Conair UGR003, UGR0800 User Manual

Installation
Operation
Maintenance
Troubleshooting
UCR-150L Robot
with PC-E IV control
Instant Access
Parts and Service
(800) 458-1960 (814) 437-6861
www.conairnet.com
The Conair Group, Inc. One Conair Drive Pittsburgh, PA 15202 Phone: (412) 312-6000 Fax:(412)-312-6227
UGR003/0800
It is important to record the model and serial number(s) of your equipment and the date you received it in the User Guide. Our service department uses this information, along with the manual number, to provide help for the specific equipment you installed.
Keep this User Guide and all manuals, engineering prints and parts lists together for documentation of your equipment.
Date: Document Number: UGR003/0900
Serial number(s):
Model number(s):
Power Specifications:
Amps Volts Phase Cycle
DISCLAIMER: The Conair Group, Inc., shall not be liable for errors
contained in this User Guide or for incidental, consequential dam­ages in connection with the furnishing, performance or use of this information. Conair makes no warranty of any kind with regard to this information, including, but not limited to the implied warranties of merchantability and fitness for a particular purpose.
Record your equipment’s model and serial num­ber(s) and the date you received it in the spaces provided.
Copyright 2000
All rights reserved
THE CONAIR GR OUP, INC.
UGR003/0900 UCR-150L Robots
INTRODUCTION . . . . . . . . . . . . . . . . . . .1-1
Purpose of the User Guide . . . . . . . . . . . . . . . . . . . . . . . . .1-2
How the Guide is Organized . . . . . . . . . . . . . . . . . . . . . . .1-2
Your Responsibility as a User . . . . . . . . . . . . . . . . . . . . . .1-2
ATTENTION: Read this so no one gets hurt . . . . . . . . . . .1-3
DESCRIPTION . . . . . . . . . . . . . . . . . . . .2-1
What is the UCR-150L Robot? . . . . . . . . . . . . . . . . . . . . .2-2
Typical Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
How the UCR-150L Robot Works . . . . . . . . . . . . . . . . . . .2-3
UCR-150L Robot Features . . . . . . . . . . . . . . . . . . . . . . . .2-4
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5
Optional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
I
NSTALLATION
. . . . . . . . . . . . . . . . . . . .3-1
Unpacking the Boxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
Cautions and Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
Preparing for Installation . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
Preparing the Platen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
Positioning the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
Connecting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
Setting Gripper Position . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8
Setting Strip Positions . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9
Connecting Air Pressure . . . . . . . . . . . . . . . . . . . . . . . . . .3-10
Adjusting the Sprue Verification Switch . . . . . . . . . . . . . .3-10
Adjusting the Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-11
Verifying the Electrical Interface . . . . . . . . . . . . . . . . . . .3-12
Manual Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-14
Automatic Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-15
OPERATION . . . . . . . . . . . . . . . . . . . . . .4-1
Hand Control Features . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
Before Starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
Starting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
Stopping the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
Emergency Stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
Viewing Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4
Operating Manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5
Starting Automatic Operation . . . . . . . . . . . . . . . . . . . . . . .4-6
Choosing the Mold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7
Programming the Motion Sequence . . . . . . . . . . . . . . . . . .4-8
i
T
ABLE OF
CONTENTS
UCR-150L Robot UGR003/0900
OPERATION . . . . . . . . . . . . . . . . . . . .CONTD
Programming Home, Grip and Vacuum Positions . . . . . . .4-10
Monitoring Input/Output . . . . . . . . . . . . . . . . . . . . . . . . .4-12
Setting Timer Values . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-13
Choosing Timer Settings . . . . . . . . . . . . . . . . . . . . . . . . .4-14
Adjusting Traverse Movement . . . . . . . . . . . . . . . . . . . . .4-15
Restarting Automatic Operation . . . . . . . . . . . . . . . . . . . .4-16
Answering an Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-16
MAINTENANCE . . . . . . . . . . . . . . . . . . . .5-1
Maintenance Features . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
Warnings and Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
Preventative Maintenance Schedule . . . . . . . . . . . . . . . . . .5-4
Checking Electrical Connections . . . . . . . . . . . . . . . . . . . .5-6
TROUBLESHOOTING . . . . . . . . . . . . . . . .6-1
Before Beginning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
A Few Words of Caution . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
Identify the Cause of a Problem . . . . . . . . . . . . . . . . . . . . .6-2
Answering an Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
The Robot Does Not Cycle . . . . . . . . . . . . . . . . . . . . . . . .6-4
The Mold is Not Working Properly . . . . . . . . . . . . . . . . . .6-5
The Arm is Not Working Properly . . . . . . . . . . . . . . . . . . .6-6
Strip Motion is Not Working . . . . . . . . . . . . . . . . . . . . . . .6-7
There is No Horizontal Motion . . . . . . . . . . . . . . . . . . . . .6-8
The Gripper Does Not Work . . . . . . . . . . . . . . . . . . . . . . .6-9
There is No Vacuum . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-10
APPENDIX . . . . . . . . . . . . . . . . . . . . . .A-1
Customer Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-1
Guarantee/Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-2
Electrical Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-1
System Configuration . . . . . . . . . . . . . . . . . . . . . . . . .B-1
Robot and IMM Interface . . . . . . . . . . . . . . . . . . . . . .B-2
Solenoid and Limit Switch Wiring . . . . . . . . . . . . . . . .B-3
Relay and IMM Interface . . . . . . . . . . . . . . . . . . . . . . .B-4
Solenoid Valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-1
P
ARTS/DIAGRAMS . . . . . . . . . . . . . . .P/D-1
ii
T
ABLE OF
CONTENTS
CONTD
1-1
UGR003/0900 UCR-150L Robot
Purpose of the User Guide . . . .1-2
How the User Guide
is organized . . . . . . . . . . . . . . .1-2
Your Responsibilities
as a User . . . . . . . . . . . . . . . .1-2
ATTENTION: Read this so
no one gets hurt . . . . . . . . . . .1-3
INTRODUCTION
UCR-150L Robot UGR003/0900
1-2
INTRODUCTION
This User Guide describes the Conair UCR-150L Robot with the PC-E IV control, and explains step-by-step how to install, operate, maintain and repair this equipment.
Before installing this product, please take a few moments to read the User Guide and review the diagrams and safety infor­mation in the instruction packet. You also should review man­uals covering associated equipment in your system. This review won’t take long, and it could save you valuable instal­lation and operating time later.
Symbols have been used to help organize the User Guide and call your attention to important information regarding safe installation and operation.
Symbols within triangles warn of conditions that could be hazardous to users or could damage equipment. Read and take precautions before proceeding.
Numbers within shaded squares indicate tasks or steps to be performed by the user.
A diamond indicates the equipment’s response to an action performed by the user.
An open box marks items in a checklist. A shaded circle marks items in a list.
You must be familiar with all safety procedures concerning installation, operation and maintenance of this equipment. Responsible safety procedures include:
Thorough review of this User Guide, paying particular
attention to hazard warnings, appendices and related dia­grams.
Thorough review of the equipment itself, with careful
attention to voltage sources, intended use and warning labels.
Thorough review of instruction manuals for associated
equipment.
Step-by-step adherence to instructions outlined in this
User Guide.
P
URPOSE OF
THE USER GUIDE
HOW THE USER GUIDE IS ORGANIZED
1
◆ ❒
YOUR RESPONSIBILITY ASAUSER
WARNING: Improper installation, oper­ation, or servicing may result in equipment damage or personal injury.
This equipment should only be installed, adjust­ed, and serviced by qualified technical person­nel who are familiar with the construction, oper­ation, and potential hazards of this type of machine.
All wiring, disconnects, and fuses should be installed by qualified electrical technicians in accordance with electrical codes in your region. Always maintain a safe ground. Do not operate the equipment at power levels other than what is specified on the machine serial plate.
