Axess sepro ROBOTIQUE, User Manual

Page 1: ...USER MANUAL Robots Software Version 2 0 ...

Page 2: ...e the information and data contained in this document for his own needs within his company and not to sell any of it either directly or indirectly Any reproduction used for communicating to a third party even if free is forbidden This document is given to the customer when the ordered product is delivered SEPRO ROBOTIQUE may change it afterwards without warning It is therefore the customer s duty ...

Page 3: ...ering text 7 III 3 7 Help key 7 IV MANUAL MODE 8 IV 1 Manually controlling a numeric movement 9 IV 1 1 Moving an axis 9 IV 1 2 Changing the movement speed Kv 9 IV 1 3 Changing the movement mode 10 IV 2 Manually controlling a pneumatic movement 10 IV 2 1 Part grip and release 10 IV 2 2 Rotations 11 IV 3 Enabling a manual movement of the IMM 11 IV 4 Manually controlling an output 12 IV 5 Controlling...

Page 4: ... page 22 VII CYCLE OPTIMIZATION 23 VII 1 Introduction 23 VII 2 Changing the cycle s parameters 24 VII 3 Points 24 VII 4 Time delays 26 VII 5 Speeds 27 VII 6 Tolerances 28 VII 7 Stacking and counters 29 VIII TROUBLESHOOTING 30 VIII 1 Introduction 30 VIII 2 Cancelling a fault 30 VIII 3 Standard messages 30 VIII 4 Difficulties related to the part grip 31 VIII 4 1 Causes and actions 31 VIII 4 2 Starti...

Page 5: ...umatic movements being executed are finished it is necessary to dump the pressure before intervening on the robot When the robot s emergency stop button is pressed the actuators electric power supply is cut The numeric movements are therefore stopped brutally the IMM stops I 2 The pendant s safety devices I 2 1 The safeguard override key This key authorizes the robot movements in manual mode and i...

Page 6: ...zones are defined on the X axis Machine Axis AM and Arm Free Zone ZBD 2 zones are defined on the Z axis Arm Up BH and Arm Outside Mold BHM AM the Machine Axis zone is placed on either side of the IMM axis It is marked on the robot beam with a blue arrow In this zone the robot is authorized to work in the IMM ZBD the Arm Free Zone is placed outside the IMM The release area is in this zone All movem...

Page 7: ...ion Automatic mode Home page page 22 Mold open Door closed IMM in Auto Semi Auto Mold closed part made Ejectors back Ejectors forward Cores in position 1 Cores in position 2 Emergency stop Intermediate mold open position Bad part reject Arm Free Safety Enable IMM cycle Enable ejectors back Enable ejectors forward Enable core movement to position 1 Enable core movement to position 2 Enable end of o...

Page 8: ...ser Manual III Quick reference V2 0 DD0000116802 4 13 2 06 III QUICK REFERENCE III 1 The axes III 2 Powering up When you power up the screen displays NO POWER Press to power up again and cancel the fault Y X Z Z Y X ...

Page 9: ...run creating and fine tuning new cycles Manual mode for carrying out movements that are controlled by the user This mode is used in particular for the following operations Initializing the axes Setting the EOATs and the peripheral units Without robot mode This mode is used for operating the IMM without the robot in particular when fine tuning IMM cycles without the robot unloading the parts Progra...

Page 10: ...tions to access the functions that are not visible select When a function is active the tab is lit up Example In general a function contains sub functions The same principles apply III 3 3 Returning to the previous screen To exit a function or a sub function use until you get to the screen you want III 3 4 Locking the numeric pad By pressing the key you get Led on and numeric pad locked for enteri...

Page 11: ...the keyboard apart from the letter O which is entered using 0 on the numeric pad The pad must not be in Num lock The letters W X Y Z and the Space are entered using the function keys Use the key to change between capitals and small letters To enter a figure use the numeric pad To delete a character use the key III 3 7 Help key Allows you to do the following when there is a fault display the help i...

