-1700 XTD-2000 XTD-2500
Responsibility Preparation Review Approval

procedure
Signature
Date
Ningbo Hilectro Automation Technology Co.,Ltd.

No.518, Xiaojiajiang Middle Road, Beilun District, Ningbo
Zhejiang 315801 P.R.China
1
Ningbo Hilectro Automation Technology Co.,Ltd.
Sale Department
Service
Department
WeChat
QR code
Customers’ problems are our topics, whether you have questions for Haitian, please
contact us timely.
Address: No.518, Xiaojiajiang Middle Road, Beilun District, Ningbo Zhejiang
Postal Code: 315801
2
EC-DECLARATION OF INCORPORATION
according to EC directive 2006/42/EC on machinery (Annex II B)
Ningbo Hilectro Automation Technology Co.,Ltd. 

No.518,Xiaojiajiang Middle Road,Beilun,District,Ningbo,Zhejiang,315801 P.R.China
Herewith the company named above declare, that the partly completed machinery described below,
Product ROBOTS FOR INJECTION MOULDING MACHINE
Type XTD-1100,XTD-1300,XTD-1500,XTD-1700,XTD-2000,XTD-2500.
Discription
D11ID20190131001,D13ID20190131001,D15ID20190131001,
Serial number
D17ID20190131001,D20ID20190131001,D25ID20190131001.
is complying with all essential requirements of the Machinery Directive2006/42/EC, EN ISO 12100 as far
as the scope of delivery allows. Additional the company named above will keep on file for review the
following technical documentation which are compiled in accordance with part B of Annex VII:
 Risk assessment
 Operating and maintenance instructions
 Technical drawings
 Description of measures designed to ensure conformity
 Other technical documentation ,e.g. quality assurance measures for design and production
We commit to transmit, in response to a reasoned request by the market surveillance authorities, relevant
documents on the partly completed machinery by our documentation department.
Authorized representative established within Haitian International Germany GmbH
the European Union Jubatus-Allee 10 92263 Ebermannsdorf Germany
+49-9438 9439 141
Person responsible for making this declaration:
Name ,Surname Huang Haohui

Position/ Title General Manager
The partly completed machinery must not be put into service until the final machinery into which it is to be
incorporated has been declared in conformity with the provisions of Directive 2006/42/EC on Machinery,
where appropriate, and until the EC Declaration of Conformity according to Annex II A is issued.
The safety and operating requirement enclosed in the operation manuals has to be observed.
Place/Date： General Manager：
3
EC-DECLARATION OF INCORPORATION
according to EC directive 2006/42/EC on machinery (Annex II B)
Ningbo Hilectro Automation Technology Co.,Ltd. 

