ii – programming a cycle
Contents
1. 3 2 1 2 1 By layer By stack p Defining the order in which the robot will stack the parts only for YN X Y 3 Y X 37 x ue A Wa p 2 1 3 X p Defining the number of parts on the X horizontal axis max number of parts 99 p Defining the value of the X gap between parts from 0 to 3200 0 mm and the direction enter the value using the numerical keys and the negative positive sign using 4 X X Gap on X 4500 0 Gap on X 400 0 tc L LV Z C 500 0 400 0 gt p Defining the number of parts on the Y horizontal axis max number of parts 99 p Defining the value of the Y gap between parts from 0 to 3200 0 mm and the direction enter the value using the numerical keys and the negative positive sign using e Gap on Y 500 0 Gap on 400 0 1 500 0 400 0 Y p Defining the number of layers Max number 999 p Defining the command at the end of the layer Action that the robot must carry out at the end of each stacking layer Warning the end of the last stacking layer is not considered as an end of layer but as an end of stacking Programming MPA II v2 XN XS or YN YS V 1 01 gt V Special programming functions Command possibilities at end of layer V to execute a su2. rines STEP I Page 2 STEP 2 gt E STEP 3 2 Disengaging MPA II XN VA Page 2 sequence 20 Pa gt M o o ol i STEP 4 M p s AH gt a and STEP 5 Mu _ I one MM 4 gt E gt gt Je ee de STEP 6 4 gt STEP 7 MPAJIXN ica a b e ee Part grip STEER m m seguence STEP 9 Su gt Page 3 STEP10 EX gt gt MPA II XN E or MPA II YN A gt ele o gt STEP 11 t gt ne STEP 12 4 gt Page 3 restar mn ses D gt Io gt EJ E gt E Release nis E sequence STEP 15 1 gt Page 3 STEP 16 gt STEP 17 1 gt o E H Tea el Es Pes TT I jw END s II Programming a cycle Programming MPA II v2 XN XS or YN YS V 1 0 gt II 3 Writing the cycle in SEPRO MPA II v2 language Ck Ck ck kk AA Ck Ck A X A X CI CC Ck AX Ck Ck Ck Ck Ck kk kk Sk Sk x AAA AA ko ko ko SEPRO MPA II v2 YN number 3000 ck ck ck ck ock AA AA Ck 4 4 CC Ck C Ck C Ck Ck X 4 4 4 Sk Sk 4 4 Sk 4 44 44 kA kx ko k PROGRAM No 01 UN date kk by kK Ck Ck ck ck ck AA Ck Ck A A A X CI CC Ck C Ck Ck Ck Ck Ck Ck X 4X AXA X4 A 44 ko ko ko ko ko ck ck ck ck ck AA AA Ck Ck 44 Ck 44 4 Ck 44 4 4X 4 4 4 4X 4 4 4 Sk 4 44 44 ko kx ko KK Main program Ck ck ck ck ck kk A X Ck Ck A X A X A X A X A X A X A X A X 4 X X 4 ko ko ko ko ko
3. Ej Programming MPA II v2 XN XS or YN YS V 1 0 IV Programming instructions IV 2 The robot s numeric movements The X axis of an MPA II robot is always numeric The Y axis is numeric for the YN or YS robots The special commands for the numeric axes are accessible behind the keys The left one is for the X axis and the right one for the Y axis IV 2 1 Programming a speed p The speed of a numeric axis can be changed from 15 to 100 of its maximum value p The change made to the speed in a given step is maintained until it is changed later on in the program Programming Using the and keys move to the step where the numeric movement whose speed you want to change is programmed Press left key for X right key for Y The robot displays PROG Step ABSOLUTE 150 0 Vel 20 Imprecise 0 0 0 1 2 No STCKG Free oe Z ES SR H P e 3210 Press to change the active field The Vel message should blink Enter the value of the speed percentage for example 20 Confirm with The robot displays PROG Step e ABSOLUTE 150 0 Vel 20 Imprecise 0 0 I 0 1 2 No STCKG Free 1 ES Sn P e 32310 Press exit IV 2 2 Programming an imprecision Using this function you can anticipate moving on to the next step in order to gain
4. The program can therefore be instructed to loopback to Step 5 Step 1 Step 2 Step 3 Disengaging cycle Step 4 m gt Step 5 Machine cycle start and positioning above the IMM Step 6 oopbaek Step 12 IMM cycle restart Step 17 Ascent Step 18 Belt indexing and end Looping back to Step No 5 triggers the movements that are programmed in this step apart from the IMM cycle which has already been programmed in Step No 12 As long as the part has not been taken the IMM cycle command is ignored Programming MPA II v2 XN XS or YN YS V 1 01 gt II Programming a cycle II PROGRAMMING A CYCLE II 1 Selecting a program The internal memory of a SEPRO MPA II robot can contain up to 15 program numbered from 0 to 14 See chapter VI 2 page 44 Memory card for the program numbers contained in the external memory When you create a program you can p either create a new program gt or rewrite a program that already exists The list of programs that already exist can be consulted in COPY mode see chapter VI page 42 Memory management Enter the password then No password needed Y enter the number of the program to be created 1 for this example WRITE 1 DIRECT to confirm Program 1 is selected Figure 2 Selecting a program Programming MPA II v2 II Programming a cycle XN XS or YN YS V 1 0 gt II 2 Entering a progr
5. Check oe ft ES JAN H 2 R e tc 3210 p Following a stoppage the robot asks if it should set the stacking counters back to zero and carry out the end of stacking actions respectively The selection is PROG Step e RESTART AND CHECK THE STACKINGS M amp THE CYCLE COUNTER Don t check t ES Son P e t 3210 If the counters are neither at zero or their maximum the robot asks the following question each time to continue you start it up again PROG Step Stacking in progress to go to final action E 3210 else o JZ cy JA H A B p Press to continue the cycle is continued without changing the counters p Press to go to the final phase The end of stacking counters and not end of layer or stack are validated The stacking counters are set to zero If the counter is neither at zero or at its maximum the following question is asked PROG Step CYCLE COUNTER 486 to continue M reset to zero Final action 71 ES Sn H 2 R e t 2210 The action is the same as for the stackings is used to reset the counter to zero IV 5 7 Offset wait position Access Or This function described in chapter V 3 page 36 depends on the robot s configuration see the Configuration manual file R Programming MPA II v2
6. Releasing the part 3 Restarting the machine cycle 3 Return address 4 S SBD 38 Programming MPA II v2 XN XS or YN YS V 1 01 gt Serial number 43 Slow approach 17 Software version 43 Speed 15 Stacking 26 29 Stacking definition 29 Subroutine 9 Switching 24 T Teaching 35 Time delay 22 23 Type of access 28 V VCM 19 38 Velocity 15 Conair has made the largest investment in customer support in the plastics industry Our service experts are available to help with any problem you might have installing and operating your equipment Your Conair sales representative also can help analyze the nature of your problem assuring that it did not result from misapplication or improper use To contact Customer Service personnel call PARTS amp SERVICE 800 458 1960 From outside the United States call 814 437 6861 You can commission Conair service personnel to provide on site service by contacting the Customer Service Department Standard rates include an on site hourly rate with a one day minimum plus expenses If you do have a problem please complete the following checklist before calling Conair CJ Make sure you have all model serial and parts list num bers for your particular equipment Service personnel will need this information to assist you 1 Make sure power is supplied to the equipment O Make sure that all connectors and wires within and between loading control and relate
7. The program options Each program can be characterised by the options described in chapter IV 5 page 23 III 4 Advice for cycle time optimization The IMM cycle time is often greater than the robot s one Even so it is always interesting to reduce it especially the IMM immobilization time Programming MPA II v2 III Program structure XN XS or YN YS V 1 01 gt The IMM immobilization time is the length of time that separates the mould access authorization that the IMM gives to the robot Mould Open MO or Partial Opening Reached OPA signal from the Machine Cycle Validation VCM that the robot gives to the IMM to authorize the fabrication of a new part To reduce the IMM immobilization time you can use a certain number of instructions and options offered by Sepro and several rules must be respected to guarantee the equipment safety and the reliabi lity of the cycle p gt The cycle time reduction MUST NEVER increase the number of inicidents In this case the time lost restarting after an incident cancels out the few tenths of a second gained during optimization p The paths obtained after optimization must not lead to a risk of collision if for one reason or another a part of the movement slows down The robot arm must be stopped as close as possible to the mould to wait for the latter to open The IMM cycle must be restarted as quickly as possible For this to be possible the Outside Mould Area
