Injection Machine Robot Control

System Operation Manual

（A02-IMP、A02-IMC、A02-IMR）

Version: V1.14

Shenzhen Lavichip Technology Co., Ltd.

 CONTENT
1 SAFETY WARNING AND SYSTEM INSTALLATION .............................................................. 1

1.1 PRECAUTIONS FOR STORAGE AND TRANSPORT .............................................................................. 1

1.2 GENERAL CONSIDERATIONS .......................................................................................................... 1
1.3 PROHIBITED MATTER ..................................................................................................................... 1
1.4 PRECAUTIONS WHEN DISCARDING................................................................................................. 2
1.5 SYSTEM INSTALLATION ................................................................................................................. 2
2 OPERATION PANEL ...................................................................................................................... 3

2.1 APPEARANCE AND INSTRUCTIONS ................................................................................................. 3

2.2 MAIN SCREEN AND AXIS DEFINITION ............................................................................................. 4
2.2.1 Main screen instruction ........................................................................................................ 4
2.2.2 Axis definition of the manipulator ....................................................................................... 4
3 OPERATION MODE ....................................................................................................................... 5

3.1 ORIGINAL POINT AND RESET.......................................................................................................... 5

3.1.1 Original point ....................................................................................................................... 5
3.1.2 Reset ..................................................................................................................................... 5
3.2 MANUAL OPERATION..................................................................................................................... 5
3.2.1 Manual operation of Axis button .......................................................................................... 6
3.2.2 Manual operation of Axis ..................................................................................................... 7
3.2.3 Manual operation of Wheel .................................................................................................. 8
3.2.4 Manual operation of Clip/Suction ........................................................................................ 8
3.2.5 Manual operation of Reserved ............................................................................................. 8
3.2.6 Manual operation of Machine .............................................................................................. 9
3.2.7 Manual operation of Conveyor ............................................................................................. 9
3.3 AUTOMATIC OPERATION .............................................................................................................. 10
3.3.1 Data monitoring of automatic operation ............................................................................. 10
3.3.2 Change of parameters during automatic operation ............................................................. 11
3.3.3 Single step operation .......................................................................................................... 12
3.3.4 Speed adjustment during automatic operation .................................................................... 12
4 MANAGEMENT OF PROGRAM ................................................................................................ 13

4.1 LOADING AND CREATION OF PROGRAM ....................................................................................... 13

4.2 PROGRAM GUIDANCE .................................................................................................................. 14
4.2.1 Guidance of Axis movement .............................................................................................. 15
4.2.2 Guidance of Stacking ......................................................................................................... 17
4.2.3 Guidance of Clip/Suck ....................................................................................................... 18
4.2.4 Clip/Suck detection guidance ............................................................................................. 19
4.2.5 Guidance of Injection Machine signal ................................................................................ 20
4.2.6 Guidance of Auxiliary Equipment ...................................................................................... 20
4.2.7 Guidance of Reserved Movement ...................................................................................... 21
 4.2.8 Guidance of Waiting signal ................................................................................................ 22
4.2.9 Guidance of Subprogram ................................................................................................... 23
4.2.10 Guidance of Tag/Jump ...................................................................................................... 24
4.2.11 Guidance of Conditions .................................................................................................... 25
4.2.12 Guidance of Logic&Var ................................................................................................... 26
4.2.13 Guidance of Others ........................................................................................................... 29
4.2.14 Guidance of FastTeach ..................................................................................................... 29
4.2.15 Guidance of SpeedEdit ..................................................................................................... 30
4.3 EXAMPLES OF GUIDANCE PROGRAM ............................................................................................ 31
4.3.1 Program requirements ........................................................................................................ 31
4.3.2 Program process ................................................................................................................. 31
4.3.3 Guidance program .............................................................................................................. 31
5 FUNCTION SETTING .................................................................................................................. 34

5.1 SIGNAL DETECTION SETTING ....................................................................................................... 34

5.1.1 Clip Check setting .............................................................................................................. 34
5.1.2 Machine Check ................................................................................................................... 35
5.1.3 Other signal ........................................................................................................................ 37
5.1.4 Spare Port ........................................................................................................................... 38
5.2 SECURITY SETTING ...................................................................................................................... 38
5.2.1 Pose safety .......................................................................................................................... 38
5.2.2 Other safety ........................................................................................................................ 40
5.3 PRODUCT SETTING ...................................................................................................................... 42
5.4 SYSTEM SETTING......................................................................................................................... 43
5.4.1 Language setting ................................................................................................................ 43
5.4.2 User setting......................................................................................................................... 44
5.4.3 Admin setting ..................................................................................................................... 45
5.4.4 Upgrade & back ................................................................................................................. 46
5.5 SERVO SPEED SETTING ................................................................................................................ 46
5.5.1 Acceleration setting ............................................................................................................ 46
5.5.2 Max speed setting ............................................................................................................... 47
5.5.3 Tolerance setting ................................................................................................................ 48
5.6 SERVO SECURITY ......................................................................................................................... 49
5.6.1 Traverse axis settings (Z-Axis) .......................................................................................... 49
5.6.2 Main rise/fall axis settings（Y1-Axis） ............................................................................ 50
5.6.3 Main forward/backward axis(X1-Axis) ............................................................................. 51
5.6.4 Auxiliary rise/fall axis setting(Y2-Axis) ............................................................................ 52
5.6.5 Auxiliary forward/backward axis settings (X2-Axis)......................................................... 53
5.6.6 C-axis setting ...................................................................................................................... 53
5.7 ROBOT PARAMETERS ................................................................................................................... 54
5.7.1 Z-axis setting ...................................................................................................................... 55
 5.7.2 Y1- axis setting .................................................................................................................. 57
5.7.3 X1-axis setting ................................................................................................................... 59
5.7.4 Auxiliary rise/fall axis setting (Y2-axis) ............................................................................ 61
5.7.5 Auxiliary forward/backward axis setting (X2-axis) ........................................................... 62
5.7.6 C-axis setting ...................................................................................................................... 64
5.7.7 Limit setting ....................................................................................................................... 65
5.7.8 Time setting ........................................................................................................................ 67
5.7.9 Structure setting .................................................................................................................. 67
5.7.10 Origin setting .................................................................................................................... 69
5.7.11 Servo paraments ............................................................................................................... 70
5.8 STACKING SETTING ..................................................................................................................... 71
5.8.1 Stacking parameters ........................................................................................................... 71
5.8.2 Regular stack setting .......................................................................................................... 73
5.8.3 Irregular stack setting ......................................................................................................... 75
6 I/O MONITORING AND ALARM RECORD ............................................................................. 76

6.1 I/O MONITORING ......................................................................................................................... 76

6.2 ALARM/LOG ............................................................................................................................... 80
6.2.1 Alarm info .......................................................................................................................... 80
6.2.2 Parameter log ..................................................................................................................... 81
6.2.3 Operation log ...................................................................................................................... 81
6.3 ALARM INFORMATION AND ALARM REASON ................................................................................ 82
6.4 AUXILIARY CODE INFORMATION ABOUT FAILING TO FIND ORIGINAL POINT ................................. 96
7 PORT DEFINITION OF CIRCUIT BOARD .............................................................................. 98

7.1 THREE AXIS MASTER CONTROL BOARD PORT DEFINITION ............................................................ 98

7.2 SIX AXIS MASTER CONTROL BOARD PORT DEFINITION ................................................................. 99
7.3 CANOPEN MAIN CONTROL BOARD PORT DEFINITION................................................................. 100
7.4 RTEX MAIN CONTROL BOARD PORT DEFINITION ....................................................................... 101
7.5 I/O BOARD PORT DEFINITION (PLUSE VERSION) ......................................................................... 102
7.6 I/O BOARD PORT DEFINITION (CANOPEN VERSION,RTEX VERSION) ......................................... 103
8 SERVO DRIVE PORT DEFINITION ........................................................................................ 104

8.1 SERVO DRIVE PORT DEFINITION (PULSE VERSION) ..................................................................... 104

8.1.1 Servo drive interface definition ........................................................................................ 104
8.1.2 Servo drive parameter setting description ........................................................................ 104
8.1.2.1 Lavichip LSC connection table ................................................................................................. 105
8.1.2.2 Panasonic A4/A5/A6 drive connection table ............................................................................. 106
8.1.2.3 Inovance IS620P/630P/660P drive connection table ................................................................. 107
8.1.2.4 Sanxie servo / Hechuan servo connection table......................................................................... 108
8.1.2.5 Delta B2 drive connection table ................................................................................................ 109
8.1.2.6 MITSUBISHI MR-JE servo drive connection table .................................................................. 110
8.1.2.7 Fuji ALPHA-5 connection table ................................................................................................ 111
 8.2 SERVO DRIVE PORT DEFINITION (CANOPEN VERSION) .............................................................. 112
8.2.1 CANopen communication wiring diagram ...................................................................... 112
8.2.1.1 Lavichip LSC servo drive wiring diagram ................................................................................ 112
8.2.1.2 Other servo drive interface definition ........................................................................................ 112
8.2.2 Servo drive parameter setting description ........................................................................ 113
8.2.2.1 Basic settings ............................................................................................................................. 113
8.2.2.2 Lavichip LSC driver parameter setting ..................................................................................... 114
8.2.2.3 Inovance SV660C driver parameter setting ............................................................................... 114
8.2.2.4 Hechuan X2E/X3E drive parameter setting .............................................................................. 115
8.3 SERVO DRIVE INTERFACE DEFINITION (RTEX VERSION)............................................................ 115
9 APPENDIX ................................................................................................................................... 117

9.1 WIRING DIAGRAM ..................................................................................................................... 117

9.1.1 Wiring diagram of main control panel and I/O panel ....................................................... 117
9.1.2 Connection between manipulator and injection molding machine ................................... 118
9.2 CIRCUIT BOARD INSTALLATION DIMENSION............................................................................... 120
9.2.1 Pulse three axis main control panel installation dimension .............................................. 120
9.2.2 Pulse six axis main control panel installation dimension ................................................. 121
9.2.3 CANopen main control panel installation dimension ....................................................... 122
9.2.4 RTEX main control panel installation dimension ............................................................. 123
9.2.5 I/O panel installation dimension ....................................................................................... 124
9.3 I/O LIST (PLUSE VERSION) ......................................................................................................... 125
9.4 I/O LIST (CANOPEN VERSION) .................................................................................................. 126
9.5 I/O LIST (RTEX VERSION) ......................................................................................................... 127
Injection Machine Robot Control System Operation Manual V1.14

1 Safety warning and system installation

For the safety content of this manual, use the following logo. The content of the job safety logo
is very important, so please follow it.

Note
Moderate or minor injuries and equipment damage due to failure to operate as required.

1.1 Precautions for storage and transport

Note: Do not store or place in the following environment, as this may result in fire, electric shock or
damage to the machine.
1) A place where direct sunlight is emitted, a place where the ambient temperature exceeds the
storage temperature condition, a place where the relative humidity exceeds the storage humidity
condition, a place where the temperature difference is large, and condensation occurs.
2) Places close to corrosive gases, flammable gases, dust, salt and metal dust, places where water, oil
and chemicals drip, vibration or impact can be transmitted to the main body, do not hold the line
carry the cable, otherwise it will cause damage or malfunction.
3) Do not stack the product too much together, as this may result in damage or malfunction.

1.2 General considerations

Attention:
1) This product is a general industrial product and is not intended for use by machines and systems
that are life-threatening.
2) If it is applied to a device that may cause a major accident or loss due to the failure of this product,
please equip it with a safety device.
3) If it is used in a high concentration of sulfur or sulphuric gas, please be aware that the chip may be
broken due to vulcanization or contact failure may occur.
4) If you input a voltage that is far beyond the rated range of the power supply of this product, it may
cause smoke or fire due to damage of internal components. Please pay attention to the input voltage.
5) Please note that this product cannot be used beyond the scope of product specifications.
6) The company is committed to continuous improvement of its products and may change some
parts.

1.3 Prohibited matter

Do not dismantle and repair work except our company personnel.

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1.4 Precautions when discarding

Note
When the product needs to be disposed of as waste after normal use, please follow the legal
requirements of the relevant department for the recycling and reuse of electronic information
products.

1.5 System installation

1) Wiring work must be carried out by a professional electrician.
2) Confirm that the power is off before starting the job.
3) Install it on flame retardant such as metal and keep it away from combustibles.
4) It must be grounded safely when in use.
5) If the external power supply is abnormal, the control system will malfunction. In order to make
the whole system work safely, be sure to set the safety circuit outside the control system.
6) Before installation, wiring, operation, maintenance, you must be familiar with the contents of this
manual; you must also be familiar with the relevant machinery, electronic knowledge and all
relevant safety precautions.
7) The electrical box in which the controller is installed shall be in a condition of good ventilation,
oil and dust. If the electric control box is sealed, the temperature of the controller will be too high,
which will affect the normal operation. A fan must be installed. The suitable temperature in the
electric box is below 50 °C. Do not use it in condensation or freezing place.
8) The controller should be installed as close as possible to the AC accessories such as contactors
and transformers to avoid unnecessary electromagnetic interferenc.
Note: Improper handling can cause danger, including personal injury or equipment accidents, etc.

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2 Operation panel

2.1 Appearance and Instructions

The hand control panel is shown in the figure:

② ③
①

④ ⑥

① Select switch: With manual, stop, automatic three gears can choose.
② Status light: Display the status of the current system.
③ Emergency switch: emergency stop.
④ Function Buttons: Control system operation start, stop, find the origin point, reset function,
adjust the machine running speed.
⑤ Display screen and touch area: Touch ribbon and display interface area.
⑥ Axis move key: Control the motion of the corresponding axis.
⑦ Micro motion knob: Achieve the micro-motion function of the axis.

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2.2 Main screen and axis definition

2.2.1 Main screen instruction

Main screen as shown below: (The three-axis screen lacks X2, Y2, and C axis)

① Roller wheel axis selection: Switch the fine adjustment knob to control the axis.
② Fine-tuning accuracy: Fine-tuning the knob for current accuracy display.
⑤
③ User access: switch users
④ Current Axis: Displays the current position of each axis.
⑤ Alarm info: Displays the current alarm information.
⑥ Current program: Displays the name of the currently running program.

2.2.2 Axis definition of the manipulator

1) Z axis: traverse in and out axis of the manipulator.

2) X1 axis: forward and backward axis of the manipulator.

3) Y1 axis: upward and downward axis of the manipulator.

4) X2 axis: forward and backward axis of the backup arm of the manipulator.
5) Y2 axis: upward and downward axis of the backup arm of the manipulator.

6) A/B/C axis: rotation axis or reserved axis of the manipulator.

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3 Operation mode
Manipulator has manual, stop, automatic three kinds of running state, turn the state selector
switch to the left gear position for manual state, in which the manipulator can be manually operated;
turn the state selector switch to the middle position for the stop state, in which the manipulator stops
all movements, and the manipulator can be reset to the original point only. Turn the status selector
switch to the right gear, and press "Start" button, the manipulator will enter the automatic running
state.

3.1 Original point and reset

3.1.1 Original point

In order to enable the robot to operate correctly and automatically, each time the power is
turned on, the origin finding action must be performed in the stopped state. Finding the origin action
is to return each axis of the drive manipulator to the origin position, and the sucker and the clip
return to the off state.
In the stop state, press the "Origin" button once to find the original point, and the manipulator
axes return to the origin position in order of Y1 (Y2) →X1 (X2) →Z. At the same time, the page
pop-up prompt box prompts the user to find the origin. After finding the original point successfully,
the servo motors return to their original points, that is, the positions of the servo motors are 0.
When all axes, sucker and clip return to the origin position, the alarm Information Bar at the
bottom of the screen appears "find the origin succeed" prompts, then you can carry out automatic
operation and manual operation.
When looking for the origin, the user cannot carry on manual, automatic operation and
parameter setting to the manipulator, in case of emergency, press the stop button to stop the search
for the origin or press the emergency stop button.