No.518,Xiaojiajiang Middle Road,Beilun,District,Ningbo,Zhejiang,315801 P.R.China
Herewith the company named above declare, that the partly completed machinery described below,
Product ROBOTS FOR INJECTION MOULDING MACHINE
XTA-800,XTA-900,XTA-1000,XTA-1100,XTA-1300,XTA-1500,
Type XTA-1700,XTA-2000,XTA-2500,V-800,V-900,V-1000,V-1100,V-1300,
V-1500, V-1700.
Discription --
A08HD20190131001, A09HD20190131001, A10HD20190131001,
A11HD20190131001, A13HD20190131001, A15HD20190131001,
A17HD20190131001, A20HD20190131001, A25ID20190131001,
Serial number
V08HD20190131001, V09HD20190131001, V10HD20190131001,
V11HD20190131001, V13HD20190131001, V15HD20190131001,
V17HD20190131001.
is complying with all essential requirements of the Machinery Directive2006/42/EC, EN ISO 12100 as far as the
scope of delivery allows. Additional the company named above will keep on file for review the following
technical documentation which are compiled in accordance with part B of Annex VII:
 Risk assessment
 Operating and maintenance instructions
 Technical drawings
 Description of measures designed to ensure conformity
 Other technical documentation ,e.g. quality assurance measures for design and production
We commit to transmit, in response to a reasoned request by the market surveillance authorities, relevant
documents on the partly completed machinery by our documentation department.
Authorized representative established within the Haitian International Germany GmbH
European Union Jubatus-Allee 10 92263 Ebermannsdorf Germany
+49-9438 9439 141
Person responsible for making this declaration:
Name ,Surname Huang Haohui
Position/ Title General Manager
The partly completed machinery must not be put into service until the final machinery into which it is to be
incorporated has been declared in conformity with the provisions of Directive 2006/42/EC on Machinery, where
appropriate, and until the EC Declaration of Conformity according to Annex II A is issued.
The safety and operating requirement enclosed in the operation manuals has to be observed.
Place/Date： General Manager ：
4
Parameter Table
Model Unit XTA-800
Apply to IMM ton 60-250
The controller brand model - H5-RC1000E-MC
Drive way - FULL SERVO
Power source - 400V AC 50Hz 3P/N/PE
Power consumption kW 2.1
Full load current A 10.3
Pneumatic pressures bar 5
Z mm 800
Z1 mm 850
Travel Y mm 480
Y1 mm 480
X mm 1400
Load weight kg 5
Cylinder output
Posture Torque N.m 8
Air consumption NL/cycle 4.77
Net weight kg 330
（LxWxH） Size mm 2460×1570×1280
Model Unit XTA-900
Z mm 900
Z1 mm 950
Travel Y mm 600
Y1 mm 600
X mm 1400
Load weight kg 5
Cylinder output
Net weight kg 340
（LxWxH） Size mm 2460×1690×1335
5
Model Unit XTA-1000
Z mm 1000
Z1 mm 1050
Travel Y mm 600
Y1 mm 600
X mm 1400
Load weight kg 5
Cylinder output
Net weight kg 350
（LxWxH） Size mm 2460×1690×1355
Model Unit XTA-1100
Z mm 1100
Z1 mm 1150
Travel Y mm 670
Y1 mm 670
X mm 1800
Load weight kg 8
Cylinder output
Air consumption NL/cycle 15
Net weight kg 520
（LxWxH） Size mm 2970×1790×1600
6
Model Unit XTA-1300
Z mm 1300
Z1 mm 1350
Travel Y mm 870
Y1 mm 870
X mm 2000
Load weight kg 8
Cylinder output
Net weight kg 580
（LxWxH） Size mm 3150×1970×1700
Model Unit XTA-1500
Z mm 1500
Z1 mm 1550
Travel Y mm 1120
Y1 mm 1120
X mm 2500
Load weight kg 20
Cylinder output
Net weight kg 995
（LxWxH） Size mm 3847×2480×1935
7
Model Unit XTA-1700
Z mm 1700
Z1 mm 1750
Travel Y mm 1120
Y1 mm 1120
X mm 2500
Load weight kg 20
Cylinder output
Net weight kg 1020
（LxWxH） Size mm 3847×2480×2065
Model Unit XTA-2000
Power consumption kW 5
Z mm 2000
Z1 mm 2050
Travel Y mm 1415
Y1 mm 1415
X mm 3000
Load weight kg 35
Cylinder output
Net weight kg 1340
（LxWxH） Size mm 4015×3543×2274
8
Model Unit XTA-2500
Power consumption kW 4
Full load current A 21
Z mm 2500
Travel Y mm 1600
X mm 3500
Load weight kg 40
Cylinder output
Net weight kg 2630
（LxWxH） Size mm 5000×3870×3050
Model Unit V-800
Z mm 800
Z1 mm 850
Travel Y mm 600
Y1 mm 600
X mm 1400
Load weight kg 8
Cylinder output
Net weight kg 320
（LxWxH） Size mm 2571×1566×1897
9
Model Unit V-900
Z mm 900
Z1 mm 950
Travel Y mm 600
Y1 mm 600
X mm 1600
Load weight kg 8
Cylinder output
Net weight kg 335
（LxWxH） Size mm 2751×1566×2067
Model Unit V-1000
Z mm 1000
Z1 mm 1050
Travel Y mm 600
Y1 mm 600
X mm 1600
Load weight kg 8
Cylinder output
Net weight kg 340
（LxWxH） Size mm 2751×1566×2187
10
Model Unit V-1100
Z mm 1100
Z1 mm 1150
Travel Y mm 680
Y1 mm 680
X mm 1800
Load weight kg 12
Cylinder output
Net weight kg 600
（LxWxH） Size mm 3003×1830×1787
Model Unit V-1300
Z mm 1300
Z1 mm 1350
Travel Y mm 680
Y1 mm 680
X mm 2000
Load weight kg 12
Cylinder output
Net weight kg 680
（LxWxH） Size mm 3203×1830×1987
11
Model Unit V-1500
Z mm 1500
Z1 mm 1550
Travel Y mm 1020
Y1 mm 1020
X mm 2500
Load weight kg 20
Cylinder output
Net weight kg 995
（LxWxH） Size mm 3990×2325×1980
Model Unit V-1700
Z mm 1700
Z1 mm 1750
Travel Y mm 1020
Y1 mm 1020
X mm 2500
Load weight kg 20
Cylinder output
Net weight kg 1020
（LxWxH） Size mm 3990×2325×2100
12
Model Unit XTD-1100
Z mm 1100
Travel Y mm 980
X mm 1800
Load weight kg 8
Cylinder output
Net weight kg 430
（LxWxH） Size mm 3078×1962×1563
Model Unit XTD-1300
Z mm 1300
Travel Y mm 1160
X mm 2000
Load weight kg 8
Cylinder output
Net weight kg 460
（LxWxH） Size mm 3318×2162×1623
13
Model Unit XTD-1500
Z mm 1500
Travel Y mm 1340
X mm 2500
Load weight kg 20
Cylinder output
Net weight kg 1210
（LxWxH） Size mm 3994×2450×2000
Model Unit XTD-1700
Z mm 1700
Travel Y mm 1340
X mm 2500
Load weight kg 20
Cylinder output
Net weight kg 1250
（LxWxH） Size mm 3994×2450×2120
14
Model Unit XTD-2000
Z mm 2000
Travel Y mm 1800
X mm 3000
Load weight kg 35
Cylinder output
Net weight kg 1248
（LxWxH） Size mm 4575×3535×2480
Model Unit XTD-2500
Z mm 2500
Travel Y mm 2200
X mm 3500
Load weight kg 40
Cylinder output
Net weight kg 2512
（LxWxH） Size mm 5257×3685×3027
15
Catalog
1. Chapter I Safety and Warning................................................................................................20
1.1. Safety........................................................................................................................................................ 20
1.1.1. Paragraph marking in documents.................................................................................................20
1.1.2. General methods excluding manipulator fault methods.............................................................. 20
1.1.4. Emergency stop............................................................................................................................ 20
1.1.5. Lock-out and Tag-out................................................................................................................... 20
1.1.6. Notes............................................................................................................................................. 21
1.1.7. Warning signs............................................................................................................................... 21
1.2. Training.....................................................................................................................................................27
1.3. Personal Protective Equipment................................................................................................................ 27
1.4. Warning of Errors and Residual Risks..................................................................................................... 28
1.4.1. Lock-out and Tag-out................................................................................................................... 31
1.4.2. Quit from lock-out and tag-out process....................................................................................... 32
1.4.3. Standardized process and training personnel............................................................................... 32
1.4.4. Specifications............................................................................................................................... 33
2. Chapter II Hoisting and Transportation................................................................................. 35
2.1. Hoisting\Disassembling Personal Protective Equipment.........................................................................35
2.2. Weight of Equipment................................................................................................................................36
2.3. Transportation and Fixation......................................................................................................................36
2.4. Lifting Handling Equipment.................................................................................................................... 37
2.5. Hoisting Guides of Types......................................................................................................................... 37
2.5.1. XTA-800/XTA-900/XTA-1000/V-800/V-900/V-1000.................................................................37
2.5.2. XTA-1100/XTA-1300/V-1100/V-1300.........................................................................................38
2.5.3. XTA-1500/XTA-1700/V-1500/V-1700........................................................................................ 39
2.5.4. XTA-2000..................................................................................................................................... 40
2.5.5. XTA-2500..................................................................................................................................... 42
2.5.6. XTD-1100/XTD-1300.................................................................................................................. 44
2.5.7. XTD-1500/XTD-1700..................................................................................................................45
2.5.8. XTD-2000.....................................................................................................................................46
2.5.9. XTD-2500.....................................................................................................................................47
3. Chapter III Machine Debugging............................................................................................50
3.1. Use Conditions......................................................................................................................................... 50
3.2. Start-up..................................................................................................................................................... 50
3.3. Manipulator Debugging Procedures.........................................................................................................50
3.3.1. Check the environment of manipulators...................................................................................... 50
3.3.2. Check the manipulator situations................................................................................................. 51
3.3.3. Check power supply and air source............................................................................................. 51
3.3.4. Check interactive signal and parameter adjustment.....................................................................51
3.3.5. Spatial check.................................................................................................................................51
3.3.6. Programming................................................................................................................................ 52
3.3.7. Performance check....................................................................................................................... 52
3.3.8. Re-check after automatic operation for 2 hours...........................................................................52
16
3.3.9. Mark the manipulator hazards......................................................................................................52
3.4. Quick Start................................................................................................................................................ 53
4. Chapter IV Maintenance and Protection................................................................................56
4.1. Maintenance inspection............................................................................................................................ 56
4.1.1. Instructions on equipment maintenance inspection..................................................................... 56
4.1.2. Check tightening of nuts and bolted parts....................................................................................57
4.1.3. Lubrication maintenance and inspection of guide rail.................................................................57
4.1.4. Cleaning and inspection of manipulator surfaces........................................................................ 60
4.1.5. Transmission mechanism of gear and rack.................................................................................. 61
4.1.6. Drive mechanism of timing belt...................................................................................................62
4.1.7. Inspection of the air pipe.............................................................................................................. 63
4.1.8. Maintenance and inspection of filter pressure reducing valve.................................................... 64
4.1.9. Maintenance and inspection of hydraulic shock absorb.............................................................. 65
4.1.10. Maintenance and inspection of cylinders.....................................................................................67
4.1.11. Maintenance and inspection of pressure switches....................................................................... 68
4.1.12. Inspection of power distribution cabinets and cables.................................................................. 69
4.1.13. Inspection of standard motion and detection of limit signal........................................................69
4.1.14. Maintenance and inspection of other accessories........................................................................ 70
4.2. Maintenance and safety............................................................................................................................ 71
4.3. Periodic inspection table...........................................................................................................................72
5. Chapter V Mechanical Part....................................................................................................75
5.1. Configuration Diagram.............................................................................................................................75
5.2. Complete Machine Boundary Dimension Introduction........................................................................... 77
5.3. Complete Installation Drawings...............................................................................................................79
5.4. Turnover Plate Structural Dimension Drawings...................................................................................... 83
5.4.1. XTA-800 XTA-900.......................................................................................................................83
5.4.2. V-800 V-900 V-1000 XTA-1100 XTA-1300 XTD-1100 XTD-1300...........................................84
5.4.3. V-1100 V-1300..............................................................................................................................85
5.4.4. V-1500 V-1700 XTA-1500 XTA-1700 XTD-1500 XTD-1700................................................... 86
5.4.5. XTA-2000 XTD-2000.................................................................................................................. 87
5.4.6. XTA-2500 XTD-2500.................................................................................................................. 88
5.5. Description of fixed guards dimension and Safety interlocking guards with guard locking size........... 89
5.5.1. Maintenance checkup................................................................................................................... 89
5.5.2. Description of fixed guards dimension and Safety interlocking guards with guard locking size
90
5.5.3. Safety interlocking guards with guard locking............................................................................ 91
5.5.3.1. Safety interlocking guards with guard locking dimension...........................................................91
5.5.3.2. Applicable models for safetyinterlocking guards with guard locking..........................................91
5.5.3.3. Safety interlocking guards with guard locking mounting way.....................................................91
5.5.3.4. Material of safety interlocking guards with guard locking.......................................................... 91
5.5.4. Safety fixed guards....................................................................................................................... 91
5.5.4.1. Safety fixed guards dimension..................................................................................................... 91
5.5.4.2. Applicable models forfixed guards...............................................................................................91
6. Chapter VI Electrical Part......................................................................................................94
17
7. Chapter VII Operation Introduction...................................................................................... 95
7.1. Brief Introduction of the System.......................................................................................................... 95
7.2. Connection.............................................................................................................................................. 95
7.3. Controller................................................................................................................................................. 97
7.3.1. Controller Introduction................................................................................................................ 97
7.3.2. Controller Features.......................................................................................................................97
7.3.3. Controller Port Introduction........................................................................................................ 98
7.4. TeachPendant.......................................................................................................................................100
7.4.1. TeachPendant Introduction........................................................................................................ 100
7.4.2. TeachPendant Features.............................................................................................................. 100
7.4.3. eachPendant Operation............................................................................................................. 101
7.5. I/O Module.............................................................................................................................................102
7.5.1. SIO Module................................................................................................................................. 102
7.5.2. PIO Module.................................................................................................................................102
7.5.3. TIO Module................................................................................................................................. 103
7.6. HMI Interface Layout........................................................................................................................... 103
7.6.1. Main Screen................................................................................................................................103
7.6.2. Keys Interface............................................................................................................................. 104
7.6.3. Function Interface...................................................................................................................... 105
7.7. Home......................................................................................................................................................107
7.7.1. Home Operation.........................................................................................................................107
7.7.2. Home Setup................................................................................................................................ 107
7.8. Manual Operation................................................................................................................................ 109
7.9. Free Operation..................................................................................................................................... 110
7.10. Program Management.................................................................................................................... 110
7.10.1. Create and Load Program...........................................................................................................111
7.10.2. Template Program......................................................................................................................111
7.10.3. USB Import and Export Functions..............................................................................................112
7.11. Edit Program.....................................................................................................................................112
7.11.1. Enter Edit Mode..........................................................................................................................112
7.11.2. Edit Program...............................................................................................................................113
7.11.3. Exit Edit Mode and Compile Download..................................................................................... 114
7.11.4. Program Online Modification.....................................................................................................115
7.12. Program Command Introduction...................................................................................................117
7.12.1. Motion Command...................................................................................................................... 117
7.12.2. Output Command.......................................................................................................................120
7.12.3. Wait Command...........................................................................................................................121
7.12.4. Control Command...................................................................................................................... 121
7.12.5. Operation Command..................................................................................................................122
7.13. Program Examples.......................................................................................................................... 122
7.13.1. Example for Robot Take Product from Injection Moulding Machine........................................ 122
7.13.2. Example for If Structure Program...............................................................................................123
7.13.3. Example for FOR Loop Structure Program................................................................................. 125
7.13.4. Example for Group Command program..................................................................................... 126
18
7.13.5. Example for Matrix Program...................................................................................................... 127
7.13.6. Example for Palletizing Program................................................................................................ 128
7.14. Process Setup.................................................................................................................................. 129
7.14.1. Position Setup.............................................................................................................................129
7.14.2. Timer Setup................................................................................................................................ 130
7.14.3. Counter Setup.............................................................................................................................131
7.14.4. Matrix Setup............................................................................................................................... 132
7.14.5. Palletizing Setup......................................................................................................................... 133
7.15. Program Execution.......................................................................................................................... 133
7.15.1. Step Debug................................................................................................................................. 134
7.15.2. Automatic Running.....................................................................................................................134
7.16. Production Management................................................................................................................ 135
7.17. Engineer Setup.................................................................................................................................136
7.17.1. Function Setup............................................................................................................................136
7.17.2. Polarity Setup............................................................................................................................. 138
7.17.3. Alarm Ignore Setup.....................................................................................................................138
7.17.4. Alarm Setup................................................................................................................................ 139
7.17.5. Mould Setup............................................................................................................................... 139
7.18. System Setup................................................................................................................................... 140
7.18.1. UI Setup...................................................................................................................................... 140
7.18.2. Password Setup.......................................................................................................................... 141
7.18.3. Version Information....................................................................................................................141
7.18.4. Maintain Setup........................................................................................................................... 142
7.18.5. Communication Setup................................................................................................................ 143
7.19. Machine Parameter Setup............................................................................................................. 143
7.19.1. Machine Type Selection............................................................................................................. 143
7.19.2. Safety Setup................................................................................................................................143
7.19.3. Stroke Setup................................................................................................................................144
7.19.4. Acceleration Setup..................................................................................................................... 145
7.19.5. Speed Setup................................................................................................................................145
7.19.6. Axis Setup................................................................................................................................... 146
7.19.7. Restore Factory Setup................................................................................................................ 148
7.20. I/O Port Monitoring.......................................................................................................................... 148
7.21. Alarm Record....................................................................................................................................149
7.22. System Record.................................................................................................................................149
7.23. System Config.................................................................................................................................. 150
7.24. Software Upgrade............................................................................................................................151
Annex.........................................................................................................................................153
Annex I: Interface Search ID Table............................................................................................................... 153
Annex II: Functional Authorization Table......................................................................................................154
Annex III: Alarm Content and Solution Table.............................................................................................. 155
19
1. Chapter I Safety and Warning
1.1. Safety
1.1.1. Paragraph marking in documents

Besides this document containing basic security information, the other documents in the manual contain three kind
of paragraphs, grading the importance of information in security:
Warning! Danger of damaged equipment or personnel. Users must read these instructions very carefully.
Note: the information given is very important during the use of manipulators. The operation of manipulators may
cause inconvenience to the users. For example, the manipulator may stop accidently.
Note: emphasize an important point.
1.1.2. General methods excluding manipulator fault methods
Collective protective equipment must be considered first:
Collective protective equipment at customer: sidewalks, platforms, fixed ladders, inspection platforms, fixed or
removable scaffolds.
If unavailable for group protection equipment, additional protection equipment must be obtained, such as renting
inspection platforms or scaffolds (inspected before use).
Personal protective equipment can be used only when impossible to use common protective equipment. In such
cases, personal devices such as "ladder stand" must be used together with suitable personal protective equipment
(PPE).
1.1.3. Security
The manipulator can only be used in injection molding machines under a safe environment. Protective devices must
be installed to make the working area of the manipulator inaccessible. Only after lock-out/tag-out or security
measures guaranteed, operators can conduct maintenance etc.
Before start-up, ensure that the safety doors are installed and fixed on the ground (see EN 953 standards).
1.1.4. Emergency stop
The pneumatic air source may not be cut off when the emergency stop circuit is cut off, and the pneumatic parts
may continue to operate until completion.
It is necessary to release the air pressure before checking the manipulator.
When the emergency stop button of the manipulator is pressed:
Servo motor power cutoff, the motion of the manipulator immediately stops.
The injection molding machine stopping
1.1.5. Lock-out and Tag-out
Before any maintenance operation, you must first set up the lock-out and tag-out indicator. It can only be finished
by authorized personnel.
1.1-20
1.1.6. Notes
Interlocking guards with guard locking
The robot is intended to use for injection moulding machine and interlocking guards with guard
locking shall be fixed before production, the mounting dimension refer to clause of 5.5 of this
manual.
Switch box and Emergency stop box shall be installed outside the safeguarded space.
Switch box including locking and unlocking button of interlocking guards with guard locking,
confirmation action button for prior to activating the automatic mode.
Manual reduced-speed mode
This mode is used for jogging, teaching, programmer verification of the robot and operated shall be
outside the safeguarded space only.
In operating within the safeguarded space is forbidden!
Single-step mode
This mode is used for verifying the teaching program only and operated shall be outside the
safeguarded space only.
Automatic mode
This mode is execute the task programmer only and operated shall be outside the safeguarded space
only.
Forbid to enter into robot’s working range.
Forbid to enter into robot’s working range in case of serious injury by being drawn into or restrained
by robot.
Forbid to maintain robot in operation.
Please don’t maintain the robot in operation. While maintaining, please turn off (high voltage) air
switch, cut off the power switch of control cabinet or operating box and power circuit breaker first.
1.1.7. Warning signs
Leakage protection warning.