WARNING:Voltage hazard.
This equipment is powered by alternating cur­rent, as specified on the machine serial tag and data plate.
A properly sized conductive ground wire from the incoming power supply must be connected to the chassis ground terminal inside the electri­cal enclosure. Improper grounding can result in severe personal injury and erratic machine operation.
Always disconnect and lock out the incoming main power source before opening the electrical enclosure or performing non-standard operating procedures such as routine maintenance. Only qualified personnel should perform trou­bleshooting procedures that require access to the electrical enclosure while power is on.
INTRODUCTION 1-3
We design equipment with the user’s safety in mind. You can avoid the potential hazards identified on this machine by fol­lowing the procedures outlined below and elsewhere in the User Guide.
ATTENTION:
R
EAD THIS SO NO
ONE GETS HURT
UGR003/0900 UCR-150L Robot
2-1
UGR003/0900 UCR-150L Robot
What is the UCR-150L Robot? . .2-2
Typical Applications . . . . . . . . . .2-2
Limitations . . . . . . . . . . . . . . . . .2-3
How the Robot Works . . . . . . . .2-3
UCR-150L Robot Features . . . . .2-4
Specifications . . . . . . . . . . . . . .2-5
Optional Equipment . . . . . . . . . .2-6
DESCRIPTION
Conair UCR-150L Robot isideal for applications requiring quick, consistent part removal. The robot exchanges signals via the SPI interface on the mold machine to ensure pre­dictable, constant cycle times. This feature avoids setup prob­lems and allows accurate time quoting for production and maintenance schedules.
Use the UCR-150L Robot to eliminate common problems:
inconsistent cycle times
improper part/sprue separation
unsafe sprue/part removal
The Conair UCR-150L Robot is a pneumatic robot that removes the sprue/part from the injection molding machine. The UCR-150L minimizes injection machine pause time with a fast take-out time (1.5 second) by utilizing the slide cylinder in addition to the main arm cylinder. The robot is mounted on a fixed platen on the injection mold machine. When the mold-open-complete signal goes from the mold machine to the robot controller, the strip frame slides down at the same time the main cylinder arm enters the mold area; the gripper grips the sprue/part and removes the item to a designated area. When the arm moves outside the mold area the robot can release the sprue/part with or without the option­al second descent.
W
HAT IS THE
UCR-150L R
OBOT?
UCR-150L Robot UGR003/0900
2-2
DESCRIPTION
TYPICAL APPLICATIONS
UGR003/0900 UCR-150L Robot
DESCRIPTION 2-3
L
IMITATIONS
Choose Conair UCR-150L Robot when you want a low cost, easily maintained robot. The UCR-150L Robot has a long ver­tical stoke (950 mm) that allows easy adjustment to an injec­tion mold machine. The robot does not have a swing in/swing out movement; rather it transverses the beam. Maximum pay­load with standard gripper is 4.4 lb. (2 Kg), and without grip­per, 6.6 lb. (3 Kg).
HOW THE UCR-150L R
OBOT WORKS
The UCR-150L Robot exchanges signals via the SPI interface on the mold machine. The hand control provides the buttons for controlling and monitoring the robot. From the hand con­trol you can:
monitor the input/output status
set and adjust cycle timers in both manual and automatic
mode
adjust mode
operate/stop the robot manually
operate the robot automatically
store programs
The robot receives the signal from the mold machine to remove the sprue/part. The robot arm moves into the mold area, grips the part, raises out of the mold and places the part in a specific location. The robot sends a signal to the mold machine to begin the next cycle. Each robot is equipped with a part verification switch to stop the molding machine if a sprue/part is missed.
UCR-150L Robot UGR003/0900
2-4
DESCRIPTION
Main arm cylinder
vertically moves the gripper to remove part from mold machine.
Vacuum generator
provides vacuum for optional EOAT suction
Cable T rack
protects tubing and wires as arm moves
Main strip cylinder
strips part from mold after gripping.
UCR-150L R
OBOT
FEATURES
Slide cylinder
slides the strip frame up and down at the same time as the main arm ascends and descends.
Traverse cylinder
moves the mobile frame as the part/sprue is removed from the mold machine.
LM guide
maintains the linear motion of the arm
Base
holds robot in position.
Gripper
picks up part/sprue in mold machine
Safety lock cylinder
prevents arm from dropping if pneu­matic pressure suddenly drops.
Wrist flip cylinder
positions the gripper or end-of-arm tooling horizontally or vertically.
EOAT mounting plate
holds the optional end-of­arm tooling
UGR003/0900 UCR-150L Robot
DESCRIPTION 2-5
S
PECIFICATIONS
MODEL UCR-150L
Performance characteristics
Molding Machine Size up to 300 ton Minimum take out time seconds 1.5 Minimum cycle time seconds 8 Maximum payload with sprue grip lb {kg} 4.4 {2} Dimensions inches {mm}
Height 65 {1651} Width 88 {2235} Depth 46 {1168} Distance from face of platen (min-max) 25.5 - 6.5 {647-165} Gripper center to top of platen 4 {102} Tooling plate center to top of platen 11.5 {292} Main arm vertical stroke 37 {950} Main arm horizontal stroke 47 {1200} Main arm strip stroke 5 {125}
Wrist flip 90° Weight lb {kg} Shipping weight 635 {288} Installed weight (without control box) 485 {220} Electrical Requirements amps running peak 110V/1 phase/ 50 or 60 Hz 0.5 20 240V/1 phase or 3 phase/50 or 60 Hz 0.25 10
Utility requirements
Air consumption ft3{l/min} 8 {232} Working air pressure psi {bar} 80 {5.5} Maximum air pressure psi {bar} 100 {6.9}
SPECIFICATION NOTES:
Maximum payload increases to 6.6 lb {3 kg} when the sprue grip tooling is removed.
Specifications may change without notice.Check with a Conair representative for the most current information.
64 {1626}
8 {203}
13 {330}
35 {889}
8 {203}
11 {279}
23 {584}
4 {101.6}
11.5 {292}
43 {1092}
65 {1165}
35 {889}
max 25.5 {648}
6
{152}
C
L
6 {150}
0.8 {20}
0.59
{15.0}
2.362 {60}
2.362 {60}
4.724 {120}
9.448 {240}
11 {280}
4.3 {110}
1.5 {40}
2.756 {70}
2.7 {70}
4 x M6
MOUNTING TO STATIONARY PLATEN
BASIC TOOLING PATTERN
6 bolt holes 1/2 inch - 13 tap, 1.25 deep
Front view
Side view
1.575 {40}
UCR-150L Robot UGR003/0900
2-6
DESCRIPTION
O
PTIONAL
EQUIPMENT
Available options include:
Extended strip stroke
Extends the kick stroke motion for deep draw parts (typi­cally used with end-of-arm tooling)
End-of-arm tooling
Used for light duty part removal.
3-1
UGR003/0900 UCR-150L Robot
Unpacking the Boxes . . . . . . . . .3-2
Cautions and Warnings . . . . . . .3-3
Preparing for Installation . . . . . .3-4
Preparing the Platen . . . . . . . . .3-5
Positioning the Robot . . . . . . . .3-6
Connecting the Robot . . . . . . . .3-6
Setting Gripper Position . . . . . .3-8
Setting Strip Positions . . . . . . . .3-9
Connecting Air Pressure . . . . .3-10
Adjusting the Sprue
Verification Switch . . . . . . . .3-10
Adjusting the Speed . . . . . . . .3-11
Verifying the
Electrical Interface . . . . . . . .3-12
Manual Testing . . . . . . . . . . . . .3-14
Automatic Testing . . . . . . . . . .3-15
INSTALLATION
The UCR-150L Robot comes fully assembled in a single crate.