Page 12: ...es you to control all the robot s movements separately from the program It is used in particular for the following operations Initializing the axes Setting the EOATs and the peripheral units To access the manual mode select The following screen appears Note If the axes are not initialized a different screen appears See Initializing the axes page 34 Arm in free Area Z arm outside mold X 1285 1 Y 24...

Page 13: ...he screen displays example with X or X IV 1 2 Changing the movement speed Kv Select Then change within the possible limits X X Y Y Z Z Arm in free Area Z arm outside mold X 1285 1 v 15 mm s d 1mm PARAM 1mm CONT Kv15 Zones that determine the movement see The work zones page 2 Current position Movement speed Tracking error PARAM 1mm CONT Kv15 Kv 15 Kv100 Limits 15 Kv 100 ...

Page 14: ...p and release part grip command part release command When you press one of these keys the following screen appears Example when is pressed Enter the part grip number from the numeric pad The command is carried out immediately Incremental movement mm by mm or 1 10mm by 1 10mm Continuous movement PARAM 1mm CONT Kv15 Arm in free Area Z arm outside mold PART GRIP Num ...

Page 15: ... from the IMM The IMM must be in manual mode Enable mold opening and closing Enable ejectors back and forward Then select the corresponding function key Enable core movements to positions 1 and 2 Then select the corresponding function key EOAT horizontal Arm in free Area Z arm outside mold Rotation or Esc EOAT vertical Rotation 2 plus direction Rotation 2 minus direction Rotation 2 intermediate op...

Page 16: ...to 0 and stays at 0 If the output is at 0 it switches immediately to 1 and stays at 1 until the output is activated again or if it isn t zero for the time entered in the associated time delay cycle parameter IV 5 Controlling the belt Select If the belt is functioning it stops immediately If the belt is stopped it starts immediately and continues moving until the key is pressing again or if it isn ...

Page 17: ...ng screen appears It is possible to carry out rotations and part grips which makes it easier to teach the point P1 PARAMETER FROM PRG 3 Part grip in the mold X 846 Y 200 Z 300 X Y Z TEACH next previous Selecting a parameter Confirm the position To teach the point Teach another point YES NO Using the manual commands position the robot V 2 0 ...

Page 18: ...program on the pendant Select N Select a program from the list Confirm If the IMM is in manual mode the message Simulate part production appears If you reply yes you can run the cycle without starting up the IMM The presence of the part is still controlled You may also need to manoeuvre the IMM s ejection system V 3 Creating a program V 3 1 Introduction Note If the program for the new production e...

Page 19: ...y adjusting the positions speeds or time delays See Cycle optimization page 23 Creating the program Select N then EPS Select an EPS corresponding to your application The system then asks for a program number The first free number is proposed You can however select another one if you wish Enter the program s name This name then appears in the list of programs see Selecting a program page 14 and is ...

Page 20: ...taught in order P1 P2 P3 etc You can however choose another order if you wish It is possible to carry out rotations and part grips which makes it easier to teach the point Teaching in cycle The points are taught as they appear in the cycle When a destination is represented by a point to be taught the cycle stops and asks you to teach the point Once the point has been taught the cycle continues See...

Page 21: ...elease 4 Take the robot to be point desired using the manual controls Once the point has been found select to confirm the position 5 Start again from step 1 until the cycle has finished V 4 2 Stacking sequence When the program contains a stacking sequence you are asked to teach the first release point if it is defined as to be taught See 1st release in the following example Note It is possible to ...

Page 22: ...rocedure Select CONT Hold down If this key is released the cycle stops Press the key again to continue Step by step test mode The cycle is automatically interrupted each time you change step in the program This mode is used when you wish to stop at a precise point Procedure Select STPSTP Hold down until the Release START message appears Release then press it again to carry out the next step Moveme...

Page 23: ...and the SIMPLE Home Return finished message appears Notes The simple Home Return is automatically selected after the following operations cabinet powered up new program selected robot moved in manual mode The simple Home Return is automatically run if there is a part grip fault in the mold V 6 2 Total Home return The special feature of the total Home Return is that it puts the system into a start ...