Leakage current is larger than
10mA,
please use 10mm ² wire for earth
ground connection.
Hazadous Voltage.
Contact may cause electric shock or burn.
Turn off and lock out system power before
servicing.
Read and understand manual before servicing.
Only qualified personnel should service this
panel.
Tension
1.1-21dangerous.
The machine uses warning signs as below.
 Examples of warning signs allocation:
1.1-22
The equipment accords with relative
standards of CE.
High voltage danger
Warning: Electricity
To warn of a hazard from electricity
X axis indication
Y axis indication
Y1 axis indication
1.1-23
Z axis indication
Z1 axis indication
No entry for non-related person with in

the moving scope of robot arm.
Warning: leakage current exists.

Minimum cross-section area of PE guide
line that end user provides is 10 square
meters.
1.1-24
Shock and arc flash explosion hazards.
Follow ALL requirements in NFPA 70E for
safe work practices and for Personal
Protective Equipment.
Hazardous Voltage.
Contact may cause electric shock or burn.
Turn off and lock out system power
before servicing.
Lift Point-Use Lift Hook With Safety Catch.
Please keep away without precaution

while the robot is in operation.
No entry for non-related person within

the moving scope of robot arm.
Please adjust the stoke refer to the

instruction.
1.1-25
Refer to instruction manual/booklet
To signify that the instruction
manual/booklet must be read.
Read Technical Manual Before Servicing
Hand Entanglement/Notched Belt Drive.
Pay attention to meet up.
Note pressure hand
The equipment is not allowed to operate under the environments of anti-explosion,

inflammable, poisoning, corrosion and underground.
1.1-26
1.2. Training
It is recommended that you should not to use the manipulator without training.
The employer must ensure that all personnel participating in programming, operating, repairing or repairing any
equipment in the manipulator or automation area are properly trained and possess the necessary skills to safely
complete the required tasks. Training must contain:
Standard safety procedures and the test of safety suggestions applicable for Manufacturers in the manipulator and
equipment in the field of automation
■ Assign clear definition tasks
■All operating devices and the function identification, description when executing assigned tasks,
■Identifying safety hazards related to the distributive tasks,
■ Recommend safety methods, including safety working procedures for identified hazards,
■Manipulator function test methods or other methods used to check whether the safety and locking device operates
normally.
The equipment is not allowed to operate in explosive, corrosive or underground environment or
environment containing flammable or poisonous substances.
1.3. Personal Protective Equipment
The user must guarantee that the personal protective equipment, handling equipment and equipment used for work
meet the current regulations of the user's country.
The following table displays the personal protective equipment used for various operations.
Helmet
Safety shoes
Gloves
Anti-dropping system
Type of
Stage Operation
Equipment
Lifting appliance installation
Overhead install sling
Hoisting machines
Installation
Install manipulator on injection molding machines
Install electric cabinet
Install band carrier and protective equipment
1.3-27
Remove the support elements from the forklift
Unload by forklift or crane
Transportation
Remove the packaging
Hoisting
The manipulator is linked with the electric cabinet
Electrical connection between power supply and the manipulator(cable feed
through and laying)
Pneumatic and electrical connection on other equipment
Debugging Remove the manipulator
Turnover mechanism installation of robots or peripherals at altitude
Install turnover mechanism
Installation electric cabinet on X axis(installation, setting, test)
Jig change
Jig change
Operation
Monitor process
Robot element change
Robot element change at altitude
Maintenance Service technician: close to motor for work
Check at altitude: Exhaust, check, lubrication guide, clean CBMC filter
Work in the energized equipment cabinet
1.4. Warning of Errors and Residual Risks
Unless special measures have been taken, electrical and pneumatic lock-out and tag-out shall always be performed
before any modification, face-lifting or troubleshooting for any part of the equipment cabinet or machine. Please
refer to+ lock-out and tag-out in Live Area.
■Generally:
The steps (operation, installation, maintenance, etc.) described in manual must be followed.
Any design shall not be changed without the manufacturer's consent.
The limit parameters of the machine provided in the equipment characteristic table shall not be exceeded.
All technicians must comply with the current Labor Laws in their country.
Only the spare parts provided by the manufacturer can guarantee that the maintenance will not change the safety
level of the machine.
■The following table of warning is only used as an example
Part Modification Examples Risks
Manipulator
Change：
Installation
The manipulator may become unstable.
- Hose
- Mould clamping etc.
1.4-28
Drill hole on fixed pressing plate is
not applicable
Un-suitable screws and bolts are
Screw disconnection
used.
Correct tightening torque is not
applicable
Change journey (for example, Beyond the journey of the manipulator, cause the
increase journey) moveable parts falling off.
For example, change the base
structure of the manipulator to pass
Manipulator base It may lead to rupture of the manipulator base.
through the medium outgoing cables
of the manipulator base.
Correct tightening torque is not
applicable.
Handle the manipulator and its base
with other equipment as shown in the The assemble may become unstable, and the structure
Manipulator non-processing diagram, or hang it may become warp.
operation where is not used for this purpose.
Guide rail suspension during
Guide rail and railway assembly are broken
operation
Make the axis statically exceed 50
Motion of guide cycles instead of lubrication cycle at
Guide rail rapid deterioration
rail least 2 to 3 times in the length of the
bearing pedestal.
If failure occurs, the effect on mechanical stop may be
Remove or change the motor journey
excessively severe.
Remove the manipulator for
Motor unit Damaged risk
over-travel
Brakeless motor Extend the emergency stop time. If the emergency
installation(insufficient brake stop or the manipulator power-off, the brake will be
moment of force) out of operation.
Performance and specification Failure of the buffer will cause shock and vibration,
change leading to component damage.
Work air pressure greater than 7 Mpa Fittings and air pipes maybe damaged.
Pneumatic unit Change pneumatic circuit(drawings) Working condition change
Release air pressure when pneumatic
Danger
movement
Cut off air source or without check
Danger
for air pressure before use.
Place ladder on moveable
Moveable parts Moveable part sliding and personnel tumble
components
1.4-29
Change rotational motion torgue. The normal motion may be impossibly finished.
Rotation unit
Close to rotation unit when air
Danger
pressure exists
Incompatible base-plate is used. Jig drop

Jig unit
Change jig Jig drop
The size of jig is not compatible with
the quality and the performance of Damaged risks
the manipulator.
The operator places components
(inserts etc.) directly on the jig or
Operators may be injured
removes the products directly from
Transportation the jig.
components Change pneumatic circuit under not
complying with manufacturer's Working condition change of the manipulator
suggestions.
Guide rail abrasion
The arm is impacted when the Arm damage
manipulator moves. Location error
Add or change cables in the cable

chain (or check when un-necessary)
Cable rapid damage, abnormal operation
in addition to the manufacturer's
instructions.
Pull or squeeze cables Lead to poor cable contact or short circuit
Cable
As each installation is specific,
please contact the After-sales
Department before changing or Improper operation lead to cables or air pipes damage.
adding any cables or hoses in the
drag chain.
Movement is affected.
Software Change parameters without
Beyond the scope of authorization
parameter related manufacturer's consent (or check
Axis error movement lead to injury of personnel.
to electrical axis when un-necessary).
All equipment Turn off the circuit during power on Electric shock/ dangerous electric contact
When the manipulator is used or

Hoisting tested, manipulator test can be Personnel damage
conducted by crane suspension
1.4-30
Make it movable or fixed in a
Hoisting controlled area (see "Work
Personnel damage
equipment Area" in the installation
section).
Change circuit without
Dangerous electrical contact
electrical qualification.
Electric
Change electrical wiring Change working conditions
control
Static electricity and dangerous electric
cabinet Earth-free
contact
Hot-line work Dangerous electric contact
Improper use of the tasks not
described in the Control Unit Functional risk
Control unit Implementation Manual.
Change drive parameters not Functional risk, personnel injury risk caused
as instructed by axis movement
Without protection device or
Working
un-fixed around the Personnel injury in Working Area or nearby
environment
manipulator working space
Directly use the manipulator
without the test and
Manipulator collision risk
connection with the injection
Injection
molding machine.
molding
Change the safety function of
machine
the manipulator and interface
Manipulator collision risk
of the injection molding
machine.
1.4.1. Lock-out and Tag-out
For security reasons, the lock-out and tag-out of the manipulator work area must include four indivisible
stages described on the following page:
■Isolation,
■Lock-out and tag-out
■Release residual energy,
Check and identify.
After the risk analysis is conducted based on the characteristics of individual cases, some stages shall be carried out
in a different order: for example, for electrical power and equipment, it must be earthing after without voltage by
check (release of residual energy).

"Release of residual energy" refers to the removal of all potential residual energy: capacitor discharging,
removing air pressure.
1.4-31
Isolation and release of residual energy must be close to the operating area as far as possible for inspection.
It must still be deemed that voltage and air pressure exist when working.
Before operation, the validity of lock-out and tag-out must be always checked:
If without enough guarantee, do not exit from the lock-out and tag-out process privately.
Clean up all the parts involved in the operation after completion.
Lock-out and
Risks
tag-out Stage
Electrical Mechanical
Close all power supply and control Cut off all forms of energy transmission,
Isolation circuits-the status must be clear and including accumulator- the status must be
visible. clear and visible.
Use a padlock isolation switch and padlock release valve locking. The state of these
Lock-out devices must be visible from exterior and operated only with specific tools. Turn off
related equipment in emergency mode.
Tag-out The marking must be displayed clearly.
Set the lowest level by:

Grounded and short-circuited - close the mechanism,
Release storage
conductors (conduct after inspection - set to stable mechanical balance (bottom
energy
phase) dead centre)
- release air pressure.
Without residual energy：

There is no voltage between any
Examination conductor (including neutral) and - Voltage
ground. - Pressure
- Moveable components
When necessary, mark any dangerous
region
Recognition
In order to ensure the work proceeding, all graphical representation and device
identification marks on the isolation facility or equipment are legible and latest.
1.4.2. Quit from lock-out and tag-out process

Exiting the lock-out and tag-out process may involve in some risks. For example: the risk of motor movement when
the power supply is reconnected.
Circuit marking must be specially focused. Avoid the risk of working on the wrong device or start-up at the wrong
time.
Before the normal re-start phase, it is generally required to operate a cycle under test mode.
1.4.3. Standardized process and training personnel

Due to various situations occur. it can not use the manipulator working area standards lock-out tag-out process.
1.4-32
After conducting risk analysis, each employer must define the process based on the laws of the user's country and
ensure that the four lock-out and tag-out phases are arranged and completed. If it is impossible to implement in
technology, compensation measures must be arranged.
The main measures needing to be considered are as follows:
Marking areas, one person is responsible for monitoring and coordinating working progress
Inform the work plan,
Assign the person who is responsible for the lock-out and tag-out personnel and the involved personnel (internal or
external),
In view of the environment during the lock-out and tag-out, coordinate the lock-out and tag-out and the subsequent
quit process for lock-out and tag-out when changing personnel (such as shift).
The different people involved must fully accept the training and information of work to be conducted.
When external personnel are involved in work, the Manager of user company is responsible for ensuring that the
person responsible for the lock-out and tag-out meets the requirements and is fully familiar with the relevant
equipment (e.g. electrical maintenance qualification).
1.4.4. Specifications
Power supply
3P/N/PE，400Vac，50Hz
Electric supply tolerances