U
NPACKING THE
BOXES
UCR-150L Robot UGR003/0900
3-2
INSTALLATION
CAUTION: Lifting
To avoid personal injury or damage to the robot, lift the robot using a forklift or hoist with straps that have been positioned at the robot's center of gravity.
Carefully uncrate the robot and its
components.
Remove all packing material,
protective paper, tape, and plastic. Compare contents to the shipping papers to ensure that you have all the parts.
Carefully inspect all components to make sure
no damage occurred during shipping. If any damage is found, notify the shipping agent immediately. Check all wire terminal connections, bolts, and any other electrical connections, which may have come loose during ship­ping.
Record serial numbers and specifications
in the blanks provided on the back of the User Guide's title page. This information will be helpful if you ever need service or parts.
You are now ready to begin installation.
1 2
3
4
UGR003/0900 UCR-150L Robot
INSTALLATION 3-3
CAUTION: Moving the Robot
When you receive the robot, the swing arm is bolted to prevent movement. Leave the bolt in place until the robot is mounted on the press. Remove after mounting.
WARNING: Improper installation, oper­ation, or servicing may result in equipment damage or personal injury.
This equipment should only be installed, adjust­ed, and serviced by qualified technical person­nel who are familiar with the construction, oper­ation, and potential hazards of this type of machine.
All wiring, disconnects, and fuses should be installed by qualified electrical technicians in accordance with electrical codes in your region. Always maintain a safe ground. Do not operate the equipment at power levels other than what is specified on the machine serial tag and data plate.
C
AUTIONS AND
WARNINGS
UCR-150L Robot UGR003/0900
3-4
INSTALLATION
Plan the location. Make sure the area where the robot is installed has the following:
A grounded power source. Check the robot’s serial
tag for the correct amps, voltage, phase, and cycle. All wiring should be completed by qualified personnel and comply with your region’s electrical codes.
Air pressure source. The robot requires a working
pressure of 80 PSI and a maximum pressure of 100 PSI for gripping and vacuum release.
Clearance for safe operation and maintenance.
Make sure there is enough clearance around the robot for movement, maintenance and servicing. Be sure the robot has proper clearance to avoid structures, utilities, overhead cranes, material hoppers and loading pipes, as well as other machines and equipment. Be sure that the maximum envelope is clearly marked and protected from entry by personnel during operation. The maxi­mum envelope is the volume of space encompassing the maximum designed movement of ALL robot parts, including the end of arm tooling, work piece and attachments.
Perform the installation in the following order:
Prepare the platen.Move the robot into position on the platen and attach.Connect the robot cables.Adjust the grip and strip movement WITHOUT air
pressure (manually move the arm).
Attach air line and apply pressure.Make adjustments to the robot (grip, speed, etc.)Run robot in manual mode, making any adjustments
needed to prevent damage to the robot, mold machine, and parts. Check interface to assure that mold machine does not close on robot arm.
Run robot in automatic mode. Do this step only after
robot has been thoroughly tested in the manual mode to prevent damage to equipment and parts.
P
REPARING FOR
INSTALLATION
UGR003/0900 UCR-150L Robot
INSTALLATION 3-5
Drill holes in the stationary (fixed) platen to accept the robot using the mounting pattern for the UCR-150L.
Mounting pattern for the UCR-150L Robot*.
P
REPARING THE
PLATEN
*Dimensions shown are inches (mm). Machine flat spacer mounting surface.
6 x 1/2-13 x 1 1/4 dp
0.591 (15)
2.953 (75)
5.315 (135)
5.9 (150)
11 (280)
9.448 (240)
UCR-150L Robot UGR003/0900
3-6
INSTALLATION
C
ONNECTING
THE
ROBOT
WARNING: Electrical hazard
Before performing any work on this product, dis­connect and lock out electrical power sources to prevent injury from unexpected energization or start-up.
WARNING: Improper installation, oper­ation, or servicing may result in equipment damage or personal injury.
This equipment should only be installed, adjust­ed, and serviced by qualified technical person­nel who are familiar with the construction, oper­ation, and potential hazards of this type of machine.
All wiring, disconnects, and fuses should be installed by qualified electrical technicians in accordance with electrical codes in your region. Always maintain a safe ground. Do not operate the equipment at power levels other than what is specified on the machine serial tag and data plate.
CAUTION: Lifting
To avoid personal injury or damage to the robot, lift the robot using a hoist. Place the straps
around the swing shaft between the strip frame and the base.
Use a sling to lift the robot.
Place a sling under both ends of the beam and under the traverse arm.
Move the robot into position.
Carefully hoist the robot into position on the platen.
Secure the robot to the platen with the
supplied screws, lock washers, and flat washers.
Remove any shipping brackets
holding the arms.
1
2 3
4
P
OSITIONING
THE
ROBOT
UGR003/0900 UCR-150L Robot
INSTALLATION 3-7
IMPORTANT: Always refer to
the wiring diagrams that came with your robot before making electrical connec­tions.The diagrams show the minimum size main power cable required for your robot, and the most accurate electri­cal component information.
Plug the hand-held control into the control
box on the back of the robot.
Check to see what the power output is from
the IMM to the robot. You need to tap wires so that power can go to the IMM SPI half 30 and 31:
1 2
WARNING: Crushing Injury
This device has high speed moving parts that can cause crushing injuries. Keep body parts and clothing away from moving parts. Always disconnect the robot from compressed air sources before servicing.
Connect the SPI connector cable into the
SPI connector on the robot control box and to the SPI connector on the mold machine.
For IMM Output
Voltage:
110VAC / 1 phase
240VAC / 1 phase
240VAC / 3 phase
Choose:
1 neutral wire and 1 hot wire
1 ground wire 1 L wire 1 N wire
X, Y, and Z wires or R, S, and T wires (depends on your IMM)
Place into:
Place into Positions 30 and 31 of SPI IMM half connector.
Place L and N wires into Positions 30 and 31 of SPI IMM half connector (in any order) do not wire Ground wire.
Choose any two wires and connect into Positions 30 and 31 of the IMM SPI half connector.
3
UCR-150L Robot UGR003/0900
3-8
INSTALLATION
S
ETTING
GRIPPER POSITION
Set the gripper position before attaching and turning on the air pressure. To set the lowest position for the gripper:
Open the mold. Hold the main arm and loosen the arm height
adjustment screws on the block. Slide block down cylin­ders.
1
Set the gripper height to the sprue
by manually moving the arm down. Do not use the hand control. Do this without any air pressure.
Tighten the adjustment screws on the block
securely.
Set the maximum height the arm can move
vertically by adjusting the shock absorber. Tighten lock­nut on shock.
3
4
Block
2
Shock absorber
5
If you need to adjust the gripper height any time after installation, always be sure to dis­connect and drain the air pressure before making the adjustment.
UGR003/0900 UCR-150L Robot
INSTALLATION 3-9
Set the strip positions before connecting the air pressure line to prevent damage to the equipment. To set the distance the strip stroke moves forward and backward:
Open the mold. Loosen the Forward and Backward Stroke
adjustment levers.
S
ETTING STRIP
POSITIONS
Backward Stroke adjustment lever
Forward Strip Stroke adjustment levers
1 2
Forward shock absorber
Move the Forward Stroke adjustment plate
by hand away from the main arm.
Move the main arm to the sprue grip position. Push the Forward Stroke adjustment plate
toward the arm until the forward shock absorber is com­pletely set. Tighten locknut on shock.
Lock the Forward Stroke adjustment levers.
This is the Strip Forward position.
Move the main arm to the strip back position.
Make sure the strip stroke is longer than the distance needed for your application.
Lock the Backward Stroke adjustment lever.
This is the Strip Backward position.