3.1.2 Reset

When the manipulator needs to return to the origin, the [reset] button on the panel can be
clicked, and the manipulator can return to the original position.
When the manipulator performs the reset action, the sucker and the clip are returned to the
closed state. The user cannot carry on manual, automatic operation and parameter setting on the
manipulator. In case of emergency, press the stop button to stop the reset action or press the
emergency stop button.

3.2 Manual operation

Rotate the status selector switch to the manual position and the manipulator enters the manual

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state.

3.2.1 Manual operation of Axis button

Since the position data of each electric control axis is not correct before the origin is found, the
motorized shaft of the manipulator cannot be operated before the original search is successful, but
the pneumatic operation can be manually operated.

Pneumatic control: Press the key once, the main arm moves up to the start position.
Electric control: hold the key, the main arm moves up, release and it stop.

Pneumatic control: Press the key once, the main arm moves down to the end position.
Electric control: hold the key, the main arm moves down, release and it stop.

Pneumatic control: Press the key once, backup arm moves up to start position.
Electric control: hold the key, backup arm moves up,release and it stop.

Pneumatic control: Press the key once, backup arm moves down to end position.
Electric control: hold the key, backup arm moves down, release and it stop.

Pneumatic control: Press the key once, main arm moves back to start position.
Electric control: hold the key, main arm moves back, release and it stop.

Pneumatic control: Press the key once, main arm moves forward to the end position.
Electric control: hold the key, main arm moves forward, release and it stop.

Pneumatic control: Press the key once, backup arm back to start position.
Electric control: hold the key, backup arm moves backward, release and it stop.

Pneumatic control: Press the key once, backup arm moves forward to end position.
Electric control: hold the key, backup arm moves forward, release and it stop.

Pneumatic control: Press the key once, fixtures turn to stop position.
Electric control: hold the key, fixtures move vertically, release and it stop.

Pneumatic control: Press the key once, fixtures turn flat to stop position.
Electric control: hold the key, fixtures move horizontally, release and it stop.

Enter the Traverse in key, press and hold the key to move the manipulator towards the
origin, release the key to stop.

Enter the Traverse out key, press and hold the key to move the manipulator towards the
origin, release the key to stop.

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3.2.2 Manual operation of Axis

After finding the origin, the manual operation of the axis can be performed under the manual
page. The three axis screen is as shown below:

1）Click [Axis] button, manually select the motion axis, enter the position value, click "Position +"
"Position -" to select the axis to move to the set position.
2）Debug: Select to use, enter the password to display the tuning function.

Axis: Select the servo axis for debugging.

mm/rev: Corresponding to the "machine parameter - distance per revolution" parameter, convenient
for users to modify when tuning.
Encoder pulse: The actual number of pulses fed back by the servo motor while the current axis is
running.
System pulse: Number of command pulses generated by the system when the current axis is running
Rotate+: Click once, the motor rotates one turn in positive direction.
Rotate-: Click once, the motor rotates one turn in negative direction.
Clear: Clear encoder pulse and system pulse count value.
3）The “Pose” can be selected horizontal and vertical, and the corresponding posture changes. (For
post 1, post 2, set "Vertical Horizontal 1" and "Vertical Horizontal 2" as "Enable" or Disable" in the
structure parameters)

Note: green light is input limit position signal, red light is output signal, if no signal of input or
output, the light is off.

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3.2.3 Manual operation of Wheel

Wheel operation:
1）Pressing, control accuracy of axis movement, 0.010.115100.01 switching;
2）Rotate, control the motion of the selected axis with the current accuracy.

3.2.4 Manual operation of Clip/Suction

Under the manual interface, click Clip/Suction, as shown:

There are four groups of clips, click on the button of “On” then corresponding sucker will move,
click on the button “Off” then corresponding sucker will stop.
There are two groups of suckers, click on the button of “On” then corresponding sucker will
move, click on the button “Off” then corresponding sucker will stop.
Note: green light is input limit position signal, red light is output signal, if no signal of input or
output, the light is off.

3.2.5 Manual operation of Reserved

Under the manual interface, click the [Reserved] button as shown:

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The manual operation of the reserved action is the same as the manual operation of the
clip/suction.

3.2.6 Manual operation of Machine

Under the manual interface, click [Machine] button as shown:

Click the [On] [Off] button, the injection molding machine has a corresponding action.

3.2.7 Manual operation of Conveyor

Under the manual interface, click [conveyor] button as shown:

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The conveyor belt and fuel injection operation are the same as the clip/suction operation.

3.3 Automatic operation

3.3.1 Data monitoring of automatic operation

The state selection switch is rotated to the automatic gear position, the manipulator enters the
automatic standby state, and then presses the start key and the manipulator will enter the automatic
running state, under the automatic running state you can monitor the manipulator's running data. The
automatic page displays the following figure:

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Description:
① Automatic action area: Shows the action of automatic operation.
② Program display selection: The program currently displayed on the page has Main, SubProgram 1,
SubProgram 2, SubProgram 3, and SubProgram 4.
③ Press button to switch to the variable 1~variable 4 value monitoring page.
1) Auto Time: record the program automatically under the current model number
2) Pre-cycle: Record the last production cycle time.
3) Mold cycle: shows the molding time of the current cycle injection molding machine.
4) Pickup: During automatic operation, the time manipulator to take products, that is, the
interruption time of injection molding machine mold locked.
5) Plan QTY: Displays the number of products currently set.
6) Real QTY: the number of qualified products Manipulator has taken.
7) Stack Num: Displays number of current production stacks.
8) Auto step: The action step number currently being executed by the manipulator.
9) G-speed: Overall speed factor setting for all axis.
10) History: can record the latest 50 times product cycle information.
11) Stack clear: Clears the stacked data that has been recorded.
12) Follow: You can choose to follow or not to follow the current program movement.
13) Edit: You can edit the movement of the current program.
14) Single cycle：Turn the knob to automatic, click the single-step mode, enter the single-step
operation mode, and press "▼" to perform single-step operation.
15) Stacking designation: Check the stacking group number, and arbitrarily specify the number of
stacking points from X/Y/Z to start stacking.
16) Speed En: Allow or forbid of overall speed. Select the up and down speed adjustment keys on the
panel to increase or decrease the global speed during automatic operation.

3.3.2 Change of parameters during automatic operation

Under the condition of automatic operation, the time of movement in the automatic program,
the speed and position of the electric axis can be modified according to the current operation
condition. To facilitate the modification of the parameters, click the [follow] button to stop the
movement of the program indicator bar.
Click the movement line to modify the parameters, then click the [Edit] button to pop up the
following dialog box:

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In this dialog box you can modify the delay time of the movement, the speed and position of the
electric axis, change the parameters and then click [Save], the parameters will be accepted online,
starting from the next cycle will be changed after the parameters of the operation, to cancel the
action can press the [Edit] button.
In order to ensure that the electric shaft axis modification will not damage the manipulator,
injection molding machine, mold, it is limited that each modification can only be within ±5 mm
range.
Click the [Speed En] button to turn it into blue. You can press the up and down arrow keys at
the fall left corner of the panel to adjust the global speed, and you can increase or decrease the speed
of each electric axis as a whole.

3.3.3 Single step operation

Rotate the State selection button to the automatic position, click the [Single Step] button (No
need to press the "Start" button). In this mode, click the ▼ button once to execute a one-step
automatic action program; when the axis is moving, you need to keep pressing ▼ until it reaches the
target position. If you release the ▼ button in the middle, the axis movement will stop. The executed
automatic program is the automatic program currently taught.
Single-step operation mode can be used to confirm whether the automatic program taught is
correct step by step.

3.3.4 Speed adjustment during automatic operation

In the automatic operation state, click the [Allow Speed Control] button to turn it into blue, and
select the ▲▼ key on the panel to increase or decrease the global speed during automatic operation.

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4 Management of program

4.1 Loading and creation of program

In the Stop state, click the Guidance Management button to enter the program storage page,
where you can create new programs, copy programs, load programs, and remove Programs.

① Teach program display area: Displays the saved teach program name.
② Program lock: Select the file to be locked, click on lock, enter the password to lock the selected
program.
③ Program lock display: Shows the locked status of the program, locked and unlocked. (Locked is
red, unlocked is green.)
④ New: Enter the name of the mold you want to create in the current text box, and then click the
"New" button to create a new blank mold program that allows you to enter letters and numbers in the
name of the mold.
⑤ Copy: after entering a new name in the new mold name text box, click the name of the stored
mold, and then click the [copy] button to copy the stored mold program into the new mold program.
⑥ Loading: Click on the stored mold program, and then click the [Load] button, you can load the
selected mold program and run the program automatically.
⑦ Preview: Click the program file name you want to preview, and then click the [Preview] button
to preview the file's program.
⑧ Delete: Click on the stored mold program, and then click the [Delete] button, you can delete the
mold program.
⑨ USB: Click USB button, shown in below:

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1) Select all: Select all the programs to import and export.

2) No choice: no one is selected.
3) Import program: Select USB Import to import the USB mold program to the machine.
4) Export program: Select USB export, click the stored mold program, and then click the [Export]
button to export the selected mold program to USB.

4.2 Program guidance

Turn the Status selection button to manual and click on the [guidance] button to go to the
program guidance page. As shown in the following figure:

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① Step number display: Display the step number where the teach program is located.
② Action main meau: Action menu divides the editing of the program into "Axis", "Stacking",
"Clip/Suck", "Machine", "Auxiliary", "Reserved ", "Detection", "Waiting ", "Subprog", "Tag/Jump",
"Condition", "Logic&Var", "Other". Click the corresponding button to enter the guidance page of the
movement class. Click the [Menu] button to return to the main screen of the movement.
③ I/O-Out: Check the signal output box, the corresponding signal will be output when teaching
clipping, structing and reserved output action.
④ Main: Click [Main] to switch to the subprogram selection interface
⑤ TestRun: During program teaching, click [TestRun], you can try to run the current program
steps.
⑥ Refresh: When teaching the axis movement, you can jog the axis to the target position first, and
click [Refresh] to refresh the current position to the axis teaching movement.
⑦ Synchronous action teaching: In the teaching mode, select the action to be synchronized and
click the [Group] button to combine this action with the previous action. The sequence numbers of
all combined actions are the same, and they are combined together during automatic operation. The
actions are executed synchronously; on the contrary, if you want to separate the actions that are
executed synchronously, you can click the [Split] button to separate the actions.
⑧ SpeedEdit: For details, please refer to 4.2.15 Speed Teaching Chapter.

4.2.1 Guidance of Axis movement

Click the [axis] button to enter the guidance page of the servo axis movement. In this page, the
movement of X1/X2 axis, the Y1/Y2 axis, the Z axis, and the C axis can be edited. As shown in
below figure:

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1: You can set up the position, movement speed, delay time of X1/Y1/Z axis by clicking on
the left to change it to icon √ , then set up the parameters of the axis, select the program step on
the left and click [Insert] to insert the edited axis movement into the front of selected program.
2: If you need to modify the axis action parameters, click to select the axis action to be
modified, and then click the [Edit] button to pop up the following interface:

1) Position: Target position of the selected axis motion. (You can enter manually or use "Refresh"
to enter).
2) Speed: The speed of the selected axis action.
3) Delay: Perform the delay time of the selected axis before the action.
4) Advance Position: Set the advanced position of the selected axis.
5) Advance Speed: Set the speed of the pre-acceleration or deceleration of the selected axis.
6) Advance End: The selection ends early, and when the selected axis is smaller than the advanced
position from the target position, the program can perform the next action.
7) Advance Slow: When the axis runs to the target position less than the advanced position, it runs
to the target position at the advanced speed. (arrive slowly)
8) Advance Fast: The shaft travels at an advanced speed to a distance greater than the advanced
position and then travels to the target position at normal speed. (Start slowly)
9) After modifying the parameters to be modified in the dialog box, click the [Save] button to save
the modified parameters to the program.

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4.2.2 Guidance of Stacking

Click [Stacking] button to enter the screen as below:

Select the box on the left of the stacking program group to be inserted. For example, select the
second stacking group, and then click the [Insert] button to insert the stacking group into the
program. When it runs automatically, the manipulator will stack and discharge products according to
this stacking program. If you want to use the Y-axis for stacking, replace the Y-axis descending
action with a stacking action.
Select the stack of guidance, click [Edit] button, as shown below:

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When the number of stacking axes is not 0, you can set the starting position, stacking axis speed,
delay time, early end, early deceleration, early acceleration and other parameter settings on this page
Note: Refer to the explanation in section [4.2.1] for the meaning of ending early, decelerating
early, and accelerating early.
Click the inserted stack action and click the [Edit] button to set the Points, Space, Direction and
other parameters. As shown below:

Note: If [irregular] stacking is set in the structure, the stacking parameters cannot be edited.

4.2.3 Guidance of Clip/Suck

Click [Clip/Suck] movement button to enter the guidance screen of sucker/fixture movement
and to set up the movement and time delay of sucker and fixture in this screen as shown in below
picture:

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The controller can control four sets of fixtures and two sets of suckers, clicking on the chips or
sucker buttons to be controlled. The fixture or sucker will output and the indicator becomes green
simultaneously. Click on the left side to turn it into a button like √ , then click the [Insert] button
to insert the movement into the front of the selected step.
After guiding the movements of the fixture and sucker, be sure to guide the testing procedure of
the fixture and sucker. Otherwise, the program does not detect the confirmation signal of the fixture
and sucker; if no detection confirmation signal is needed, the fixture and the sucker test program
does not need to be guided.

4.2.4 Clip/Suck detection guidance

Click on [Detection] button to enter the fixture/sucker detection guidance screen, on which you
can add the detection signal of sucker and fixture as shown in below picture:

After guidance of fixture and sucker movement and click on the program of confirmation signal
need to be detected, and then click corresponding fixture and sucker movement button to turn the
indicator green and then click to change it to √ , then click [Insert] button to insert the detection
program in front of the selected program, and the program will start to detect fixture and sucker
confirmation signal from this step.
Note: Please make sure to guide fixture and sucker detection, otherwise the mold may be
damaged!

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4.2.5 Guidance of Injection Machine signal

Click [Machine] button to enter the signal guidance screen of injection machine control, in this
screen you can set up the movement of injection machine such as Mold close, Ejector fore, Ejector
back, Core puller, as shown in below picture:

The guidance method of injection machine signal is the same as the method of guidance for
sucker and fixture. You can find specific reference in clause 4.2.3.

4.2.6 Guidance of Auxiliary Equipment

Click on [Auxiliary] button to enter the guidance screen of oil sprayer and conveyer belt. In this
screen you can set up about the auxiliary equipment. As shown in below picture:

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The guidance method of auxiliary equipment is the same as the method of guidance for sucker
and fixture. You can find specific reference in clause 4.2.3.
1）Time: set up the execution time for the auxiliary equipment and reserved movement.
2）Set up the number of interval of mold output when the equipment is running automatically, if
set as 1, that is output every mold, if set as 2, that is output every two mold and so on.