+/-10%V，+/-1Hz
Operation ambient air temperature 5-40C

Operation humidity 30-95%
installation altitude Max. 1000m
transport/storage temperature -25C-55C
The normal main power is AC 400V 50Hz 3P/N/PE, detailed wire diameter and the capacity of protection switch
reference electrical diagram.
Please connect the end of power line to the terminal as picture attached below(left) or aviation joint(right)
The final user should mount overvoltage protection device, and test its safety function follow the section 18.2 of
standard EN 60204-1.
The equipment is not allowed to operate in explosive, corrosive or underground environment or environment
containing flammable or poisonous substances.
1.4-33
1.4-34
2. Chapter II Hoisting and Transportation
2.1. Hoisting\Disassembling Personal Protective Equipment
Users shall install, maintain, handle with emergencies and work at heights only according to the safety
regulations of their countries and on the premise of ensuring the correct use of personal protective equipment. The
following table lists general personal protective equipment and its applicable workplace.
Operate at height
Helmet Protective gloves Safety shoes
protective ropes
Operation Phase Operation Contents Personal Protectors

Hoisting installation
Loading phase
Operate at height
Operate driving, crane
Robot installation
Accessory box placement and transfer

Conveyer belt and other peripheral
equipment loading
The constraint riggings and supports in
Transportation the carrier vehicles dismounting
phase Machine dismounting by forklift,
travelling crane or crane
2.1-35
Package dismounting
Hoisting
Connection between robots and electric
cabinet
Overhead connect the electric cabinet in
Complete machine workshop, cables between air compressor
debugging phase and robot, air pipe
Other peripheral equipment pneumatic
and electrical connection
Other demolition parts of the transport
and restructuring
Overhead install robots or monitoring
equipment installation on peripherals
Installation, parameter setting, test
Install or change jigs
Operation phase Install or change jigs
Monitor robot trial operation process
Change robot parts

Robot maintenance at height
Maintenance and Technical maintenance parts: close to the
servicing mechanical movement parts operation
Operate at height: deflate, check, lubricate
guide rail, clean filter
Hot-line work
2.2. Weight of Equipment
Please refer to the nameplate
2.3. Transportation and Fixation
The robots are fixed on wooden brackets during complete transportation.

Accessories are packed by cartons.
2.3-36
2.4. Lifting Handling Equipment
With reserved forklift entry position under the wooden bracket, and forklifts of specified tonnage are used for
loading.
With lifting point reserved on the machine, after mounted by ropes whose supporting capacity meet the stipulations,
hoisting can be conducted through crane or driving crane.
Other auxiliary small parts should be carried by hydraulic carts, and should be placed on the pallet when placing,
and should not contact with the ground directly
2.5. Hoisting Guides of Types
2.5.1. XTA-800/XTA-900/XTA-1000/V-800/V-900/V-1000
Standard machines (walking 1600 and below; Front-back 920 and below; Up-down 800 and below, distinguish
three axis and five axis)
Dead-weight of the complete machines: 280KG-360 KG
The complete machine three-point hoisting, please choose the appropriate lifting ropes for bearing, and the specific
lifting point is shown as follows:
Transportation mode: overall
2.5-37
2.5.2. XTA-1100/XTA-1300/V-1100/V-1300
Dead-weight of the complete machines: 600KG- 680KG
The complete machine three-point hoisting, please choose the appropriate lifting ropes for bearing,
2.5-38
2.5.3. XTA-1500/XTA-1700/V-1500/V-1700
Dead-weight of the complete machines: 900KG- 1100KG; Split weight: walking axis: 680kg-750kg/ Front-back +
up-down: 270 KG-350 KG
Hoisting: The complete machine adopts three-point hoisting or split-type, please choose the appropriate lifting
ropes for bearing
2.5-39
2.5.4. XTA-2000
Dead-weight of the complete machines: 1450KG-1800KG; Split weight: walking axis: 1000kg-1200kg/ Front-back
+ up-down: 400 KG-600 KG
ropes for bearing
Transportation mode: according to the specific situation for overall or split-type
Overall transportation, three-point hoisting
2.5-40
Split-type transportation, split-type hoisting
X axis base is reserved for hoisting with threading ropes, please use based on the specific situations.
2.5-41
2.5.5. XTA-2500
Standard machines (walking 4500 and below; Front-back 2630 and below; Up-down 2500 and below)
Dead-weight of the complete machines: 3000KG-3500KG; Split weight: walking axis 2000KG-2600KG/
Front-back + up-down: 900-1100 KG
ropes for bearing
Transportation mode: split-type ((generally, after robots being assembled on the ground and then installed on the
injection molding machines is adopted)
Complete hoisting:
2.5-42
Split-type hoisting:
After the hoisting YZ component installed on the X axis substrate, the hoisting Z axis is flipped 90 degrees before fixation.
fixation.
2.5-43
2.5.6. XTD-1100/XTD-1300
Standard machines (theoretical estimation)
Dead-weight of the complete machines: 600KG-680KG
The complete machine adopts four-point hoisting, please choose the appropriate lifting ropes for bearing.
The top of Z-axis needs install a sling to prevent it from tip-over.
2.5-44
2.5.7. XTD-1500/XTD-1700
The complete machine adopts four-point hoisting, please choose the appropriate lifting ropes for bearing.
2.5-45
2.5.8. XTD-2000
The complete machine adopts four-point hoisting or split-type, please choose the appropriate lifting ropes for
bearing.
2.5-46
2.5.9. XTD-2500
Standard machines (walking 4500 and below; Front-back 2200 and below; Up-down 3500 and below)
Dead-weight of the complete machines: 2200KG-2600KG; Split weight: walking axis: 1600KG-1800KG/
Front-back: 300 KG-380 KG/ Up-down 300KG—460KG
The complete machine adopts four-point hoisting or split-type, please choose the appropriate lifting ropes for
bearing.
2.5-47
X axis hoisting descriptions:
Y axis hoisting descriptions:
2.5-48
Z axis hoisting descriptions:
①
②
2.5-49
3. Chapter III Machine Debugging
3.1. Use Conditions
Before starting production, the user shall ensure that the protective and safety equipments have been equipped
in manipulator operation area and the program has been copied.
3.2. Start-up
As described in the article, after hoisting, splicing and connecting, the electrical debugging is also required to check
the mechanical function and safety equipment according to the procedures.
We advise that the work in this stage should be undertaken by our professional technicians. It can avoid disputes
within the warranty period.
3.3. Manipulator Debugging Procedures
3.3.1. Check the environment of manipulators

1. External environment:
a) Temperature and humidity: check the equipment and characteristics of manipulators；
b） Altitude: check the equipment characteristics of manipulators；
c) Please provide power supply based on equipment requirements (check the work voltage of
equipment);
d) Please provide air source based on equipment requirements (check the work air pressure of
equipment);
e) Please do not use the product in flammable and explosive environment
f) Please do use the product around interference source.
i. Airport<1Km;
ii. Broadcast / television transmitting tower /Wifi signal tower<300m;
iii. Arc welding, spot welding；
2. Power supply equipment protection:

a) Neutral line (phase N) shall be specially marked;
b) If the manipulator needs connect phase N, an independent circuit breaker is required to protect
the external phase N.
c) If the wiring harness needs to be welded, the welding should be ensured complete and the outer
sheath should be protected well.
3. Earthing protection:
3.3-50
The external power supply needs earthing effectively, recommend 4mm2.
4. The connection between the injection molding machine and manipulator should conform with the
mechanical strength specifications;
5. The external equipment of the injection molding machine or manipulator should not be placed
around the interference source;
3.3.2. Check the manipulator situations

1 Power port connection;
2 Sensors;
3 Machineries (rack, gear, pulley, belt tension), confirm that the drag chain is not disjointed, and contains
manipulator mobile cable;
4 Guide rail: without rust, the surface is protected by grease;
5 Connect and fix the manipulator cable: ensure that the cable has been fixed and will not contact with
the machinery, heat source or chemicals abnormally. Avoid discharging them in parallel with the power
supply and interference circuit.
6 Servo motor connection
7 Air source connection
8 Filter reducing valve setting: adjust the inlet pressure based on the equipment requirements
9 Check whether the power supply inlet lines are correctly tightened.
10 Check the electric cabinet
a) Check whether external connectors, relays, etc. are inserted into the mainboard;
b) Check whether the outlet line voltage of the transformer is normal based on the working voltage of the
manipulator, if different, please adjust;
c) Connect the cable to the electric cabinet;
3.3.3. Check power supply and air source

Under disengaging from the injection molding machines, check:
1 Whether the 24 V output is normal
2 Under manual mode, test pneumatic motion situations and corresponding sensors.
3 Check the movable cable and medium tube in the drag chain.
4 Check limit device
5 In manual mode, move all axes
6 Check whether the obstacles exist during moving;
7 Adjust the free area of the manipulator based on the actual storage and pickup area.
3.3.4. Check interactive signal and parameter adjustment

1 Test the manipulator-injection molding machine interactive function (European standard lines)
2 Adjust and input accurate electronic gear ratio.
3.3.5. Spatial check

1 Record or adjust the given maximum position in consideration of environmental factors (safety rail,
obstacle, etc.).
2 Set the pickup area according to the jig location in the mold area.
3 Check that when the barrel of injection molding machine is in most front, it will not interfere with the
manipulator, if necessary, change the position of the adapter.
3.3-51
4 When the arm is in the upper location zone, it can pass the safety door of the injection molding machine
safely.
5 When the arm is at the highest point, it will not interfere with the normal driving movement. If so, record
and inform the customers
3.3.6. Programming
1 Analyze the movement of manipulators, select the corresponding program, set the corresponding position,
and filing;
2 Check the movement of manipulator within a cycle; do well in guide rail lubrication;
3 In test mode, test the whole cycle, and then run automatically at low speed
4 Test the origin reset function under all possible situations
3.3.7. Performance check

1 Set the speed of manipulators and maximum acceleration in accord with the performance of machines;
2 Under the automatic cycle mode, check the safety function of manipulators. Check whether the safety rail
can work normally;
3.3.8. Re-check after automatic operation for 2 hours

1 Mechanical check of the manipulator;
2 Check whether the adjustable part is firm;
3 Check whether the manipulator jig is firm
3.3.9. Mark the manipulator hazards

1 Mark the dangerous areas where the arm may fall off, inform the customers, and record them in the
debugging report;
2 The equipment may be launched when a person is in a safety rail.
3.3-52
3.4. Quick Start
Operation
Instructions around the transcription machine User password login

Transcription interface instructions
Origin
LED indicator light Emergency stop un-reset
button Origin reset
Speed Teaching
Enable button
setting program No.
USB socket
Software version
No.
Click to adjust Origin reset operation instructions Full automatic operation instructions
to the origin
reset screen After switching
to the automatic
mode, click
operation
Press the button
manipulator to
and press
start full
Enable key, the
automatic
manipulator
operation.
starts origin
reset.
3.4-53
Teach/operation switch
Total 9 programs , including 1

Location
main program and 8 subroutines.
Insert a new one parameter input
After the system is fully
behind current
automatic, it will enter the main
order Speed and
program for cycle operation. You
acceleration
can enter the corresponding
parameter input
subroutine by program call. Delete the
selective order Please click OK
after the parameter
Program saving
modified.
compiling
Click insert instruction on the teaching page to enter the instruction check
After the completion of program teaching, click the Save and Compile
window, including common instruction, motion instruction, output
button, switch to the following operation interface, click the automatic
instruction, waiting instruction, control instruction and operational
operation, the manipulator will enter the automatic operation mode.
instruction.
54
The main programs： Subroutine 1：
1：Program start 1：Program start
2：X axis operates to 0