Move the Backward shock absorber forward
until it is completely set. Tighten locknut on the shock absorber.
3 4
5
6
Forward Stroke adjustment plate
Backward shock absorber
7
8 9
If you need to adjust the strip stroke any time after installation, always be sure to disconnect and drain the air pres­sure before making the adjustment.
UCR-150L Robot UGR003/0900
3-10
INSTALLATION
Attach the shop air line to the robot at the air line hose con­nection. Air pressure should be 80 PSI working pressure and 100 PSI maximum pressure. Do not connect and turn on the air until AFTER setting the gripper position and strip move­ment.
To ensure proper part/sprue verification, adjust the LS-4 switch.
Press the Manual button
to place the robot in manual mode.
Press the Grip (On/Off) button
to cycle the gripper open and closed.
Place a sprue into the open gripper
jaws and press the Grip button to grip the sprue. The grip­per should grip the sprue enough to be able to lift it, but not deform or break it.
Adjust the LS-4 proximity sensor if needed.
Loosen the adjustment screws and slide the sensor up or down.
1 2 3
When adjusted, tighten the screws securely.
5
NOTE: Check this verification regularly to ensure the robot is correctly verifying the part/sprue removal.The gripper may need reset if the sprue diameter changes (due to mold changes). If the gripper crushes the sprue, a grip regulator can be added to decrease the pressure used to grip the sprue.
4
LS-4 proximity sensor
Adjustment screws
C
ONNECTING
AIR PRESSURE
ADJUSTING THE SPRUE VERIFICATION SWITCH
UGR003/0900 UCR-150L Robot
INSTALLATION 3-11
Speed control valves are used to adjust the robot speed as it moves along the axes. You can adjust the strip stroke, arm down (vertical movement), and the traverse motion (horizontal movement) by adjusting the valves.
Turn the valve clockwise to slow the robot. Turning the valve counter-clockwise causes the robot to speed up. Tighten the lock nut after making adjustments.
A
DJUSTING THE
SPEED
Arm Down (vertical) flow control valve
Strip Stroke flow control valves (2)
Horizontal flow control valves (3)
UCR-150L Robot UGR003/0900
3-12
INSTALLATION
V
ERIFYING THE
ELECTRICAL INTERFACE
Electrical Diagrams are in the Appendix.
The electrical interface between the robot and the injection molding machine is the most important part of the installation. The interface must function correctly to maintain the safety of the robot and the mold. As a result, the interface must be veri­fied.
CAUTION: Equipment hazard.
The UCR-150L is designed for use with the PC­E IV control. Do not try to use a PC-E III control with this robot. Damage will occur! Call Conair Service if you are unsure or have any questions.
The areas that must be verified as functional and correct are the motion controls and the inputs.
Verifying motion controls (permissives)
Controling gripper movements is critical. The robot must con­trol the following motions for safety. Check the following movements:
Mold Close
The robot must control the closing motion of the mold. If the robot is not clear of the mold area, the press must not close. Also, if the robot misses a part, the press must be stopped from closing.
Mold Open
The opening of the mold must be controlled by the robot. If the arm is not in a safe area - Fully Up or Outside the press area - the injection molding machine should not be permitted to open.
Mold Ejection (Forward)
The ejection of the part can be controlled by the robot. This ensures the proper placement of the robot gripper before the sprue/runner is ejected.
Cycle Start (optional)
This option sends a signal from the robot to the IMM after the mold closes to tell the IMM to begin a new cycle.
Verifying the Inputs
The first four inputs must be verified. The others are optional depending on the application.
Verify the following inputs as functional and correct:
Mold Full Open
This signal starts the robot into the mold area. This is a very important signal. If the robot enters, or attempts to enter the mold at the wrong time, dam­age to the arm and/or mold can occur.
Mold Full Closed
This signal is sent to the robot when the mold is fully closed or locked up.
Press Gate Closed
This signal tells the robot that the safety gate is closed.
Press A uto
The robot must see this signal to cycle automatical­ly.
E-Stop from IMM
The robot monitors the emergency stop message from the IMM. If the robot senses the message from the IMM, the robot stops.
Reject Part
The IMM signals the robot there is a rejected part. The robot grabs the part, strips it and immediately releases it without moving it outside.
UGR003/0900 UCR-150L Robot
INSTALLATION 3-13
V
ERIFYING THE
ELECTRICAL INTERFACE
CONTD
Electrical Diagrams are in the Appendix.
UCR-150L Robot UGR003/0900
3-14
INSTALLATION
M
ANUAL
TESTING
In manual mode you can operate the robot manually using the control buttons. To operate the robot manually:
Make sure the robot is stopped
and the mold is fully opened. Press the Stop but­ton and verify the control displays Stop Mode.
Press the Manual button.
The LCD displays:
1
2
The robot is now in manual mode and can be operated using the motion control buttons on the control.
Up/Down button
This button moves the main arm up and down vertically (extends and retracts). Press once to extend the arm; press again to retract. The grip­per can grip in the down position, but does not grip in the up position.
Swing button
Use this button to move the arm horizontally inward and outward. The arm can traverse from the up, forward, and backward positions, but not from the down position.
Forward Strip/Backward Strip button
Press the button to strip forward; press again to strip backward.
Grip (On/Off) button
Press the Grip button to manually grip a part/sprue. Press again to release the part. The Grip button only grips the sprue when the arm is inside the mold and in the lowest position.
UGR003/0900 UCR-150L Robot
INSTALLATION 3-15
A
UTOMATIC
TESTING
Before placing the robot into automatic operation, the Auto signal from the press must be present for the robot to run. To start automatic operation:
Press the Stop button.
The robot stops. If the arm is not in the Home position, press the Manual button and move the arm to the Home position, then press the Stop button.
Press the Auto/Recycle button.
The control displays the auto mode information and the robot begins automatic cycling.
CAUTION: Equipment damage hazard.
Press the Auto/Recycle button only when the robot is stopped and in the home position. If the button is pressed at any other time in the cycle of the robot:
The robot stops
The alarm sounds
The error code displays on the hand control
Press the Stop button to silence the alarm.
If the robot is not working properly at any time, turn it off immediately and refer to the Troubleshooting section of this User Guide.
If you do not encounter any problems during testing, proceed to the Operation section.
4-1
UGR003/0900 UCR-150L Robot
Hand Control Features . . . . . . .4-2
Before Starting . . . . . . . . . . . . . .4-2
Starting the Robot . . . . . . . . . . .4-3
Stopping the Robot . . . . . . . . . .4-3
Emergency Stopping . . . . . . . . .4-3
Viewing Information . . . . . . . . . .4-4
Operating Manually . . . . . . . . . .4-5
Starting Automatic
Operation . . . . . . . . . . . . . . . .4-6
Choosing the Mold . . . . . . . . . .4-7
Programming the
Motion Sequence . . . . . . . . . .4-8
Programming the Home, Grip,
and Vacuum Positions . . . . .4-10
Monitoring Input/Output . . . . .4-12
Setting Timer Values . . . . . . . .4-13
Choosing Timer Settings . . . . .4-14
Adjusting T raver se Movement .4-15
Restarting Automatic
Operation . . . . . . . . . . . . . . . .4-16
Answering an Alarm . . . . . . . .4-16
OPERATION
The robot control has several features that allow you to input setup information, monitor cutting process, and view errors.
H
AND CONTROL
FEATURES
UCR-150L Robot UGR003/0900
4-2
OPERATION
Emergency Stop
press to immediately stop the robot.
Auto Recycle button
puts the robot into automatic operation
Program buttons
press to enter pro­gramming information.
Control buttons
use to move the robot arm and grip.
