robot viper-so

8/11/2019 Robot VIPER-SO

http://slidepdf.com/reader/full/robot-viper-so 1/373

robotOperator Manual - Robot

VIPER-SOSerial No.:172802



WARNING!

Improper use of the machine can lead to severe injury to persons anddamage to equipment!You must read this inst ruction manual carefully and familiarize yourself

with the safety precautions before operating the system or carrying outany maintenance.You must ensure that the persons carrying out the activities on themachine have read and understood the relevant sections and chaptersof the instruction manual.

The contents of these documents remains our intellectual property and must not be copied or distributed electronically or mechanically, changed, trans-mitted, translated into another language nor be used otherwise without our written consent in no manner of what kind ever. Furthermore, the contentsmay neither be made known to third parties nor be used for non-approved purposes. These documents only serve the company-internal benefit and use.Each violation will be prosecuted under criminal and civil law (§12 and §13 UWG).In the wake of the technical development we reserve the right to make changes without previous notice.© Copyright by ENGEL Austria Ges.m.b.H.

Manufacturer: ENGEL AUSTRIA GmbH

A-4311 Schwertberg

Tel.: +43.50.620.0Fax: +43.50.620.3609

e-mail: [email protected] www.engelglobal.com

Person responsible for

documentation

Pichler Harald

Version: G/11/401/2/21Printing date: 21.2.2013Language Englisch

Translation of original instruction manual

mailto:[email protected]

http://www.engel.info/

http://www.engel.info/

mailto:[email protected]



Table of contents

3

Table of contents

Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Struc ture of the system documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Proper Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Text formatting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 General automation information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133.1 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133.2 Overview viper 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143.3 Overview pneumatic rotary axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153.4 Overview servomotor rotary axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 Safety hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174.1 Occupational safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174.2 Qualification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174.3 Personal protection gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174.4 Place of work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

4.5 Thermal hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184.6 Mechanical hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184.7 Setup work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194.8 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 Pictographs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 Additional equipements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 Behavior in case of fire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 Rescue actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239 Safety equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249.1 EMERGENCY STOP buttons for plant shutdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269.2 Injection molding machine safety gates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279.3 Robot safety guarding (SIP3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351 Machine control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361.2 Configurable foil keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372 Hand control device KETOP C100E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382.1 Safety controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402.2 Foil keys on the KETOP C100E hand control device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422.3 Screen keys on the KETOP C100E hand control device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452.4 Hand Terminal Function keys KETOP C100E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463 Free pushbuttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484 Screen structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524.1 Top line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524.2 Screen page selection and function keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524.3 Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534.4 Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534.4.1 Info Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

4.4.2 Input field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554.4.3 Program switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554.4.4 Selection field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564.4.5 Link in robot sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564.4.6 Dialog window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574.4.7 Input keyboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574.4.8 Tool tip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595 User settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605.1 User login . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615.2 User administration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635.2.1 Creating, changing or deleting users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635.2.2 Creating a user authorization card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655.2.3 Importing/exporting user data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 666 Data dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 676.1 Storage media . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

6.2 Read parts data set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 696.3 Read sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71



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4 Operator Manual - Robot | Version G/11/401/2/21

6.4 Write a parts data set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 716.5 Writing parts data sets with machine or robot data only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 726.6 Copy parts data set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736.7 Parts data set - Copy all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736.8 Delete parts data set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 746.9 Export injection protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 757 Cycle time analysis robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 778 operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789 Robot Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

9.1 Start up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 799.2 Putting out of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Basic setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 831 Quick Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 831.1 Group configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 871.2 Vacuum/compressed air circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 891.2.1 Vacuum economy mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 921.3 Depositing conveyor-belt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 931.3.1 Standard depositing conveyor-belt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 931.3.2 Depositing conveyor-belt with reversing operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 941.3.3 Depositing conveyor-belt quality control parts and reject molding separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 941.3.4 Clearing mechanism for clearing conveyor-belt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 952 General settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

2.1 Speed limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 952.2 Test mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 962.3 Home position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 982.4 Quick positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1002.5 Quick setting of robot position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1013 Robot program switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1043.1 Closing safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1073.2 Depositing variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1093.3 Rotary axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1094 Status page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1105 Efficiency optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1136 Home position, robot sequences and park position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1177 Takeover head . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Work area setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

1 Settings robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1222 Work Areas and Prohibited Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1253 Area settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1314 3D view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1325 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1346 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

Take-off -depositing variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1371 Engel - take-off variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1371.1 Take-off Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1382 Engel depositing variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1442.1 Part deposit without grid and conveyor-belt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1452.2 Part depositing in shot grid with conveyor-belt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1462.3 Part deposit in Teach grid 1 with conveyor-belt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

2.4 Teach grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1502.5 Reject deposit - 1 position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1512.6 Quality Control deposit - 1 position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1532.7 Sprue depositing - 1 position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1553 Set up robot on injection mold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

Grid editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1571 Shot grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1581.1 Shot grid - attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1581.2 Shot grid - parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1591.3 Shot grid - intermediate layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1611.4 Shot grid - Simulation/Production . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1632 Individual part grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1642.1 Individual part grid - Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1642.2 Individual part grid - parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

2.3 Individual part grid - positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1672.4 Individual part grid - intermediate layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1712.5 Individual part grid - simulation/production . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1713 Teach grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172



Table of contents

5

3.1 Configure teach grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1723.2 Teach grid sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1743.3 Teach grid - Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1793.4 Teach grid - parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1803.5 Teach grid - intermediate layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1813.6 Teach grid - simulation/production . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

Robot sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1851 Simple view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1861.1 Symbols for robot sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1872 Extended view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1882.1 Symbols for robot sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1892.2 Instruction types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1912.2.1 Overgrinding movements of linear axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1922.2.2 Smoothing window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1932.3 Multiple selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1953 Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1964 Create sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1974.1 Save sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1984.2 Assistant for sequence set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1994.3 Exchanging variants - Simple view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2024.4 Exchanging variants - Extended view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2034.5 Using the Teach pointer to insert an instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

4.6 Inserting an instruction or sequence manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2074.7 Inserting a parallel closed branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2094.8 Changing an instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2114.9 Copying instructions or a subsequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2124.10 Deleting an instruction or subsequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2134.11 Inserting an empty sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2144.12 Create Teach variant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2154.13 Remove user-defined variant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2174.14 Removing user-defined variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2184.15 Print sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2194.16 Deactivating the equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2214.17 Classic operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2224.17.1 Exchanging variants - classic operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2234.17.2 Creating a Teach Variant - Classic operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2264.17.3 Removing user-defined variants - Classic operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

5 Sequence instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2295.1 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2295.1.1 Move commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2295.1.2 Position check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2315.1.3 Special instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2325.1.3.1 Switch off -axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2325.1.3.2 Mass identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2335.1.3.3 Brakes test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2335.1.3.4 Cycle time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2355.1.3.5 Macro instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2365.1.4 Vacuum/compressed air . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2395.1.5 Vacuum/compressed air group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2415.1.6 Vacuum/compressed air group off on part lost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2425.1.7 barrel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2425.1.8 Cylinder group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2445.1.9 outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

5.1.10 Work areas/prohibited areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2465.2 Peripheral unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2475.2.1 Depositing conveyor-belt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2475.2.2 Reject deposit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2485.2.3 Quality control deposit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2495.2.4 barrel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2495.2.5 outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2515.3 Injection molding machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2535.3.1 Mold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2535.3.2 Enable clamp force build-up/reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2545.3.3 Block clamp force build-up-/reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2545.3.4 Ejector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2555.3.5 Cores . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2565.3.6 Air valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2575.3.7 Injection molding machine vacuum circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

5.3.8 Wait until part take over allowed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2585.3.9 Part is reject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258



Table of contents


5.4 safety gate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2615.4.1 Robot safety gate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2615.4.2 Robot light beam guard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2625.5 Sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2635.6 Grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2635.6.1 Shot grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2635.6.2 Individual part grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2645.6.3 Teach grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2665.7 Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

5.7.1 Place holder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2695.7.2 Intermediate layers depositing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2705.7.3 Quality Control part depositing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2725.7.4 Reject deposit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2735.7.5 Parts deposit check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2745.7.6 Position compensation for tie-bar-less machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2755.8 structure instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2775.8.1 Execute as long as . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2775.8.2 Repeat until . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2785.8.3 If . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2795.8.4 Parallel open branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2805.8.5 Parallel closed branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2805.8.6 Waiting time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2815.8.7 Wait for time or marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2825.8.8 Wait time or input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

5.8.9 Wait until . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2845.8.10 Comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2845.8.11 Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2855.8.12 Jump to sequence end . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2885.8.13 Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2895.8.14 Delete alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2905.8.15 Set position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2905.8.16 Copy actual position to . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2915.8.17 Increase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2915.8.18 Decrease . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2926 Condition editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2936.1 Dialog window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2936.2 Status marker - Vacuum/compressed air . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3006.3 Status marker - Vacuum/compressed air group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

Screen page editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3031 Components of screen pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3052 Strips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3053 Edit screen pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3054 Paste of existing strips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3065 Paste new strips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3076 Paste variables from a list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3077 Paste variables from other screen pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3088 Search variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3099 Paste a comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31110 Moving variables and strips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3131 Mold swivelling device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

2 Rotary table for insert injection molding machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3163 Take-off with closed mold (option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3174 Sprue separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3195 intermediate deposit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3236 Pick-up part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3267 Weigh scale intermediate deposit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3278 Intermediate layers standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3319 Park position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33610 Take-off stroke correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33711 Run empty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34012 Mold synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34113 Ejector synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34214 Mold and ejector synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34415 Softservo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34716 Compensation of loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34917 Moving area safeguarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35218 Crane protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35319 Warning signal light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35420 Torque monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357



Table of contents

7

21 Takeoverheadcoding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36022 High speed head changing system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36123 Air conditioning unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36224 Tray server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363

Special programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369



Table of contents




Structure of the system documentation

9


Instruction Manual - Robot

Manual CD contains the following documents in PDF format: Operator,Service and Technical Manual (Troubleshooting), spare parts Thecatalog,schematics, data sheets and optional Peripheral unit documentation.

Operator Manual - Robot (Operation)

Service manual - Robot (Commissioning, Maintenance)

Instruction Manual - Machine

Operator Manual - Machine (Operation)

Service manual - Machine (Commissioning, Maintenance)

Manual CD contains the following documents in PDF format: Operator,Service and Technical Manual (Troubleshooting), schematics, datashTheeets, spare parts list and optional Peripheral unit documenta-

tion.

Virtual Machine CC200 CD contains the installation programs for PCsimTheulation of the machine control unit.

Conveyor Belt Manual CB... (operation, commissioning, maintenance, trouble-shooting, plans, spare parts list and declaration of conformity)

An integrated help system is available in the machine control for easier support. Thiscovers the Operator, Service and Technical manuals.

Electrical diagram, layout, pneumatic diagram (in envelope)



General

11

General

You have decided on an ENGEL product which is produced and supplied under strictest qua-lity controls.The instruction manual must be considered as part of the robot and is destined for those per-sons who are charged with activities on the plant. The instruction must be kept during the lifeof the product and must be passed on to each following owner or user. Each obtained additionmust be integrated into the instruction manual.We recommend that you take part in training at one of Engel's training centers (www.engel-global.com/training).

The main aim of this manual is to describe the operation and all the program functions of therobot.The manual is also designed help eliminate production failures as rapidly as possible.The index contains a list of alarms.

CAUTION!

Danger of damage to equipment!The settings in the figures are purely incidental and should not be used as a

guide for a machine setting.The process information refers to thermoplastic processing.

1 Proper UseENGEL products are built to the current state of the art and to comply with accepted standardsand regulations.

Note that the ENGEL robot must be used only for taking parts off the mold on the injectionmolding machine and for inserting parts into the mold on the injection molding machine asdescribed in the Instruction Manual.

For damage from improper or not as agreed use, non-observation of the specifications in theinstruction manual as well as faulty operation ENGEL GmbH is not liable.

Modifications to the plant invalidate the declaration of incorporation for incomplete machinesor the EU declaration of conformity for complete machines. The plant may not be commis-sioned in this case!



General


2 Text formattingThe following text formatting is used to provide a clear manual layout and to emphasize parti-cularly important information:

DANGER!

Information marked with this symbol points out immediate danger which can

lead to death or serious physical injury!

WARNING!

Information marked with this symbol warns of possible danger which can lead

to death or serious physical injury!

CAUTION!

Information marked with this pictogram warns of possible danger which cancause injury to persons and damage to equipment!

CAUTION!

Possible dangers which can cause damage to the machine!

Note!

Text provided with this symbol offers tips on use and other useful information.

Example:

Information provided with this symbol offers practical examples.

Numbered sequence

1. Fixes procedure way after the numbers

2. The operator must adhere absolute to the fixed operational sequence.



General

13

3 General automation informationRobots are used for part take-off and deposit from the Injection Molding Machine. In the stan-dard program the Injection Molding Machine and robot operate through a common control unitand operations occur via the same screen.

Integrated control system

ENGEL robot and ENGEL injection molding machine

Standalone control

ENGEL robot and a non-ENGEL injection molding machine

ENGEL robot in connection with a peripheral unit

ENGEL robot without injection molding machine and peripheral unit

3.1 Terminology

X-axis (Demolding stroke)Serves the take-off of the parts from the moving or stationary mold fixing platen of theinjection molding machine.

Y-axis (Vertical stroke)Serves in its basic function for moving in and out from the mold area of the injectionmolding machine.

Z-axis (Cross transport)Serves to move into and move out from the depositing area/take-off area.

Rotary axes (ABC-axes)Serve to turn and swivel the takeover head.

Support mount

Used to screw down the robot to the stationary mold fixing platen on the injection mold-ing machine.

Support (Option)Used to stabilize the robot

safety gateUsed to safeguard the work and movement area of the robot.



General


3.2 Overview viper 20

[1] Switch cabinet

[2] Air maintenance unit with shut-off valve and pressure setting

[3] Y-axis (Vertical stroke)

[4] Type plate

[5] Stand for fastening to injection molding machine

[6] Rotary axes for turning and swiveling end of arm tooling, depending on design (ABCaxes)

[7] X-axis (Demolding stroke)

[8] Z-axis (Cross transport)

1

47 56

322

8



General

15

3.3 Overview pneumatic rotary axesRotation by pneumatic cylinder.

C-axis:

A-ax is :

B-axis:

Top view

Z

+X-

-

Y

+

0°

+90°

above

below0°+90°

+Z-

X

-

Y

+

0°

+90°

+180°right

left0°

+90°

+180°

Angle of rotation can be changed by amechanical stop.

+Z-

-

X

+

0°

+180°

Y

+90°

right

left

+180°

0°

+90°

Angle of rotation can be changed by amechanical stop.



General


3.4 Overview servomotor rotary axesRotation by servomotor.

C-axis:

A-ax is :

B-axis:

Top view

Z

+X-

-

Y

+

0° +180°0° 90°

180°

+Z-

X

-

Y

+

0°

-90°

+180°

-90°

0°

+180°

+Z-

-

X

+

0°

+90°

-180°

Y

-180°

0°

+90°



General

17

4 Safety hints

WARNING!

The acceleration and force of the robot can mean a risk of accidents for per-sons working in the plant's vicinity.

To protect persons against danger of accidents, ENGEL injection moldingmachines are fitted with safety equipment.

Addi tionally observe the following points for your own safety:

4.1 Occupational safetyImproper use of the machine can lead to severe injury to persons and damage to equipment!You must read this instruction manual carefully and familiarize yourself with the safety precau-tions before operating the system or carrying out any maintenance.You must ensure that the persons carrying out the activities on the machine have read andunderstood the relevant sections and chapters of the instruction manual.

4.2 QualificationOnly persons who have been trained for these tasks on ENGEL machines are permitted toinstall, operate and maintain the plant.

Do not use the plant without appropriate training. Appropriate training is available on www.engelglobal.com/training at your ENGEL training cen-ters.

4.3 Personal protection gear Always wear approved protective clothing when working on the system (e.g. safety shoes,safety gloves, face protection). Any other personal protection gear depends on the materialyou are processing. For more details, consult your material supplier.

Observe local safety regulations for operating the plant!

4.4 Place of workTo ensure risk-free operation, observe the following basic rules in the work environment:

Always keep the whole plant clean. This improves its functionality and enhances oper-

ator safety! The floor around the plant as well as the specified access points and working places are

to be kept free of oil and pellets.

Only use marked locations as access points or workplaces.

Protect hoses against harmful influences such as acids and mechanical damage!

If you notice leakages, damage, or breaks in media lines, switch off the machine imme-diately!

Never use plant surfaces as work surfaces. Do not use the plant as a mounting aid.

Comply with and never remove warning signs, notices or labels from machines!

Safety equipment functions [See Safety equipment on page 24.]

Observe the safety instructions in the manual!

No access for unauthorized persons.



General


Use a suitable mounting aid for work above 1.0 m (39.4 in).If you need to use a mounting aid, use equipment that complies with local safety regu-lations and prevents from falling, tripping or slipping.

Unauthorized, non-permanent mounting aids can allow staff to reach into dangerousareas of the machine.Before you use non-permanent mounting aids, always switch off the injection moldingmachine.

Never lean ladders against the machine!

4.5 Thermal hazardsDanger of burns in the vicinity of hot components such as the barrel and injection mold!Insufficient pre-drying or decomposition of certain plastics can cause the material to exit thenozzle or infeed opening in an uncontrolled way.When working in the injection mold area, make sure the nozzle is retracted! Make sure the bar-rel nozzle is not touching the mold!Observe processing and safety instructions by the material manufacturer!

4.6 Mechanical hazards

Danger of crushing due to moving components on the machine!During operations never reach into, or enter, component work areas, except at positionsdesigned for this purpose.Never manipulate, disable, or remove safety equipment.When connecting and disconnecting media lines in case of retooling work, make surethat the system is depressurized and switch off the motors.Do not work or stand below moving components (e. g. axes of a robot) and hangingloads, even if the plant is switched off.

Mortal danger after a collision between unit components! A collision can cause damage (e.g. loosening or breaking of screws) to the plant.The plant may be put into operation only after it has been checked by a trained special-ist.

SectionDanger from cutting knives and grippers!Body parts can be injured or cut off.When working on the machine, use suitable protective clothing (safety shoes, protectivegloves, face protection, ...).When working on the cutting knives and grippers, ensure that the system is pressure-less and the plant is switched off.



General

19

4.7 Setup workWhen operating the machine, use settings that precisely match the requirements for safe oper-ations of the machine, robot, molds, material and peripheral units.

ENGEL is not liable for operator errors.

4.8 MaintenanceMaintenance and repairs of the plant may only be performed by authorized and qualified staff observing occupational safety rules.You must have comprehensive knowledge of safety precautions and controls. Always perform the maintenance tasks described in the instruction manual at the specifiedintervals. Additionally, keep to maintenance intervals and perform maintenance tasks on all safetydevices for the protection of staff and equipment to comply with your national and/or localsafety regulations.

Any work on the plant, beyond the described activities, must be carried out by ENGEL serviceengineers.



General


5 PictographsDescription of the pictograms that may be affixed to the machine to indicate dangerous areasor situations. Failure to observe safety signs can lead to severe injury.

Prohibitory signs

Symbol Descripti on

Admittance for authorized persons only!

Keep off the area!

No admittance for persons with cardiac pacemaker!

Working or standing below moving components and suspended loads is prohib-ited!This applies in all operating modes, even if the machine - or parts thereof - isswitched off. If you use a third-party safety guarding, affix this pictogram at therequired positions.

No fork lift trucks!Use of fork lifts or manual lifts for lifting the plant at this position is prohibited.

Do not use any credit cards, watches or small metal parts in the proximity!



General

21

Mandatory Signs

Symbol Desc ript ion

Read documentation!

Use protection equipment!

Use face protection!

Use lifting point for transport!

Danger signs

Symbol Desc ript ion

Warning against hot surface!

Warning against mains voltage!

Warning against hand injuries!

Warning against floating loads!

Warning against pinching or squeezing!

Warning against pressurized molten material!

Warning against strong magnetic field!



General


6 Additional equipements

The installation of additional equipment is only permitted with the permission of ENGEL.If additional equipment is attached to the robot without ground support, a new evaluation of therisk of tipping must be implemented.ENGEL is only responsible for the cooperation of the robot with additional equipment if theinterfaces have been designed by ENGEL.

Sockets on the robot may only be used for the specified additional or peripheral equipment.

Interface for automation according to Euromap 67 or 12

Before connecting and using an interface, risk assessment must be performed by ROBOTvendor!

WARNING!

Danger due to missing safety gates!If safety gates are removed to support machine operations with peripheral

equipment (e.g. conveyor-belts, stacking devices, etc.), the user company must

implement safety measures that do not impact on safety levels!If the machine is then operated again without peripheral equipment, ensure the

original safety gates are restored to their original state.

The installation of additional equipment must not reduce the view into dangerous machineareas, not must it hinder access to workplaces specified in the operating manual.

In a case of damage, ENGEL does not assume liability of any kind!

7 Behavior in case of fire

1. Keep calm

2. Alert the fire department

3. Switch off the machine at the main switch

4. Alert all persons in the danger zone

5. If possible, close all fire doors

6. Switch of any venting and/or air conditioning units

7. As soon as possible, contain the fire with an approved fire extinguisher

8. Provide assistance and direction to anyone actively involved in fighting the fire

Use an abc class fire extinguisher

This is most suitable due to its versatility compared with other extinguishing agents.

Be familiar with the instruction label attached to the fire extinguisher.

Be aware that the fire extinguisher powder can cause an obstruction to view and willleave a heavy residue which then must be removed from the machine.



General

23

DANGER!

The use of incorrect extinguishing agents may result in fatal injury!

Not every fire extinguisher can be used for all fires. Electric shocks or grease

explosions may be the result.Observe instructions on fire extinguisher when extinguishing a fire (fireclasses, distance from source of the fire, etc.)

Note!

If a fire has occurred on an ENGEL molding machine, it must not be put back into operationuntil it has been inspected by an ENGEL Service Representative:

at your local ENGEL dealer/subsidiary, or

contact the nearest ENGEL works

8 Rescue actionsPerform the following rescue actions to release trapped persons from the danger zone; notethat accidents of this kind can occur only in case of gross misuse or if you disable safety equip-ment!

1. Two helpers that have specialist knowledge of the injection molding plant are requiredfor rescue actions.

2. One of the two helpers must secure the machine to prevent continuation of dangerousmovement and further crushing.

3. The second rescuer must manually move the machine to a position where the victimcan be freed.

4. Leave the danger zone with the person you have rescued.

5. Give first aid.

6. Call a paramedic.



General


9 Safety equipmentTo protect personnel against potential dangers, robots come equipped with the appropriatesafety equipment.

WARNING!

Danger resulting from robot and peripheral unit movements when the safety

gate is open or when the light beam guard is interrupted!In set-up mode movements of the robot, and of the peripheral unit controlled

by the robot, are possible by simultaneously pressing the consent key and the

respective pushbutton.Observe the appropriate safety distance to the movement range of the robot

and the peripheral unit.Ensure that there are no other persons in the danger zone of the robot and the

peripheral unit.Before operating a machine perform a visual check to ensure that the safety equipment is ingood working order. Also, manually check the locking systems by opening and closing all mov-ing safety equipment.

If you not ice that safety equipment is defective,:

1. Shut down operation immediately at the control panel and switch off at the main switch.

2. Stop all further activities on the system.

3. Immediately contact the member of staff responsible for the safety of the machine.

4. Do not resume operations until all safety equipment is working properly.



General

25

Example: viper 40 on tie bar-less injection molding machine

[1] Rear safety gate, clamping unit

[2] Tunnel conveyor-belt

[3] EMERGENCY STOP buttons[4] Protection door

[5] Area that can be entered

[6] Danger area / travel range of the robotThe spatial area through which the robot - including the molded part and the end of armtooling - can travel

[7] Safety guarding

[8] Rear safety gate, injection unit side

[9] Injection unit-side safety gate, operator side

[10] Clamping unit-side safety gate, operator side

1

2

3

310 9

6 75 84



General


9.1 EMERGENCY STOP buttons for plant shutdownThe EMERGENCY STOP buttons are located on the control panel of the injection moldingmachine and - depending on the machine type - in the following areas:

on the rear side of the injection molding machine

on the robot manual control unit

at the safety gate of a safeguard

inside a safeguard

When an EMERGENCY STOP button is pressed, the entire system must switch off.The respective message will appear on the screen.

Restarting after an EMERGENCY STOP

1. Make sure no dangerous situations exist.

2. Release the EMERGENCY STOP button by turning it clockwise.3. Activate the Program Interruption switch to acknowledge the alarm.

4. Switch on the motors.

EMERGENCY STOP pressed

Cause EMERGENCY STOP function is active.

Effect Alarm lamp flashes, the current cycle and motors are stopped imme-diately.Servoaxis movements stop immediately; pneumatically controlledmovements are completed.Unlock safety gates. An EMERGENCY STOP acknowledgement is required.

Robot safety gate x unlocked by EMERGENCY STOP


Effect Alarm lamp flashes, the current cycle and motors are stopped imme-diately.Servoaxis movements stop immediately; pneumatically controlledmovements are completed.Unlock safety gates.

User sequence Cannot be started - EMERGENCY STOP


Effect User sequence start not possible.



General

27

Note!

The EMERGENCY STOP function is active in each mode of operation!When the servomotors are turned OFF the X and Z-axes can be pushed by hand.

9.2 Injection molding machine safety gatesIf a safety gate is opened, all potentially dangerous movements must stop. The respectivemessage will appear on the screen.

Depending on the protection type, opening the rear safety gate on the clamping unit causes anEMERGENCY STOP switch-off, or executes the same function as the operator side safetygate.

When a safety gate on the injection unit is opened, the following message appears:

Clamping unit safety gate x open

Effect Alarm lamp flashes, the current cycle and all machine movements arestopped immediately.Servoaxis movements stop immediately; pneumatically controlledmovements are completed.

Movements of the injection molding machine are not possible.In set-up mode the robot can be moved by users with access level 5or higher by simultaneously pressing the consent key and the respec-tive pushbutton.In this case, the servoaxes move slowly at the corresponding manualmoving speed and pneumatic movements at full speed.

Remedy Close the safety gate.

Clamp unit safety gate x interrup ts cycle

Cause Safety gate has been opened in the automatic mode

Effect Alarm lamp flashes, the current cycle and all machine movements arestopped immediately.Servoaxis movements stop immediately; pneumatically controlledmovements are completed.Movements of the injection molding machine are not possible.In set-up mode the robot can be moved by users with access level 5or higher by simultaneously pressing the consent key and the respec-tive pushbutton.In this case, the servoaxes move slowly at the corresponding manual

moving speed and pneumatic movements at full speed.

Remedy Close the safety gates, move the machine into the start position andstart the cycle again.



General


Safety distance for tiebarless machine range

If an end of arm tooling without danger (suction pads) is installed by the customer, thefollowing safety distance between the end of arm tooling and the safety guard must becomplied with:> 25 mm (1.0 in)

If an end of arm tooling with danger (gripper, sprue cutter, etc.) is installed by the cus-tomer, the following safety distance between the end of arm tooling and the safety guardmust be complied with:> 250 mm (10.0 in); H = 2200mm (86.7 in)> 350 mm (13.8 in); H = 2000mm (78.8 in)

Nozzle safety gate open

Effect Blocks all injection unit side movements and close mold, cycle stop.

Remedy Close the nozzle side safety gate

>25mm (1.0 in)

Moving area outercontour withoutdanger

>250mm (10.0 in)>350 mm (13.8 in)

Moving area outer

contour with dan-ger

2 2 0 0 m m ( 8 6 . 7 i n )

2 2 0 0 m m ( 8 6 . 7 i n )



General

29

9.3 Robot safety guarding (SIP3)To safeguard the danger zone in the plant, a safety guard that contains a protection door for entering the danger zone has been attached to the machine.The hazard zone cannot be accessed at any time, as the safety gate is secured by a mechan-

ical safety switch. The safety gate unlocks when the access demand button is pressed after the machine has come to a defined standstill. It is locked after the safety gate is closed andacknowledged.The protection door automatically unlocks in case of an emergency stop after a standstill of themachine and when the machine is switched off.With this safety guard, only vertical and lateral removal are possible. However, lateral removalis only possible in injection molding machines without tie bars when the rear safety gate of theclamping unit is open. (optionally also on operator side). The protection door in the safetyguard takes on the function of the rear safety gate of the clamping unit. At Engel, this protection door is also named safety package 3 (SIP3) due to the technicaldesign.

WARNING!

Danger of fatal injury due to moving components and high-pressure injection!

The person inside the safeguard must always possess the key from the key-operated acknowledgement switch in order to prevent accidental acknowl-

edgement of safeguards, which would cause the machine to restart.Do not acknowledge the safety guard until the danger area is clear of person-nel and foreign bodies.



General


Example: safety guarding with protection door

[1] EMERGENCY STOP button inside

[2] EMERGENCY STOP button outside

[3] Access request key with lamp

[4] Acknowledgement key with key-operated switch

Entering the hazardous area

1. Actuate the access demand button to unlock the protection door (button flashes).Due to this, the robot interrupts automatic mode when the ’Stop when safety gaterequested’ instruction is reached in the robot sequence. By default after the molded parthas been removed. The injection molding machine stops at the end of the cycle.Do not open the safety gate during locking and/or unlocking as this can cause damageto the locking mechanism.The lit access request key indicates that the protection door has been unlocked andenabled for opening.

2. Remove the key on the acknowledgement key.

3. Opening safety gate and entering the hazard zone. Always take the key for the acknowl-edge button in with you.

4. When the protection door is open in set-up mode, users with access level 5 or higher can execute robot movements by simultaneously pressing the consent key and corre-sponding pushbutton.

In this case, the servoaxes move slowly at the corresponding manual moving speedand pneumatic movements at full speed.

5. After leaving the danger area, the operator must acknowledge the protection door withthe key-operated switch immediately (within 5 seconds) after closing the door, this thenlocks the protection door.

6. The plant continues processing the program after the start key is actuated.

1

4

2

3



General

31

Pluggable safety gateThe safety guarding and protection door are connected to the injection molding machine via amale connector instead of the rear safety gate on the injection unit (optionally also operator side).

Connect the safety gate of the clamping uni t

This disables the function of the protection door in the safety guarding. For example, the endof arm tooling can be changed while the injection molding machine is in production.

1. Disconnect safety guarding with protection door.

2. Attach and close the rear safety gate of the clamping unit.

Connect safety guarding with protection door

For the shared automatic mode of the injection molding machine and the robot.

1. Disconnect and open the rear safety gate of the clamping unit.

2. Connect the safety guarding with protection door and reactivate the ’Robot main switch’program switch.

Alarms and messages

An acknowledgement must occur after switching on the control voltage The following messageis displayed until you acknowledge the protection door:

The acknowledgement must occur within 5 seconds of, but not within 0.05 seconds after clos-ing the protection door.

You are not permitted to press the acknowledgement key for too long (maximum of 10 sec-onds). If these conditions are not fulfilled, the following message appears:

Robot safety gate open

Robot safety gate opening-closing-acknowledging

Effect Robot movements can be executed in set-up mode by users withaccess level 5 or higher by simultaneously pressing the consent key

and the corresponding pushbutton.In this case, the servoaxes move slowly at the corresponding manualmoving speed and pneumatic movements at full speed.

Remedy Open - close protection door and acknowledge within 5 secondsusing the key-operated switch.

Robot safety gate x: acknowledgement key pressed too early

Cause The acknowledgement key was actuated before the protection doorwas closed.

Effect The robot motors are switched off.

Remedy Open and then close protection door again and acknowledge (notwithin 0.05 seconds) using the key-operated switch.



General


If the rear safety gate of the clamping unit is closed when the safety guard of the robot isattached, the following messages appear:

Robot safety gate: Acknowledgement key too long not actuated

Cause Protection door has not been acknowledged within 5 seconds.

Effect Protection door not acknowledged.Remedy Protection door must be opened/closed/acknowledged again.

Robot safety gate: Acknowledgement key actuated too long

Cause Acknowledgement key has been actuated longer than 10 seconds.

Effect Protection door not acknowledged.

Remedy Protection door must be opened/closed/acknowledged again.

Robot safety gate: Acknowledgement key actuated too fast

Cause A message appears if less than 0.05 seconds pass between closingand acknowledging the protection door. The acknowledgement keymay have been actuated before the protection door was closed.

Effect Protection door not acknowledged.

Remedy Protection door must be opened/closed/acknowledged again.

Acknowledgement contactor x defecti ve

Cause Monitoring inputs of the protective equipment acknowledgement con-

tactors were active or not active more than 1 second simultaneously.Effect Cycle interruption, motor stop, alarm lamp

Remedy Contact ENGEL Service.



General

33

If the safety guard of the robot is disconnected, the following message appears:

The following message appears if you attempt to activate program switch ’Main robot switch’when the safety guard of the robot is disconnected:

Clamping unit safety gate disconnected but not completely open

Effect The robot motor switches off. Automatic operation of the plant notpossible.

Remedy Completely open the rear safety gate of the clamping unit.

Clamping unit safety gate 2 not entirely open

Effect The robot motor switches off. Automatic operation of the plant notpossible.

Remedy Completely open the rear safety gate of the clamping unit.

Robot safety gate not connected

Cause The motors switch off or cannot be switched on. Program switch

’Main robot switch’ deactivates.

Effect Connect the safety guard of the robot and activate program switch

’Main robot switch’ on ’Robot program switch’ screen.

Remedy The motors switch off or cannot be switched on. Program switch

’Main robot switch’ deactivates.

Clamp unit safety gate 2 not connected or no t open

Cause An attempt has been made to use robot functions although the safetygate of the robot is not connected.

Effect Robot functionalities cannot be used.

Remedy Connect the safety gate to the robot.



General




Operation

35

Operation

The Operation chapter contains information on operating the robot.

1 Machine control panel A swiveling touchscreen color monitor, combined with foil and toggle keys, enables optimalergonomic operation.

Users need to log in to access settings and parameters.Text and graphics editors support fast and easy customization of the machine to match your injection molding process and free programming of the program sequence.Data storage is to the control unit, USB memory stick or a network drive. A help system with graphics supports operations and maintenance of the injection molding

machine.You can install the optional VirtMould software to run the original machine visualization on aPC. This gives you the ability to change settings independently of the injection moldingmachine, and to store your changes on a Compact Flash card or USB memory stick to transfer them to the machine.Because the robot and injection molding machine are fully integrated it provides a convenientplatform for operating both components. The common platform for the machine and the robotoffers the same operating elements and sequences, for both.

Control panel with side grips for two-handedswiveling (right with unlocking).



Operation


1.1 Overview

Color touch screen display

Touch keys for manual control of the individualmachine movements.(Optional swivel keys)

Sensor for the user authorization card (option)

2 USB interfaces.To connect to external devices (e.g.: memorystick, printer, keyboard, etc..)

Safety button key

Control voltage switch

Emergency stop button

Program interruption

Start key

Robot motor switch

Configurable foil keys for the manual control ofthe individual system motions



Operation

37

1.2 Configurable foil keysThe control panel has 8 foil keys that the user can individually assign functions. The configuredfunctions of the keys appear as symbols on the screen above the foil keys.

[1] Assigned symbol field with a function

[2] Unassigned symbol field

[3] Foil keys for calling up functions

Example:

Procedure for assigning a function to a foil key.

1. Press the symbol field of a configurable foil key. A key menu with the functions that can be selected appears on the screen and theselected field turns red.

2. Press the desired symbol in the key menu to place it on the red field. Activate the asso-ciated function by pressing the foil key below it.

3. To delete a function or to replace it by a different one, either press an empty field or thedesired symbol.

4. To close the key menu, press the red field.

1 2

3



Operation


2 Hand control device KETOP C100EThe hand control device (HCD) is a portable operating and display device with an 8.0" touchscreen and the following functions:

Setting and displaying parameters for the injection molding machine and robot. Robot operations.

Sequence teach and programming function.

CAUTION!

Danger of damage to equipment!

The hand control device is equipped with highly sensit ive electronics.

Handling tips

Status LEDs Function

Power Lit when the connection to the control unit is active.

Motor Lit when the robot motors are switched on.

RC2 Lit after switching to robot 2 with the toggle robot button.

Emergency stop

button

Touch-sensitivekeys

8.0" color touchscreen

Slot for CompactFlash Card (PC-Card Adapterrequired)



Operation

39

Use only your finger or a stylus to operate the touch screen of the manual controldevice.

Use only your finger to actuate the foil keys on the manual control device.

Ensure no one can trip over the cable to avoid personnel injury and mechanical dam-age.

Place the hand terminal into the designated fixture when it is not being used.

It is important to check the proper function of safety features such as the EMERGENCYSTOP button and consent key periodically.

Never place the control device near a heat source.

Do not expose the device to any mechanical vibrations, excessive dust, humidity or strong magnetic fields.

To clean the control device use a soft cloth, slightly moistened with water or a mildcleaning material. Do not use any type of solvent.



Operation


2.1 Safety controls


When the EMERGENCY STOP button is activated the power of the entire system, includingthe robot and machine is immediately turned OFF. The control unit remains ON. To reset theEMERGENY STOP button turn it clockwise.

Consent keys

The hand control device has two consent keys located at both sides of the device. To consent,you only need to press one of the buttons.There are three possible positions for the consent key. Press lightly (in the center) to consent.Do not press, or press down hard (in situations of panic) to enable the Off function.

Movements of the robot, and of the peripheral unit controlled by the robot, are possible in set-up mode when the safety gate is open by simultaneously pressing the consent key and therespective pushbutton.In this case, the servoaxes move slowly at the corresponding manual moving speed and pneu-matic movements at full speed.

Consent key Function Switch contact

Not pressed Zero position Off (open)

Pressed Consent On (closed)

Pressed hard Panic Off (open)

Consent key(on both sides)




Operation

41

Robot consent key pressed on automatic manual switchover

Cause Consent key on manual control device was pressed during switcho-ver from automatic to manual mode. The consent key may be stuck

without authorization or an electric defect is present.

Effect The robot motors are switched off or cannot be switched on.

Remedy Ensure that the consent key is not actuated and that electric functionis present. Acknowledge the error message. Switch on robot motors.

Robot consent key pressed on starting up the control unit

Cause Consent key on manual control device was pressed while the controlunit was booting. The consent key may be stuck without authorizationor an electric defect is present.

Effect Robot motors cannot be switched on.

Remedy Ensure that the consent key is not actuated and that electric functionis present. Acknowledge the error message. Switch on robot motors.



Operation


2.2 Foil keys on the KETOP C100E hand control deviceThe manual control device has 34 function keys which are implemented as foil keys. You canselect other function keys directly via the screen. You can modify the default key mappings inthe Manual Control Device Editor or robot setup.

The functions of the green foil keys can always be used for the active robot. The remainingkeys have generic functions and apply to both robots.

Key symbol: Key description Function description

Motor switch Switch servomotors on and/or off. A slowly flashing LED indicates that themotors are ready to be switched on. Fastflashing indicates an error preventingswitching on.

Error acknowledge-

ment

Deleting the error messages displayed. The

display automatically switches to the Alarmscreen.

Movement to Homeposition

Starts the normal position run in the manualand/or set-up mode. The key must remainpressed until reaching the normal position,otherwise the sequence stops.The movement to home position is onlypossible with the motors switched on.

Referencing The pushbutton is for autoaxis measure-ment.

Step acknowledge-ment

Serves the stepwise passing of the instruc-tions in the sequence. With switched-on testmode the consent and step acknowledge-ment key must be pressed at the same timein order to process the instructions.

Test mode Switching test mode on/off.

Take over Teachinstruction

Select Teach specialinstructions

Press the button to open a dialog with spe-cial teach instructions in the Sequence Edi-tor and on the hand control device display.

Freely configurablekeys

The key function is configured to reflect therequirements for the current machine.



Operation

43











C100 Dialog Toggles between the standard screens andthe screen for preselecting the functionkeys.

Start action Execute the action for the selected functionkey on screen.

Toggle robot Toggles between robot 1 and robot 2 func-tion keys. The RC2 LED is lit when you tog-gle to robot 2.The functions of the green foil keys canalways be used for the active robot. Theremaining keys have generic functions andapply to both robots.

Move X axis in [+] and[-] direction

Movement only possible in manual or setupmode.

Move Y axis in [+] and[-] direction


Move Z axis in [+] and[-] direction


Rotate A axis right [+]and left [-]



Y

A



Operation


Rotate B axis right [+]and left [-]


Swivel C axis down [+]

and up [-]

Movement only possible in manual or setup

mode.


The key functions are configured to reflectthe requirements for the current machine.e.g. for an additional servoaxis.

Quick position Robot axes move directly to preset quickposition. The quick position pushbutton onlyworks while the consent key is pressed forsafety reasons. You must press both keys,otherwise movements will stop.

Decrease override Reduces the current speeds for all ser-voaxes by a percentage factor.In manual mode, the manual movingspeeds of the respective axes represent themaximum (100%).In automatic mode, the speeds set on thescreens represent the maximum (100%).

Increase override Increases the current speeds for all ser-voaxes by a percentage factor.In manual mode, the manual movingspeeds of the respective axes represent the

maximum (100%).In automatic mode, the speeds set on thescreens represent the maximum (100%).


B

C



Operation

45

2.3 Screen keys on the KETOP C100E hand control deviceScreen function keys for machine control are also configured on the hand control device.Press the C100 Dialog foil key to display the keys on screen.

Note!

Depending on the number of keys, this screen can contain several tabs.

Before you can execute a movement, e.g. move barrel out, first select the key for this move-ment on screen. This does not perform an action. The movement occurs when you press theExecute foil key.

C100 Dialog key onmanual mode device

Robot Peripheral unit

Info Panel - robot actual values

All motors switched on

Home position reached

Execute key onmanual mode device



Operation


2.4 Hand Terminal Function keys KETOP C100E

Symbol Key explanation

Quality control part request At activated test depositing a depositing of a test part on the test part depositing positionoccurs.

Alarm

Change to the alarm page on the C100 display.

Suction/Gripper 1Switching-on and/or -off of the vacuum/compressed air circuit in the manual and/or set-upmode.

Suction/Gripper 2Switching-on and/or -off of the vacuum/compressed air circuit in the manual and/or set-up

mode.

Switch off -axisSwitching-on and/or -off of the demolding axis (X- or Z-axis) for the manual displacement ofthe axis.

SoftservoSwitching-on and/or -off of the softservo function for the take-off axis.

Parking position robotThe robot axes move directly to the pre-set park position for end of arm tooling change. The

movements will stop if you do not hold the button down.



Operation

47

Conveyor-beltSteps the conveyor-belt in the manual and/or set-up mode.

Symbol Key explanation



Operation


3 Free pushbuttonsFree pushbuttons F1 to F8 can be configured on the machine's control panel or the robot'smanual control device. Pressing a pushbutton sets the corresponding marker; repeated press-ing resets it.

Example: Free pushbut tons F1 and F2 on the machine's contro l panel configured

In the robot sequence you can query whether the pushbutton has been pressed or the push-button marker has been set. In addition, you can set the marker of the free pushbutton with the’ Assign’ structure instruction. Additional parameters for the free pushbuttons are available in the robot setup.

Example:Set the ’Free pushbutton 1 - marker ’ to ’TRUE’ withthe ’ Assignment’ structure instruction.

1. In the ’Instructions’ selection window, select the ’ Assignment’ structure instruction andinsert this into the sequence at the desired position.

2. The ’ Assignment’ dialog box will appear.

3. Press ’Selection’.

Cancel ExecuteHelp

variable

value

Assignment

Choice:

No condition



Operation

49

4. The following dialog box appears.

5. Select the desired marker and accept with Execute.

6. Click on ’No condition’ and set the condition ’TRUE’.

7. Use the Execute menu button to insert the assignment into the sequence.

Example:

Query the condition of the marker of free pushbutton 1 with the ’IF’ structure instruction.

1. In the ’Instructions’ selection window, select the ’IF’ structure instruction and insert thisinto the sequence at the desired position.