8. XN XS or YN YS V 1 0 IV Programming instructions IV 5 8 Memorizing the index positions Access The indices are memorized positions that can be used in programming and adjust modes When a numeric axis key is pressed in Programming mode the associated index is automatically dis played providing its value has already been entered In Adjust mode an index position acts as a stop as soon as the eD key has been pressed There are 2 index positions for the X axis indices 1 and 2 2 for the Y axis when the robot is on the machine side indices 3 and 4 and 2 for the Y axis when the robot is on the release side indices 5 and 6 Move the axis to the position to be memorized gt ZN The robot displays PROG Step e INDEX No 1 X Axis M Memorized position 223 7 Zt ES Sn P e 3210 Press or until the index number that you want to use appears Press the 2 axis keys simultaneously forX and simultaneously gt for Y and simultaneously gt The robot s actual position is taken for the index Confirm with A different value can also be entered using the numeric keyboard Note The indices are very useful as they make the Y axis manual movements in the IMM safer in particular and make it easier to enter values when programming You are advised to enter the values before you start programming the cycles IV 5 9 Len
9. ZHM cam must be adjusted correctly the lowest position of the robot arm that enables the mould to open and close without colliding with the robot gripper head The imprecise instruction is used to optimize the cycle time Its use is described in chapter IV 2 2 page 15 Using this tool enables you to round the robot s path as the movements follow on from one another to mask the part demoulding movements ejectors and or core pullers by doing them during the robot s movements So that the cycle time optimization is efficient some of the IMM adjustment parameters must be checked or modified the Partial Opening position OPA must be adjusted to authorise the robot arm s des cent as soon as possible avoiding any risks of collision the IMM movement speeds and accelerations mould ejectors and core pullers must be optimized to a maximum whilst at the same time respecting the quality of the parts produced and the safety of the equipment if possible the fastest movements must be respected for example if the mould ope ning is quicker than the part ejection the cycle time will be less penalised if the ope ning is large enough to mask the ejectors and or core pullers back and forward time during the robot movements Reminder the equipment s productivity is calculated over long production periods Consequently stops due to incidents are taken into account p gt An efficient cycle time optimization M
10. cese suo ues uETREEVEA EET R na 42 Vi 12 Copying a DEOSEADE siis use xen eden ree ER s etc 43 VI 2 Theanemory card CODDOB 3 5584 8455080680858 RT PEE ER dre 44 VI 2 1 Formatting th Card 4oxsbb k Y RETIA INANE dan bd 44 VI 2 2 Identifying The Card s cuu oir e RE ERRARE ER XE ER RON 44 V 2 9 Saving a DIOBEHDI orense seb rper EEE elo 45 VI 2 4 Restoring a postal sss rex uet Cu kerQT Ea a P 46 FIGURES ius du dach S CORE DER ob dU v ol del d dor Eck ao No CS od JR dap ed e d s ba 48 Programming MPA II v2 XN XS or YN YS V 1 0 gt I Studying an application example This document is for users of the MPA II v2 robots p with a numeric axis on X XN XS p with two numeric axes on X and Y YN YS In both cases the Z vertical movement is always pneumatic You are advised to read at least the first two chapters of the MPA II User Manual STUDYING AN APPLICATION EXAMPLE This chapter describes an unloading application from an injection moulding machine IMM The example starts with the need analysis and goes as far as entering the program on the MPA II terminal chapter II This example can be used as a basis for all new users of the Sepro MPA II control unit who wish to create programs I 1 Description of the robot cycle The cycle described in the example is an IMM unloading application with a single part release on a conveyor belt Figure 1 Cycle movements I Studying an
11. ER Reps CERA LT RR ded de de d 37 Figure 10 Anticipated restart 2i 5206 REEL eURRERERECUNDERE dees Gros 39 Figure 11 Memory management summary 0 0 00 cece ee eee e eee eee 42 Programming MPA II v2 XN XS or YN YS V 1 0 gt A Anticipated restart 38 auto adaptative 38 40 with programmed delay 38 40 Arm free safety 38 Auxiliary input 20 Auxiliary output 20 23 Back up 45 Belt 1 2 C Changing a value 10 Command at end of layer 11 30 Command at end of stacking 11 31 Conveyor 1 2 Copy mode 42 Copying a program 43 Core puller 19 Counter 25 26 34 Cycle 1 Cycle number 5 Cycle time 11 D Delete a program 6 a step 10 an instruction 10 Disengaging sequence 2 25 E Editor 9 Ejection delay 22 Ejector 22 End of counting 11 End of slow approach 17 INDEX F FAL 17 Formatting 44 Free 18 Free axis 18 G Gaps 34 H High speed pulses 27 Identification 44 IMM cycle 19 Imprecise 15 Index 27 Inserting a step 10 J Jump 11 Layer 30 List 42 Loopback 4 M Machine cycle validation 19 38 Memorizing an input 24 Memory card 44 O Offset wait 26 36 OPA 12 Optimization 11 P Palletization 26 29 Part grip 3 24 Partial opening reached 12 Password 5 Program 11 Program end 4 9 Program option 6 37 Program reminder 46 Programming mode 6 R
12. Each time this key is pressed the corresponding command s status will be reversed This instruction operates in different ways depending on the robot s position p Robot outside mould Wait for mould open with a part p Robot in the mould Validation and waiting for complete mould opening Ejector validation is checked or not depending on the need p Press one of these 2 keys once to program the validation p Press twice to control this validation p Press three times to cancel the instruction WRITE 1 DIRECT TEACH 2 APPREN e e Core puller validation is controlled or not depending on the need p Press one of these 2 keys once to program the validation p Press twice to control this validation p Press three times to cancel the instruction Ej Ej IV Programming instructions Programming MPA II v2 XN XS or YN YS V 1 01 gt IV 4 The other instructions IV 4 1 Programming an auxiliary input There are 8 auxiliary inputs p Standard EO E1 E2 E3 p Optional E4 E5 E6 E7 An input is programmed by pressing the following keys simultaneously u and D m to test a high level input logic 1 RE and o E to test a low level input logic 0 Programming a high level tested input TEACH Press and simultaneously The robot displays PRoc step 1 41 Test symb
13. Machine Area Free H programmed PROG Step START OF MACHINE AR 41 automatic LL 1 c an E or POSITION MUST Figure 9 Offset wait V 3 1 Signalling When you run cycles containing an offset wait the following messages may appear on the screen p If you try to command the mould closing or select the Without robot mode whilst the latter is badly placed you may get ROBOT BADLY PLACED and MACHINE COMMAND MOVE THE ROBOT BEYOND POSITION Or MACHINE COMMAND MOVE THE ROBOT ONTO ZBD CAM p If the mould is not open and if the robot is no longer in the Machine Free area ROBOT MACHINE AREAS NOT INITIALIZED MACHINE MUST BE OPEN OUTSIDE ZBD or ROBOT OUTSIDE MACHINE FREE AREA Must have MACHINE OPEN or ADJ amp START p If the robot configuration imperatively requires an Machine Area Free and this has not been entered in the program options for the current program I INCOMPLETE CYCLE MACHINE FR E VALUE I n u Prog then RESET then V Special ine func
14. See chapter VI 1 1 page 42 Figure 11 Memory management summary VI 1 The local memory VI 1 1 List of the programs This function lists the programs stored in p either the internal local memory p or the external memory card PRINT Format Format the card See chapter VI 2 1 page 44 Programming MPA II v2 XN XS or YN YS V 1 0 gt VI Memory management Copy mode COPY Press to view the Copy mode main menu PROG Step Identify 2 Save I m E CO PY amp SAVE Restore 4 Copy 5 List 6 Format 72 eg ey 3 BY an eZ t Procedure for listing the programs in the local memory NA COPY EL p Press amp The robot displays PROG Step D PROGRAMS M EMORIZ ED LIST OF T l into Local VALI men T HE nory2 int 1 2 o Me eZ mory card m es C 3210 BY an E WRITE TEACH Press press to consult the list of programs in the memory card I v2 V 1 0 MPA 1 The robot displays PROG Step LOCAL MEMORY robot No H um t2 m es C 3210 existing cycles ay an e 1 jm gt The robot displays the cycles stored in the relevant memory VI 1 2 Copying a program This function is used