BEFORE STARTING
Before you start daily operation of the robot, perform preven­tative maintenance. This incudes daily, weekly, monthly and semi-annual maintenance. Maintenance procedures are described in the Maintenance section of this User’s Guide.
WARNING: Be sure that power to the robot is
disconnected and locked out when doing any maintenance on it. Follow all safety rules when performing any maintenance on this equipment.
Stop button
use during normal routine operations to stop the robot.
Numeric keypad
lets you enter num­bers into the control and save them.
On/Off button
slide up and down to use or not use the robot.
LED display
shows setup, process and error information
UGR003/0900 UCR-150L Robot
OPERATION 4-3
The power must be on for any robot or press operations to occur. Slide the On/Off button on the side of the hand control.
Off Mode
When the On/Off button on the control is in the Off posi­tion the robot is Off position, but the hand control is still useable. The interlock signals for the mold are released. The interlocks are still monitored, however, to ensure the robot is in a safe position for opening and closing the mold. NOTE: When in the Off mode, the robot does not remove parts/sprues from the press. The operator must do this manually.
On Mode
When the On/Off button on the control is in the On posi­tion the robot runs with the press. The operator can cycle the robot in either manual mode or automatic mode.
S
TARTING THE
ROBOT
STOPPING THE ROBOT
To stop the robot from either Auto mode or Manual mode, press the Stop button.
The LCD displays the message:
EMERGENCY STOPPING
If, at any time, you need to immediately stop the robot,
Press the Emergency stop button.
The robot stops immediately. The control dis­plays:
Reset the control.
After the emergency is handled, reset the control by turn­ing the E-stop button in the direction of the arrows (clock­wise).
Press the Stop button
to place the robot in Stop mode.
Continue operation by pressing the
Auto/Recycle button or the Manual button.
1
2
3 4
The LED displays the data you input, the status of the robot, and any error messages.
UCR-150L Robot UGR003/0900
4-4
OPERATION
V
IEWING
INFORMATION
During normal operation the display provides:
the current mold number
the motion sequence
current home position
the current valve selection
programming directions
Error codes display during an alarm or error. A typical display during normal operation is:
press ENT.
Programming directions to use the Up/Down arrows to scroll, and press the Enter button to save the choice.
Home position
I - above the mold
O - outside the mold
Pick up position
Vertical motion
Main grip release
Vacuum release
GRIPS
GRIP Use grip solenoid valve VAC Use vacuum solenoid valve G+V Use grip and vacuum
solenoid valve
Mold Number
The current mold number; control can be programmed for up to seven different molds, M01 to M07.
M Pick up from moveable mold F Pick up from fixed mold
L L-shaped ver tical motion U U-shaped vertical motion
2 Grip release at arm second descend. K Grip release at arm second descend and str ip motion. 3 Gr ip release on the way, ar m third extended. M Grip release in the mold area.
2 Vacuum release at ar m second descend. K Vacuum release at arm second extend and strip motion. 3 Vacuum release on the way, ar m third extended. M Vacuum release in mold area.
Motion Sequence
O
PERATING
MANUALLY
UGR003/0900 UCR-150L Robot
OPERATION 4-5
In manual mode you can operate the robot manually using the control buttons. To operate the robot manually:
Make sure the robot is stopped
and the mold is fully opened. Press the Stop but­ton and verify the control displays Stop Mode.
Press the Manual button.
The LCD displays:
1
2
The robot is now in manual mode and can be operated using the motion control buttons on the control.
Up/Down button
This button moves the main arm up and down vertically (extends and retracts). Press once to extend the arm; press again to retract. The grip­per can grip in the down position, but does not grip in the up position.
Swing button
Use this button to move the arm horizontally inward and outward. The arm can swing from the up, forward, and backward positions, but not from the down position.
Forward Strip/Backward Strip button
Press the button to strip forward; press again to strip backward.
Grip (On/Off) button
Press the Grip button to manually grip a part/sprue. Press again to release the part. The Grip button only grips the sprue when the arm is inside the mold and in the lowest position.
S
TARTING
AUTOMATIC OPERATION
UCR-150L Robot UGR003/0900
4-6
OPERATION
Before placing the robot into automatic operation, the Auto signal from the press must be present for the robot to run. To start automatic operation:
Press the Stop button.
The robot stops. If the arm is not in the Home position, press the Manual button and move the arm to the Home position, then press the Stop button.
Press the Auto/Recycle button.
The control displays the auto mode information and the robot begins automatic cycling.
CAUTION: Equipment damage hazard.
Press the Auto/Recycle button only when the robot is stopped and in the home position. If the button is pressed at any other time in the cycle of the robot:
The robot stops
The alarm sounds
The error code displays on the hand control
Press the Stop button to silence the alarm.
You can choose any one of seven different molds, from M01 to M07. The control must be in the Stop mode.
To choose the mold:
Press the Stop button.
The robot stops. The control must be in the Stop mode to choose a mold.
Press the Program button.
The current mold number is highlighted on the display.
Use the Up and Down arrows
to move sequentially through the mold num­bers, M01 to M07. Each mold number dis­plays with each press of the arrows.
Press the Enter button.
When the mold number you want displays, press the Enter button to choose that mold number.
Press the Stop button
to return to the Stop mode.
UGR003/0900 UCR-150L Robot
OPERATION 4-7
C
HOOSING THE
MOLD
1
2
3
4
5
Before choosing the various motion sequences, be sure you have chosen the appropriate mold number (see Choosing the
Mold, in the Operation section).
Decide which movements you wish the robot to make. Four different movements can be programmed. There are two choices for each of the four letters of the motion sequence.
P
ROGRAMMING
THE
MOTION
SEQUENCE
UCR-150L Robot UGR003/0900
4-8
OPERATION
Motion sequence
Program the motion sequence when in the Stop mode. To pro­gram the motion sequence:
Press Stop button.
The control goes to Stop mode.
Press Program button.
The current motion sequence information dis­plays.
1 2
Pick up position
Vertical motion
Main grip release
Vacuum release
M Pick up from moveable mold F Pick up from fixed mold
L L-shaped ver tical motion U U-shaped vertical motion
2 Grip release at arm second descend. K Grip release at arm second descend and str ip motion. 3 Gr ip release on the way, ar m third extended. M Grip release in the mold area.
2 Vacuum release at ar m second descend. K Vacuum release at arm second extend and strip motion. 3 Vacuum release on the way, ar m third extended. M Vacuum release in mold area.
Motion Sequence
P0
P1
P2
P3
UGR003/0900 UCR-150L Robot
OPERATION 4-9
P
ROGRAMMING
THE
MOTION
SEQUENCE
CONTD
Use the Up and Down arrows
to move sequentially through the mold sequence positions. Each mold sequence position under­lines each time the Up or Down arrow is pressed.
Use the Forward arrow
to toggle between the choices for that motion sequence position. Each time the arrow is pressed, the cursor moves to the next letter/num­ber and underlines it.
Continue to move through the motion
sequence positions using the Up/Down arrows and the Forward arrow until you make all your choices.
Press the Enter button.
After making all of your choices for the motion sequence, press the Enter button to program your choice.
Press the Stop button.
To continue, press the Stop button.
4
5
6
7
1
2
3
4
5
6
7
8
9
10
HOME
Basic Motion Sequence
Home position (start, standby position) Strip frame slide down and main arm descends (mold open) Strip forward Grip Strip backward. Main arm ascends and strip frame slides up. Arm traverses outward and wrist flip moves to horizontal position. Strip frame slides down and main arm descends. Grip releases part. Arm ascends and strip frame slides up. Arm traverses inward and wrist flip moves to vertical position. Arm returns to Home position.