Cancel ExecuteHelp

variable

Create

Free pushbutton

Marker

Robot

Peripheral unit

Free pushbutton 1 - marker





Choice:




Cancel ExecuteHelp

variable

value

Assignment

Choice:

No condition

Cancel ExecuteHelp

variable

value

Assignment

Free pushbutton 1 -

TRUE



Operation


2. The ’Condition editor ’ dialog box will appear.

3. Set the type to User marker.

4. Choose the Element selection box.


Display on screen page

Condition editor - If

Cancel ExecuteHelp

Type

Element

Choice

DEL.CLR

TRUE FALSE Number

Selection of type

Linkage (optional)

Selection of vari-

Text

Cancel ExecuteHelp

variable

Create

actuated

Free pushbutton

Free pushbutton 1

Marker

Free pushbutton 2

Free pushbutton 3

Free pushbutton 4

Free pushbutton 5

Choice:

Free pushbutton 6

Free pushbutton 7

Free pushbutton 8

Peripheral unit

Robot sequence



Operation

51

6. Select the marker of free pushbutton 1 and accept with Execute.

7. Use the Execute menu button to insert the condition into the sequence.



Cancel ExecuteHelp

Type

Element

DEL.CLR

TRUE FALSE Number

Selection of type

Linkage (optional)

Selection of vari-

Text




Operation


4 Screen structureThe clearly laid out touchscreen of the control unit enables simple and fast setting of the plant.

4.1 Top line

[1] Machine number

[2] Page title

[3] User name

[4] User accesss authorization

[5] Date/time

4.2 Screen page selection and function keysFor user-friendly operation, the following screen page selections and function keys are avail-able:

Note!

In the following description, note that the screen selection keys in the screenshots may differ from the screens on your control unit.

Info Panel - robot actual values1 2 3 4 5

Quick Setup

Quick Setup, General settings, Statuspage, ...

Sprue separation

Sprue deposit

Intermediate layers, Previous entry, ...

Grid editor, work area setup, robotsetup, ...Integrated robot interface

Screen Switchover between robotand machine

Take-off

Depositing, Grid

Reject deposit

Quality Control part depositing

Robot program switches, ...

Back to a previous selection

Machine and robot sequence

Setup

Help

Alarm page

Scroll keys (faded if not required)

Mold parameters, notepad

Data dialog

Print

Mask editor

Cycle time analysis, Weekly timeswitch



Operation

53

4.3 Status displayThe first line shows current messages, warnings and alarms during operation. The number tothe right of the message indicates the total number of current messages. All the messages arealso displayed on the alarms screen.

The second line shows possible operating states. Colored symbols are active, dimmed onesare inactive.

[1] Line for messages and alarms

[2] Machine motor status symbol

[3] Robot motor status symbol

[4] Heater status symbol

[5] Data set active; read data set[6] Final backup (not active)

[7] Printer (inactive)

[8] Network access (inactive)

[9] operating modes A colored highlight indicates the current mode of operation. Depending on the accesslevel, different modes of operation can be displayed by clicking on a field.

4.4 ScreensThe screen pages comprise individual tabs that group related parameters.

To give the operator a better overview of the screen pages, the individual tabs on the screenpages can be compacted as follows.

Program interruption key

2 4 5 6 7 83 9

1

9 9 9



Operation


Note!

In the following description, note that the screen pages in the screenshots may differ from thescreens on your control unit.

4.4.1 Info PanelThe following tab is always at the top of every screen page.

[1] Buttons for switching over between the info panel of the injection molding machine,robot and optional additional robot.With several robots (e.g. tandem rise systems), the control unit also switches when tog-gling between the Info Panels the screen pages ’Grid editor ’ and ’Work area setup’ for the applicable robot.

[2] Actual values of the axesThe positions of the servoaxes are displayed in millimeters (mm) or degrees (°).The status [ - ] or [ + ] is displayed for the final position of pneumatic rotary and swivel-ing axes. While an axis is moving, [ - ] start or [ + ] start is displayed. If no final posi-tion is reached, [ 0 ] start is displayed.

[3] Override speedThe display appears graphically with a bar and as a percentage.

Robot main switch

Home position movement with parts

Equipment type ERC SIP1 or 2 Vertical

Robot

Robot


1

2 3

Data dialog

All motors switched on

Axes referenced

Home position



Operation

55

4.4.2 Input fieldInput fields enable entering or modifying parameters.

For example: Changing the value of a parameter

1. Select the parameter input field.


3. Enter the required value and press the enter key to accept.

4.4.3 Program switchProgram switches allow you to switch programs and functional units on and off.

For example: Deactivating a program sw itch

1. Selecting program switches.


3. Press the enter key in the preview to accept the switch position shown.

Override speed at automatic start active

Override at automatic start

Speed l imitation

intermediate deposit

Set value



Speed limitation

PreviewSwitch position OF




Operation


4.4.4 Selection fieldThe select fields contain defined settings for selection.

Example: Changing the type in t he Vacuum/compressed air 1 tab

1. Selecting a selection box.

2. All setting options for the type are displayed. The currently selected type is highlightedin blue.

3. Select the required type. The control unit then applies your setting.

4.4.5 Link in robot sequenceThe tabs that are allocated to a variant have a ’Sequence’ button besides a title. Pressing thebutton tells the control unit to go to the corresponding variant in the robot sequence.

Activated

Deactivated in the sequence

Vacuum/compressed air 1

Type

Part monitoring

Analog vacuum monitoring

Calibration

OFF

Vacuum

Signal ”1”0” and „

Activated



Type

Part monitoring


Calibration

OFF

Vacuum

Vacuum

Compressed air

barrel

Se-

Program switch Quality Control depositing

Quality Control deposit - 1



Operation

57

4.4.6 Dialog windowSeparate dialog boxes are available to interact with menu functions that require additional que-ries or entries. The content of the dialog box depends on the menu function and can requirevarious entries; on the other hand, their setup is standardized.

Example: Write data

4.4.7 Input keyboardThe following input keyboard appears for numeric parameter value input:

The Enter key saves the value of the input field if it lies within the range of possible entries. If this is not the case, the input field is highlighted in red and yellow.

A virtual keyboard is displayed when parameters are selected that require alphanumeric input.

Write active parts data on

Available drives

Name

Description

Free memory

Required memory

C:\5632

C:\231

Cancel WriteHelp

Standard

Title

Contents

Dialog message

Instruction keys

Includes standard parts data

Input field (current value)Display of possible input values (plausibility)

Cancel key

Cancel Help key

Copy key, copies the value from the previous entry to theinput field


Set value

Increment key (increase value)

Decrement key (reduce value)

Previous value entered

Enter key



Operation


Special keys

Parameter input p rocess

1. Log in to the control unit with your user level.

2. Select the desired screen.

3. Press the set value to be changed.

4. Type the value using the input keyboard; the value is displayed in the input field. Check

whether your entry is plausible.

5. If you made an error while typing, press the Delete key. You can then enter the correctvalue.

6. To store the value press the enter key.If the entered value is nevertheless too high or too low, the colors of the plausibility dis-play in the input field change to yellow/red (see the figure below). The control unit dis-

cards the value. You need to enter a correct value.

7. To copy an existing value:

Select the next set value.

Press the copy key in the input dialogue (takes over the previously typed value fromthe previous entry).

Press the enter key to store the value.

Highlights the entire text

Highlights a portion of the text by activating this key and moving the cursor with the

arrow keysCopies the selected text

Pastes the copied text

Mold number

Position


Indicates the plausible range of values.In this example, the range of values lies between0.0 and 100,0.

Position




Operation

59

4.4.8 Tool tipTapping on short designations, screen flags or actual value displays opens up a tool tip withthe corresponding designation or complete text.

From user level 11, the control unit copies the internal variable names of the selected screenelement into the intermediate storage.

Reject deposit - 1 posi tion

Program switch reject depositing

Reject deposit

Speed in depositing area

Speed to depositing position

Reject depositing posi-

Rejects signal

Rejects vacuum/compressed air circuits

Info PanelSe-

Eject reject moldings

Reject depositing position



Operation


5 User settingsThe basic user settings are configured on the ’Set-up’ screen page.

Settings

In the settings, you can specify your desired language, change the date and time, and selectthe display mode of the units.

Language

Switching to another screen language.

Date/time

Use the + or - key to change the setting.

Screensaver

Time setting after which the screen switches off.

Logout when screensaver is active

When switched on, log-off also occurs when the user authorization card is inserted.Changes are permitted as of user level 11.

Log out when screensaver is active

Changes permitted as of user level 11.

Units

Switching over display format of units.

ISO

Displays units in metric system

Imperial

Displays units in imperial system

Abso lu te

Displays absolute values

Relative

Displays relative values (percent)

Settings

Date/time

Language

Setup

German

ISO

Absolute

Imperial

Relative

Unit

Info Panel

Log out when screensaver is active

Screensaver 20 min

Year 2005

Second: 5

Day: 25

Minute 0

Month 6

Hour: 11



Operation

61

5.1 User loginIn order to enter or change parameters or settings on the machine, the user must first log inwith his/her user authorization. Every user is assigned a language, user name, user level andunit type. The higher the user level, the more access rights the user has.The control unit automatically saves every change made to the machine in the infolog together with the date, time and user name.

Logging in and out with the user authorization card on the plant

The user data are stored on the user access authorization card.

A sensor for logging in with the authorization card is integrated into the control panel. If youhold your authorization card in front of the sensor, you will be logged in. After a time that is setin the control unit, the user is automatically logged out if the control unit is not put into opera-tion.There is also a slot for inserting the authorization card to the left of the sensor. The user is thenlogged in until the authorization card is removed.

[1] User access authorization card slot

[2] Sensor

Category ISO unit Imperial unit Conversion factors

Stroke 100 mm 3,94 in 100 mm x 0.0394 = 3.94 in

Absolute tempera-

ture

100 °C 212 °F 100 °C x 1.8 + 32 = 212 °F

Pressure 100 bar 1450.3 psi 100 bar x 14.503 = 1450.3 psi

Weight 100 g 3.53 oz 100 g x 0.0353 = 3.53 oz

Weight 100 kg 220.5 lb 100 kg x 2.205 = 220.5 lb

Force 100 kN 11.24 tf 100 kN x 0.1124 = 11.24 tf

Volume 100 cm³ 6.10 in³ 100 cm³ x 0.061 = 6.10 in³

Volume 100 l 26.4 gal 100 l x 0.264 = 26.4 gal

Torque 100 Nm 73.756 lbf ft 100 Nm x 0.7375 = 73.75 lbf ft

2

1



Operation


Log-in by entering password on the Set-up screen page. (Option)

To login from the machine using a password:

1. Access the Setup screen page.

2. Select the user from the User drop-down menu.

3. Enter the correct password in the Password field.

4. Login is successful once the user name and number appear in the top-right corner of thescreen.

5. Log-off with the [Logoff ] key.

User level

Level Target group Applications

0 Production personnel Operating a preset plant without the abilityto modify parameters.

3 Set-up engineer, retoolingengineer

Additionally parameter changes for stan-dard programs, load and write parts data,Micrograph,

5 Supervisor Additionally parameters and programs, pro-cess data package, Minicam, set valuegraphics profile points, data dialog, heatingoptimization.

7 Advanced setup personnel Additionally sequence programming, freelyprogrammable inputs/outputs

9 Technician customer Heating configuration, control parameters,robot sequence with extended conditioneditor

10 Customer service techni-cian

Additional parameters for maintenance pur-poses and service tools for troubleshooting

11 Customer service techni-cian

Additionally user administration, machinesetup, robot setup, calibration programs,variable changes, read/write machine data,backup flash card, software update

from 12 ENGEL service technician Additional functions and settings

User log in

User

Password

Logout Logout

2

3



Operation

63

On delivery of the device, the following users are created by default:

Administrator rights enable the administrator to modify these users and add new users.

5.2 User administrationEngel delivers the machine with predefined users. Additional access levels can be created andexisting access levels modified. A higher or equal authorization with administrator rights is required for creating and modifyingusers (right to create further users).

5.2.1 Creating, changing or deleting users

User name User level Pass-

word

Optimization L1 5 p

Optimization L2 6 p

Teach_L1 7 p

Teach_L2 9 p

Service_Customer 11 p

AdministrationLogged onLog on

New Delete

User Local Remote Language

Change

Cancel Help

Unit

German

German

German

German

German

German

ISO abso-

ISO absolute

ISO absolute

ISO absolute

ISO absolute

ISO abso-

> User > Administration

Configuration

Log on



Operation


Press [OK] and close the log-in dialog window with [Cancel].

Changing users

Tap on the desired user line and press [Change].Now you can modify the settings for this user. To accept the settings, the password must beconfirmed.Close the log-in dialog window with [Cancel].

Delete user

Tap on the desired user line and press [Delete].

Confirm the deletion with [OK].Close the log-in dialog window with [Cancel].

User

Password

Confirmation

Local

Remote

Language

Unit

Administrator

Cancel Help

Name

Password

Password

Access level on the machine

Access level from network to machine

Language selection

Unit of measurement selection

Administrator rights for creating additional us-ers

New

German

ISO absolute

New

Settings for the new user

>

OK

User > > Administration


Delete?

Cancel



Operation

65

5.2.2 Creating a user authorization card

Tap on the desired user line and press [Save].

Cards supplied by ENGEL do not need to be formatted. After confirmation of the dialog, the following message appears:

Now touch the card against the sensor. The programming will now start.Close the log-in dialog window with [Cancel].


Log on

Log on Logged on Administra- Configurator

User Local Remote Language Unit

German ISO absolute

save to card

Format board?

Cancel

ISO absolute

ISO absolute

ISO absolute

ISO absolute

ISO absolute

New Delete Change Save

Hold card in front of sen-

Cancel



Operation


5.2.3 Importing/exporting user data All created user data can be exported and imported into other machines.There is thus no need for the administrator to recreate users on each machine.Insert a USB stick into the port on the control panel.

Select the displayed USB drive.

Note!

To ’import user data’ the control unit must be restarted.

Switch the plant to manual mode.Insert the USB stick with the saved user data.Same procedure as for ’Export’ . However, tap on [Import user data].

Then switch the control voltage off and on.

Setup> Export user data>>



Operation

67

6 Data dialogThe data dialog box is used to save and load data sets on the plant or on external storagemedia (Compact Flash, USB stick, network).The screen page appears after switching on the control unit and/or after pressing the screen

page selection key.

[1] Selecting a medium

Press the down arrow key to access all possible drive selections.

hard disk0 System Flash card

usbmassstorage plugged-in USB stick

harddisknet Network drive connection

[2] Dialog box with settings data sets (project selection)Touch the required selection to display the data attributes on the right side of the screen.

[3] Status information

Displays status (symbol) and the name of the active set (selection key to display theattributes and the mold image).

[4] Data set attributes

Displays all the data from the selected project in the selection window. Can be modifieddepending on user privileges.

Name Selectable project file name = file name in selection list

Au thor Name of the creator

Production date

Change date, author Date and name of the user making the latest changes.

\harddisk 0

Author

Name

Production date

Change author

Change date

Description

\harddisk 0

2

Data dialog

Active parts data set: 3

Data set attributes 4

ENGEL_ROBOTPART

Machine number

STANDARD+ROBOT-

MASCHINEDATA

Info Panel

1

Mold image 5

Parts data Edit Setup 6View



Operation


Description user defined descriptive text

[5] Mold image

The image that was saved along with the parts data set is displayed here. Using instruc-tion menu buttons Edit and Mold image , you can load an image with the format *.jpgor *.png and then save it along with the parts data set.

[6] Instruction menu keys Parts data using the instructions: Sequence preview, Read, Write, Copy, Copy all,

Delete and Injection protocol.

Edit using the instructions Delete message and Load mold image.

Setup using the instructions: Export user data, Import user data, System flashcard,Software update, License update, Read machine data, Write machine data and Dis-play active machine data.

View with the instructiions: Selection window on/off, message window on/off, maxi-mizing/minimizing

6.1 Storage mediaThe following memory cards and adapters have been tested by Engel and are thus guaran-teed to work.

Note!

Problems may occur if you use other USB devices that have not been tested.

If you select a data carrier with insufficient free storage space, the program will cancel the save

operation and display a message. The message shows which data carrier is full, along with thelast file that was completely stored on the data carrier.

USB device Manufacturer Type

floppy drive Mitsumi D353GUE

Memory stick SanDisk Cruzer Mini USB 2.0 256 MB,Cruzer Micro USB 2.0 512 MB,

Cruzer crossfire 1 GB, 2 GB

Memory stick Memory Corp Memory Corp MC512USB9

Memory stick PNY Technologies PNY USB 2.0 Flash Drive 1 GB

Memory stick E.T. Technologies HUSSAR E.T. Technologies

Memory stick Xmore Xmore USB Stick 2 GBXmore USB Stick 4 GB

CF Card devices Manufacturer Type

Compact FlashCard

Toshiba THNCF1G02DG

PC-Card Adapter SanDisk SDCF-03



Operation

69

6.2 Read parts data set A parts data set comprises the sequence data and settings for the machine and robot. Thesequence data and machine settings of a parts data set are only visible to access level 11 andabove. You can either load the whole parts data set or import only certain data. If you importonly a certain part of the parts data, only these will be modified. The other data will remainunchanged.

Sequence data

In the sequence data only the machine or robot sequence is stored. When you only read in thesequence data, only the sequence changes. Parameters such as speeds, pressures, posi-tions,... do not change.

Set values

In the setting data all parameters such as speeds, pressures, positions,... are stored. Whenyou only read in the setting data, only these parameters change. The sequence does notchange.

Procedure for importing a parts data set from a storage medium.

1. Switch the plant to manual mode.

2. Change to the Data dialog screen.

3. Select the storage medium. usbmassstorage.0.0.0\ is a USB memory stick,harddisk0\ is the control unit's internal memory.

4. Select the required parts data set from the list.Display of the information in the window Data set attributes

5. Press Parts data and Read. A window with a clock is displayed. The control unit loads the chosen parts data set andoverwrites the current machine setting. The manual control keys of the machine are notactive during loading.If the read values cannot be set (plausible), the following message appears:

Flash card is full

Effect Cancelling save to data carrier.

Remedy Select a data carrier with more free space and try to save again.

Parts data

Set values

Injection molding ma-

Set values

Robot

Sequence data

Sequence data



Operation


Note!

If you read a parts data set from another plant, the following message is displayed:

If the imported parts data set does not match the machine, the control unit will switch to Edit

operating mode and the following message will appear:

Now a message window with advice on troubleshooting will appear on the data dialog screen.

If you click on the blue arrow of a message, the screen displaying the problem will appear. Thenext screen will display advice on how to remedy errors.In the robot sequence movements that are not possible due to the equipment on this machineare displayed with the following symbol.

Changing to manual mode is not possible before these instructions are removed.

Values corrected

Effect Message only

Remedy Open thecorrected values

dialog on the plausibility check screen,and check which values have been corrected. (See Operator Manual- Machine) Acknowledge the message in this window.

Unable to load parts data set. Please check the sequence. ()

Effect Change to ’Manual’ mode not possible.Remedy Remedy the error displayed in the message window and change to

’Manual’ mode.

Cancel ExecuteHelp

Test

The data set has not been created with this machine

Continue anyway?

C:MOLD_1 data set not correctly launched

Group configuration problem

Correction due to missing equipment in the sequence editor

Edit Setup ViewParts data

Unable to load parts data set. Please check the sequence. (project)



Operation

71

6.3 Read sequenceThe sequence is stored as a parts data element. When you load a parts data set, you load thesequence at the same time.Sequence data loading is possible as of user access level 11.

Note!

Prior to loading a sequence the current parts data must be saved in order for the changes tobecome effective.

Procedure for loading sequence data:

1. Switch the plant to manual mode.

2. Change to the Data dialog screen.

3. Select the sequence data set from the desired parts data set.

4. PressParts data

andRead

.If you have modified the current parts data set, the following dialog window will appear.

Cancel

Cancels the parts data reading

Execute

Starts the parts data reading. Changes you made which were not saved are lost

5. Selecting Execute will cause a window to appear. When the window disappears, partsdata import has been completed.

6.4 Write a parts data setWhen writing the parts data set, you can only save the entire parts data set. It is not possible

to, for example, save only the settings data of the plant.

Author

Name

Production date

Change author

Change date

Data set attributes

Active parts data set:

Injection mold-

Data dialog

MOLD_3

System name

Info Panel

Sequence

Set values

MOLD_1

MOLD_1

User 11

User 11

MOLD_1

MOLD_3

Robot

MOLD_2

Changed data will be lost!

ExecuteCancel Help

STANDARD+COREFIX

Read

Process is running, please wait



Operation


Procedure for storing an active parts data set on a storage medium.

1. Select the active parts data set with the key at the top right of the screen.

2. Enter name and information in the Data set attributes window.


4. Press ’Parts data’ and ’Write’.

The following window is displayed

5. Change the set attributes, when necessary, and confirm with Write.The control unit stores the parts data set on the selected drive.

6. If a data set with the same name already exists on the data carrier, the dialog window’Overwrite ??’ is displayed. If YES, press Execute.

6.5 Writing parts data sets with machine or robot data only As of access level 11 users can optionally write a parts data set that contains only the machine

or robot data.

Procedure for stor ing an active parts data set with robot data only:

1. Set access level 11.

2. Select the active parts data set with the key at the top right of the screen.

3. Enter name and information in the Data set attributes window.


5. Press ’Parts data’ and ’Write’.The following window is displayed


Available drives

Name

Description

Free memory

Required memory

C:\5632

C:\231

Cancel WriteHelp

Parts data


Available drives

Name

Description

Free memory

Required memory

C:\5632

C:\231

Cancel WriteHelp

Mold _1

Parts data injection molding machine

Parts data robot



Operation

73

6. SelectParts data robot

7. Change the set attributes, when necessary, and confirm with ’Write’.The control unit stores the parts data set on the selected drive.

8. If a data set with the same name already exists on the data carrier, the dialog window’Overwrite ??’ is displayed. If YES, press Execute.

9. In the selection window, a parts data set containing just the robot data appears.

6.6 Copy parts data setProcedure when copying a parts data set to another data carrier.

1. Select the storage medium (usbmassstorage.0.0.0\ is a USB memory stick).

2. Press to select a Settings data set from the list.

3. Press the ’Parts data’ and ’Copy’ menu key. A window is displayed, with drive option, name proposal and description.

4. Choose a drive and enter requested changes.

5. Press Copy.

6.7 Parts data set - Copy allProcedure for copying all data sets on a storage medium to another storage medium

1. Press the ’Parts data’ and ’Copy all’ menu buttons The following dialog box appears.

2. Select the Source drive and the Aim drive to which you will be copying the data sets.

3. Press Execute to start the copying process.

4. The dialog box disappears once the copying process has been completed.

If you attempt to copy a data set from the source drive that has the same name as an existingdata set on the aim drive, the following message appears:

MOLD_1

Robot

Copy 1 of training 4

Parts data set for training

Cancel Help Copy

Name

Available drives

Description

Copy chosen parts data on

Free memory C:\5632

Copy all data sets

Source drive

Aim drive

hard disk0

usbmassstorage.0.0.0

Cancel ExecuteHelp



Operation


Cancel

This data set will not be copied to the aim drive. Continuing copying other data sets.

Execute

The data set on the aim drive will be overwritten by the data set on the source disk.

6.8 Delete parts data setProcedure when deleting a data set(from user level 5):

1. From the selection window, choose the drive that contains the data set.

2. From the directory list, select the data set.

3. Press Parts data and Delete.

The following data dialog box is displayed ’Really delete data set?’ with the name of theselected data set.

4. By confirming with the Execute key, the data set is deleted.

Cancel ExecuteHelp

Overwrite?

.Standard sequence



Operation

75

6.9 Export injection protocolThe export function gives you the ability to export the settings data and machine and robotsequences in various file formats.

You can export to the following file formats: CSV for e.g. Excel

TXT for e.g. Word

HTML for e.g. Internet Explorer

Exporting machine and robot sequences is only possible in HTML file format The sequencesare additionally saved as PNG images.

Example:

Follow these steps to export the settings data for the machine.

1. Press the Parts data and Injection protocol keys. The following dialog box appears:

2. In the dialog box, select the screens you wish to export.To select all screens, press Select all.To remove the selection, press Delete.To export the machine and robot sequence, activate the matching screen switches.

Delete OKHelpCancel

Production

Mold close

Mold height

Freely programmable in/outputs

All

Mold opening

Sprue ejector

Composeable page

0 of 34 selected

Ejector

Machine sequence

Export

Robot sequence



Operation


3. Select the screens for the protocol, and press OK to continue. The following dialog boxappears.

4. Select the drive you wish to export to, as well as the file name and the file type.If you selected the machine or robot sequence, you can only select HTML as a file type.The sequences are additionally stored as PNG images with the file name and extension’ _imm_xxx’ or ’ _erc_xxx ’.

5. Press Save to start exporting. The following dialog box appears.

6. A progress indicator appears for the Export process. The dialog is closed after success-fully completing the export.

SaveHelpCancel

Choice:

File name:

File type:

Save

Export

Cancel



Operation

77

7 Cycle time analysis robotThis overview shows the individual time components of the complete cycle time.You can use the special ’Cycle time - start and stop’ instructions in the Robot sequence to per-form three user-defined time measurements. The times are recorded on the ’Robot cycle time

analysis’ screen.

[1] Scroll window to the left

[2] Set to full cycle time

[3] Magnify and minimize

[4] Scroll window to the right

The current and last cycle are displayed separately in seconds, and on two-line bar graphics.The top bar shows the current cycle, and the lower line the last cycle.The active function is marked by a screen flag.

The total cycle is represented in the area Total time and can be cut at the beginning and at theend with a time for the selected viewing.

You can enable a start time display below the View menu key. In switched on state the controlunit will then show the time from home position to the start of the movement in question. Themessage Start point is displayed above the bar diagram for easier identification.

Cycle time list robot 1

Cycle time analysis robot

Take-off

Ejector advance

Robot cycle

last

Ejector retract

current

Remaining time cy-

User Time meter 1

+

Info Panel

Total time

View

1 2 3 4



Operation


8 operating modes

Symbol Mode of opera-tion Function

Manual Robot movements are possible in manual modeusing the push buttons.In this case, the servoaxes move maximally atthe corresponding manual moving speed andpneumatic movements at full speed.

Setup Functions as per manual mode.You can only switch to setup mode while youare in manual mode.

Teach Sequence set-up and group configuration possi-ble.You can only switch to Teach mode while youare in manual mode.

Semi-automatic If the machine is in home position, the machinewill perform a cycle when you press the startbutton.

Semi-automatic Mode of operation Semi-automatic selected andprogram interruption switch actuated.No automatic operation possible.Functions as per manual mode.

Fully automatic If the machine is in home position, the machinewill perform cycles when you press the start but-ton until automatic mode is interrupted.

Fully automatic Mode of operation Fully-automatic selected andprogram interruption switch actuated.No automatic operation possible.Functions as per manual mode.

Edit If the imported parts data set does not match the

machine, the control unit will switch to ’Edit’ operating mode and a message window willappear with notes on troubleshooting.



Operation

79

9 Robot Operations

CAUTION!

Danger of damage to equipment!Incorrect settings can lead to problems with or damage to the equipment, socare must be taken during the setup and operation of the machine.

Settings must be compatible to the function of the machine, mold, material andperipheral units.

9.1 Start up

WARNING!

Danger of crushing due to pneumatic movements!

Compressed air bui ld-up can cause uncontrol led movements of pneumaticallyoperated components.

Make sure the danger area is free of persons.

Procedure:

1. Check that no people are inside the safety guarding of the machine.

2. Close the safety gates.

3. Switch on the main switch and the control voltage.

4. After start up of control unit switch on compressed air at the maintenance unit; operating

pressure 0.6 MPa (6 bar) (87 psi).5. For the functions of the safety equipment please refer to the chapter ’Safety’.

6. Open - close protection door and acknowledge within 5 seconds using the key-operatedswitch.

7. Log in to the plant with a user authorization.

8. Select screen ’ Alarms’.

9. Check and, if necessary, eliminate the alarms.

10. Switch the robot motors on form the hand terminal or the injection molding machine con-trol panel.

11. If the safety gates are not closed, appears the message:

Robot motors switched off

Cause The robot motors are not yet switched on or have been switched offby the appearance of an alarm (see alarms on the screen).

Effect Prevents switchover to automatic mode



Operation


Ac tivate robot set-up mode

Robot motor in the set-up mode only from level 5

Effect Robot motor cannot be switched on.

Remedy When you select setup mode, the message ’Robot setup mode acti-

vated’ appears.Robot motors can only be actuated with the safety gates open insetup mode at user level 5 or higher by holding down the consentkey.

Robot motors blocked - new start required!

Effect Switching the robot motors on is not possible.

Remedy Switch the control unit off and back on again.

Switching the robot motors on in automatic mode is not pos-

sible

Cause Robot motors are switched off when an alarm occurs.

Remedy Select manual mode and resolve the cause of the alarm.



Operation

81

9.2 Putting out of operationThe following shutdown procedure refers to the robot only.When shutting down the injection molding machine and the peripheral units, additionally con-sider the following. See corresponding operating manuals.

WARNING!

Danger of crushing due to moving components on the machine!

When shutting down the plant, move all moving components (e.g. robot axes)to a safe position.For example, move the robot to the depositing area and remove the take-off/

insert parts from the end of arm too ling. Swivel the end of arm tooling down sothat it cannot swivel down on its own if pressure is lost.

Procedure if the machine is in automatic mode1. Select semi-automatic mode.

2. Once the machine has completed the cycle, switch to manual mode.

3. Move the robot to the depositing position.

4. Deposit any parts on the end of arm tooling.

5. Move the robot to a safe position.

6. Switch off the robot motor.

7. Switch off control voltage.

8. Switch off main switch.

9. Switch off the compressed air on the maintenance unit.

Procedure if the machine is in manual mode


2. Deposit any parts on the end of arm tooling.

3. Move the robot to a safe position.

4. Switch off the robot motor.

5. Switch off control voltage.

6. Switch off main switch.

7. Switch off the compressed air on the maintenance unit.



Operation




Basic setting

83

Basic setting

The standard pages are used for convenient robot operations, and for fast setting up of prede-fined sequence variants.

1 Quick SetupThis page contains basic settings and functions of the robot, such as work area settings, tur-ning limits, swivelling limits, moving limits, group and individual configurations for vacuum/compressed air.

CAUTION!

Danger of coll ision between robots, machine and peripheral units!You must perform the settings on the Quick Setup page immediately after

mounting the mold. To do this, mount the end-of-arm tooling that matches themold.

Work area settings

When commissioning the machine, or when you use a new mold, you must set the spatial datafor the Machine, Take-off and Depositing areas.

Machine area

The machine area is the whole area theoretically accessible by the robot within theinjection molding machine. The machine area defines the whole prohibited area for theplant and is set as a factory default. The robot cannot move in the prohibited area,except in the preset take-off/removal area when the mold is open.For the Max Z machine area, you must set a value that extends beyond the safety gatefor half the length of the mold fixing platen, as the end-of-arm tooling is normally not big-ger than the mold fixing platen.This prevents collision between the safety gate and the takeover area in the depositingarea.

Take-off area

Work area in machine area for part take-off. To access a mold without danger of colli-sion, a take-off area must be defined for each mold. This must be determined with acompletely open mold. Never set values for the take-off area that cause danger of colli-sion for the mold! The take-off area is thus a mold-driven traversing area for the robot

when the mold is open, and lies within the machine area. This area must be modified for each new mold you use.

Quick Setup

Machine area

Take-off area

Depositing area Z+

Min

Max

Min

Max

Min

Max

Work area settings

Info Panel

Work area setting okay



Basic setting


Deposit ing area Z+

Setting the work space depositing area Z+ limits the maximum depositing area on thenon-operator side to reflect the preset parameters. Limiting the depositing area helps tosafeguard the whole depositing area with just a few work areas.

Example: 3D view of the robot work areas with deposit ing on non-operator side

[1] Work area depositing area Z+

[2] Machine area (= Blocking area clamping unit)

[3] Take-off area

Note!

To avoid collisions with the robot, you must define the work areas and prohibited areas for thetake-off/removal and depositing areas in the work area setup.

2 31



Basic setting

85

Turning, swivelling and moving limits (ENGEL sequences)

These are Y positions where rotary axes movements are allowed to start or must be completedThese limits only apply in automatic mode.

CAUTION!

Danger of coll ision between robots, machine and peripheral units!

The turning, swiveling and moving limits apply to standard sequences definedby Engel.

They do not apply to Engel teach sample sequences and depending on the waythe sequence is setup, they may not apply for user-defined sequences.

Y-position when moving out /in Z

Maximum Y position at ’Vertical take-off ’ when moving the Z-axis out from the machinearea.The setting for the position of the ’Vertical closing safety’ increases the input area.

Upper - lower swivelling limit deposi ting area

Y positions in the depositing area within which the manual axes may move.

Example: Robot with non-operator side depositing.

Y-position when moving out/in Z

Upper swivelling limit depositing area

Lower swivelling limit depositing area

Turning, swivelling and moving limits (ENGEL sequences)

Depositing area Z+ Machine area

Y-position when mov-ing out/in Z

Upper swivelling limit

depositing area

Lower swivelling limitdepositing area



Basic setting


Rotary axes moving ou t to deposit (ENGEL sequences)

Position of rotary axes on move over machine area in depositing direction.Settings are only effective in automatic mode.

CAUTION!


The rotary axes settings for moving into and out of the machine area apply tostandard sequences defined by Engel.

They do not apply to Engel teach sample sequences and depending on the waythe sequence is setup, they may not apply for user-defined sequences.

Rotary axes movements in machine area

Selection whether and/or from when rotary axes movements are allowed in the machinearea.

No rotary axes movements in machine area

Before moving out Z

In parallel to Z moving-out

Rotary axes positions moving out Z from machine area

Defines the final position of the rotary axes for moving out Z.

Rotary axes priority when moving out

Defines the order of the rotary axes movement. When several axes are given the priority1 the movements occur in parallel.

Rotary axes movements to depositing f rom

Corresponding to the selection Upper swivelling limit depositing area and/or Machine area max. , rotary axes may start their movement in parallel to the linear axes.The Y-axis waits until the manual axes have reached their final position on the lower swivelling limit depositing area and continues the movement only then.

Rotary axes moving into take off (ENGEL sequences)

Position of rotary axes on move over machine area in depositing direction.Settings are only effective in automatic mode.

Rotary axes position for Z-movement into machine area

Defines the final position of the rotary axes for Z moving in.

Rotary axes priority when moving in

Defines the order of the rotary axes movement. When several axes are given the priority1 the movements occur in parallel.

Rotary axes positions

Rotary axes priority when moving out

Rotary axes movements to depositing from

Rotary axes moving out to deposit (ENGEL sequences)

Rotary axes movements in machine area No rotary axes movements

Upper swivelling limit deposit-

Rotary axes moving into take off (ENGEL sequences)

Rotary axes priority when moving in

Rotary axes movements after depositing - up to

Rotary axes position for

Upper swivelling limit deposit-



Basic setting

87

Rotary axes movements after depositing - up to

When moving out from the deposit the rotary axes start moving, from the lower swivel-ling limit, in parallel to the linear axes.The rotaryl axes movement must be finished up to the adjustable selection Upper swi-

velling limit depositing area, Machine area max. and/or Position before opening.Linear axis movement waits on the set position if rotary axes movement is not comple-ted.

1.1 Group configurationThe group configuration serves to summarize individual vacuum/compressed air circuits ingroups. Using the command ’Group vacuum/compressed air ’ , several vacuum/compressedair circuits can be switched on/off with just one command.You can only configure the group in ’Teach mode’.

When you press the quick select key for the group in question, the group configuration dialogappears.

Using the navigational arrows <<< and >>> you can move the complete content from ’ Avail-able elements’ to ’Selected elements’ and vice-versa.You can select an individual vacuum/compressed air circuit, and move it using the navigationalarrows < and > to insert it into ’Selected elements’ in the desired order.

Example:

Configure two vacuum/compressed air circuits for take-off.

1. To configure vacuum/compressed air circuits, you must first change to Teach mode.

2. Press the appropriate button on the ’Quick Setup’ screen for Take-off vacuum/com-

pressed air circuits screen.

Depositing vacuum/compressed air circuits

Group configuration

Take-off vacuum/compressed air circuits

Cancel ExecuteHelp

Group configuration - Take-off vacuum/compressed air circuits




Available elements Selected elements


Group configuration




Basic setting


3. Use the >>> button to move the vacuum/compressed air circuits to ’Selected elements’.

4. Use Execute to store the current configuration.

5. This completes the vacuum/compressed air circuit configuration.

Group configuration - Vacuum/compressed air circuits

Vacuum/compressed air



Cancel ExecuteHelp





Cancel ExecuteHelp



Basic setting

89

1.2 Vacuum/compressed air circuitsVacuum/compressed air circuits are used to actuate pneumatic components, such as suctionpads, grippers and barrels. A strip is available for each vacuum/compressed air circuit in Quick Setup. The following vac-

uum/compressed air circuits are possible, depending on the version of the robot pneumatics: Vacuum/compressed air

Block the vacuum circuit with a hand-actuated directional control valve if the vacuum/compressed air circuit is used solely as a compressed air circuit.

When a part is picked up by finger grippers with compressed air supply, and assumingparts monitoring is active, it is necessary to shut-off the vacuum circuit manually. Thereason for this is that the vacuum monitor of vacuum/compressed air circuits is con-nected to the same input as the limit switch for parts monitoring on the finger gripper. Inother words: If the vacuum circuit is not shut off, the vacuum monitor will continually sig-nal that it has built up a vacuum (=part picked up).

Vacuum/Blowing/Compressed air

Switchover between vacuum and compressed air is by means of an electrically actu-ated directional control valve.

Vacuum

Compressed air

Dedicated instructions are available in the sequence for the vacuum/compressed air circuits.

Vacuum/blow/compressed air with vacuum type setting

Acti vated

The program switch activates vacuum/compressed air circuit x.

Vacuum circuit switched on ON

Vacuum circuit shut OFF

Activated

Type

Part monitoring


Vacuum

Signal „1”0” and „

Vacuum/Blowing/Compressed air x


Calibration

OFF ON

Blow function deactivated

Blowing time



Basic setting



This flag indicates that the equipment is active.

Type

The settings Vacuum, Compressed air or Barrel are available in the selection fieldtype for the vacuum/compressed air circuits. Depending on the type settings, the para-meters for the end positions, parts and vacuum monitoring are shown.

Part monitoring

Program switch activates monitoring.If the program switch is deactivated, monitoring for ’with monitoring’ instructions in thesequence does not occur.

Signal „ 1”0” and „

Monitoring of part existing and part not existing.

Signal „ 1”

Monitoring of part existing.


The blow function is only available with vacuum/blow/compressed air circuits. Pleasenote that the blow function works for each Vacuum,, Compressed air or Barrel type.

Blowing time

The set time switches the vacuum/blow/compressed air circuit to blow after the circuit isswitched off. This means that e. g. molded parts can be more easily removed from theend of arm tooling.

Analog vacuum moni toring

The control unit detects whether e. g. a part is in the end of arm tooling by monitoringthe pressure in the vacuum circuit.

OFF

If the vacuum drops below the OFF value, then the control unit does not detect a partin the end of arm tooling.

ON

If the vacuum reaches the ON value, then the control unit detects a part in the end of arm tooling.

Actual value display

flag

An active flag shows that a part is in the end of arm tooling.

Calibration

Switch off ’suction pad’ ; actual value display should show 0 bar (0 psi). If this is not thecase, calibrate the vacuum circuit with calibrate program switch = zero point determi-nation.

Vacuum/compressed air circui t with compressed air type setting

Final positions monitoringProgram switch activates monitoring.

Activated

Type

Final positions monitoring

Part monitoring

Compressed air

Input-


Vacuum/compressed air x




Basic setting

91

If the program switch is deactivated, monitoring for ’with monitoring’ instructions in thesequence does not occur.

Input - and input +

Monitoring of both final positions of a barrel.

Input -

Monitoring of - final position e.g. sprue cutter open.

Part monitoring

Program switch activates monitoring.If the program switch is deactivated, monitoring for ’with monitoring’ instructions in thesequence does not occur.The part monitoring setting depends on the selected type.

Signal „ 1”0” and „

Monitoring of part existing and part not existing.

Signal „ 1”

Monitoring of part existing.

Vacuum/compressed air circui t with barrel type setting


Program switch activates monitoring.

If the program switch is deactivated, monitoring for ’with monitoring’ instructions in thesequence does not occur.

Input - and input +

Monitoring of both final positions of a barrel.

Input -

Monitoring of - final position e.g. sprue cutter open.

Activated

Type


barrel

Input





Basic setting


1.2.1 Vacuum economy modeFür die Erzeugung von Druckluft bzw. Vakuum ist ein hoher Energieaufwand notwendig. MitHilfe der ’Vakuum Sparschaltung’ kann dieser Energieaufwand minimiert werden. Die VakuumSparschaltung ist nicht mit einer standard Pneumatikausführung möglich.

Saving circuit

Program switch enables or disables the economy mode. Deactivate the economy modewhen using a vacuum/compressed air circuit solely as a compressed air circuit.

Vacuum economy mode function:

1. Vacuum on = Part sucked onto end of arm tooling.

2. After the vacuum is fully formed, a valve switches the vacuum supply off and a non-return valve seals the vacuum in between the molded part and the non-return valve.

3. If the sealed-in vacuum falls below the value set in ’ Analog vacuum monitoring ON’ onthe screen page ’Quick Setup’ , the vacuum will be switched on again. But the ’Mimi-mum time for switching back on’ must first elapse.If the ’Minimum time for switching back on’ is not reached, excessive leakage is occur-ring in the vacuum circuit. This problem may be solved by deactivating the economymode.

4. Points 2 and 3 repeat until the vacuum is switched off (= parts deposit).

Switching diagram

Activated

Type

Part monitoring

Vacuum


Vacuum/compressed air x economy mode



Calibration

OFF ON

Saving circuit

Mimimum time for switch-ing back on

Vacuum Off Vacuum On

P r e s s u r e

Time

Monitoring On -0.6 bar Monitoring Off -0.5 bar

No pressure change (vacuum switch-off time)



Basic setting

93

1.3 Depositing conveyor-beltThe conveyor-belt transports the deposited molded parts out of the depositing area.

Depositing conveyor-belt configurations:

Depositing conveyor-belt with/without clearing switch and one moving direction.

Depositing conveyor-belt with/without clearing switch and reversing operation.

Depositing conveyor-belt with/without clearing switch, one moving direction, qualitycontrol parts and reject molding separation.

Depositing conveyor-belt with/without clearing switch, reversing operation, quality con-trol parts and reject molding separation.

Note!

Instructions are available in the robot sequence for the depositing conveyor-belt.

1.3.1 Standard depositing conveyor-belt A standard depositing conveyor-belt can only transport molded parts in one direction.

Deposit ing conveyor-belt - Cycle when all selected grids are full

If all configured grids are full, the conveyor-belt runs for the preset time. Furthermore,you can continue to cycle the conveyor belt in manual or setup mode using the ’Con-

veyor belt’ button on the hand terminal.

If the conveyor belt has continued to cycle the set running time, the robot will restartdepositing in the grid in the next cycle.When you press the Quick select key, the Group configuration dialog box appears sothat you can configure the grids used (default setting: shot grid 1). This is only possiblein ’Teach mode’ .

If, e. g. the subsequence ’Part depositing in individual part grid 1 with conveyor belt’ is

Depositing conveyor-belt - Running time

Depositing conveyor-belt x

Depositing conveyor-belt - Cycle when all selected grids are full

Conveyor-belt

Cancel ExecuteHelp

Shot grid 2 Shot grid 1

Avai lab le elements Selected elements

Group configuration - depositing conveyor belt 1 - cycle when all selected grid po-

Shot grid 3

Individual part grid 1



Teach grid 1

Teach grid 2



Basic setting


inserted in the robot sequence, you must configure individual part grid 1 in the groupconfiguration dialog. If the wrong grid is configured, the conveyor belt will not cycle, andthe automatic cycle is interrupted.

Depositing conveyor-belt - Running time

Running time for the depositing conveyor-belt. The running time starts when the grid isfull (last part deposited). After the conveyor-belt cycle the grid is reset.

1.3.2 Depositing conveyor-belt with reversing operationReversing operation enables transport of molded parts in both directions.

Depositing conveyor-belt with reversing operation

Depositing conveyor belt - forwards running time

Running time for depositing conveyor-belt in forwards direction. The flag indicates if theconveyor-belt is active.

Depositing conveyor belt - backwards running time

Running time for depositing conveyor-belt in backwards direction. The flag indicates if the conveyor-belt is active.