15. Step 1 Step 2 Release part 1 Step 3 Y ABSOLUTE 100 0 YN YS or Arm 1 back XN XS Step 4 Arm 1 up Step 5 X ABSOLUTE 150 0 Gripper vertical Ejectors in validation machine cycle Step 6 Arm 1 total descent Step 7 Y ABSOLUTE 250 0 YN YS or Arm 1 forward XN XS Step 8 Ejectors out validation Ejectors out control Step 9 Grip part 1 Step 10 Y ABSOLUTE 100 0 YN YS or Arm 1 back XN XS Ejectors in validation Ejectors in control Step 11 Arm 1 up Step 12 machine cycle Step 13 X ABSOLUTE 1400 0 Step 14 Gripper horizontal Step 15 Arm 1 total descent Step 16 Release part 1 Step 17 Arm 1 up Step 18 Auxiliary Output No 0 maintained for 5 0 sec Program loopback to Step 5 Programming MPA II v2 XN XS or YN YS V 1 01 gt II Programming a cycle II 4 The program editor functions Changes are always made in Direct Programing mode PRGD must be marked on the display To select this mode see Accessing the editor chapter II 2 1 page 6 The step marked is the one where the robot was stopped The tools used for modifying a program are given below II 4 1 Moving about within a program WRITE Direct access to Step 1 then Direct access to the last step of the program then Direct access to the first step of the subroutine then Moving between steps This is done using and Main Program Subroutine Auxiliary Main Main Auxiliary page page page
16. application example Bn o UN THE CYCLE The main sequences The actions and movements Disengaging Release part sequence Y hack Z up IMM cycle start X positioned above the IMM gripper head vertical IMM cycle started and await opening and ejectors back authorised Z descent into the mould Part grip in the Y forward towards the part Moule Sequence Ejectors forward and await ejectors completely forward Grip part Y back for part demoulding ejectors back and await ejectors completely back Z up to exit mould IMM cycle restart Restart IMM cycle X positioned above the belt Part release on Gripper head horizontal belt sequence EP dowi Release part Z up again Belt indexing Belt indexed one step for 5 seconds gt Starting conditions The positions needed to start up the robot cycle are programmed in Step 1 If this is not necessary it is better not to write anything in Step 1 and start the program in Step 2 In our example you must consider that it is not necessary to define a position to start the robot cycle Do not write anything in Step 1 and go on to Step 2 p The disengaging sequence This is used to free the robot after it has been stopped to position it above the machine To ensure that the mould is not damaged it is preferable to imagine that the robot could be in the IMM The disenga ging sequence is therefore as follows Di
17. commands whose length is adjusted in the program options see chapter IV 5 page 23 or changed when the robot is operating in Automatic see User Manual p When a program is empty reference values are placed in it These default values are ente red in configuration mode see Configuration manual IV 1 1 Wrist rotations Gripper vertical Pi Gripper horizontal Rotation 2 direction Rotation 2 direction These rotations can either be controlled physically or by time delays see configuration mode in the Configuration manual Programming MPA II v2 IV Programming instructions XN XS or YN YS V 1 0 gt IV 1 2 Part grips If the robot has one part a Grip part 1 grip circuit y Release part 1 D M Grip part 1 DIRECT If the robot has 2 part 5 Release part 1 grip circuits D IER Grip part 2 PPREN 2n Ea Release part 2 APPREN The part presence control can either be permanent or only active in the machine see programming options page 23 The number of part grip circuits to be controlled is also entered in the program options see chapter IV 5 4 page 24 IV 1 3 The Sprue picker arm Option Sprue picker arm up Sprue picker arm down Sprue picker arm forward Sprue picker arm back release 3 sprue 9 NINE E grip 3 sprue
18. insert an empty step before the step marked Before step marked gt STEP 3 Release part 1 STEP 4 Sprue picker arm up STEP 5 Sprue picker arm back Ej After gt STEPS lt Empty STEP 4 Release part 1 STEP 5 Sprue picker arm up STEP 6 Sprue picker arm back Programming MPA II v2 XN XS or YN YS V 1 0 gt III Program structure Ill PROGRAM STRUCTURE III 1 Main program A program is made up of a series of steps corresponding to the movements a robot makes in a cycle A program can contain up to 45 Steps numbered from 1 to 45 III 2 Subroutine p A main program can be diverted to a subroutine upon the appearance of a data item p A subroutine consists of a series of Steps like the main program It can contain up to 15 steps numbered from 46 to 60 p At the end of the subroutine the loopback step to the main program is entered p The data item that enables you to switch to the subroutine may be The appearance of an AIG Switching input which may be memorised or not Chapter IV 5 3 page 24 or the internal data item Cmd at End of layer or Cmd at End of stacking if requested in the stacking header see Stacking chapter V 1 2 page 30 or the internal data item End of cycle counting if requested see Counters chapter IV 5 5 page 25 Main program U Step 457 7 Step46T Subroutine Ego 6 Step 60 III 3
19. on X Programming MPA II v2 XN XS or YN YS V 1 01 gt V Special programming functions V 2 Programming in Teach mode In the teach programming mode TEAC the robot performs the cycle at the same time as you program it This mode is chosen after having selected the number of the cycle that you are going to create The indices must already have been entered To access teach mode gt The robot displays PROG Step e 01 TEAC M 1 ES SH P e 3210 Press The robot displays PROG Step e In teach mode you must first delete A up to the end 4d 1 BY JAN 42 e M 3210 This is to ensure that the program is empty before you start programming Press simultaneously The robot displays PROG Step DELETE THE OPTIONS amp STACKING AS WELL 4 gt Delete Conserve o ay JAN R e DD 3210 You must now decide whether to keep or delete the information associated with the program informa tion contained in Option chapter IV 5 page 23 and Stacking sequences chapter V 1 page 29 Press or depending on your choice The robot once again displays PROG Step e Ql TEAG M ft BY JA MH Mo 0 ey M 3210 Enter the different cycle movements a
20. the keys B T S Press to continue onto the SETUP 3 CONFIG 9 f s PERE 10 Confirm with PROG Step e ABSOLUTE 150 0 M TCKG Fr pa on 2 Q es DM 3210 PROG Step X STACKING No 0 fl 0 1 2 No STCKG Free m of 7 BY JAN Hl 42 62 e 3210 PROG Step e 15 Xr0 1450 0 E 21 BY JAN Hl R 2 e 3210 PROG Step y ABSOLUTE Vel Imprecise A 0 1 2 No STCKG Free By eft ev Ja H 2 e t 3210 PROG Step e Y STACKING No 0 A 0 1 2 No STCKG 4 Free eft RY SH MH 22 R es 3210 PROG Step e 16 Yr 350 0 d oo f 7 BY con Hl R 2 es t9 3210 V Special programming functions XN XS or V 1 5 Viewing the stacking sequences key 1st pulse COUNTERS Programming MPA II v2 YN YS V 1 01 gt Number of parts made on X Number of parts defined on X key 2nd pulse GAPS PROG Step STCKG 0 COUNTER STATUS M Cx 2 3 Cy 1 2 Layers 1 1 e t ev 20 MOH es cy 32N Same for Y only Number of Number of for MPA II YN layers done layers defined PROG Step STCKG 0 X 400 0 x 3 Y 250 0 x 2 1 layers o s t cy IAA R e t 3210 H D Reminder of Reminder of the gap number of layers between parts
21. 0 Number of parts in X 3 Fa CONFIG Cont 21 RY Ce MH 2 2 DH 3210 PROG Step 4 falf olf ello A STCKG N90 Gap in X 400 0 4 Cont Positive gap 71 c JAN H IR 2 es 3210 cu PROG Step Neos op 5 Ma MCI n 0 Number of parts in Y 2 ya APPREN Cont pa S ay JA H A2 2 ps 3210 PROG Step TEACH ww Po jf o b STCKG N 0 Gap in Y 250 0 4 m Cont Negative gap eft ar JA NH 4A 2 es 3210 PROG Step Meu e ee a gt STCKG N 0 Number of layers O Cont lt BY JAN F IR eR es 23 32180 PROG Step EC os M STCKG N 0 Cmd at layer end NONI A Cont Command choice 7 71 ER JAN hi 2 R e PROG Step 9 qt cce STCKG N 0 Cmd at pallet end Cont Command choice 71 ay 20 H 472 2 10 Stacking sequence N 0 has now been entered Programming MPA II v2 XN XS or YN YS V 1 01 gt p Programming the movements V Special programming functions Movement along the horizontal Movement on the demoulding axis to the position 350 STEP 16 part N 1 axis to the position 1450 0 STEP 15 The two numeric movements are programmed as follows Let us suppose that we are going to program Step 15 L the keys located above 3 C9CGJG CES i DIRECT Nn next step 6 located above