HOME
1 2 3 4 5 6 7 8 9
10
3
UCR-150L Robot UGR003/0900
4-10
OPERATION
P
ROGRAMMING
HOME,GRIP
AND
VACUUM
POSITIONS
After choosing the mold number (see Choosing the Mold, in the Operation section), and programming the motion sequence (see Programming the Motion Sequence in the Operation sec- tion), you need to program the home, grip, and vacuum posi­tions.
To program the Home, Grip and Vacuum positions:
Press the Stop button.
The control goes to Stop mode.
Press the Function button.
The current settings display for the chosen mold number.
1 2
Mold number
I O
Home position above mold Home position outside mold
Home position
f0: f1: f2: f3: f4:
with without with switch without switch without with with switch without switch above mold outside mold
Grip solenoid Grip verify Vacuum solenoid Vacuum verify Home position
a b a b a b a b a b
Grip and Vacuum selections
UGR003/0900 UCR-150L Robot
OPERATION 4-11
P
ROGRAMMING
HOME,GRIP
AND
VACUUM
POSITIONS
CONTD
Choose the function and settings you want
for the mold number listed on the display.
Use the Up and Down arrows
to scroll through the functions, f0 through f4. The current function is highlighted.
Use the right arrow to choose the setting
(a, b). The current function choice is highlighted.
Press the Enter button.
After you make your choices press the Enter but­ton to program your choices.
Press the Stop button to continue.
3 4
5 6
7
UCR-150L Robot UGR003/0900
4-12
OPERATION
You can monitor the status of all input and output signals between the robot and the injection molding machine. The input/output display can be viewed when the robot is in Automatic mode or Manual mode.
To view input/output, press the Monitor Input/ Output button (Mon I/O). The LCD displays input informa­tion (LS) and output information (SOL) and X shows which switches/valves are OFF and O shows which ones are ON.
M
ONITORING
INPUT/OUTPUT
Press the Mon I/O button again to return to the previous con­trol display.
Outputs
SOL1 SOL2 SOL3
SOL4 SOL5 SOL6 SOLB SOLS SOLE SOLT
Move outward solenoid valve Move inward solenoid valve Main arm extend/retract and Slide cylinder retract
solenoid valve Strip forward-backward solenoid valve Main arm grip solenoid valve Vacuum solenoid valve Option solenoid valve Mold area free; per mit clamp motion output Permit ejector forward output Emergency stop from robot output
Inputs
LS1 LS2 LS3
LS4 LSP LSD LSA LSR LSG LSC LSO LSU LSH
Move outward end proximity switch Move inward end proximity switch Main arm retract end (arm up) and Slide
cylinder retract end proximity switch Part (grip) verification switch Vacuum switch Main arm descent end proximity switch (option) Press in Auto signal Rejected part signal (option) Gate guard signal Mold fully closed signal Mold fully open signal Robot ON/OFF signal Robot home position signal
UGR003/0900 UCR-150L Robot
OPERATION 4-13
S
ETTING TIMER
VALUES
The robot allows you to set time delays for:
arm movements
part ejection
grip
cycle monitor
options
alarms
Up to 15 different timers can be set and changed while the robot is in operation, or when the robot is stopped. Timers can be fine tuned while the robot is running in Automatic.
To view and set the timer settings:
Press the Time button.
The current timer settings display, one at a time, on the display.
Press the Up and Down buttons to
scroll through the timer settings. The timer set­ting displays as:
M01
the mold number
Timer Setting
tells which mode the control is displaying
1ST DOWN DLY.
short description of timer setting
TIM 00
the timer setting number
00.50
is the set time, in seconds, to the second decimal place
1
2
Press the Forward button
The cursor displays under the first number to move the cursor to the next digit on the screen.
Enter the new timer value.
Press the number for the timer value you want to set. The cursor moves to the next digit automati­cally.
Press the Enter button.
The control accepts the entries and returns to the previous display screen.
5
4
3
For the table of timer settings, see Choosing Timer Settings, in the Operation section.
C
HOOSING
TIMER SETTINGS
UCR-150L Robot UGR003/0900
4-14
OPERATION
Timer Setting
TIM00
TIM 01
TIM 02
TIM 03
TIM 04
TIM 05
TIM 06
TIM 07
TIM 08
TIM 09
TIM 10
TIM 11
TIM 12
TIM 13
TIM 14
TIM 15
Description
First down delay
Eject delay timer
Strip forward delay timer
Grip delay timer
Strip backward delay timer
Arm first retract delay timer
Grip or vacuum release delay timer
Arm second retract delay timer
Cycle time monitor timer
Strip forward delay timer after arm retract motion
Optional delay timer
Optional delay timer
Grip or vacuum second release delay timer
Third arm retract delay timer
Optional timer
Alarm Off delay timer
LCD Displays
TIMERS SETTING 1ST DOWN DLY. TIM00 ##.##
TIMERS SETTING EJECTOR DLY. TIM01 ##.##
TIMERS SETTING STRIP F/W DLY. TIM02 ##.##
TIMERS SETTING V+G ON DLY. TIM03 ##.##
TIMERS SETTING STRIP B/W DLY. TIM04 ##.##
TIMERS SETTING 1 ST UP DLY. TIM05 ##.##
TIMERS SETTING V/G 1 OFF DLY. TIM06 ##.##
TIMERS SETTING 2ND UP DLY. TIM07 ##.##
TIMERS SETTING CYCLE TIM DLY . TIM08 ##.##
TIMERS SETTING STRIP O/W DLY. TIM09 ##.##
TIMERS SETTING OPTION DLY. TIM10 ##.##
TIMERS SETTING OPTION DLY. TIM11 ##.##
TIMERS SETTING V/G 2 OFF DLY. TIM12 ##.##
TIMERS SETTING 3RD UP DLY. TIM13 ##.##
TIMERS SETTING OPTION DLY. TIM14 ##.##
TIMERS SETTING ALARM OFF DLY. TIM15 ##.##
UGR003/0900 UCR-150L Robot
OPERATION 4-15
A
DJUSTING
TRAVERSE MOVEMENT
When changing to a new mold, the traverse (horizontal) move­ment of the arm may need adjusted. To adjust the traverse movement:
Press the Manual button on the control to
place the robot in manual mode.
Move the main arm to the Home position
using the control buttons.
Lower the main arm into the open mold and
see if the grip is centered over the mold. If it is not, you need to adjust the traverse movement.
Retract the main arm to the Home position.
This locks the main arm vertically.
Turn off the air pressure to the robot and
drain the air.
1 2
Connect the air line and turn air on. Using the manual control buttons, extend the
main arm and grip. Check alignment with the mold and sprue. If alignment is incorrect, repeat steps 4 - 7 until alignment is correct.
Press the Mon I/O button on the control.
The Home input (LSH) should be ON (O). If it is OFF (X) move the Home actuator on the back of the traverse beam until the Home input registers ON.
3
7 8
9
Shock absorber
4 5
EQUIPMENT DAMAGE
Always turn off and drain air from the robot before adjusting the traverse movement. Damage can occur to equipment!
Adjust the shock absorber until it is set
completely against the arm and the arm is centered verti­cally over the sprue. Lock the shock absorber by tighten­ing the locknut.
6
UCR-150L Robot UGR003/0900
4-16
OPERATION
R
ESTARTING
AUTOMATIC OPERATION
To restart the automatic operation cycle when the robot stops due to a part/sprue pickup failure:
Press the Stop button.
1
CAUTION: Clearing mold area.
It is the responsibility of the operator to check and clear the mold area is clear after a missed parts condition. Follow all warnings and precau­tions for the mold machine before removing parts. Do not enter maximum envelope area while machine is operating.
Open the safety door and verify that there is
no part/sprue in the mold. If there is, remove it manually.
Press the Manual button. Use the Motion Control buttons
to return the main arm to the home position.