1.3.3 Depositing conveyor-belt quality control parts and reject molding sepa-ration

Separate runtimes for the conveyor-belt can be set for the separation of quality control partsand reject moldings.

Depositing conveyor-belt with reversing operation, quality control parts and reject

molding separation

Grid - full - depositing not possible

Cause The robot was unable to deposit the parts in the grid because theconveyor belt has not been cycled.

Effect Interrupting automatic cycle.

Remedy Check the grids configured for the depositing conveyor belt.









Depositing conveyor belt - runtime for reject molding

Depositing conveyor belt - runtime for quality control part



Basic setting

95

Depositing conveyor belt - runtime for reject molding

Time the conveyor-belt continues to run backwards and forwards again after depositinga molded part. The conveyor-belt thereby returns to the starting position. The flag indi-cates if the conveyor-belt is active.When using a conveyor-belt with one moving direction, the conveyor-belt runs forwardsfor the set runtime.

Deposit ing conveyor-belt - Runtime for quality control part

Time the conveyor-belt continues to run backwards and forwards again after depositinga quality control part. The conveyor-belt thereby returns to the starting position. The flagindicates if the conveyor-belt is active.When using a conveyor-belt with one moving direction, the conveyor-belt runs forwardsfor the set runtime.

1.3.4 Clearing mechanism for clearing conveyor-beltThe clearing mechanism is used to clear parts in an orderly manner, instead of droppingdeposited parts off the clearing conveyor-belt into a box.The clearing mechanism comprises a switch and a light beam guard fitted at the end of theconveyor-belt.

Pressing the switch in manual mode causes the conveyor-belt to move. When the ’light beamguard end position occupied’ is interrupted by a part, the conveyor-belt stops until the part hasbeen cleared.If the switch is enabled, the conveyor-belt stops when the start button is pressed in automaticmode. The conveyor-belt is stepped based on the clearing conveyor-belt settings.When the ’light beam guard end position occupied’ is interrupted, the conveyor-belt stops untilthe part has been cleared. Additionally, the robot waits before depositing the next part until theconveyor-belt has completed a cycle. After switching from automatic to manual mode while the clearing switch is activated, you mustturn the switch off and back on to allow the conveyor-belt to run.

The robot setup includes configured inputs for the clearing mechanism.

2 General settingsThis page includes basic settings and functions of the robot.

2.1 Speed limitationIf the program switch is enabled, all servoaxes move with the preset Override for automatic

start speed after every restart.This function avoids the need for operators to set the override speed manually at the manualcontrol unit.

You can set the override speed at any time in automatic mode using the ’Increase override’ or ’Reduce override’ pushbuttons on the manual control unit.

Clearing br14_043

Clearing switch

Light beam guard final posi-tion occupied



Basic setting


2.2 Test modeWhen test mode is activated, you can step through the instructions in the sequence, e. g. totest the sequence step by step after changing the sequence.

Test mode is activated by

Modification of the robot sequence and subsequent quitting of teach mode.

Press the ’Test mode’ key on the manual control device.

Pressing the ’Test mode’ key again deactivates test mode.

Test mode can be activated at any point in the sequence in automatic mode. Servoaxis move-ments that have started will be completed to position.If you then press the consent key, and keep it pressed, you can use the acknowledge step but-ton to start the next instruction.

If the system is in manual mode when you enable test mode, you must first switch to automaticmode, and then press the start key. You can then step through the instructions in thesequence. To do so, you must press the

’ Acknowledge step

’ button on the manual control

device along with the consent key.

When you release the consent key, all servoaxis movements are stopped, and you need topress the consent key again to continue. All servoaxes move at the preset test mode speed atthe maximum.

Robot too small speed defined, set to

Cause Set speed is too low for displayed movement.

Effect Robot does not move.

Remedy Increase speed for the displayed movement

+Override speed at automatic start active


Speed limitation

General settings

Info Panel

Test mode

Step acknowledgement



Basic setting

97

CAUTION!


A pneumat ic axis or funct ion that has already star ted wil l not stop when you re-lease the consent key.

Test mode speed

Maximum servoaxis speed in test mode.

+

Test mode active

Test mode speed

Test mode



Basic setting


2.3 Home positionThe home position is the position the robot occupies at the start of an automatic cycle.

CAUTION!

Danger of damage to equipment!Set the home posit ion sequence and the home posit ion parameters to avoid col-lisions between the robot, the machine and the peripheral uni ts

Speed to home position

Speed of the servoaxes moving to the home position.


The flag indicates that all axes have reached home position.This can be achieved by moving to home position, but also by positioning the axes indi-vidually.

The order in which the robot moves the axes to the home position is set in the home positionsequence.

Example: Home position sequence



Home position

Home position

+

+ Home position

Robot sequence

Home position from depositing area

Home position - Standard sequence

Info Panel

Home position Extended view

Home position from take-



Basic setting

99

Move robot manually to home position

Hold down the button ’Movement to home position’ on the hand control device or the controlpanel of the injection molding machine until the robot has reached the home position.

If the robot is not at home position on starting an automatic cycle, the following message is dis-played:

Move robot automatically to home position

Enabling the following program switches on the ’Robot program switches’ screen page auto-matically moves the robot to home position in automatic mode when the start key is pressed.

Movement to home position from machine area upon automatic start

Movement to home position from depositing area upon automatic start

Movement to home position enabled

Cause On switching to automatic operating mode, the home position keywas pressed, but the home position was not reached.

Effect Switchover to automatic mode not possible.

Remedy Execution of the home position run until the position is reached com-pletely.

Robot not in Home position

Effect Automatic operations with machine not possible.

Remedy Move the robot to home position.

Movement to Home position



Basic setting


2.4 Quick positioningThe program is used for faster positioning of the robot at a predefined position.

CAUTION!

Danger of coll ision between robots, machine and peripheral units!If quick positioning is set, the robot moves directly to the quick position. It musttherefore be ensured that no obstacles are located between the start and target

positions.

Quick position

You can move to the preset position by pressing the ’Quick position’ key on the hand ter-minal while at the same time pressing the consent key.

Speed to Quick position

Speed of the servoaxes moving to the quick position. Position reached

The active marker signals that the preset quick position has been reached.

Quickpos still active

Cause On switching to automatic operating mode, the quick position keywas pressed, but the quick position was not reached.


Remedy Perform quick position move until the position is fully reached.

Quick position

Speed to Quick position

Position reached

Quick positioning

+

Quick position



Basic setting

101

2.5 Quick setting of robot positionFor all position input fields (e.g.: home position, take-off position, ...) there is a quick set key onscreen.The QuickSet/QuickPos dialog appears when you press the button.

QuickPosServes to specify the current positions for the selected robot axes as the ’Quick position’on the ’General settings’ screen.

QuickSet

Used to for quick collection of position information for the selected robot axes at the cur-rent position.

Example:

Apply current values for the robot axes for Position before opening.

1. Select the take-off screen.2. Press the quick set key for Position before opening.

3. Select QuickSet and Al l axes.

All axes

Cancel ExecuteHelp

QuickSetQuickPos

Axes

QuickSet/QuickPos

Position before opening -

All axes

Cancel ExecuteHelp

QuickSetQuickPos

Axes

QuickSet/QuickPos



Basic setting


4. Press Execute to use the current robot axis values as the Position before opening.

Example:

In manual operations, the robot will stop at ’Position before opening’ and should be moveddirectly to the ’take-off position’.

The mold is completely open, and the basis is the ’simple robot sequence’ with 2 move-inpositions.

1. Select the take-off screen.

2. Press the quick set key for Take-off position - XYZ.

3. Select QuickPos and Al l axes.

4. Press Execute to assign the take-off position to the quick position.

5. When you press the quick position key on the manual control device, while at the sametime pressing the consent key, the robot travels from the ’Position prior to opening’directly to the ’Position before opening’ . The robot does not move to the preset moving-in position.


Position before opening = Home position


Speed to position before opening

Take-off

Take-off speed

Time for part removal

Waiting time before take-off

Take-off position - X Y Z

All axes

Cancel ExecuteHelp

QuickSetQuickPos

Axes

QuickSet/QuickPos



Basic setting

103

Example: Robot sequence diagram

[1] Position before opening

[2] Moving-in position 1


[4] Take-off position

2

4 3

1



Basic setting


3 Robot program switchesThe program switch page includes the most important configuration possibilities for the robotand its sequences.

Robot

Robot main switch

If the program switch is disabled, the control unit ignores all robot sequences. However the robot's position is monitored to ensure closing safety.

Home posit ion movement with parts

By default, the robot switches all vacuum / compressed air circuits off when beginningmovement to the home position. If the program switch is activated, the robot moves tothe home position with parts on the end of arm tooling.For example, if the operator interrupts the Automatic cycle before the parts are deposi-ted, the robot deposits the parts during the next automatic cycle. When reject depositingis activated, the robot deposits parts on the reject deposit position and advances therejects counter on the injection molding machine. One part is subtracted from the good

piece counter of the injection molding machine as it was already produced prior to inter-ruption of the cycle.This function is not programmed in the ’Engel Teach sample sequence’.

Movement to home position from machine/depositing area upon automatic start

When this program switch is activated, the robot automatically moves to home positionin automatic mode when the start key is pressed, if the robot is in the machine or depo-siting area.The robot performs the movement to home position as defined in the ’home position’sequence. After reaching home position, the robot processes the robot and user sequence.Before enabling the program switch, make sure that the the robot can move out of allpossible situations in these areas without a collision. If needed, modify the ’home posi-

tion’ sequence.

Equipment type

The configured safety package and the take-off sequence are displayed here.This field is factory set and is for information purposes only.

Robot 1 program switch

Robot main switch

Home position movement with parts

Equipment type ERC SIP1 or 2 Vertical

Robot

Info Panel

Movement to home position from machine area upon automatic start

Movement to home position from depositing area upon automatic start



Basic setting

105

Take-off movement

The following selection fields can be set depending on the plant's construction, the configuredsafety package and the permitted type of take-off. The selected setting affects the work areasand the standard robot variants (take-off, deposition,...).

Al lowed take-of f movement

The allowed take-off movement is preset at the factory.

Take-off movement

The selection box may contain the following take-off movements:

Vertical

The robot moves into and out of the mold from above = vertically (e.g.: injectionmolding machine with tiebars).

The closing release for the mold is given when the Y-axis is up or when the positionfor ’Vertical closing safety’ is reached.

Horizontal

The robot moves into and out of the mold laterally = horizontally (e.g.: tiebarlessinjection molding machine).Closing release for the mold is given once the robot has left the take-off area (posi-tion for ’Horizontal closing safety’ reached or Z position >= home position).

Vertically in /Horizontally out

The robot will move from the top (vertically) into the mold, and to the side (horizon-tally) out of the mold (can save cycle time, depending on your application).The closing release occurs like at ’Take-off horizontal’.

Horizontally in/Vertically out

The robot moves into the mold laterally (horizontally) and moves out vertically.The closing release occurs like at ’Take-off vertical’.

Depositing on the front side

This flag indicates that the robot is designed for the front side depositing.

Example: Injection molding machine with robot

Vertically and horizontally

Vertical

Take-off movement

Take-off movement

Depositing on the front side

Allowed take-off movement

Vertical take-off Horizontal take off



Basic setting


Robot <-> machine

Communication settings between robot and injection molding machine.

Production without robotIf the program switch is enabled, the robot will complete the current cycle and then waitat its home position. The injection molding machine will then go on producing withoutthe robot, until the switch is disabled. The switch can also be actuated in automaticmode.

Robot test run without machine active

If the program switch is activated, the robot sequence is started without the injectionmolding machine sequence when the start key is pressed in semiautomatic or fully auto-matic mode.On the injection molding machine, the mold must be open, the ejector retracted, andany cores moved out. At the test run the mold remains open and the required signals of the cores, ejector etc.

are simulated. Eject reject moldings

When the program switch is activated, the ejector ejects the reject moldings (thereforealso start-up cycles) in the discharge chute when production occurs with the robot.

Ejector releases for mold opening

Standard setting = ’enable retract’ . With this setting, the robot only enables the retrac-tion of the ejector when the mold opens.The following settings are available:

enable retract

enable advance

enable retract to intermediate position

enable advance to intermediate position enable

block

Block movements on the clamping unit at automatic start

If the program switch is activated when you switch to semi-automatic or fully automaticmode, all mold, ejector, core movements, and air valve functions are locked. Individualreleases must be programmed in the robot sequence.

Early start

By default, the robot waits until the mold is open before moving into the mold area. If the’Early start’ program switch is activated, the robot moves into the mold area as soon as

the early start position is reached. How far the robot moves into the mold area dependson the robot sequence setting.The robot e. g. moves to moving-in position 2 in the mold area with ’Take-off standard’ .

Robot <-> machine

Production without robot

Robot test run without machine

Block movements on the clamping unit at automatic start

Early start

Minimum mold position for early start and intermediate stop

Early start position

Mold open on early start position

Take-off with mold intermediate stop

Mold intermediate stop position


Ejector releases for mold opening enable retract



Basic setting

107

The robot waits at the moving-in position 2 until the condition ’Wait until mold open’ ismet.The program switch and the early start position are queried by the ’Wait for part hando-ver release’ sequence.

Minimum mold position for early start and intermediate stop

This mold position limits the early start and intermediate stop position and therefore, isa safety limitation for the mold area.

Early start positionThe robot enters the mold area from this mold position.

Mold open on early start position

The active flag signals when the early start position is reached.

Take-off w ith mold in termediate stop

When this field is selected the mold intermediate stopp is activated. This is possibleafter inserting the sequenz step Form open at robot start position in the machinesequence.

Mold intermediate stop position

At this position mold opening stops to allow molded part take-off by the robot.

3.1 Closing safetyThe settings for the closing safety are used to protect against collisions between the robot andthe injection molding machine.The closing safety is divided into a vertical and a horizontal closing release. The ’ Additionalclosing safety’ is also available for special applications.

Settings

closing release

Flag indicates that the injection molding machine closing release exists.

Vertical clos ing safety

If the robot is at a position smaller than or equal to this set position, then the closing

safety of the injection molding machine exists.

Robot x test run without machine

Cause Program switch Robot test run without machine is activated.

Effect In automatic mode no machine movements occur.

Remedy Deactivate program switch Robot test run without machine.

closing release

Vertical closing safety

Horizontal closing safety

Closing safety

Confirmation of setting values

Additional closing safety activated

Additional closing safety Min

Max



Basic setting


Horizontal closing safety

If the robot is at a position greater than or equal to this set position, then the closingsafety of the injection molding machine exists.

Confirmation of setting values

When a parts data set with new setting values for closing safety is loaded, the flag dis-appears and an alarm is displayed.Check the values for the closing safety and, if necessary, change the values so that ope-

ration of the system is possible without danger. Confirm values with the program switchConfirmation of setting values.

Addi tional c losing safety act ivated

Status flag (green = area active).

Addi tional c losing safety

Robots cannot move into this prohibited area when the mold is closed.This prohibited area is used when, e. g. a mold has a barrel mounted on top whichwould collide with the robot when the mold is closed as the barrel is not in the machinearea.Set the prohibited area ’ Additional closing safety’ so that the prohibited area and themachine area overlap, otherwise the robot can move to the border between the prohib-ited area and the machine area. If the prohibited area ’ Additional closing safety’ begins

at Y=0.0 mm (Y=0.0 in), then the Z and X axes cannot move into this border range of the prohibited area when Y=0.0 mm (Y=0.0 in).If the same value is set for the minimum and maximum value of an axis, the prohibitedarea ’ Additional closing safety’ is not active.

Closing safety: "Vertical closing safety" setting was changed by

importing parts data (x)

Cause Parts data set with new setting value for vertical closing safety was

imported.

Effect Closing release for injection molding machine not present.

Remedy Check or correct and confirm setting value for the ’Vertical closing

safety’ on the robot program switch page.

Closing safety: "Horizontal closing safety" setting was changed

by importing parts data ()

Cause Parts data set with new setting value for ’horizontal closing safety’ was imported.


Remedy Check or correct and confirm setting value for ’horizontal closing




Basic setting

109

3.2 Depositing variantsProgram switch for enabling or disabling various depositing areas.

3.3 Rotary axesProgram switch for enabling or disabling pneumatic rotary axes.If the program switch is deactivated, no actuation or monitoring of the respective rotary axistakes place. The instructions in the robot sequence have no function for a deactivated rotaryaxis.

Closing safety: Confirm changed settings

Cause Parts data set with new setting value for horizontal and/or verticalclosing safety was imported.


Remedy Check or correct and confirm setting values for closing safety on therobot program switch page.

Closing safety lies above the permitted limit ()

Effect Check or correct and confirm setting value for the ’Vertical closing

safety’ on the robot program switch page.Remedy Closing release for injection molding machine not present.

Closing safety lies below the permitted limit (x)


Remedy Check or correct and confirm setting value for ’horizontal closing


Program switch Sprue depositing

Sprue depositing - 1 position


Quality Control deposit - 1 position


Reject deposit - 1 posi tion Se-

Se-

Se-

A-axis - activated

Rotary axes

C axis - activated



Basic setting


4 Status pageThe status page provides information about general robot and sequence states.

General

Displays all general signals and parameters.

Al l motors swi tched on

The flag signalizes that all servoaxes are supplied.

Referencing all axes

Flag signalizes that all servoaxes have been measured.


The flag signalizes that all servoaxes have reached the home position.

Consent key pressed

The flag indicates that the consent key on the manual control device has been pressed.

Test mode active

The flag indicates that test mode is active.

Override speed

Actual value for current override speed.This actual value is displayed top right on each screen as a percentage, and as a bar diagram.You can press the ’Increase override/reduce override’ buttons on the hand controldevice to increase/reduce the current servoaxis speeds by a percentage factor in auto-matic operating mode. The automatic speeds set on the screens represent the maxi-mum (100%).

Cycles total

Actual value counter for executed robot cycles. The counter can only be reset by pres-sing the Rbutton.

Example:

Override speed

If the ’Speed to depositing position’ is set to 70%, and the override speed is 50%, the robotwill move to the depositing position at 35% speed.

+ All motors switched on


Consent key pressed

Test mode active

General

Override speed

Status page

Cycles total

Info Panel

Referencing all axes

Reduce override button Increase override button



Basic setting

111

closing release

These flags show the states of the closing releases.


The flags show the states of the digital outputs for the pneumatic valves with the appertainingmonitoring inputs. The green checkmarks indicates that the hardware is okay.

Swivelling cyl. CD1

The swivelling cylinder is the main cylinder of a pneumatic C-axis.The flags show the states of the digital outputs for the pneumatic valves with the appertainingmonitoring inputs. The green checkmarks indicates that the hardware is okay.

Output+ actuates the C axis for turning down.

Input+ indicates that the C axis is down.

Output- actuates the C axis for turning up.

Input- indicates that the C axis is up.

Robot override active!

Effect Servoaxes move at the preset override speed.

Remedy Set desired override speed.

Closing release system

General mold closing release

Closing release sequence

closing release

+

closing release

Closing release alarms

Vacuum/compressed air - input +

Vacuum/compressed air - input -

Vacuum/compressed air - output -

Vacuum/compressed air - output +


Vacuum/compressed air - input part monitoring

Vacuum/compressed air - input vacuum monitoring

+

Vacuum/compressed air - analog vacuum monitoring

C-axis - Swivelling cyl. CD1 - Input +

C-axis - Swivelling cyl. CD1 - Input -

C-axis - Swivelling cyl. CD1 - Output -

C-axis - Swivelling cyl. CD1 - Output +

Swivelling cyl. CD1

+



Basic setting


Locking cylinder CD2

Locking cylinder CD 2 is an optionally available clamping cartridge that locks the swiveling cyl-inder on reaching the final position, and thus holds the cylinder in position.The locking cylinder is used to ensure axis positioning in movements with heavy end-of-armtooling.The flags show the states of the digital outputs for the pneumatic valves with the appertainingmonitoring inputs. The green checkmarks indicates that the hardware is okay.

Output+ actuates the locking cylinder for locking.

Input+ indicates that the locking cylinder is locked.

Output- actuates the locking cylinder for unlocking.

Input- indicates that the locking cylinder is unlocked.

C-axis - Locking cylinder CD2 - Input +

C-axis - Locking cylinder CD2 - Input -

C-axis - Locking cylinder CD2 - Output -

C-axis - Locking cylinder CD2 - Output +

Locking cylinder CD2

+



Basic setting

113

5 Efficiency optimizationEfficiency optimization reduces unnecessary mechanical stress during robot axis accelerationand braking.In automatic mode acceleration and braking of all servoaxes is gradually modified by measur-

ing the time over multiple cycles, until the ’Set-value uncopied cycle time’ has been achieved.This does not affect the take-off speeds.The remaining time between reaching ’Wait for part handover release’ and ’Move-in release’is measured.The robot is therefore always in the start position shortly before the next part is ready for take-off.

Acti ve

Program switch enables or disables efficiency optimization.

Override activated (optimization not possible)

The override speed must be set to 100% for efficiency optimization.

TestMode activated (optim ization not possible)

Test mode must be deactivated for efficiency optimization.

Motor dynamic system active (optimization not possible)

The ’motor dynamic system’ has determined an overload on an axis/drive (e.g. due toexcess manipulation weight) and will reduce the speed. Efficiency optimization is thusno longer possible.

Reset all profiles

All optimized profiles for cycles are deleted. Efficiency optimization will restart automatic

control. Set-value uncopied cycle time

Speeds are reduced or increased until this time is reached, taking the ’Unoccupied cycletime window (+/-)’ into consideration.Optimization restarts below a value of 0.0 seconds. Thus, you must set a larger value.

Unoccupied cyc le time window (+/-)

Tolerance for ’Set-value uncopied cycle time’ . If the remaining time is within the ’Set-value uncopied cycle time’ , speed optimization is not performed. A setting of 0.0seconds causes the control unit to optimize speeds continuously.

Minimum dynamism

For example: Dynamics 50% means that at a set speed of 60% for a movement, effi-ciency optimization will reduce speed to a minimum of 30%.

Minimum dynamism

Efficiency optimization

Unoccupied cycle time window (+/-)

Set-value uncopied cycle time

Reset all profiles

Active+

Override activated (optimization not possible)TestMode activated (optimization not possible)


Info Panel

Motor dynamic system active (optimization not possible)

Standard cycle Active profile



Basic setting


Ac tive pro fi le

Display of the current optimized cycle.

Profile display

Independently of the currently optimized cycle, the profile data of any desired cycle can be dis-played and set in the profile display strip.

Profile selection

The program switches, markers and actual values are displayed for the selected cycle.

Standard cyc le

Cycle in which a good part is deposited.

Rejects cycles

Cycle in which a reject part is deposited.

Quality control part cycle

Cycle in which a quality control part is deposited.

User cyc le x

Inserting the ’Set optimization profile’ instruction in the robot sequence allows you tooptimize the individual subsequences in a sequence individually.

Profile selected = Active profile

When the program switch is activated, all program switches, flags and actual values of the current cycle are displayed in the ’Profile display’ tab (standard, reject, quality con-trol part or user cycle).

Do not optim ize parameters

In manual mode, efficiency optimization can be activated or deactivated for the selectedcycle in the ’Current Profile’ selection box.

Valid measurement

Optimization is running

Optimization complete

Optimization is complete if the remaining time is within the ’Set value remaining time’tolerance.

Last uncopied cycle time

Remaining time achieved in last cycle.

Reduction active

This marker indicates that speeds have been reduced.

Dynamics

For example: Dynamics 50% means that, for a set speed of 60%, the robot is currentlymoving at 30%.

Dynamics

Standard cycle

Profile display

Reduction active

Profile selection

Do not optimize parameters

Valid measurement

Optimization is running

Optimization complete

Last uncopied cycle time

Profile selected = Active profile+



Basic setting

115

Sequence instructions for efficiency optimization

The robot sequence provides special instructions for efficiency optimization. These instruc-tions can be used for additional sequence optimization. However, they do not need to beinserted into the sequence for basic efficiency optimization functionality.

Inserting the ’Set optimization profile’ instruction in the sequence can be used to optimize indi-vidual subsequences (see example).The ’Reset optimization profile’ instruction has the same function as the ’Reset all profiles’ pro-gram switch on the efficiency optimization screen.If the instructions ’Full dynamism’ and ’Reduced dynamism’ are inserted in the sequence, effi-ciency optimization does not optimize all move instructions between the instructions.

Example:

Speed is not optimized for move instruction ’Shot grid 1 - Depositing position - grid’ . Insert theinstructions ’Full dynamism’ and ’Reduced dynamism’ in the sequence.


Set optimization profile

Reset optimization profile

Full dynamism

Reduced dynamism

Move in on shot grid 1 with conveyor-belt user

Dynamic Optimization - Reduced dynamics

Move in on shot grid 1 with conveyor-belt user

Dynamic Optimization - Full dynamics

Depositing conveyor-belt 1 - Wait depositing allowed

Shot grid 1 - depositing position screened

Position over depositing


Lower swivelling Wait until

Special instructions rotary axes movement



Basic setting


Example:

Dynamic Optimization - set optim ization profi le user cycle 1

The peripheral unit is set up so that free input 1 is always set when the robot deposits the sec-ond to last part in the shot grid. The robot thus replaces the full box with an empty one after depositing the last part in the shot grid.For Dynamic Optimization, part depositing with and without a box change is a standard cyclebecause a good part is always deposited. The time the robot needs for depositing differs,however. This means that the robot gets to the next part removal too late, after part depositingwith box change. This results in Dynamic Optimization re-optimizing the speed for the stan-dard cycle.To allow Dynamic Optimization to optimize the two depositing processes separately, you mustset the ’Set optimization profile’ instruction with setting user cycle x before the parts deposit-ing with box change sequence. All speeds for user cycle x are then optimized as of the ’Setoptimization profile’ instruction. The speeds for the standard cycle are optimized as of removal standard.If the ’Set optimization profile’ instruction is inserted directly after take-off standard, optimiza-tion values for user cycle x are also used for reject and good part depositing.The ’Set optimization profile’ instruction allows you to define subsequences as standard,

reject and quality control parts cycles.

Robot sequence complete - user

Part depositing with box change

Take-off Standard

Execute as long as

Automatic mode of operation active

Robot sequence complete - user


If

Free inputs free input 1

If

Reject deposit

Reject deposit

1 Position

Dynamic optimi-

User cycle

Part depositing in shot

Without conveyor-belt



Basic setting

117

6 Home position, robot sequences and park positionThese screen pages are used to display parameters of user-defined home position, robot andpark position sequences.The screens display the parameters for which the ’Display on screen’ program switches are

activated.The screens are selected using the attached image selection buttons for the ’Robot 1 programswitch’ screen.

Example: Home posit ion sc reen page


Home position - user

Home position

+

Info Panel

Se-



Basic setting


7 Takeover head

WARNING!

Danger of crushing due to moving components on the machine!

Before carrying out retooling work on the machine, move all moving compo-nents (e.g. robot axes) to a safe posit ion.Observe the following items:

Move the robot to the depositing area and remove the take-off/insert parts from the endof arm tooling. Swivel the end of arm tooling down so that it cannot swivel down on itsown if pressure is lost.

Before working on the pneumatics system, use the hand lever to shut off the supply tothe maintenance unit, and ensure that the unit is pressureless!

Discharge pressure accumulators!

Observe the hints in the chapter Safety!

Before setting the robot, mount an end of arm tooling that is suitable for the injection mold.

Example: Gripper tools standard end-of-arm too ling



Basic setting

119



Basic setting




Work area setup

121

Work area setup

The work area setup serves to define the work areas and prohibited areas for the robot. A workarea is an area in which the robot is allowed to move A prohibited area is an area in which arobot is not permitted to move; it can be located within a work area. Undefined areas arealways prohibited areas.

CAUTION!


Work areas and prohibited areas must be set immediately after mold mounting.To do this, mount the end-of-arm tooling that matches the mold.

[1] Selection tree

List of all available areas.

[2] Setting and visualization area

Tab selection for settings, 3D display and overview.

[3] Instruction menu keys

Work area using the instruction: Print.

Edit using the instruction: Delete messages.

View using the commands: display options, selection dialog box on/off, messagewindow on/off, maximize/minimize.

Note!

With several robots (e.g. tandem rise systems), the control unit also switches when togglingbetween the Info Panels the screen pages ’Grid editor ’ and ’Work area setup’ for the applica-ble robot.

+ Work Areas and Prohibited Settings 3D view Overview

Work area setup

Robot

In machine data

1

Info Panel

In parts data

2

3Work ViewEdit



Work area setup


CAUTION!

Danger of damage to equipment!Movements wi th rotary axes are permitted without pressing the consent key in-

side prohibited areas.The control unit will only monitor this if the control voltage is switched on.

The robot sequences must be set to ensure that all move paths are outside the prohibitedareas.

1 Settings robotWhen commissioning the machine, or when you use a new mold, you must set the spatial datafor the areas in the Settings tab.This data is taken into consideration for calculating the work and prohibited areas in the robotnode.These areas can also be set on the ’Quick Setup’ screen.

Machine area

The machine area is the whole area theoretically accessible by the robot within theinjection molding machine. The machine area defines the whole prohibited area for theplant and is set as a factory default. The robot cannot move in the prohibited area,except in the preset take-off/removal area when the mold is open.For the Max Z machine area, you must set a value that extends beyond the safety gatefor half the length of the mold fixing platen, as the end-of-arm tooling is normally not big-ger than the mold fixing platen.This prevents collision between the safety gate and the takeover area in the depositingarea.

Take-off area

Work area in machine area for part take-off. To access a mold without danger of colli-sion, a take-off area must be defined for each mold. This must be determined with acompletely open mold. Never set values for the take-off area that cause danger of colli-

Work area setup

In parts data

Robot

In machine data

Settings 3D view Overview

Min

Max

Min

Min

Max

Min

Max

Machine area

Take-off area


Work area depositing area Z+

+

Info Panel

Max

Work Areas and Prohibit-



Work area setup

123

sion for the mold! The take-off area is thus a mold-driven traversing area for the robotwhen the mold is open, and lies within the machine area. This area must be modified for each new mold you use.


Robots cannot move into this prohibited area when the mold is closed.This prohibited area is used when, e. g. a mold has a barrel mounted on top whichwould collide with the robot when the mold is closed as the barrel is not in the machine

area.The prohibited area ’ Additional closing safety’ must be set so that the prohibited areaand the machine area overlap, otherwise the robot can move to the border between theprohibited area and the machine area. If the prohibited area ’ Additional closing safety’begins at Y=0.0 mm (Y=0.0 in), then the Z and X axes cannot move into this border range of the prohibited area when Y=0.0 mm (Y=0.0 in).If the same value is set for the minimum and maximum value of an axis, the prohibitedarea ’ Additional closing safety’ is not active.

Deposit ing area Z+

Setting the work space depositing area Z+ limits the maximum depositing area on thenon-operator side to reflect the preset parameters. Limiting the depositing area helps tosafeguard the whole depositing area with just a few work areas.

Example: 3D view of the robot work areas with deposit ing on non-operator side

[1] Work area depositing area Z+ (Operator rear side)

[2] Machine area = prohibited area clamping unit. Blocks all work areas in the machine areawith mold not open.

[3] Take off area

1 2 3



Work area setup


Example: 3D representation of work areas with two-sided deposit ing = butterfly opera-

tions option

[1] Work area depositing area Z+

[2] Machine area = prohibited area clamping unit

[3] Take-off area

[4] Work area depositing area Z-

1

2

3 4



Work area setup

125

2 Work Areas and Prohibited AreasThe selection tree lists all available work and prohibited areas.When you select a work area or prohibited area, a tool tip appears with the start and end pointsof the area.

Robot

Predefined work and prohibited areas, which are calculated from the data for min./max.axis length, lower swiveling limit depositing area, switchover position of Y wait positionswitch (optional) and the settings for the machine, take-off and depositing areas, andthe additional closing safety.

’Work area above depositing area Z-’ and ’Work area depositing area Z-’ are only visiblewith depositing on the operator side or butterfly deposit.

In machine data

User-defined work and prohibited areas which are stored in the machine data set.

In parts data

User-defined work and prohibited areas which are stored in the parts data set.

User-defined work and prohibited areas can be switched on and off using the instructions’Work areas/prohibited areas’ in the robot sequence.Set bordering prohibited areas so that the prohibited areas overlap, otherwise the robot couldmove to the borders between the prohibited areas.

Work Areas and Prohibited Areas

Prohibited area clamping unit

Work area above clamping unit

Work area setup

Work area clamping unit

Work area above depositing area Z +

Work area depositing area Z +

Work area between take-off area and depositing area Z+

Work area above machine

Work area above depositing area Z -

Work area depositing area Z -

Robot

In machine data

In parts data

+

Info Panel

Closing safety additional prohibited area



Work area setup



Moving area over the machine, with mold closed or without.

Work area above clamping un it

Moving area over the mold (with Y-waiting position switch).

X Y Z

Min. Axis position min. Axis position -0.3mm Axis position min.

Max. Axis position max. Machine area min. Machine area max.

X Y Z

Min. Work area take-offarea min.

Machine area min. Work area take-off areamin.

Max. Work area take-offarea max.

Machine area min. Withwaiting position switch upto Y waiting position

Work area take-off areamax.



Work area setup

127


Take-off area with mold open.

Prohibited area clamping unit

Robots cannot move into the prohibited areas when the mold is closed.

X Y Z


Work area take-off areamin.

Work area take-off areamin.




X Y Z

Min. Prohibited areamachine area min. -0.045mm

Y-Waiting position switchWork area take-off areamax.Prohibited area machinearea min.

Prohibited area machinearea min. -0.045mm

Max. Prohibited areamachine area max.+0.045mm

Prohibited area machinearea max. +0.045mm

Prohibited area machinearea max. +0.045mm



Work area setup


Closing safety additional prohibited area

Robots cannot move into this prohibited area when the mold is closed.This prohibited area is used when, e. g. a mold has a barrel mounted on top whichwould collide with the robot when the mold is closed as the barrel is not in the machinearea.

Work area between take-off area and depositing area Z+

Moving area within the rear safety gate area. The work area is activated and/or deacti-

vated in relation to the take-off type (horizontal/vertical).

X Y Z

Min. Axis position min. Axis position min. Axis position min.

Max. Axis position max. Axis position max. Axis position max.

X Y Z


Prohibited area machinearea min.




Prohibited area machinearea max.



Work area setup

129

Work area above depositing area Z+

Maximum move area in depositing area non-operator side up to ’lower swiveling limitdepositing area’.

Work area depositing area Z+

Maximum movable depositing area on non-operator side as of ’lower swiveling limitdepositing area’.

X Y Z

Min. Axis position min. Axis position min. -0.3mm

Prohibited area machinearea max.

Max. Axis position max. Lower swivelling limitdepositing area

Axis position max.

X Y Z

Min. Work area operatorrear side min.


Work area operator rearside min.

Max. Work area operatorrear side max.

Work area operator rearside max.

Work area operator rearside max.



Work area setup


Work area above deposi ting area Z (visible with depositing on the operator side

or butterfly deposit)

Maximum move area in depositing area operator side up to ’lower swiveling limit depos-iting area’.

Work area above deposi ting area Z (only visible with depositing on the operator

side or butterfly deposit)

Maximum movable depositing area on operator side as of ’lower swiveling limit depos-iting area’.

X Y Z

Min. Axis position min. Axis position min.-0,3mm

Axis position min.

Max. Axis position max. Lower swivelling limitdepositing area

Prohibited area machinearea min.

X Y Z

Min. Work area operatorside min.


Work area operator sidemin.

Max. Work area operatorside max.

Work area operator sideYmax

Work area operator sidemax.



Work area setup

131

3 Area settingsTo change the settings for an area, you must select a single area node.

Element attributes

Basic settings for selected work or prohibited area.

Example: Areas of an ERC

Name

Freely selectable name of the area.

Type

Fixing of the area type (Work area or prohibited area).

Min/Max

Area coordinates for the respective area.

Acti vat ion swi tch

Program switch for enabling or disabling area.

When changing to manual mode

Modifications are only possible in areas below the node in machine and parts

data. For changing to manual mode the following behavior can be preset: Keepactivation ,, Disable activation or Enable activation.

Acti ve

Status flag (green = area active).

Visible

When this field is switched Off the work or prohibited area is not displayed on the 3Dview window; however, the functionality of the area is maintained.

Filled

When this field is switched Off the work or prohibited area is displayed on the 3D viewwindow, as an outlined red box and when switched On the area is filled in as a solid.

Work Areas and Prohibit-

Prohibited area

Work area above

Work area setup

Work area clamping

Work area above de-

Work area deposit-

Work area above

Robot

In machine data


Element attributes

Name

Min

Max

Activation switch

Description

Filled

Visible

Active

Type


Work area

Work area between

+

Info Panel

In parts data

Robot assigned

Keep activation

Robot

When changing to manual

Closing safety addi-



Work area setup


Description

Field for short description of area.

System name

Clear designator for the control unit (cannot be changed).

Robot assigned

Assignment of the area to the corresponding robot.

4 3D viewThe 3D view window displays the arrangement of the work and prohibit areas. Different colorsand line strengths are used to differentiate between the various areas and the status.The 3D display provides a number of viewing options.

Example: Work area of a robot

[1] Starting point coordinates (Zero point)

The starting position is marked with a yellow crosshair.

[2] Filled representation

The side edges of the room are represented with black lines and the area of the roomare filled out with the color of the area type.

[3] Line representation

Only the side edges of the area are represented with the corresponding color of theselected area.

[4] Reset key

This function resets the graphic to its fixed starting position.

[5] Vertically ro tation keysThe graphics turns around the vertical axis.

[6] Horizontal rotation keys

The graphics turns around the horizontal axis.

[7] Zoom In/Zoom Out

These keys allow the graphic window area to be increased (+) or decreased (-).The focus is dependent on the preceding processing of the graphics.When the graphic has not been changed or has only been rotated using the Rotationkeys, the zoom is focused in on the middle of the screen.When the graphic has been manually displaced, the zoom is focused in on the yellowcrosshair/starting point.

1

2


3

4 765



Work area setup

133

Work/Prohibited area color definitions

Only one area can be selected at a time from the available onscreen selections. To identify theselected work area the edges of the graphic are bolded. Using color coding the state of thework area can be identified.

Collision area

When in the automatic mode a work area error appears, the robot movement stops with thefollowing message:

The 3D representation in the work area setup shows the collision position with a crosshair anda warning symbol. A dialog shows the data for the collision position.The start and end points are also indicated by crosshairs; the calculated travel path betweenthe points is shown.

Example: 3D representation of robot work areas

Work area Active Inactive Selected Not selected

Work area blue violet thick line and/or.edge

thin line and/or.edge

Prohibited

area

red pink thick line and/or.edge

thin line and/or.edge

Work area error :

Cause The next robot movement would collide with a prohibited area.

Effect The robot axes are stopped.

Parameters <No.> Robot number.<Name> room name at which the collision has appeared.Pos1 starting position of the robot movement.Pos2 Final position of the robot movement.

Collision pointEnd point

Start poin t



Work area setup


5 OverviewThe Overview tab shows a tabular list of all areas contained in the selected node.This window provides a quick overview of the most important work area data.

Example: Work area of a robot

[1] List of the areas that exist in the robot node

[2] Start and end point of the listed areas

[3] Status marking of the areas (green = active)

Start point (X/Y/Z) End point (X/Y/Z)

Work area above clamp-

Name

Work area above ma-

Work area above depos-

Work area above depos-

Work area depositing


Work area depositing

Work ara rear safety

Prohibited area clamp-

1 2

3

Work area setup

Settings 3D view Overview+ Work Areas and Prohibit-

In machine data

Robot

In parts data

Info Panel



Work area setup

135

6 Alarms

If a machine movement is cancelled by the robot in manual operations, a ’Robot interlock’ alertoccurs. An additional wait point shows which movement is blocked.

Closing safety - Robot with in machine area

Effect Required movement cannot be performed.

Remedy Press the consent key and move the robot out of the prohibited area.

Robot interlock

Cause Robot release is not active.

Effect The required machine movement cannot be performed.

Remedy Move the robot on the correct release position.

Ejector x not retracted

Effect The requested movement cannot be carried out.

Remedy Move ejector to ejector retracted position.

Mold not open

Effect The requested movement cannot be carried out.

Remedy Mold opening

Injection molding machine - Danger of collision with robot

Cause The robot is within or on the edge of a prohibited area.

Effect All linear axis movements are blocked for the robot.

Remedy Press the consent key and move the robot out of the prohibited area.



Work area setup


Take-off invalid - robot was not in the take-off area

Cause Take-off area set incorrectly.

Effect Plant will stop after first cycle.Remedy Check take-off area and modify the take-off position.

Z settings defective - Work area in machine area

Effect No automatic operation possible.

Remedy Set the Z values of the work area so that it is no longer inside themachine area.



Take-off-depositing variants

137


Engel variants are preprogrammed sequences which can be included in the graphicalsequence. The parametrization occurs on the screen pages provided for this purpose.The screens display the parameters for which the ’Display on screen’ program switches areactivated.

A matching screen is automatically generated after modifying and saving the robot sequence.

1 Engel - take-off variants

At all Engel variants the function Early start is possible. If the robot has parts on the takeover head, it deposits at first the parts before the take-off (not at the Teach sample sequence!).

The following take-off variants are preprogrammed:

Take-off Standard

This variant is preset at the delivery of the robot. It is an universal variant for many appli-cation cases. Several program switches enable a simple and comfortable cycle timeoptimization.

Moving in via 2 separate intermediate positions

Take over parts

Moving out via 2 separate intermediate positions

Take-off mold intermediate stop

In this variant, take-off occurs on the mold intermediate stop position; the rest is thesame as the default take-off.

Take-off 6 posit ions

This variant is the same as the take-off standard, but does it not include any switchesfor cycle time optimization.

Take-off 3 posit ions

This variant is designed for the simplest type of take-off. Only the position before open-ing and the take-off position need to be set.

Moving in with Z > Y > X individual axis movements on take-off position

Take over parts, ejector returns in parallel with X take-off stroke

Moving out with X > Y > Z individual axis movements on position before opening (the

same path as moving in).

Take-off Teach samp le sequence

Moving in via an intermediate position, moving out via 2 intermediate positions. Thistake-off variant serves as model for a Teach sequence without screen switch.

CAUTION: At the Teach sample sequence Quick Setup settings for rotary, swivellingand moving limits as well as settings for rotary axes are without effect when moving outfrom the machine area and moving into the machine area!





1.1 Take-off StandardThe standard take-off variant covers the main take-off requirements for molded parts. It con-tains two intermediate positions for moving in and out and a take-off position. Program swit-ches are provided for cycle time optimization.

Moving-in with ejector advancedIf enabled the ejector will advance parallel to the robot moving in.

Switch on suction pad

Switch on selection for sucker before or after the ejector is in front or when the robotmoves in.

Close sprue gripper before ejector advancing ejector

Allows the closing of the sprue gripper still before the ejector is advanced.

Move out as soon as part monitoring

Allows the moving-out of the robot still before the expiry of the demolding time when thepart monitoring gives the release.

Move out without considering ejector position

If the program switch is disabled, the ejector first retracts, and then the robot moves to

move-out position 1.If enabled, the ejector moves back to moving-out position 1 parallel to the robot move-ment.

Take-off vacuum/compressed air ci rcuits

Configuration of the vacuum/compressed air circuits is only possible in Teach mode.See chapter Quick Setup.

Position before opening = Home position

If the program switch is activated, the position parameters for ’Home position’ are auto-matically set equal to the parameters for ’Position before opening’ .This causes the robot to wait at its home position for the mold to open before taking off a part.If the switch is disabled, the robot waits at the ’Position before opening’ . When auto-matic operations start, the robot moves from home position to ’Position before opening’.


Servoaxis speed for move to position before opening.The adjustable speed for the robot movement on the respective position is always valid


Moving-in with ejector advanced


Move out as soon as part monitoring OK


after ejector advanced

Take-off Standard

Take-off


Info Panel

Se-


Position before opening - XYZ = home position - XYZ

Take-off position - ABC





139

for the axis which runs the longest way. The other axes move correspongingly slower inorder that they reach the position at the same time.

Position pr ior to opening - XYZ

Robot waiting position before opening the mold. On this position the robot wait for theopening of the mold before the take-off of parts.


Position of the manual axes of the robot for take-off.

Moving in via 2 intermediate positions

Speed for moving-in position 1

Speed of the servoaxes to moving-in position 1.

Moving-in position 1

Robot position which is approached from completely open mold in order to move aroundobstacles (tiebars, mold guides).


Speed of the servoaxes to moving-in position 2.