4.2.7 Guidance of Reserved Movement

Click on [Reserved] to enter the guidance screen of reserved movement as shown in below
picture:

The guidance method of reserved movement is the same as the method of guidance for sucker
and fixture. You can find specific reference in clause 4.2.3.
Reserved output includes reserved On/Off, reserved pass, reserved Inverse.
1）Reserved On/Off: guidance of normal reserved output On/Off.
2）Reserved Pass: when the reserved On time reach set up value will Off automatically.
3）Reserved Inverse: On/Off for each mold interval, if currently it is the output On then Off, if
currently it is output Off then On.
4）Spare On/Off: When the backup port is anti-association, the On/Off action of the backup port
can be taught.

Note: Time parameter in reserved X On/Off and reserved turnover is delay time, in reserved X
ON it is the time of On before Off. Mold interval parameter is the number of mold for each
execution interval.

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4.2.8 Guidance of Waiting signal

Click on [Waiting] button to enter the guidance screen of waiting input signal, after insert input
signal and run automatically to this step, only when there is signal in this input point the program
can run for next step. As shown in below picture:

Click on the left of the waiting input signal and turn it to √ ,to select the program step in
the left screen and then click [Insert] button to insert the waiting input signal in front of the selected
program step.
Each automatically run program must include s program step of “WaitMold open”, when
create a new program will include the step default and do not delete it.

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4.2.9 Guidance of Subprogram

Click on [SubProg] button to enter the subroutine selection screen as shown in below picture:

1) Normal: Insert the subroutine into the main program. When the program reaches this step, enter
the subroutine to perform the teaching action. After executing the subroutine, return to the main
program and continue running.
2) Auto: Insert a subroutine into the main program. When the program reaches this step, the
subroutine starts running and is in parallel with the main program.
3) One-shot: Insert the subroutine into the main program. When the program reaches this step, the
subroutine starts running, and it is in parallel with the main program. It runs only once in this cycle,
and the next cycle runs to this step to trigger the operation again. Click the subroutine drop-down
box to insert the corresponding subroutine program in the main program action.
4) WaitSubprogram1carryout: Inserting the wait subroutine 1 in the main program is completed,
and the main program will wait for the subroutine 1 to complete and continue the subsequent
actions.
5) WaitSubprogram2carryout: Same as WaitingSubprogram1carryout.
6) WaitSubprogram3carryout: Same as WaitingSubprogram1carryout.
7) WaitSubprogram4carryout: Same as WaitingSubprogram1carryout.
Select the subroutine number to be inserted so that the on the left becomes the icon √ ,
select the program step on the left side of the page, and then click the [Insert] button to insert the
selected subroutine in front of the selected program step.

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4.2.10 Guidance of Tag/Jump

Click [Tan/Jump] button in guidance screen to enter the condition guidance screen as shown in
below picture:

Tag: In the teaching program, insert [label] in the place where you need to comment, as shown
in the figure above, insert it after editing the content.
Jump: As shown in the figure above, after checking the jump label, just insert it after the action
that needs to jump to the label. When the program runs to the jump action step, it can jump to the
position of the [label] action to continue running.

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4.2.11 Guidance of Conditions

Click [condition] button in guidance screen to enter the condition guidance screen as shown in
below picture:

1) Trial: At the time of trial production, the selected subroutine is called, and the number of trial
productions is set in [Product Settings].
2) Sample: Select the sampling conditions and execute the selected subroutine according to the
"Sampling Interval" in [Product Settings].
3) Reject: When there is a defective product signal during automatic operation, the selected
subroutine is executed.
4) Reserved On: When the selected reserved port signal is on, the selected subroutine is executed.
5) Reserved Off: When the selected reserved port signal is off, the selected subroutine is executed.
6) Clip/Suction off: The selected subroutine is executed when the selected clip/suction port signal
is off.
7) Interval mode: The selected subroutine is executed according to the set interval modulus.
8) Call SubProg: When the selected conditions are met, the corresponding subroutine type and
subroutine number are executed; when no program is selected, after the selected conditions are
met, it will directly return to the label/step number to continue execution.
9) Return Tag/StepNum:
① When the execution of the conditional subroutine is completed, jump to the position of the
label number by returning to the label to continue running.
② When the conditional subroutine is executed, jump to the action step number of the main
program to continue running by returning to the step number.

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When the return step number is negative: After the conditional action is completed, jump to the
last few steps of the conditional action step number.
When the return step number is positive: After the conditional action is completed, jump to the
next step of the conditional action step number.
When the step number is 0: The current condition action is still executed.

4.2.12 Guidance of Logic&Var

Click [Logic&Var] button in the guidance screen to enter the condition guidance screen as
shown in below picture:

Logical action teaching: If condition 1 (And / or condition 2) are met, perform [if]~[else] action;
If condition 1 (And / or condition 2) are not met, perform [else]~ [end if] action.
Variable teaching: You can select variables 1~4 to add, subtract, multiply, divide, and assign
values to variables.

Example:
The following actions are taught in the program:

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In the above procedure, if condition 1 (X10 On), Condition 2 (X20 Off) Both are established at
the same time, Then the Z-axis is 800.00mm horizontally; If one of condition 1 (X10 On) and
condition 2 (X20 Off) is not satisfied, execute X-axis operation to 200.00mm.

In the above procedure, if one of condition 1 (X10 On) and condition 2 (X20 Off) is satisfied,
execute the horizontal out of Z-axis by 800.00mm; If both condition 1 (X10 On) and condition 2
(X20 Off) are not satisfied, run the X-axis to 200.00mm.

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In the above procedure, if X1 position > 300.00mm is satisfied, execute Y1 axis to 500.00mm;
If X1 position ≤ 300.00mm, execute Y2 axis to 300.00mm.
Condition filling: Click the condition 1 (condition 2) input box to select different conditions, as
shown in the following figure.
Condition selection: signals, variables, positions and other signals can be selected as logic
judgment conditions.
a) Signal: select IO signals of main and IO boards as logic judgment conditions;
b) Variable: select variable or constant as logical judgment condition;
c) Position: select the position relationship or absolute position of the axis as the logical
judgment condition.

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4.2.13 Guidance of Others

Click [others] button in the guidance screen to enter the condition guidance screen as shown in
below picture:

1) Increment: Offset according to the current position of axis, which can be guided as
positive offset or negative offset, the position of axis cannot be zero or out of safe range.
2) Search: The axis moves to the maximum position at the running speed. When it reaches
the advanced position for searching, it continues to run at the advanced speed. During operation, the
operation will stop when the sensor signal is found.
3) Signal stop: when the selected signal acts as a stop signal and synchronize with the servo
movement, the servo movement stops when the signal is sensed.
4) Stack clear: Clear the set stack parameters.
Click on the left of input point and turn it to icon√ ,then set the parameters of the movement,
select the program step in the left of the screen and then click [Insert] to insert the edited condition
movement in front of the selected program step.

4.2.14 Guidance of FastTeach

Click [FastTeach] button in the guidance screen to enter the condition guidance screen as shown
in below picture:

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FastTeach: According to the machine structure and process requirements, the user selects the
main and sub arm, stacking, conveyor and other options accordingly, and sets the pickup position,
the pickup back position, and the placement position, and then clicks [Insert]. Quickly generate the
teaching program, and then click [Save] to complete the quick teaching. Quick teaching provides a
quick and convenient way of teaching, which can meet the user's standard process requirements.

4.2.15 Guidance of SpeedEdit

Click the [SpeedEdit] button to enter the speed teaching page as shown:

By selecting the corresponding axis, you can uniformly modify all the speed values of the axis
in the teach program.

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4.3 Examples of guidance program

The following guidance program will help you to learn more about and practice manipulator
programming. When guiding the manipulator program of the mold, please set the position of the
servo axis and the control of the injection machine according to your actual situation.

4.3.1 Program requirements

The program is used to remove the product and head of injection molding. The manipulator
stops above the mold of the injection molding machine and waits for the injection molding machine
to open the mold. The starting position of the five electric axes of the manipulator is the original
position and the fixture is vertical. After the injection molding machine is opened, the manipulator
takes out the finished product and the material head, transversely puts the material head into the
crusher, and puts the finished product into the conveyor belt, and the conveyor belt moves once
every mold.

4.3.2 Program process

 Adjust the manipulator to the automatic running state.

 The manipulator runs to the starting point, waiting for the injection molding machine to open
the mold.
 Take out the finished product with sucker.
 The manipulator moves out of the mold range through the x and Y axes, and the output signal to
close the mold is allowed after successful detection of the material.
 The manipulator puts the material head and the finished product into the specified position
respectively.
 Start the conveyor belt and run for 3 seconds when each finished product is put on the conveyor
belt.
 The manipulator returns to the starting position and standby.

4.3.3 Guidance program

0 Z Servo traverse 0.00, speed 50%, advance 0.00, delay 0.00

1 X1 Servo forward and backward 300.00, speed 50%, advance 0.00, delay 0.00
2 Vertical 1, delay 0.00
3 Y1 Servo rise and fall 0.00, speed 50%, advance 0.00, delay 0.00s
4 Wait Mold Open, delay 0.00
5 Y1 Servo rise and fall 700.00, speed 50%, advance 0.00, delay 0.00
6 X1 Servo forward and backward 200.00, speed 50%, advance 0.00, delay 0.00

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7 Suction 1 On, delay: 0.00

8 X1 Servo forward and backward 300.00, speed 50%, advance 0.00, delay 0.00
9 Suction 1 Check Begin, delay: 0.00
10 Y1 Servo rise and fall 0.00, speed 50%, advance 0.00,delay 0.00
11 Enable Mold Close, delay 0.00
12 Horizontal 1, delay 0.00
13 Z Servo traverse 1000.00, speed 50%,advance 0.00,delay 0.00
14 Vertical 1,delay 0.00
15 Y1 Servo rise and fall 700.00, speed 50%,advance 0.00,delay 0.00
16 Suction 1 Off, delay 0.00
17 Y1 Servo rise and fall 0.00, speed 50%,advance 0.00,delay 0.00
18 End
The teaching page is shown below:

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The area represented by the color:

Green: Standby area
Red: In-mold take-up area
Blue: Mold external area

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5 Function setting
Click [Set up] button in the fall left corner of the screen in the Stop state to enter the function
Settings page. As shown in below picture:

5.1 Signal detection setting

Click [Signal Setting] button on the screen to enter the Signal detection Settings screen, in this
screen you can set whether to detect the input signal.

5.1.1 Clip Check setting

As shown in below picture:

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1) Detection of fixture 1, 2, 3and backup fixture:

Positive: Positive detection of corresponding fixture, if the fixture chip successful, the detection
signal is On, if fail, the fixture detection signal is Off.
Negative: Negative detection of corresponding fixture, if the fixture chip successful, the
detection signal is Off, if fail, the fixture detection signal is On.
2) Clip Sensibility: It is used for detection and filtering of the chip limit signal alarm. When the
pinch induction switch signal is unstable, “low” can be selected to reduce the probability of
false alarm.

5.1.2 Machine Check

As shown in below picture:

1) Air pressure:
Enable: The manipulator detects gas pressure, if gas pressure does not reach the set value, it
will give alarm.
Disable: The manipulator does not detect gas pressure. No matter whether the gas pressure
reaches the set value, it will not give alarm.
2) Safedoor:
Enable: When the manipulator runs automatically, it will detect the safety door signal in whole
process if no safety door signal it will give alarm.
Disable: When the manipulator runs automatically, it will detect the safety door signal only
when the manipulator moves down in the mold, if no safety door signal it will give alarm
immediately, it will detect in other movements.

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3) mid-mold:
Enable: The manipulator can detect the signal of the middle plate mold. If there is no middle
plate signal in the arm mold, it will alarm. When the mold is three plate mold, please select this
function for use.
Disable: The manipulator does not detect the signal of the middle plate.
4) Automatic:
Enable: The manipulator checks the automatic signal of the injection molding machine. If there
is no automatic signal when start, it will give alarm.
Disable: The manipulator does not detect the full automatic signal of the injection molding
machine.
5) Mold closed:
Enable: The manipulator detects the closing mold signal, and when there is new mold open
finished and no signal it will give alarm.
Disable: The manipulator does not detect the close mold finish signal.
6) Ejector of fault:
Keep: The Ejector keep current status when fault occurs.
Off: The Ejector is disconnected when fault occurs.
7) Machine emergency:
Enable: The manipulator detects the emergency stop signal of injection machine, when the
Emergency stop input port has no signal, the manipulator stops and give alarm “emergency stop”.
Disable: The manipulator will not detect the emergency stop signal of the injection machine.
8) Ejector interlock:
Enable: The ejector pin is detected when the mold opening signal is detected.
Disable: Long output thimble signal

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5.1.3 Other signal

As shown below:

1) Remote auto:
Enable: When the knob is in the "automatic" position, remote entry and exit automatic
operation can be achieved by reserving input 8. When the reserved input 8 signal is changed from
invalid to valid, it starts automatically; when it is validly changed to invalid, it stops automatically.
Disable: Turn off the remote auto function that reserves input 8.
2) Position display:
Encoder: The robot detects the servo OA, OB feedback pulse signal and references the AB
phase signal position.
Internal: The robot does not detect the servo OA, OB feedback pulse signal, and uses the
number of pulses issued by the system as the position reference.
3) Y-axis assistant:
Enable: When the main rise and fall servo axes perform the descent, reserved the output 7/6 is
connected; when the rise is reached, reserved the output 7/6 is disconnect.
Disable: Turn off the rise and fall auxiliary cylinder functions.
4) Pose reverse:
Enable: Horizontal and vertical motion exchange.
Disable: Horizontal and vertical movements are not exchanged.
6） Diection display:
Enable: The servo action in the teaching program shows the direction according to the target
position. Such as: Z-axis from 0mm to 800mm is corss out, 800mm to 0mm is cross in
Disable: Does not display the direction of the axis motion.
7） EMRG Servo on:
Enable: Servo enable OFF when emergency stop.

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Disable: Servo enable ON when emergency stop.

8）Three color lamp:
Enable: Enable three color lamps.
Disable: Disable three color lamps.

5.1.4 Spare Port

As shown below:

1）Spare port: Other ports on the backuop board can be assigned to spare output and spare input.
Example: A dead pixel or abnormality on the X10 port can be assigned to the input X32, that is, X32
has all the functions of X10.
2）Anti: When the standby output signal is ON, the corresponding standby input signal is OFF.
(When [Anti-Association] is checked, the alternate port no longer supports arbitrary designation.)

5.2 Security setting

Click [Secuirty setting] button to enter safety setting screen.

5.2.1 Pose safety

Shown in below picture:

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1) Horizontal pose1:
Horizontal: When the manipulator traverses in and out, the fixture must be flat, and when guide
automatic program, the traverse pose must be flat.
Vertical: When the manipulator traverse in and out manually, the fixture must be vertical and
when guide automatic program, the traverse pose must be vertical.
Unlimit: When the manipulator traverse in and out manually, no limit to fixture pose, and when
guide automatic program, the traverse pose can be guided according to need.
2) Falling posture1:
Horizontal: When the manipulator descends manually, the fixture must be flat, when guide
automatic program, the descending pose must be flat.
Vertical: When the manipulator descends manually, the fixture must be vertical, when guide
automatic program, the descending pose must be vertical.
Unlimit: hen the manipulator descends manually, no limit to fixture pose, and when guide
automatic program, the descending pose can be guided according to need.
3) Inward posture1:
Enable: The manipulator is not allowed movement.
Disable：The manipulator is allowed movement.
4) X-axis pose for homing:
Horizontal: When the manipulator finds the origin, the fixture must be in a horizontal state.
Vertical: When the manipulator finds the origin, the fixture must be in a vertical state.
Disable: When the manipulator finds the origin, it does not limit the state of the fixture.
5) Mold close with horizontal pose:

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Enable: The manipulator cannot be chiped in the vertical state above the mold.
Disable: The manipulator can be chiped in the vertical state above the mold.
6) Horizontal pose2:
Same as horizontal pose1.
7) Falling posture2:
Same as falling posture1.
8) Inward posture2:
Same as inward posture1.