2：Y axis operates to 50
3 ： Waiting for the completion of mold
3：Suction 2 motion
opening
4：Y axis operates to 0
4：Z axis operates to 200
5: Program completion
5：Suction 1motion
6: Rotor jumping program 1
7：Z axis operates to 0
8：Program completion
55
4. Chapter IV Maintenance and Protection
4.1. Maintenance inspection
This machine is high-precision equipment. It is strictly forbidden to impact, bump, and rely on the main body of the
equipment. In order to use the manipulator for a long time and prevent mechanical failure, it is necessary to
perform periodic maintenance inspections on the manipulator.
4.1.1. Instructions on equipment maintenance inspection
1. It is strictly forbidden to operate manually in the automatic operation mode during operation of the equipment.
The operator is allowed to use after being specially trained, familiarizing with operation of the equipment and
reading the instruction manual carefully.
2. Before maintenance, the user shall disconnect the main power socket of the manipulator or push down the air
switch; also unplug air supply connector, and the reducing valve value of filter pressure is reset to zero before
Unplug the air supply connector and

Unplug the device or push the filter the pressure indication of
air switch down pressure reducing valve
operation.
3. The user shall perform installation and maintenance in accordance with safety regulations of the country where
the personal protective equipment is properly used. General personal protective equipment is listed below, and
users can refer as appropriate. Operators shall dress, wear overalls, wear safety helmets, work shoes, protective
gloves, and equip with protective ropes for climbing operations. And keep hands, feet and clothes away from
moving parts during the operation; if equipped with safety protection doors and ladders, it is strictly forbidden to
open the safety protection door and the climbing ladder during the use of the equipment.
4. During the use of the equipment, it is strictly forbidden for anyone to pull the equipment; when the air pressure is
too low, the power supply is too low, or noise and smell are abnormal, stop and check the equipment in time to
eliminate the fault.
5. After the equipment stops working, please disconnect the power supply; before checking, cleaning, adjusting,
repairing and maintaining the equipment, be sure to reset moving parts of the equipment and disconnect the power
4.1-56
Safety Protective Safety Protective ropes

helmet shoes for climbing
supply.
4.1.2. Check tightening of nuts and bolted parts
Due to long-time intense impact, the looseness of nuts and bolts is one of the main causes of manipulator failure.
1. Check limit switches of the running, front and rear, upper and lower shaft and the installation bolts of induction
plates for locking or looseness.
2. Check the tightness of moving parts and bolts in the control box.
3. Check if connecting bolts between the manipulator and the injection-molding machine is loose.
4. Check if the fixing screws of moving rail of the manipulator are loose, whether connecting bolts between main
components are loose, and whether cushions are loose; so as to avoid damage to personnel and other equipment.
4.1.3. Lubrication maintenance and inspection of guide rail
Tensioning of each shaft Fixing screws Fixing screws of sliders Locking screws of belt block
of crash blocks
Fixing screws of cylinders

Fixing screws of electric
cabinet components s
Fixing screws of
proximity switch
Electric cabinet connector
Fixing screws of Fixing screws of

Fixing screws of rails Base connecting screws
detecting sheet motors of all axes
The guide rail is an important moving part of the manipulator. High-speed movement requires smooth and stable
guide rails. To maintain good performance of guide rails, it is a necessary item to periodically inject grease.
1. Use a professional lubricant gun to align the slider head to perform the oiling operation.
2. Our manipulators of medium series and above are equipped with a centralized lubrication mechanism. There is
no need to align point slider to concentrate all sliders on concentrated lubrication.
3. Please refer to the periodic inspection periodic table for the specific maintenance cycle.
4.1-57
4. The ordinary small machine slider and the centralized oil-filler produced by our company are all directly filled
with grease gun. The grease is Shell No. 1 lithium grease, and refers to the periodic inspection periodic table for the
specific maintenance cycle.
Slider directly injects oil
Manual grease gun with plastic handle
Centralized oil
filling
5. The new type of distributor directly supplying oil is divided into manual and automatic types. The automatic
lubrication is operated by the hand-held panel and manual lubrication is pressed by the hand pump. Please add oil
in time when the oil pump is short of oil. The grease is Shell No. 0 lithium grease, and refers to the periodic
inspection periodic table for the specific maintenance cycle.
Manual pump
手动泵
4.1-58
Automatic pump
自动泵
T-cock
三通
Y-axis distributor
Y 轴分配器
Z-axis distributor
Z 轴分配器
X-axis distributor
X 轴分配器
Plug (manual pump)

堵头（手动泵）
Pressure switch (automatic pump)

压力开关（自动泵）
6. Mode selection of manual pump

1) Oil filling mode: Lower the adjustment switch of the manual pump in the position shown in (Fig. 1)
2) Unloading mode: Put the adjustment switch of the manual pump up in the position shown in (Fig. 2)
3) Exhausting mode: Unscrew the side nut of the hand pump (Fig. 3). At this time, oil in the oil pot will be
completely detached from the nut position (release exhaust, unscrew drain, block oil pump, and pollute oil material
and other circumstances).
4.1-59
Fig.1 Oil filling mode Fig.2 Un loading mode
Fig.3 Deflator Fig.4 Buckle the handle when not in

use
7. Oil filling operation

1) Make sure the side exhaust nut is tight.
2) Adjust the adjustment switch to the oil filling mode
3) Press the oiling handle 2-3 times, and turn the adjustment switch to unloading mode when resistance increases.
4) Put the adjustment switch in the unloading mode for more than 10 seconds
5) Switch to the oil filling mode and repeat the above operation (oil filling → unloading → oil filling → unloading)
6) The oil circuit distributor ensures that oil materials obtained from each slider is within ±15%
7) After lubrication maintenance, please return the manual pump to the state as shown in (Fig. 4).
8) It is recommended that the entire machine be refilled twice in a single operation (i.e. press the handle twice).
9) If the user stays in a dry area or not using for a long time, please increase or reduce the amount of oil according
to the actual situation.
10) It is forbidden to continue to press the pressure booster handle after occurrence of large resistance (unload for
more than 15 seconds for consecutive presses of three times at most). Excessive oil pressure will cause damage to
the oil circuit equipment, oil leakage, pollution of the product, damage to the circuit equipment, and injury of
operators.
4.1.4. Cleaning and inspection of manipulator surfaces
1. Traces on the surface of the rails, front and rear, upper and lower rails, or dirt caused by grease and other deposits
may affect normal operation of the machine. Please remove regularly.
2. It is not allowed to hit the guide rail directly with the hammerhead. It is not allowed to transmit pressure through
rolling elements, and it is not allowed to step on. If there is a flaw on the surface of the rail that causes noise during
4.1-60
operation, please inform the after-sales personnel to replace a new guide rail.
3. If any metal fragments or powder are found to scatter on the mounting surface of the guide rail, it may indicate
poor lubrication or failure.
4. The brownish black grease that appears when the guide rail is in normal use is caused by grease, abrasion, dust
etc., it is necessary to clean up in time during routine maintenance.
5. Maintenance personnel need to regularly check whether there is abnormal metal powder in the grease. The
appearance of the powder is produced due to wearing of inner steel balls of guide rail sliders or guide rails after
abnormal operations such as transfer, transportation, long-term partial load, improper maintenance for a long time.
Daily maintenance can detect the problem early, contact the after-sales personnel to find out cause sand replace in
time.
Brownish black grease on the guide rail with

no maintenance for a long term Clear yellowish grease after
normal oiling
One-side heavy pressing of the groove of the

guide rail channel during transportation
4.1.5. Transmission mechanism of gear and rack
1. Check the gear transmission structure of the manipulator, please pay attention to any hesitation or shaking during
the operation. All movements other than smooth and stable movements can indicate damage to the drive system or
internal accumulation of foreign objects. Detection method: When manually operating the robot to move
downwards, carefully check whether there is any abnormality between the transmission gear mechanism. The
normal gear transmission mechanism runs smoothly. Abnormal operation will have abnormal sound in all areas or
parts of the operation.
2. Our large-scale manipulators mostly use gear and rack transmission, and the wear and abnormal noise generated
by gear and rack mechanism can be divided into two categories:
4.1-61
1) Wearing of gear and rack.
2) Gear clearance.
The following illustrations show several types of wear that can be found during routine maintenance to avoid
greater impact over time.
Uniform wear marks under Pit caused by falling foreign Uneven wear caused by
normal operation matter eccentric loading
3. Part of the wear is caused by insufficient lubrication on the rack. During daily maintenance of large-scale
manipulators, pay attention to whether the felt gear oil hole is blocked.
4. If there is still noise and abnormal sound after the gear and rack are fully lubricated with no eccentric load and no
foreign matter wears, try to adjust through the gap adjustment. This operation requires certain professionalism,
clients can contact our after-sales technician for inspections and repairs, and evaluates if additional parts need to be
replaced. The magnetic base can be used to adjust the backlash. If the backlash adjustment cannot be solved, the
transmission gear mechanism may wear out and it is necessary to replace the gear rack and other accessories.
4.1.6. Drive mechanism of timing belt
1. Check if tightness of the timing belt is proper; if the tension is too small, friction of the pulley will be insufficient,
and then slip will occur, the wear of the timing belt will increase, the ability to transmit load will be lost, and
transmission will be unstable and the belt drive will lose its effect; if the tension is too large, tension of the timing
belt is too large and the deformation is serious, which will reduce service life of the timing belt; if there is grease
4.1-62
and other dirt on the timing belt, chemical substances contained in dirt can enter and destroy the timing belt. They
shall be removed in time, and notify the after-sales personnel to replace the timing belt if necessary;
2. Check if the timing belt is slipping, twisted and there is heat and wear inside. If there is any, it is necessary to
correct trolley of the timing belt in time.
3. Check the pulley and the idler, pay attention to signs of wear of the timing belt, ensure that the timing belt and
the pulley and the idler are completely aligned, and the offset timing belt wears quickly. Synchronous belt drive
system can preload according to the tension provided by the manual or consult our after-sales technicians.
4. Specially check the operation of the upper and lower shaft timing belts. When the upper and lower shafts are
running at high speed, check the connection status and tension of the timing belt by visual inspection to check
whether the timing belt is worn and whether there is a “friction area”. If any of the above phenomena exist, please
contact our after-sales technicians for replacement.
Normal timing belt is shown as the left figure, is calibrated

before delivery and adjusted within the pre-tension range.
When the timing belt moves, it tends to be in the middle of
the belt pulley, and slightly swing left and right with the
rotation of the timing pulley, and there is no edge rubbing
phenomenon.
The timing belt rubs Gear cracking caused by Foreign matter caught
edges looseness of the timing belt between the timing belt
and the pulley causes
damage
4.1.7. Inspection of the air pipe

1. The tearing of the air pipe will cause abnormal air pressure (flow). When leakage occurs in the joint or the air
pipe, please replace in time.
2. Check that there is no friction between the air pipe and the towline, bellows and other components, and air pipes
are not aging or damaged when shafts are running. The tearing and aging of the air pipe will cause abnormality of
air pressure (air flow). If air leaks from each joint or air pipe, please replace in time.
3. If the air circuit is filled with air under normal pressure and leakage occurs somewhere in the circuit, a noticeable
4.1-63
fizz sound can be detected to determine location of the leakage.
4. If air pipe is blocked, damage can be found quite intuitively during daily inspections.
5. If there is large damage and obvious fizz sound in the intake circuit, and there is obvious wear powder in the
position of cable carrier, it can be visually inspected + close after
6. Look for by listening.
7. Inspection of minor breakage can be conducted by feeling with back of the hand after removing gloves.
8. Damage of the vacuum circuit loop and significant changes in the vacuum gauge value will cause start of
equipment alarm accordingly.
When there is a lot of powdery debris on the drag

chain, it is necessary to check the air pipe for wear
and tear in time by visual inspection, hearing, hand
back feeling and other methods to detect damaged Check if the value of the filter pressure reducing
air pipe position and replace in time. valve and the vacuum pressure gauge are
normal.
4.1.8. Maintenance and inspection of filter pressure reducing valve