Robot position which is approached after the moving-in position 1 in order to movearound obstacles (tiebars, mold guides).

Subsequence: Moving-in standard

The robot moves to the take-off position via two moving-in positions. Depending on the condi-tion fulfilled for the ’If ’ structure commands, the commands ’Ejector enable advance’ and’Take-off vacuum/compressed air circuits [ON] without monitoring’ are either started in thesequence or skipped.









Example: Sequence diagram





Switch on the suction pad {after ejector advanced} = at moving-in position 1

Moving-in standard

Moving-in standard


If

enable advance

Ejector

If



Take-off position - XYZ


Mold open

Wait until

[ ON ] without monitoring

Mold completely open

2

4 3

1




141

Take-off

Take-off speed

Speed of the servoaxes to take-off position.


The robot removes the molded part from the mold at this position.


Waiting time before ejector advance and activation of the vacuum/compressed air cir-cuits.


Wait time in take-off position for safe takeover of molded part.The ejector is then retracted and vacuum/compressed air monitoring is enabled. Therobot then moves to moving-out position 1.

Moving out via 2 intermediate positions

Speed for move-out position 1

Speed of the servoaxes to moving-out position 1.

Moving-out position 1

The robot position accessed after the take-off position to avoid obstacles (tie-bars, toolguides).

Speed for moving-out position 2


Moving-out position 2The robot position accessed after the take-off position 1 to avoid obstacles (tie-bars, toolguides). This position should be located outside the prohibited area of the machine.

Speed in take off area

Subsequence: Moving-out standard

The robot moves via two moving-out positions to either the ’Position before opening’ or the’Machine area - Max - Z’ position. The position the robot accesses depends on the conditionfulfilled in the ’If ’ structure command.The rotary axes movements follow the Quick Setup settings.

Take-off speed




Speed for move-out position 1

Speed for moving-out position 2








Example: Sequence diagram





[5] Moving-out position 1

[6] Moving-out position 2

Moving-in/out horizontally

Moving-out standard

Moving-out standard

Rotary axes movement moving out from machine area

Stop when safety gate requested

Speed for move-out position 2 = 100

If


Machine area - Max - Z


Position before Y-position when moving out/in Z

Machine areaDepositing area

Mold completely open

2

4 3

1

5

6




143

Part los t

Cause Part monitoring is still inactive after the monitoring time expired.

Effect Automatic cycle is stopped until the monitoring input is enabled.Remedy Check and set part monitoring or modify the automatic sequence.





2 Engel depositing variants

The following deposi ting variants are preprogrammed:

Part depositing with/without grid and conveyor-beltPart deposit in individual part grid with conveyor-beltPart deposit in Teach grid 1/2 with conveyor-beltPart deposit Teach sample

Reject deposit - 1 positionReject deposit - 3 positionsReject deposit Teach sample

Control parts depositing 1 positionQuality Control deposit - 3 positionsQuality Control depositing - Teach sample


Sprue depositing - 3 positionsSprue depositing Teach sample




145

2.1 Part deposit without grid and conveyor-beltThis variant is preset when the robot is supplied and is used to deposit molded parts.

Depositing blowing group

Configuration of the vacuum/compressed air circuits is possible only in Teach mode.See chapter Quick Setup.

Speed in deposi ting area

Speed of servoaxes in depositing area.


Speed of servoaxes from the position before opening to the depositing position.

Depositing position

The robot deposits the molded parts at this position. Waiting time before depositing

Waiting time until depositing position reached.

Depositing time

Waiting time after depositing the molded part.

Speed from depositing position

Speed of the servoaxes from the depositing position to the home position.

Part deposit wi thout grid and conveyor-belt



Depositing position

Waiting time before depositing

Depositing time


Deposit

Depositing blowing group

Info PanelSe-





2.2 Part depositing in shot grid with conveyor-beltThis variant is preset at the delivery of the robot. The depositing variant enables a simple griddepositing of the parts on a conveyor-belt.



Speed in depositing areaSpeed of the servoaxes in the depositing area (above the lower swivelling limit).


Speed of servoaxes from the lower swivelling limit to the depositing position.

Shot grid 1

Select this key to tell the control unit to open the Grid Editor.

Waiting t ime before depositing


Depositing time



Speed of servoaxes from the depositing position to the lower swivelling limit. Clearing conveyor-belt 1 - activated

Program switch for enabling or disabling the conveyor belt.

Clearing conveyor-belt 1 - running time :Running time for the depositing conveyor-belt. The running time starts when the grid isfull (last part deposited). After the conveyor-belt cycle the grid is reset.


If all configured grids are full, the conveyor-belt runs for the preset time. Furthermore,you can continue to cycle the conveyor belt in manual or setup mode using the ’Con-veyor belt’ button on the hand terminal.

If the conveyor belt has continued to cycle the set running time, the robot will restart

Part deposit in shot grid 1 with conveyor-belt





Depositing time


Clearing conveyor-belt 1 - activated

Clearing conveyor-belt 1 - running time

Deposit


Info Panel

Se-


Conveyor-belt




147

depositing in the grid in the next cycle.When you press the Quick select key, the Group configuration dialog box appears sothat you can configure the grids used (default setting: shot grid 1). This is only possiblein ’Teach mode’ .

If, e. g. the subsequence ’Part depositing in individual part grid 1 with conveyor belt’ isinserted in the robot sequence, you must configure individual part grid 1 in the groupconfiguration dialog. If the wrong grid is configured, the conveyor belt will not cycle, andthe automatic cycle is interrupted.

Cancel ExecuteHelp


Avai lab le elements Selected elements

Group configuration - depositing conveyor belt 1 - cycle when all selected grid po-

Shot grid 3




Teach grid 1

Teach grid 2





Example:

Shot grid 1

[1] Position over depositing.

[2] Calculated depositing position in the shot grid.


Upper swivelling limitdepositing area

Lower swivelling limit

depositing area

Y positon whenmoving out/in Z

AttributesGrid

Grid editor

ProductionSimulationIntermediateParameters

Shot grid 1

Teach grid

Individual part grid

Shot grid

Shot grid 3

Shot grid 2

+

1

22

1

Info Panel




149

2.3 Part deposit in Teach grid 1 with conveyor-beltThis variant allows the robot to deposit each part at a different position on the conveyor belt.To enable the robot to deposit each part at its own position, a sequence must be created for each part in the teach grid sequence. [See Teach grid sequence on page 174.]

It should also be noted that a vacuum/compressed air circuit is available for each part.

Teach grid 1



Program switch for enabling or disabling the conveyor belt.

Clearing conveyor-belt 1 - runn ing time :Running time for the depositing conveyor-belt. The running time starts when the grid isfull (last part deposited). After the conveyor-belt cycle the grid is reset.


If all configured grids are full, the conveyor-belt runs for the preset time. Furthermore,you can continue to cycle the conveyor belt in manual or setup mode using the ’Con-

veyor belt’ button on the hand terminal.

If the conveyor belt has continued to cycle the set running time, the robot will restartdepositing in the grid in the next cycle.When the quick select key is pressed, the group configuration dialog box will appear for configuring the grids used (default setting: shot grid 1). This is only possible in ’Teachmode’.

Part deposit in Teach grid 1 with conveyor-belt


Clearing conveyor-belt 1 - running time

Depositing conveyor-belt 1 - cycle when all selected grids are full

Deposit

Info Panel

Se-

Teach grid 1 Teach grid 1

Conveyor-belt





2.4 Teach gridThe instructions inserted in the teach grid sequence are displayed on this screen page. [SeeTeach grid sequence on page 174.]

Teach grid 1

Select this key to tell the control unit to open the Grid Editor.In the grid editor select the teach grid sequence.

Teach grid 1

Teach grid 1

Info Panel

Se-

Teach grid 1 Teach grid 1




151

2.5 Reject deposit - 1 positionThis depositing variant enables, in case of a rejects recognition, the depositing of the parts ona separate rejects depositing position. A reject molding can be requested manually with the ’Reject request’ button on the hand con-

trol device or the control panel of the injection molding machine.


Program switch enables or disables rejects depositing sequence.The appertaining flag displays that the rejects depositing sequence is processed.


When the program switch is activated, the ejector ejects the reject moldings (thereforealso start-up cycles) in the discharge chute when production occurs with the robot.

Rejects s ignal

The flag signals rejects depositing and is active until a good part is taken out. Rejects vacuum/compressed air circuits



Speed of the servoaxes in the depositing area (above the lower swivelling limit).




Defines the depositing position for rejects depositing.



Reject request

Reject deposit - 1 position


Reject deposit





Depositing time


Rejects signal

Rejects vacuum/compressed air circuits

Info Panel

Se-






Depositing time

Waiting time after depositing the reject molding.


Speed of servoaxes from the depositing position to the lower swivelling limit.




153

2.6 Quality Control deposit - 1 positionFor automatic or manual requesting this depositing variant enables the deposit of quality con-trol parts at a separate quality control deposit position. A quality control part can be requested manually with the ’Quality control part request’ button

on the hand control device or the control panel of the injection molding machine.


Program switch enables or disables quality control part depositing sequence.The appertaining flag displays that the test part depositing sequence is processed.

Quality contro l part demanded

The flag signals that the injection molding machine is producing a quality control part.

Quality Control vacuum/compressed air circuits


Production cycles before Quality Control part depositing

The entered number indicates after how many cycles the depositing of test parts is star-ted.

Production cycles before Quality Control depositing - actual value

The counter counts the cycles since the last quality control part was deposited. If thevalue matches the Production cycles before quality control part depositing count,a quality control part is deposited in the next cycle. Press the Rbutton to reset the coun-ter manually.

Reset produc tion cycle counter after manual request

When the program switch is activated, the ’Production cycles before quality controlparts’ counter is reset, after depositing a quality control part, when you press the ’qua-lity control part request’ button on the hand control device.

Quality Control parts - set value

Specifies the number of successive cycles to be deposited as quality control parts.

Quality Control parts - actual value

Actual value counter for quality control part depositing. The value is automatically reset

when it reaches the ’Quality Control parts-set value’ . Press the Rbutton to reset thecounter manually.

Quality control part request



Production cycles before Quality Control part depositing

Production cycles before Quality Control depositing - actual value

Quality Control parts - set value

Quality Control parts - actual value

Reset production cycle counter after manual request

Quality contro l deposit

Quality control part demanded


Info Panel

Se-









Quality Control depositing position

Defines the depositing position for the test part depositing.



Depositing time

Waiting time after depositing quality control part.



Quality Control depositing





Depositing time




155

2.7 Sprue depositing - 1 positionThe sprue depositing function allows separate depositing of injection molded parts and sprueparts at separate positions.


Program switch enables or disables sprue depositing sequence.The appertaining flag displays that the sprue depositing sequence is processed.

Sprue vacuum/compressed air circuits

Configuration of the vacuum/compressed air circuits is only possible in Teach mode.

See chapter Quick Setup. Speed in deposi ting area




Sprue depositing position

Defines the depositing position for the sprue depositing.



Depositing time

Waiting time after depositing the sprue part.

Speed from depositing positionSpeed of servoaxes from the depositing position to the lower swivelling limit.

Part not deposited

Cause Part monitoring is still enabled although the function is switched offafter the depositing time expires.

Effect Automatic cycle is stopped until the monitoring input is disabled.

Remedy Check and set part monitoring or modify the automatic sequence.




Depositing time


Sprue depositing position



Sprue deposit

Sprue vacuum/compressed air circuits

Info Panel

Se-





3 Set up robot on injection mold

WARNING!

Danger to life and limb due to moving components!

Never work or s tand below moving components, e.g. the Y-axis.Never enter or reach into the robot work area while the robot is moving.

The following approach refers only to the program ’Take-off 3 positions’ with vertical take-off:

1. On the plant, activate Set-up mode and at least access authorization level 5.

2. At the injection molding machine the mold must be open with not demolded injectionmolded part(s). Pay attention to the correct opening, ejector and core position(s).

3. Activate the required vacuum/compressed air circuits on the Quick Setup screen.

4. Place robot on the move-in position. Bring X- and Z-axis in position so that no collisionwith the injection mold arises when moving in the Y-axis.

5. Move-in with the Y-axis into the open injection mold. When for reasons of the exact posi-tioning movements with open safety gate of the injection molding machine must be run,then press the consent key on the hand control device in addition to the pushbutton.

6. Move the machine ejector to the ’ Advanced ejector position’ . Ensure that plant parts donot collide.

7. Set the robot axes to ’Take-off position’ so that the part can be transferred.

8. Switch on sucker or gripper on the hand control device.

9. Set and/or take over position of the axes on screen page Take-off at Take-off posit ion

- XYZ .

10. Set required speeds for later automatic mode11. Move Y-axis so that a collision-free moving-out from the mold with injection molded

part(s) is possible.

12. Move Y-axis out from the mold on position 0 so that a collision-free closing of the injec-tion mold is possible. When necessary, also change the Z position.

13. Enter axis positions on the screen page Take-off under Position before opening .

14. Set times (takeover delay, takeover time, ejector delay).


16. Select screen page Grid editor and Parameters.

17. Enter actual position in the Starting position.

18. Enter speed (V=10%).19. Set swivelling limit.

20. Set parameters for C-axis (and/or A- and B-axis).

21. Set times (depositing delay time, depositing time, running time depositing conveyor-belt).



Grid editor

157

Grid editor

The Grid Editor is a tool for creating depositing or take-off grids. In these grids the robot caneither deposit injection molded parts you produce, or pick-up insert/place parts.Shot, single part and teach grids are possible pre-programmed sequences in the robotsequence.

CAUTION!

Danger of damage to equipment due to improper settings!Set grids so as to avoid collisions between insert-place pick-up and moldedparts depositing.

[1] Selection tree

List of all available shot grids, individual part grids, and teach grids.

[2] Setting and simulation area

Tab selection for attributes, parameters, etc.


Grid using the commands: print, create, delete, and configure.

Edit using the commands: move and delete messages.

View using the commands: actual value display on/off, selection dialog on/off; mes-sage dialog on/off, and Maximize/Minimize.

[4] Teach grid sequence

[See Teach grid sequence on page 174.]

+ Grid Attributes Parame- Intermediate ProductionSimulation

Shot grid 1

Shot grid 2

Shot grid 3


Teach grid

Shot grid1

Grid editor

2

Info Panel

Name

Description

Shot grid 1

Element attributes

Grid Edit ViewTeach grid se-

343



Grid editor


Note!

With several robots (e.g. tandem rise systems), the control unit also switches when togglingbetween the Info Panels the screen pages ’Grid editor ’ and ’Work area setup’ for the applica-ble robot.

1 Shot gridWith this grid type the robot deposits all parts from the shot at the same time. All ’Depositingvacuum/compressed air circuits’ switch off at the corresponding grid depositing position.The shot grid builds up a shot grid in a number of cycles (shots) depending on gaps, numbersand priorities.

Example:

The robot uses separate vacuum/compressed air circuits to pick up both parts from a moldwith 2 cavities, and deposits the parts in the shot grid at the same time. In a grid layer therobot deposits four shots with two parts each.

[1] Calculated depositing position for the fourth shot.

1.1 Shot grid - attributesFreely selectable name and short description for the selected element in the selection tree.

3 1

4 2

1

Z -

X +

+ Grid Attributes Parame- Intermediate ProductionSimulation

Shot grid 1

Shot grid 2

Shot grid 3


Teach grid

Shot grid

Grid editor

Info Panel

Name

Description

Shot grid 1

Element attributes

Case 4-fold depositing



Grid editor

159

1.2 Shot grid - parameters

Starting position

Depositing or pick-up point for first part on grid. Using the starting position and the ’Grid param-

eters’ settings, the control unit calculates the depositing position for the individual shots.

Grid parameters

Parts layout on grid.

Grid type

Selecting Deposit grid or Pick-up grid.For a Deposit grid the sign for the Y distance is automatically set to ’minus’ .

Distance

Distance between shots on the grid for linear servoaxes (X,Y,Z). A positive value moves in the positive axis direction from the starting point, and a nega-tive value moves in the negative axis direction. The sign for the Y distance is set auto-matically by the grid type.

Number

Number of shots the robot deposits/picks up in each axis direction.

Priority

Specifies the axis order in which the shots are deposited/picked up on the grid. The axiswith ’1’ has the highest priority.In assignment of priority 1,2,1 for the X, Y and Z axes the robot deposits the parts in theY position diagonally.

Set grid points

The set value is calculated by reference to the grid number values. You can change thevalue manually to deposit/pick up a defined number of shots. The value must be smaller than the calculated value. After reaching the set value, the grid is reset.

Current grid points

Actual value for shots deposited/picked up on the grid.

Reset gr id

Automatic operation not possible.

Starting posit ion

Attri- Parame- Intermediate ProductionSimulation

Grid type

Distance

Grid parameters

Number

Priority

Set grid points

Current grid points

Deposit grid

Reset grid R



Grid editor


Example:

Starting position and grid spacing for part depositing.

[1] Starting position

(distance of parts * number of parts + shot grid starting posit ion

Z) within the machine area

Effect No automatic operation possible

Remedy Set the grid values so that no positions are inside the machine area.

(distance of parts * number of parts + shot grid starting posit ion

Z) outside of axis limits


Remedy Set the grid values so that no positions are outside the axis limits.

3

1 4

2

1

Y - d i s t a n c e

X - d i s t a

n c e

Z - D i s t a n c e



Grid editor

161

1.3 Shot grid - intermediate layer Intermediate layers are carton, plastic plates or trays which are inserted between the Y grids(Y layers). The robot can deposit an intermediate layer as a bottom or Top layer.The parameters for picking up intermediate layers must be set on the ’Intermediate layers’

screen page.

Used magazine

Magazine sequence

This selection is intended for multiple magazines of intermediate layers. In the standardcase the robot can only pick up the intermediate layer from the magazine called Inter-

mediate layers depositing . The intermediate layers program will not work if youselect No sequence.

Intermediate layer

An intermediate layer serves to avoid wear, and to improve sorting of parts.

Intermediate layer Program switch for enabling or disabling intermediate layers Bottom/top layers can stillbe deposited when the intermediate layer is disabled.

Number of layers before in termediate layer

The value indicates after how many part layers an intermediate layer is placed.

Correction value per intermediate layer

Distance between the Y-layers. Robot takes this value into account when calculating theY-grid position and is only effective when the ’Intermediate layer ’ program switch is acti-vated.

Special layer

An intermediate layer laid after the last, or below the first parts layer.

Top layer

Program switch for enabling or disabling covering layer. After the last parts layer, ano-ther intermediate layer is deposited as a Top layer.

Bottom layer

Program switch for enabling or disabling bottom layers. Before the first parts layer, an

intermediate layer is deposited as a bottom layer.

Used magazine

Magazine sequence Intermediate layers de-

Attri- Parame- Intermediate Pr oductionSimulation

Intermediate layer

Number of layers before intermediate layer

Intermediate layer


Special layer

Top layer

Bottom layer



Grid editor


Starting position bottom layer

X Y Z A B C - Starting position for bottom layer

Example:

Shot grid with bottom and covering layers and two intermediate layers.

[1] Top layer

[2] Intermediate layer

[3] molded part

[4] Bottom layer

Starting posi tion bottom layer

1

23

4Starting position bottom layer

Starting position for first grid layer

C o r r e c t i o n

v a l u e p e r i n t e r -

m e d i a t e l a y e r

Y - d i s t a n c e



Grid editor

163

1.4 Shot grid - Simulation/ProductionThis is a graphical visualization of the set grid. The settings for the grid can be checked imme-diately using the simulation program. You can query the current grid status during productionin the ’Production’ tab.

[1] The intermediate layer (in this case without bottom and covering layers) is depicted asa white rectangle.

[2] Representation of the shot grid with the shot number.The arrangement of the individual shots depends on the settings in the Grid parameters.The Y grid layers and intermediate layers appear in X and Z displaced, but lie exactlyone on top of each other.

[3] Limiting values of the depositing/take-off positions from the first and last shot in X, Z andY direction.

21

3




Grid editor


2 Individual part gridThe robot can use multiple vacuum/compressed air circuits to deposit individual shot parts atseparate depositing positions.The number of depositing positions is derived from the number of vacuum/compressed air cir-

cuits selected in the configuration.

Example:

A robot will use separate vacuum/compressed air circuits to pick up each part from a moldwith 2 cavities. Each part is deposited on its own depositing position on the individual partsgrid to ensure optimum use of space. In a grid layer the robot deposits four shots with twoparts each.

Advantage: No Teach grid required. The individual parts grid is simple to configure.

[1] Calculated depositing position for vacuum/compressed air circuit 1[2] Calculated depositing position for vacuum/compressed air circuit 2

Note!

The following section describes those tabs for the individual parts grid that differ from the shotgrid.

2.1 Individual part grid - Attributes

Freely selectable name and short description for the selected element in the selection tree.

3 1

4 2

1

2

Z -

X +

+Grid Attributes Parame- Positions Intermediate

Individual part



Teach grid

Shot grid

Grid editor

Info Panel

Name

Description


Element attributes




Grid editor

165

2.2 Individual part grid - parameters

Y-moving height

In this plane, the robot moves along the X and Z axes from the previous to the next depositingposition.That is: the robot moves its Y axis from the current depositing position to the set Y travelingheight, then it moves along X and Z axes on the Y plane to a position above the next deposit-

ing position. When the robot is above the depositing position, the Y axis moves to this position.

Moving heightThe traveling height defines the position of the Y plane.The following parameters are available:


You can change this value on the Quick Setup screen page.

Y-moving position absolute

This is a Y axis position. This position can be modified if it is set as the Moving

height.

Y-moving position relative

The stroke of the Y axis in the set direction (+/-). This position can be modified if it isset as the Moving height.

Example: Y plane

[1] Depositing position for vacuum/compressed air circuit 1

[2] Depositing position for vacuum/compressed air circuit 2

Y-moving height

Attributes Parame- IntermediatePositions

Moving height

Y-moving position absolute

Y-moving position relative


Lower swivelling limit depos-

21

Moving height

Y-moving height



Grid editor


Grid parameters


Grid type


Ac tion after interrup tion

The robot performs the selected action after a cycle interruption during part depositing.

Cycle grid

The grid is deleted on the next cycle start.

Continue grid

When the next cycle starts, the robot deposits the parts still in the end of arm toolingin the grid. To allow this to happen, ’home position movement with parts’ must be

activated and ’rejects depositing’ must be deactivated. Next sho t

The robot deposits the parts for the next cycle in the next shot. Note the setting for ’Home position movement with parts’ and ’rejects depositing’.

Repeat the shot

After a cycle interruption, the operator must remove the parts of the last cycle fromthe grid and/or end of arm tooling. When the next cycle starts, the robot deposits theparts in the same shot as for the last cycle.

Distance

Distance between shots on the grid for linear servoaxes (X,Y,Z).

A positive value moves in the positive axis direction from the starting point, and a nega-tive value moves in the negative axis direction. The sign for the Y distance is set auto-matically by the grid type.

Number


Priority

Specifies the axis order in which the shots are deposited/picked up on the grid. The axiswith ’1’ has the highest priority.In assignment of priority 1,2,1 for the X, Y and Z axes the robot deposits the parts in theY position diagonally.

Set grid points

The set value is calculated by reference to the grid number values. You can change the

value manually to deposit/pick up a defined number of shots. The value must be smaller than the calculated value. After reaching the set value, the grid is reset.

Grid type

Grid parameters

Deposit grid

Action after interruption Cycle grid

Distance

Number

Priority

Set grid points

Current grid points

Reset grid R

Actual parts



Grid editor

167

Current grid points

Actual value for shots deposited/picked up on the grid.

Actual parts

Actual value of the deposited/taken-off parts in the grid.

Reset gr id


2.3 Individual part grid - positions


Starting depositing position for vacuum/compressed air circuit x. The robot moves to thedepositing positions ’Vacuum/compressed air 1’ and ’Vacuum/compressed air 2’ in the order specified here.Using the starting position and the ’Grid parameters’ settings, the control unit calculates thedepositing position for parts in the individual shots.

Example:

Starting positions for two vacuum/compressed air circuits and grid distances.

[1] Depositing starting positions vacuum/compressed air circuit 1[2] Depositing starting positions vacuum/compressed air circuit 2



IntermediatePositions Attri- Parame-

X - d i s t a

n c e

3

1 4

2

1 2

Y - d i s t a n c e

Z - D i s t a n c e



Grid editor


Configure vacuum/compressed air circuit

The depositing starting positions for the vacuum/compressed air circuits are displayed in theorder of dialog box ’Group configuration - Vacuum /compressed air circuits’ .On the Grid Editor screen, the dialog is opened in ’Teach mode’ when you press the Grid andConfigure buttons.

Using the navigational arrows <<< and >>> you can move the complete content from ’ Avail-able elements’ to ’Selected elements’ and vice-versa.You can select an individual vacuum/compressed air circuit, and move it using the navigationalarrows < and > to insert it into ’Selected elements’ in the desired order.

Note!

You can also configure vacuum/compressed air circuits on the ’Quick Setup’ screen page inthe group configuration for ’Individual part grids - Vacuum/compressed air circuits’.

(distance of parts * number of parts + indiv idual part grid starting

posit ion Z) inside the machine area


Remedy Set the grid values so that no positions are inside the machine area.

(distance of parts * number of parts + indiv idual part grid starting

position Z) outside of axis limits


Remedy Set the grid values so that no positions are outside the axis limits.





Cancel ExecuteHelp



Grid editor

169

Example:

Creating 2 depositing positions for the individual part grid 1.You need to configure vacuum/compressed air circuits 1 and 2 for this.

1. To configure vacuum/compressed air circuits, you must first change to Teach mode.

2. On the ’Grid Editor ’ screen page select the required individual parts grid in the selectiontree.

3. Press the menu buttons Grid and Configuration to display the ’Group configuration -Vacuum/compressed air circuit’ dialog box.

IntermediatePositions Attributes Parame-Grid



Shot grid

Teach grid

Grid editor

+


Info Panel





Cancel ExecuteHelp



Grid editor


4. Select Vacuum/Compressed air circuit 1 and use the > key to move it to ’Selected Ele-ments’ ..

5. Select vacuum/compressed air circuit 2 and move it to the right using the > key.

6. Use Execute to store the current configuration.

7. The starting positions are now listed correspondingly in the ’Positions’ tab.





Cancel ExecuteHelp





Cancel ExecuteHelp

IntermediatePositions Attributes ParametersGrid



Shot grid

Teach grid

Grid editor

+




Info Panel



Grid editor

171

2.4 Individual part grid - intermediate layer Intermediate layers are carton, plastic plates or trays which are inserted between the Y grids(Y layers). The robot can deposit an intermediate layer as a bottom or Top layer.The parameters for picking up intermediate layers must be set on the ’Intermediate layers’

screen page.

Description of the parameters [See Intermediate layer on page 161.]

2.5 Individual part grid - simulation/productionThis is a graphical visualization of the set grid. The settings for the grid can be checked imme-diately using the simulation program. You can query the current grid status during productionin the ’Production’ tab.

[1] Depositing position number for an individual shot (red number in white box). The exactpositions are shown in the ’Positions’ tab.


Used magazine


Attri- Parame- IntermediatePositions

Intermediate layer

Number of layers before intermediate

Intermediate layer

Special layer Top layer

Bottom layer

Starting position bo ttom layer

1

Parame- Intermediate Simula-Positions



Grid editor


3 Teach gridTeach grids are the most flexible grids of which two are for selection.

In standard a Teach grid has the following structure

An individual sequence must be created for each part in the teach grid sequence. This allowsthe robot to deposit each part at a different position.

3.1 Configure teach gridYou can add several subgrids, shots and parts to the Teach grid as required.Before you can configure the Teach grid you must change to the Teach mode.You can select Create, Delete and Move in the command menu Grid and Edit . The commandkeys are only active if the command in question can be performed for the element selected inthe selection tree (subgrid, shot or part).

Instruction keys

Create

To create a sub-grid, shot or part.

Delete

To remove from a selected sub-grid, shot or part. Move

Move the marked shot or part upwards or downwards in the selection tree.

Note!

Delete all subgrids, shots and parts you do not need for part depositing in the Teach grid fromthe selection tree.

Teach grid 1

Shot 1

Subgrid 1

Part 1



Grid editor

173

Example:

Adding a subgrid to Teach grid 1.

1. Before you can configure the Teach grid you must change to Teach mode.

2. On the ’Grid Editor ’ screen page select the required individual Teach grid in the selec-

tion tree.

3. Press the Grid and Create menu buttons to display the ’Create new subgrid’ dialog box.

4. Use the Execute menu button to insert subgrid 2 into Teach grid 1.

5. Save the configuration by quitting Teach mode.

Grid editor

+

Name

Description

Teach grid 1

Element attributesIndividual part grid

Teach grid

Shot grid

Teach grid 1

Grid Attributes Parameters Intermediate ProductionSimulation

Info Panel

Teach grid 2

Create new subgrid

Subgrid 2

Shot 1

Cancel ExecuteHelp

Part 1

Subgrid name

Shot name

Parts name

Grid editor

+Name

Description

Part 1

Element attributes


Teach grid

Shot grid

Subgrid 1

Shot 1

Part 1

Teach grid 1

Grid

Subgrid 2

Info Panel



Grid editor


3.2 Teach grid sequence An individual sequence must be created for each part in the teach grid sequence. This allowsthe robot to deposit each part at a different position.The ’Teach grid sequence’ starts in automatic mode when the ’Teach grid x’ instruction is

reached in the robot sequence. Once the teach grid sequence has been worked through com-pletely, the machine will continue with the robot sequence.

These two methods will take you to the teach grid sequence:

Double click on the teach grid instruction in the robot sequence.

Select the Teach grid sequence menu button in the grid editor.

Depositing conveyor belt 1 - Part deposited



Teach grid 1


Teach grid sequence

Part 1

Part 1

Info Panel

Se- Attributes

Help Close

Teach grid parts

Teach grid

Grid

Teach grid 1

Subgrid 1

Shot 1

Part 2

Teach grid 2

structure instructions

Sequence control

Robot


Sequences

Peripheral unit

Grid

Teach pointer

safety gate

Instruc-

Part 1



Grid editor

175

Instructions

All robot and move instructions with the extended ’rasterized’ setting are available for theteach grid sequence.In the rasterized setting for a movement instruction the robot rasterizes the position for eachshot as specified in the Grid Editor.

Symbol Name Function

Individual axis movement The selected axis moves to the set position.The robot rasterizes the position as specifiedin the Grid Editor.

Linear axes movement All 3 linear axes (X, Y, Z) move in parallel tothe set positions.The robot rasterizes the positions as specifiedin the Grid Editor.

Robot movement All robot axes (X, Y, Z, A, B, C) move in paral-lel to the set positions.

The robot rasterizes the positions as specifiedin the Grid Editor.

Multi-position linear axesmovement

All linear axes (X, Y, Z) for which a positionhas been set move in parallel to these posi-tions.The robot rasterizes the positions as specifiedin the Grid Editor.



Grid editor


Example:

In each cycle the robot deposits two parts at different positions. A sequence must be createdfor each part in the teach grid sequence. After the ’Position before opening’ or ’Machine area - Max - Z’ the robot moves to ’Linear axesposition 2’ . After completing the sequence for part 1, the sequence for part 2 starts. After

depositing both parts, the robot continues with the instructions in the robot sequence.

[1] Robot sequence

[2] Teach grid sequence for part 1

[3] Teach grid sequence for part 2


1 2

3

Linear axes position 3

Depositing position 2

[OFF] with monitoringVacuum/compressed air 2

Time=1Depositing time

Part 2



Depositing position 1

[OFF] with monitoringVacuum/compressed air 1

Time=1Depositing time

Part 1


If

Moving-in/out horizontallyMachine area - Max - ZPosition before

Take-off Standard

Moving-out standard

Part depositing on Teach grid 1 on the conveyor-belt

Depositing conveyor-belt 1 Wait depositing allowed

Teach grid 1

Part depositing on Teach grid 1 on the conveyor-belt

X=0 Y=0 Z=800 V=5

X=100 Y=0 Z=1200 V=5

X=0 Y=400 Z=800 A=[ - ] B=[ - ] V=5

X=100 Y=400 Z=1200 A=[ - ] B=[ - ] V=5



Grid editor

177

Create teach grid sequence

1. Change to the ’Teach’ mode.

2. On the ’Grid Editor ’ screen page select the required individual Teach grid in the selec-tion tree.

3. Selecting the Teach grid sequence menu button takes you from the Grid Editor screen

to the teach grid sequence.4. Select a part. It is not essential to close the dialog window to create a sequence.

5. In the teach grid sequence, you can create the sequence for a part or modify an existingsequence. The Grid Editor menu key lets you go back to the Grid Editor.

Grid editor

+

Name

Description

Teach grid 1

Element attributesIndividual part grid

Teach grid

Shot grid

Teach grid 1

Grid Attributes Parameters Intermediate ProductionSimulation

Info Panel

Teach grid 2

Teach grid parts

Teach grid

CloseHelp

Grid

Teach grid 1

Teach grid 2

Subgrid 1

Shot 1

Part 1

Part 2

Shot 2

Teach grid sequence

+ Part 1

Robot


Sequence control

Sequences

Peripheral unit

Instructions:

Part 1

Info Panel

Se- Attributes



Grid editor


6. To change from the Teach grid sequence for ’Part 1’ to ’Part 2’ , click on the Part 1

selection box.

7. The ’Teach grid parts’ dialog box appears.

8. Select Part 2 to display the sequence for the part 2.

9. Save the sequence by quitting the ’Teach’ mode.

10. Now save the finished sequence in the parts data set.

Teach grid sequence

+Part 1

Robot


Sequence control

Sequences

Peripheral unit

Instructions:

Part 1

Info Panel

Se- Attributes

Teach grid parts

Teach grid

CloseHelp

Grid

Teach grid 1

Teach grid 2

Subgrid 1

Shot 1

Part 1

Part 2

Shot 2

Teach grid sequence

+Part 2

Robot


Sequence control

Sequences

Peripheral unit

Instructions:

Part 2

Info Panel

Se- Attri-



Grid editor

179

Note!

The sequence is saved in the parts data. Therefore rewrite the parts data after saving thesequence.

3.3 Teach grid - AttributesFreely selectable name and short description for the selected element in the selection tree.

+Grid Attributes Parame- Intermediate Simulation

Teach grid 1

Teach grid 2


Teach grid

Shot grid

Grid editor

Info Panel

Name

Description

Teach grid 1

Element attributes


Production



Grid editor


3.4 Teach grid - parameter

Grid parameters


Grid type


Ac tion after interrup tion

The robot performs the selected action after a cycle interruption during part depositing.

Cycle grid

The grid is deleted on the next cycle start.

Continue grid

When the next cycle starts, the robot deposits the parts still in the end of arm toolingin the grid. To allow this to happen, ’home position movement with parts’ must beactivated and ’rejects depositing’ must be deactivated.

Next sho t

The robot deposits the parts for the next cycle in the next shot. Note the setting for ’Home position movement with parts’ and ’rejects depositing’.

Repeat the shot

After a cycle interruption, the operator must remove the parts of the last cycle fromthe grid and/or end of arm tooling. When the next cycle starts, the robot deposits theparts in the same shot as for the last cycle.

Distance

Distance between shots on the grid for linear servoaxes (X,Y,Z). A positive value moves in the positive axis direction from the starting point, and a nega-tive value moves in the negative axis direction. The sign for the Y distance is set auto-matically by the grid type.

Number


Priority

Specifies the axis order in which the shots are deposited/picked up on the grid. The axis

with ’1’ has the highest priority. Set/current grid points

Number of sub-grids or shots that the robot deposits/picks in one Teach grid.

Grid type

Grid parameters

Deposit grid

Action after interruption Cycle grid

Attributes Parame- Intermediate ProductionSimulation

Distance

Number

Priority

Set grid points

Current grid points

Reset grid R



Grid editor

181

Reset gr id


3.5 Teach grid - intermediate layer Intermediate layers are carton, plastic plates or trays which are inserted between the Y grids(Y layers). The robot can deposit an intermediate layer as a bottom or Top layer.The parameters for picking up intermediate layers must be set on the ’Intermediate layers’screen page.

Description of the parameters [See Intermediate layer on page 161.]

Used magazine


Attri- Parame- Intermediate Pr oductionSimulation

Intermediate layer

Number of layers before intermediate layer

Intermediate layer

Special layer

Top layer

Bottom layer

Starting posi tion bottom layer




Grid editor


3.6 Teach grid - simulation/productionThere is no graphical simulation for a teach grid. The depositing order for sub-grids, shots andparts is displayed in tabular format. You can query the current grid status during production inthe ’Production’ tab.

Processing

The subgrid, shot and part for the previous, current and next cycle are shown in the pro-grammed order.

Depositing status

The current / set number of total parts for all grids is shown.

Below this you can see the current / set numbers juxtaposed for the programmed Teachgridsand Subgrids in X, Y and Z direction.


Subgrid 1

Subgrid 1

Subgrid 1

Processing

Depositing status

Shot 1

Shot 2

Shot 1

Part 1

Part 2

PartShot

Parts total

Teach grid 1

Subgrid 1

Next

Actual

Last

Act Set Act Set Act SetX Y Z

Subgrid 1 Part 3

Set Act



Grid editor

183

Example:

A robot will use separate vacuum/compressed air circuits to pick up each part from a moldwith 2 cavities. To save space, each part is deposited at a separate depositing position. A grid layer always contains four parts. The parts from shot 2 are displaced by the Z distance= 300mm (11.81 in) with respect to the parts from the first shot.

In the subgrid is a shot with 2 parts configured.

[1] Part 1

[2] Part 2

+Grid


Shot grid

Grid editor

Teach grid

Subgrid 1

Teach grid 1

Attributes Parame- Intermediate

Grid type

Distance

Grid parameters

Number

Priority

Set grid points

Deposit grid

Part 1

Part 2

Shot 1

Info Panel

1

2

Teach grid 1

Subgrid 1

Shot 1Shot 2

1

2

Z -

X +

X - distance



Grid editor


Example:

A robot will use separate vacuum/compressed air circuits to pick up each part from a moldwith 2 cavities. To save space, each part is deposited at a separate depositing position. A grid layer always contains four parts at different positions.Two subgrids with one shot and two parts each are configured for the Teach grid.

The robot deposits the parts from the first cycle in subgrid 1, and the parts from the second

cycle in subgrid 2.

[1] Part 1

[2] Part 2

+

Grid editor

Teach grid

Subgrid 1

Teach grid 1

Attributes Parame- Intermediate

Grid type

Distance

Grid parameters

Number

Priority

Set grid points

Deposit grid

Part 1

Part 2

Shot 1

ProductionSimulation

Subgrid 2

Part 1

Part 2

Shot 1

Grid


Shot grid

Info Panel

1

2

Teach grid 1

Subgrid 2

Shot 1

Shot 1

2

1

Subgrid 1Z -

X +



Robot sequence

185

Robot sequence

The robot sequence is used for the graphic display, changing and creation of programsequences.

The following views are possible in the robot sequence

Simple view

Circular display of all subsequences in a sequence.

Extended view

Complete display of all instructions in a sequences.

Robot sequence

Robot sequence

Extended view

Info Panel

Part deposit without grid

Take-off Standard

Robot - Simple - sequence


Robot sequence

Sequence control

Robot


Sequences

Peripheral unit

Grid

Robot sequence

Instruc-


List while

Automatic mode of operation ac-

If


Reject deposit

Take-off Standard

If

Reject deposit1 Position

Test part depositing active

Quality controlPosition

PartShot


Info Panel

Simple view

Teach pointer

safety gate



Robot sequence


1 Simple viewThe sequence is shown in circular form in the simple view. This view enables the exchange of a subsequence or complete sequence (=variant) from access level 5 and above in the ’Teach’mode..’In addition, it is possible in this view to start the assistant for sequence set-up in the ’Teachmode of operation. [See Assistant for sequence set-up on page 199.]

Example: Standard robot sequence

[1] Sequence selection

Toggling between machine sequence, robot sequence, etc. possible.

[2] Switchover key

Toggling between ’Extended view’ and ’Simple view’ possible.

[3] Sequence window

Graphic display of the selected sequence with short text. The window can be scrolledhorizontally and vertically.

[4] Assistant fo r sequence set-up

Button with wand appears in the ’Teach’ mode of operation.

1 2Robot sequence

Robot sequence


Extended view+

Info Panel


Part deposit in shot grid 1 with conveyor-

Sprue depositing - 1 posi-

Take-off Standard


3

Editing mode active

4



Robot sequence

187

1.1 Symbols for robot sequenceThe symbol in the center of the circle shows the entire robot sequence. The symbols in the cir-cle show the individual subsequences of the entire sequence.The system will start in automatic mode with the first subsequence in the circle and workthrough all active subsequences in a clockwise direction. Disabled subsequences are crossedout in red and thus skipped.

The system will process subsequences with an orange border under certain conditions, e.g.depending on the part manufactured (good part, quality control part or reject part)).The system processes the subsequences bordered in green consecutively.

Jumping from the robot sequence to screen pages

In each sequence/subsequence there is a button for jumping to the respective screen page.

The screen pages in turn contain a button for returning to the robot sequence.

Step pointer

In automatic mode, active subsequences are marked in the sequence by a green step pointer.The step pointer can be activated/deactivated in the ’Extended view’ using the menu keysView and Step pointer .




Part deposit in shot grid 1 with con-veyor-belt


Processing station

Part deposit in shot grid 1 with con-veyor-belt

Take-off Standard


Take-off Standard

Take-off

Info Panel

Se-

Take-off Standard



Robot sequence


2 Extended viewThe complete sequence is shown in the extended view. This view enables the exchange of asubsequence or complete sequence (=variants) from access level 5 and above in the ’Teach’mode. In addition, from access level 7 and above the sequences can be individually modifiedor newly created. From access level 9 and above the complete range of instructions is avai-lable for sequence processing..

Example: Robot sequence

[1] Selection window Instructions

Structured listing of all instructions and sequence variants for sequence creation.

[2] Sequence selection

Toggling between machine sequence, robot sequence, etc. possible.

[3] Switchover key

Toggling between ’Extended view’ and ’Simple view’.

[4] Sequence window

Graphic display of the selected sequence with short text. The window can be scrolledhorizontally and vertically.


2

1


Robot sequence

Sequence control

Robot


Sequences

Peripheral unit

Grid

Robot sequence

Instruc-


List while


If


Reject deposit

Take-off Standard

If

Reject deposit1 Position


Quality controlPosition

PartShot


+

Info Panel

Simple view

Teach pointer

safety gate

3

4

New Program Edit View

Robot Set-up mode activated

5



Robot sequence

189

Find in list

Use the menu keys View and Find in list to activate this function. This highlights the selectedinstruction in the sequence in the ’Instructions’ selection box.

Fixed pointer

Use the menu keys View and Place to activate this function. This causes the control unit topush the subsequence into the top left corner of the display panel when you open the subse-

quence.

2.1 Symbols for robot sequenceThe graphic program sequence consists of serial and parallel steps as well as conditionalbranches and repeat loops. Each function step is represented as symbol with short text.The system processes activated subsequences step by step from the top down. Disabled sub-sequences are crossed out in red and thus skipped.

For ’If ’ structure instructions the system processes the instructions from the top down or to theright according to the requirement.Instruction ’Execute while automatic mode is active’ causes a restart of the robot sequencewhile automatic mode is active.Individual subsequences are indicated by an icon with a bold border, and can be opened bypressing the + symbol.

These subsequences can be broken down into further subsequences and individual instruc-tions.When an instruction is selected it receives a red border and a long text is displayed.


Take-off 3 posi-tions



Moving-in 3 posi-tions

Moving-in 3 positions


Take-off position - Z

Take-off position - Y

Take-off position - Y

Wait untilMold open

Take-off position - ZZ=0Individual axis movementSpeed in take off area=100Start



Robot sequence


When the instruction is double-clicked, a dialog window will open displaying parameters for setting.

Pressing the Less menu key will hide the ’Display on screen page’ lines. In the ’Display onscreen page’ selection box set the screen page on which the parameters are to be displayed.When the respective program switch is activated the control unit will display the parameters onthe screen page.

Jumping from the robot sequence to screen pages

In each sequence/subsequence and instruction there is a button for jumping to the respectivescreen page.

The screen pages in turn contain a button for returning to the robot sequence.