5.2.2 Other safety

shown in below picture:

1) Mold close with safedoor open:

Keep: The lock can be kept in the current on/off state when the safety door is opened.
Off: Modem disconnection when the safety door is open.
2) Arm fall with safedoor open:
Enable: Allow the manipulator to descend when the safety door is open.
Disable: Do not allow the manipulator to descend when the safety door is open.
3) Mold open for homing:
Enable: No open mold completion signal, the robot is not allowed to find the origin.
Disable: No open mold completion signal, the robot allows to find the origin.
4) Pickup failure alarm:
Timely: The manipulator immediately alarms when it detects that the clip signal is abnormal.

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Rise up: The manipulator detects that the clip signal has risen abnormally and then alarms.
5) Alarm clear with safedoor close:
Restart: After closing the safety door, the clip alarm is released, the manipulator returns to the
origin, and the next mode action is performed.
Continue: After closing the safety door, the clip alarm is released and the manipulator continues
to complete the action of the module.
Disable: Switch the safety door, do not cancel the alarm.
6) Standby outside mold:
Enable: The manipulator waits for the mold opening at the outside position, and needs to have
the mold opening signal when entering the inner safe zone.
Disable: The manipulator waits for the mold opening in the position inside the mold.
7) X-axis direction for homing:
Back: X-axis adjust to backward direction before Z-axis finds the origin
Fore: X-axis adjust to forward direction before Z-axis finds the origin
8) Homing order:
X1-Z1: The order in which the manipulator finds the origin is to find the origin of the axis and
then find the origin of the horizontal axis.
Z1-X1: The order in which the manipulator finds the origin is to find the origin of the
horizontal axis and then find the origin of the axis.
9） Place safety:
Enable: [XM10 Out of Core Stop] The signal is multiplexed as a safety signal for loading.When
the arm is in the loading area during automatic operation, the signal will stop automatically when the
signal is broken, and the signal will continue to be automatic when the signal is normal.
Disable: No storage safety function.

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5.3 Product setting

Click [product setting] button in the function setting screen to enter the product setting screen
as shown in blow picture:

1) Plan quantity: To plan the production quantity, when the production quantity is less than the
value, then it will give alarm; When the value is set to zero, it will not give alarm.
2) Trial quantity: To set the product quantity of trial production. (Combining with the trial
production [Condition] in [Guidance] can start subprogram to finish different kind of process
requirement of customer)
3) Sample interval: To set the interval mold number for sampling, that is after how many products
to take a sample. (Combining with the sampling [Condition] in [Guidance] can start subprogram to
finish different kind of process requirement of customer)
4) Alarm Rejects: When the actual defect reaches this value in planned production quantity, it will
give alarm. (Combining with the defect [Condition] in [Guidance] can start subprogram to finish
different kind of process requirement of customer)
5) Rejects mold: After there is a defective product signal, set the next few molds as defective
products.
6) Lube interval: The number of molds between each automatic lubrication, if it is set as zero, no
automatic lubrication.
7) Conveyor count:
All: Select the conveyor belt to count in all the ways of counting.
Stack group one: Select the way of the conveyor belt counts the number of stack group one, and

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when one cycle of a stack is performed, the conveyor belt count plus one.
Stack group two to stack group four is the same principle.
8) Mold open timeout: The time that manipulator wait the open mold finish signal, if the actual
wait time reach this value, then it will give alarm.
9) Auto cycle timeout: The time of one work cycle of manipulator.
10) Alarm time: The time of alarm sound when alarm.
11) Mold close delay: To set close mold finish respond delay time.
12) Lube on time: To reserve output 8 ON time, to output twice continuously.
13) Lube off time: To reserve output 8 close time.
14) Product clear: Click this button to reset the number of completed products.
15) Stack memory: when check√, it can remember the stack quantity since last time power off.

5.4 System setting

The page is divided into four categories: “Language”, “User setting”, “Admin setting”,
“Upgrade back”, and “Registration”.

5.4.1 Language setting

Click [Language] button to enter the user settings page, as shown below:

1) Language: Set the system language. It can be set to "Chinese", "English", "Polish", "Russian",
"Spanish", "Korean", "Traditional Chinese", "Turkish", and "Czech" according to user needs.
2) Font: It can be set to "Default", "New Song Ti", "Huawen Xihei", "Huawen Caiyun", "Huawen
Xinwei", "Huawen Amber" and "Mingliu" according to user needs.
3) Size: The font size can be set from 12 to 21 according to user needs; the default font size is an

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18-point font.
Note:
If the font size is set to exceed the default font size, the display may be incomplete.

5.4.2 User setting

Click [User Setting] button to enter the user settings page, as shown below:

1) Key sound: Check the use, not use to turn on and off the button tones.
2) Backlight: Set the time when the background light is on during standby.
3) Bright: Adjust the brightness of the display.
4) System time: Date and time of the system, click on the box to modify, set it and click “OK” to
save.
5) LOGO Display: After checking the LOGO display, the LOGO screensaver will be displayed
after 10S during automatic operation.
6) Update logo: Update the LOGO image of the hand controller.
7) Calibration: Can calibrate touch screen coordinates.
Note: The method and steps of Logo update are as follows:
1. Logo production
1）Use drawing software to modify the width and height of the displayed picture: set it to 800 x
460 pixels, where 800 pixels are the width and 460 pixels are the height;
2）Modify the file name of the Logo picture to: main.png;
Such as: XXX.jpg is renamed to main.png (the file name must be this)
3）Copy the prepared picture to the U disk.
2. Hand controllor operation

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1）Insert the USB flash drive into the hand controller;

2）Click Settings, then click System Settings to enter the [User Setting] page;
3）Click: [Update logo] to complete the update;
4）Prompt: "Modify Logo successfully!" That is, the update is successful.

5.4.3 Admin setting

Click [Admin Setting] button to enter the Administrator Settings page. As shown below:

1) The administrator can change the basic parameters but does not have the right to change the
mechanical parameters.
2) Super administrator can change any parameters.
3) Old password/new password: Enter the old password, then enter the new password, press the
confirm change button to change the password.

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5.4.4 Upgrade & back

Click [Upgrade Back] button to enter the system upgrade and backup page. As shown below:

1) System data backup: Use a U disk to back up all the parameters of the setting page.
2) Backup data restore: Use the U disk to restore all the parameters of the setting page.
3) Factory reset: Restore all data to factory settings.
4) HMI upgrade: Use U disk to upgrade the hand controller's page program.
5) Mainboard upgrade: Use a U disk drive to upgrade the mainboard.

5.5 Servo speed setting

Click [Servo speed] button on the Function Settings page to enter the servo run parameters
setting page.

5.5.1 Acceleration setting

Acceleration and deceleration time setting, as shown below:

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1) Z-axis: Set the acceleration and deceleration time of the servo motor that controls the Z-axis.
2) In moldY1-axis: Set the acceleration and deceleration time when the servo motor controlling
the Y1-axis is running in the mold.
3) Out moldY1-axis: Set the acceleration and deceleration time when the servo motor controlling
the Y1-axis is running out the mold.
4) X1-axis: Set the acceleration and deceleration time of the servo motor that controls the X1-axis.
5) In moldY2-axis: Set the acceleration and deceleration time when the servo motor that controls
the Y2-axis is running in the mold.
6) Out moldY2-axis: Set the acceleration and deceleration time when the servo motor that controls
the Y2-axis is running out the mold.
7) X2-axis: Set the acceleration and deceleration time of the servo motor that controls the X2-axis.
8) A/B/C axis: Set the acceleration and deceleration time of the servo motor that controls the axis.

5.5.2 Max speed setting

Maximum speed setting, as shown below:

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1) Z-axis: Limits the maximum operating speed of the horizontal axis servo motor in %.
2) Y1-axis: Limits the maximum operating speed of the main fall and fall axis servo motors in %.
3) X1-axis: Limits the maximum operating speed of the main pull axis servo motor in %.
4) Y2-axis: Limits the maximum operating speed of the sub-drawing fall and fall axis servo
motors in %.
5) X2-axis: Limits the maximum operating speed of the sub-drawing pull axis servo motor in %.
6) A/B/C axis: Set the Max speed of the servo motor that controls the axis.

5.5.3 Tolerance setting

Tolerance setting, as shown below:

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1) Tolerance: Set the axis action OA, the deviation allowed by the OB feedback signal. When set
to 0, the AB phase feedback deviation is not detected.
2) Origin margin: When the origin is found, the deviation of the motor feedback is allowed. When
it is set to 0, the origin accuracy detection is not performed.
Note: CANopen version and RTEX version have no tolerance setting options.

5.6 Servo security

Click the [Servo Security] button on the function setting page to enter the safe point setting
page, where you can set the safe point parameters of each axis. The three-axis is the same as the
six-axis, but lacks the X2-axis,Y2-aixs, and C-axis.

5.6.1 Traverse axis settings (Z-Axis)

Click the page "Z-axis" button and t the z-axis safety point setting, as shown in below picture:
If the [Origin]  [Hori independent origin] in section 5.7.10 is set to not be used, the horizontal
Z1 safety zone setting is as shown in the figure below:

If the [Origin]  [Hori independent origin] in section 5.7.10 is set to be used, the horizontal Z1
safety zone setting is as shown in the figure below:

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1) Max movement: Sets the maximum distance of the traverse axis to move.
2) Inner safe area: When the traverse axis on top of mold is smaller than this position it can go
down, when going down must sense the signal of iron plate in pickup point and when feel signal of
loading it will give alarm [157: traverse position is out of mold but with signal form loading point].
3) Outer safe area: When the traverse axis on top of mold is bigger than this position it can go
down, when going down must sense the signal of iron plate in pickup point and when feel signal of
loading it will give alarm [150: traverse position is out of mold but with signal form loading point].
4) In moldX1hori Min: The smallest position of the X1-axis running horizontally in the mold.
5) In moldX1hori Max: The biggest position of the X1-axis running horizontally in the mold.
Note:
1）When the horizontal axis(Z axis) position is greater than the safety zone inside the model and
smaller than the safety zone outside the model, it is in the non-safe zone position, and the arm cannot
be falled.
2）Click the "safe icon" icon in the fall left corner to pop up the safe area icon box. The safe
area icon can facilitate customers to understand each safe area more intuitively.

5.6.2 Main rise/fall axis settings（Y1-Axis）

Click [Y1-axis] button to enter the Y1 axis safety point set, as shown in below picture:

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1) Max movement: Sets the maximum distance that the main rise and fall axis moves.
2) Max standby place: the maximum position of the arm is allowed to drop when the mold is down,
and the maximum position must be induced by the main safety signal to the iron sheet. If the arm
does not run more than this position, the alarm will trigger an alarm [153: up and down position in
the safe zone, but no safety signal], indicating that the value is too large or too short or abnormal in
the signal.
3) Origin space place: the main safety signal cannot sense the minimum position of the iron sheet.
If the arm falls more than this position, it can also be induced to trigger the safety iron signal to
trigger an alarm [152: up and down position in the safe zone, but with a safety signal], indicating that
the value is set too small or signal abnormal
Note:
Click "Safe icon" icon in the fall left corner to pop up the safe area icon box. The safe area icon
can facilitate customers to understand each safe area more intuitively.

5.6.3 Main forward/backward axis(X1-Axis)

Click [X1-axis] button then enters the X1-axis safety point setting, as shown in below picture:

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1) Max movement: Sets the maximum distance that the X1-axis moves.
2) Min fall place in mold: the minimum distance of the X1-axis down in the mold.
3) Min rise place in mold: the minimum distance of the X1-axis up in the mold.
4) Max fall place in mold: the maximal distance of the X1-axis down in the mold.
5) Max rise place in mold: the maximal distance of the X1-axis up in the mold.
6) Min fall place out mold: the minimum distance of the X1-axis down out the mold.
7) Min rise place out mold: the minimum distance of the X1-axis up out the mold.
8) Max fall place out mold: the maximal distance of the X1-axis down out the mold.
9) Max rise place out mold: the maximal distance of the X1-axis up out the mold.
10) Min place in mold: the minimum distance of the X1-axis in the mold.
11) Max place in mold: the maximal distance of the X1-axis in the mold.

12) X1/X2 axis movement: maximal distance by adding X1 and X2.

Note:
1）the 8 setting of the maximum and minimum position inside and outside the mold is to limit
the draft axis to up or down within the set range, and the range that can be moved after down, to
prevent the arm from hitting the mold in the mold or hitting other tooling outside.
2）Click "Safe icon" icon in the fall left corner to pop up the safe area icon box. The safe area
icon can facilitate customers to understand each safe area more intuitively.

5.6.4 Auxiliary rise/fall axis setting(Y2-Axis)

Click [Y2-axis] button and enters the Y2-axis safety point of the setting, as shown in below

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picture:

The Y2-axis has the same parameter settings as Y1-axis. See clause 5.6.2, [Y1-axis].

5.6.5 Auxiliary forward/backward axis settings (X2-Axis)

Click [X2-axis] button to enter the X2-aixs safety point setting, as shown in below picture:

The X2-axis has the same parameter settings as the X1-axis. See clause 5.6.1, [X1-axis].

5.6.6 C-axis setting

Click [C-axis] button to enter the C-axis safety point of the setting, as shown in below picture:

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1) Z1-axis safety area: The safety range of the C-axis when running transverse, the default interval
of 0.0~6553.5mm is safe.
2) Rise/fall safe area in mold: The safety range of the C axis when moving up and down in
mold, the default 0~6553.5mm and 0.0~ (maximum movement) are safe.
Note:
Click "Safe icon" icon in the fall left corner to pop up the safe area icon box. The safe area icon
can facilitate customers to understand each safe area more intuitively.

5.7 Robot parameters

Click [Robot Parameters] button on the Function Settings page to enter the machine parameters
page. As shown in below picture:

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5.7.1 Z-axis setting

Click [Z-axis] button and enter the horizontal Z-axis parameter settings, as shown in below
picture:

Pluse version

CANopen verison

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RTEX version
1) Struc length: Set the length of the mechanical structure of the Z1-axis.
2) Max movement: Set the current maximum moving distance of the Z1-axis.
3) Distance/rev: Set the actual distance of the motor per revolution.
4) Homing speed: Set the running speed of the Z1-axis when finding the origin.
5) Origin offset: Set the offset of the actual position of the origin from the origin signal.
6) Pulse/rev: Set the number of pulses per revolution of the Z1-axis motor. (Pulse version)
7) Encoder type: (Pluse version does not has this option)
Increasel: Set the encoder type to incremental encoder.
Absolute: Set the encoder type to absolute encoder.

Note: After modifying the axis parameters, they must be saved before they can take effect.

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5.7.2 Y1- axis setting

Click [Y1-axis] button on the machine parameter page to enter the setting of Y1-axis
parameters, as shown in the figure below:

Pluse version

Canopen version

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RTEX version
1) Struc length: To set the length of the Y1-axis mechanical structure.
2) Max movement: To set the maximum movement distance of the Y1-axis.
3) Distance/rev: To adjust the distance shown in the actual position.
4) Homing speed: Set the running speed of the Y1-axis when finding the origin.
5) Origin offset: The offset value returned from the origin signal during the origin finding process.
6) Pulse/rev: Set the number of pulses per revolution of the Y1-axis motor. (Pulse version)

7) Max standby place: To set the maximum standby distance when theY1-axis is waiting.
8) Origin space place: To set the maximum value of the Y1-axis safety area allowed to leave the
origin.
9) Direction: To set the positive and reversing rotation of the motor.