1. Check pressure of the air pressure source and dryness of the air to remove water from reducing valve of the filter
pressure.
2. Due to long-term use, moisture in the air will inevitably accumulate in reducing valve of the filter pressure. It is
necessary to periodically perform drainage treatment and visually inspect whether pressure value is normal and
stable.
3. Pay close attention to the filter ring and water level of the filter regulator unit. The presence of accumulated
water indicates that humidity of the compressed air supply through the system is too large. The presence of a small
amount of water vapor may be transmitted to the electromagnetic valve body and the electrical components such as
the vacuum generator and the pressure detecting meter, causing oxidation and internal pollution, and eventually
failing; the filter element needs to be cleaned regularly (separate the filter, remove the filter element, and clean
pollutants with air gun. Do not wash with water); please pay attention to the inlet and outlet direction of reducing
valve of the filter pressure during maintenance; the inlet pressure of reducing valve of the filter pressure shall not
exceed 0.5MPa.
4. The filter element needs to be cleaned and replaced regularly (separate reducing valve of the filter pressure, clean
pollutants with air gun and remove the filter element. Do not wash with water).
4.1-64
5. When installing of reducing valve of the filter pressure, be careful the inlet and outlet are not installed in
reversed direction (the mounting direction is indicated on the outer casing).
The water at the lower end of reducing valve

of the filter pressure can be viewed through Filter the gas source on the
the transparent plastic housing window of the pressure reducing valve according
outer casing. to the arrow
Various reducing valves of filter pressure The left side is a filter element that is used for
drainage are shown as the above figure (from about five months.
left to right): manual press type, automatic The right side is a newly opened filter element
drainage type, and manual rotary type Clients can replace the filter according to the
Clients can carry out regular drainage maintenance cycle
operations according to actual needs.
Automatic drainage and direct automatic
control of drainage can be conducted without
manual intervention
4.1.9. Maintenance and inspection of hydraulic shock absorb

1. Hydraulic buffer: These accessories are warranted by the supplier for one year or 1.5 million times and shall be
replaced periodically if necessary.
4.1-65
2. Daily inspection of the oil pressure buffer is of great significance. The manipulator reciprocates daily, especially
the mechanical arm reciprocates twice in each cycle, the upper and lower speeds in the mold are faster, and the
upper and lower suspension requirements are high; if buffer fails and pneumatic execution component stops
positioning in the reciprocating motion, there will be no shock-absorbing function and is easy to cause large
vibration of the manipulator.
Long-term use of the machine requires Check if the two butterfly washers of the
checking whether the front or rear end of the hydraulic buffer fixing nut are tightened
hydraulic e sump is leaking oil.
Check if rubber head of the hydraulic Press with fingers to check if the pressure of
buffer is broken and worn the hydraulic buffer is normal.
4.1-66
4.1.10. Maintenance and inspection of cylinders
1. Part of the action of the single-axis servo manipulator depends on the air source to push the cylinder. The air
source shall be stable and volatile without water. If the water stays in the air pipe, cylinder, and electromagnetic
system, it will generate incrustation, causing the solenoid valve to be stuck, suffocating, gas seal wear and leakage,
cylinder leakage, external leakage etc., and the cylinder will be weak, crawling, motionless or suddenly moving fast,
burst of air pipe and joint and other phenomena.
2. If the above problems occur in the cylinder, please contact our after-sales technicians to check the air pipe, joint
or replace end cap seal of the cylinder.
Is the speed control

valve knob loose?
Whether the extended end can

float slightly
Is the cylinder fixing

Whether the cylinder rod is screw loose?
uneven worn
1) The phenomenon of crawling, jamming, and slow

moving of the cylinder occurs; firstly adjust by adjusting
the speed regulating valve knobs at both ends of the
cylinder.
2) Check the air pipe and the joint for leaks if the speed
control valve adjustment has no obvious effect.
3) If both of the above are working properly, consider
the solenoid valve failure. It is possible to contact the
after-sales technician for troubleshooting and make
appropriate replacement.
4.1-67
4.1.11. Maintenance and inspection of pressure switches
1. Check if the set lower limit value changes (the set value is 0.5MPa)
2. Check if the mode is correct (the product screen displays green and vice versa)
3. If it is necessary to adjust the pressure switch, please contact the equipment maintenance personnel to adjust
according to instructions.
4. If it is necessary to adjust the pressure switch, stop the equipment before adjustment and operate under safe
conditions.
5. The air tube responsible for adsorption is a transparent tube, which can be observed by the client when inhaling
foreign matter or water vapor. Please refer to the test table for normal value of vacuum gauge.
Please remove the water vapor Value displayed by the

inhaled by the air pipe vacuum gauge
4.1-68
4.1.12. Inspection of power distribution cabinets and cables
1. If black particles or powder are found when inspecting the surface of the manipulator, check if there is any sign
of wear in the circuit wiring of manipulator. However, even if these wear phenomena are not detectable, carefully
observe all power, voltage, or encoder cables, and both the inner and outer sides of the wiring path. Since the
wiring of the continuous friction manipulator or the wiring connected to the cable guide during the production cycle
eventually wears out and fails. Please ensure the safety of the wiring tie and proper installation of the cable if it is
replaced.
2. Check the wire connectors, plugs, sockets etc. regularly. Due to the vibration of the manipulator, the wire
connector and the relay are loose, causing poor contact of the circuit line. It causes the manipulator to move
arbitrarily, shutdown of the electronically control, burning out of the electronic control etc.
3. Check if the proximity switch indicator of each preset area is illuminated accurately. If it is not lit, check if the
mounting screw is loose and adjust to a proper position (the distance between the proximity switch and the
induction sheet metal is 2~3mm optimal).
4. Determine whether the pipeline is broken or the wire connection is loose; check the inside of the electric control
box: clean dust, check whether electronic components of the terminal block, relay plug and circuit board are loose,
and confirm tightness of air control cabinet of the moving body part and the mounting bolts of the electric control
cabinet and the relay signal terminals of the cabinet.
Check if there is black powder on the sheet metal of the cable carrier,
and whether the cable surface is worn
Check connector of Check connector of the Check connection air Check connection plug
the motor cable inductive switch cable pipe plug of the solenoid of the TIO board cable
valve
4.1.13. Inspection of standard motion and detection of limit signal

1. Check if the negative pressure sensor is normal (whether alarm when inhaling no product);
4.1-69
2. Check the fixture to detect whether the magnetic ring switch is normal (whether alarm when clipping no product
or material);
3. Regularly check if the sensor switch is normal;
4. Whether interlock of the robot injection-molding machine is normal (whether the robot does not lock the mold
and alarm when the manipulator is in a manual state).
5. Check whether running speed parameters of each axis are accurate;
Whether value display is Magnetic switch Magnetic switch Whether the

normal on the vacuum gauge on the reverse of nozzle clamp proximity switch is
normal
4.1.14. Maintenance and inspection of other accessories
1. Check if the silencer is working properly and the noise is increasing.
2. Check if the emergency stop button is working properly and switch power supply of the manipulator is working
properly.
Figures of several mufflers used by Whether the robot's Check if various buttons on the
our company, it is necessary to total air switch is normal manual communicator are normal
check for blockage/failure after a
long time of use.
4.1-70
4.2. Maintenance and safety
Refer to the consumption parts list for regular inspection and replacement. Before or during the maintenance of the
manipulator arm, maintenance personnel shall follow the safety regulations below to avoid danger.
1. Turn off the power before servicing the manipulator.
2. Turn off the power of the injection molding machine and the manipulator and remove residual pressure in the air
hose of the manipulator before adjustment and maintenance.
3. Except the proximity switch, suction and clamping failure and solenoid valve failure can be repaired by yourself.
Others shall be repaired by professional trained personnel or contact the manipulator manufacturer for maintenance,
otherwise do not replace without authorization.
4. During the adjustment or replacement of the mold, move the manipulator to a safe area. Please be careful to
avoid the mold or person being injured by the manipulator.
5. After completing adjustment or repair of the manipulator, leave the hazardous work area before testing the
machine.
6. Do not turn on the power or air supply to the manipulator during maintenance.
7. The way to find the problem of the manipulator is to observe and listen. This can expose many problems in the
overall operation of the manipulator. Check if there is any abnormal sounds when performing specific actions, such
as howling, squeaking etc. If there is, it indicates that the bearing cannot rotate normally or one of the components
is stuck.
8. When cable carrier of the manipulator installed with power cable and air pipe moves along the guide rail, it will
make a normal ticking sound, and the sound is smooth and stable. Check any bearings that can be observed to
ensure they rotate smoothly.
9. Check and listen to some signs of wear or adjustment that need to be adjusted to help maintain the manipulator’s
optimal operating condition.
10. The standard configuration of the manipulator is usually installed on the top or on the side of the
injection-molding machine. When the robot is running quickly, vibration from equipment such as injection-molding
machine may be transmitted to the manipulator and may cause damage. Simply observe the operation of the
injection-molding equipment, ensure that the mold movement is adjusted to a reasonable state, reduce the number
of shaking or vibration, and extend service life of the manipulator. Under high-speed operation, the vibration
frequency may be very high, and multiple inspections can effectively prevent accidents.
4.2-71
4.3. Periodic inspection table
Note: 1. Please contact our technical service personnel for advice on the periodic inspection method,
contents, and disposal.
Ca Inspection cycle
te Serial Inspection
One Six One Two Inspection item Determination criteria
go Daily No. method
month months year years
ry
Appearance
determination
Visual No scratches, marks, and
○ 1 (Metal plate
inspection dirt.
C cabinet,
on operation box)
tro LCD screen on Visual No bad text performance,
○ 2
l operation box inspection display malfunction.
pa Sticker button
rt ○ 3 on operation All buttons Very smooth.
box
Emergency stop
○ 4 Press switch Action stop (power OFF)
switch
Movement of Listen and There is no abnormal sound
○ 5 each shaft drive visual during movement and the
part inspection movement is smooth.
Each cable
Visual No interference with other
○ 6 carriers of axis
inspection products.
and timing belt
Supply air Visual
○ 7 Pressure gauge (0.6MPa)
pressure inspection
M
Connection part
ec Visual The elastic gasket is not
of the
ha ○ 8 inspection damaged, and the bolt is
manipulator and
ni wrench not loose.
adapter base
ca
Locking state of Visual
l No damage, looseness
○ 9 each screw and inspection
pa Confirm marks.
nut wrench
rt
Timing belt of Visual No damage, bending,
○ 10
each axis inspection winding.
Guide rail and
Visual Lubricated
○ 11 slider of each
inspection No damage or dirt.
axis
Wiring and No pulling, bending,
Visual
○ 12 piping of each breaking,
inspection
axis No peeling.
4.3-72
Cylinder
○ 13 Solenoid valve, Listen No air leakage
joint
Visual No dirt, blockage, water
○ 14 Filter regulator
inspection leakage
Visual
○ 15 Silencer No dirt, blockage.
inspection
Changes of value on the
Vacuum digital Visual
○ 16 pressure gauge depending
pressure gauge inspection
on whether inhales product
Suction cups, Normal suction and
○ 17 Operation test
clamps etc. induction
Reducing valve
Manual No water by visual
18 drainage of
drainage inspection
filter pressure
Comprehensive
Conduct related
19 equipment The company
consultations.
inspection
4.3-73
4.3-74
5. Chapter V Mechanical Part
5.1. Configuration Diagram
Upper and lower unit of product
Upper and lower unit of nozzle
Walking unit
Front-back unit
* The configuration diagram shows all full-servo frame traverse types.

** Any configuration structure change is subject to prior notice.
5.1-75
Upper and lower unit of product
Front-back unit
Walking unit
* The configuration diagram shows all full-servo open traverse types.