22. AMPLE 00ccceccccceccceves 1 L 1 Description of tbe robot CYC is ue s oso Ir EE ERR ES E ROC RUR o pal 1 IL PROGRAMMING A CYCLE lt sss dox v EROR E LEAL RR RC as 5 M I Selecting a DEORET os Qr E ed e ia OR EAS o RUE RR RC RUE 5 i 2 Polen APOC ae 4 di Eon imer E dude bore je URB QR Doe K 6 I 2 Accessing th editor eus esset ppp Rr pede Rom dos 6 i 2 2 Deleting program Steps s saves v dc b dH ss 6 II 3 Writing the cycle in SEPRO MPA II v2 language 8 IL 4 The program editor functions s ssc z s rara REPEEK I ne I E OR ee 9 Il 4 1 Moving about within a program ceue e mn 9 M 4 2 D leting am IBStFUCHOB ssgascets e ber x eR GRE PR RIDE dos 10 M43 Deletint d SIBD sad dese bx a dep bud aes qd 10 Il 4 4 Changing A value co Fis ss R85 este nnt RR sane 10 I 4 5 Inser ne d SUED as cdei Ri ersd ow hice Soror ok dod ect eh 10 IH PROGRAM STRUCTURE 542b hr existe RERO HR ACCRUE RUE RC 11 DT hs M n EO EB AMU o edes dup noe pde Ee hoe ks de oap RU mela bes 11 M 2 SUOMI 22 wie ous ry PASSA Ge ewe o ma QU RR pace UR das 11 M The program Options 523a 9 3r A a i RR ae keeles be ee Sra 11 III 4 Advice for cycle time optimization s lt z lt x lt 4 s lt r 4 lt rwx4 11 IV PROGRAMMING INSTRUCTIONS 0 nnn nnn 13 IV 1 The robot s pneumatic movements 45s caes ddrash ra era Xr x rr up 13 IV 1 1 Wrist TOA LOIS ud Rr DUET TRO AR Cb dote
23. CONAIR www conairnet com USERGUIDE Programming MPA II v2 XN XS or YN YS Robots Software version 1 0 WARNING Reliance on this Manual Could Result in Severe Bodily Injury or Death This manual is out of date and is provided only for its technical information data and capacities Portions of this manual detailing procedures or precautions in the operation inspection maintenance and repair of the product forming the subject matter of this manual may be inadequate inaccurate and or incomplete and cannot be used followed or relied upon Contact Conair at info conairgroup com or 1 800 654 6661 for more current information warnings and materials about more recent product manuals containing warnings information precautions and procedures that may be more adequate than those contained in this out of date manual Corporate Office 412 312 6000 Instant Access 24 7 Parts and Service 800 458 1960 Parts and Service 814 437 6861 A 7 H gt Logo definitions Warning risk Sepro robotigue inventions What to do Key pulses WRITE TEACH Example press XE WRITE TEACH means press then 27 documentatio MPA II v2 anglais Prog Document evolutions Handy hints Example Innovation or information concerning a particular software version Programming MPA II v2 XN XS or YN YS 1 0 gt CONTENTS I STUDYING AN APPLICATION EX
24. MN existing cycles eft er FR N R R e t3 3210 The robot displays the cycles present in the local memory p Enter the number of the program to be saved then M The robot displays PROG Step LOCAL CYCLE No TO BE SAVED M CYCLE No ON MEMORY CARD Z ER on H I2 Q es D 32310 The number of a program stored on the card is always preceded by the card number Program 11 on card 8 will have the following number 811 p Enter the number that will be used for the program on the card for example 11 then M VI 2 4 Restoring a program This function enables the following to be recalled from the memory card to the local memory p a program and its options p the robot s configuration values entered in configuration context and parameter modes Procedure for restoring a program NIA p Install the memory card SETUP p Press Sm Programming MPA II v2 XN XS or YN YS V 1 01 VI Memory management Copy mode The robot displays PROG Step RESTORING PROGRAMS FOR ROBOT No M 0 Setup amp Parameters 1 Cycles 1 cy JAN 2 2 e L 3210 gt The robot displays the robot number saved in the memory p Setup amp Parameters to restore the configuration p Cycles to restore a program W
25. RITE p gt Press al The robot displays PROG Step CYCLE No TO RECALL EXIT End M existing cycles 71 c on H 42 Q es tj 3210 gt The robot displays the programs present on the card The number of a program stored on a card is always preceded by the number of the card Program 11 on card 8 will have the following number 811 p Enter the number of the program to be restored for example 11 then M The robot displays PROG Step CYCLE No TO RECALL EXIT End M LOCAL TARGET CYCLE No Z c on H 2 Q es 3210 p Enter the number that the program will have in the local memory then A Programming MPA II v2 Figures XN XS or YN YS V 1 01 gt FIGURES Figure 1 Cycle movements a vicos kerRRRERDCEPIER E ENA eH ORE ERE 1 Figure 2 Selecting a program ceo b e hers a e ba dede de te e pars 5 Figure 3 Accessing the editor 3 2 3 60 Ree s REEL EUER AE NEAR RR S 6 Figure 4 Deleting the program steps 4444444444440 6 Figure 5 Moving between program steps 4444444444444 9 Figure 6 Changing Value i 22 roche te RM We c ied dea AOA nude repe bare so queat 10 Figure 75 Ejection delay 4438 B Ere xe vd epe es RO Row ie RUE dl o 22 Figure 8 Access to program options 4444444444444 444444 23 Figure 9 Offset Wall ize eces etr ee o
26. TICIPATED RESTART M CHECK THE SAFETY MARGIN 1 ES Son P e E 3210 for an auto adaptative anticipated restart This option is only available if the software that validates it is installed A special cabling must also be added and defined in the configuration Programming MPA II v2 XN XS or YN YS V 1 01 gt V Special programming functions Reminder accessing the program options nj gt gt C gt KW PROG Step MACHINE COMMAND ANTICI INVALID automatic lt 71 AN JA FI I2 2 2D AUTOMATIC ADJUSTMENT DELAY PROGRAMMED s Validation of the auto adaptative Validation of the anticipated restart with anticipated restart a programmed delay SAFETY MARGIN s Min 0 05 WRI 1 DIRE enter the margin value enter the delay value g g Validate Figure 10 Anticipated restart N Programming MPA II v2 V Special programming functions XN XS or YN YS V 1 0 gt V 4 1 Anticipated restart with a programmed delay The programmed delay which enables you to optimize the IMM restart is applied between p the beginning of the movement which frees the robot from the mould and p the activation of the commands that authorize the mould closing To optimize the anticipation it is possible to change the len
27. UST Reduce the part fabrication time p gt An efficient cycle time optimization MUST NOT Increase the number of reject parts Increase the number of incidents Sepro proposes as an option an additional means of cycle time optimization anticipated restart that enables you to mask the IMM reaction time see chapter V 4 page 38 Programming MPA II v2 XN XS or YN YS V 1 0 IV Programming instructions IV PROGRAMMING INSTRUCTIONS IV 1 The robot s pneumatic movements Y demoulding axis if the Y axis is pneumatic Arm 1 forward XN XS Arm 1 back XN XS The demoulding movement can be controlled either physically or by a timer see Configuration mode in the Configuration Manual If the robot is equipped with a 3 state pneumatic circuit on the Y axis it is possible to program a Y free command in the same way as for a numeric axis see chapter IV 2 4 page 18 This instruction leads to the purging of the cyclinder s 2 chambers which enables the ejectors to push the robot s arm back for example Z vertical axis Arm 1 up Arm 1 total descent Arm 1 partial descent H Arm 1 down slowl Y p The ascents are always controlled physically but the descents can be controlled either physi cally or by a time delay see Configuration mode in the Configuration Manual p The speed of this movement is controlled by high speed pulsed
28. VI 2 1 Formatting the card This function enables the card to be initialised by p erasing the memory p assigning areas to the programs and the robot configuration Formatting procedure NIA COPY PRINT p Press re The robot displays PROG Step e MEMORY CARD NOT FORMATTED M code to ERASE and FORMAT it 71 cy JA 2 ey D 3210 4 then Formatting takes place immediately and you then return to Identification mode WRITE 1 DIRECT TEACH 2 APPREN SETUP 3 CONFIG p Enter the code VI 2 2 Identifying the card This function enables you to customize the card by giving it p an identification number p the robot s type and number Identification procedure NI COPY gt in gt WRITE p Press el The robot displays PROG Step MEMORY CARD 1 for YN 6000 MPA II v2 1 0 4 IDENTIFICATION No 1 to 9 1 ES SH 2 2 e tc 210 Programming MPA II v2 XN XS or YN YS V 1 01 gt VI Memory management Copy mode p Enter the identification number then M The robot displays PROG Step TARGET ROBOT TYPE M 1 XN 2 YN 3 XS 4 YS 71 BY JAN H I2 e Ce 3210 p XN numeric X asynchronous motor p YN numeric XY asynchronous motor