Note: After modifying the axis parameters, they must be saved before they can take effect.

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5.7.3 X1-axis setting

Click the [X1-axis] button on the machine parameter page to enter the setting of the X1-axis
parameters, as shown in the figure below:

Pluse version

Canopen version

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RTEX version
1) Struc length: To set the length of the X1-axis.
2) Max movement: To set the maximum movement distance of the X1-axis.
3) Distance/rev: To adjust the distance shown in the actual position.
4) Homing speed: Set the running speed of the rise and fall axis when finding the origin.
5) Origin offset: The offset value returned from the origin signal during the origin finding process.
6) Pulse/rev: To set the number of pulses per turn of the X1-axis motor. (Pluse version)
7) Min place in mold: To set the minimum position of the X1 axis in the mold.
8) Max place in mold: To set the maximum position of the X1 axis in the mold.
9) Direction: To set the positive and reversing rotation of the motor.
Note: After modifying the axis parameters, they must be saved before they can take effect.

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5.7.4 Auxiliary rise/fall axis setting (Y2-axis)

Click [Y2-axis] button to enter the Y2-axis parameter settings, as shown in below picture:

Pluse version

Canopen version

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RTEX version
The Y2-axis parameter setting is the same as the Y1-axis, refer to clause 5.7.2, [Y1-axis].

5.7.5 Auxiliary forward/backward axis setting (X2-axis)

Click [X2-axis] button to enter the X2-axis parameter settings, as shown in below picture:

Pluse version

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Canopen version

RTEX version
The X2-axis parameter setting is the same as the X1-axis, as seen in clause 5.7.3, [X1-axis].

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5.7.6 C-axis setting

Click [C-Axis] button to enter the C-axis parameter settings, as shown in below picture:

Pluse version

Canopen version

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RTEX version
1) Max movement: To set the maximal movement distance of C axis.
2) Distance/rev: To adjust actual position distance.
3) Homing speed: Set the running speed of the C axis when finding the origin.
4) Origin offset: The offset value returned from the origin signal during the origin finding process.
5) Pulses/rev: Set the number of pulses per turn of C-axis motors. (Pluse version)
6) Direction: To set the positive and reversing rotation of the motor.
Note: After modifying the axis parameters, they must be saved before they can take effect.

5.7.7 Limit setting

Click [Limit] button to enter the settings of the limit parameters, as shown in below picture:

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1）Set limit of axis:

Forward: The selected limit switch is NPN type: constant open type.
Reverse: The selected limit switch is NPN type: constant closed type.
Disable: Select Limit switch signal not to be used.
2）UpSafe iron:

Enable: The manipulator arm must sense the rise safety iron signal before determining that the
arm is in the rise safety zone.
Disable: When the manipulator arm is up, there is no need to sense the rise safety iron signal.
3）Storage iron:
Enable: The manipulator must sense the iron signal of the storage point when placing the
object.
Disable: The manipulator does not need to sense the iron signal of the storage point when
placing the object.
4）Take iron:
Enable: The manipulator must sense the iron signal of the storage point when fetching the
object.
Disable: The manipulator does not need to sense the iron signal of the storage point when
placing the object.
Note: After the limit parameter is modified, it must be saved before it can take effect.

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5.7.8 Time setting

Click [Time] button to enter the time parameter settings, as shown in below picture:

Set the maximum output recovery limit time for this function, if go over that time then give
alarm.
Note: After modifying the limit parameters, they must be saved before they can take effect.

5.7.9 Structure setting

Click [Struc] button to enter the structure parameters settings, as shown in below picture:

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1) Z-axis:
Servo: Using servo drive.
Valve: Use valve IO point output.
No: Do not use the axis.
2) X1-axis:
Servo: Using servo drive.
Valve: Use valve IO point output.
No: Do not use the axis.
3) Y1-axis:
Servo: Using servo drive.
Valve: Use valve IO point output.
No: Do not use the axis.
4) Y2-axis:
Servo: Using servo drive.
Valve: Use valve IO point output.
No: Do not use the axis.
5) X2-axis:
Servo: Using servo drive.
Valve: Use valve IO point output.
No: Do not use the axis.
6) C-axis/ B-axis/ A-axis:
Servo: Using servo drive.
Valve: Use valve IO point output.
No: Do not use the axis.
7) Pose 1: Posture state 1 with or without.
8) Pose 2: Posture state 2 with or without.
9) MotorDrive: Signals for electric positioning are used or not used. (Pluse version)
10) Modbus：Inovance servo Modbus function is used or not used. (Pluse version)
11) VersionType:
Pluse: Set the control system to pulse version.
CANopen: Set the control system to CANopen version.
RTEX: Set the system to RTEX version.
12) Reserved 1~8: "Reserved" is configured as a "suck" function, corresponding to suction 3~10.
Note:
1. The three axes usually set 0 Z-axis, 1 Y1-axis, 2 X1-axis to using servo drive;

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2. After modifying the structure parameters, they must be saved before they can take effect.

5.7.10 Origin setting

Click [Origin] button on the page to enter the structure parameter setting, as shown in the figure
below:

1）Origin place:
In mold: Set the origin position in the mold, and the fetching point is the horizontal origin
signal.
Out mold: Set the origin position outside the mold, and the placement point is the horizontal
origin signal.
2）X1/X2-axis:
Long origin: when finding the origin, the axis first touches the origin signal and runs at the
second speed. When the origin signal disappears, it immediately stops deceleration and moves in the
opposite direction. After touching the origin, it runs the origin offset time and then stops
deceleration.
Short origin: when finding the origin, the axis first encounters the origin signal, immediately
decelerates and stops, and moves in the opposite direction. When the origin disappears, it decelerates
and stops immediately, and then runs in the opposite direction. When it encounters the origin signal,
it runs again, and stops after the origin offset time.
3）C-axis:
Long origin: when finding the origin, the axis first touches the origin signal and runs at the
second speed. When the origin signal disappears, it immediately stops deceleration and moves in the

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opposite direction. After touching the origin, it runs the origin offset time and then stops
deceleration.
Short origin: when finding the origin, the axis first encounters the origin signal, immediately
decelerates and stops, and moves in the opposite direction. When the origin disappears, it decelerates
and stops immediately, and then runs in the opposite direction. When it encounters the origin signal,
it runs again, and stops after the origin offset time.
No origin: When finding the origin, the axis does not move, and the current position is taken as
the origin.
4）A/B-axis: See the C-axis.
5）Hori independent origin: The origin signal of the horizontal axis is O1 (pulse version)/S1
(CANopen version), and the pick point signal is X37.
6）Origin calibration：If the encoder type is absolute, you need to set the encoder type in the axis
setting interface to [Absolute], then click [Origin] to enter the origin calibration interface, and click
[Origin calibration] to perform absolute origin calibration.

5.7.11 Servo paraments

Click [Servo Parameters] button on the page to enter the servo parameter setting, as shown in
the figure below:

CANopen :Lavchip LSC Servo Parameters Page

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RTEX version
For detailed servo parameter adjustment methods, please refer to the description of the servo
manual. (Different servo adjustment parameters are inconsistent, please refer to the corresponding
servo manual for details)

5.8 Stacking setting

The product stacking function of the robot can arrange the finished products neatly on the
conveyor belt or the loading box in a certain arrangement. According to user needs, the stacking
group number can be set to regular stacking or irregular stacking in [Structure Setting]. Example: In
the [Structure Setting], set one stack and two stacks for regular stacking, and stack three and four
stacks for irregular stacking, as follows:

5.8.1 Stacking parameters

On the function setting page, click [Stacking Setting] button to enter the stacking function
setting page, and select [Stacking Parameters] as shown in the figure below:

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1）Stack 1 ~ stack 4 :
Regular: Select stack as rule type.
Irregular: Select stack as irregular type.
2）Stack by stack:
Enable: When automatic, the main program is executed sequentially from one group to four
groups. That is, four groups of stacking are taught in the main program at the same time. When one
group of stacking counting is completed, execute two groups of stacking counting, and so on.
Disable: Turn off group by group stacking.
3）Stack memory:
Enable: Remember the number of stacks before the last power failure.
Disable: Do not remember the number of stacks before the last power failure.

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5.8.2 Regular stack setting

Click [Stacking Setting] button on the function setting page to enter the stacking function
setting page. As shown below:

1) Stack order: When select stack, the sequence of stacking of the axis.
2) Arm: to select the main arm or the backup arm to stack.
3) Count mode: To count the current stack number.
4) Refresh: Refresh the position of the current axis as the starting position of the stack.
5) Start: to set the start position of the row of this axis.
6) Space: the space between stacks.
7) Points: number of stacks.
8) Direction:
More and less: To stack from big position to small position.
Less and more: To stack from small position to big position.
Click on the stacked program group (such as first groups) to use, select the order of the product to
stack in the sequence bar, set the number of stacked products for each axis and the space of the
product stack.
X-Z-Y：Stacking programs first arrange products on the X axis, then arrange the Z axis, and finally
stack the Y axis.
Y-X-Z：Stacking programs first stack products on the Y axis, then arrange the X axis, and finally
arrange the Z axis.
Z-X-Y：Stacking programs first arrange products on the Z axis, then arrange the X axis, and finally
stack the Y axis.

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Y-Z-X：Stacking programs first arrange products on the Y axis, then arrange the Z axis, and finally
stack the X axis.
Note: The stack one, two, three, and four groups are set as above.
Example of stack program setting:

Stack setting: X-axis: Space 40/ 3 product, Z-axis: space 30/ 5 product, Y-axis: space 30/ 2 layers.
Stacking mode: Z-X-Y, the stacking program first arranges the products on the Z-axis, then arranges
the X-axis, and finally stacks the Y-axis.
According to this setting, the manipulator arranges (1 2 3 4 5) five products at an interval of
30mm along the Z + axis, moves 40mm along the X + axis, and arranges (6 7 8 9 10) five products
in the second row in the middle, and so on. After arranging the 15th product, the manipulator rises
30mm along the y-axis, and then repeats the arrangement of the second layer of products at the first
point. Since the products are arranged in two layers, a total of 30 products can be discharged into the
container.
Enter the teaching mode and click the [Stacking] button to enter the following page:

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Select the box on the left of the stacking program group to be inserted, such as selecting the
first group of stacking, and then click the "Insert" button to insert the group of stacking into the
program step to start stacking. During automatic operation, the manipulator will stack and discharge
products according to this stacking program. If you want to stack using the y-axis, replace the y-axis
falling action with the stacking action.
Each automatic program can be inserted into eight groups of stacks, and the products can be
stacked and discharged in four different positions.

5.8.3 Irregular stack setting

Set it as irregular stacking in the structural parameters, and click [Stack setting] on the function
setting page to enter the stacking function setting page. As shown below:

1） Stacking order, main and sub arm and count mode are the same as regular stacking, and
will not be repeated.
2） Z-axis, X-axis position: Z-axis and X-axis position for irregular stack.
3）Points: the number of irregular stacks.
Note:
1）Irregular stacking parameters do not support editing in the teaching program.
2）After modifying structural parameters, they can only take effect after saving.

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6 I/O monitoring and alarm record

6.1 I/O monitoring

Click [Monitor] button at the bottom of the screen to enter the I/O signal monitoring page. This
page is divided into manipulator I/O signal and injection machine I/O signal. I/O status is shown in
below picture:

Pluse version

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CANopen version, RTEXversion

Pluse version

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CANopen version, RTEX version

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RTEX version
The monitoring page is divided into two parts, and the two part has the same function. When
users need to detect different I/O signals, they can be monitored by left and right pages to facilitate
users to compare I/O monitoring signals.

6.2 Alarm/Log

6.2.1 Alarm info

Click [Alarm info] button at the bottom of the screen to enter the alarm information recording
screen. As shown in below picture:

Pluse version RTEX version

Clear alarm: Click the button to clear the alarm. ( Advanced administrator privileges).
Version number display: If the communication between the hand controller and the main board
is successful, the main and I/O board, hand controller and FPGA version numbers will be displayed

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6.2.2 Parameter log

Click [Parameter log] button at the bottom of the screen to enter the parameter log recording
interface, which is used to record historical parameter changes, As shown in below picture:

6.2.3 Operation log

Click [Operation log] button at the bottom of the screen to enter the parameter log recording
interface, which is used to record historical actions, As shown in below picture:

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6.3 Alarm information and alarm reason

Sr. No Alarm Info Alarm reason
When Y2-axis is rise, the invalid time of Y2 rise limit
1 Auxiliary arm rise timeout
signal is greater than the timeout setting.
When Y2-axis is fell, the invalid time of Y2 fall limit
2 Auxiliary arm fall timeout signal or the effective time of Y2 rise limit signal is
greater than the timeout setting.
When X2-axis is forward, the invalid time of X2
3 Auxiliary arm forward timeout forward limit signal or the effective time of X2
backward limit signal is greater than the timeout setting.
When X2-axis is backward, the invalid time of X2
4 Auxiliary arm backward timeout backward limit signal or the effective time of X2
forward limit signal is greater than the timeout setting.
When Y1-axis is rise, the invalid time of Y1 rise limit
5 Main arm rise timeout signal or the effective time of Y1 fall limit signal is
greater than the timeout setting.
When Y1-axis is fell, the invalid time of Y1 fall limit
6 Main arm fall timeout signal or the effective time of Y1 rise limit signal is
greater than the timeout setting.
When X1-axis is forward, the invalid time of X1
7 Main arm forward timeout forward limit signal or the effective time of X1
backward limit signal is greater than the timeout setting.
When X1-axis is backward, the invalid time of X1
8 Main arm backward timeout backward limit signal or the effective time of X1
forward limit signal is greater than the timeout setting.
When the vertical 1 activated, the invalid time of the
9 Pose vertical 1 timeout
vertical 1 limit signal is greater than the timeout setting.
When the horizontal 1 activated, the invalid time of the
10 Pose horizontal 1 timeout horizontal 1 limit signal is greater than the timeout
setting.
When the vertical 2 activated, the invalid time of the
11 Pose vertical 2 timeout
vertical 2 limit signal is greater than the timeout setting.
When the horizontal 2 activated, the invalid time of the
12 Pose horizontal 2 timeout horizontal 2 limit signal is greater than the timeout time
setting.
Horizontal 1 and vertical 1 limit signal The horizontal 1 limit and the vertical 1 limit have
13
coexist signals at the same time.
Horizontal 2 and vertical 2 limit signal The horizontal 2 limit and the vertical 2 limit have
14
coexist signals at the same time.
Auxiliary arm forward and backward X2-axis forward limit and backward limit have signals
15
limit signal coexist at the same time.
Auxiliary arm rise and fall limit signal Y2-axis rise and fall limits have signals at the same
16
coexist time.