** Any configuration structure change is subject to prior notice.
5.1-76
5.2. Complete Machine Boundary Dimension Introduction
Type XTA-800 XTA-900 XTA-1000

XTA applicable injection molding machine tonnage 60-250t 250-380t 380-530t
L Boundary dimension （Length） 2460 2460 2460
W Boundary dimension （Width） 1570 1690 1690
H Boundary dimension （Height） 1280 1335 1355
M Deadweight of machine 330kg 340kg 350kg
Type XTA-1100 XTA-1300 XTA-1500 XTA-1700

XTA applicable injection molding machine tonnage 380-530t 700-1000t 700-1000t 700-1000t
L Boundary dimension （Length） 2955 3155 3605 3605
W Boundary dimension （Width） 1965 2145 2480 2480
H Boundary dimension （Height） 1680 1740 1960 2060
M Deadweight of machine 450kg 485kg 1075kg 1085kg
Type XTA-2000 XTA-2500

XTA applicable injection molding machine tonnage 800-1600t 1600-4000t
L Boundary dimension （Length） 4015 5000
W Boundary dimension （Width） 3543 3870
H Boundary dimension （Height） 2274 3050
M Deadweight of machine 1341kg 2630kg
Type V-800 V-900 V-1000 V-1100 V-1300

Applicable injection molding machine tonnage 100-200t 200-250t 250-320t 380-530t 530-700t
L Boundary dimension （Length） 2571 2571 2571 3023 3023
W Boundary dimension （Width） 1566 1566 1566 1741 1741
5.1-77
H Boundary dimension （Height） 1897 2067 2187 1805 1925
M Deadweight of machine 438kg 441g 447kg 641kg 643kg
Type V-1500 V-1700

Applicable injection molding machine tonnage 700-1000t 700-1000t
5.1-78
Type XTD-1100 XTD-1300 XTD-1500 XTD-1700
XTA applicable injection molding 380-530t 700-1000t 700-1000t 700-1000t
machine tonnage
L Boundary dimension （Length） 3078 3318 3994 3994
W Boundary dimension （Width） 1962 2162 2450 2450
H Boundary dimension （Height） 1563 1623 2000 2120
M Deadweight of machine 430kg 460kg 1210kg 1250kg
Type XTD-2000 XTD-2500
XTA applicable injection molding machine tonnage 800-1600t 1600-4000t
5.3. Complete Installation Drawings
Figure A
Unit：（mm）
Figure A Dimension Description and Bolt Selection List

Type of Manipulator A B C D Depth Quantity of Hole Final Use of Bolt Type
XTA-800 18 70 310 20 15 4 Level 12.9 M16x40 bolts for 4
XTA-900 18 70 310 20 15 4 Level 12.9 M16x40 bolts for 4
V-800 18 70 310 20 15 4 Level 12.9 M16x40 bolts for 4
5.3-79
Figure B
Unit：（mm）
Figure B Dimension Description and Bolt Selection List

Type of Manipulator A B C D E F Dept Quantity of Hole Final Use of Bolt Type
h
XTA-1100 220 65 65 18 600 560 20 6 Level 12.9 M16x50 bolts for 6
XTD-1100 220 65 65 18 600 560 20 6 Level 12.9 M16x50 bolts for 6
V-1100 220 65 65 18 600 560 20 6 Level 12.9 M16x50 bolts for 6
5.3-80
Figure C
Unit：（mm）
Figure C Dimension Description and Bolt Selection List
Type of Manipulator A B C D E F Depth Quantity of Hole Final Use of Bolt Type
Figure D
Unit：（mm）
Figure D Dimension Description and Bolt Selection List
Type of A B C D E F Depth Quantity of Final Use of Bolt Type
Manipulator Hole
5.3-81
Manipulator Base Installation Torque of Screw Locking List
Specification of Specification Level of Strength

Bolt of spanner 10.9 12.9
Nm Nm
Ｍ12 10 113±11 137±20
Ｍ14 12 181±18 216±22
Ｍ16 14 267±27 320±30
Ｍ20 17 525±50 628±62
Ｍ24 19 903±90 1079±100
＜Notes＞
●It is recommended to select screws above level 10.9.
●When locking the screws, please use the torque specified in the above tightening
●After locking, it must be confirmed whether the screw seat is tightly attached and locking
materials.
If the thread of locking materials is too shallow or there is dust or other garbages in the screw hole,
when locking the screws by the torque specified in the above table, sometimes the screws can not be
locked tightly as well.
The value of tight locking force ※ 2 and the point of action ※ 1 is determined by that of tight
locking.
● Conduct spot check monthly to confirm whether the mounting screws are loose.
5.3-82
5.4. Turnover Plate Structural Dimension Drawings
5.4.1. XTA-800 XTA-900
5.4-83
5.4.2. V-800 V-900 V-1000 XTA-1100 XTA-1300 XTD-1100 XTD-1300
5.4-84
5.4.3. V-1100 V-1300
5.4-85
5.4.4. V-1500 V-1700 XTA-1500 XTA-1700 XTD-1500 XTD-1700
5.4-86
5.4.5. XTA-2000 XTD-2000
5.4-87
5.4.6. XTA-2500 XTD-2500
5.4-88
5.5. Description of fixed guards dimension and Safety interlocking
guards with guard locking size
5.5.1. Maintenance checkup

In order to use robot for long time and avoid mechanical fault, it’s necessary to check robot regularly.
● Elastic condition of each nut and bolt.
As being shocked fiercely for long, the loosing of nut and bolt is one of the prime reasons that leads to knockout
machine fault.
Fasten mounting bolts of each limit switch used for up and down, front and back, process and product.
Make sure of the elastic condition of terminal inside termination box at the relay place of moving body part and
control cabinet.
Fastening of each brake apparatus.
Whether there’s deciduous bolt in order to avoid damaging other device.
● Oil supply of each friction part
Refer to Oil Feed Guide, pour into grease regularly.
● Dirty mark on guide rail surface
Scar on guide rail and dust and other dirties caused by lubricating grease may obstruct the machine from
running smoothly. Please clean up regularly. Besides, if there’s scar after shock or other crush injury and hit
injury on guide rail surface, please replace new guide rail.
● Damages of air hose matched with pipe
Folding injury of air piping may lead to abnormal air pressure (flow). If air leaks at joint or air piping, please
replace immediately.
● Consumables
Refer to consumables list, check and replace regularly.
5.5-89
5.5.2. Description of fixed guards dimension and Safety interlocking guards with guard
locking size
5.5-90
5.5.3. Safety interlocking guards with guard locking
5.5.3.1. Safety interlocking guards with guard locking dimension
Interlocking guards with guard locking size
Small-size Middle-size Large-size
L 1600 1800 3000
W 1800 2500 4000
H 2700 2700 2700
5.5.3.2. Applicable models for safetyinterlocking guards with guard locking
type Applicable robot model
Small-size XTA-800、XTA-900、XTA-1000、V800、V900、V1000
Middle-size
XTA-1100、XTA-1300、XTA-1500、XTA-1700、V1100、V1300、V1500、
V1700、XTD-1100、XTD-1300、XTD-1500、XTD-1700
Large-size
XTA-2000、XTA-2500、XTD-2000、XTD-2500
5.5.3.3. Safety interlocking guards with guard locking mounting way

Mount foot pad at the bottom of safety interlocking guards with guard locking. It can also be fixed with stone bolt.
Mounting screw dimension: socket head cap screw M5×15-12.9
Capping depth dimension: capping depth 20 (except for metal plate open hole), tapping size M5
5.5.3.4. Material of safety interlocking guards with guard locking
The frame of safety interlocking guards with guard locking is made of aluminum profile. The spare part is covered
with wire netting.
Specification of interlocking guards with guard locking:
1. Aluminum profile: bore diameter is suggested to be less than 10mm and to be checked by EN 13857 Table4after
installation
2.Organic glass
The safeguard shall be checked by EN ISO 13857 Table 2 after installation.
5.5.4. Safety fixed guards
5.5.4.1. Safety fixed guards dimension
A：the width of fixed guards accords with the width of mounted injection molding machine；
B：the length of fixed guards, size is as below table；
Safetyfixed guards dimension

Mini fixed Mid-size fixed Large fixed
guards guards guards
B 1600 2200 3500
5.5.4.2. Applicable models forfixed guards
fixed guards type Applicable robot model
Mini fixed guards XTA-800、XTA-900、XTA-1000、V800、V900、V1000
5.5-91
Mid-size fixed
XTA-1100、XTA-1300、XTA-1500、XTA-1700、V1100、V1300、
guards
V1500、V1700、XTD-1100、XTD-1300、XTD-1500、XTD-1700
Largefixed guards
XTA-2000、XTA-2500、XTD-2000、XTD-2500
C：Be equal or greater than 2700mm；
D：The height of fixed guards accords with the height of injection molding machine, making sure that the total
height of fixed guards after being mounted is greater than 2700mm. If the height of injection molding machine is
greater than 2700mm, it does not need to Mount fixed guards.
The fixed guards structure of different machine is different that may cause risk of unable injection. Operate A, B, C,
D according to actual condition. Install fixed guards after installing guard railing according to actual condition.
Please contact the manufacturer timely after installing fixed guards. Or, the manufacturer confirms. Please
purchase or manufacture ladder according to EN 14122 if needed.
Interlocking guards with guard locking andfixed guardsare both designed for standard IMM. As for the special
IMM, it is important to make sure the robot can be installed in the protecting cover with the length of L+A and the
width of W.
Interlocking guards with guard locking made by end user shall be checked by EN ISO 13857 Table2 and Table4 and
the end user shall contact robot manufacturer to confirm after installation promptly.
(Please refer to EN ISO13857 to operate; any accident is at your own risk)
Please connect according to the drawing.
5.5-92
5.5-93
6. Chapter VI Electrical Part
6.1 XTA series eletrical drawing

See the annex《Electrical part Ⅱ XTA Series》
6.2 XTD series eletrical drawing

See the annex《Electrical part Ⅲ XTD Series》
6.3 V series eletrical drawing

See the annex《Electrical part Ⅰ V Series》
5.5-94
7. Chapter VII Operation Introduction
7.1. Brief Introduction of the System
H5-RC100 series controller platform integrates motion control, PLC control and
network control. It includes digital intelligent main controller, digital intelligent
teachpendant, remote intelligent IO module, and PC remote control software. Users can
use each functional module independently, but also can integrate them to achieve a
variety of complex automation control functions, as shown in figure 3-1. Compared with
the existing control system, the system has higher stability, openness and price
performance ratio, and is the best choice for various motion control requirements.
Figure 7-1 Schematic diagram of system introduction
7.2. Connection
1）EtherCAT bus controller connection
95
Figure 7-2 Schematic diagram of EtherCAT bus controller connection
2）RTEX bus controller connection
Figure 7-3 Schematic diagram of RTEX bus controller connection RTEX

3）Pulse controller connection
96
Figure 7-4 Schematic diagram of pulse controller connection
7.3. Controller
7.3.1. Controller Introduction

The hardware platform of the main controller is with Cortex-A8 chip as the core, and
equipped with 256MB DDR3 RAM and 128MB ROM, supports standard Ethernet interface,
EtherCAT bus interface, RS-485 interface and RS-232 interface, which is convenient for
users to carry out digital communication with peripheral automation equipment. The
software platform based on embedded real-time operating system, applies motion control
algorithm based on the digital control technology, has the functions such as nanoscale
level linear interpolation, circular interpolation, linear / S curve acceleration and
deceleration control, pitch error compensation, multi axis synchronization. Meanwhile,
robot forward/inverse Kinematics, G-code interpretation, IEC6113-3 standard soft PLC,
and a variety of bus (EtherCAT, RTEX) communication functions are supported, which will
ensure the performance indexes, such as the controlled object running speed, accuracy
and external IO signal synchronization.
7.3.2. Controller Features
1. Multi-axis linkage: standard configuration with 3 axis linkage, maximum support for
8 axis linkage.
2. High speed and smooth: support linear interpolation, circular interpolation, curve
interpolation, as well as acceleration and deceleration control before line/S curve
interpolation, taking both speed and flexibility of control into account.
3. Precise positioning: support high precision nano interpolation technology,
bidirectional pitch error compensation and reverse gap compensation function.
97
4. High speed response: the design and installation of the distributed structure based
on EtherCAT bus technology is simple, and the system response speed is fast
5. Good compatibility: support burst, analog and bus servo systems.
6. Customizability: The system has built-in high speed soft PLC mode, the user can
customize the IO control and PLC axis control function.
7.3.3. Controller Port Introduction
1）EtherCAT bus controller
Figure 7-5 Schematic diagram of the EtherCAT bus controller