Individual axis movement

Type

Position



Cancel Help Execute

Start


Take-off 3 positions


Take-off 3 positionsDisplay on screen page


Speed

Less

Key for changing the name of user-defined parameters


Take-off Standard


Engel standard sequence (standard part take-off, sprue depositing, quality controlpart depositing, rejects and parts depositing)


Take-off Standard

Take-off

Info Panel

Se-



Robot sequence

191

Step pointer

In automatic mode, active instructions are marked in the sequence by a green step pointer.You can activate or deactivate the step pointer in the sequence using the menu keys View andStep pointer .You can select View and Go to pointer to view the instruction that has just been processed inthe sequence.

2.2 Instruction typesEvery instruction type has its own background color. This makes it easy to identify an instruc-tion's function at first glance.

Symbol Color Instruction type Function

yellow Move instructions - To posi-tion

The next instruction starts after reach-ing the position.

green Move instructions - Start Move instruction starts and the pro-gram immediately jumps to the nextinstruction. If the next instruction isalso a move instruction, the robot willnot move precisely to this position,but use position smoothing based onparameters defined in the robotsetup.

yellow Switch function on/off andwait for final position

The next instruction starts after reach-ing the final position / vacuum switch.

green Switch function on/off The function starts and the nextinstruction starts immediately withoutwaiting to reach the final position /vacuum switch.

yellow Release to machine andwait for final position

The next instruction starts after reach-ing the final position of the enabledmachine movement.

green Release to machine The robot enables the machinemovement and the program immedi-ately jumps to the next instruction.

tur-quoise

General release or block inboth directions

The instruction takes effect immedi-ately, and the following instruction isexecuted immediately.

orange structure instructions Structure commands typically containconditions. The next instruction isexecuted after evaluating the condi-tions.

Take-off Standard



Robot sequence


Example:

A ’On position’ move instruction is followed by a ’Function’.The vacuum/compressed air function will not start until the robot position has been reached.

Example:

A ’Start’ move instruction is followed by a ’Function’.The vacuum/compressed air function starts parallel to the move instruction. They can beinserted sequentially or preferably in parallel within the sequence.

2.2.1 Overgrinding movements of linear axesIn order to get a round, harmonic and mechanics-sparing movement, it is possible to overgrindthe indidivdual movement sentences.

Note!

The following two examples are not relevant for a ’Speedy Robot’ because it is equipped onlywith a linear axis.

Example: movement without overgrinding

A ’On position’ move instruction, is followed by another ’On position’ move instruction.The move instruction at position 3 starts after reaching position 2.

Position 3

Position 2Position 1

Position 3

Position 2

Position 1



Robot sequence

193

Example: movement with overgrinding:

A ’Goto position’ move instruction, is followed by a ’Start’ instruction, and then by another ’Goto position’ move instruction. After reaching position 1 the move instruction at position 2 starts, immediately followed by themove instruction at position 3. Position 2 is smoothed.The position smoothing process starts after 50 % of the stroke for the first move at the earliest.The calculated path must touch at least one point on the imaginary circular trajectory (smooth-

ing radius).

2.2.2 Smoothing windowThe ’smoothing window’ function reduces jerky movements due to parallel traversing on the X-or Y-axis with the Z-axis when retracting from the machine area in the direction of the deposi-ting area while overgrinding a position. The same applies to movements in the opposite direc-tion..

The following conditions must be satisfied for retracting movements from the machine

area to ensure the effectiveness of the smoothing window:

Starting point of the first move instruction must lie in the machine area.

First move instruction is a pure Z-movement and a ’Start’ move instruction.

Destination of the first move instruction lies in the ’Window overgrinding area 1’.

Destination of the second move instruction lies in the depositing area.

The following conditions must be satisfied for advance movements into the machine

area to ensure the effectiveness of the smoothing window:

Starting point of the first move instruction must lie in the depositing area.

First move instruction is a ’Start’ move instruction.

Destination of the first move instruction lies in the ’Window overgrinding area 1’.

Destination of the second move instruction lies in the machine area.

Second move instruction is a pure Z-movement.

Position 3

Position 2

Position 1

Position 3

Position 2

Position 1

The ball shows the overgrindingradius



Robot sequence


Example: Smoothing window

[1] Path with smoothing window

[2] Path without smoothing window

[3] Window size limits the smoothing window

[4] Depositing area

[5] Smoothing range windowSettings, see Robot setup - Robot node - Parameters tab.

[6] Machine area

Example: Optimum retracting movement from machine area

[1] Starting point of first move instruction[2] Destination of first move instruction or starting point of second move instruction

[3] Destination of the second move instruction


[5] Optimum path

+ Z

+ X

+ Y

4 5 6

3

2

1

1 2

3

4

5



Robot sequence

195

Example: Optimum advance movement into machine area

[1] Starting point of first move instruction

[2] Destination of first move instruction or starting point of second move instruction

[3] Destination of the second move instruction


[5] Optimum path

Note!

The robot moves from the starting point of the first move instruction to the target point of thesecond move instruction with the speed of the first move instruction.

2.3 Multiple selectionTouching 2 instructions in a sequence selects these two instructions and any instructionsbetween them. If you make a multiple selection, the selection is discarded the next time youselect an instruction in the sequence. Touching an area outside the sequence discards all

selections.

3 2

1

4

5



Robot sequence


3 SequencesThe entire sequence of an automated plant comprises a number of program sequences.Sequences can be separated to achieve a better overview for complex programs. The robotsequence, user sequence and machine sequence all start at the same time when the start but-

ton is pressed.

Sequence selection

Robot sequence

The robot sequence essentially contains a take-off and deposit sequence. Dependingon the machine equipment, the robot sequence can, for example, also contain subse-quences for sprue, reject and quality control deposit.The following Engel-defined robot sequences are available:


Variant for standard applications with screen switch for sequence selection. The’Robot - Simple - sequence’ contains as a default part take-off, sprue depositing,reject depositing, quality control part depositing and parts depositing in the grid onthe peripheral unit.

Robot - Complex sequence

This also includes the program for intermediate layers, sprue separation and inter-mediate deposits.

Robot Teach sample sequence

Simple variant without screen switch for creating special Teach sequences (screenswitches are without effect).

Robot empty sequence

Empty variant for creating an entire robot sequence.

Home position

Moves the robot from the deposit or take-off area to the start position with the pushbut-ton for movement to home position .

Park position (optional)Moves the robot to a predefined parking position.

Referencing

The order in which the robot measures the axes in ’ Automatic axis measurement’ mustbe set in the ’Referencing’ sequence.

User sequence

Sequence for peripheral unit or special applications not covered by the standard pro-gram. The user sequence starts parallel to the robot sequence. The sequence can beexecuted in manual mode via a pushbutton or input while the robot motors are switchedon and robot is in the home position.

Machine sequence

Includes the injection molding machine sequence with closing, injection and openingsequence.

Home position

Referencing

Park position

Robot sequence

Robot sequence

User sequence

Machine sequence



Robot sequence

197

4 Create sequenceThe following conditions must be met for creating a sequence:

Simple view

It´s possibly to create sequence with assistants help for the expiration production fromuser's authorization 5 in the mode of operation ’Teach’.Exchanging a subsequence or complete sequence (=variants) from access level 5 andabove in the ’Teach’ mode possible.

Extended view

Exchanging a subsequence or complete sequence (=variants) from access level 5 andabove in the ’Teach’ mode possible. In addition, from access level 7 and above thesequences can be individually modified or newly created. From access level 9 andabove the complete range of instructions is available for sequence processing.

CAUTION!

Danger of damage to equipment due to improper settings! As sequence changes are freely programmable, it is easier to make incorrectsettings.

How to switch into Teach mode of operation

1. Finish any automatic cycle that is running.

2. Press the Manual program key

3. Press the Teach program key

Machine and robot movements occur at reduced pressure and speed in this mode.

CAUTION!

Danger of damage to equipment!In the mode of operation Teach the safety condit ions of the sequence set last

for machine and robot are effective.The new safety conditions only become effective after storing the changed se-

quence.

When you switch to Teach mode, the sequence background switches from gray to white. Thefollowing message appears:

Editing mode active

Effect Machine and robot movements occur with reduced pressures and/orspeeds.

Remedy Switch to manual mode.



Robot sequence


4.1 Save sequenceYou must save every sequence change you make. The control unit configures the screens andcalculates the required safety conditions only after you save a sequence.

CAUTION!

Danger of damage to equipment due to improper settings!

When running a machine adjust the freely programmable sequence to take ma-chine/robot interactions into consideration.

When you save the sequence, the contro l unit w ill perform calculations to pre-vent some incorrect settings.

Save sequence in the simple view:Quit Teach mode to save. The following dialog box appears.

Cancel

Cancels exiting Teach mode. The sequence is not saved.

Undo

Teach mode is exited. No sequence changes are saved.

Execute

Teach mode is exited, the changes to the sequences are saved.

Save sequence in the extended view:

Saving by pressing Program and Save menu keys.The control unit stays in Teach operating mode.

Saving by exiting Teach mode.

Note!

The sequence is saved in the parts data. Therefore rewrite the parts data after saving thesequence.

ExecuteCancel Help

Save robot sequence

Do you want to save sequence changes?

Undo



Robot sequence

199

4.2 Assistant for sequence set-upThe assistant for sequence set-up helps you in creating a new robot sequence. To start thisassistant, change to the ’Teach’ mode of operation and select the button with the wand in thesimple view.

Key for starting the assistant for sequence set-up

Robot sequence

Robot sequence


Extended view+

Info Panel


Part deposit in shot grid 1 with conveyor-

Sprue depositing - 1 posi-

Take-off Standard


Editing mode active



Robot sequence


Start page of assistant for sequence set-up

Follow the instructions of the assistant and select the functions you need for your require-ments. The assistant then sets up a robot sequence using ’Engel defined subsequences’based on the functions you have selected.

Example: Page with function selection options in the assistant

[1] A tool tip with a brief description is available for each function.

[2] Function not selected

[3] Function selected, cannot be de-selectedFunction is a permanent component of the robot sequence.

[4] Function selected

[5] Function not selectable

The function ’Deposit intermediate layers’ would be available if the function ’Depositparts in grid’ is selected.

Assistant for sequence set-up

Cancel Help ReadyContinueBack

Welcome to the sequence set-up assistant!

This assistant helps you in creating a new robot sequence.

You can adapt the robot sequence to your requirements by selecting pre-definedfunctions.

The subsequent mask assistant leads you through the screen pages where settingscan be made.

To move on in the assistant, press „Continue„

What should the new sequence be capable of??


Remove parts from the mold

Insert-place parts in mold

Pick & place pre-molded parts

Deposit sprue

Reject molding depositing

Deposit quality control parts

Deposit parts

Deposit parts on conveyor belt

Deposit parts in grid

Deposit intermediate layers

Reject molding depositing

If rejects signal given, deposit parts at a separate posi-2

3

4

1

5



Robot sequence

201

Last page of assistant for sequence set-up

Mask assistant

The mask assistant leads you through the screen pages where settings can be made for thecreated robot sequence.

Back/Continue

Menu buttons for scrolling through the screen pages where settings can be made for thecreated robot sequence.

Finish

Menu button for closing the mask assistant. The control unit automatically changes tothe ’Simple view’ of the robot sequence.

Assistant for sequence set-up


Your requested functions for the robot sequence have now been selected!

Clicking on „Continue„ will save your sequence and launch the mask assistant. Theassistant will lead you through the screen pages where settings can be made.

Press „Ready„ to accept your sequence and switch to the „Simple view„.You can now implement the necessary settings using the screen pages.




Move out as soon as part monitoring OK


after ejector advanced

Take-off Standard

Take-off


Info Panel

Se-

Editing mode

Help Finish

ContinueBack

Mask assistantSpeed for moving-



Robot sequence


4.3 Exchanging variants - Simple view’The simple view enables the exchange of a subsequence or complete sequence (=variant)from access level 5 and above in the ’Teach mode. Classic operation must not be activated.[See Classic operation on page 222.]

Engel defined sequences/subsequences, referred to as Variants are available for variousapplications. These sequences can be modified at any time in the ’Extended view’ to reflectyour requirements.If you modify an Engel defined variant, the user-defined variant of every modified sequence/subsequence is overwritten.When a sequence is saved or ’Teach’ mode is quit, the control unit saves all changes in thesequence, updates the screen pages and calculates the required safety conditions.

Procedure

1. Change to ’Teach’ mode and ’Simple view’.

2. Select the symbol of the sequence/subsequence you wish to change.


4. Select the desired variant and confirm by pressing Accept.

5. Quit the ’Teach’ mode.When a sequence is saved or ’Teach’ mode is quit, the control unit saves all changesin the sequence, updates the screen pages and calculates the required safety condi-tions.


Take-off Standard

Name

Description

Take-off Standard

Element attributes

Moving in/out via 2intermediate positionsTake over parts

Check function switches on

Symbol

AcceptCancel Help

Exchanging variant



Take-off mold inter-

Take-off Standard

Take-off with mold

Take-off with ejector

Take-off horizontal/vertical

Engel-defined (10)



Robot sequence

203

4.4 Exchanging variants - Extended viewThe extended view enables the exchange of individual subsequences or complete sequences(=variants) from access level 5 and above in the ’Teach’ mode..Engel defined sequences/subsequences, referred to as Variants are available for various

applications. From access level 7 and above these sequences can be modified to reflect your requirements. A modified Engel defined variant cannot be overwritten, but you can store it asa User defined variant.If you modify an Engel defined variant, the user-defined variant of every modified sequence/subsequence is overwritten.You can only store one user defined sequence for each sequence/subsequence.When a sequence is saved or ’Teach’ mode is quit, the control unit saves all changes in thesequence, updates the screen pages and calculates the required safety conditions.

Procedure

1. Change to ’Teach’ mode and ’Extended view’.

2. Double-click on the symbol of the sequence/subsequence you wish to change.


4. Select the desired variant and confirm by pressing Accept.

5. To save your work, press Program and Save or leave sequence programming by quit-ting ’Teach’ mode.When a sequence is saved or ’Teach’ mode is quit, the control unit saves all changesin the sequence, updates the screen pages and calculates the required safety condi-tions.




Execute as long as


Take-off Standard

Name

Description

Take-off Standard

Element attributes

Moving in/out via 2intermediate positionsTake over partsCheck function switches on

Symbol

AcceptCancel Help

Exchanging variant




Take-off Standard

Take-off with mold


Take-off horizontal/vertical

Engel-defined (10)



Robot sequence


4.5 Using the Teach pointer to insert an instructionThe teach pointer instruction is for fast programming of movements and actions. Set the Teachpointer at any position in the sequence where a desired sequence or movement is to be per-formed. Then perform the desired movement or action.

Instruction:

The control unit will show the movement or action performed in a turquoise box in the robotsequence and hand control device display.

The Teach pointer can be used to program ejector and core movements as release signals for the sequence. Press the respective pushbutton for the machine movement.When the ’Take over Teach instruction’ button on the hand control device is pressed, the con-trol unit will insert the instruction in the sequence and the teach pointer will automatically jumpahead a step.

Push buttons:

If a robot movement is programmed with the Teach pointer, a complete robot position willalways be inserted, even if only one axis is moved. The control unit assumes the current posi-tion for any axes which are not moved.You will need to manually optimize the smoothing between one robot movement and the next.

Upon quitting the 'Teach' mode, the ’Teach pointer ’ is automatically removed from thesequence.

When a movement or action is performed without the Teach pointer being inserted in the

sequence, the control unit displays the performed movement in the robot sequence.When the displayed movement or action is selected, it is inserted into the sequence by clickingat the desired position.

Teach pointer

+ New Program Edit View


Robot movement

Take over Teach instruction

+ New Program Edit View


Robot movement



Robot sequence

205

Example:

This is based on the ’Robot Teach sample sequence’.Use the Teach pointer to insert the move-in points 2 and 3 after move-in point 1 and displaythe move-in points with speeds on the take-off screen.


2. In the ’Instructions’ selection window highlight the ’Teach pointer ’ and insert this into thesequence at the required position.

3. Move the robot axes to the next desired moving-in position.The control unit will show the movement or action performed in a turquoise box in therobot sequence and hand control device display.

4. Press the ’Take over Teach instruction’ pushbutton on the hand control device.This will cause the control unit to insert the instruction into the sequence and the teachpointer will automatically jump ahead a step.


Robot sequence

Robot sequence

Robot Teach sample sequence

Take-off Teach sample sequence

Home position - XYZ

Take-off position -ABC

Wait until part take over allowed


Execute as long as


Teach pointer

+ Take-off Teach sample sequence

Info Panel

Simple view


Sequence control

Robot


Sequences

Peripheral unit

Grid

Instruc-

Teach point-

safety gate


Robot sequence

Robot sequence

Take-off Teach sample sequence

Take-off position -ABC



Teach pointer

+Take-off Teach sample sequence

Info Panel

Simple view


Sequence control

Robot


Sequences

Peripheral unit

Grid

Instruc-

safety gate

Robot position 2



Robot sequence


5. Double-clicking the robot position x you just inserted opens a dialog window where youcan enter settings for this position.

6. In the open dialog box, press the name change button for the position and change thename created by the system to ’Move-in position x’.Press the name change button for speed and change the name created by the systemto ’Speed for move-in position x’ . This will help you distinguish the speed for the move-in position more easily.

7. If you want to display the position and speed on the corresponding screen, additionallyenable the selection boxes ’Display on screen’.

8. Select Execute to accept the changes for the robot movement.The parameter lines with the position and speed are displayed on the ’Take-off ’ screenwhen you store the sequence.

9. To insert a second position repeat steps 3 through 8.There is no need to remove the ’Teach pointer ’ after programming because it is auto-

matically removed from the sequence on saving.10. To save your work, press Program and Save or leave sequence programming by quit-

ting ’Teach’ mode.When a sequence is saved or ’Teach’ mode is quit, the control unit saves all changesin the sequence, updates the screen pages and calculates the required safety condi-tions.

11. After saving the sequence the position and speed parameter lines are displayed on the’Take-off ’ screen.You can use the screen editor to move these parameters to the correct position on thescreen page to reflect the removal sequence.


Robot position 6

Speed 6

Type

Position


Cancel Help Execute


Speed

Take-off Teach sample...

Take-off Teach sam-

On position

Speed 6

Robot movement

Less

Robot







Robot sequence

207

4.6 Inserting an instruction or sequence manuallyYou can insert any instruction or sequence available in the ’Instructions’ selection window intothe sequence.

Example:

This is based on ’Robot - Simple - sequence’ and ’Take-off 6 positions’.To reach the take-off point, insert an additional linear axis movement with the name moving-inposition 3 after moving-in position 2. The movement type must be On position.The speed name should be ’Speed for moving-in position 3’.


2. Select the ’Linear axis movement’ move instruction in the selection tree and insert it intothe sequence by clicking the corresponding insertion point below ’Move-in position 2’.


4. Use the dialog box to enter settings for the linear axes movement.

5. Enter a meaningful name for the position and speed. The Display on screen switchadds the position at the bottom of the ’Take-off ’ screen page.

+ Robot sequence

Robot sequence


Mold openWait until




Robot

Instructions:


Move commands

Linear axes

Rotary axes

Robot movement

Multi-position lin-

Individual axis

Info Panel

Simple view

Linear axes movement


Speed for moving-in posi-


Type

Position



Speed



On position

Cancel Help ExecuteLess

Linear



Robot sequence


6. Select Execute to insert the linear axis movement into the sequence.


8. After saving the sequence the position and speed parameter lines are displayed on the’Take-off ’ screen.You can use the screen editor to move these parameters to the correct position on thescreen page to reflect the removal sequence.



Robot sequence

Instructions


Robot

Speed for moving-in position 3 =50On position


Linear axes

Move commands

Individual axis

Rotary axes

Robot movement

Multi-position

Relative move-

Robot sequence



Linear axes movement

+

Info Panel

Moving-in 6 positions Simple view





Robot sequence

209

4.7 Inserting a parallel closed branchParallel branches enable the machine to carry out parallel functions. You can program a par-allel closed branch using instructions and subsequences.

Example:

Performing a wait parallel to two instructions.


2. First select the instructions for which you want to run a parallel wait.

3. Select the ’Parallel closed branch’ instruction in the Instruction selection window.

4. Click the selected instructions in the robot sequence. A parallel closed branch isinserted.

5. Select the ’Waiting time’ instruction in the Instructions selection window.

6. Touch at the desired point in the parallel closed branch in order to insert the instruction.


8. Use the dialog box to enter settings for the instruction.

9. Click Execute . The changed parameters will be accepted and the dialog box closed.

Execute

Waiting time

Time

Time module 1


Cancel Help

Time module 1

Robot sequence

Cancel



Robot sequence


10. This completes programming the Waiting time instruction parallel to the two instruc-tions. You must store the program to enable the sequence.

11. To save your work, press Program and Save or leave sequence programming by quit-ting ’Teach’ mode.

When a sequence is saved or ’Teach’ mode is quit, the control unit saves all changesin the sequence, updates the screen pages and calculates the required safety condi-tions.




Robot sequence

211

4.8 Changing an instructionChanging the parameters of an instruction.

Example:

Changes the part removal time from 0.5 to 1s.


2. In the robot sequence, double click the instruction you wish to modify.


4. You can change the parameters for the instruction in the dialog box. Change the time for part removal from 0.5 to 1s.

5. Click Execute . The changed parameters will be accepted and the dialog box closed.



Execute

Waiting time

Time



Cancel Help



Less



Robot sequence


4.9 Copying instructions or a subsequenceYou can use the Copy or Cut functions in the robot sequence to write the selected area to thebuffer. You can click a position in the sequence to insert the copied/cut area.If you do not click a sequence branch directly, you must press the Paste menu button before

you insert a copied/cut area. This tells the control unit to store the copied/cut area in the buffer.You can then click on a position in the sequence to insert the area.The control unit does not automatically create separate parameters (positions, speeds, etc.)for the instructions and subsequences you copy; instead it uses the originals. When youchange the position of a copy, this also changes the original data. However, if you create a newposition for copied instructions, this does not automatically change.If this behavior is not what you need, you must use the Duplicate function for copying. Thistells the control unit to create a copy of the original, but to create new parameters.

Example:

Copying a subsequence from the robot sequence to the user sequence.


2. Highlight the required subsequence in the robot sequence and press the menu buttonsEdit and Copy.

3. Switch to the user sequence.

4. Press the required position in the sequence to insert the instruction.

5. The subsequence is inserted into the sequence from the buffer.

Home position

Park position

Robot sequence

Robot sequence

User sequence

Machine sequence

Teach variant

Teach variant



Robot sequence

213

4.10 Deleting an instruction or subsequenceTo deactivate a function, it may be necessary to remove one or multiple instructions from thesequence. Subsequences or complete sequences can also be removed.

Example:

Removing the sprue depositing subsequence.


2. Select the sprue depositing subsequence in the robot sequence by touching it. Thesequence is now outlined in red, and thus selected.

3. Press the menu keys Edit and Remove . The instruction is now erased from themachine sequence.

A deletion can be undone with the menu buttons Edit and Undo.

Robot sequence - user

Execute as long as



Take-off Standard



Robot sequence


4.11 Inserting an empty sequenceThe operator can insert an empty sequence with the menu buttons New and Sequence.

Procedure

1. At least user level 9 is required for this purpose.2. Change to ’Teach’ mode and ’Extended view’.

3. Press the menu buttons New and Sequence.


5. Select Execute to insert an empty user sequence into the sequence.

Sequence

Teach variant

+New Program Edit View


Cancel Help Execute

The existing sequence will be replaced by an empty usersequence.The original sequence can be regenerated by exchangingvariants.

New user sequence

Robot sequence

Robot sequence

+

Info Panel

Simple view

Sequence control

Robot


Peripheral unit

Instruc-

safety gate

Robot empty sequence - user (1)

Robot empty sequence - user (1)



Robot sequence

215

4.12 Create Teach variantYou can use this function to create sequences/subsequences for peripheral units or specialapplications. Every new Teach variant is stored in the Sequences tree below ’User-definedsequence’ ..

Procedure

1. At least user level 9 is required for this purpose.


3. Press the menu buttons New and Teach variant.


5. Enter a name and if needed a short description for the variant.

6. Select the icon in the dialog box.


8. Select an icon for the new variant and confi rm with Execute . The control unit cre-ates groups of teach variants based on the icons set. [See Example: Table and con-veyor-belt group on page 216.]

Sequence

Teach variant

+New Program Edit View


Create Teach variant

Name

Description

Cancel Help Execute

Teach variant

Symbol

Symbols

Display file name

Symbols



Robot sequence


9. Use Execute to apply your settings.

10. A new ’User defined sequence’ branch in which you can access the sequence, can becreated in the ’Instructions’ selection box in the ’Sequences’ branch.

11. Select the new sequence and insert the sequence at the required position in thesequence.

Example: Table and conveyor -belt group

Create variables

Name

Description

Cancel Help Execute

Reject molding lamp

Symbol

Table 1

Robot sequence

Robot sequence

+

Info Panel

Simple view

Exchange variants

Table 1

Conveyor-belt

User-defined (2)

Table 2

Robot sequence

User

Conveyor-belt 2


Take-off Standard

Element attributes

Table 1

Table 2

Name

Description

Cancel Help Execute

Symbol

Execute as long as




Robot sequence

217

4.13 Remove user-defined variantYou can only remove user-defined variants that are not used in the sequence. You cannotremove Engel-defined variants.

Procedure1. Change to ’Teach’ mode and ’Extended view’.

2. Press the menu buttons Program and Delete user sequence.

3. A dialog box with all unused user-defined variants will open.

4. Select the variants no longer needed and confirm with Execute.


Delete user sequence

Delete variables

Deactivate

Print sequence

Save


+

Cancel Help Execute

Robot - Empty sequence -user (1)

Quality Control depositing -Empty subsequence user (1)

Sprue depositing - Empty subsequence -user (1)

Reject deposit - Empty subsequence -user (1)

Deleting unused variants



Robot sequence


4.14 Removing user-defined variablesDuring programming each new variable you create is stored below ’User-defined sequence’ .The pool may contain a number of variables which are not used by the current sequence.These variables can be removed from the variable pool using the Program and Remove vari-

ables functions..Before you remove the variables, you must save the current sequence. This tells the controlunit which variables you need in the sequence.

Procedure


2. Press the menu buttons Program and Delete variables.


4. Upon pressing Execute all unused variables will be deleted.



Delete variables

Deactivate

Print sequence

Save


+

Cancel Help Execute

Do you want to delete unused variables?

Delete variables



Robot sequence

219

4.15 Print sequenceIn the robot sequence the complete sequence or individual subsequences can be printed out.

Example:

Printing out the robot sequence on a local printer.

1. Connect a printer to the USB interface of the plant.

2. Press the menu buttons Program and Print sequence.


Selection

To print out the highlighted section of a sequence.

Manual sequence selection

To print out the home position, robot and user sequence.

Manual variant selection

To print out all variants of sequences/subsequences.

4. Select the Setup menu button.



Delete variables

Deactivate

Print sequence

Save


+

Print

Selection



Cancel Help Setup Execute



Robot sequence



6. Switch on Output on printer . In addition, the selection possibility print to file is stillavailable.

7. Upon switching to Output on printer the printer dialog of the currently selected printer will open. Select the local printer and press OK.

8. Select Manual sequence selection and confirm with Execute.


Detail

Tabular printout of each instruction in the selected sequence.

Overview

Graphic printout of the selected sequence.

10. Highlight the sequences you want to print out and shift them to the right.

11. Select either the Detail or Overview form of printout and confirm with Execute.

Directory

File name

Print to file

Type

Printer settings

Output on printer

Cancel Help OK

Settings for printing to file

Settings for screen page output

Print

Selection



Cancel Help Setup Execute

Execute

Overview


HelpCancel

Home position

User sequence

Robot sequence

Detail



Robot sequence

221

4.16 Deactivating the equipmentIn the robot sequence programs from access level 5 and equipment from access level 12 canbe activated/deactivated using a separate dialog box.

Procedure


2. Press the Program and Deactivate menu buttons.


4. Switch the desired equipment or sequence on or off and confirm with Save.



Delete variables

Deactivate

Print sequence

Save


+

Cancel Help Save

Robot

Activation

A-axis

C-axis




On

On

On

On

On

On

Equipment



Robot sequence


4.17 Classic operationClassic operation was used in systems with software versions < V2.10. This form of operationcan be used by the operator in future by selecting the ’View’ and Classic operation menu but-tons in the Extended view.

In this form of operation you can use the ’Variants’ and Sequence menu buttons in theExtended view to change between exchanging variants and sequence programming.

Example: Robot sequence

The ’Variant’ view enables the exchange of a subsequence or complete sequence withsequence preview. Variants can no longer be exchanged in the ’Sequence’ view. Further dif-ferences are described below.

Robot sequence

Sequence control

Robot


Sequences

Peripheral unit

Grid

Robot sequence

Instruc-


List while


If


Reject deposit

Take-off Standard

If Test part depositing active

+

Info Panel

Simple view

safety gate

Variants Program Edit View




Robot sequence

223

4.17.1 Exchanging variants - classic operationThe ’Variants’ view enables the exchange of a subsequence or complete sequence (=variant)from access level 5 and above in the ’Teach’ mode.Engel defined sequences/subsequences, referred to as Variants are available for various

applications. These sequences can be modified at any time in the ’Sequence’ view to reflectyour requirements.If you modify an Engel defined variant, the user-defined variant of every modified sequence/subsequence is overwritten.When a sequence is saved or ’Teach’ mode is quit, the control unit saves all changes in thesequence, updates the screen pages and calculates the required safety conditions.

Sequence Tab

Note!

In the ’Variants’ view you can only select sequences/subsequences, but not commands.

Take-off Standard

Se- Subse- Subsequence properties

Engel-defined (7)


Take-off empty se-




Robot sequence

Robot sequence

Take-off can be switched

Take-off with mold


Take-off Standard

Automatic mode of operation activeExecute as long as

1 Position

Reject deposit

Reject deposit

Position


Quality controlShotpart

Take-off StandardMoving-in/out via 2 intermediate positionsTake over partsCheck function switches on screen for

cycle time optimization

Take-off Teach sam-

+

Info Panel

Take-off and transfer

Take-off and insertion

Take-off with mold

Simple view



Robot sequence


Subsequence Tab

Each sequence comprises a number of subsequences. The subsequence variant selected inthe selection box is displayed in this tab. This gives you the ability to view Engel or user-defined subsequences before they are transferred to the sequence.

Subsequence properties tab

Name, short description and icon for selected subsequence. These data can be modified onlyin the case of user-defined variants.

Example:

Replacing the ’Take-off standard’ with the ’Take-off 3 positions’ variant.This is based on the ’Robot sequence simple’.


2. In level 5 the Variant view is automatically enabled (light blue background).In level 7 or higher, you need to switch to the Variant view using the Variants menu key.


Take-off Standard

Take-off vacuum/compressed air circuits one orIf

Move to position before mold opening

Move out without part take-off

Jump to sequence end


Name

Description

Take-off Standard

Element attributes

Moving in/out via 2intermediate positionsTake over partsCheck function switches onscreen for cycle time optimization

Symbol



+



Robot sequence

225

3. Select ’Take-off standard’ in the sequence.The available Engel and User-defined sequences are displayed in the selection box.

4. Select the ’Take-off 3 positions’ variant in the selection box.You can view the sequence instructions in tab Subsequence.

5. Select Accept to insert the new variant in the sequence.



Take-off Standard


Engel-defined (7)


Take-off empty se-




Robot sequence

Robot sequence


Take-off with mold


Take-off Standard


1 Position

Reject deposit

Reject deposit

Position


Quality controlShotpart

Take-off StandardMoving-in/out via 2 intermediate positionsTake over partsCheck function switches on screen for cycle time optimization

Take-off Teach sam-

+

Info Panel

Take-off and insertion

Take-off with mold

Simple view


Take-off 3 positionsMove in via Z,Y X take-off positionTake over parts for 3/6 position take-off

Move out the same path as move in

+ Take-off 3 positions


Engel-defined (7)


Take-off empty se-




Robot sequence


Take-off with mold

Take-off Standard


Info Panel

Robot sequence

Simple view



Robot sequence


4.17.2 Creating a Teach Variant - Classic operationYou can use this function to create sequences/subsequences for peripheral units or specialapplications. Every new Teach variant is stored in the Sequences tree below ’User-definedsequence’.

Example:

You want to create a special subsequence, insert the subsequence into the robot sequenceand then program the sequence.



3. Press the menu buttons Program and Create Teach var iant.

4. In the dialog window ’Create variants’ , enter a name and if needed a short descriptionfor the variant.

5. Select the icon in the dialog box.




Delete variables

Deactivate

Print sequence

Save

+


Create variants

Name

Description

Cancel Help Execute

Reject molding lamp

Symbol



Robot sequence

227


7. Select an icon for the new variant and confirm with Execute.

8. Use Execute to apply your settings.

9. A new ’User defined sequence’ branch, where you can access the sequence, is createdin the selection box in the ’Sequences’ branch.

10. Select the new sequence and insert the sequence at the required position in thesequence.Open this sequence and program the desired actions.

11. To save your work, press Program and Save or leave sequence programming by quit-ting ’Teach’ mode.

When a sequence is saved or ’Teach’ mode is quit, the control unit saves all changes

Symbols

Display file name

Create variables

Name

Description

Cancel Help Execute

Reject molding lamp

Symbol

+ Robot sequence

Robot sequence


Sequences

Sequence control

Robot


Peripheral unit

Grid

Instruc-

Execute as long as


Simple robot sequence - User

Take-off Standard

Part deposit

Shot grid

Free output 1

Activate

Wait untilRejects counter for machine

Reject molding lamp

Execute as long as


Info Panel

Simple view



Robot sequence


in the sequence, updates the screen pages and calculates the required safety condi-tions.


4.17.3 Removing user-defined variants - Classic operation

You can only remove user-defined variants that are not used in the sequence. You cannotremove Engel-defined variants.

Example:

Removing a user-defined variant from the User sequence.



3. In the sequence selection dialog, change from Robot sequence to User sequence.

4. Use the Variant menu button to switch to the Variants view. The sequence is displayedon a light blue background.

5. Open the User-defined branch.

6. Select the sequence you wish to delete.

7. Press the menu buttons Program and Delete user sequence.

8. This removes the scale sequence from the variant pool User-defined sequences.

Subsequence properties

Robot sequence

Se- Subse-

Teach variant

Weigh scale

Robot sequence

Engel-defined (1)

User-defined (2)

Teach variant

Reject molding lamp

Weigh

+ Robot sequence

Info Panel

Simple view

Sequence Program Edit View



Delete variables

Deactivate

Print sequence

Save


Accept

+



Robot sequence



Individual axis movement The selected axis moves to the set position.

Linear axes movement All 3 linear axes (X, Y, Z) move in parallel tothe set positions.

Rotary axes movement All rotary axes (A, B, C) move in parallel to theset positions.

Robot movement All robot axes (X, Y, Z, A, B, C) move in paral-lel to the set positions.

Multi-position linear axesposition

All linear axes (X, Y, Z) for which a positionhas been set move in parallel to these posi-tions.

Relative movement The selected linear axis moves by the setvalue in plus or minus direction.

Robot movement with checkposition

All robot axes (X, Y, Z, A, B, C) move in paral-lel to the set check position. If the set releasefor the instruction is fulfilled, the robot moveson to the set positions.If the release is fulfilled before reaching thecheck position, the check position issmoothed.

Stop movement The instruction interrupts a running ’Start’ movement instruction and starts the next

instruction in the sequence.

Overgrinding Starting at the ’Smooth’ instruction in the

sequence, all ’Start’ move instructions with

the radius set in this instruction are smoothed,

as are all’Start’ move instructions of the fol-

lowing cycles in automatic mode.If this instruction is programmed several timesin the sequence, the smoothing radius always

remains in effect until the next ’Smooth’ instruction.

Reference robot axis Insert the ’Reference robot axis’ instructionfor each servoaxis in the ’Referencing’ sequence.The order in which the robot measures the

servoaxes in ’ Automatic axis measurement’

must be set in the ’Referencing’ sequence.



Robot sequence

231

5.1.2 Position checkCheck this instruction to see whether the current robot position is in a range or on a position.

Example:Check current positi on within range

In the Movement to home position sequence, a query asks whether the linear axes are in arange. If the linear axes are in the set range, status flag 1 is set to ’True’ . The status flag isqueried by the ’If ’ structure command, and an X single axis movement, which is only executedin this case, is inserted.


Check current positionwithin range

Checks whether the current linear axes position isin the defined range. The status flag is set if the lin-ear axes are in the range.

Check current positionto set position

Checks whether the current linear axes position ison the defined position. The status flag is set if thecurrent linear axes position is the same as thedefined position.

Check current position within rangeLinear axes position

If

Status marker 1

Movement from area 1 - X



Robot sequence


5.1.3 Special instructionsThis branch contains instructions for various special robot functions and three macro instruc-tions for rotary axes.

5.1.3.1 Switch off -axis

Instructions:

With the function ’ Axis switch-off ’ , you can switch off the power for the servoaxes. This permitsmoving of a servoaxis with the ejector on part handover, for example.

Instruction ’Switch off axis - motor off ’ switches off the power for the selected axis. This mayhappen only if the robot axes are at a standstill. A move instruction may not be programmedfor an axis that does not have power.Instruction ’Switch off axis - motor on’ switches the power for the corresponding axis back on.

Example:

You need to transfer a molded part to a negative mold mounted on the end-of-arm tooling.The end-of-arm tooling is robust enough to allow it to be retracted by an ejector movement. Inorder to permit the axis to be moved with the ejector, the ’Switch off axis’ instructions must beprogrammed.

Switch off -axis

Motor off

Motor on

Switch off axis - motor on

Time = 0,3

Mold pause time

Move out position 1 - X

retract

Ejector

Take over parts standard user

[ON] without monitoring


X-axis

Switch off axis - motor off

advance

Ejector

X-axis



Robot sequence

233

5.1.3.2 Mass identificationThe control unit usually automatically determines the robot's manipulation weight when theaxes are moved. However, the instruction ’Wait until part take over allowed’ must be in thesequence, because the instruction ’ Adjust dynamics’ is included in the instruction ’Wait untilpart take over allowed’.

If the instruction ’Wait until part take over allowed’ is not in the robot sequence, the instruction’ Adjust dynamics’ must be added to the sequence

Instruction:

The maximum acceleration of the robot axes is adjusted with the instruction ’ Adjust dynamics’. The basis for this adjustment is the highest manipulation weight that was determined sincethe last time this instruction was called.Low manipulation weight enables higher acceleration and higher manipulation weight enableslower acceleration of the robot. The maximum robot power can thus always be exploited.Dynamic adjustment is not implemented in robot sequences without the instruction ’Wait untilpart take over allowed’ and ’ Adjust dynamics’ . The robot therefore only travels with the lower accelerations that are specified for the maximum allowable manipulation weight.

5.1.3.3 Brakes testThe brake test serves detect decreasing brake performance due to wear or contamination of the Y holding brake.

Instruction:

CAUTION!


The brake test must only be performed at positions where slight movement of the axis wil l not cause a collision.

In the standard case the brake test is performed during movement to the home position after expiration of the set test interval in the robot setup. For this purpose the ’Brake test after inspection interval’ instruction is programmed in the robot sequence ’Home position’.

Mass identification

Adjust dynamics

Brakes test

Brake test after test interval



Robot sequence


Example:

Robot sequence ’Home position’ with ’Brake test after inspection interval’ instruction.

If the ’Brake test after inspection interval’ instruction is removed from the ’Home position’robot sequence this must be programmed at another position in the sequence.

In unmanned operations, where the system runs for weeks or months in automatic mode, abrake test will not be performed for an extended period of time. In this case, the instructionshould also be added at a different position in the sequence.

Robot motors must be switched on for brake test

Effect Brake test not possible.

Remedy Switch on robot motor.

Manual mode required for brake test

Cause Machine is not in manual mode.

Effect Brake test not possible.

Remedy Switch to manual mode.

Home position

Home position - Standard sequence

Home position from take-off area

Home position from depositing area

Home position

in home position

If


Brake test - Brake test after inspection intervalY axis brake test



Robot sequence

235

5.1.3.4 Cycle time

Instructions:

The instructions ’Cycle time - start’ and ’Cycle time - stop’ allow for user-defined time mea-surements in the sequence which are displayed on the ’Cycle time analysis robot’ screenWhen the sequence reaches the ’Cycle time - start’ instruction, cycle time measurementstarts; it stops at ’Cycle time - stop’.To prevent a corruption of the result the exact starting/stopping points (status markers, pro-gram switches, ..) can be set with signal request for the two instructions. A corruption occurswhen, for example, before the cycle time measurement instructions a move instruction is setwhich is trajectory smoothed, as the cycle measurement then starts or stops immediately.

Example: Cycle time start dialog w indow

Ax is - Brake test fai led

Cause Braking force too weak.

Effect Robot motor blocked.Remedy Switch control voltage off and back on to remove the blocking.

Then carry out the movement to home position.

Ax is - Brake safety test requi red

Cause Braking force too weak in last brake test.

Effect Brake test required.

Remedy Move to home position.

Cycle time

Start

Stop

Init new cycle

Cancel HelpMore Execute

Cycle time counter

Start at

Start at - state

User Time meter 1

No selection

positive edge of pulse

Cycle time - start



Robot sequence


The instruction ’Cycle time - Init new cycle’ starts measuring the standard times on the screen’Cycle time analysis robot’ . This instruction is only required for custom applications, as stan-dard time measurements for cycle time analysis are performed automatically.

Example:

To record the cycle time for the ’Parts depositing in teach grid 1 with conveyor-belt ’ subse-

quence, the ’Cycle time - start and stop’ instructions must be programmed.

5.1.3.5 Macro instructionsThe following three instructions for rotary axes are also designated as macro instructions andare used in Engel-defined sequences.

CAUTION!


When removing manual axes macroinstructions settings on the Quick Setupscreen page become ineffective.

Instruction:

The macro instruction takes rotary axes positions, their priorities and any parallel movementswhen moving Z out of the machine area into consideration. Parameter setting in Robot QuickSetup tab ’Rotary axes on moving out in depositing direction’.

conveyor-belt

Part depositing in teach grid 1 with

Teach grid 1

conveyor-belt

Part depositing in teach grid 1 with


User Time meter 1

Cycle time - start

User Time meter 1

Cycle time - stop


Rotary axes movements moving out from machine area (Quick Setup)



Robot sequence

237

Example:

Instruction:

The macro instruction takes the settings in the robot Quick Setup, the ’Rotary axes on movingout in depositing direction’tab and parameter ’Rotary axes to deposit from’ into account.

Example:

Instruction:

The macro instruction takes rotary axes positions, their priorities and any parallel movementswhen moving Z into the machine area into consideration. Parameter setting in the robot QuickSetup tab ’Rotary axes moving in take-off direction’.


Moving-out standard



Speed for move-out position 2 = 100


Rotary axes movements before deposi ting (Quick Setup)

Lower swivelling

Moving-in shot grid 1 with conveyor-belt


Wait until



Rotary axes movements after depositing (Quick Setup)



Robot sequence


Example:

Moving-in/out vertically ->

Special instructions rotary axes movement after depositing completed before

Wait until

Move from depositing area to machine area

Move from depositing area to machine area

Not in the depositing area - over upper swivelling limit

If

Wait until


If


Wait until

Manual position

in the depositing area -

Home position - XYZPosition before



Robot sequence

239

5.1.4 Vacuum/compressed air Instruction to switch a vacuum/compressed air circuit on/off with or without monitor.

Instruction:

Dialog window and setting options for the instruction in the sequence:

1. Select required vacuum/compressed air circuit and confirm with Execute.

2. Implement settings and confirm with Execute.

Acti vated

The program switch activates vacuum/compressed air circuit x.

Deactivated in the sequenceThis flag indicates that the equipment is active.

Type

The settings Vacuum, Compressed air or Barrel are available in the selection fieldtype for the vacuum/compressed air circuits. Depending on the type settings, theparameters for the end positions, parts and vacuum monitoring are shown.

Parts monitoring or Final positions monitoring

[See Vacuum/compressed air circuits on page 89.]


The blow function is only available with vacuum/blow/compressed air circuits. Pleasenote that the blow function works for each Vacuum,, Compressed air or Barrel type.

Blowing time

The set time switches the vacuum/blow/compressed air circuit to blow after the circuit is



Cancel Help Execute

Choice:

[ OFF ] with monitoring Action


More

Blowing time


Vacuum/Blowing/CompressedVacuum/compressed air

Cancel Help ExecuteMore

Vacuum/Blowing/Compressed air 1

Activated

VacuumType

Signal „1”0” and „Part monitoring


Calibration



Ana- OFF ‚ON



Robot sequence


switched off. This means that e. g. molded parts can be more easily removed from theend of arm tooling.