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Main arm forward and backward limit X1-axis forward limit and backward limit have signals
17
signal coexist at the same time.
Main arm rise and fall limit signal Y1-axis rise and fall limits have signals at the same
18
coexist time.
Posture 1 valve horizontal state, but horizontal 1 limits
19 Horizontal 1 limit signal loss
no signal.
Posture 1 valve vertical state, but vertical 1 limit no
20 Vertical 1 limit signal loss
signal.
Posture 2 valve horizontal status, but horizontal 2 limits
21 Horizontal 2 limit signal loss
no signal.
Posture 2 valve vertical state, but vertical 2 limit no
22 Vertical 2 limit signal loss
signal.
Y2-axis rise valve is in the ON state, but there is no
23 Auxiliary arm rise limit signal loss
signal in Y2 rise limit.
Y2-axis fall valve is in the ON state, but there is no
24 Auxiliary arm fall limit signal loss
signal in Y2 fall limit.
X2-axis forward valve is in the ON state, but there is no
25 Auxiliary arm forward limit signal loss
signal in X2 forward limit.
Auxiliary arm backward limit signal X2-axis backward valve is in the ON state, but there is
26
loss no signal in X2 backward limit.
X1-axis forward valve is in the ON state, but there is no
27 Main arm forward limit signal loss
signal in X1 forward limit.
X1-axis backward valve is in the ON state, but there is
28 Main arm backward limit signal loss
no signal in X1 backward limit.
Y1-axis rise valve is ON, but there is no signal at Y1
29 Main arm rise limit signal loss
rise limit.
Main arm fall limit signal loss or rise Y1-axis fall valve is ON, but there is no signal at Y1
30
limit signal existing rise limit or Y1 fall limit.
[Suction 2] valve ON state, but [Suction 2] limit no
32 [Suction 2] ON and limit signal loss
signal.
[Suction 1] valve ON state, but [Suction 1] limit no
33 [Suction 1] ON and limit signal loss
signal.
The clip 1 valve is in the ON state, but the clip 1 limit
34 Clip 1 on and limit signal loss
signal is incorrect.
The clip 2 valve is in the ON state, but the clip 2 limit
35 Clip 2 on and limit signal loss
signal is incorrect.
The clip 3 valve is in the ON state, but the clip 3 limit
36 Clip 3 on andlimit signal loss
signal is incorrect.
The sub-clip valve is in the ON state, but the sub-clip
37 Clip 4 on and limit signal loss
limit signal is incorrect.
[Suction 2] Off and limit signal The [suction 2] valve is in the OFF state, but the
38
existing [suction 2] limit has a signal.
[Suction 1] Off and limit signal The [suction 1] valve is in the OFF state, but the
39
existing [suction 1] limit has a signal.

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The clip 1 valve is in the OFF state, but the clip 1 limit
40 Clip 1 off and limit signal existing
signal is incorrect.
The clip 2 valve is in the OFF state, but the clip 2 limit
41 Clip 2 off and limit signal existing
signal is incorrect.
The clip 3 valve is in the OFF state, but the clip 3 limit
42 Clip 3 off and limit signal existing
signal is incorrect.
The sub-clip valve is in the OFF state, but the sub-clip
43 Clip 4 off and limit signal existing
limit signal is incorrect.
When the [suction 2] action is performed, the invalid
44 [Suction 2] on timeout time of the [suction 2] limit signal is greater than the
timeout time setting.
When the [suction 1] action is performed, the invalid
45 [Suction 1] on timeout time of the [suction 1] limit signal is greater than the
timeout time setting.
When the clip 1 is activated, the invalid time of the clip
46 Clip 1 on timeout
1 limit signal is greater than the timeout time setting.
When the clip 2 is activated, the invalid time of the clip
47 Clip 2 on timeout
2 limit signal is greater than the timeout time setting.
When the clip 3 is activated, the invalid time of the clip
48 Clip 3 on timeout
3 limit signal is greater than the timeout period setting.
When the sub-clip action, the invalid time of the
49 Clip 4 on timeout
sub-clip signal is greater than the timeout time setting.
Reserved input 1 on and limit signal Reserved input 1 positive phase detection, reserved
loss input 1 signal is invalid.
50
The suction 3 valve is in the ON state, but the suction 3
Suction 3 on and limit signal loss
limit has no signal.
Reserved input 2 on and limit signal Reserved input 2 positive phase detection, reserved
loss input 2 signal is invalid.
51
The suction 4 valve is in the ON state, but the suction 4
Suction 4 on and limit signal loss
limit has no signal.
Reserved input 3 on and limit signal Reserved input 3 positive phase detection, reserved
loss input 3 signal is invalid.
52
The suction 5 valve is in the ON state, but the suction 5
Suction 5 on and limit signal loss
limit has no signal.
Reserved input 4 on and limit signal Reserved input 4 positive phase detection, reserved
loss input 4 signal is invalid.
53
The suction 6 valve is in the ON state, but the suction 6
Suction 6 on and limit signal loss
limit has no signal.
Reserved input 5 on and limit signal Reserved input 5 positive phase detection, reserved
loss input 5 signal is invalid.
54
The suction 7 valve is in the ON state, but the suction 7
Suction 7 on and limit signal loss
limit has no signal.
Reserved input 6 on and limit signal Reserved input 6 positive phase detection, reserved
55
loss input 6 signal is invalid.

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The suction 8 valve is in the ON state, but the suction 8

Suction 8 on and limit signal loss
limit has no signal.
Reserved input 7 on and limit signal Reserved input 7 positive phase detection, reserved
loss input 7 signal is invalid.
56
The suction 9 valve is in the ON state, but the suction 9
Suction 9 on and limit signal loss
limit has no signal.
Reserved input 8 on and limit signal Reserved input 8 positive phase detection, reserved
loss input 8 signal is invalid.
57
The suction 10 valve is in the ON state, but the suction
Suction 10 on and limit signal loss
10 limit has no signal.
Reserved input 1 off and limit signal Reserved input 1 inversion detection, reserved input 1
existing signal is valid.
58
The suction 3 valve is in the OFF state, but the suction 3
Suction 3 off and limit signal existing
limit has a signal.
Reserved input 2 off and limit signal Reserved input 2 inversion detection, reserved input 2
existing signal is valid.
59
The suction 4 valve is in the OFF state, but the suction 4
Suction 4 off and limit signal existing
limit has a signal.
Reserved input 3 off and limit signal Reserved input 3 inversion detection, reserved input 3
existing signal is valid.
60
The suction 5 valve is in the OFF state, but the suction 5
Suction 5 off and limit signal existing
limit has a signal.
Reserved input 4 off and limit signal Reserved input 4 inversion detection, reserved input 4
existing signal is valid.
61
The suction 6 valve is in the OFF state, but the suction 6
Suction 6 off and limit signal existing
limit has a signal.
Reserved input 5 off and limit signal Reserved input 5 inversion detection, reserved input 5
existing signal is valid.
62
The suction7 valve is in the OFF state, but the suction 7
Suction 7 off and limit signal existing
limit has a signal.
Reserved input 6 off and limit signal Reserved input 6 inversion detection,reserved input 6
existing signal is valid.
63
The suction 8 valve is in the OFF state, but the suction 8
Suction 8 off and limit signal existing
limit has a signal.
Reserved input 7 off and limit signal Reserved input 7 inversion detection, reserved input 7
existing signal is valid.
64
The suction 9 valve is in the OFF state, but the suction 9
Suction 9 off and limit signal existing
limit has a signal.
Reserved input 8 off and limit signal Reserved input 8 inversion detection, reserved input 8
existing signal is valid.
65
Suction 10 off and limit signal The suction 10 valve is in the OFF state, but the suction
existing 10 limit has a signal.
When the input 1 pass action is reserved, the invalid
66 Reserved input 1 on timeout
time of the reserved input 1 limit signal is greater than

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the timeout period.

When the suction 3 action is performed, the invalid time
Suction 3 on timeout of the suction 3 limit signal is greater than the timeout
time setting.
When the input 2 pass action is reserved, the invalid
Reserved input 2 on timeout time of the reserved input 2 limit signal is greater than
the timeout period.
67
When the suction 4 action is performed, the invalid time
Suction 4 on timeout of the suction 4 limit signal is greater than the timeout
time setting.
When the input 3 pass action is reserved, the invalid
Reserved input 3 on timeout time of the reserved input 3 limit signal is greater than
the timeout period.
68
When the suction 5 action is performed, the invalid time
Suction 5 on timeout of the suction 5 limit signal is greater than the timeout
time setting.
When the input 4 pass action is reserved, the invalid
Reserved input 4 on timeout time of the reserved input 4 limit signal is greater than
the timeout period.
69
When the suction 6 action is performed, the invalid time
Suction 6 on timeout of the suction 6 limit signal is greater than the timeout
time setting.
When the input 5 pass action is reserved, the invalid
Reserved input 5 on timeout time of the reserved input 5 limit signal is greater than
the timeout period.
70
When the suction 7 action is performed, the invalid time
Suction 7 on timeout of the suction 7 limit signal is greater than the timeout
time setting.
When the input 6 pass action is reserved, the invalid
Reserved input 6 on timeout time of the reserved input 6 limit signal is greater than
the timeout period.
71
When the suction 8 action is performed, the invalid time
Suction 8 on timeout of the suction 8 limit signal is greater than the timeout
time setting.
When the input 7 pass action is reserved, the invalid
Reserved input 7 on timeout time of the reserved input 7 limit signal is greater than
the timeout period.
72
When the suction 9 action is performed, the invalid time
Suction 9 on timeout of the suction 9 limit signal is greater than the timeout
time setting.
When the input 8 pass action is reserved, the invalid
Reserved input 8 on timeout time of the reserved input 8 limit signal is greater than
73
the timeout period.
Suction 10 on timeout When the suction 10 action is performed,the invalid

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time of the suction 10 limit signal is greater than the

timeout time setting.
When the input 1 break action is reserved, the valid
74 Reserved input 1 off timeout time for the reserved input 1 limit signal is greater than
the timeout period.
When the input 2 break action is reserved,the valid time
75 Reserved input 2 off timeout for the reserved input 2 limit signal is greater than the
timeout period.
When the input 3 break action is reserved,the valid time
76 Reserved input 3 off timeout for the reserved input 3 limit signal is greater than the
timeout period.
When the input 4 break action is reserved,the valid time
77 Reserved input 4 off timeout for the reserved input 4 limit signal is greater than the
timeout period.
When the input 5 break action is reserved,the valid time
78 Reserved input 5 off timeout for the reserved input 5 limit signal is greater than the
timeout period.
When the input 6 break action is reserved,the valid time
79 Reserved input 6 off timeout for the reserved input 6 limit signal is greater than the
timeout period.
When the input 7 break action is reserved,the valid time
80 Reserved input 7 off timeout for the reserved input 7 limit signal is greater than the
timeout period.
When the input 8 break action is reserved, the valid
81 Reserved input 8 off timeout time for the reserved input 8 limit signal is greater than
the timeout period.
The execution time of subroutine 1 is greater than the
84 Wait subprogram1 timeout
limit time.
The execution time of subroutine 2 is greater than the
85 Wait subprogram2 timeout
limit time.
The execution time of subroutine 3 is greater than the
86 Wait subprogram3 timeout
limit time.
The execution time of subroutine 4 is greater than the
87 Wait subprogram4 timeout
limit time.
Servo is moving for last position and The previous servo action execution time is too long,
91
cannot start this action and this servo action cannot be started.
1.Before the new mold completion signal arrives, the
signal after the mold is closed is always invalid;
99 Mold closed signal abnormal
2. The close mold completed and the open mold
completion signal is valid at the same time.
The invalid time of the safety gate signal is greater than
100 Safedoor close timeout
the limit time.
The inactive time of the ejector pin signal is greater than
101 Ejector forward timeout
the limit time.

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The invalid time of the ejector pin return signal is

102 Ejector backward timeout
greater than the limit time.
The invalid time of the core signal is greater than the
103 Core puller enter timeout
limit time.
The ineffective time of the core signal is greater than
104 Core puller exit timeout
the limit time.
The invalid time of the mold opening completion signal
105 Mold open timeout is greater than the waiting mold opening time setting
value.
Transverse axis feedback pulse exceeds
106 The deviation between the servo axis command pulse
tolerance
position and the encoder feedback position exceeds the
Main rise/fall axis feedback pulse
107 tolerance set value, This type of alarm will be
exceeds tolerance
generated. The tolerance is set on the [Servo Speed]
Main forward/backward axis feedback
108 page of [Settings]. In the [Signal Settings] page of
pulse exceeds tolerance
[Settings], set the position display to the current
Auxiliary rise/fall axis feedback pulse
109 position of the encoder as the feedback position, and set
exceeds tolerance
the system position to display the current position as the
Auxiliary forward/backward axis
110 pulse position sent by the system. You can find out the
feedback pulse exceeds tolerance
problem with the difference between the two positions.
111 C axis feedback pulse exceeds tolerance
When the tolerance is set to 0, the pulse feedback
112 B axis feedback pulse exceeds tolerance
detection function is turned off.
113 A axis feedback pulse exceeds tolerance
120 Transverse axis in limit alarm The Z axis has reach transverse in limit.
121 Transverse axis out limit alarm The Z axis has reach transverse out limit.
122 Main axis rise limit alarm The Y1 axis have reached the rise limit position.
123 Main axis fall limit alarm The Y1 axis have reached the fall limit position.
124 Auxiliary axis rise limit alarm The Y2 axis have reached the rise limit position.
125 Auxiliary axis fall limit alarm The Y2 axis have reached the fall limit position.
126 Main axis forward limit alarm The X1 axis has reached the forward limit position.
127 Main axis backward limit alarm The X1 axis has reached the backward limit position.
128 Auxiliary axis forward limit alarm The X2 axis axis has reached the forward limit position.
The X2 axis axis has reached the backward limit
129 Auxiliary axis backward limit alarm
position.
130 Transverse axis servo alarm
131 Main rise/fall axis servo alarm
Main forward/backward axis servo
132
alarm
133 Auxiliary rise/fall axis servo alarm Servo drive alarm, please check the servo drive of the
Auxiliary forward/backward axis servo corresponding axis.
134
alarm
135 C axis servo alarm
136 B axis servo alarm
137 A axis servo alarm

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Transverse axis target position exceeds

138
max movement
Main rise/fall axis target position
139
exceeds max movement
Main forward/backward axis target
140
position exceeds max movement
Auxiliary rise/fall axis target position
141 The servo axis target position exceeds the maximum
exceeds max movement
movement position setting value of the corresponding
Auxiliary forward/backward axis target
142 axis.
position exceeds max movement
C axis target position exceeds max
143
movement
B axis target position exceeds max
144
movement
A axis target position exceeds max
145
movement
The current Z axis position is in the inner safe zone, and
the primary and X2 axis positions exceed the maximum
Transverse axis target position exceeds
146 standby position (or Y2 fall valve output), and the Z
inner safe area
axis target position exceeds the inner safe zone position
alarm.
The current Z axis position is in the outer safety zone,
and the Y2 rise and fall axis positions exceed the
Transverse axis target position exceeds
147 maximum standby position (or Y2 fall valve output),
outer safe area
and the Z axis target position exceeds the outer type
safety zone position alarm.
The current Z axis position is in the inner safe zone, and
the Y1 axis positions exceed the maximum standby
Main forward/backward target position
148 position, and the X1 axis target position is less than the
exceeds max movement in mold
minimum position in the mold or greater than the
maximum position in the mold.
The current Z axis position is in the inner safety zone,
Auxiliary forward/backward target and the Y2 axis position exceeds the maximum standby
149 position exceeds max movement in position (or Y2 fall valve output), and the X2 axis target
mold position is less than the minimum position in the mode
or greater than the maximum position in the mode.
1. Whether the current pickup point signal sensing is
Transverse position is out of safe area normal;
150
but pickup point signal exists 2. [Setting] [Servo Security Point] The medium-sized
outer security zone setting is correct.
1. Whether the current storage point signal sensing is
Transverse position is in safe area but normal;
151
place point signal exists 2. [Setting] [Servo Security Point] The medium security
zone setting is correct.