29. am II 2 1 Accessing the editor PROG Step ACCESS to PROGRAM choice of mode 71 ER JAN H R eR L 3210 WRITE 1 DIRECT PROG Step 1 1 PRGD eft ev n MH R R e C 3210 A step of the selected program now appears on the screen Figure 3 Accessing the editor II 2 2 Deleting program steps If the program steps already contain instructions that you do not want to keep it is better to delete the entire contents of the program at this stage WRITE then to access step 1 of the program to delete the contents of all the steps up to the end of the program PROG Step e DELETE THE OPTIONS amp STACKING AS WELL Delete Conserve ft ay vn H I2 eR R L 3210 FE To delete the program options see page 23 To keep the program options see page 23 and the and the stacking definitions see page 30 stacking definitions see page 30 t is better to start from an empty program so choose this option Figure 4 Deleting the program steps Note Pressing deletes the program steps from the step being edited up to the end of the program Programming MPA II v2 XN XS or YN YS V 1 0 gt II Programming a cycle
30. broutine starting from the step where this instruction is programmed to activate an auxiliary output enter the output N then CI at S enter the Step N from which the output will be controlled The text at end of layer corresponds to stacking in layers otherwise you are asked at end of stack p Definition of the command at the end of stacking Action that the robot must carry out when the stacking has finished Command possibilities at end of stacking n to execute a subroutine n to activate an auxiliary output 1 enter the output N then L1 at S enter the Step N from which the output will be controlled V 1 3 Programming the stacking movements First of all a stacking number is allocated to a movement using the key which displays the extended programming menu PROG Step BLd ABSOLUTE Vel Imprecise 0 0 M 0 1 2 No STCKG Free t ES Sn 2 R e tQ 3210 X or Y movement Choose the stacking number using the 5 and keys The stacking number is validated with p Next the value of the movement for the Ist cycle is entered You must return to the step programming with the key to do this PROG Step e r E u M A 7t cv na MH 2 N e C 3210 moving axis stack
31. d components have been installed correctly CJ Check the troubleshooting guide of this manual for a solution O Thoroughly examine the instruction manual s for associated equipment especially controls Each manual may have its own troubleshooting guide to help you O Check that the equipment has been operated as described in this manual 1 Check accompanying schematic drawings for information on special considerations SERVICE INFORMATION WE RE HERE TO HELP How TO CONTACT CUSTOMER SERVICE BEFORE YOU CALL Additional manuals and prints for your Conair eguipment may be ordered through the Customer Service or Parts Departments for a nominal fee APPENDIX A 1 EQUIPMENT GUARANTEE PERFORMANCE WARRANTY WARRANTY LIMITATIONS APPENDIX A 2 Conair guarantees the machinery and equipment on this order for a period as defined in the quotation from date of shipment against defects in material and workmanship under the normal use and service for which it was recom mended except for parts that are typically replaced after normal usage such as filters liner plates etc Conair s guarantee is limited to replacing at our option the part or parts determined by us to be defective after examination The customer assumes the cost of transportation of the part or parts to and from the factory Conair warrants that this equipment will perform at or above the ratings stated in specific quotations covering th
32. d of Slow Approach FAL input sensor placed on the wrist when the elastic accompaniment option is present Or p the appearance of the part presence control input if the part grip function is programmed in the same step as the slow approach Programming Slow approach in the mould from 400 0 until contact is made with the part Mould Mould EIER High speed ESI MEE Slow speed 15 Value for change to slow speed For example 400 0 Loss of FAL or part presence In the step you have chosen press the key left for X right for Y Press several times to move the active field to Imprecise Imprecise should flash Press to select SLOW APPROACH The robot displays PROG Step e Y ABSOLUTE Vel SLOW APPROACH M 0 1 2 No STCKG imprecis 71 BY Jo LR 2 eR e C9 3210 p Confirm with Press f then 4 9 o o p gt Confirm with The robot displays PROG Step e on M lt 7t AN 1 ea es 2 3210 L indicates a slow approach movement Programming MPA II v2 IV Programming instructions XN XS or YN YS V 1 01 gt IV 2 4 Programming a free axis This command enable you p to free an axis brake without controlling its motor This is only possible for the X and Y axes When the Y axis must accompany the part ejection movement Ej Pro
33. ditional cams and sensors have been installed on the robot beam Robot s waiting _ m Axis AM Part above position 5S lt lt the mould lt a Z lt lt a ze O Outside Mould HM Side entry access must be defined as being possible in Context mode see the Configuration manual in File R The cycle must be defined with side ntry access in the program options see chapter IV 5 10 page 28 VI Memory management Copy mode Programming MPA II v2 XN XS or YN YS V 1 01 gt VI MEMORY MANAGEMENT COPY MODE NA Access COPY PROG Step COPY amp SAVE l Identify 2 Save 3 Restore 4 Copy 5 List 6 Format eft ev JN H 2 2 es C 3210 WRITE Identify Used to number the card give the robot a type and a number See chapter VI 2 2 page 44 TEACH Save Local memory Card 1 Partial 2 General 3 Configu ration See chapter VI 2 3 page 45 SETUP Restore Local memory f Card 0 Setup amp Parameters l Cycles See chapter VI 2 4 page 46 Copy Duplicate and change number l into Local memory 2 into Memory card See chapter VI 1 2 page 43 List List of existing cycle N Gives the robot N and the software version 1 into Local memory 2 1nto Memory card
34. e equipment or as detailed in engineering specifications provided the equipment is applied installed operated and maintained in the recommended manner as outlined in our quotation or specifications Should performance not meet warranted levels Conair at its discretion will exercise one of the following options Inspect the equipment and perform alterations or adjustments to satisfy performance claims Charges for such inspections and corrections will be waived unless failure to meet warranty is due to misapplica tion improper installation poor maintenance practices or improper operation Replace the original equipment with other Conair equipment that will meet original performance claims at no extra cost to the customer Refund the invoiced cost to the customer Credit is sub ject to prior notice by the customer at which time a Return Goods Authorization Number RGA will be issued by Conair s Service Department Returned equipment must be well crated and in proper operating condition including all parts Returns must be prepaid Purchaser must notify Conair in writing of any claim and provide a customer receipt and other evidence that a claim is being made Except for the Equipment Guarantee and Performance Warranty stated above Conair disclaims all other war ranties with respect to the equipment express or implied arising by operation of law course of dealing usage of trade or otherwise including but not li
35. e next step Configuration In the robot s configuration you define whether it is obligatory or not to enter an offset wait position see Configuration manual p Facultative data In this case you can choose in each program whether the Machine Area Free is programmed or determined automatically Programmed Machine Area Free you must enter an X position as from which the robot is sufficiently free from the IMM to authorize the mould to close As long as the cycle has not been executed the Machine Area Free corresponds to ZBD The mould must be open to authorize the robot movements outside of ZBD a Machine Area Free determined automatically the robot analyses the cycle and defi nes this area by itself It corresponds to the ZBD cam if the cycle is programmed with an offset wait It corresponds to the whole of the X stroke if the IMM cycle is restarted when the robot is on the Machine Axis AM If the robot never interferes with the IMM when the Z arm is up a value greater than the machine axis can be programmed p Obligatory data The cycle can only be used if a Machine Area Free has been entered in the program options see figure 9 page 37 Programming MPA II v2 XN XS or YN YS V 1 0 gt V Special programming functions Reminder accessing the program options gj mmc eo PROG Step MACHINE AREA FREE DETERMINED AUTOMATICALLY programmed lt Sf t BY A A F 23 8 es EJ 3210