Analog vacuum moni toring

The control unit detects whether e. g. a part is in the end of arm tooling by monitoringthe pressure in the vacuum circuit.

OFF

If the vacuum drops below the OFF value, then the control unit does not detect a partin the end of arm tooling.

ON

If the vacuum reaches the ON value, then the control unit detects a part in the end of arm tooling.

Actual value display

flag

An active flag shows that a part is in the end of arm tooling.

Calibration

Switch off ’suction pad’ ; actual value display should show 0 bar (0 psi). If this is not thecase, calibrate the vacuum circuit with calibrate program switch = zero point determi-nation.

Ac tion

Set the desired movement for the vacuum/compressed air circuit. There are 2 instruc-tion types:

With monitoring

The next instruction starts after reaching the final position / vacuum switch.Symbols with a yellow background.

Without monitoring

The function starts and the next instruction starts immediately without waiting toreach the final position / vacuum switch.Symbols with a green background.



Robot sequence

241

5.1.5 Vacuum/compressed air groupInstruction to switch a vacuum/compressed air group on/off with or without monitor.

Instruction:


1. Select required vacuum/compressed air group and confirm with Execute.


Take-off vacuum/compressed air c ircui ts

The group configuration serves to summarize individual vacuum/compressed air circuitsin groups. Using the command ’Group vacuum/compressed air ’ , several vacuum/com-pressed air circuits can be switched on/off with just one command.

Action

Set the desired movement for the vacuum/compressed air group. There are 2 instruc-tion types:

With monitoring


Without monitoring


Blowing time

With the setting ’No selection’ , the blowing time set in the vacuum/compressed air cir-cuit robot setup is used. A user-defined blowing time can also be set using the selectionfield.The set time switches the vacuum/blow/compressed air circuit to blow after the circuit isswitched off. This means that e. g. molded parts can be more easily removed from the

end of arm tooling.The blow function is only available for groups with vacuum/blow/compressed air circuits.


Vacuum/compressed air group

Cancel Help Execute

Choice:



More

No selection:Blowing time


Vacuum/compressed air circuitVacuum/compressed air



No selection:Blowing time




Robot sequence


5.1.6 Vacuum/compressed air group off on part lostThe instruction switches off the vacuum/compressed air circuits of the selected vacuum/com-pressed air group that have lost a part.Used in the Home position sequence.

Instruction:

Dialog window and setting options fo r the instruction in the sequence:

1. Select required vacuum/compressed air group and confirm with Execute.


Take-off vacuum/compressed air c ircui ts

The group configuration serves to summarize individual vacuum/compressed air circuitsin groups. Using the command ’Group vacuum/compressed air off when part lost’ , sev-eral vacuum/compressed air circuits can be switched off with just one command if a partis lost.

5.1.7 barrel Activation of a robot barrel in the appropriate direction, + / -, with or without monitoring.

Instruction:

5/3-Directional valve (optional)

The following must be noted when actuating a barrel using a 5/3 directional valve (specialequipment):

When the robot motor is switched off, e. g. when the safety gate is opened, the 5/3directional valve depressurizes the barrel, allowing the barrel to leave its final position.

Adjust the ’Home position’ sequence so that the barrel moves to a defined position dur-ing the movement to home position.

Manual mode

Opening the safety gate switches off the outputs that actuate the 5/3 directionalvalve. When the safety gate is closed again, the outputs are switched back on again,but only if a final position is active.

Au tomat ic mode

Opening the safety gate switches off the outputs that actuate the 5/3 directional

valve. When the safety gate is closed again, the outputs are switched back on againin the same state as before the safety gate was opened.

Vacuum/compressed air group off on part lost


Cancel Help Execute

Choice:Vacuum/compressed air

More


Cancel Help Execute

Choice:Vacuum/compressed air

More


barrel



Robot sequence

243

If final position monitoring was active before the safety gate was opened, then therobot remains at the instruction ’Stop when safety gate requested’ until the respec-tive final position becomes active. If this does not occur, a corresponding alarm isoutput.


1. Select barrel and confirm with Execute.


Acti vated

Program switch enables or disables barrel.

Mode of operation

Select operating mode end-position controlled and time-controlled . The default set-ting for ENGEL is end-position controlled and the time-controlled function is used for emergency operations in case of defective limit switch or cable break. If you select time-

controlled the movement is complete for the control unit after the monitoring period haselapsed.

End position monitoring +/-

You can set various monitoring variants here to modify the axis functions in the best

possible way.

No monitoring

The movement is not monitored for end position or monitoring time elapsed.

Time-dependent

After the monitoring time has elapsed, the movement is complete for the control unit.In case of a movement ’ [ - ] to final position’ or ’ [ + ] to final position’ , the nextinstruction in the robot sequence starts after this time.

Permanently

The barrel must reach the final position within the monitoring time and is then contin-uously monitored. In case of a movement ’ [ - ] to final position’ or ’ [ + ] to final posi-tion’ , the next instruction in the robot sequence starts after the final position is

reached.

barrel

Cancel Help Execute

Choice:

[ - ] up to final position Action

barrel

More

barrel

Free barrels - Free barrel 1barrel


Free barrels - Free barrel 1

Activated


No monitoringEnd position monitoring -

No monitoringEnd position monitoring +

Monitoring time




Robot sequence


End position reached

The axis must reach the final position once within the monitoring time In case of amovement ’ [ - ] to final position’ or ’ [ + ] to final position’ , the next instruction in therobot sequence starts after the final position is reached.

Permanently switch-on-delayed

The barrel must reach the final position within the monitoring time. The ’Delay timefor final position monitoring’ starts after reaching the final position. After the ’Delay

time for final position monitoring’ has elapsed, the barrel is continuously monitored.This only applies for movements ’ [ - ] to final position ’ or ’ [ + ] to final position’.

End position reached switch-on delayed

The barrel must reach the final position within the monitoring time. The ’Delay timefor final position monitoring’ starts after reaching the final position. This only appliesfor movements ’ [ - ] to final position ’ or ’ [ + ] to final position’.

Monitoring time

The end position must be reached within this time.

Ac tion

Set the desired movement for the barrel. There are two types of instruction:

With monitoringThe next instruction starts after reaching the final position / vacuum switch.Symbols with a yellow background.

Without monitoring


5.1.8 Cylinder group Activates a robot barrel group (all barrels) in the appropriate direction, + or -, with or without

monitoring.

Instruction:


1. Select required barrel group and confirm with Execute.


Cylinder group

Cylinder group

Cancel Help Execute

Choice:


Cylinder group

More

Cylinder group

All cylindersCylinder group



All cylinders



Robot sequence

245

Al l cyl inders

The group configuration serves to summarize individual cylinders in groups. This allowsseveral cylinders to be moved with the instruction ’Cylinder group’ in a sequence with ’[ - ] to final position’ or ’ [ + ] to final position’.

Action

Set the desired movement for the vacuum/compressed air group. There are 2 instruc-tion types:

With monitoring


Without monitoring


5.1.9 outputsOutputs ’instruction’ for activating/deactivating robot outputs.

Instruction:


Output

Select required output.

Action

Select output option ’ Activate’ or ’Deactivate’.

Pulse duration

If the output needs to be activated/deactivated for an adjustable pulse duration, then atime value also needs to be selected for this parameter.The following dialog box opens where you can enter or select a user-defined time value.

outputs

outputs

Cancel Help Execute

Vacuum / compressed air 1 -

Deactivate Action

Output

Less

Free output 1

Time value 1Pulse duration

Time value 1

Pulse duration

Cancel Help Execute

Choice:

User

Create

Time value 1

No selection



Robot sequence


Time value

The output is then activated/deactivated for a set pulse duration according to the’ Action’ parameter setting. Parameter is only displayed if a time value is set in the ’Pulseduration’ parameter.

5.1.10 Work areas/prohibited areasEnable/disable accessing of work area or prohibited area.

Instruction:


Work areas/prohibited areas

Select robot work area or prohibited area to be enabled/disabled.

Ac tion

Selection option [ ON ] or [ OFF ].

Work areas/prohib ited

Work areas/prohibited areas

Cancel Help Execute

Choice:Work areas/prohibited areas

More

[ OFF ] Action



Robot sequence

247

5.2 Peripheral unitInstructions for controlling peripheral units.

5.2.1 Depositing conveyor-beltInstructions for controlling the depositing conveyor belt and the communication between therobot and the conveyor-belt.

Instructions:

Wait until depos iting allowed and part deposited

Collisions between end-of-arm-tooling and conveyor-belt should be prevented with the instruc-tion ’Wait until depositing allowed’ and ’Part deposited’ . The robot waits for the release fromthe conveyor-belt to deposit molded parts with the instruction ’Wait until depositing allowed’ .For ’Part depositing without grid with conveyor-belt’ , the ’Part deposited’ instruction meansthat the conveyor-belt is stepped after every cycle. For ’Part depositing with grid and conveyor-belt’ , this instruction means that the conveyor-belt is stepped after the grid is full.

Stepping

The instruction ’Cycle’ actuates the depositing conveyor-belt once for the depositing conveyor-belt running time.

Action

The instruction ’ Action’ switches the conveyor-belt, depending on the setting, to [Off], [On] per-manent operation, [On] time-driven or [On] clear.The actions ’[On] permanent operation’ and ’[On] time-driven’ are possible in both conveyor-belt moving directions if the depositing conveyor-belt has reversing operation.

Note!It must be noted that the grid must be reset after each step or actuation of the conveyor-belt.

Depositing conveyor-belt

Sequence instructions

Wait until depositing allowed

Part deposited

Stepping

Action



Robot sequence


5.2.2 Reject deposit

Instruction:

The ’Request’ instruction sets the ’Rejects signal’ status marker to ’TRUE’ . In the Engel-defined sequences, this status marker is queried with the structure instruction ’If ’ before thesubsequence ’Reject deposit’. After the part is deposited on the rejects depositing, the instruction ’Reset rejects request’resets the status marker ’Rejects signal’. [See Reject deposit on page 273.]

Example:

The robot deposits a part on the scales. If the weight is not within tolerance limits, the instruc-tion ’Reject deposit request’ makes the robot pick up the part and deposit it on the rejectsdepositing.’Instruction ’Part is reject increments the rejects counter and reduces the piece counter of theinjection molding machine. [See Injection molding machine on page 253.]

Reject deposi t

Request

Time=0

Delay time weighing

1 PositionReject deposit


Quality control

Shot grid 1 with

Part depositing in

Reject deposit

If If


Part pick-up

Position

Weighing part

Weighing

Weighing part

Part is reject

Reject deposit request

Weigh scale: weight in tolerance range

If



Robot sequence

249

5.2.3 Quality control deposit

Instruction:

The ’Request’ instruction sets the ’Quality control part requested’ status marker to ’TRUE’ . Inthe Engel-defined sequences, this status marker is queried with the structure instruction ’If ’before the subsequence ’Quality Control part depositing’.The robot deposits parts on the quality control part depositing until the set ’Quality Controlparts - set value’ on the ’Quality control deposit’ screen page has been reached. [See Quality Control deposit - 1 position on page 153.]

5.2.4 barrel Activates a peripheral unit barrel in the appropriate direction, + / -, with or without monitoring.

Instruction:

5/3-Directional valve (optional)

The following must be noted when actuating a barrel using a 5/3 directional valve (specialequipment):

When the robot motor is switched off, e. g. when the safety gate is opened, the 5/3directional valve depressurizes the barrel, allowing the barrel to leave its final position.

Adjust the ’Home position’ sequence so that the barrel moves to a defined position dur-ing the movement to home position.

Manual mode

Opening the safety gate switches off the outputs that actuate the 5/3 directionalvalve. When the safety gate is closed again, the outputs are switched back on again,but only if a final position is active.

Automat ic mode

Opening the safety gate switches off the outputs that actuate the 5/3 directionalvalve. When the safety gate is closed again, the outputs are switched back on againin the same state as before the safety gate was opened.

If final position monitoring was active before the safety gate was opened, then therobot remains at the instruction ’Stop when safety gate requested’ until the respec-tive final position becomes active. If this does not occur, a corresponding alarm isoutput.


Quality control deposit

Request

barrel



Robot sequence


1. Select barrel and confirm with Execute.


Ac tivated

Program switch enables or disables barrel.

Mode of operation

Select operating mode end-position controlled and time-controlled . The default set-ting for ENGEL is end-position controlled and the time-controlled function is used for

emergency operations in case of defective limit switch or cable break. If you select time-controlled the movement is complete for the control unit after the monitoring period haselapsed.

End position monitoring +/-

You can set various monitoring variants here to modify the axis functions in the bestpossible way.

No monitoring

The movement is not monitored for end position or monitoring time elapsed.

Time-dependent

After the monitoring time has elapsed, the movement is complete for the control unit.In case of a movement ’ [ - ] to final position’ or ’ [ + ] to final position’ , the next

instruction in the robot sequence starts after this time. Permanently

The barrel must reach the final position within the monitoring time and is then contin-uously monitored. In case of a movement ’ [ - ] to final position’ or ’ [ + ] to final posi-tion’ , the next instruction in the robot sequence starts after the final position isreached.

End position reached

The axis must reach the final position once within the monitoring time In case of amovement ’ [ - ] to final position’ or ’ [ + ] to final position’ , the next instruction in therobot sequence starts after the final position is reached.

Permanently switch-on-delayed

The barrel must reach the final position within the monitoring time. The ’Delay time

for final position monitoring’ starts after reaching the final position. After the ’Delaytime for final position monitoring’ has elapsed, the barrel is continuously monitored.This only applies for movements ’ [ - ] to final position ’ or ’ [ + ] to final position’.

barrel

Cancel Help Execute

Choice:


barrel

More

barrel



Free barrels - Free barrel 1

Activated


No monitoringEnd position monitoring -

No monitoringEnd position monitoring +

Monitoring time




Robot sequence

251

End position reached switch-on delayed

The barrel must reach the final position within the monitoring time. The ’Delay timefor final position monitoring’ starts after reaching the final position. This only appliesfor movements ’ [ - ] to final position ’ or ’ [ + ] to final position’.

Monitoring time

The end position must be reached within this time.

Action

Set the desired movement for the barrel. There are two types of instruction:

With monitoring


Without monitoring


5.2.5 outputsOutputs ’instruction’ for activating/deactivating peripheral unit outputs.

Instruction:


Output

Select required output.

Action

Select output option ’ Activate’ or ’Deactivate’. Pulse duration

If the output needs to be activated/deactivated for an adjustable pulse duration, then a

outputs

outputs

Cancel Help Execute

Free output 1

Deactivate Action

Output

Less

Free output 1

Time value 1Pulse duration

Time value 1



Robot sequence


time value also needs to be selected for this parameter.The following dialog box opens where you can enter or select a user-defined time value.

Time value

The output is then activated/deactivated for a set pulse duration according to the’ Action’ parameter setting. Parameter is only displayed if a time value is set in the ’Pulseduration’ parameter.

Pulse duration

Cancel Help Execute

Choice:

User

Create

Time value 1

No selection



Robot sequence

253

5.3 Injection molding machineInstructions for the communication between robot and injection molding machine.The following instruction types are available:

Release and wait

After release, the cycle waits for the movement to be executed; then the next instructionis executed (symbols with yellow background).

Release only

After release, the cycle does not wait for the movement to be executed, but continueswith the next command (icons with green background).

Block/release

Blocking or re-enabling a movement (symbols with blue background).

CAUTION!


Modifying a yellow wait command to a green release command can trigger thesubsequent movements or events too early in parallel.

Note!

If a movement is enabled in one direction, movements in the opposite direction will beblocked.

5.3.1 Mold

Mold movement closing, opening or releasing/blocking in both directions. Clamping forcebuild-up/reduction is not blocked.

Instruction:


Close; Open; Open to intermediate posit ion After release, the cycle waits for the movement to be executed; then the next instruction

Mold

Mold

Cancel

Action

MoreClose

Close

Open

enable closing

enable opening

open to intermediate position

enable opening to intermediate position

Release closing at early start position

enable

block



Robot sequence


is executed (symbols with yellow background).If a movement is enabled in one direction, movements in the opposite direction will beblocked.

enable closing, enable opening

After release, the cycle does not wait for the movement to be executed, but continueswith the next command (icons with green background).If a movement is enabled in one direction, movements in the opposite direction will be

blocked. Enable opening to intermediate position; Release closing at early start posi tion

After release, the cycle does not wait for the movement to be executed, but continueswith the next command (icons with green background).If a movement is enabled in one direction, movements in the opposite direction will notbe blocked.

Release; block

Blocking or re-enabling movements in both directions (symbols with blue background)

5.3.2 Enable clamp force build-up/reduction

This instruction releases the clamp force build-up/reduction.

Instruction:

5.3.3 Block clamp force build-up-/reductionThis instruction blocks the clamp force build-up/reduction.

Instruction:

In machines without tie-bars, clamp force build-up causes the C frame to expand, which in turndisplaces depositing/pick-up positions. To allow for easy depositing/pick-up of parts, clampforce build-up/reduction must be blocked. [See Position compensation for tie-bar-lessmachines on page 275.].

Enable clamp force build-up/reduction

Block clamp force build-up-/reduction



Robot sequence

255

5.3.4 Ejector Ejector movement forward, back or release/lock in both directions.

Instruction:


advance, retract, advance to intermediate position, retract to intermediate posi-

tion

After release, the cycle waits for the movement to be executed; then the next instructionis executed (symbols with yellow background).If a movement is enabled in one direction, movements in the opposite direction will be

blocked. enable advance; enable retract; advance to intermediate posit ion; retract to inter-

mediate position

After release, the cycle does not wait for the movement to be executed, but continueswith the next command (icons with green background).If a movement is enabled in one direction, movements in the opposite direction will beblocked.

Release; block


Ejector

Ejector

Cancel

Action

Moreadvance

Close

retract

enable advance

enable retract

advance to intermediate position

retract to intermediate position

enable advance to intermediate position

enable retract to intermediate position

enable

block



Robot sequence


5.3.5 CoresCore moving in, moving out or release/lock in both directions.

Instruction:


Ac tion

moving in and moving o;t

After release, the cycle waits for the movement to be executed; then the next instructionis executed (symbols with yellow background).If a movement is enabled in one direction, movements in the opposite direction will beblocked.

enable moving in, enable moving out

After release, the cycle does not wait for the movement to be executed, but continueswith the next command (icons with green background).If a movement is enabled in one direction, movements in the opposite direction will beblocked.

Release; block


Signal

The appropriate action will be transmitted to the injection molding machine for the set signal. Attention! The instruction specifies a maximum number of signals which may not be supportedby the robot interface. Note the configuration and actual number of enable signals on the’Robot interface’ screen page.

Cores

Core

Cancel

Action

More

Signal 1

move in

Help Execute

Signal



Robot sequence

257

5.3.6 Air valves

Instruction:


Action

enable, wait for blowing time


enable, do not wait for blowing time


block

Blocking of movements (symbols with blue background)

Signal


5.3.7 Injection molding machine vacuum circuitInstruction is available, if the injection molding machine supports this option.

Instruction:


Action

Air valves

Core

Cancel

Action

More

Air valve 1

enable, wait for blowing

Help Execute

Signal

Injection molding machine vacuum circuit

Injection molding machine vacuum circuit

Cancel

Action

More

Vacuum circuit 1

switch on

Help Execute

Signal



Robot sequence


switch on, switch off


Release switch on, Release switch o ff


Release; block

Blocking or re-enabling movements (symbols with blue background)

Signal


5.3.8 Wait until part take over allowed

Instruction:

Robot only moves into the mold when mold open or early start position (if set) has beenreached. Attention: The instruction ’Wait until part take over allowed’ may only be used once in a cycle.Further functions are available for selection in the mold swiveling device option [See Mold swivelling device on page 313.]

5.3.9 Part is reject

Instruction:

If a molded part is classified as a good part by the injection molding machine, but is later dis-carded as a reject (e.g. automatic ultrasonic testing for bubbles), you can increment the rejectscounter and decrease the shot counter for the injection molding machine with this instruction. [See Reject deposit on page 248.]

x not moved in

Cause The function is not at the position set in the sequence.

Effect Automatic start is not possible.

Remedy Set the position correctly in manual mode.


Part is reject



Robot sequence

259

x not moved out


Effect Automatic start is not possible.Remedy Set the position correctly in manual mode.

x not open




x not closed




x not open on intermediate position




x not closed on intermediate position






Robot sequence


x not in front




x not back




x not in front on intermediate position


Effect Automatic start is not possible.Remedy Set the position correctly in manual mode.

x not back on intermediate position






Robot sequence

261

5.4 safety gate All instructions for the robot safety gates and robot light beam guards are listed below.

5.4.1 Robot safety gateInstructions:

The ’Request opening’ instruction has the same function as the Access demand key on theprotection door. See chapter Safety - Robot safety guarding.

Example:

The robot sequence stops due to the ’Robot safety gate 2 - request opening’ instruction at thenext ’Stop when safety gate is requested’ instruction and enables the protection door to beopened. This saves the operator from having to make a manual request to open the protec-tion door when depositing a quality control part.


Stop when safety gaterequested

Plant stops sequence with this instruction when thesafety gate access request key or the light beamguard access request key is pressed. The plant also

stops the sequence if the instruction ’Request open-

ing’ for a safety guard or the instruction ’Request

intervention’ for a light beam guard was inserted inthe sequence.

Robot safety gate

request opening


Mvoe out control depositing 1 position user

Lower swivelling limit depositing area reached

Wait until

Robot safety gate 2 - Request opening

Lower swivelling


Upper swivelling

[ OFF ] with monitoring




Robot sequence


5.4.2 Robot light beam guardThe following instruction is only available if the plant is equipped with a light beam guard.

Instructions:

The ’Request intervention’ instruction has the same function as the Access demand key on thelight beam guard control panel. See chapter Safety - Light beam guard.

Example:

The robot sequence stops due to the ’Robot light beam guard - Request intervention’ instruc-tion at the next ’Stop when safety gate is requested’ instruction and enables the light beamguard for interruption. This saves the operator from having to make a manual request toenable the light beam guard when depositing a quality control part.

Robot ligh t beam guard

Request intervention




Wait until

Robot light beam guard - Request intervention

Lower swivelling


Upper swivelling

[ OFF ] with monitoring




Robot sequence

263

5.5 Sequence controlInstructions for automatic sequence.

5.6 GridThese instructions are used for part depositing in a shot, individual part and Teach grid.

5.6.1 Shot grid

Instructions:

Instruction ’Increase’ increases the parameter of the shot grid by one shot.Instruction ’Delete’ deletes all shots from the shot grid = shot grid is empty. This instruction isnot required in the Engel-defined ’Parts depositing in shot grid with conveyor-belt’ because thestepping of the conveyor-belt automatically deletes the shot grid.

Example:

Instruction ’Shot grid 1 - increase’ increases the parameters of the shot grid by one shot after a shot has been deposited.


Stop sequence Stops automatic sequence.

Wait for start button insemiautomatic

In semi-automatic mode, the operator must actuatethe Start button when the sequence reaches thisinstruction in the sequence to allow the cycle to con-tinue.

Shot grid

Increase

Delete

Shot grid 1 - Increase

Shot grid part deposit 1

Time=0,5

Depositing time

[ OFF ] without moni-

Depositing vacuum/

Time=0,5




Robot sequence


Example:

Structure instruction ’If ’ queries the shot grid whether it is full. If the shot grid is full, instruction’Shot grid 1 - delete’ deletes all the shots from the shot grid. Then the robot moves to the griddepositing position.

5.6.2 Individual part grid

Instructions:

Instruction ’Increase’ increases the parameter of the individual part grid by one shot.Instruction ’Delete’ deletes all shots from the individual part grid = individual part grid is empty.Instruction ’Switch off vacuum/compressed air ’ switches off the vacuum/compressed air cir-cuits according to the order configured in the group configuration (individual parts grid x - vac-uum/compressed air circuits).The ’Determine next position’ instruction automatically calculates the next position in the indi-vidual part grid.With instruction ’Move at y-moving height’ , the y-axis moves at the traveling height set in theGrid Editor.

Move into shot grid 1

Part deposit in shot grid 1 without conveyor-belt


Wait until



Lower swivelling

Shot grid 1 - delete

Shot grid 1 grid full

If



Increase

Delete

Switch off vacuum/compressed air

Determine next position

Movement to Y-moving height



Robot sequence

265

Example:

The robot deposits the parts from a shot at two different depositing positions. After the first part has been deposited the ’Individual part grid 1 - Determine next position’instruction calculates the position for the second part of the shot.If the condition in structure instruction ’If ’ is not fulfilled, the branch is processed in the ’0’direction. Then the robot moves at the y-moving height; structure instruction ’Execute while’directs it to the deposition position for the second part of the shot. After the part has beendeposited, the deposition position for the next part is calculated. After all parts of the shot have been deposited, the condition in structure instruction ’If ’ is ful-filled and the branch is processed in the ’1’ direction. The individual part grid is incrementedby one shot. The robot moves at the y-moving height and jumps to the end of the sequence.

Individual part grid part deposit 1


Individual part grid 1 - increase

Speed from depositing position = 100

Individual part grid 1 - move at y-moving height

Individual part grid 1 - switch off vacuum/compressed air

Speed from depositing position = 100

Individual part grid 1 - move at y-moving height

Position

Individual part grid 1 - determine next

Individual part grid 1 - all parts deposited

If

Time=0,5


Time=0,5

Depositing time

Individual part grid 1 - depositing position on grid

Individual part grid part deposit 1

Individual part grid 1 - Depositing position grid - ABC

Position over individual part depositing

( NOT individual part grid 1 All parts deposited

Execute as long as



Robot sequence


5.6.3 Teach grid

Instruction:

Instruction ’Delete’ deletes the Teach grid.

Individual part grid - Not all parts could be deposited

Cause Although all parts have been deposited, a vacuum/compressed aircircuit is active.

Effect Cycle interruption

Remedy Adjust robot sequence.

Individual part grid - Not all parts could be picked up

Cause Although all parts have been picked up, a vacuum/compressed aircircuit is not active.


Remedy Adjust robot sequence.

Teach grid

Delete



Robot sequence

267

5.7 SequencesPool of sequences/subsequences that are used in the standard sequences and individualinstructions that are not listed under the other instruction groups.It must be ensured that only one variant of each sequence/subsequence is included in this

pool. If another variant is desired, insert the existing variant in the sequence and select it in the’Replace variant’ dialog box. [See Exchanging variants - Extended view on page 203.]Symbols with a thick border are sequences and subsequences, symbols with a thin border areinstructions.

Symbol Name Description

Take-off can beswitched over horizon-tally/vertically

Complete sequence and subsequences for take-off.

part depositing 1/2 Complete sequence and subsequences for part

depositing.

Pick-up part Complete sequence and subsequences for insertpart pick-up.

Home position Complete sequence and subsequences for movingto home position.

intermediate deposit Complete sequence and subsequences for interme-diate deposit of parts. For example on a peripheralunit or for gripping before depositing.

Intermediate layers

depositing

Complete sequence, subsequences and instruc-

tions for intermediate layer pick up and separation ofindividual parts layers on grid.

Robot sequence Referencing, home position, robot and usersequence

Park position Complete sequence and subsequences for parkposition.Robot moves to its own park position, e. g. forchanging end-of-arm tooling or production withoutrobot.



Robot sequence


Quality Control partdepositing

Complete sequence and subsequences for qualitycontrol part depositing.Deposit quality control parts on a separate qualitycontrol depositing position

Reject deposit Complete sequence and subsequences for parkposition.Deposit reject moldings on a separate reject depos-iting position.

Sprue deposit Complete sequence and subsequences for spruedepositing.Deposit sprue at a separate sprue depositing posi-tion.

Sprue separation Complete sequence and subsequences for sprueseparation.Separate sprue from the injection-molded part, e. g.

with a sprue separating tongs.

Teach grid This instruction is located by default in the ’Part

depositing in teach grid with conveyor-belt’ subse-quence. Double-clicking on the symbol will take youto the teach grid sequence. In the teach gridsequence a separate part depositing sequence canbe created for each part.

Symbol Name Description



Robot sequence

269

5.7.1 Place holder Replace placeholder as necessary with proposed instruction for the required peripheral unit or use inputs/outputs to implement function.

Instructions:

Instructions:

Replace placeholder with instruct ion 'Wait until part deposit ing

allowed' for the required peripheral unit.

Replace placeholder with instruct ion 'Part deposited' for the

required peripheral unit.Replace placeholder with instruction 'Wait for part pick-up

release' for the required peripheral unit.

Replace placeholder with instruction 'Wait for part pick-up

release' for the required peripheral unit.

Cause Placeholder is present instead of an instruction in the sequence.


Remedy Replace placeholder as necessary with proposed instruction for therequired peripheral unit or use inputs/outputs to implement function.

Part pick-up

Placeholder ‘Wait until part pick-up allowed‘

Placeholder ‘Part pick-up‘


Placeholder ‘Wait until part depositing allowed‘

Placeholder ‘Part deposited‘

Placeholder ‘Wait until part pick-up allowed‘

Placeholder ‘Part pick-up‘



Robot sequence


5.7.2 Intermediate layers depositing

Instructions:

Instructions for programming an intermediate layer deposit.Instruction ’Magazine empty’ signals to the control unit that the intermediate layers magazineis empty.

Instruction ’ Activate new search’ triggers a search move for the stacking height in order to pickup an intermediate layer. This instruction is not programmed in the Engel-defined sequence’Standard intermediate layers’.

Example:

After the intermediate layer has been deposited, instruction ’Intermediate layer deposited’informs the Grid Editor that the intermediate layer has been deposited.

Intermediate layers depositing

Intermediate layer deposited

Magazine empty

Check whether intermediate layer possible

Activate new search

Deposit intermediate layer

Time=0,5

Depositing time

Deposit intermediate layer

Intermediate layer deposited

Time=0,5


[ OFF ] without monitoring

Intermediate layers vacuum/compressed air circuits



Robot sequence

271

Example:

Instruction ’Check whether intermediate layer is possible’ checks whether parts are locatedon the end of arm tooling.

Retrieve intermediate layers

Intermediate layers standard

Check whether intermediate layer possible

Grid calculation NOT active

Wait until

Request of layers ->

Execute as long as



Robot sequence


5.7.3 Quality Control part depositing

Instruction:

The instruction increments the control parts counter on the Control parts screen.

Example:

The control parts counter is incremented after depositing the molded part on the quality con-trol part depositing.


Increase Quality control deposit counter

Increase Quality control deposit counter


Time=0,5

Depositing time

[ OFF ] without moni-

Vacuum control part

Time=0,5


Deposit test part

Moving-in Quality Control depositing - 1 position



Robot sequence

273

5.7.4 Reject deposit

Instruction:

Reset the status marker ’Rejects signal’ . Must always be pre-programmed if the instruction’Reject deposit request’ is pre-programmed in the sequence.

Example:

After the part is deposited on the rejects depositing, the instruction ’Reset rejects request’resets the status marker ’Rejects signal’.

Reject depos it

Reset rejects request

Reset rejects request


Time=0,5Depositing time

[ OFF ] without moni-Vacuum reject

Time=0,5


Deposit rejects standard

Moving-in 1 position



Robot sequence


5.7.5 Parts deposit checkThe instruction ’Parts deposit check’ is part of the ’Start with the part on the end of arm tooling’subsequence in all Engel take-off variants. If this instruction is processed twice consecutively,the robot will stop the sequence..

Instruction:

Example:

Before the robot moves into the mold to take-off the molded part, a check is made whether parts are present on the end of arm tooling. If parts are on the end of arm tooling, the robotdeposits these first. After the parts are deposited, the robot checks again whether parts are onthe end of arm tooling. If there are still parts on the end of arm tooling, the instruction ’Partsdeposit check’ is carried out a second time. The robot stops the sequence if the instruction’Parts deposit check’ is carried out a second time consecutively.One reason could be that different vacuum/compressed air circuits are configured in the Take-off group than in the Deposit group in the group configuration. This means that the robot onlydeposits the Deposit groups parts and the Take-off group parts remain on the end of arm tool-ing.

Parts deposit check

Parts deposit check

Take-off Standard

Part is reject

One or multiple take-off vacuum/compressed air circuits

If


Start with the part on the end of arm tooling

Rejects request - request

Start with the part on the end of arm tooling

Rejects depositing program switch rejects depositing

If


Move out without take-off of parts



Robot sequence

275

5.7.6 Position compensation for tie-bar-less machinesWith tiebar-less injection molding machines the depositing and pick-up positions are displacedon clamp force build-up by C frame expansion. This can cause issues with the robot on depos-iting or picking up parts.The variant ’Pick up parts with clamp force position compensation ’ is available for picking upparts in the robot sequence.

Variant: Pick up parts with clamp force position compensation

At mold standstill the robot will lock the mold and Clamping force build-up/reduction. Subse-quently the condition ’Clamping force built up’ is queried and depending on Clamping forcebuilt up/reduced it moves to its own pick-up position.

Check group configuration and vacuum/compressed air circuits

Cause Robot could not start to take-off molded parts from the mold as partsare still present on the end of arm tooling.

Effect Interrupting automatic cycle.

Wait until

Mold standstill

Take-up position -

If

Mold clamp force built up

Move in with clamp force position compensation

Take-up position - XYZ

Position via parts take-up

Move in with clamp force position compensation

Lower swivelling Wait until

Special instructions for rotary axis movement fromTake-up position - ABC

Mold

block

Block clamp force build-up-/reduction

Placeholder Wait until part pick-up allowed

Replace placeholder for instruction ‘Wait until part pick-up allowed‘ for



Robot sequence


The ’Delay time for pick-up’ starts when the robot reaches the pick-up position. After the delayhas elapsed, the part is picked up. After the pick-up time has elapsed, the robot moves to the lower swiveling limit. After this, themold, and clamp force build-up/reduction are released.

Wait until


Mold

enable

Enable clamp force build-up/reduction

Lower swivelling limit

Move out with clamp force position compensation

Move out with clamp force position compensation

Upper swivelling

If

Robot sequence first cycle

Placeholder Wait until part pick-up allowed

Replace placeholder for instruction ‘Part picked up‘ for th

Insert-placing vacuum/compressed air circuits

[ ON ] with monitoring

Part pick-up

Part pick-up

Pick up time

Time=0

Delay time receptionTime=0

Insert-place vac-

[ ON ] without moni-



Robot sequence

277

5.8 structure instructionsStructure instructions can be programmed in the robot sequence from access level 7. Anextended range of structure instructions is available from access level 9.Conditions can be programmed in some structure instructions. To display the condition with

the existing state, e.g. (TRUE) as long text next to the instruction, click on the respectiveinstruction in the sequence.

Example:

Structure instruction ’Wait until’.The sequence waits until the condition Wait until open mold is {TRUE}.

5.8.1 Execute as long asThe instructions in the ’Execute as long as’ loop are repeated until the programmed conditionis no longer fulfilled. The next instruction in the sequence then starts. If the condition is not ful-filled when the sequence reaches the ’Execute as long as’ instruction, this is skipped and thenext instruction after the loop starts immediately.

Instruction:

When the instruction is inserted, a condition editor opens where you can program the requiredconditions. [See Condition editor on page 293.]

Example:

In the automatic sequence, the additional peripheral unit subsequence should be repeateduntil the Free input 1 is no longer active.

Wait un til

Mold open {FALSE}

Wait unti l

Mold open {TRUE}

Condition Actual state Condition Actual state

Execute as long as


Execute as long as

Execute as long as


Free input 1 {FALSE}

Additional peripheral

Take-off Standard



Robot sequence


5.8.2 Repeat untilThe instructions in the ’Repeat until’ loop are repeated until the programmed condition is ful-filled. The next instruction in the sequence then starts. The instructions in the ’Repeat until’loop are executed at least once, whether or not the condition is fulfilled.

Instruction:


Example:

In the automatic sequence, the additional peripheral unit subsequence should be started atleast once and then repeated until the Free input 1 is active.

Repeat unti l



Repeat until

Execute as long as


Free input 1 {FALSE}

Additional peripheral

Take-off Standard

Part deposit in shot grid 1 with conveyor-belt



Robot sequence

279

5.8.3 If The ’If ’ instruction can be used to query one or more conditions. Depending on whether thecondition is fulfilled or not, the robot processes the branches.If the condition is {TRUE}, main branch ’I’ is processed.

If the condition is {FALSE}, branch ’0’ is processed.

Instruction:


Example:

If parts are located at the end of arm tooling after the movement to home position (e. g. pro-gram switch ’Movement to home position with parts’) is activated, the cycle continues at theend of the sequence.

If

Take-off Standard

If

Take-off vacuum/compressed air circuits Monitoring of parts active {TRUE}

Move out without part take-off




Robot sequence


5.8.4 Parallel open branchYou can use the parallel open branch to execute instructions in parallel.In case of parallel open branch, the sequence does not wait for the end of the parallelsequence.

In contrast to the ’Parallel closed branch’ , the movements in the ’Parallel open branch’ do notneed to be completed in order to start the next step in the robot sequence.This instruction is cycle-overlapping.

Instruction:

Example:

After the lower swiveling limit in the depositing area has been reached, the peripheral unit isstepped parallel to the sequence. The sequence does not wait for the end in the parallel openbranch.

5.8.5 Parallel closed branchYou can use the parallel closed branch to execute instructions in parallel.To allow the next step in the robot sequence to start, all movements in the ’Parallel closedbranch’ must be completed.

Instruction:

Parallel open branch

Move out from depositing with conveyor-belt

Wait untilLower swivelling limit depositing area reached

Upper swivellingY=0

Peripheral unit cycle

Peripheral unit cycle

Free output 1

Free output 1

Set

Reset

Clock timeTime=5

Parallel closed branch



Robot sequence

281

5.8.6 Waiting timeWhen the set time has elapsed, the robot continues the sequence. You can insert this instruc-tion as often as required in the sequence as a delay or waiting time.

Instruction:


Time

Select a user-defined time module or existing robot time.

Time moduleWhen the set time has elapsed, the robot continues the sequence.

Waiting t ime

Waiting time

Cancel Help Execute

Time module 1Time

More

Time module 1

Time

Cancel Help Execute

Choice:

Peripheral unit

Time module 1

Take-off can be switched over horizontally/verti-

Part deposit 1

Part deposit 2

Pick-up part

Intermediate layers depositing


Reject deposit

Sprue deposit

User



Robot sequence


Example:

After part deposition on the conveyor-belt, the robot waits 0.5 seconds to release the vacuum.

5.8.7 Wait for time or marker When the set time has elapsed or the defined marker is set, the robot continues the sequence.You can insert this instruction as often as required in the sequence.

Instruction:


TimeSelect a user-defined time module or existing robot time.

Time module

When the set time has elapsed, the robot continues the sequence.

Marker

Select a user-defined status marker or existing robot marker.

Status marker

When the defined marker has been set, the robot continues the sequence.



Waiting time before depositingTime=

Shot grid 1 - Increase

Depositing vacuum

[OFF] without moni-

Depositing

Time=0,5

Wait fo r time or marker

Wait for time or marker

Cancel Help Execute

Time module 1Time

More

Time module 1

Status marker 1Marker

Status marker 1



Robot sequence

283

5.8.8 Wait time or inputWhen the set time has elapsed or the defined input is set, the robot continues the sequence.You can insert this instruction as often as required in the sequence.

Instruction:


Time

Select a user-defined time module or existing robot time.

Time module

When the set time has elapsed, the robot continues the sequence.

Input

Select input.

Free input

When the defined input has been set, the robot continues the sequence.

Wait time or input

Wait time or input

Cancel Help Execute

Time module 1Time

More

Time module 1

Free inputInput

Free input



Robot sequence


5.8.9 Wait untilThe robot continues the sequence when all conditions in the ’Wait until’ instruction have beenmet.

Instruction:


Example:

After deposition, a check is made whether parts are still on the end-of-arm tooling. The y-axismust have reached the lower swiveling limit.

5.8.10 CommentTo make robot sequences more intelligible, operators can add a ’Comment’.

Instruction:


Comment

Enter the required comment.

Wait unti l


Wait until


reached {FALSE}

Depositing conveyor-belt - Part deposited


[OFF] with monitoring

Lower swivelling

Y=0

Upper swivelling

Y=0

Comment

Comment

Cancel Help Execute

Comment

More



Robot sequence

285

5.8.11 AssignmentWith this instruction it is possible to assign a value to markers, values, program switches, setpositions manual axes, set positions servoaxes and counters.This value must be interrogated in the sequence again with certain structure instructions suchas ’If ’ and ’Wait until’.

Instruction:

Example:

Add structure command ’ Assignment’ to robot sequence. For the assignment command, cre-ate a variable with a ’Part 1 deposited’ marker, and set the ’TRUE’ condition.

1. In the ’Instructions’ selection window, select the ’ Assignment’ structure instruction andinsert this into the sequence at the desired position.

2. The ’ Assignment’ dialog box will appear.


Assignment

variable

value

Assignment

Choice:

No condition


variable

value

Assignment

Choice:

No condition




Robot sequence



5. Select the ’Selection’ icon and then the Create menu button.


7. Change the basic type to ’Marker ’ and the name to ’Part1 deposited’.

8. Press Execute to transfer the variable to the ’ Assignment’ dialog box.

9. Press the text box to open the Conditions Editor.

Cancel ExecuteHelp

variable

Choice:

Marker

Counter

Values

Create

Cancel ExecuteHelp

Create variables

value 1

Values

Name

Type

variable

value

Assignment

Part 1 deposited

No condition




Robot sequence

287

10. Insert a ’true’ condition, and apply by pressing Execute.



Condition Editor - Assignment

Type

Element

MOD

DEL.

XOR

CLR

NOT OR AND

TRUE FALSE Number

Selection of type

Linkage (optional)

Selection of vari-

Text

TRUE

Cancel ExecuteHelpLess

AssignmentPart1 deposited {TRUE}TRUE



Robot sequence


5.8.12 Jump to sequence endWith this instruction, the execution flow immediately jumps to the end of the sequence/subse-quence in which the instruction is programmed.It is also possible to use this command with other sequences.

Instruction:

Example:

If there are still molded parts on the end of arm tooling when an automatic cycle is started,these are deposited onto the conveyor-belt before molded parts are removed from the mold.


Take-off Standard

Moving-in standard



Take over parts standard


Move out without take-off of parts

If Take-off vacuum/compressed air circuits one or several with monitoring

Moving-out standard

Take-off Standard


If If

Reject deposit Test part depositing

Reject deposit

1 Position

Quality Control

Position

Depositing of parts in shot grid

Conveyor-belt



Robot sequence

289

5.8.13 AlarmInstruction is used to set an alarm. You can assign an alarm class and separate alarm text tothe alarm. The alarm class can trigger an ’Immediate machine stop’ up to a ’Wait point’.

Instruction:

Dialog window and setting options for the instruction:

Type

Alarm selection is from class 3 to 7. Alarms with alarm class 3 to 5 must be acknowledged or deleted using the programinterruption key or with the ’ Acknowledge’ menu key on the ’ Alarms’ screen page. Alarms in alarm classes 6 and 7 can also be deleted with the ’Delete alarm’ instruction.

Name

The alarm name set here will be displayed on the alarm screen page when this instruc-tion is reached in the robot sequence.

Example:If there is an additional peripheral unit for insert parts, a signal is needed to query whether insert parts exist. If the peripheral unit is almost empty, an alarm message should for issuedinformation purposes only. The message text should be: Caution! Insert parts for plant xxxrunning low!

Alarm

Alarm

Cancel Help Execute

System faultType

More

Name 1 Alarm 1

Information

Caution! Insert parts for machine xxx running null!

If

Free input 1 = True



Robot sequence


5.8.14 Delete alarmThis instruction deletes any alarm class 6 messages you programmed previously 7.

Instruction:


Type

Only the alarms previously set in the sequence with the ’ Alarms’ instruction can beselected.

5.8.15 Set positionCopy a position to another position.

Instruction:


Instruction

Depending on the setting, the control unit copies a single axis, linear axis, rotary axis or robot position.

from/to

The position selected at of is copied by the control unit for the position selected at on .

Delete alarm

Alarm

Cancel Help Execute

Missing selectionType

More

Set position

Set individual axis position (of/on)

Cancel Help Execute

Set individual axis positionInstruction

More

Robot position 1 - Xof

Robot position 2 - Xon

Robot position 1 - X

Robot position 2 - X



Robot sequence

291

5.8.16 Copy actual position toCopy an actual position to an individual axis, linear axis, rotary axis or robot position.

Instruction:


Instruction

You can select whether to copy the actual position to an individual axis, linear axis,rotary axis or robot position here. The following parameters change according to theselection.

on

Select position to which you want to copy the actual position.