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1. The current Y1 axis position is greater than Y1 rise

Main rise/fall position is out of safe area safety position, but the Y1 rise safety signal is valid;
152
but up-safe signal exists 2. [Setting] on the [Servo Safety Point] page is off the
home position setting is correct.
1. The current Y1 axis position is smaller than Y1 rise
Main rise/fall position is in safe area but safety position, but the Y1 rise safety signal is invalid;
153
up-safe signal loss 2. The setting of the [servo safety point] of the [Setting]
is correct.
The current Z axis position is in the inner safety zone
Mold open signal loss when arm falls in (or there is a pick-up point signal), and when Y1-axis or
154
mold Y2-axis is fell, there is no open mode completion
signal.
The current Z axis position is in the in-type safety zone
Mid-mold signal loss when arm falls in
155 (or there is a pickup point signal), and when Y1-axis or
mold
Y2-axis is fell, there is no medium plate mode signal.
The current Z axis position is in the in-type safety zone
Pose is horizontal when arm falls in (or there is a pickup point signal), and the descending
156
mold posture is vertical, and when Y1-axis is fell, the
posture 1 is a horizontal state.
The current Z axis position is in the in-type safety zone
(or there is a pick-up point signal), and the falling
157 Pose is vertical when arm falls in mold
posture is horizontal. When Y1-axis is fell, the
posture 1 is a vertical state.
When the arm fall action is performed, no safety door
158 Safedoor is open when arm falls
signal is input.
The current Z axis position is in the inner safe zone, and
the primary and Y2 rise and fall axis positions exceed
159 Mold open signal is loss the maximum standby position (or Y2 fall valve
output), and the alarm is issued when the mold opening
signal disappears.
The current Z axis position is in the inner safe zone, and
the primary and Y2 rise and fall axis positions exceed
160 Mid-Mold signal is loss the maximum standby position (or Y2 fall valve
output), and the alarm occurs when the middle plate
mode signal disappears.
When Y1-axis and Y2-axis is fell, the position of the
161 Arm falls at a unsafe area traverse axis is neither in the inner safety zone nor the
outer safety zone.
No pickup point and place point when When Y1-axis and Y2-axis is fell, there is no signal at
162
arm falls the object point and the storage point.
The horizontal posture is vertical, and the main arm
Pose is not vertical for transverse axis position is smaller than the maximum standby position.
163
movement When the horizontal movement is performed, the
posture is alarmed when the posture 1 is horizontal.

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When the traverse posture is horizontal, the main arm

Pose is not horizontal for transverse axis position is smaller than the maximum standby position,
164
movement and when the traverse action is performed, the posture 1
is a vertical state and an alarm is issued.
There is no object points and no storage points.When
Main rise limit is loss when transverse
165 the transverse axis moves, Y1 rise safety signal is
axis moves at unsafe area
invalid and the alarm is issued.
There is no object points and no storage points. When
Auxiliary rise limit is loss when
166 the transverse axis moves, Y2 rise safety signal is
transverse axis moves at unsafe area
invalid and the alarm is given.
Stand-by mode standby,when the target position is
Mold open signal is loss when
167 smaller than the inner safe zone, no open mode
transverse axis moves in
in-position signal is detected.
The inner side of the mold is not used, the Z axis
position is in the inner safe zone, and the main arm
Main arm is rising when pose 1 changes
168 position does not rise to 0, and the alarm is performed
to vertical or horizontal
when the posture action and the falling posture are
inconsistent.
Mold open signal loss when returning to When find the origin, there is no mold completion
171
origin signal.
Mid-mold signal loss when returning to
172 When find the origin, there is no Mid-mold signal.
origin
173 Mold close should not output in mold In the mold, the output is not allowed to be locked.
The current Z axis position is in the inner safe zone.
Arm falling position in mold is out of
174 When Y1-axis is fell, the X-axis position exceeds the
Min and Max position of X axis
minimum maximum setting range.
The current Z axis position is in the inner safe zone, and
Arm rising position in mold is out of the Y1 rise safety signal is invalid. When Y1-axis is
175
Min and Max position of X axis rise, the X-axis position exceeds the minimum
maximum setting range.
The current Z axis position is in the outer safety zone.
Arm falling position out mold is out of
176 When Y1 axis is fell, the X1-axis position exceeds the
Min and Max position of X axis
minimum maximum setting range.
The current Z axis position is in the outer safety zone,
Arm rising position out mold is out of and the Y1 rise safety signal is invalid. When Y1-axis is
177
Min and Max position of X axis rise, the X-axis position exceeds the minimum
maximum setting range.
The current Z axis position is in the in-type safety zone.
Arm falling position in mold is out of
178 When the Y1 axis is fell, the X2 axis position exceeds
Min and Max position of X2 axis.
the minimum maximum setting range.
The current Z axis position is in the inner safe zone, and
Arm rising position in mold is out of the Y1 rise safe signal is invalid. When Y1-axis is rise,
179
Min and Max position of X2 axis the X2 axis position exceeds the minimum maximum
setting range.

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The current Z axis position is in the outer safety zone.

Arm falling position out mold is out of
180 When Y1-axis is fell, the X2-axis position exceeds the
Min and Max position of X2 axis
minimum maximum setting range.
The current Z axis position is in the outer safety zone,
Arm rising position out mold is out of and the Y2 rise safe signal is invalid. When Y1-axis is
181
Min and Max position of X2 axis rise, the X2 axis position exceeds the minimum
maximum setting range.
1. The current Z axis position is in the inner safety zone.
When the mold opening signal or the medium plate
mode signal is invalid, the posture 1 is not allowed to be
vertical;
182 Mold close should be horizontal pose
2. The current Z axis position is in the inner safety zone,
and the posture 1 is vertical.Not allow output to be
closed.when the horizontal standby limit mode is set to
not in use, no detection is performed.
The horizontal position is neither in the inner safety
Main arm is rising when transverse axis zone nor the outer safety zone. It alarms when the Y1
183
is in unsafe area axis position is >20mm or exceeds the maximum
standby position.
The horizontal position is neither in the inner safety
Auxiliary arm is rising when transverse zone nor the outer safety zone. It alarms when the Y2
184
axis is in unsafe area axis position is >20mm or exceeds the maximum
standby position.
Auxiliary rise/fall position is out of safe The current Y2 axis position is greater than Y2 rise
185
area but up-safe signal exists safety position, but the Y2 rise safety signal is valid.
Auxiliary rise/fall position is in safe The current Y2 axis position is less than the Y2 rise safe
186
area but up-safe signal loss position, but Y2 rise safety signal is invalid.
X1 and X2 axis position exceeds The sum of the current positions of the X1 axis and the
187
movement limit X2 axis exceeds the drawing distance.
188 Transverse axis is not in place
189 Main rise/fall axis is not in place
Main forward/backward axis is not in
190
place Within the early end position, it is suspended due to
191 Auxiliary rise/fall axis is not in place opening the safety door or the pinch alarm, causing an
Auxiliary forward/backward axis is not alarm when the corresponding servo axis does not run
192
in place to the target position.
193 C axis is not in place
194 B axis is not in place
195 A axis is not in place
When moving in or out of the safety door, the position
196 C axis is not in transverse safe range of the rotary axis is not within the setting of the
horizontal safety zone.
C axis is not in main axis rise/fall safe When the Y2 axis mold is rise or fell, the position of the
197
range rotary axis is not within the rise and fall safety

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intervals.
When traversing or descending, the B axis is not in a
198 B axis is not in safe range
safe range.
When traversing or descending, the A axis is not in a
199 A axis is not in safe range
safe range.
Z axis RTEX communication command RTEX communication on the Z axis does not receive
error data or data error.
200
Z Axis CanOpen communication The controller does not receive the heartbeat data of the
interrupt servo drive
Y1 axis RTEX communication The Y1 axis RTEX communication did not receive data
command error or data error.
201
Y1 Axis CanOpen communication The controller does not receive the heartbeat data of the
interrupt servo drive
X1 axis RTEX communication The X1 axis RTEX communication did not receive data
command error or data error.
202
X1 Axis CanOpen communication The controller does not receive the heartbeat data of the
interrupt servo drive
Y2 axis RTEX communication the Y2 axis RTEX communication did not receive data
command error or data error.
203
Y2 Axis CanOpen communication The controller does not receive the heartbeat data of the
interrupt servo drive
X2 axis RTEX communication The X2 axis RTEX communication did not receive data
command error or data error.
204
X2 Axis CanOpen communication The controller does not receive the heartbeat data of the
interrupt servo drive
C axis RTEX communication command C-axis RTEX communication did not receive data or
error data error.
205
C Axis CanOpen communication The controller does not receive the heartbeat data of the
interrupt servo drive
B axis RTEX communication command B-axis RTEX communication did not receive data or
error data error.
206
B Axis CanOpen communication The controller does not receive the heartbeat data of the
interrupt servo drive
A axis RTEX communication command A-axis RTEX communication did not receive data or
error data error.
207
A Axis CanOpen communication The controller does not receive the heartbeat data of the
interrupt servo drive
Z1 CANopen has no communication
208
data or failed to receive data
Y1 CANopen has no communication
209 The controller does not receive the periodic data of the
data or failed to receive data
servo drive
X1 CANopen has no communication
210
data or failed to receive data
211 Y2 CANopen has no communication

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data or failed to receive data

X2 CANopen has no communication
212
data or failed to receive data
C CANopen has no communication data
213
or failed to receive data
B CANopen has no communication data
214
or failed to receive data
A CANopen has no communication data
215
or failed to receive data
216 RTEX initialization error RTEX initialization error
217 RTEX communication break RTEX communication break
218 RTEX data CRC error RTEX data CRC check error
The emergency stop or extended emergency stop input
220 Emergency stop
signal is valid.
Current finished product quantity reaches the set
221 Plan cycle end
planned quantity
The cycle time exceeds the molding cycle parameter
222 Automatic period timeout
setting.
Air pressure detection is enabled, but the air pressure
223 Air pressurelimit loss
limit signal is invalid.
The expansion board loses communicates with the
224 Extend I/O board communication break
motherboard.
1.Subroutine data length exceeds the range;
225 Subroutines grow too long 2. Subroutine total number of steps over range;
3. Number of subroutine servo steps out of range
Servo position in subroutine exceeds The positional parameter of the servo action in the
226
range subroutine exceeds 6553.5mm.
1.the main program data length exceeds the range;
227 The main program is too long 2. the main program total number of steps over range;
3. Number of the main program servo steps out of range
Servo position in main routine exceeds The positional parameter of the servo action in the main
228
range program exceeds 6553.5 mm.
229 Inner data error and suggest to reboot System internal protection.
Servo speed in main routine exceeds The speed parameter of the servo action in the main
230
range program exceeds 150%.
The speed parameter of the servo action in the
231 Servo speed in subroutine exceeds range
subroutine exceeds 150%.
232 Z axis pulse overflow
233 Y1 axis pulse overflow
234 X1 axis pulse overflow The servo internal pulse position exceeds the maximum
235 Y2 axis pulse overflow position parameter setting of the corresponding axis.
236 X2 axis pulse overflow
237 C axis pulse overflow

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238 B axis pulse overflow

239 A axis pulse overflow
The motherboard FPGA and DSP communication are
240 FPGA and DSP communication break
interrupted.
Insert defective product detection in teaching, when
242 Reject products reach setting quantity automatic operation,The defective product count has
reached the set value.
backup 1/ backup 2/ backup 3/ backup backup 1/ backup 2/ backup 3/ backup 4/ backup 5 limit
245
4/ backup 5 limit signal existing signal existing
backup 1/ backup 2/ backup 3/ backup backup 1/ backup 2/ backup 3/ backup 4/ backup 5 limit
246
4/ backup 5 limit signal loss signal loss
When the backup 1/ backup 2/ backup 3/ backup 4/
backup 1/ backup 2/ backup 3/ backup backup 5 action is performed,the invalid time of
247
4/ backup 5 on timeout the .backup 1/ backup 2/ backup 3/ backup 4/ backup5
limit signal is greater than the timeout time setting.
When the backup 1/ backup 2/ backup 3/ backup 4/
backup 1/ backup 2/ backup 3/ backup backup 5 break action is performed,the invalid time of
248
4/ backup 5 off timeout the .backup 1/ backup 2/ backup 3/ backup 4/ backup5
limit signal is greater than the timeout time setting.

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6.4 Auxiliary code information about failing to find original point

Serial number Auxiliary Code information

1 Reach the traverse in limit

2 Reach the traverse out limit

3 Reach the main fall limit

4 Reach the main backward limit

5 Reach sub fall limit

6 Reach sub backward limit

7 Transverse in/out limit signal coexist

8 Main rise/fall limit signal coexist

9 Main forward/backward limit signal coexist

10 Auxiliary rise/fall limit signal coexist

11 Auxiliary forward/backward limit signal coexist

12 Homing break

13 No origin point

14 Other reason

15 Reach C axis end limit

16 Reach B axis end limit

17 Reach A axis end limit

18 C axis origin/end limit signal coexist

19 B axis origin/end limit signal coexist

20 A axis origin/end limit signal coexist

21 No transverse origin signal

22 No main rise/fall origin signal

23 No main forward/backward origin signal

24 No auxiliary rise/fall origin signal

25 No auxiliary forwa/backward origin signal

26 No C axis origin signal

27 No B axis origin signal

28 No A axis origin signal

29 Z axis current feedback position exceeds origin margin (Note: in the "Servo speed" page of
"settings" can set the origin point precision, if the origin point precision value is zero it will turn off

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the origin precision function).

30 Y1 axis current feedback position exceeds origin margin

31 X1 axis current feedback position exceeds origin margin

32 Y2 axis current feedback position exceeds origin margin

33 X2 axis current feedback position exceeds origin margin

34 C axis current feedback position exceeds origin margin

35 B axis current feedback position exceeds origin margin

36 A axis current feedback position exceeds origin margin

37 Transverse origin signal loss

38 Main rise/fall origin signal loss

39 Main forward/backward origin signal loss

40 Auxiliary rise/fall origin signal loss

41 Auxiliary forwa/backward origin signal loss

42 C axis origin signal loss

43 B axis origin signal loss

44 A axis origin signal loss

45 The number of internal pulses of the FPGA origin point is not updated (traverse axis)

46 The number of internal pulses in the FPGA origin point is not updated (the main rise and fall
axis)

47 The number of internal pulses in the FPGA origin point is not updated (the main forward and
backward axis)

48 The number of internal pulses in the FPGA origin point is not updated (the Y2 axis)

49 The number of internal pulses of the FPGA origin point is not updated (the backup forward and
backward axis)

50 The number of internal pulses of the FPGA origin point is not updated (C axis)

51 The number of internal pulses of the FPGA origin point is not updated (B axis)

52 The number of internal pulses of the FPGA origin point is not updated (A axis)

53 Absolute Encoder Clear zero failure

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7 Port definition of circuit board

7.1 Three axis master control board port definition

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7.2 Six axis master control board port definition

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7.3 CANopen main control board port definition

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7.4 RTEX main control board port definition

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7.5 I/O board port definition (Pluse version)

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7.6 I/O board port definition (CANopen version,RTEX version)

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8 Servo drive port definition

8.1 Servo drive port definition (Pulse version)

8.1.1 Servo drive interface definition

PIN number Terminal definition PIN number Terminal definition

1 OA+ 2 OA-
3 OB+ 4 OB-
5 0V 6 ALM
7 INP 8 OZ+
9 OZ- 10 SON
11 PUL+ 12 PUL-
13 DIR+ 14 DIR-
15 24V

8.1.2 Servo drive parameter setting description

The control system output position command to the servo motor for position control, the
command pulse type is pulse + symbol (direction), pulse output maximum frequency is of 500Kpps,
please set the parameters of the servo drive correctly to match it.