36. f part fault if the part is lost the robot stops In both cases an alarm is activated Confirm with IV 5 5 Cycle counter Access This is used p to select a number of cycles to be completely carried out p gt to define an action to be carried out when the counter reaches the selected value The counter increases at every loopback in the program or subroutine However the loopback step must be inferior to the actual step PROG Step MAX CYCLES No 1500 no final command Command choice m Z cy JA MH 2 e 32129 HA Enter the cycle number from 1 to 9999 Confirm with Enter the type of action at the end of counting gt V to select switching in this case you need the V instruction in the program EB tO select a stop at the end of the cycle gt co then the output No then the Step No where this auxiliary output is activated gt to select nothing Confirm with Programming MPA II v2 XN XS or YN YS V 1 0 gt IV Programming instructions IV 5 6 Start up conditions after having stopped a stacking sequence Two possibilities p Following a stoppage the stacking counters are not changed The selection is PROG Step e RESTART WITHOUT CHECKING THE STACKINGS M OR THE CYCLE COUNTER
37. g operation It is given in 1 100 secs with 3 figures 9 99 secs max PROG Step Delay before ejectors out 0 2 s 71 BY JA F R2 RQ es C 3210 Enter the numeric value mm Figure 7 Ejection delay Note If the ejection movement is very long it can be programmed at the same time as the descent into the mould The delay is then corrected to synchronise the part grip with the end of the ejection Programming MPA II v2 IV Programming instructions XN XS or YN YS V 1 0 gt IV 5 The program options In direct programming mode m M Press and the following menu appears e PROG Step PROGRAMMING OF CYCLE 001 direct access Iil1 L ISloOptiongs 031 7 71 cy SHR R 3210 to go directly to the first step of the program to go directly to the end of the program to go directly to the first step of the subroutine Step 46 to access the OPTION menu PROG Step e OPT Timerse Control Counter Start Index Selection corresponding key or ft ay Son 2 2 e DM 3210 Figure 8 Access to program options This menu is used to define the operating conditions for a given program IV 5 1 Time delays associated with auxiliary outputs Used to assign a holding time to outputs SO to S7 with a maximum value of 25 secs Acces
38. gramming EN Y axis free during ejectors forward until the ejectors forward control Atthe step where the ejectors forward validation is programmed the robot displays PROG Step M eZz1t cy JA R D 3210 Press left key for X right key for Y The robot displays PROG Step e ABSOLUTE 150 0 Al Free 7t cy Son 2 e 32310 Press C The robot displays PROG Step Y AXIS FREE 4 0 1 2 No STCKG absolute o ft cy JA R e D 3210 Press The robot displays PROG Step x Y AXIS FREEx M i nw is s o ft cy JA R e 320 Note When the X axis is free the symbol appears on the bottom left of the screen Programming MPA II v2 XN XS or YN YS V 1 0 gt IV Programming instructions IV 3 The commands concerning the IMM This instruction validates the machine cycle p This validation is memorized until a part is produced During this time the robot can no longer enter the area occupied by the mould This is a software safety p During normal operation if the robot has not entered the mould the IMM closing validation will be ignored There is no risk that the IMM cycle will be started twice p
39. gth of the delay in automatic mode PROG Step Enter the new value usin Programmed delay 0 53 S d the numeric keys and eft er JA MH 2 R m confirm with Y End of modification V 4 2 Auto adaptative anticipated restart In this case the robot calculates by itself the delay applied between the beginning of the movement that frees the robot from the mould and the activation of the commands the authorize the mould to close The margin represents the minimum tolerated duration between the arrival of the robot in an Out of Mould area and the loss of the Mould Open information This is to avoid accidents if there are large differences in the IMM reaction times Each time the robot stops a delay of 5 seconds is applied The calculation is made by successive tries It will be optimal after several cycles in automatic mode Programming MPA II v2 XN XS or YN YS V 1 0 gt V Special programming functions V 5 Unloading tie barless Injection Moulding Machines When the IMM does not have tie bars the MPA II robot can be programmed and configured for side entry access to the mould This configuration is useful when it is not possible to access the mould verti cally as the X axis movement to reach and remove the part generally takes longer than the Z axis movement for the same operation To ensure the safety of the machines this type of access is only possible if ad
40. gth of the high speed pulses for the vertical axes Access 4 or Or 4 for the main arm and the sprue picker arm PROG Step Z axis FAST TOTAL ASCENT M Command d ratio as ascese cease QODO ms O zt ES JAN H P e E S210 These values must be adjusted to obtain rapid movements with no shocks at the end of the stroke Note The longer the length of the pulse the more the axis is brisk and the more the shocks on the dampers are violent Programming MPA II v2 IV Programming instructions XN XS or YN YS V 1 01 gt IV 5 10 Type of IMM access This OPTION is only available if side entry access has been defined as possible in Context mode see the Configuration manual in File R PROG Step e VERTICAL ENTRY CYCLE M side entry Zt BY JAN Ma L 3210 Used to define the type of IMM access Vertical access is when the robot enters the mould from above side entry access is when the robot accesses the IMM from the side For the latter the robot arm is down and it is the X axis that moves See description in chapter V 5 page 41 Programming MPA II v2 XN XS or YN YS V 1 0 gt V Special programming functions V SPECIAL PROGRAMMING FUNCTIONS V 1 Release and part stacking palletization V 1 1 Introduction Each cycle includes 3 stacking sequences numbered from 0 to 2 A stac
41. ie ead 13 IV 12 Pate ES sek Eten det od note opc Rc oh 14 IV 1 3 The Sptue picker atit Option see ae pereo Kr t RR reae 14 IV 2 The robots numeric movements 226b eceIexeRRE ERE ERA acra 15 IV 2 L Programming d speed zao dada carriere tatr toro baa 15 IV 2 2 Programming an ImprecistOU lt s 5 lt 5 2 44 bd u dod RR ERE RR 15 IV 2 3 Programming a slow approach 1s cvs be derriere 17 IV 2 4 Programming a free axis i n kk dr GUERRE E UR ERA 18 IV 3 The commands concerning the IMM lt saw rra Ra ER ERA 19 IV The ober instructions aux 23d e soc eld reri edem sl RR eR eh 20 IV 4 1 Programming an auxiliary input iiem e rre cher deesinse es 20 IV 4 2 Programming an auxiliary output 0 6 0600000 enn 20 IV 4 3 Switching to tbe subtoulme cce REIR RE Pk poss 20 IV 4 4 End and loopback instruction lt lt lt lt lt lt lt lt 20 Programming MPA II v2 XN XS or YN YS V 1 01 gt IV 4 5 Programming a time delay lt cccevcce e e sage Xa m ERR 21 IV 3 Th proram options 35x40 bod say VA eb e e busiuew x 23 IV 5 1 Time delays associated with auxiliary outputs 23 IV 5 2 IMM anticipated restart option 4 4444 24 IV 3 3 Memo rizing a switching IH cu oria ice toC d ets 24 IV 5 4 Part grip Cone 5 5 4 960 ba ae audi Res 24 IV 53 Cycle CODBIBE 25054 ost m erp Endo oo ok pb 25 IV 5 6 Star
42. ing N Movement value for the Ist cycle The letter of the stacking axis is followed by the letter r from the French word for stacking range ment and the stacking number The position is now entered from the keyboard This position will be increased for each cyle by the value of the gap defined in the stacking using the key see chapter V 1 1 page 29 Ej V Special programming functions V 1 4 Examples of stacking sequences p Defining a stacking sequence Programming MPA II v2 XN XS or YN YS V 1 01 gt part part N 6 N 5 400 0 A P t Y E part N94 i i E 250 0 part part part N 3 N 2 N 1 The stages marked with 7 only apply to YN type robots 2 numeric axes This is how you define this stacking sequence PROG Step S A 1 5 BEDV p STACKING N 0 In LAYERS 4 cont Columns lt Z 1 ER arn T 42 2 es 3210 PROG Ste ae 5 O STACKING N90 Order X then Y A Cont 4 Y X 71 ay 4o F 2 2 es 3210 PROG Step z E o O gt STCKG N