Page 24: ...uction run the installation must be correctly set up by trained personnel see Mold change Test mode page 14 VI 1 Starting production See Production without the robot page 21 YES NO See Starting the robot and the IMM in automatic mode page 21 Initial conditions IMM in manual mode Robot stopped Do you want a pilot run IMM without robot ...

Page 25: ...ress to enable the IMM to function on its own If the IMM is in automatic mode you are asked to confirm Run the IMM without the robot To run the robot press the key again the IMM stops at the end of its cycle Restart as described in VI 2 1 The IMM and the robot are operating in automatic mode Press the robot stops at the end of its cycle You are asked to confirm that the IMM can function on its own...

Page 26: ...ge 23 Kv15 changing the KV function identical to the one presented in manual mode See Changing the movement speed Kv page 9 INFO this function gives access to the following data PRG2 1 Axes moving PARAM INFO Kv15 TIMES CNT AXES IMM CYCLE Data on the axes positions speeds v tracking error d Status of the Robot IMM interface Data on the program currently running Counter values Time data Cycle time a...

Page 27: ...nction Use Mode advised for optimization Points POINTS For changing the destination of a numeric axis either by entering a position from the keyboard or by teaching it Speeds VEL For changing the movement speed of the numeric axes Time delays TIMES For changing the wait time between 2 actions or an output s activation time Tolerances TOLER For changing the tolerance from which it is possible to or...

Page 28: ...the procedure is detailed below depending on the type of parameter selected Note Only the types of parameters present in the program are displayed VII 3 Points CYCLE PARAMETERS TIMES CNT POINTS TOLER VEL P1 PARAMETER FROM PRG 3 Part grip in the mold X 200 2 Y 155 6 Z 400 3 X Y Z next previous Selecting the parameter Selecting the coordinate TIMES CNT POINTS TOLER VEL ...

Page 29: ...nctions You don t know what position to enter 3 assign TEACH to the coordinate The teaching will be carried out when the cycle is next run Carry out the same operation for the other coordinates if you want to change them Note For safety reasons the changes are limited to 10 mm For bigger changes repeat the operation several times or choose TEACH UNDO TEACH Increase Decrease Return to the initial v...

Page 30: ...AIT OUT Changing a time delay Changing an output s activation time TIMES CNT POINTS TOLER VEL WAIT 1 PARAMETER FROM PRG 3 Time delay after part release Duration 0 1s UNDO MODIF next previous Selecting the parameter Return to the initial value UNDO Increase Decrease Return to the initial value Increase decrease value Enter new value To change ...

Page 31: ...II 5 Speeds VEL 1 PARAMETER FROM PRG 3 Descent speed in the mold Speed 64 UNDO MODIF next previous Selecting the parameter Return to the initial value To change UNDO Increase Decrease Return to the initial value Increase decrease value Enter new value TIMES CNT POINTS TOLER VEL ...

Page 32: ...50 mm For bigger changes repeat the operation several times TOL 1 PARAMETER FROM PRG 3 Anticipation of advance in the mold Tolerance 244 4 mm UNDO MODIF next previous Selecting the parameter Return to the initial value To change UNDO Increase Decrease Return to the initial value Increase decrease value Enter new value TIMES CNT POINTS TOLER VEL ...

Page 33: ... the counter To change TIMES CNT POINTS TOLER VEL SP Stk41 Stacking A SP Stk42 Stacking B SP Stk43 Stacking C CNT next previous Selecting the SP Stk Then next previous Selecting the header line SP Stk41 Stacking A Number of parts on X row 1 2 UNDO MODIF Increase Decrease Return to the initial value Increase decrease value Enter new value To change To return to the counters ...

Page 34: ...stomer file If the current cycle cannot be continued run a Home Return See Home return page 19 VIII 3 Standard messages This message appears when the KM1 power relay is not engaged in particular when you power up Press to power up again once you have solved the problem cause may be marked in additional message IMM Emergency Stop Peripheral Emergency Stop pressed in Robot Cabinet Emergency Stop Saf...