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8.1.2.1 Lavichip LSC connection table

Single / double DP1 15 Core link 15 Core link Servo

State Servo wiring port
axis wiring definition definition definition
A phase
1
output+ OA+ ← A+ CN6--7
2 A phase output- OA- ← A- CN6--8
3 B phase output+ OB+ ← B+ CN6--5
4 B phase output- OB- ← B- CN6--6
0V- 5 0V- 0V- → 0V- CN2--6-COM-/S03-
ALM+ 6 Alarm+ ALM+ ← ALM+ CN2--7-SO1
Positioning
7
finish BK → CN2--9-SO3+
8 Reserve
9 Reserve
SON 10 Enable SON → S-ON CN2--2-SI1
P+ 11 Pulse+ PULSE+ → PUL+ CN1--3
P- 12 Pulse- PULSE- → PUL- CN1--4
S+ 13 Direction+ SIGN+ → DIR+ CN1--5
S- 14 Direction- SIGN- → DIR- CN1--6
24V+ 15 24V+ COM+ → COM+ CN2--1
Brake: Brake connected to S03 pin control relay 0V (PR4-12 setting 3) (PR4-13 setting 0)
Lavichip LSC servo driver parameter setting
Setting no Parameter name Setting vale Factory value
PR0.01 Control mode 0 0
PR0.02 Real time adjustment 1 0
PR0.03 Rigidity 7--15 11
PR0.04 Inertia ratio 300--3000 250
PR0.06 Pulse direction 0/1 0
PR0.07 Pulse mode 3 3
PR0.08 Number of pulses per turn 10000 10000
PR0.11 Feedback pulse 2500 2500
PR0.12 Feedback direction 0/1 0
PR0.14 Position deviation 200 200
External Resistance According to the actual
PR0.17 50
power external resistance
PR4.12 Brake setting SO3 3 4

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8.1.2.2 Panasonic A4/A5/A6 drive connection table

Main board 15 Core link Servo Servo foot

State
foot position definition definition position
1 A phase output+ OA+ ← OA+ 21
2 A phase output- OA- ← OA- 22
3 B phase output+ OB+ ← OB+ 48
4 B phase output- OB- ← OB- 49
5 0V- 0V- → COM- 36.41.25.13
6 Alarm+ ALM+ ← ALM+ 37
7 Positioning finish
8 reserve
9 reserve
10 Enable SON → SON 29
11 pulse+ PULSE+ → PULSE1 3
12 pulse- PULSE- → PULSE2 4
13 direction+ SIGN+ → SIGN1 5
14 direction- SIGN- → SIGN2 6
15 24V+ COM+ → COM+ 7
Brake: Driver pin 10 is connected to 0V and pin 11 is connected to the control relay.
Panasonic A5/A6 Servo driver parameter setting
Setting No Parameter name Setting value Factory value Note
pr0.01 Control mode 0 0
0 manual/1
pr0.02 1 1
Auto Adjustment auto
No adjustment
pr0.03 7---13 13
Rigidity when auto
Inertia ratio No adjustment
pr0.04 250--3000 250
when auto
pr0.05 Pulse Input Selection 0 0
pr0.06 Pulse direction 1 0
pr0.07 Pulse mode 3 1
pr0.08 Number of pulses per turn 10000=3000 rpm 10000
pr0.11 Feedback Pulse 2500 2500
pr0.14 Position deviation 100000 100000
pr0.16 External resistor 1 0
Monitoring the number of
6
input pulses
1 Monitor Motor speed

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15 Overload rate

8.1.2.3 Inovance IS620P/630P/660P drive connection table

Main
15 Core link
board foot Servo Servo foot
definition
position State definition position
A phase
1 output+ OA+ ← PAO+ 21
2 A phase output- OA- ← PAO- 22
B phase
3 output+ OB+ ← PBO+ 25
4 B phase output- OB- ← PBO- 23
5 0V- 0V- → COM- 14.26.29
6 Alarm+ ALM+ ← ALM+ 1
Positioning
7 finish INP → INP
8 reserve
9 reserve
10 Enable SON → SON 33
11 pulse+ PULSE+ → PULSE1 41
12 pulse- PULSE- → PULSE2 43
13 direction+ SIGN+ → SIGN1 37
14 direction- SIGN- → SIGN2 39
15 24V+ COM+ → COM+ 11
Brake: The driver is connected to 0V at pin 27 and the control relay at pin 28.
Inovance IS620P/630P/660P Drive parameter settings
Setting No Parameter name Setting vale Factory value
H05-00 position command Source 0 0
H05-01 command Pulse input Selection 0 0
H05-02 Pulses per revolution setting 10000 0
H05-15 command Pulse polarity setting 1 0
H05-17 Feedback Pulse Number 2500 2500
H04-07 Alarm Logic Changes 1 0
H04-08 braking function 9 16
H08-15 Load inertia ratio 0---120 1
H09-00 0 Manual/1 automatic 1 0
H09-01 Rigidity 7---15 12
H0B-12 Monitor load Rate
H0B-13 Monitoring the number of input pulses

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8.1.2.4 Sanxie servo / Hechuan servo connection table

Main board 15 Core link Servo Servo foot

foot position definition State definition position
1 A phase output+ OA+ ← OUT-A 36
2 A phase output- OA- ← OUT-A 37
3 B phase output+ OB+ ← OUT-B 38
4 B phase output- OB- ← OUT-B 39
5 0V- 0V- → COM- 2.12.22.42
6 Alarm+ ALM+ ← ALM+ 21
Positioning
7 finish INP → INP
8 reserve
9 reserve
10 Enable SON → SVON 4
11 pulse+ PULSE+ → CMD-PLS 26
12 pulse- PULSE- → CMD-PLS 27
13 direction+ SIGN+ → CMD-DIR 30
14 direction- SIGN- → CMD-DIR 31
15 24V+ COM+ → COM+ 1.3
Brake: Driver pin 12 is connected to 0V and pin 13 is connected to the control relay.
Sanxie servo / Hechuan X3 servo parameter setting
Setting no Parameter name Setting value Factory value
2 Control mode 0 0
3 Instruction mode 1 1
32 Pulse mode 0 0
32.1 Pulse direction 1 1
33 Pulse Filter From 4 to 9 4
34 Numerator 32768 1000
36 Denominator 2500 1000
102 Inertia ratio from650 to 1200 250
113 Control gain from12 to 20 20
Feedback
276 2500 1000
numerator
Feedback
278 32768 8000
Denominator
272.1 Feedback direction 1 1
3 SL-PCP Monitoring the number of input pulses
13 SL-LOF Monitoring overload rate

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8.1.2.5 Delta B2 drive connection table

Main board 15 Core link Servo

State Servo pin position
pin position definition definition
1 A phase output+ OA+ ← OA+ 21
2 A phase output- OA- ← OA- 22
3 B phase output+ OB+ ← OB+ 25
4 B phase output- OB- ← OB- 23
5 0V- 0V- → COM- 14.27.26.19
6 Alarm+ ALM+ ← ALM+ 28
Positioning
7 finish
8 Reserve
9 Reserve
10 Enable SON → SON 9
11 Pulse+ PULSE+ → PULSE+ 41
12 Pulse- PULSE- → PULSE- 43
13 Direction+ SIGN+ → SIGN+ 37
14 Direction- SIGN- → SIGN- 39
15 24V+ COM+ → COM+ 17 .11

Delta B2 drive parameter setting

Setting no Parameter name Setting vale Factory value
Input mode of pulse column +
P1-00 2 0*2
symbol
P1-01 Control mode 0 0
P2-10 SON enable setting 101 101
P2-21 INP settings 105
P2-22 Alarm settings 7 7
Electronic Gear ratio
P1_44 16 16
Denominator
Electronic gear ratio
P1_45 1 10
numerator
P2-19 Brake Settings 108 103
Brake: Driver pin 4 connected to 0V, pin 5 control relay 0V.
If the RL015, RL013, and RL014 are turned on, change the P2-15, P2-16, and P2-17 parameters
to 0.

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8.1.2.6 MITSUBISHI MR-JE servo drive connection table

Main board 15 Core link Servo

State Servo pin position
pin position definition definition
1 A phase output+ OA+ ← LA 4
2 A phase output- OA- ← LAR 5
3 B phase output+ OB+ ← LB 6
4 B phase output- OB- ← LBR 7
5 0V- 0V- → DOCOM 42.43.44.46
6 Alarm+ ALM+ ← ALM+ 48
Positioning
7 finish
8 Reserve
9 Reserve
10 Enable SON → SON 15
11 Pulse+ PULSE+ → PP 10
12 Pulse- PULSE- → PG 11
13 Direction+ SIGN+ → NP 35
14 Direction- SIGN- → NG 36
15 24V+ COM+ → COM+ 20
Brake: The driver is connected to pin 23 to control the relay 0V.
Mitsubishi MR-JE servo parameter setting
Setting no Parameter name Setting vale Factory value
PA01 Run mode 1000 1000h
PA05 Pulse per turn 10000 10000
PA08 Auto Adjustment 1 1
PA09 Rigidity /responsiveness 7--16 16
PA13 Pulse input 0 111 0 100
AB phase output This parameter
corresponds to the
PA15 4000
number of pulses per
turn
PA21 Feature Selection 1001 0 0 01
PD24 Braking Function 0.005 OOOCh

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8.1.2.7 Fuji ALPHA-5 connection table

Main board 15 Core link Servo

State Servo pin position
pin position definition definition
1 A phase output+ OA+ ← FFA 9
2 A phase output- OA- ← *FFA 10
3 B phase output+ OB+ ← FFB 11
4 B phase output- OB- ← *FFB 12
5 0V- 0V- → COMOUT 14
6 Alarm+ ALM+ ← OUT3 17
7 Positioning finish INP ←
8 Reserve
9 Reserve
10 Enable SON → CONT1 2
11 Output pulse+ PULSE+ → CA 7
12 Output pulse- PULSE- → *CA 8
13 Direction+ SIGN+ → CB 20
14 Direction- SIGN- → *CB 21
15 24V+ COM+ → COMIN 1
Brake: connect to pin 15 OUT1 - control relay 0V, (PA3-51 set to 14).

Fuji ALPHA-5 servo parameter setting

Factory
Setting no Parameter name Setting vale Note
value
PA1-01 Control mode 0 0
PA1-03 Command Pulse mode 0 1
PA1-04 Direction switch 0 0
PA1-06 Input numerator 16 16
PA1-07 Enter denominator 1 1
PA1-09 Feedback numerator 1 1
PA1-10 Feedback Denominator 16 16
10: Self setting
11: Semi-automatic
PA1-13 Setting mode 10
setting
12: manual setting
PA3-51 Brake Settings 14 1

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8.2 Servo drive port definition (CANopen version)

8.2.1 CANopen communication wiring diagram

8.2.1.1 Lavichip LSC servo drive wiring diagram

8.2.1.2 Other servo drive interface definition

Main board pin pin definition

1 BR2
2 BR1
3 CAN_H
4 CAN_L
5 C-GND

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Note:
1）BR1 and BR2 are terminal resistance connection pins, which are short circuited by default.
2）For specific signal description of driver CANopen port, please refer to corresponding driver
manual (examples of RJ45 port above are Inovance and leisai CANopen drives).

8.2.2 Servo drive parameter setting description

8.2.2.1 Basic settings
In order to normally apply the CANopen function of servo driver, please refer to the following
instructions:
1）Ensure that the servo drive model supports CANopen standard protocol.
2）The control system supports CAN communication baud rate of 500Kbps (this is the default value
of most drives), please check if the baud rate set by the drive panel parameters is 500K.
For example: Lavichip LSC drive setting Pr0-24=2
3）Please set the motor steering through the driver panel according to the frame structure.
For example: Lavichip LSC drive setting Pr0-06=0 or 1
4）Please set the corresponding servo axis address through the driver panel according to the number
of each servo axis on the "Structure" page (as shown in the figure below).

For example: Lavichip LSC drive setting Pr0-23=1~8

5）Please select the correct number of encoder bits on the "structure" page of this control system
according to the specific specifications of the driver.

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8.2.2.2 Lavichip LSC driver parameter setting

Lavichip LSC parameter setting

Setting no Parameter name Setting vale Factory value
Pr0-23 Drive ID address Set according to the system machine 1
parameter structure ID
Pr0-01 Control mode 8 0
Pr0-02 Real time adjustment 1 0
Pr0-03 Rigidity 8--12 11
Pr0-04 Inertia 300-3000 250
Pr0-06 Direction of motor 0/1 0
Pr0-14 Position deviation value Failure Err18.0 set 300 200
Pr0-17 Resistance power Set according to the wattage of external 50
resistance
Pr4-12 Brake settings 3(S03 port) 4
Brake: brake connected to S03 + foot control relay 0V (PR4-12 set 3) (PR4-13 set 0).

8.2.2.3 Inovance SV660C driver parameter setting

Inovance SV660C parameter setting

Setting no Parameter name Setting vale Factory value
H02-02 Direction of rotation 0/1 0
H04-08 Braking function 9 16
H08-15 Load inertia ratio 0--120 1
H09-00 0 Manual/1 automatic 1 0
H09-01 Rigidity 0--41 15
H0B-12 Monitor load rate
H0C-00 Servo axis address Set according to axis 1
H0C-08 Baud rate 5 5
Brake: the 27 pin of the driver is connected to 0V, the 28 pin controls the relay coil, and the
relay coil 24V + is connected from the power supply.

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8.2.2.4 Hechuan X2E/X3E drive parameter setting

Hechuan X2E/X3E parameter settings

Setting no Parameter name Setting vale Factory value
P00-00 Motor rotation 0/1 0
direction
P00-01 Control mode 7 0
P00-02 Real-time adjustment 1 1
P00-03 Rigidity 0--31 12
P00-04 Inertia ratio 300--3000 100
P09-00 Servo axis address Set according to axis 1
P09-13 Baud rate 1115 5
Brake: the 6 pin of the driver is connected to 0V, the 7 pin controls the relay coil, and the relay
coil 24V + is connected from the power supply.

8.3 Servo drive interface definition (RTEX version)

Wiring diagram

RJ45 plug RJ45 socket

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PIN number Terminal definition PIN number Terminal definition

1 Impedance matching 2 Impedance matching
3 RS422 + 4 Impedance matching
5 Impedance matching 6 RS422-
7 Impedance matching 8 Impedance matching

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9 Appendix

9.1 Wiring diagram

9.1.1 Wiring diagram of main control panel and I/O panel

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9.1.2 Connection between manipulator and injection molding machine

Mold open, safety door, mold close signal of on/off input

Injection Molding Machine side Manipulator side Injection Molding Machine side

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Mold open, safety door, mold close signal of voltage input

Injection Molding Machine side Manipulator side Injection Molding Machine side

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9.2 Circuit board installation dimension

9.2.1 Pulse three axis main control panel installation dimension

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9.2.2 Pulse six axis main control panel installation dimension

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9.2.3 CANopen main control panel installation dimension

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9.2.4 RTEX main control panel installation dimension

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9.2.5 I/O panel installation dimension

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9.3 I/O list (Pluse version)

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9.4 I/O list (CANopen version)

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9.5 I/O list (RTEX version)

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