2 3
4
Start the mold machine in Auto mode. Press the Auto/Recycle button on the
hand control. The robot begins automatic opera­tion and the LCD displays the Auto Mode mes­sage:
5 6
When an error occurs during operation, the robot stops, an alarm sounds and the error code displays on the hand control. Press the Stop button to silence the alarm. Go to the
Troubleshooting section to correct any problems.
ANSWERING AN ALARM
5-1
UGR003/0900 UCR-150L Robot
Maintenance Features . . . . . . . .5-2
Warnings and Cautions . . . . . . .5-2
Preventative Maintenance
Schedule . . . . . . . . . . . . . . . . .5-4
Checking Electrical
Connections . . . . . . . . . . . . . .5-6
MAINTENANCE
WARNINGS AND CAUTIONS
The UCR-150L Robot models need regular, scheduled mainte­nance for peak performance. Among the features that require maintenance are:
Mechanical partsElectrical parts
M
AINTENANCE
FEATURES
UCR-150L Robot UGR003/0900
5-2
MAINTENANCE
To maintain the best performance of the robot, it must be inspected regularly. Maintenance includes a daily, weekly, quarterly, and semi-annual (every 6 months) schedule.
Use this maintenance schedule as a guide. You may need to shorten the time of the maintenance schedule, depending on how often you use the robot. Follow all precautions and warnings when working on the equipment.
WARNING: Improper installation, operation, or servicing may result in equipment damage or personal injury.
This equipment should only be installed, adjust­ed, and serviced by qualified technical person­nel who are familiar with the construction, oper­ation, and potential hazards of this type of machine.
Be sure the robot has proper clearance to avoid structures, utilities, overhead cranes, material hoppers and loading pipes, as well as other machines and equipment.
Be sure that the maximum envelope is clearly marked and protected from entry by personnel during operation.The maximum envelope is the volume of space encompassing the maximum designed movement of ALL robot parts, includ­ing the end of arm tooling, work piece and attachments.
UGR003/0900 UCR-150L Robot
MAINTENANCE 5-3
WARNING:Voltage Hazard
This equipment is powered by alternating cur­rent, as specified on the machine serial tag and data plate.
Device must be properly grounded. Improper grounding can result in severe personal injury and erratic machine operation.
Always disconnect and lock out the incoming main power source to the robot before perfor m­ing non-standard operating procedures such as routine maintenance. Only qualified personnel should perform troubleshooting procedures that require access to the electrical enclosure while power is on.
All wiring, disconnects, and fuses should be installed by qualified electrical technicians in accordance with electrical codes in your region. Always maintain a safe ground. Do not operate the equipment at power levels other than what is specified on the machine serial plate.
WARNING: High speed moving parts.
Do not enter maximum envelope area while machine is operating.The maximum envelope is the volume of space encompassing the maxi­mum designed movement of ALL robot parts, including the end of arm tooling, work piece and attachments.
Do not operate machine unless interlocks/safety devices are in place and function properly.
Robot may drop load. Do not walk under robot/ load. Failure to follow instructions could result in injury.
UCR-150L Robot UGR003/0900
5-4
MAINTENANCE
P
REVENTATIVE
MAINTENANCE SCHEDULE
To maintain the best performance, follow this maintenance schedule.
Daily
Inspecting filter regulator unit
Check the bowl for water and contamination and for correct pressure.
Checking hoses and cables
Check for kinks, cuts, and tears. Replace as needed.
Inspecting shock absorbers and cushions
Make sure they are operating smoothly.
Checking gripper return spring
Check that the gripper return spring is operating prop­erly.
Checking residue buildup
Inspect the shafts and gripper for buildup of plastic residue. Clean as necessary.
Checking interlock functions
Make sure the interlock functions are working proper­ly.
Checking part verification
Check that the parts verification is working properly.
Weekly, or as often as needed.
Inspecting fittings and mounting hardware
Check all fittings, screws, and component mounting hardware for tightness. Tighten as needed.
Checking gripper mounting screw
Check the gripper mounting screw for tightness. Tighten as needed.
Inspecting grease fittings
Check grease fittings and grease with lithium soap grease No. 1 or 2, as needed.
Checking the safety latch cylinder
Make sure the safety latch cylinder is working proper­ly.
Testing the Emergency Stop button
Verify that the emergency stop works properly.
UGR003/0900 UCR-150L Robot
MAINTENANCE 5-5
P
REVENTATIVE
MAINTENANCE SCHEDULE
Checking angle of rotation
Check for correct angle of rotation of the arm. Adjust as necessary.
Checking timer settings
Check that settings have not changed. Adjust as need­ed.
Verifying sequence
Check that robot is performing the correct sequences. Correct as needed.
Monthly
Inspecting the filter regulator
Check that the filter regulator is set at the correct pres­sure. Check the filter and clean or replace it as needed.
Checking the solenoid valves
Check that the solenoid valves are working properly. Replace as needed.
Inspecting the gripper for wear
Check the gripper fingers for wear. Replace as needed.
Checking the exhaust filter
Check the filter and clean or replace it as needed.
Examining the suction cups
Inspect the suction cups and replace if worn or dam­aged.
Inspecting electrical terminals
Check all electrical terminals for tightness; adjust as needed. See Checking Electrical Connections, in the Maintenance section.
Checking all electrical cables
Inspect all electrical cables for cuts and abrasions. Replace as needed.
Inspecting hand pendant display
Check to make sure no LCD display is functioning correctly. Replace as needed.
Be sure the main power is disconnected
and the robot is locked out. Always disconnect and lock out the main power source before opening the unit or ser­vicing.
Open the electrical enclosure. Inspect all wires and connections
.
Look for loose wires, burned contacts, and signs of over­heated wires. Have a qualified electrician make any nec­essary repairs or replacements.
Close the electrical enclosure door. Inspect the exterior power cords.
Cords should not be crimped, exposed, or rubbing against the frame. If the interface cable or hand pendant cable runs along the floor, make sure it is not positioned where it could rest in pooling water or could be run over and cut by wheels or casters.
C
HECKING
ELECTRICAL CONNECTIONS
UCR-150L Robot UGR003/0900
5-6
MAINTENANCE
WARNING: Electrical hazard
Before performing any work on this product,
disconnect and lock out electrical power sources to prevent injury from unexpected ener­gization or start-up.
WARNING: Improper installation, oper­ation, or servicing may result in equipment damage or personal injury.
This equipment should only be installed, adjust­ed, and serviced by qualified technical person­nel who are familiar with the construction, oper­ation, and potential hazards of this type of machine.
All wiring, disconnects, and fuses should be installed by qualified electrical technicians in accordance with electrical codes in your region. Always maintain a safe ground. Do not operate the equipment at power levels other than what is specified on the machine serial tag and data plate.
1
2 3
4 5
Electrical Diagrams are in the Appendix.
6-1
UGR003/0900 UCR-150L Robot
Before Beginning . . . . . . . . . . . .6-2
A Few Words of Caution . . . . . .6-2
Identifying the
Cause of a Problem . . . . . . . . .6-2
Answering an Alarm . . . . . . . . .6-3
The Robot Does Not Cycle . . . .6-4
The Mold is Not
Working Properly . . . . . . . . . . .6-5
The Arm is Not
Working Properly . . . . . . . . . . .6-6
The Strip Motion is Not
Working . . . . . . . . . . . . . . . . .6-7
There is No Horizontal
Motion . . . . . . . . . . . . . . . . . . .6-8
The Gripper Does Not Work . . . .6-9
There is No Vacuum . . . . . . . . .6-10
TROUBLESHOOTING
IDENTIFYING THE CAUSE OF A PROBLEM
You can avoid most problems by following the recommended installation, operation and maintenance procedures outlined in this User Guide. If you have a problem, this section will help you determine the cause and tell you how to fix it.