Position

5.8.17 IncreaseIncrements a counter or a position by a specific value).

Instruction:


Instruction

Depending on the selection, the control unit increases a counter or a position.

of

Select the counter/position that the control unit should increase.

Copy actual position to

Copy actual position to individual axes positions

Cancel Help Execute

Copy actual position to indi-Instruction

More

Part deposit 1 - Depositing po-on

Depositing position -Z

Increase

Increase counter (of/by)

Cancel Help Execute

Decrease counter (by)Instruction

More

Quality control part depositingof

Counter 1by

Counter 1

Quality control parts set value - shot actual value



Robot sequence


by

Select the counter/stroke that the control unit should use for increasing.

5.8.18 DecreaseDecrements a counter or a position by a specific value).

Instruction:


Instruction

Depending on the selection, the control unit decreases a counter or a position.

of

Select the counter/position that the control unit should decrease.

by

Select the counter/stroke that the control unit should use for decreasing.

Decrease

Decrease counter (by)

Cancel Help Execute

Decrease counter (by)Instruction

More

Quality control part depositingof

Counter 1by

Counter 1

Quality control parts set value - shot actual value



Robot sequence

293

6 Condition editor The condition editor serves to create logic condition expressions.For a structure command such as ’If ’, ’Wait until’ etc., you need at least one condition, whichis programmed in the condition editor.

If you insert e. g. the ’If ’ structure command into a sequence, or if you double click on an ’If ’condition, the condition editor is launched.

Two variable types are distinguished by the condit ion editor

Boolean variables

These are markers, program switches, or digital inputs and outputs.In case of Boolean variable types, only the states true and false are distinguished.

Non-Boolean variables

These are counters, current or set positions and values and they expect a number astheir parameter.

6.1 Dialog windowDepending on access level, a variety of functions is available in the ’Condition editor ’ dialogbox.

User accesss authori zation 7

Operators can only program a single condition.



Cancel ExecuteHelp

Type

Element

Choice:

Error on analog input/output

DEL.CLR

TRUE FALSE Number

Selection of type

Linkage (optional)

Selection of vari-

Text



Robot sequence


As of user level 9

Extended dialog box The operator may, e.g. program AND/OR links.

[1] Display window for the programmed conditions

[2] Ar row left / right

To jump from one programmed condition to the next in the display window, first of all

highlight a condition.[3] Type

Selection of variable type, e.g. Program switches, digital inputs/outputs, etc.

[4] Assignment funct ions

Buttons are only active if the corresponding function for the selected condition is possi-ble.

[5] Element

Selection of all available elements of the selected type.For each type the user can ’create’ user-defined variables. Those should be namedintuitively to make the sequence clear and easier to read.

[6] Name changing

Renaming a user-defined variable Standard variables cannot be renamed.[7] Display on sc reen page

In the ’Display on screen page’ selection box set the screen page on which the variableis to be displayed. When the respective program switch is activated the control unit willdisplay the variable on the screen page.

[8] Structuring and processing functions fo r the condition

[9] Menu keys

The created condition can be inserted into the sequence by pressing Execute.Press the Less or More menu keys to hide/display additional functions.



Cancel ExecuteHelp

Type

Element

Choice:

Error on analog input/output

12 2

5

3

8

4

9

6 7

MOD

DEL.

XOR

CLR

NOT OR AND

TRUE FALSE Number

Selection of type

Linkage (optional)

Selection of vari-

Text

Less



Robot sequence

295

The following variable types are available as structure instructions

Type

Program switch These are a derivative of markers that are used in thestandard program. However, ones that are saved in the

node ’User-defined sequence’ can also be created.

Status flag sequence Robot sequence markers are available; ones that are

saved in the node ’User-defined sequence’ can also becreated.

General markers Ten ’machine markers’ are available as elements. How-

ever, ones that are saved in the node ’User-defined

sequence’ can also be created.The machine markers 1 and 2 can be described in themachine sequence and they can be interrogated in therobot sequences.

Status marker For each robot position, function, in/output and machinestate it is described via the status markers whether a state

is ’True’ or ’False’.However, ones that are saved in the node ’User-defined

sequence’ can also be created.

With the structure instruction ’If ’ a status is interrogated

and the program sequence is branched correspondingly.

Digital in and outputs The status of inputs/outputs can be queried in structure

instructions such as ’If,’, ’Wait until’, ’,Execute as long as’ and ’Repeat until’.

Error on the digital input and/or output

The hardware modules for the inputs/outputs supply ahardware check signal which can be queried to determineif the status is valid. Possible use in safety-criticalsequences.

Rotary axes set positions The setting parameters of rotary axes can be queried

accordingly in structure instructions such as ’If ’.

Actual positions rotary axes The actual values of rotary axes positions can be queried


Counter Counters created by the user can be queried/assigned in

structure instructions such as ’Increment’, ’If,’, ’Wait until’,

’Allocation’.

Values ’Values’, ’created by the user can be queried/assigned in

structure instructions such as’, ’Increment’, ’If,’ Wait until

’ Assignment’ .

Servoaxes actual positions The actual values of servo axes positions can be queried


Servoaxes set positions The setting parameters of servo axes can be queried




Robot sequence


Use of brackets for operations with non-Boolean variables

If you link a non-Boolean variable and another condition with an AND/OR operation, the non-Boolean variable must be enclosed in brackets.If you do not use brackets at the start of the expression, the keys for the AND, OR, etc. oper-ations will not be active (black key label).

Assignment funct ions

TRUE Allocates the Boolean value TRUE (1) to the expression.

FALSE Allocates the Boolean value FALSE (0) to the expression.

Text Opens the input dialog and supports string input).

Number Opens the input dialog and enables the input of numbers.

Structuring and process-

ing functions

XOR Logic XOR for Boolean data types.

NOT Logic NOT for Boolean data types.

OR Logic OR for Boolean data types.

AND Logic AND for Boolean data types.

( ) Brackets for structuring expressions.

/ Division

* Multiplication

- Subraction

+ Addition

< Smaller

> larger

<= Less than or equal to

>= Greater than or equal to

= Equal

<> not equal

MOD Modulo (supplies a whole-number remainder of a division)e.g. 5 mod 2 = 1 , (5/2 = 2 remainder = 1).

CLR Deletes the entire condition.

<- Deletes the element inserted last.

DEL Deletes a highlighted element.



Robot sequence

297



Type

Element

MOD

DEL.

XOR

CLR

NOT OR AND

TRUE FALSE Number

Selection of t ype

Linkage (optional)

Selection of vari-

Text

(Rejects counter > 10)

AND rejects depositing rejects request active




Robot sequence


Example:

Add structure command ’ Assignment’ to robot sequence. For the assignment command, cre-ate a variable with a ’Part 1 deposited’ marker, and set the ’TRUE’ condition.

1. In the ’Instructions’ selection window, select the ’ Assignment’ structure instruction and

insert this into the sequence at the desired position.2. The ’ Assignment’ dialog box will appear.



5. Select the ’Selection’ icon and then the Create menu button.

variable

value

Assignment

Choice:

No condition


variable

value

Assignment

Choice:

No condition


Cancel ExecuteHelp

variable

Choice:

Marker

Counter

Values

Create



Robot sequence

299


7. Change the basic type to ’Marker ’ and the name to ’Part1 deposited’.

8. Press Execute to transfer the variable to the ’ Assignment’ dialog box.

9. Press the text box to open the Conditions Editor.

10. Insert a ’true’ condition, and apply by pressing Execute.


Cancel ExecuteHelp

Create variables

value 1

Values

Name

Type

variable

value

Assignment

Part 1 deposited

No condition



Condition Editor - Assignment

Type

Element

MOD

DEL.

XOR

CLR

NOT OR AND

TRUE FALSE Number

Selection of type

Linkage (optional)

Selection of vari-

Text

TRUE


AssignmentPart1 deposited {TRUE}TRUE



Robot sequence


6.2 Status marker - Vacuum/compressed air Status marker active = 1, when

Suction pad/Gripper = Active. This means the suction pad/gripper is currently moving.The status marker is only briefly 1 at the start of the movement if the setting is ’[ON] with-

out monitoring’.Status marker timeout = 1, when

Monitoring time of suction pad/gripper expired and inputs not correctly switched on, e.g.in ’Suction pad [Off] with monitoring’ . This status marker is reset as soon as a newinstruction is called, e.g. ’Suction pad [Off] without monitoring’.

Status marker OFF with monitoring = 1, when

Type = Compressed air and ’Input -’ = 1 and program switch parts monitoring = 1.

Type = Cylinder and ’Input -’ = 1 and program switch parts monitoring = 1.

Program switch parts monitoring = 0 and ’Input -’ = 1.

Program switch parts monitoring = 0 and Type No cylinder and ’Output -’ = 1.

Status marker ON with monitoring = 1, when

Type = Vacuum and Input vacuum monitoring = 1 or when Analog vacuum monitoringhas reached the set level and program switch parts monitoring active = 1.

Type = Compressed air and Input parts monitoring = 1 and program switch parts moni-toring active= 1 and parts monitoring = ’Signal 0 and 1’ set or ’Output +’ = active.

Type = Cylinder or parts monitoring not active and ’Signal 0 and 1’ is set for parts mon-itoring and ’Input +’ = active.

Program switch parts monitoring active = 0 and Type No cylinder and ’Output +’ = 1.

Status marker OFF without monitoring = 1, when

’Output -’ = 1.

Status marker ON without monitori ng = 1, when

’Output +’ = 1.

Status marker Everything OFF = 1, when

’Output + and -’ 0.

Status marker Deactivated in the sequence = 1, when

Suction pad/blowing/gripper deactivated in the sequence.

Robot deactivated in the sequence.

Program switch for the suction pad/blowing/gripper deactivated.



Robot sequence

301

6.3 Status marker - Vacuum/compressed air groupStatus marker Everything active = 1, when

All vacuum/compressed air circuits in this group active (description, see status marker -Vacuum/compressed air).

Status marker Al l i n Timeout = 1, when

All vacuum/compressed air circuits in this group in Timeout (description, see statusmarker - Vacuum/compressed air).

Status marker [OFF] with mon itoring = 1, when

All vacuum/compressed air circuits in this group [OFF with monitoring] (description, seestatus marker - Vacuum/compressed air).

Status marker [ON] with monitoring = 1, when

All vacuum/compressed air circuits in this group [ON with monitoring] (description, seestatus marker - Vacuum/compressed air).

Status marker [OFF] = 1, when

All vacuum/compressed air circuits in this group [OFF] (without monitoring, description,see status marker - Vacuum/compressed air).

Status marker [ON] = 1, when

All vacuum/compressed air circuits in this group [ON] (without monitoring, description,see status marker - Vacuum/compressed air).

Status marker Everything [OFF] = 1, when

All vacuum/compressed air circuits in this group set to Everything [OFF] (description,see status marker - Vacuum/compressed air).

Status marker One or more active = 1, when

At least one or more vacuum/compressed air circuits in this group active (description,see status marker - Vacuum/compressed air).

Status marker One or more in Timeout = 1, when

At least one or more vacuum/compressed air circuits in this group in Timeout (descrip-tion, see status marker - Vacuum/compressed air).

Status marker One or more [OFF] with monitor ing = 1, when

At least one or more vacuum/compressed air circuits in this ’group [OFF] with monito-ring’ (description, see status marker - Vacuum/compressed air).

Status marker One or more [ON] with mon itoring = 1, when

At least one or more vacuum/compressed air circuits in this ’group [ON] with monitoring’(description, see status marker - Vacuum/compressed air).

Status marker One or more [OFF] = 1, when

At least one or more vacuum/compressed air circuits in this ’group [OFF] without moni-toring’ (description, see status marker - Vacuum/compressed air).

Status marker One or more [ON] = 1, when

At least one or more vacuum/compressed air circuits in this ’group [ON] without monito-ring’ (description, see status marker - Vacuum/compressed air).

Status marker One or more in Everything [OFF] = 1, when

At least one or more vacuum/compressed air circuits in this ’group Everything [OFF]’(description, see status marker - Vacuum/compressed air).



Robot sequence




Screen page editor

303

Screen page editor

The screen page editor enables screen pages to be created and edited.

You can also change standard screen pages. However you can only add screen lines and vari-ables or erase added screen lines and variables.

How to start the screen page editor

1. Change to the screen page which you want to edit.

2. Press the screen page selection key Screen page editor.

3. The following dialog window appears.

Create new screen

Opens the mask editor to create a new screen page. The control unit stores thescreen page in the parts data set when the page is ’Quit’.

Create new screen page in mach ine data set

Is only available for screen pages of the injection molding machine. With ’Finish’ thecontrol unit saves the screen page in the machine data set.

Delete this screen

To delete the displayed page. You can only delete user-defined screen pages.

Edit this screen page

Opens the screen page editor for editing the screen page to which you havechanged. Only the addition of lines and variables is possible on standard screenpages.

4. Select the required action and press Execute . If you have selected Create new screen

page, Create new screen page in machine data set or Edit this screen page , the

mask editor will start.

What do you want to do?

Create new screen

Delete this screen

Edit this screen page

Cancel Help Execute

Create new screen page in machine data set



Screen page editor


[1] Structured view of the current screen page

[2] Properties

Shows the parameters of the selected element in the Structure view.

[3] View

Preview window of the selected screen page.[4] Menu keys

New with instructions for adding strips, variables and comments.

Edit with instructions for editing a screen page.

Finish closes the screen configuration.

View with the commands: Selection window on/off, Message window on/off andMaximize/Minimize.

Example page

Example pageName

Quick call-up key

Screen authorization

Symbol

PropertiesSpeed

Position

Time

Comment

Strips 2

Position

Screen page

Strips 1

12 3

Properties View

Info Panel

4New Edit Finish View



Screen page editor

305

1 Components of screen pagesThe structure of a screen page is built up as follows:

A Screen page consists of one or several strips.In the strips you can insert variables . There are several variants of variables. For example: Actual value, set value, markers, switches, etc.

2 StripsThere are three types of stripes. Depending on the stripe type you have different processingpossibilities.

Standard s tripes (only injection molding machine)You cannot add or remove any variables to these stripes. You cannot erase or displacethese stripes either. You can insert user stripes on a mask only after the last standardstripes.

User-defined stripe

When you add a stripe, this is always a user stripe. You can add and remove variablesto these stripes. You can also displace and erase this stripe.

Conditional str ipe (only robot)When you program a sequence in the robot sequence, after the storage the correspond-ing variables appear in conditonal stripes on the respective screen pages. You can addand remove variables to this stripe. You can also displace and erase this stripe.

3 Edit screen pagesYou can adapt the screen page Freely composeable page to your requirements.

How to edit a screen page

1. Change to the screen page which you want to edit. In this case to the Freely compose-

able page.

2. Press the key Screen page editor.

3. In the dialog window choose Edit this sc reen page and press Execute.

Comment

Strips 2

Screen page

Strips 1

Properties View

Strips 1

Strips 2

Speed

Time

Comment

Info Panel

Speed

Position

Time

Position

Example page



Screen page editor


4. The screen page editor starts. In the screen page editor you change the settings for thisscreen page.

Name

Designation of the screen page. This name is displayed in the top line.

Quick call-up key

Assign a position to the quick call-up key of the new page. You can choose betweenmachine and robot quick access. You can assign the quick call-up key only to a posi-tion which is marked with unoccupied.


Set the user level from which the new screen page can be edited.

Symbol

Select a symbol for the quick call-up key of the screen page.

4 Paste of existing strips

You can insert strips from existing screen pages into another screen page.

Inserting an existing strip:

1. Press the menu key New and Strips from screen.

2. A dialog window appears with a selection of the screen pages.

Robot composeable page

Example pageName

Quick call-up key


Symbol

PropertiesSpeed

Position

Time

Strips 2

Position

Robot compose-

User

Properties View

Info Panel

Robot screens

Quick Setup

General settingsTest mode

Quick positioning

Home position

Park position

Status page

Torque monitoring

Select screen

Machine screens Robot screens

Cancel Help Execute



Screen page editor

307

3. Select the required strip. In this case the Home position strip on the General settings

screen.

4. Press. Execute

Now you have inserted the strip into your screen page.

5 Paste new stripsBesides the existing strips you can also insert new user-defined strips into the screen page.

Inserting a new strip:

1. Press the menu key New and Strips.

2. A new strip has been inserted into the screen page.

3. Name the strip according to your requirements at Name.

Now you have inserted a new strip into the screen page.

6 Paste variables from a listYou can insert variables from a defined list into your screen page.

How to insert variables from other screen pages into your screen page.

1. Choose the strip into which you want to insert the variable.

2. Press the New and Variable from li st buttons.

Robot composeable page

Info Panel

3

Properties ViewScreen page

Strips 1Name

Actual value right

Strips 1 2Properties



Screen page editor


3. A dialog window appears in which you can select the requested variable.

4. Choose the requested variable.

5. Press Execute.

Now you have inserted a variable from a list into your mask.

7 Paste variables from other screen pagesYou can insert variables into your screen page which are in use on other screen pages.

How to insert variables from other screen pages into your screen page.

1. Choose the strip into which you want to insert the variable.

2. Press the menu key New and Variable from screen.

Choose variable from list

Machine data

ENGEL standard

Show variables text

Cancel Help Execute

Machine list Robot list

Machine data

PROJECT-ERC13



Screen page editor

309

3. A dialog window appears in which you can select the requested variable.

4. Choose the requested variable.

5. Press Execute.

Now you have inserted a variable from an existing screen page into your screen page.

8 Search variableThe function Search variable gives you the ability to search for a variable in the variable list,and to insert the variable into the mask.

Variable off

Select whether to search for a machine or robot variable.

Search fo r

Status page

Torque monitoring

Robot 1 program switch

Take-off movement


Robot


Robot <-> machine

Select screen

Machine screens Robot screens

Cancel Help Execute


Search variable

Search resultSearch criteri-

Variable off

Search fo r

Machine Robot

Restrict to

Robot

System name

Long text

Type All

Delete parameters

Help Search



Screen page editor


To search for a variable, you need to enter known parameters for the variable. The moreparameters you know and enter, the more exact the search results will be.

Restrict to

Select a variable group to restrict the search to this group.

System name

Name of variable software-side e.g. Robot.sv_iRobotCycleCounter.

Long textClear text for variable e.g. Teach Grid.

Type

Limit search to the following data types:

Al l

Values

Positions

Actual value

Counter

Markers and swit ches

Delete parameters

This menu key deletes your entries.

After entering the parameters, press Search to start searchingThe view reverts to the ’Search Results’ tab.

Depending on the search parameters you set, a number of elements may be found.Select the required variable and press Execute to insert the variable into the mask.

Search variable

Search resultSearch criterion

Robot Help Execute

2 Elements found

Search finished

Teach grid 1 - Teach grid

Teach grid 2 - Teach grid



Screen page editor

311

9 Paste a commentComments give you the possibility to insert a freely defineable text line into the screen page.

Inserting a comment:

1. Choose the stripe into which you want to insert the comment.

2. Press the menu key New and Comment.

3. You have inserted the comment in the line.

4. Enter the requested text into the line Comment.

10 Moving variables and stripsYou can sort individual variables and strips on a screen page by using the Screen Editor.

Do this to move a variable:

1. Select the variable you want to move.

2. Press the menu keys Edit and Move.

3. A dialog box appears where you can move the selected variable.

4. After moving the variable to the required position, press Close .

You have now moved the variable to the required position on the screen.You can move a strip in the same way.

Move

to bottom

Close

Down

Up

to top



Screen page editor




Options

313

Options

1 Mold swivelling deviceOn multi-color machines, the mold swivelling device enables the premolded part to be trans-

ported into the finished injection cavity. It is either mounted on the moving platen as rotarytable or integrated into the mold as an index plate.

Insert the following instructions in the robot sequence to prevent any collisions between robotand mold swiveling device during part take-off:

Instruction:


mold turning

The following settings are possible:

Wait for mold swiveling

Robot first moves into the mold when mold open or early start position (if set) hasbeen reached and the mold swiveling device has finished turning.

Ignore mold swiveling

Robot moves into the mold when mold open or early start position (if set) has beenreached. The mold swiveling device is ignored. This means the robot still moves intothe mold while the mold swiveling device is turning.

Rotary table Index plate

Wait unt il part take over allowed

Wait until part take-over allowed

Cancel Help Execute

Wait for mold swivelingmold turning

More



Options


Instruction:


Ac tion


swivel

After release, the cycle waits for the movement to be executed; then the next instruc-tion is executed (symbols with yellow background).

Release swiveling

After release, the cycle does not wait for the movement to be executed, but contin-

ues with the next command (icons with green background). Release/block

For blocking or releasing a movement (symbols with blue background).

Wait for sw iveled finished

The status marker ’Mold device - Mold swiveling finished’ (=TRUE) is waited for when the mold swiveling device is set to ’Wait for mold swiveling finished’ . If theinstruction ’Mold swiveling device release swiveling’ was previously entered into thesequence, then the status marker must first signal FALSE.

Example:

Part removal from the mold swiveling device.

[1] The following conditions must be fulfilled with this instruction so that the robot can moveinto the mold:

Mold open or early start position (if set) reached.

Mold swiveling device swiveling finished.

Mold swivelling device


Cancel Help Execute

swivel Action

More

Moving in standard - user

Wait for mold swiveling


Take over part standard

Move out standard user

Moving in standard - user

1



Options

315

[1] Instruction blocks the movement of the robot to the take-off position until the swiveling

of the mold swiveling device is finished.[2] Instruction blocks the mold swiveling device.

[3] Instruction releases the mold swiveling device after the robot has moved out of themold.


Mold open

Wait until



Y-position on Z-move out/in

enable


Moving in standard -user

Take over parts standard

Move out standard user



Wait for swiveled finished


block

1

2

3



Options


2 Rotary table for insert injection molding machinesThe rotary table is used to transport the molded parts from take-off/insert-placing station to theinjection station.

Example: Insert H with rotary table

[1] Take-off/insert-placing station

[2] Injection station

Insert the following instruction into the robot sequence to prevent any collisions between robotand the rotary table on part take-off or insertion:

Instruction:


Ac tion


in position

The sequence is not continued until the rotary table has rotated after mold opening.

Release/blockRelease/block the rotary table movement (symbols with blue background).

2

1

Rotary table

Rotary table

Cancel Help Execute

in position Action

More



Options

317

3 Take-off with closed mold (option)Shorter cycle times can be achieved with a take-off with closed mold. However, take-off withclosed mold is only possible with purpose-built injection molds.

Example: Mold with three stations.The station with the finished molded parts is outside the mold. This makes take-off with aclosed mold possible.

[1] Pre-molding (Station 1)

[2] Finished part (Station 2)

[3] Take-off position (Station 3)

Program switch for activating take-off with closed mold

The work area between the take-off area and depositing area Z+ is enabled for the robot toenter when the program switch is activated, the mold closed and the clamp force built up.

Note!

The robot, home position and referencing sequence must be modified for the take-off withclosed mold or use the sequences set up by ENGEL for this application.

Injection mold ing machine rotary table - Danger of coll ision wi th

robot

Injection molding machine rotary table - signal "In end position"

missing

Effect Alarm lamp flashes, the current cycle and motors are stopped imme-diately.

Remedy Switch to manual mode, acknowledge the alarm, switch on the robotmotor, move the robot out of the take-off area using the consent key.

3

2

1

Take-off with closed mold



Options


Early start not possib le, by take-off with closed mold.

Effect Automatic operation not possible.

Remedy Switch off early start.

Take-off wi th mold intermediate stop not possible, by take-off

with closed mold.

Effect Automatic operation not possible.

Remedy Switch off take-off with mold intermediate stop.



Options

319

4 Sprue separationThe ’sprue separation’ subsequence is programmed for this option in ’Robot - Complexsequenz’ in the robot sequence.This subsequence contains 2 moving-in and moving-out positions and a separate sprue sep-

aration position.

WARNING!

SectionDanger from cut ting kn ives and grippers!

Body parts can be injured or cut off.When working on the machine, use suitable protective clothing (safety shoes,

protective gloves, face protection, ...).

When working on the cutting knives and grippers, ensure that the system ispressureless and the plant is switched off.

Program switch Sprue separation

The program switch acivates and/or deactivates the program Sprue separation.

Sprue cutters


Speed to moving-in position 1Speed of the servoaxes to moving-in position 1.


Robot position accessed first in ’Depositing area Z+’ to avoid obstacles for sprue cutter.

Speed to moving-in position 2

Speed of the servoaxes to moving-in position 2


Robot position accessed after moving-in position 1 to avoid obstacles for sprue cutter.

Sprue separation

Sprue separation

Program switch Sprue separation





Sprue cutters

Info Panel

Se-



Options


Speed to sprue separation pos ition

Speed of the servoaxes to sprue separation position.

Sprue separateion posit ion

After reaching this position, the subsequence for ’Separate sprue’ starts in the robotsequence.

Delay time

After reaching the sprue separation position, the sprue cutter waits for this time beforeclosing.

Sprue separation time

After this time has expired, the sprue cutter opens.

Speed to moving-out position 1



Robot position which is approached after the sprue separation position in order to driveround obstacles.




Robot position which is approached after the moving-out position 1 in order to drive

round obstacles.

Sprue separateion position

Speed to sprue separation position

Delay time








Options

321

Example:

The robot travels via two move-in positions to the sprue separation position where the cutter separates the sprue from the molded part. After separating the sprue, the robot travelstowards the depositing position via two moving-out positions.

[1] Move-in position 1 for sprue separation

[2] Move-in position 2 for sprue separation

[3] Sprue separateion position

[4] Move-out position 1 for sprue separation[5] Move-out position 2 for sprue separation

[6] Position over depositing

[7] Depositing of parts on conveyor-belt


Upper swivelling limitdepositing area


4

1

3

5

2

6

7

1

3

2

5

7

4

6



Options


Subsequence: Sprue separation - user

Sprue separation - User

Sprue cutters


Moving-out 2 position

Sprue separation - User


Moving-out 2 position

Separate sprue

Sprue cutter

Sprue cutters


Separate sprue

Delay time

Time = 0,5

Time = 0,5

[ + ] up to final position

[ - ] up to final position

Moving-in 2 positions - User

Moving-in 2 positions - User

[ - ] up to final position



Sprue separateion position



Options

323

5 intermediate depositIntermediate depositing is often used when molded parts have to be rehandled prior to depo-siting on a conveyor-belt or in cartons.Optional hardware with 2 inputs and outputs is required for this. These inputs and outputs are

configured in the robot setup and serve as an interface between the robot and the peripheralunits.

Sequence instruc tions for the interface intermediate deposit

The following instructions are available in the robot sequence's peripheral unit node for the’Intermediate depositing interface’.

The ’intermediate deposit’ subsequence is programmed for this option in ’Robot - Complexsequenz’ in the robot sequence.The following screen is compiled from the instructions in this subsequence.

Program switch - Intermediate depositProgram switch enables or disables the intermediate deposit program.

Interface intermediate deposit


Wait until depositing allowedRobot waits until input Part deposit allowed is active.

Part depositedInstruction sets the output Part deposited . Output remains active until the inputPart deposited allowed becomes inactive. The output remains active as longas the Minimum pu lse time signal part deposited time set in the Robot setup.

Pick-up commands

Wait until pick-up allowedRobot waits until input Tack-up part allowed is active.

Part picked up

Instruction sets the output Part picked up . Output remains active until the inputTake-up part allowed becomes inactive. The output remains active as long asthe Minimum pulse time signal part picked up time set in the Robot setup.



Program switch - Intermediate deposit


Depositing position



Info Panel

Se-



Options








Depositing position

Position accessed first by the robot in ’Depositing area Z+’.

Delay time depositing


Depositing time



Speed of the servoaxes from the depositing position to the waiting position.

Waiting position

Waiting position for robot until molded part pick-up is released.

Speed to the reception position

Speed of the servoaxes from the waiting position to the pick-up position.

Pick-up position

Position to which the robot travels to pick-up molded parts again.

Delay time reception

Waiting time after reaching pick-up position.

Pick up time

Waiting time after picking up molded part.

Speed after pick-up pos ition

Speed of servoaxes from the depositing position to the lower swiveling limit.

Depositing time

Waiting position




Speed after pick-up position

Pick up time


Pick-up position



Options

325

Example:

Parts are deposited in a printing machine (wait for depositing release).Robot moves on waiting position (Part deposited).When printing is finished (Wait until pick-up allowed), the robot moves to the pick-up positionand picks up the parts.Following this, the imprinting machine receives a signal indicating that the ’Part has beenpicked up’.

Example:

The molded part is deposited in a rotating unit (wait for depositing release). After depositing the part, the robot travels to its waiting position (part deposited). After the peripheral unit has rotated the molded part through 90° (wait for pick-up release), therobot moves to the pick-up position and picks up the molded part which was rotated by theperipheral unit.Following this, the rotating unit receives a signal indicating that the ’Part has been picked up’.

[1] Depositing position

[2] Waiting position

[3] Pick-up position

1

3

2



Options


6 Pick-up partThis option serves to pick up insert-place parts from a defined position.

The ’Robot sequence with pick-up and insert/place’ is programmed in the robot sequence for

this option.

Program switch pick-up insert parts

If the program switch is set, parts are picked up.

Depositing vacuum/compressed air circuitsConfiguration of the vacuum/compressed air circuits is only possible in Teach mode.See chapter Quick Setup.

Speed in the reception area

Servo axis speed in pick-up area.

Take-up position - ABC

Position of rotary axes on picking up parts.


Speed of the servoaxes to pick-up position.


Position at which the parts are picked up.

Delay time receptionDelay for robot oscillation.

Pick up time

Waiting time at pick-up position for part pick-up.



Pick-up part

Pick-up part

+

Pick up time


Program switch pick-up insert parts

Speed in the reception area

Take-up position - ABC





Info Panel

Se-



Options

327

7 Weigh scale intermediate depositThis option allows you to use scales to check the weight of the molded parts during production.The robot automatically deposits any reject parts at the reject position. This ensures that thegood part depositing area will only contain parts whose injection weight is within weight tole-

rance. This avoids the need for the operator to manually inspect the molded parts. A serial interface for communications between the robot and scales is configured in the robotsetup for this option.

Sequence instructions for scales

The following instructions are available for the scales in the robot sequence's peripheral unitnode.

The ’Robot sequence with intermediate depositing on scales’ is programmed in the robotsequence for this option.The following screen is compiled from the instructions in this sequence.

Program switch - Intermediate deposit on weigh scale

Program switch enables or disables the intermediate deposit on weigh scales program.





Weigh scale



Part deposited

Pick-up commands

Wait until pick-up allowed

Part picked up

Weighing

Reset scale

Weigh scale intermediate deposit

Program switch - Intermediate deposit on weigh scale


Depositing position



Weigh scale intermediate deposit

+

Info Panel

Se-



Options



Waiting time until depositing position reached

Depositing position

Position accessed first by the robot in ’Depositing area Z+’.

Depositing time



Speed of the servoaxes from the depositing position to the waiting position.

Waiting position

Waiting position for robot until molded part pick-up is released.

Delay time weighing

Wait time that delays weighing after depositing the molded part.


Speed of the servoaxes from the waiting position to the pick-up position.


Waiting time after reaching pick-up position.

Pick-up positionPosition to which the robot travels to pick-up molded parts again.

Pick up time

Waiting time after picking up molded part.



Weigh scale

You can insert settings for the scales at this point.

Waiting position


Delay time weighing

Depositing time

+



Pick up time

Pick-up position


+



Options

329

Weigh scale activated

Program switch enables or disables the Scale program.

Automat ic taring

If the program switch is enabled, the scales are tared after weighing the part. An ’If ’structure command is used to query the program switch in the ’Robot sequence withintermediate depositing on scales’.

Scales empty

Weighing error

Zero to lerance

Zero tolerance indicates by what extent the weight of the empty scales is allowed todeviate. Weight fluctuations of the weighing scales can be caused by vibrations, for example.Keep zero tolerance as low as possible. Reason: If the empty scales show a weight of 5 grams, and zero tolerance is set to 7 grams, the 5 grams are not deducted but addedto the weight of the molded part. This falsifies the results by 5 grams. This means that amolded part with a weight of 1 kg will be shown as 1.005 kg on the scales.

Test assessment

You can set weight limits for the scales here.

Weight set value

Set value for molded part.

Weight actual value

Weight of current sample. Weight within tolerance

This flag indicates that the results are within the tolerance window.

Negative / posit ive tolerance

The tolerance specifies the amount by which the weight of the molded part is allowed todeviate. If the weight deviation is too large the molded part is separated out as a rejectmolding.

Automatic taring

Weighing error

Zero tolerance

Weigh scale activated

Weigh scale

Scales empty+

Weight actual value

Weight within tolerance

Weight set value

Negative tolerance

Positive tolerance

+

Test assessment



Options


Example:

The molded part is deposited on scales (wait for depositing release). After depositing, the robot travels to wait position (part deposited) and sends a signal to thescales to start measurement (weighing). After the scales have ascertained the weight (wait for pick-up release), the robot moves to thepick-up position and picks up the weighed part.Following this, the scales receive a signal indicating that the ’Part has been picked up’.The robot moves the molded part to the depositing or rejects position, depending on theweighing results.If the ’automatic tare’ program switch is enabled, the scales are tared after reaching the lower swiveling limit.

[1] Depositing position


[3] Pick-up position

1

3

2



Options

331

8 Intermediate layers standardThe intermediate layer program serves to separate individual grid layers with intermediate lay-ers (e.g. cartons). The parameters for picking-up intermediate layers can be set in the interme-diate layer screen. Settings for depositing intermediate layers can be set in the ’Grid editor ’ ,

intermediate layer tab.

The ’intermediate layers’ subsequence is programmed for this option in ’Robot - Complexsequenz’ in the robot sequence.

Program switch Intermediate layers

Program switch for enabling or disabling intermediate layer sequence.The corresponding flag shows that the intermediate layer sequence is being processed.

New search necessary

The flag is lit when it is uncertain if the stored position is correct when a malfunction or system restart has occurred. You need to redetermine the pick-up position in this case.

Intermediate layers vacuum/compressed air circu itsConfiguration of the vacuum/compressed air circuits is only possible in Teach mode.See chapter Quick Setup.

Delay time vacuum monitoring

If a vacuum circuit is used as a touch limit switch, the vacuum limit is briefly reached dueto inertia of the air (line length) when the vacuum circuit is switched on. In this case theaxis would already stop while moving into the magazine, although no intermediate layer exists. This can be prevented with the delay time.

Speed in the intermediate layers area

Speed of servoaxes from lower swiveling limit to ’Search start position’.

Search start position

Starting at this position the robot travels at ’Speed intermediate layer search’ until the

Intermediate layers standard

Program switch Intermediate layers

Search area before last saved position

Speed intermediate layer search

Search start position

New search necessary

Magazine moving-in speed


Intermediate layers

Maximum search position

+

Intermediate layers vacuum/compressed air circuits

Info Panel

Se-

Last stored intermediate layers position

Touch limit switch

Delay time vacuum monitoring



Options


stack height has been determined. After determining the stack height, the robot travelsaway from this position at ’Magazine moving-in speed’ in the subsequent cycles.


Speed of servoaxes from ’Search start position’ to pick-up position of the last intermedi-ate layer picked up, minus ’Search area prior to last stored position’.


The robot travels away from ’Search start position’ at the speed set here to determine

the initial pick-up position.In ongoing production, the robot will then move at this speed from the pick-up positionof the last intermediate layer minus ’Search area before last saved position’.

Search area before last saved position

The value is subtracted from the last known pick-up position. Starting at this calculatedposition, the search move to the next intermediate layer starts.

Touch limit switch

Serves to determine the pick-up point of an intermediate layer.


This parameter delimits the search movement of the axis applying the set value. If thisvalue is overstepped, the robot stops and issues an error message indicating that themagazine is empty.

Sequence sketch: Pick up fi rst in termediate deposit

[1] Lower swivelling limit

[2] Search start position

[3] Pick-up position of first intermediate layer determined

3




1

2



Options

333

Sequence sketch: Pick up another intermediate deposit


[2] Search start position

[3] Current pick-up position minus ’Search area before last saved position’


[5] Search area before last saved position

Pick up time

After activating the vacuum/compressed air circuits, the robot waits at the pick-up posi-

tion for the specified time. Speed intermediate layer lifting

Slow speed for picking up the intermediate layer up to the calculated position (currentpick-up position minus ’Search area before last saved position’).

Speed move out magazine

After reaching the calculated position (current pick-up position minus ’Search areabefore last saved position’ ), the robot travels at this speed to the lower swiveling limitdepositing area.




Waiting time until depositing position reached.While the time is running the flag is active.

1

2




4

5


3

+Speed to depositing position



Depositing time


Speed intermediate layer lifting

Pick up time



Options


Depositing time

Waiting time after depositing the sprue part.While the time is running the flag is active.



Sequence sketch: Move from in termediate layer pick-up to depositing position


[2] Current pick-up position minus ’Search area before last saved position’


[4] Search area before last saved position

1



Speed intermediate layer lifting

Speed to depositing position3

4

2



Options

335

Example:

Pick up intermediate layer from a stack and then deposit after a Y layer on the depositing grid.

[1] Reception of the intermediate layer.

[2] Move from intermediate deposit to depositing grid.

[3] Depositing the intermediate layer on the depositing grid.

1

2

3



Options


9 Park positionThe option serves to automatically position the robot at a predefined position e.g. for changingthe end-of-arm tooling or for production without robot.

Move to park position during production without robot

For ’Production without robot’ in automatic operations, if this switch is enabled, the robot

will move to park position after injecting. Park position

Park position for all axes adjustable on screen.

Speed to park pos ition

Speed of the servo axes moving to the parking position.

Park position reached

This flag signals when the park position is reached.

Move robot to park position

Hold down the button ’Park position’ on the hand control device or the control panel of the

injection molding machine until the robot has reached the park position.

Park position sequence still active

Cause On switching to automatic operating mode, the park position key waspressed, but the park position was not reached.


Remedy Perform park position move until the position has been fully reached.

Park position

Speed to park position

Park position reached

Park positi onMove to park position during production without robot

+

Park position



Options

337

10 Take-off stroke correctionTake-off stroke correction is used to correct the take-off position of the take-off axis (X or Zaxis) in case of a deviation of the mold opening position.With hydraulic injection molding machines, deviations can occur due to high opening speed in

connection with a heavy mold half on the moving mold fixing platen.The correction is designed to ensure support for taking off or insert/placing of parts from or inthe mold.Take-off stroke correction determines the difference between the actual mold position and tar-get mold position after the opening movement has been completed whenever a part is takenoff. Following this, the difference is added to, or subtracted from, the set take-off position in Xdirection, thus representing the new take-off position for this cycle.

Sequence instructions for take-off stroke correction

To allow the control unit to perform take-off stroke correction, you need to program the ’take-off stroke correction - start’ and ’take-off stroke correction - stop’ instructions in the robotsequence.

Take-off position =actual position of mold

Take-off position + take-offstroke correction

Take-off position - take-offstroke correction

Set mold position

Actual mold position

Take-off stroke correction

Start

Stop



Options


CAUTION!

Danger of damage to equipment! Af ter setting the take-off posit ion, you must calculate the take-off stroke offset.

Failure to do so can cause a collision between the robot and the mold.

Calculating take-off stroke offset

Activate the switch to calculate the ’Take-off stroke offset’ when the mold is open inmanual mode.

Take-off s troke calculation error An active flag indicates that the take-off stroke difference is greater than the ’maximumtake-off stroke difference’.

Take-off stroke offset

Calculated difference between current mold position and set mold position for openmold by activating the Calculate take-off s troke di fference in manual mold.

Effective take-off stroke difference

Actual difference between current mold position and target mold position for open moldin automatic mode.

There are more take-off stroke correction parameters in the robot setup.

Example:

Take-off stroke correction with and without calculation of the ’take-off stroke offset’

Take-off stroke correction wi thout of fset calculation at a mold pos ition of 403 mm.

X take-off position + 3 mm take-off stroke correction ---> Robot moves to mold position of 405mm.The X axis is corrected by 3 mm in + direction, although the actual deviation is only 1 mm.The reason for this is that the take-off position was set to a mold position of 402 mm.This means that the robot moves 2 mm further than the mold, and a collision occurs betweenthe robot and the mold.

Take-off stroke correction with of fset calculation at a mold posi tion o f 403 mm.

X take-off position - 2 mm take-off stroke offset + 3mm take-off stroke correction ---> Robot

Take-off stroke correction

Take-off stroke calculation error

Take-off stroke offset

Calculating take-off stroke offset

Effective take-off stroke difference

Opening stroke 400 mm

Actual mold position 402 mm on setting take-off position forrobot



Options

339

moves to mold position of 403 mm.The X axis is corrected by 1 mm (= effective take-off difference) in + direction, as the deviationbetween the actual and set mold positions has been stored as the take-off stroke offset after setting the take-off position.

Example:

In the ’Moving-in standard’ subsequence, the special robot instruction ’Take-off stroke correc-tion - start’ is inserted before the take-off position. The X axis is corrected to reflect the currentmold stroke position. After the ’Take-off position’ the robot special instruction ’Take-off stroke correction stop’ isinserted.

Take-off stroke correction - start


Take-off stroke correction - stop

Moving-in standard



Options


11 Run emptyEmptying is important for controlled production shutdown on Combimelt machines. Eachcycle, one unit shuts down in the same order as for production start-up.The robot can use a program to block emptying of the injection molding machine. The injection

molding machine waits for the robot to release emptying.Specify when the robot sends the ’Emptying to machine’ release in the robot sequence.Strips are displayed when Combimelt machines are used.

Example:

The robot releases emptying of the injection molding machine when the grid is full.

Emptying release by robot sequence program

If the program switch is disabled, the injection molding machine starts emptying withoutwaiting for the release signal from the robot.If the program switch is enabled, the injection molding machine starts to empty when therobot issues the release signal.

Request machine emptying

Release machine emptying

Release signal for emptying from robot to machine.

Current run-out cycle

Actual value display.

Number of run-out cycles

Pre-set run-out cycles for injection molding machine.

If

Release emptying manually {TRUE} AND shutdown cycles activated {FALSE}

AND shot grid 1 grid full {FALSE}

AssignmentInjection molding machine - release emptying manually {ON}TRUE

Run empty

Request machine emptying

Release machine emptying

Current run-out cycle

Number of run-out cycles

Emptying release by robot sequence program



Options

341

12 Mold synchronizationMold synchronization allows a reduction of the take-over time.If the ’Early start’ program switch is activated, the robot moves into the mold from the earlystart position. The end of arm tooling approaches the mold up to a calculated safety distance,

and synchronously follows mold opening. After the mold completes the opening stroke, therobot moves to the take-off position.

CAUTION!

Danger of damage to equipment due to improper settings!When operating the machine, use settings that precisely match the require-

ments for safe operations of the machine, molds, and peripheral units.

Sequence instructions for mold synchronization

To allow the control unit to perform mold synchronization, you need to program the ’Mold syn-chronization start’ and ’Mold synchronization stop’ instructions in the robot sequence.

The ’Take-off with mold synchronization’ sequence is programmed in the robot sequence for this option.There are more mold synchronization parameters in the robot setup.

Example:ENGEL sequence variant

Special instruction ’mold synchronization - Start’ is inserted before ’Move-in position 2’ . TheX-axis now moves synchronously with the ’Mold opening’ movement up to ’Move-in position2’ . After ’Mold open’ , mold synchronization stops again.

Mold synchronization

Start

Stop

Mold open

Mold synchronization - Stop



Moving in with mold synchronization

Mold synchronization - Start


Wait until

Moving in with mold synchronization




Options


13 Ejector synchronizationIn ejector synchronization, the end of arm tooling moves synchronously with the ejector move-ment. If the axis cannot follow the ejector speed, the ejector stops.

CAUTION!



Sequence instructions for ejector synchronization

To allow the control unit to perform ejector synchronization, you need to program the ’Ejector synchronization start’ and ’Ejector synchronization stop’ instructions in the robot sequence.

The ’Take-off with ejector synchronization’ sequence is programmed for this option in therobot sequence.There are more parameters for optimization of ejector synchronization in the robot setup.

Example:

ENGEL sequence variant

Special instruction ’Ejector synchronization start’ is inserted before the release instruction’ Advance ejector ’ . The x-axis thus moves synchronously with the ’ Advance ejector ’ move-ment. After ’ Advanced ejector ’ , mold synchronization stops.