43. king sequence is programmed in two stages p Ist Stage Defining the stacking Available using the key a dialogue menu appears that enables the pallet organization to be easily defined gt 2nd Stage Programming the movements to stack the Ist part Using the keys PROG Step e aC MPA II YN est ar Ja M 3210 i Stacking 2 eR ev mo onl pane y EN definition x EXIT rest P d g WRITE TEACH SETUP H Programming D stacking movements se J 1 J M EN m ov 9 k n 23 IGI M V m o Rm wem Z START ED ms MPa z Before programming a stacking sequence you should become acquainted with the following keys a lt to access the menus for the definition to select an option to validate and continue with the definition to continue with the definition to return to step programming V Special ine functi Programming MPA II v2 Special programming functions XN XS or YN YS V 1 0 gt V 1 2 Defining a stacking sequence p Press to enter the stacking information see the screens in the example on page 32 p Defining the stacking N 0 1 or 2 and the type
44. mited to the implied warranties of merchantability and fitness for a particular purpose WARRANTY INFORMATION
45. ol for inu the high level eft ev n WW R R amp 3210 input No 2 Confirm by pressing IV 4 2 Programming an auxiliary output There are 8 auxiliary outputs p Standard S0 S1 S2 S3 p Optional S4 55 S6 S7 An output is programmed by pressing the following keys simultaneously MI gt land 9 7 The length of time an auxiliary output is maintained is declared in the OPTION menu using the key This length of time does not affect the duration of the step in which the output is programmed Programming output 3 SETUP Press and simultaneously The robot displays PRoc step e d I Activation 1 symbol for eft er JA MH 2 R E Dm 3210 output No 3 Confirm by pressing i IV 4 3 Switching to the subroutine see chapter III 2 page 11 IV 4 4 End and loopback instruction see program end page 4 Programming MPA II v2 XN XS or YN YS 1 0 gt IV Programming instructions IV 4 5 Programming a time delay Three types of time delays can be programmed The time delays to maintain the auxiliary outputs are described in chapter IV 5 1 page 23 The step change time delay This time delay only commences once the movements requested in the step have been completed It delays the step change by the value programmed using the Thi
46. page Step 1 Step 46 gt Figure 5 Moving between program steps Note Press to move between the main page and the auxiliary page or for the double arm robots Programming MPA II v2 II Programming a cycle XN XS or YN YS V 1 0 gt II 4 2 Deleting an instruction Press the instruction key and simultaneously and confirm with or press the key of the y y p y instruction you want to delete for a second time II 4 3 Deleting a step simultaneously Deletes the step marked Before step marked gt STEP 3 Release part 1 STEP 4 Sprue picker arm up STEP 5 Sprue picker arm back Ej After gt STEP 3 Sprue picker arm up STEP 4 Sprue picker arm back II 4 4 Changing a value The following example explains how to change an X position or gt Use the same procedure to change a Y position J or 7 First go to the step containing the value to be changed PROG Step X 1200 0 71 BY an H 2 J gt 7 X 1200 0 7 ft BY JA HH 3A 2 e M 3210 v fo io Enter the new value in 1 10 mm Confirm the value Confirm the step Figure 6 Changing a value II 4 5 Inserting a step simultaneously to
47. s za 4 9 ps Use the key to select the following auxiliary output The time delay operates in adjust mode which means that you can index a belt for example Press Ea gt to access output 3 PROG Step Smaintained for 5 0 sec M Cont 7 71 BY JA hi 2 2 ey E 3210 Press Ed s then lt PROG Step e H3 maintained for 3 8 sec u Cont 21 BY JA HH 472 es L 3210 Output S3 will be maintained for 3 8 secs starting from the step where it was programmed whatever the length of the step IV Programming instructions Programming MPA II v2 XN XS or YN YS V 1 01 gt IV 5 2 IMM anticipated restart option Access see description in chapter V 4 page 38 IV 5 3 Memorizing a switching input Access PROG Step 8 SUBROUTINE REQUEST INPUT MEMORIZED M not memorized eZ t cy an xR Q es C 3210 This enables the switching input to be memorized or not Depending on the applications it may be preferable to take the current status of the switching input into account or on the contrary to memorize the active status of this input before carrying out a particular function IV 5 4 Part grip control Access Or Used to define the areas where the part grip con
48. s p XS numeric X Brushless servo control motor p YS numeric XY Brushless servo control motors p Enter the robot type then M The robot displays PROG Step TARGET ROBOT No M O Indifferent sf t BY JN H 42 e D 3210 p Enter the robot s serial N then M p This number is preceded by PIPI lwhich you can find on 1 the end of the beam the identification plate X carriage or cabinet the Customer File VI 2 3 Saving a program This function enables the following to be stored on a memory card p one or all of the programs with their options p the robot s configuration values entered in configuration context and parameter modes Procedure for saving a program MA p Install the memory card TEACH p Press iz gt E Programming MPA II v2 VI Memory management Copy mode XN XS or YN YS V 1 0 gt The robot displays PROG Step SAVING TO MEMORY CARD No MN l Partial 2 General 3 Configuration 4 cy JAN 2 eR e 3210 The robot displays the card number See chapter on Memory card p Partial for saving one program only p General for saving all the programs and the configuration p Configuration for saving the configuration WRITE p Press a The robot displays PROG Step LOCAL CYCLE No TO BE SAVED
49. s for direct programming see chapter II Programming a cycle page 5 not forgetting that all the actions programmed in a same step are carried out simulta neously In Teach mode the robot carries out the movements at the same time as they are programmed The MVts COMPLETED message enables you to change step Programming MPA II v2 V Special programming functions XN XS or YN YS V 1 0 gt V 3 Programming a cycle with offset wait compared to the IMM axis Robots waiting S _ Part beyond the position edd top of the mould If the robot is not able to approach the mould whilst it is not open because of the mould dimensions we talk about a cycle with an offset wait compared to the IMM s axis When the robot is in the IMM area it must stop the mould closing whatever the operating mode adjust without robot step by step or automatic When the mould is not open the robot access must be prohibited whatever the operating mode adjust without robot step by step or automatic Programming In this type of cycle the first stage that describes the robot disengaging sequence must contain the position of the X axis outside of the IMM Only then can you enter the machine cycle validation instruction machine cycle andmachine opening control which is obligatory The return to the IMM axis the descent part grip etc will be in th
50. s value is given in 1 10 secs in 2 figures 9 9 secs max Note The auxiliary commands programmed in the same step are maintained Movement along the horizontal axis to 2000 0 mm Step 7 Vertical movement Step 8 We want to delay the movement from Step 7 to Step 8 by 3 seconds 30 1 10 secs The time delay is entered as follows In Step 7 press ij then o then The robot displays M 71 cy Sn P e 3210 Validate the step by pressing Result Movement along horizontal axis 3 seconds Movement along vertical axis Programming MPA II v2 IV Programming instructions XN XS or YN YS V 1 0 gt The ejection time delay If the Y advance and Ejectors forward movements are programmed in the same step n their execution speed can never be the same Step n Y advance Ejectors forward waiting time The waiting time marked on the diagram may lead to the following problems p the part is dropped p conflict between the robot arm and the part The special ejector time delay enables you to synchronise the end of the execution of the two movements Step n Stepn 1 Y advance Ejectors forward The delay value is entered in or ra Or m mode by pressing the keys simultaneously Only one value is possible per cycle and it can be changed durin