Page 35: ...See Cycle optimization page 23 Reduce the ejection speed The part presence control is not correctly set The message gives the No of the faulty part grip See Settings page 32 The EOAT is badly set or in bad condition suction cup Adjust the EOAT or replace the damaged suction cup The part is not complete Adjust the IMM Part lost during Y back WAITING FOR DATA message Possible causes Actions The ejec...

Page 36: ...in position 1 occasional blast pressures are sent into the suction cups when the part release command is given which makes the release easier The vacuum sensor signals that a part is present via the signal light 4 The detection threshold is adjusted using the screw 3 in order to differentiate between a correct and an incorrect part grip use the screwdriver provided EOAT with mechanical grippers Th...

Page 37: ...test mode two messages give information on the IMM robot exchanges IMM cycle enabled the robot enables the IMM cycle Await end of machine cycle the robot waits for the IMM to open before taking the parts The IMM data page See chapter VI 3 page 22 shows the status 0 or 1 of the data exchanged by the IMM and the robot ...

Page 38: ... must be in the Arm Up zone If it is not Place the arm in the Arm Up zone Select INIT Initialize the X axis Select or held down until the axis stops and the Not Init message is replaced by a numeric value The buzzer rings Initialize the Y axis Select or held down until the axis stops and the Not Init message is replaced by a numeric value The buzzer rings Initialize the Z axis Select or held down ...

Page 39: ...e AXES Last maintenance date and time at which the last maintenance was carried out or date and time at which the distance covered was reset to zero by RST Distance covered Distance covered by the axis since its last maintenance Cumulated distance Distance covered by the axis since the robot s first commissioning Maintenance LIST AXES SYSTEM MONIT AXES X 1 3 Last maintenance 21 2 06 09 48 03 Dista...

Page 40: ...ust be done by qualified personnel RST To be used when carrying out maintenance on the axis Enters the current date and time in Last maintenance Sets the Distance covered value to 0 INIT This function enables you to initialize the axes again without having to power the cabinet down V 2 0 Initialize the axis again Select the axis X Y Z Select the axes to be initialized again and confirm with The ax...

Page 41: ... change the robot s serial number LANG to display messages in another language DATE H to change the current date and time OPTION list of the options installed Robot s serial number 17123 CPU software version 2 00 CPU boot version 2 1 Pendant software version V0 2 MODIF LANG DATE H OPTION next previous Selecting an axis ...

Page 42: ...ed variable at 1 OUT Aux BIT Aux and BIT Usr only RST to position the selected variable at 0 OUT Aux BIT Aux and BIT Usr only TYPE to change the type of the selected variable IMM INFO 1 5 0 Enable IMM cycle 0 Mold open 0 Mold closed 0 Bad part ROBOT TYPE next previous Scrolling through the data Page No Total number of pages ROBOT INFO 1 3 OUT Aux 1 0_010 0000 IN Aux 3 0_001 0000 BIT Aux 3 0_001 00...

Page 43: ...d 11 emergency stops 1 EPS Creating a program from an EPS 15 principle 15 F Fault cancelling a fault 30 fault log book 35 part grip fault 31 standard messages 30 Fault log book 35 H Home return 19 I Initialization initialize again 36 Initialize 34 K Kv 9 L Language display messages in another language 37 M Machine Axis AM 2 Mode continuous test mode 18 manual mode 8 programming mode 5 step by step...

Page 44: ...Creating a program 14 Selecting a program 14 testing the program 18 Q Quality sampling request 22 R Robot IMM dialogue 3 S Safety emergency stops 1 pendant s safety devices 1 peripheral units and safeguards 2 safety instructions 1 Stop end of cycle stop 21 immediate stop 21 T Teach Teaching the points in cycle 17 teaching the points in manual 13 Time 37 Tracking error 9 W Without robot 21 ...