Ejector synchronization

Start

Stop

Take-off position Ejector advanced position



Options

343

Ejector stroke greater than axis stroke


Remedy Adapting the ejector stroke to the axis stroke.

Ejector


Ejector synchronization - stop

Take-off vacuum

Take over parts with ejector synchronization

Ejector synchronization - start

advance

[ON] without moni- Time=0,2

Take over parts with ejector synchronization

Ejector retract

Position before opening - X




Time=0,5



Options


14 Mold and ejector synchronizationThis program supports removal of the produced part with the robot already during the moldopening movement. Under ideal circumstances this allows the injection molding machine tostart mold closing after mold opening without any delay.

CAUTION!



Conditions for mold and ejector synchronization:

Early start possible.

Part removal during mold opening must be possible (ejector parallel to mold opening or part removal without ejector possible).

The following is recommended for mold and ejector synchronization:

Large mold opening stroke.

Constant opening speed.

Fast robot.

Sequence instructions for mold and ejector synchronization

To allow the control unit to perform mold and ejector synchronization, you must program theinstructions ’Mold ejector synchronization - start’ and ’Mold ejector synchronization - stop’ in

the robot sequence.

The ’Take-off with mold and ejector synchronization’ sequence is programmed for this optionin the robot sequence.There are more mold and ejector synchronization optimization parameters in the robot setup.

Mold- ejector synchronization

Start

Stop



Options

345

Mold and ejector synchronization sequence:

Machine

Mold opening start

Mold closing

Mold opening end

Retract ejector start

Ejector advanced

Advance ejector start

Early start position reached

Robot

Wait until early start position reached

Mold and ejector synchronization

Robot attempts to reach take-off position

Robot has reached take-off position

Suction pad ON

Ejector forward release

Wait until ejector forward

Ejector return release

Synchronization ended (robot standing still)

Move out from machine

Part deposit



Options


Example:

ENGEL sequence variant

The x-axis now moves synchronously with the ’Mold opening’ and ’ Advance ejector ’ move-ment. After part takeover, ’mold and ejector synchronization’ is cancelled, and move outstarts.

Ejector

Time for part removalTake-off vacuum

Accept part with mold and ejector synchronization

Mold and ejector synchronization - start


advance

[ON] without moni- Time=0,5

Mold and ejector synchronization - stop

Accept part with mold and ejector synchronization



Ejector Position beforeretract


Time=0,5



Move in with mold and ejector synchronization

Move in with mold and ejector synchronization




Options

347

15 SoftservoThe Softservo option is used for take-off, inserting and picking up parts using an adjustabletorque.

Softservo applications:

Moving the X axis or in case of longitudinal layout the Z axis (depositing area at the faceside of the clamping unit) with the ejector or core pull. The robot supports injection mold-ing machine movements with the set torque.Can be employed instead of the ejector synchronization.

Insert-placing of parts with set torque.

Sequence instructions for Softservo

To allow the control unit to activate the Softservo function in automatic mode, you must pro-gram the ’Softservo Start’ and ’Softservo Stop’ instructions in the robot sequence.

You can set the required torque in the ’Softservo - Start’ instruction. The set torque acts on allmove instructions of the take-off axis that are included between the instructions ’Softservo -Start’ and ’Softservo - Stop’.If there are no move instructions between the ’Softservo - Start’ and ’Softservo - Stop’ instruc-tions, the take-off axis attempts to hold the position with the torque set in the ’Softservo - Start’instruction.

Softservo in manual mode

To set the torque, you can enable the Softservo function in manual mode using the ’Softservo’key on the manual control device.

When the Softservo is activated, the take-off axis moves with the torque set in the parameter ’Torque in manual mode’ in the Robot Setup.

Name - Softservo active

Cause A movement in automatic mode uses Softservo, or Softservo wasswitched on using the pushbutton on the hand terminal.

Effect Softservo active.

Softservo

Start

Stop

Softservo



Options


Example:

While advancing, the ejector presses the molded part onto the end of arm tooling and shiftsthe X axis. The robot supports the ejector movement with ’Move instructions - Start’ to the’Position with ejector advanced - X’ with the torque set in the ’Softservo - Start’ instruction.When the ejector is advanced, the Softservo is deactivated again.

Sequence sketch

Take over part - user


Ejector

advance

Softservo - stop

retract

Position before Ejector

Take over part - user

Softservo - startPart removal = 0,5

Take-off vacuum/compressed air circuits[ ON ] with monitoring

Position for advanced ejector - XIndividual axis movement

Take-off vacuum/compressed air circuits[ ON ] without monitoring

Take-off position - X

Take-off position Position for advanced ejector - X



Options

349

16 Compensation of loadsThe load compensation option calculates the torque required to hold the vertical stroke. Thecontrol unit takes this torque into consideration when calculating move instructions for accele-

ration and braking. This is necessary to prevent robot oscillation in case of heavy parts.In contrast to gravity compensation, which is only used for movements to home position, loadcompensation occurs in every cycle in automatic mode.

CAUTION!


Load balancing must only be performed at positions where slight lowering of

the axis wil l not cause a collision.

Sequence instructions for load compensation

To allow the control unit to perform load compensation, you need to program the ’Load com-

pensation - start’ instruction in the robot sequence.

When calculating load compensation, the robot must be at a known position; that is, you arenot permitted to smooth a previous move instruction.Load compensation cannot be performed at pick-up or part-removal position as slight droppingof the axis could cause a collision.

Softservo not activated as access to axis by Switch off -axis is

blocked. Please check the robot sequence or deactivate at first

Switch off -axis..

Cause Softservo instructions are programmed in the robot sequence

between the ’Switch off axis - start’ and ’Switch off axis - stop’ instruc-tions.

Effect Cycle stops and robot motor switches off.

Remedy Correct robot sequence.

Compensation of loads

Start



Options


Example:

Load compensation after picking up a insert-place part

After picking up the insert-place part the robot moves to the upper swiveling limit where loadcompensation occurs. As of this position the robot will take the measured torque into consid-eration for further move instructions.

Load compensation must only be performed at positions where slight lowering of the axis willnot cause a collision. Additionally, you cannot position smooth the previous move instruction.

Move-in

Wait untilLower swivellingLower swivelling limit depositing area reached

Part pick-up

moving-out

moving-out

Pick-up part

Load compensation - start

Upper swivelling

Insert-placing vacuum/ compressed air circuits





Options

351

Example:

Load compensation after picking up a molded part

At ’moving-out position 2’ a compensation of loads is performed with the instruction ’Loadcompensation - start’ . The robot will then take the measured torque from the position prior toopening into consideration for further move instructions.

Load compensation must only be performed at positions where slight lowering of the axis willnot cause a collision. Additionally, you cannot position smooth the previous move instruction.

Speed for move-out position 2 =100


Moving-out standard


Position before opening - Z


Moving-out standard

Load compensation - start




Options


17 Moving area safeguardingThe moving area safeguarding serves as additional collision protection and is effected bymeans of an inductive limit switch and cams in the unrestricted moving area.

Main applications:

Areas of user intervention (taking in of cartons, foils etc).

To avoid collisions with a peripheral unit or another robot in overlapping action radii or move areas.

Permanent prohibited areas are visible in the work area setup.

Example: Prohibited areas for moving area safeguarding

The robot sequences must be programmed to ensure that all move paths are outside the pro-hibited areas.If the robot enters a prohibited area, the following message appears:

CAUTION!


Movements with rotary axes are permitted without pressing the consent key inside pro-

hibited areas.

The control unit will only monitor this if the control voltage is switched on.

Prohibi ted area left - move-out only possible with consent key

Cause The robot is inside a moving area safeguarding prohibited area.

Effect All linear axis movements are blocked for the robot.

Remedy Press the consent key and move the robot out of the prohibited areain set-up mode.

+ Work Areas and Prohibit- Settings 3D view Overview

Work area setup

Prohibited area

Work area above

Work area clamping

Work area above ma-

Robot

Moving area safe-

Prohibited area Mov-



Prohibited area

Info Panel



Options

353

18 Crane protectionThe crane safeguard is a collision protection system between the robot and the crane.

CAUTION!Danger of damage to equipment!

The control unit will only monitor this if the control voltage is switched on.

Two conditions must be fulfilled to ensure that the crane receives a release signal for the robotarea:

1. Inductive limit switch standing at cam (’Input robot in release position 1’ active).

2. Robot motors switched off.

Crane protection

The flags indicate the states of the digital inputs / outputs for crane protection.

Crane in the robot area

Effect Robot motor cannot be switched on.

Remedy Move crane out of robot area until Input crane outside of robot areais active.

Name - Crane release not possib le (missing configu ration)

Cause Inputs/outputs for crane safeguard not configured.

Effect No movements possible.

Remedy Configure missing inputs/outputs.

Sensor defective

Cause Signal from Input robot in park position 1 has not reacted or hasreacted incorrectly.

Effect The crane will not be released for swiveling into the robot area.

Remedy Check park position switch.

Crane protection - output release crane

Crane protection - Input robot in release position 1

Crane protection - input crane is outside robot area

Crane pro tection

+



Options


19 Warning signal lightThe warning signal lamps allow for visible and audible signaling of various machine states.

Warning s ignal lamp types:

LED signal lamp mounted on the front side of the Z axis. This signal lamp can display 8different colors.

A warning signal lamp which can comprise multicolored signal lamps and multiple audi-ble alarms (signal horns).

Example: Warning s ignal lamp

[1] LED signal lamp

[2] 3-color warning signal light

The special instructions ’ Activate’ and ’Deactivate’ warning signal light are available in therobot sequence. You can use these instructions to activate and deactivate individual signallights and audible alarms in the sequence.If these instructions are programmed, then set the parameter ’ Active for signal from’ to

’Sequence’ for the warning signal light.


Activate Instruction activates the signal light or audiblealarm.LED signal 1 to LED signal 5 are available for theLED signal lamp. These signals can be assignedvarious signal colors and behaviors in the RobotSetup.

Deactivate Instruction deactivates the signal light or audiblealarm.

1 2



Options

355

Mapping an alarm to a warning signal light

Warning signal lights and audible alarms can react to specific alarms. To allow this to happenyou must map the required alarms to the warning signal lights in the robot setup.

Approach for mapping alarms:

1. Switch to Teach mode.

2. Select the subitem alarm selection for a warning signal light.

3. After pressing the Setup and Change menu keys, the dialog box for the group configu-ration appears.

4. Using the navigational arrows <<< and >>> you can move the complete content from’ Available elements’ to ’Selected elements’ and vice-versa.You can select an individual alarm, and move it using the navigational arrows < and >

insert it into ’Selected elements’ in the desired order.You can move a maximum of 20 alarms to Selected elements.

+

Robot setup

Description

Name

Element attributes

System name

Basic module

Alarm selection

Orange signal lamp

Green signal lamp

Alarm selec-

Yellow warning sig-

Blue signal lamp

Red signal lamp

Acoustic alarm

Info Panel

Cancel ExecuteHelp

Group configuration - alarm selection




Options


5. Press Execute to instruct the control unit to add the selected alarms to the Parameters

tab.

6. After mapping the alarms, set the parameter ’ Active for signal from’ to ’Selected alarms’for the warning signal light in the robot setup.

When an audible alarm is triggered, the Audible alarm act ive dialog box appears. You canpress Execute to switch off the audible alarm.

Note!

There are additional warning signal light setting parameters in the robot setup.

+

Robot setup

Alarm select ion - group elements

Attri- Parame-

Orange signal lamp

Green signal lamp

Alarm selec-

Yellow warning sig-

Blue signal lamp

Red signal lamp

Acoustic alarm

Info Panel

Audible alarm active

Switch off the audible alarm?

interruption Help Execute



Options

357

20 Torque monitoringTorque monitoring serves to monitor the force for activities with a servoaxis (e.g. inserting/pla-cing parts into a mold).

Sequence instructionsProgram the instructions ’Torque monitoring - Start’ and ’Torque monitoring - Stop’ in the robotsequence so that the control unit monitors the torque.

The control unit monitors the torque of all movements between both instructions for the setaxis. Set the minimum required and maximum allowed torque in the instruction ’Torque moni-toring - Start’ for this purpose.

In addition, it is also possible to limit monitoring to a specific movement range. This can pre-vent the torque monitoring from being triggered e.g. when accelerating or braking the ser-voaxis.If the force output is not within the set tolerance window, then three actions are available.

Set status marker

Set status marker and stop all move commands

Set status marker and stop motor

The instruction ’Torque monitoring - Stop’ in the sequence resets the status marker.

Example:

Monitoring x axis torque for the take-off movement.

1. Add the ’torque monitoring - start’ instruction at the position in the robot sequence as of which you wish to monitor the torque for a movement.

Torque monitoring

Start

Stop

+ Robot sequence

Robot sequence

Softservo

Start

Stop

Info Panel

Torque moni-

Move-out - standard





Options


2. Implement the following settings in the dialog window.

Selected axis

Select axis to be monitored.

Minimum required torque / maximum allowed torque

Select torque from automatically generated torque pool.

Torque x

Set value for the ’Minimum required torque’ and the ’Maximum allowed torque’.

Monitoring from position / monitoring up to position

Select strokes from the automatically generated stroke pool. Positions limit the

torque monitoring of an axis to an area. Stroke x

Set stroke for the ’Monitoring from position’ and ’Monitoring up to position’.

Torque when an error is recogn ized

If the set torque is exceeded/undershot, this triggers the action set here.

Set error marker

The control unit sets the marker when an error appears in torque monitoring Theinstruction ’Torque monitoring - Stop’ resets the marker.

Status flag torque monitoring

3. Use Execute to accept the settings.

Choice

Torque 1

Torque 2

Status marker torque monitor-

Torque monitoring - Start

Selected axis

Minimally required torque

Torque 1

Maximally allowed torque

Name

Name

Name

Help ExecuteCancel

Torque 2

Set error marker

Name

More

Stroke 1

Stroke 2

Status flag torque monitoring 1

Set status marker Torque when an error is recog-

Stroke 2 NameMonitoring up to position

Stroke 1 NameMonitoring from position



Options

359

4. Add the ’torque monitoring - stop’ instruction at the position in the robot sequence as of which you wish to stop monitoring the torque for a movement. This is typically after themovement you wish to monitor.

5. Select axis. The torque monitoring stops for the selected axis.

6. Use Execute to accept the settings.

+Robot sequence

Robot sequence

Softservo

Start

Stop

Info Panel

Torque moni-

Move-out - standard



Mold and ejec-

Choice

Torque monitoring - Stop

Selected axis

Help ExecuteCancel More



Options


21 TakeoverheadcodingThe end-of-arm tooling head coding serves to identify the end-of-arm tooling head and respec-tive parts data set A plug on the end-of-arm tooling head transmits the actual value of the end-of-arm tooling head coding to the control unit, which compares the actual value with the set

value.

Takeover head coding acti vated

Green flag indicates an active end-of-arm tooling head coding.

Takeover head code - actual valueCode of connected end-of-arm tooling head.

Takeover head code - set value

Control unit compares the set value with the actual value transmitted by the end-of-armtooling head. The set value is stored in the parts data set.When value 0 is set, end-of-arm tooling head coding is deactivated.

If the actual value does not match the set value, the following alarm will be issued:

Robot: Incorrect end of arm tooling

Cause Actual value does not match the set value.


Remedy Fit the correct end-of-arm tooling head or import the parts data set.If the parts data set belongs to the mounted end-of-arm tooling head,correct the set value and re-write the parts data set.

Takeover head code - set value

Takeover head coding activated

Takeover head code - actual value

+

Robot end of arm tooling coding



Options

361

22 High speed head changing systemThis option supports automatic coupling and uncoupling of the holding plate on the end of armtooling quick-change system.This supports quick changing of the robot's end of arm tooling.

To couple and uncouple the end of arm tooling, there is a swivel switch on the y-axis. Buttonsfor coupling and uncoupling can be configured on the hand terminal.If you have a standard end-of-arm tooling quick-change system, the holding plate at the end of arm tooling is fixed in place with screws.

WARNING!

Danger of crushing by moving components on the end of arm tooling and by

the coupling!Compressed air is built up during the coupling process; this can lead to

uncontrolled movements of pneumatically actuated components at the end of

arm tooling.Move the robot axes to a posi tion where you can safely change the end of arm

tooling.

Do not reach into areas with the end of arm tooling coupling and/or movingparts.

Procedure for changing the end of arm tooling:

1. Move the robot to a position where you can safely change the end of arm tooling (e.g. Yaxes to depositing position, C axes swiveled up).

2. Switch off robot motors.

3. Uncouple the end-of-arm tooling from the robot by activating the ’Uncouple’ switch.

4. Remove the end of arm tooling from the robot.

5. Position the new end-of-arm tooling.

6. Couple the end-of-arm tooling with the robot by activating the ’Couple’ switch.

7. Check the settings for all sequences and positions. If needed, modify sequence andpositions to match the new end of arm tooling.

CAUTION!


Sequences, work areas and prohibited areas must be set immediately after

changing the end of arm tooling.



Options


23 Air conditioning unit An air conditioning unit ensures a constant operating temperature in the switching cabinet. Air conditioning units are mainly used at locations with a high ambient temperature where cool-ing with normal fans is insufficient.

Since the switch cabinet does not take in external air via air vents, the switch cabinet can beclassified as dust-free. The air conditioning unit is fitted in the switch cabinet door.

Robot air conditioning unit OKAY

This flag is set if the air conditioning unit is cooling properly.

Au tomat ic in terrupt ion in case of er ro r If an air conditioning unit malfunction occurs while the program switch is enabled, thecontrol unit interrupts automatic mode. The current cycle is always completed.

Cycle stop delay

Delays Automat ic in ter rupt ion in case o f erro r by the set number of cycles.

Ai r condi tion ing uni t x defect ive

Cause Air conditioning unit is not cooling properly.

Effect The alarm lamp flashes.Motor stop after the set cycle stop delay.

Cycle stop delay

Automatic interruption in case of error

Robot air conditioning unit OKAY

Air condi tioning unit



Options

363

24 Tray server ENGEL Tray Servers (ETS) are units for the automatic provision of special plastic trays usedfor automated parts storage on an injection molding machine.Tray servers are specifically used when injection molded parts must be temporarily stored incorrect position for further processing stages and need to be protected for transport. The partsstorage in specially designed plastic trays meets this requirement.

Example: ETS5

[1] Unstacking unit

[2] Stacking unit

[3] Filling position


Screen page Depositing

Interface

Program switch activates the tray server.

Filling of cartons

Only available with ETS 4. ETS 5 can only transport flat trays.

Grid for tray posit ion 0° (cycled when all grids full) and Grid for tray position 180°

(cycled when all grids full)

The robot places the parts in the configured grids according to the orientation of the sup-plied trays (0° or 180°). The orientation of the trays serves for better stacking.If all configured grids are full for each Grid for tray posi tion 0°or 180° (cycled when

all grids full) , the tray server will cycle. You can additionally step the tray server in

manual or set-up mode by pressing the ’Tray cycle’ key on the manual control device.

43

1

2

Deposit

Info Panel

Tray server settings

Interface

Filling of cartons

Tray is prepared

Prepared tray is rotated by 180°

Grid for tray position 0° (cycled when all grids full)

Grid for tray position 180° (cycled when all grids full)



Options


The following conditions must be met to activate a tray server cycle by pressing the’Tray cycle’ pushbutton (output ’Tray cycle’ becomes active):

Robot in manual or setup mode

Robot above depositing area

’Ready for operation’ input active



Speed in depositing areaSpeed of the servoaxes in the depositing area (above the lower swivelling limit).



Shot grid 2/3




Depositing time




Tray cycle

Depositing of parts in shot grid 2/3 with tray server



Shot grid 2


Depositing time



Se-

Shot grid 3

Shot grid 2

Shot grid 3



Options

365

Sequence instruct ionsInstructions for communication between tray server and robot.

Wait until depos iting allowed and part deposited

Collisions between end-of-arm-tooling and tray server should be prevented with the instruc-tions ’Wait until depositing allowed’ and ’Part deposited’ . The robot waits for the release fromthe tray server to deposit molded parts with the instruction ’Wait until depositing allowed’.

SteppingThe ’Cycle’ instruction triggers a tray cycle of the tray server. The tray server then conveys thefilled tray out and transports an empty tray into the filling position.

Note!

It must be noted that the grid must be reset after each cycle or actuation of the tray server.

Tray server not ready for operation

Effect No automatic mode or tray cycle blocked

Remedy Check tray server

Tray server


Part deposited

Stepping




Options




Special programs

367

Special programs



Special programs




Index

369

Index

Symbols*(distance of parts * number of parts + individual part grid startingposition Z) inside the machine area . . . . . . . . . . . . . . . . . 168

*(distance of parts * number of parts + individual part grid startingposition Z) outside of axis limits . . . . . . . . . . . . . . . . . . . . 168*(distance of parts * number of parts + shot grid starting positionZ) outside of axis limits . . . . . . . . . . . . . . . . . . . . . . . . . . . 160*(distance of parts * number of parts + shot grid starting positionZ) within the machine area . . . . . . . . . . . . . . . . . . . . . . . . 160*Acknowledgement contactor x defective . . . . . . . . . . . . . 32*Activate robot set-up mode . . . . . . . . . . . . . . . . . . . . . . . . 80*Air conditioning unit x defective . . . . . . . . . . . . . . . . . . . 362*Axis - Brake safety test required . . . . . . . . . . . . . . . . . . . 235*Axis - Brake test failed . . . . . . . . . . . . . . . . . . . . . . . . . . 235*Check group configuration and vacuum/compressed air circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275*Clamp unit safety gate x interrupts cycle . . . . . . . . . . . . . 27*Clamping unit safety gate 2 not entirely open . . . . . . . . . . 33

*Clamping unit safety gate disconnected but not completely open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33*Clamping unit safety gate open . . . . . . . . . . . . . . . . . . . . 27*Closing safety - Robot within machine area . . . . . . . . . . 135*Closing safety lies above the permitted limit () . . . . . . . . 109*Closing safety lies below the permitted limit (x) . . . . . . . 109*Closing safety: "Horizontal closing safety" setting was changedby importing parts data () . . . . . . . . . . . . . . . . . . . . . . . . . 108*Closing safety: "Vertical closing safety" setting was changed byimporting parts data (x) . . . . . . . . . . . . . . . . . . . . . . . . . . 108*Closing safety: Confirm changed settings . . . . . . . . . . . 109*Crane in the robot area . . . . . . . . . . . . . . . . . . . . . . . . . . 353*Early start not possible, by take-off with closed mold. . . 318*Editing mode active . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197*Ejector stroke greater than axis stroke

. . . . . . . . . . . . . . 343

*Ejector x not retracted . . . . . . . . . . . . . . . . . . . . . . . . . . . 135*EMERGENCY STOP pressed . . . . . . . . . . . . . . . . . . . . . 26*Flash card is full . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69*Grid - full - depositing not possible . . . . . . . . . . . . . . . . . . 94*Individual part grid - Not all parts could be deposited . . . 266*Individual part grid - Not all parts could be picked up . . . 266*Injection molding machine - Danger of collision with robot 135*Injection molding machine rotary table - Danger of collision withrobot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317*Injection molding machine rotary table - signal "In end position"missing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317*Manual mode r equired for brake test . . . . . . . . . . . . . . . 234*Mold not open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135*Movement to home position enabled . . . . . . . . . . . . . . . . 99

*Name - Crane release not possible (missing configuration) 353*Name - Softservo active . . . . . . . . . . . . . . . . . . . . . . . . . 347*Nozzle safety gate open . . . . . . . . . . . . . . . . . . . . . . . . . . 28*Park position sequence still active . . . . . . . . . . . . . . . . . 336*Part lost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143*Part not deposited . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155*Prohibited area left - move-out only possible with consent key 352*Quickpos still active . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100*Replace placeholder with instruction 'Part deposited' for the re-quired peripheral unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . 269*Replace placeholder with instruction 'Wait for part pick-up re-lease' for the required peripheral unit. . . . . . . . . . . . . . . . 269*Replace placeholder with instruction 'Wait until part depositingallowed' for the required peripheral unit. . . . . . . . . . . . . . 269

*Robot consent key pressed on automatic manual switchover 41

*Robot consent key pressed on starting up the control unit 41*Robot interlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135*Robot motor in the set-up mode only from level 5 . . . . . . .80*Robot motors blocked - new start required! . . . . . . . . . . . .80*Robot motors must be switched on for brake test . . . . . .234*Robot motors switched off . . . . . . . . . . . . . . . . . . . . . . . . .79*Robot not in Home position . . . . . . . . . . . . . . . . . . . . . . . .99*Robot override active! . . . . . . . . . . . . . . . . . . . . . . . . . . .111*Robot safety gate not connected . . . . . . . . . . . . . . . . . . . .33

*Robot safety gate open . . . . . . . . . . . . . . . . . . . . . . . . . . .31*Robot safety gate opening-closing-acknowledging . . . . . .31*Robot safety gate x unlocked by EMERGENCY STOP . . .26*Robot safety gate x: acknowledgement key pressed too early 31*Robot safety gate: Acknowledgement key actuated too fast 32*Robot safety gate: Acknowledgement key actuated too long 32*Robot safety gate: Acknowledgement key too long not actuated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32*Robot too small speed defined, set to . . . . . . . . . . . . . . . .96*Robot x test run without machine . . . . . . . . . . . . . . . . . . .107*Robot: Incorrect end of arm tooling . . . . . . . . . . . . . . . . .360*Safety gate 2 not connected and open . . . . . . . . . . . . . . . .33*Sensor defective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .353*Softservo not activated as access to axis by Switch off -axis is

blocked. Please check the robot sequence or deactivate at firstSwitch off -axis.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .349*Switching the robot motors on in automatic mode is not possible . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80*Take-off invalid - robot was not in the take-off area . . . . .136*Take-off with mold intermediate stop not possible, by take-off with closed mold. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318*Tray server not ready for operation . . . . . . . . . . . . . . . . .365*Unable to load parts data set. Please check the sequence. () 70*User sequence Cannot be started - EMERGENCY STOP 26*User sequence cannot be started - Robot motors switched off 196*Values corrected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70*Work area error: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133*x not back . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .260*x not back on intermediate position . . . . . . . . . . . . . . . . .260*x not closed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .259*x not closed on intermediate position . . . . . . . . . . . . . . . .259*x not in front . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .260*x not in front on intermediate position . . . . . . . . . . . . . . .260*x not moved in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .258*x not moved out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .259*x not open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .259*x not open on intermediate position . . . . . . . . . . . . . . . . .259*Z settings defective - Work area in machine area . . . . . .136

Numerics3D view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132

A ABC-axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15 Access demand protection door . . . . . . . . . . . . . . . . . . . . .29 Additional closing safety . . . . . . . . . . . . . . . . . . . . . . . . . .122 Additional equipements . . . . . . . . . . . . . . . . . . . . . . . . . . . .22 Air conditioning unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .362 Air valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256, 257 Area settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131 Assistant for sequence set-up . . . . . . . . . . . . . . . . . . . . . .199

Bbarrel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242, 249Behavior in case of fire . . . . . . . . . . . . . . . . . . . . . . . . . . . .22Bottom layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .161

Brakes test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .233



Index


CChanging an instruction . . . . . . . . . . . . . . . . . . . . . . . . . . 211Changing users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64Classic operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222Clearing circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Closing safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107Closing safety additional prohibited area . . . . . . . . . . . . . 128Compensation of loads . . . . . . . . . . . . . . . . . . . . . . . . . . . 349Components of the control unit

. . . . . . . . . . . . . . . . . . . . . . 36

Condition editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293Configurable foil keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37Configuring the keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37Consent key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Conveyor-belt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93 , 247Copy parts data set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73Crane protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353Create sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197Create Teach variant . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215Creating a user authorization card . . . . . . . . . . . . . . . . . . . 65Creating, changing or deleting users . . . . . . . . . . . . . . . . . 63Cross transport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Cycle time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235Cycle time analysis robot . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Cylinder group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244

DDanger signs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Data dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67Date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Deactivating the equipment . . . . . . . . . . . . . . . . . . . . . . . 221Delete instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213Delete parts data set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74Delete subsequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213Delete user . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64Delete user sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217Delete variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218Demolding stroke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Depositing area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Depositing conveyor-belt . . . . . . . . . . . . . . . . . . . . . .93, 247Depositing conveyor-belt with quality control parts and reject mol-ding separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94Depositing conveyor-belt with reversing operation . . . . . . . 94Depositing variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109Dialog window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57Dual-side deposit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123Duplicating instructions or subsequences . . . . . . . . . . . . 212

EEarly start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106Economy mode vacuum . . . . . . . . . . . . . . . . . . . . . . . . . . . 92Efficiency optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . 113Ejector synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . 342EMERGENCY STOP buttons . . . . . . . . . . . . . . . . . . . . . . . 26

Enable clamp force build-up/reduction . . . . . . . . . . .254, 258End of arm tooling replaceable system . . . . . . . . . . . . . . 361Exchanging variants - Extended view . . . . . . . . . . . . . . . . 203Exchanging variants - Simple view . . . . . . . . . . . . . . . . . . 202Export injection protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . 75Extended view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

FFoil keys on the KETOP C100E . . . . . . . . . . . . . . . . . . . . . 42Free pushbuttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

GGeneral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11General settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Grid editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157Group configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

HHigh speed head changing system . . . . . . . . . . . . . . . . . 361Home position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98, 196Home position (Bring robot in home position) . . . . . . . . . . 99Horizontal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

IImporting/exporting user data . . . . . . . . . . . . . . . . . . . . . . 66

Individual axis movement - Teach grid sequence . . . . . . 175Individual part grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164Info Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Injection molding machine safety gates . . . . . . . . . . . . . . . 27Input field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Input keyboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57Insert command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207Insert sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207Inserting instructions or subsequences . . . . . . . . . . . . . . 212Instruction manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Instruction manual structure . . . . . . . . . . . . . . . . . . . . . . . . 11Instruction types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229Instructions for Use of Ketop C100E . . . . . . . . . . . . . . . . . 38intermediate deposit . . . . . . . . . . . . . . . . . . . . . . . . . 269, 323

Intermediate layer . . . . . . . . . . . . . . . . . . . . . . . . . . 161, 171Intermediate layers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331Intermediate layers depositing . . . . . . . . . . . . . . . . . . . . . 270

KKETOP C100E pushbuttons . . . . . . . . . . . . . . . . . . . . . . . 42

LLanguage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Linear axes movement - Teach grid sequence . . . . . . . . 175Log-in by entering password . . . . . . . . . . . . . . . . . . . . . . . 62

MMachine area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 122

Machine control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Machine sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196Macro instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236Mandatory Signs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Manual movement to home position . . . . . . . . . . . . . . . . . 99Mask assistant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201Mask editor - components of masks . . . . . . . . . . . . . . . . 305Mask editor - Paste a comment . . . . . . . . . . . . . . . . . . . . 311Mask editor - Paste new strips . . . . . . . . . . . . . . . . . . . . . 307Mask editor - Paste of existing strips . . . . . . . . . . . . . . . . 306Mask editor - Paste variables from a list . . . . . . . . . . . . . 307Mask editor - Paste variables from existing screen pages 308Mask editor - Search variable . . . . . . . . . . . . . . . . . . . . . 309Mask editor - stripes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305Mass identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

Mold and ejector synchronization . . . . . . . . . . . . . . . . . . . 344Mold swivelling device . . . . . . . . . . . . . . . . . . . . . . . . . . . 313Mold synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341Move commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229Moving-in intermediate position . . . . . . . . . . . . . . . . . . . . 139Moving-out intermediate position . . . . . . . . . . . . . . . . . . . 141Multi-position linear axes movement - Teach grid sequence 175

Ooperating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78Optimized deposit path . . . . . . . . . . . . . . . . . . . . . . . . . . 193outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245, 251overgrinding radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192Override speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110Overview axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Overview rotary axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

PPark position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196, 336



Index

371

Part deposit in Teach grid 1 with conveyor-belt . . . . . . . . 149Part deposit without grid and conveyor-belt . . . . . . . . . . . 145Part pick-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269Parts data set - Copy all . . . . . . . . . . . . . . . . . . . . . . . . . . . 73Parts deposit check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274Pick-up part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326Pictographs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Place holder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269Plant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

Pneumatic axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Position check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231Position compensation for tie-bar-less machines . . . . . . . 275Print sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219Printing textually and graphically . . . . . . . . . . . . . . . . . . . 219Production without robot . . . . . . . . . . . . . . . . . . . . . . . . . 106Program switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Prohibited area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121Prohibited area clamping unit . . . . . . . . . . . . . . . . . . . . . . 127Prohibitory signs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Proper Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Protection door . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Putting out of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

QQuality control deposit . . . . . . . . . . . . . . . . . . . . . . . 153, 249Quality Control part depositing . . . . . . . . . . . . . . . . . . . . . 272Quality control par ts and reject molding separation . . . . . . 94Quick positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100Quick setting of robot position . . . . . . . . . . . . . . . . . . . . . 101Quick Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83QuickSet QuickPos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

RRead parts data set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69Read sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Referencing sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . 196Reject deposit . . . . . . . . . . . . . . . . . . . . . . . . 151, 248, 273Rescue actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Reversing operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94Robot machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106Robot Editor - Inserting a Sequence . . . . . . . . . . . . . . . . 207Robot light beam guard . . . . . . . . . . . . . . . . . . . . . . . . . . 262Robot movement - Teach grid sequence . . . . . . . . . . . . . 175Robot Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79Robot overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Robot program switches . . . . . . . . . . . . . . . . . . . . . . . . . 104Robot safety gate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261Robot safety guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Robot sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185, 196Robot sequence - Changing an instruction . . . . . . . . . . . 211Robot sequence - Copying an instruction or subsequence 212Robot sequence - coupling . . . . . . . . . . . . . . . . . . . . . . . 189Robot sequence - Creating a Teach Variant . . . . . . . . . . 215

Robot sequence - Deactivate equipment . . . . . . . . . . . . . 221Robot sequence - Delete instruction or subsequence . . . 213Robot sequence - Duplicate instruction or subsequence . 212Robot sequence - Exchanging var iants . . . . . . . . . . 202, 203Robot sequence - Extended view . . . . . . . . . . . . . . . . . . 188Robot sequence - Insert instruction . . . . . . . . . . . . . . . . . 207Robot sequence - Inserting a parallel closed branch . . . . 209Robot sequence - Inserting an empty sequence . . . . . . . 214Robot sequence - Instructions . . . . . . . . . . . . . . . . . . . . . 229Robot sequence - multiple selections . . . . . . . . . . . . . . . 195Robot sequence - position . . . . . . . . . . . . . . . . . . . . . . . . 189Robot sequence - Print sequence . . . . . . . . . . . . . . . . . . 219Robot sequence - Remove variant . . . . . . . . . . . . . . . . . . 217Robot sequence - Removing Variants . . . . . . . . . . . . . . . 218Robot sequence - simple view . . . . . . . . . . . . . . . . . . . . . 186

Robot sequence - step pointer . . . . . . . . . . . . . . . . . 187, 191Robot sequence symbols - Extended view . . . . . . . . . . . 189

Robot sequence symbols - Simple view . . . . . . . . . . . . . .187Rotary axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15, 109Rotary table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .316Rotation limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85Run empty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .340

SSafety distance for tiebarless machine range . . . . . . . . . . .28Safety equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24, 25

Safety gate acknowledgement key . . . . . . . . . . . . . . . . . . .29Safety guarding that can be entered . . . . . . . . . . . . . . . . . .25Safety hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17Safety keys KETOP C100E . . . . . . . . . . . . . . . . . . . . . . . . .40Safety package 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29Save sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .198Screen keys on the KETOP C100E . . . . . . . . . . . . . . . . . . .45Screen page editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .303Screen page editor - Edit screen page . . . . . . . . . . . . . . .305Screen structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52Selection field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56Sequence instruction - Air valves . . . . . . . . . . . . . . . . . . .257Sequence instruction - Alarm . . . . . . . . . . . . . . . . . . . . . . .289Sequence instruction - Assignment . . . . . . . . . . . . . . . . . .285Sequence instruction - Barrel . . . . . . . . . . . . . . . . . 242, 249Sequence instruction - Barrel group . . . . . . . . . . . . . . . . .244Sequence instruction - Block clamp force build-up/reduction .254Sequence instruction - Check current position to set position .231Sequence instruction - Check curr ent position within range 231Sequence instruction - Comment . . . . . . . . . . . . . . . . . . .284Sequence instruction - Copy actual position to . . . . . . . . .291Sequence instruction - Cores . . . . . . . . . . . . . . . . . . . . . .256Sequence instruction - Cycle time . . . . . . . . . . . . . . . . . . .235Sequence instruction - Decrease . . . . . . . . . . . . . . . . . . . .292Sequence instruction - Delete alarm . . . . . . . . . . . . . . . . .290Sequence instruction - Depositing conveyor-belt . . . . . . .247Sequence instruction - Ejector . . . . . . . . . . . . . . . . . . . . . .255

Sequence instruction - Ejector synchronization . . . . . . . . .342Sequence instruction - Enable clamp force build-up/reduction 254Sequence instruction - Execute while . . . . . . . . . . . . . . . .277Sequence instruction - Gr id . . . . . . . . . . . . . . . . . . . . . . . .263Sequence instruction - If . . . . . . . . . . . . . . . . . . . . . . . . . .279Sequence instruction - Increase . . . . . . . . . . . . . . . . . . . .291Sequence instruction - Increase Quality control deposit counter 272Sequence instruction - Individual axes movement . . . . . .230Sequence instruction - Individual part grid . . . . . . . . . . . . .264Sequence instruction - Injection molding machine . . . . . .253Sequence instruction - Injection molding machine vacuum cir-cuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .257Sequence instruction - Interface intermediate deposit . . . .323

Sequence instruction - Intermediate layers depositing . . .270Sequence instruction - Jump to sequence end . . . . . . . . .288Sequence instruction - Linear axes movement . . . . . . . . .230Sequence instruction - Load compensation . . . . . . . . . . . .349Sequence instruction - Mass identification . . . . . . . . . . . .233Sequence instruction - Mold . . . . . . . . . . . . . . . . . . . . . . .253Sequence instruction - Mold and ejector synchronization .344Sequence instruction - Mold synchronization . . . . . . . . . .341Sequence instruction - Move instructions . . . . . . . . . . . . .2 29Sequence instruction - Multi-position linear axes movement 230Sequence instruction - Parallel closed branch . . . . . . . . . .280Sequence instruction - Parallel open branch . . . . . . . . . . .280Sequence instruction - Part is reject . . . . . . . . . . . . . . . . .258Sequence instruction - Part pick-up . . . . . . . . . . . . . . . . . .269Sequence instruction - Parts deposit check . . . . . . . . . . . .274

Sequence instruction - Peripheral unit . . . . . . . . . . . . . . . .247Sequence instruction - Peripheral unit outputs . . . . . . . . .251



Index


Sequence instruction - Position check . . . . . . . . . . . . . . . 231Sequence instruction - Position smoothing . . . . . . . . . . . 230Sequence instruction - Quality control deposit . . . . . . . . . 249Sequence instruction - Quality Control part depositing . . 272Sequence instruction - Rejects depositing . . . . . . . .248, 273Sequence instruction - Relative movement . . . . . . . . . . . 230Sequence instruction - Repeat until . . . . . . . . . . . . . . . . . 278Sequence instruction - Request intervention . . . . . . . . . . 262Sequence instruction - Request opening . . . . . . . . . . . . . 261

Sequence instruction - Reset rejects request . . . . . . . . . . 273Sequence instruction - Robot axis referencing . . . . . . . . . 230Sequence instruction - Robot movement . . . . . . . . . . . . . 230Sequence instruction - Robot movement with check position 230Sequence instruction - Robot outputs . . . . . . . . . . . . . . . 245Sequence instruction - Rotary axes movement . . . . . . . . 230Sequence instruction - Rotary axes movement after depositing(Quick Setup) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237Sequence instruction - Rotary axes movement before depositing(Quick Setup) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237Sequence instruction - Rotary axes movement when moving-outfrom machine area (Quick Setup) . . . . . . . . . . . . . . . . . . . 236Sequence instruction - Safety gate . . . . . . . . . . . . . . . . . . 261Sequence instruction - Sequence control . . . . . . . . . . . . . 263

Sequence instruction - Sequences . . . . . . . . . . . . . . . . . . 267Sequence instruction - Set position . . . . . . . . . . . . . . . . . 290Sequence instruction - Shot grid . . . . . . . . . . . . . . . . . . . 263Sequence instruction - Softservo . . . . . . . . . . . . . . . . . . . 347Sequence instruction - Stop movement . . . . . . . . . . . . . . 230Sequence instruction - Stop sequence . . . . . . . . . . . . . . . 263Sequence instruction - Stop when safety gate requested 261Sequence instruction - Structure instructions . . . . . . . . . . 277Sequence instruction - Switch off axis . . . . . . . . . . . . . . . 232Sequence instruction - Take-off str oke correction . . . . . . 337Sequence instruction - Teach grid . . . . . . . . . . . . . . . . . . 266Sequence instruction - Torque monitoring . . . . . . . . . . . . 357Sequence instruction - Tray server . . . . . . . . . . . . . . . . . . 365Sequence instruction - Vacuum/compressed air . . . . . . . 239Sequence instruction - Vacuum/compressed air group . . 241Sequence instruction - Vacuum/compressed air group off whenpart lost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242Sequence instruction - Wait for start button in semiautomatic 263Sequence instruction - Wait until . . . . . . . . . . . . . . . . . . . 284Sequence instruction - Wait until par t take over allowed . 258Sequence instruction - Waiting time . . . . . . . . . . . . . . . . . 281Sequence instruction - Waiting time or input . . . . . . . . . . 283Sequence instruction - Waiting time or marker . . . . . . . . . 282Sequence instruction - Warning signal light . . . . . . . . . . . 354Sequence instruction - Weigh scale . . . . . . . . . . . . . . . . . 327Sequence instruction - Work areas/prohibited areas . . . . 246Sequence instructions - Intermediate deposit . . . . . . . . . 269Servomotor axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Setup

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Shot grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158Simple view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186Smoothing window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193Softservo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347Speed limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Sprue deposit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155Sprue separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319Start up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53Status marker - Vacuum/compressed air . . . . . . . . . . . . . 300Status marker - Vacuum/compressed air group . . . . . . . . 301Status page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110Storage media . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68structure instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

Swivelling device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313Swivelling limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

TTake-off area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 122Take-off movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105Take-off position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141Take-off stroke correction . . . . . . . . . . . . . . . . . . . . . . . . 337Take-off with closed mold . . . . . . . . . . . . . . . . . . . . . . . . 317Takeover head . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118Takeoverheadcoding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360Teach grid

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

Teach grid - screen page . . . . . . . . . . . . . . . . . . . . . . . . . 150Teach grid sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174Teach pointer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204Test mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96Text f ormatting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Tool-tip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Top layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161Torque monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357Travel limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85Tray server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363

UUnit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

USB storage media . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68User administration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63User level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61User login . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61User sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196User settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

VVacuum economy mode . . . . . . . . . . . . . . . . . . . . . . . . . . 92Vacuum/compressed air . . . . . . . . . . . . . . . . . . . . . . . . . 239Vacuum/compressed air circuits . . . . . . . . . . . . . . . . . . . . 89Vacuum/compressed air group . . . . . . . . . . . . . . . . . . . . 241Vacuum/compressed air group off on part lost . . . . . . . . 242Vertical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105Vertical stroke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

WWait until part take over allowed . . . . . . . . . . . . . . . 257, 258Warning signal light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Weigh scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327Work area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121Work area above clamping unit . . . . . . . . . . . . . . . . . . . . 126Work area above depositing area Z- . . . . . . . . . . . . . . . . 130Work area above machine . . . . . . . . . . . . . . . . . . . . . . . . 126Work area between take-off area and depositing area Z+ 128Work area clamping unit . . . . . . . . . . . . . . . . . . . . . . . . . 127Work area depositing area . . . . . . . . . . . . . . . . . . . . . . . . 122Work area depositing area Z- . . . . . . . . . . . . . . . . . . . . . . 130Work area depositing area Z+

. . . . . . . . . . . . . . . . . . . . . 129

Work area setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121Work area setup - Settings . . . . . . . . . . . . . . . . . . . . . . . . 122Work areas and prohibited areas of the plant . . . . . . . . . 125Write a parts data set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Writing parts data sets separately . . . . . . . . . . . . . . . . . . . 72

XX-axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

YY-axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

ZZ-axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

robot viper-so

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