51. sengaging sequence pes Each action or movement will be programmed in a Step Programming MPA II v2 XN XS or YN YS V 1 01 gt I Studying an application example p Positioning the robot above the IMM and starting the IMM cycle This sequence is to prepare the robot for its descent into the mould You must therefore position it in the machine axis and orientate the gripper head correctly You must also send a part to be produced For this the robot must validate the IMM cycle p The part grip sequence The part grip sequence can vary from one application to another depending on the type of part to be unloaded The questions to be considered are for example s the part held at the end of the ejectors when they are fully forward s the part freed before the end of ejection s it possible to put the ejectors forward before the Y axis has completed its forward movement s it necessary to wait for the ejectors to be completely back before raising arm Z Etc For our example the answer to these 4 guestions is YES for the cycle which follows Part grip seguence Ascent Descent Ejectors forward controlled Ejectors back controlled Restarting the machine cycle Now that the part grip sequence has been completed we must program the restart of the machine cycle so that a new part can be produced Releasing the part Final sequence to program releasing the par
52. t on the belt The release cycle in our example is as follows Release Sequence Movement towards the belt Ascent ae mtm snc a ee S TM Som ES CREER ER EEE Gripper head horizontal Programming MPA II v2 I Studying an application example XN XS or YN YS V 1 01 gt Belt indexing the program end and loopback The belt indexing is controlled by an auxiliary output whose activation time is entered in the program options See chapter IV 5 page 23 for the description of all the program options The program end is programmed by pressing in the step containing the last instruction The following question appears when the last step of the program is validated which step should you loopback to when the program is finished You do not have to loopback to Step 1 the aim is to separate the program into two parts The first part is only carried out when a cycle is restarted and the second is the normal unloading cycle You will loopback to the beginning of this 2nd part Ist part cycle restart loopback 2nd part normal unloading When you exit Auto Step by Step or Stop mode or following a part grip fault the cycle starts again at the beginning of the first part and therefore carries out the disengaging sequences and the machine cycle start If we look at our program more closely we can see that steps 1 2 3 and 4 are only carried out in the Ist cycle
53. t up conditions after having stopped a stacking sequence 26 IV 5 7 Offset Wall POS 4023s dri Bo ea ERR 1 x oa Rio ex RO a ORA 26 IV 5 8 Memorizing the index positions 25 zao du rrr erra 27 IV 5 9 Length of the high speed pulses for the vertical axes 27 IV 5 10 Type of IMM access 20532232 vies rire kA Rhe dog pe t ORGAN 28 V SPECIAL PROGRAMMING FUNCTIONS 0000 nnn 29 V 1 Release and part stacking palletization sss 4444 bi s Y eees 29 V 1 1 Introduction sss cones wasser ue sdri Sore EA on eE EN 29 V 1 2 Dennis a stacking sequence 424 e rbEY REPE ER RE 30 V 1 3 Programming the stacking movements 444444 memes 31 V 1 4 Examples of stacking sequences ss sd rir er nnns 32 V 1 5 Viewing the stacking Sequences sss ks cie erts 34 V 2 Programming in Teach mode 2 esce da pci Rear aca 35 V 3 Programming a cycle with offset wait compared to the IMM axis 36 V 3 T Srenalling 563 s wi dB Road As dob ape ados aded 37 V 4 IMM anticipated restart option odio hte ERR to Bo psy RES E 38 V 4 1 Anticipated restart with a programmed delay 40 V 4 2 Auto adaptative anticipated restart 4 40 V 5 Unloading tie barless Injection Moulding Machines 41 VI MEMORY MANAGEMENT COPY MODE 42 VI 1 The local MEMO sites Deui ze re by Ap C Pb ux dares qus 42 VE 1 1 List ot the programs
54. ti Programming MPA II v2 Special programming functions XN XS or YN YS V 1 0 gt V 4 IMM anticipated restart option Aim This shortens the cycle time by masking the IMM reaction time time between the closing authoriza tion from the robot and the actual mould movement Principle The machine cycle validation VCM and the arm free safety SBD are given when the robot is still inside the mould Type of anticipated restart There are two types of anticipated restart anticipated restart with a programmed delay auto adaptative anticipated restart The type of restart is chosen in the options of each program Conditions The IMM anticipated restart is only effective if p gt the robot is in automatic mode p the overall speed coefficient Kv 100 96 Safety If one of the data items mould open MO or partial opening reached OPA disappears whilst the robot is still inside the mould the robot goes into fault and immediately interrupts the mould closing autho rization commands If Mould Open MO or Partial Opening Reached OPA are lost and the robot is not outside of the mould the robot stops and displays PROG Step e FAULT PREMATURE ANTICIPATED RESTART M CHECK LENGTH OF THE DELAY Zt ES Son P e E 3210 for anticipated restart with a programmed delay PROG Step e FAULT PREMATURE AN
55. time However the final programmed value is still reached Programming X movement to the position 1500 0 with an imprecision of 100 mm v Z descent IV Programming instructions Using the and keys go to the step where the numeric imprecise is programmed Press left key for X right key for Y The robot displays Programming MPA II v2 XN XS or YN YS V 1 01 gt movement that you want to make PROG Step e ABSOLUTE 150 0 Vel 20 Imprecise 0 0 0 1 2 No STCKG Free zt cy Sn M e 32310 Press several times to make Imprecise the active field Imprecise should flash Enter the imprecision value for example 100 0 Confirm with The robot displays PROG Step e xo EE Al oft a SA MH 3 3 4 O 3210 indicates an imprecise movement Display in automatic mode The value of an imprecision can be seen using the key when the robot is carrying out this movement Ej Programming MPA II v2 XN XS or YN YS V 1 0 gt IV Programming instructions IV 2 3 Programming a slow approach Only possible on the X and Y numeric axes A movement whose final position is not known The end of the movement is carried out at slow speed as from a value given in the program step The movement is stopped by p the disappearance of the En
56. to duplicate a program p either in the local memory internal P or in the memory card external Procedure for copying a program stored in the local memory MA p Press The robot displays 8 M EH PROG Step DUPLICATE 1 into Local eZ1 cy WRITE TEACH m Press press to duplicate a program in the card CYCLES memory2 into Memory card 2 Lo es mM 3210 Sn HH Bal No The robot displays PROG Step CAT T CYCLI L EMORY OCAL MI DUPLI um L1 C 3210 m es existing cycles e t ay an The robot displays the cycles stored in the relevant memory p Enter the number of the program to be duplicated then M Programming MPA II v2 VI Memory management Copy mode XN XS or YN YS V 1 01 The robot displays PROG Step LOCAL MEMORY DUPLICATE CYCLE No M Bi TO CYCLE No ft BY JN H I2 eR C 3210 p Enter the number of the new program then M VI 2 The memory card option This card is a PCMCIA type external memory in which can be saved p the programs and their options p the robot s configuration values entered in configuration context and parameter modes It is possible to program a cycle directly into the card It is also possible to execute this program
57. trols are actuated PROG Step PART PR ESENCE CHECKING B PERMANENT else gt ost ce an LE M es t9 3210 Using 4 you can change the selection E AR v M following page v Used to define which part grip circuits are controlled when the part is gripped Using pl pl pl PROG Step e ENABLE PART CHECK TOTAL E 162 1 amp 3 1 1 ES Son P e E 3210 TOTAL amp 2 amp 3 only Confirm with you can change the selection part grips 1 2 and 3 selected by default part grips 1 2 the presence of part 3 is not controlled part grips 1 and 3 the presence of part 2 is not controlled part grip 1 only the presence of parts 2 and 3 are not controlled Programming MPA II v2 XN XS or YN YS V 1 0 IV Programming instructions This window is used to define how the robot should react when it loses a part PROG Step e ENABLE PART CHECK TOTAL 4 DISENGAGE IF FAULT Stop oe ES Sn H 2 e t9 3210 Using you can change the selection p Disengaging if part fault if the part is not taken after 6 secs the robot disengages selected by default automatically and stops as soon as the mould area is free gt Stop i
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