Port Name Function description
EtherCATmaster
EtherCAT station Ethernet For connecting EtherCAT bus slave station device
port
For debugging, remote monitoring, supports Modbus
1000 Mbps
LAN1 TCP protocol, OPC protocol IP:192.168.1.6 (initial IP
Ethernet port
can be allocated)
For connecting the teachpendant, also supports
1000 Mbps
LAN2 Modbus TCP protocol, OPC protocol IP:172.18.11.5
Ethernet port
(fixed IP)
COM Serial port RS-232/485/CAN
I/O Fast I/O Controller scram signal input / output
DC1/DC2 power port DC-24V（5566 wiring terminal）
2）RTEX bus controller
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Figure 7-6 Schematic diagram of the RTEX bus controller

EtherCATmaster
port
1000 Mbps
Ethernet port
can be allocated)
1000 Mbps
Ethernet port
(fixed IP)
OUT RTEX bus OUT Connect to the RX of the rear node
IN RTEX bus IN Connect to the TX of the previous node
3） Impulse type controller
Figure 7-7 Schematic diagram of the impulse type master controller

EtherCATmaster
port
1000 Mbps
Ethernet port
can be allocated)
1000 Mbps
Ethernet port
(fixed IP)
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Pulse series servo
AXIS 1-6 Used to connect high-speed pulse series servo driver
interface
7.4. TeachPendant
7.4.1. TeachPendant Introduction
The teachpendant applies 7.0 inch IPS screen, is equipped with emergency stop
switch, three-section enable switch, supports standard Ethernet interface, CAN, RS-422,
USB interface, manual pulse generator, analog joystick and other functions, as shown in
Figure 7-8. The user’s operation is safe and efficient. The software platform is based on
embedded real time Linux operating system, applies the teaching program based on the
job sequence, which not only supports the whole teaching programming, but also
supports the user defined frame programming.
Figure 7-8 Schematic diagram of the teachpendant

7.4.2. TeachPendant Features
1、 With the teaching programming mode based on job sequence, which has flexible and
strong teaching ability (support variable definition, skip, judgment, comparison,
mathematical operations, etc.)
2、 With the standard PLC programming mode based on IEC61131-3, which makes the
peripheral automation equipment control more flexible and efficient
3、 With the function of conditional judgment, cycle call, the matrix stack, palletizing stack,
function block customization, return-to-zero customization, model setting, remote
access and one key update;
4、 Five types of authority level, which makes permissions configuration clear and
workshop management convenient;
5、 Support single step debugging, slow single cycle debugging, the program verification
is efficiency;
6、 Real time records parameter changes, operation process and other information,
which is convenient for machine fault tracing.
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7.4.3. eachPendant Operation
1. Status lamp
Green（on） Indicate that power supply is normal
Indicate that the communication between teachpendant
Yellow（on）
and 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 Key’s
Function description Function description
name name
Move along the negative Move along the positive X
【X-】【X+】
X axis axis
Move along the negative Move along the positive Y
【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 axis or negative A axis Y1 axis or positive A axis
Move along the negative Move along the positive
【Z1-】【Z1+】
Z1 axis or negative C axis Z1 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
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【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 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 7-9 Schematic diagram of the interface when the safety switch is pressed down
7.5. I/O Module
7.5.1. SIO Module
Figure 7-10 Schematic diagram of SIO module

In order to ensure the safety of the controller, the H5-RC100 series controller
customizes SIO module for users. The module is responsible for handling hardware and
software anomalies of the controller and its supporting facilities, as well as the safety
control of the electrical circuit when emergency stop happens, so as to enable the safety
of equipment and personnel to the greatest extent.
7.5.2. PIO Module
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Figure 7-11 Schematic diagram of PIO module
This module carries out IO point interaction with the host device, integrates the IO
output function of the power relay (Support Europe 67, Europe 12, Japanese Industrial
Standards, and the special IO point interaction of domestic injection moulding machine).
The module is with 32 inputs and 36 outputs, supports NPN and PNP input switch, and is
compatible with standards of Europe, the United States, Japan and other countries.
7.5.3. TIO Module
Figure 7-12 Schematic diagram of TIO module

This module carries out IO point interaction with peripheral automation equipment,
with 48 inputs and 36 outputs, supports NPN and PNP input switch. The output points can
be divided into large, medium and small according to the power, which can adapt to
various devices' power.
7.6. HMI Interface Layout
7.6.1. 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
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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.
There are 4 levels, which are "0.01mm", "0.1mm", "1.0mm", "10.0mm".
7.6.2. 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)
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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.
7.6.3. 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.
105
Figure 7-15 Function menu tree
106
7.7. Home
7.7.1. 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 7-16 Schematic 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).
7.7.2. 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 7-17 Home 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.
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Figure 7-18 Home type
7.8. Manual Operation
Click 【Operation】 to enter Manual Operation interface, as shown in Figure 7-19.
Figure 7-19 Manual 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.
7.9. 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 7-20 Schematic 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!
*******************************************************************************
7.10. Program Management
Click 【 Function 】 ——> 【 File Manager 】 ——> 【 Program File 】 to enter program file
interface.
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7.10.1. 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.
7.10.2. 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.
7.10.3. 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.
7.11. Edit Program
7.11.1. 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
7.11.2. 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

7.11.3. 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
7.11.4. 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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7.12. Program Command Introduction
7.12.1. 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 7-31 MoveRelative command

3） Inhibit input current position coordinates of robot.
4 MoveSearch command
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Figure 7-32 MoveSearch 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 7-33 AxisPass command
（0,0）（200,0）（300,0）
（300,100）
（300，200）
Figure 7-34 Schematic 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.
7.12.2. 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）
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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）
7.12.3. 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
7.12.4. 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
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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.
7.12.5. 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”
7.13. Program Examples

7.13.1. 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. Posture reset.
16. The program is end and returns
to the start of the program to
execute next cycle.
7.13.2. 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 diagram 2: 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.
7.13.3. Example for FOR Loop 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 commend can 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.
7.13.4. 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
7.13.5. 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.
7.13.6. 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 palletizing 1

3） Set the total palletizing number to be 4
4） Set the coordinates of 4 points
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7.14. Process Setup
7.14.1. 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.
7.14.2. 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.
7.14.3. 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
7.14.4. 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.
7.14.5. 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.
7.15. Program Execution
Click 【 Run 】 or click 【 Function 】 ——> 【 Run 】 to enter run interface, as shown in
133
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.
7.15.1. 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.
7.15.2. Automatic Running
In the current manual mode, click 【Auto】 button, the system will enter auto mode, as
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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.
7.16. 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
7.17. Engineer Setup

7.17.1. Function Setup
Click 【 Function 】 ——> 【 Engineer Setup 】 ——> 【 Func Setup 】 to enter func setup
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Figure 7-61 Func setup interface
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.
137
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.
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.
7.17.2. 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”.
7.17.3. Alarm Ignore Setup
Click 【Function】——>【Engineer Setup】——>【Alarm Ignore】 to enter alarm ignore

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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”.
7.17.4. 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”
7.17.5. 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.
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Figure 7-65 Mould setup interface
7.18. System Setup
7.18.1. 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.
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
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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)
7.18.2. 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.
7.18.3. 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
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shown in figure 7-68.
Figure 7-68 Version information interface

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

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

7.19. Machine Parameter Setup
7.19.1. Machine Type Selection
Click 【 Function 】 ——> 【 Machine Config 】 ——> 【 MachineType 】 to enter machine
type interface, as shown in Figure 7-71.
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）
7.19.2. Safety Setup
Click 【Function】——>【Machine Config】——>【Safety Setup】 to enter safety setup
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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
user misoperation that may affect the safety of the system.
7.19.3. Stroke Setup
Click 【Function】——>【Machine Config】——>【Stroke Setup】 to enter stroke setup
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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.
7.19.4. 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
value of each axis, the setting value has 1-26 totally 26 levels.
7.19.5. Speed Setup
Click 【Function】——>【Machine Config】——>【Speed Setup】 to enter speed setup
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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.
7.19.6. Axis Setup
Click 【 Function 】 ——> 【 Machine Config 】 ——> 【 Axis Setup 】 to enter axis setup
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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.
7.19.7. 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).
7.20. 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
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Figure 7-78 Monitoring interface
7.21. Alarm Record
Click button 【Alarm】 or click 【Function】——>【Record】——>【Alarm Record】 to

enter alarm record interface, as shown in Figure 7-79.
Figure 7-79 Alarm 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).
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.
7.22. System Record
Click 【 Function 】 ——> 【 Record 】 ——> 【 System Record 】 to enter system record
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Figure 7-80 System 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.
7.23. System Config
Click 【 Function 】 ——> 【 File Manager 】 ——> 【 Config File 】 to enter config file
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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.
7.24. Software Upgrade
Click 【 Function 】 ——> 【 Upgrade 】 to enter upgrade interface, as shown in Figure

7-82.
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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.
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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
153
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 √ √ √ √ √
154
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
155
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
156
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
157
[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
158
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.
159
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
160
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
161
[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]
162
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.
163
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.
164
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
165
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.
166
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.
167
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
168
[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
169
170

Robots User Manual (CE) - English

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Original Instruction

ROBOTS FOR INJECTION MOULDING MACHINE

Responsibility Preparation Review Approval

Ningbo Hilectro Automation Technology Co.,Ltd.

Address: No.518, Xiaojiajiang Middle Road, Beilun District, Ningbo Zhejiang

Postal Code: 315801

Ningbo Hilectro Automation Technology Co.,Ltd.

Person responsible for making this declaration:

Name ,Surname Huang Haohui

Place/Date： General Manager：

Ningbo Hilectro Automation Technology Co.,Ltd.

Place/Date： General Manager ：

Apply to IMM ton 60-250

The controller brand model - H5-RC1000E-MC

Drive way - FULL SERVO

Power source - 400V AC 50Hz 3P/N/PE

Power consumption kW 2.1

Full load current A 10.3

Pneumatic pressures bar 5

Air consumption NL/cycle 4.77

Net weight kg 330

（LxWxH） Size mm 2460×1570×1280

Model Unit XTA-900

Apply to IMM ton 250-380

The controller brand model - H5-RC1000E-MC

Drive way - FULL SERVO

Power source - 400V AC 50Hz 3P/N/PE

Power consumption kW 2.1

Full load current A 10.3

Pneumatic pressures bar 5

Air consumption NL/cycle 4.99

Net weight kg 340

（LxWxH） Size mm 2460×1690×1335

Apply to IMM ton 250-380

The controller brand model - H5-RC1000E-MC

Drive way - FULL SERVO

Power source - 400V AC 50Hz 3P/N/PE

Power consumption kW 2.1

Full load current A 10.3

Pneumatic pressures bar 5

Air consumption NL/cycle 5.21

Net weight kg 350

（LxWxH） Size mm 2460×1690×1355

Model Unit XTA-1100

Apply to IMM ton 380-530

The controller brand model - H5-RC1000E-MC

Drive way - FULL SERVO

Power source - 400V AC 50Hz 3P/N/PE

Power consumption kW 2.9

Full load current A 12.6

Pneumatic pressures bar 5

Air consumption NL/cycle 15

Net weight kg 520

（LxWxH） Size mm 2970×1790×1600

Apply to IMM ton 530-700

The controller brand model - H5-RC1000E-MC

Drive way - FULL SERVO

Power source - 400V AC 50Hz 3P/N/PE

Power consumption kW 2.9

Ningbo Hilectro Automation Technology Co.,Ltd. 

Ningbo Hilectro Automation Technology Co.,Ltd. 