Find any wiring, parts, and assembly diagrams that were shipped with your equipment. These are the best reference for correcting a problem. The diagrams will note any custom fea­tures or options not covered in this User Guide.
Verify that you have all instructional materials related to the robot. Additional details about troubleshooting and repairing specific components are found in these materials.
Check that you have manuals for other equipment connected in the system. Troubleshooting may require investigating other equipment attached to, or connected with the robot.
B
EFORE
BEGINNING
UCR-150L Robot UGR003/0900
6-2
TROUBLESHOOTING
A FEW WORDS
OF
CAUTION
WARNING: Improper installation, oper­ation, or servicing may result in equipment damage or personal injury.
This equipment should only be installed, adjust­ed, and serviced by qualified technical person­nel who are familiar with the construction, oper­ation, and potential hazards of this type of machine. All wiring, disconnects, and fuses should be installed and adjusted by qualified electrical technicians in accordance with electrical codes in your region. Always maintain a safe ground. Do not operate the equipment at power levels other than what is specified on the machine serial tag and data plate.
WARNING: Electrical hazard
Before performing maintenance or repairs on this product, disconnect and lock out electrical power sources to prevent injur y from unexpect­ed energization or start-up.
The Troubleshooting section covers problems directly related to the operation and maintenance of the robot. This section does not provide solutions to problems that originate with other equipment. Additional troubleshooting help can be found in manuals supplied with the other equipment.
UGR003/0900 UCR-150L Robot
TROUBLESHOOTING 6-3
A
NSWERING AN
ALARM
When an error occurs during operation, the robot stops, an alarm sounds and the error code displays on the hand control. Press the Stop button to silence the alarm. Check this table for a description of the error:
Error Display
LS1 SWITCH ERROR OR NOT ACTUATED CHECK LS1 SWITCH
LS2 SWITCH ERROR OR NOT ACTUATED CHECK LS2 SWITCH
LS3 SWITCH ERROR OR NOT ACTUATED CHECK LS3 SWITCH
LS4 SWITCH ERROR OR NO PARTS VERIF. CHECK LS4 SWITCH
TIMER#08 ERROR CYCLE TIM EXCEEDED CHECK TIM 08
LSO SWITCH ERROR OR INTERUP. SIGNAL CHECK LSO SWITCH
LSD SWITCH ERROR OR NOT ACTUATED CHECK LSD SWITCH
LSG SWITCH ERROR OR NOT ACTUATED CHECK LSG SWITCH
LSP SWITCH ERROR OR NOT ACTUATED CHECK LSP SWITCH
LSH SWITCH ERROR OR NOT IN HOME CHECK LSH SWITCH
Area of problem
LS-1 swing-out proximity switch error or the switch was not actuated.
LS-2 swing-in proximity switch error or the switch was not actuated.
LS-3 arm-up proximity switch error or the switch was not actuated.
LS-4 part (grip) verification switch error or the switch was not actuated.
The Timer 08 cycle time is over.
LS-0 mold fully open switch error.
LS-D arm descend end proximity switch error or the switch was not actuated.
LS-G safety gate signal error.
LS-P vacuum verification switch error or the switch was not actuated.
LS-H robot home position switch error or robot not at home position.
UCR-150L Robot UGR003/0900
6-4
TROUBLESHOOTING
T
HE ROBOT
DOES NOT
CYCLE
There are several reasons the robot does not cycle. You need to check electrical connections, fuses, and the automatic set­ting.
Symptom
The robot does
not cycle.
Automatic oper-
ation is not avail­able.
Possible cause
Electrical connections
are not correct.
The press is not set for auto.
The robot is not in Home position.
Solution
Check that:
The robot is plugged into a
power source.
The main power source is
on.
The interface cables are
connected.
The fuses are good.The power to the press is
on.
Check that the interface wiring is properly connected.
Return the robot to Home using the Manual button on the hand control.
UGR003/0900 UCR-150L Robot
TROUBLESHOOTING 6-5
Symptom
The mold does
not close.
The mold does
not open.
Possible cause
The arm is not in the full up position, or at the swing outward end.
The safety interlock is on.
The part verification sig­nal is not working.
The optional cycle start signal is not working.
The arm is not in the full up position, or at the swing outward end.
The safety interlock is on.
Solution
Check the Arm Up (LS-3) and Swing Outward End (LS-1) switches and adjust as needed.
Check the output and wiring.
Check that the part verification is on. Replace the switch if necessary.
Check the output and wiring.
Check the Arm Up (LS-3) and Swing Outward End (LS-1) switches and adjust as needed.
Check the output and wiring.
The common problems you will see with the mold are that it will not close or it will not open. You need to check settings and electrical connections.
T
HE MOLD IS
NOT
WORKING
PROPERLY
T
HE ARM IS
NOT
WORKING
PROPERLY
UCR-150L Robot UGR003/0900
6-6
TROUBLESHOOTING
The problems you will see with the arm is that it will not extend or retract properly. Check electrical wiring, switches, valves, and air lines.
Symptom
There is no arm extension (no arm down).
There is no arm retraction (no arm up).
Possible cause
There is no air pressure.
The mold is not fully open.
The robot is not swung fully in or fully out.
Vertical stroke adjust­ment block is set too low.
The arm down flow con­trol is shut off.
The main arm solenoid valve is not functioning.
The air lines/seals are damaged or leaking.
There is no air pressure.
The up solenoid is not functioning.
Solution
Check air supply to the robot. Check for leaks.
Check that the interface wiring is correct.
Check the LS-1 and LS-2 switches and adjust as neces­sary.
Loosen stroke adjustment block and set higher to correct stroke.
Adjust the down speed control; replace as needed.
Replace the main arm solenoid valve.
Check air lines and seals; replace as needed.
Check air supply to the robot.
Replace the up solenoid valve.
UGR003/0900 UCR-150L Robot
TROUBLESHOOTING 6-7
When the strip is not working properly, it does not move for­ward or backward. You need to adjust the strip speed control, replace the valve, or check the air lines.
S
TRIP MOTION
IS NOT
WORKING
Symptom
There is no strip forward motion.
There is not strip backward motion.
Solution
Check air supply to the robot. Check for leaks.
Check strip stroke adjustment for proper distance.
Adjust the strip forward speed control; replace as needed.
Check the strip valve and replace as needed.
Check air lines and seals and replace as needed.
Check air supply to the robot. Check for leaks.
Check strip stroke adjustment for proper distance.
Adjust the strip backward speed control; replace as need­ed.
Check the strip valve and replace as needed.
Check air lines and seals and replace as needed.
Possible cause
There is no air pressure.
Strip stroke adjustment set too short.
The strip forward speed control is shut off.
The strip valve is not functioning.
The air lines/seals are damaged or leaking.
There is no air pressure.
Strip stroke adjustment set too short.
The strip backward speed control is shut off.
The strip valve is not functioning.
The air lines/seals are damaged or leaking.
UCR-150L Robot UGR003/0900
6-8
TROUBLESHOOTING
Causes for the no horizontal motion are due to switches and air lines. Check switches and check for air leaks.
T
HERE IS NO
HORIZONTAL MOTION
Symptom
The swing does
not move.
Possible cause
There is no air pressure.
The arm is not in the full up position.
The swing inhibitor devices used during ship­ping is still attached.
Part verification is not on (during Auto mode).
The swing flow controls are shut off.
The air lines/seals are damaged or leaking.
Solution
Check the air supply to the robot.
Check the arm up switch and adjust as needed.
Remove the swing bracket and the screws used during ship­ping. See Positioning the
Robot, in the Installation sec-
tion.
Check and adjust the verifica­tion switches as needed.
Adjust the swing speed con­trol; replace as needed.
Check air lines and seals and replace as needed.
UGR003/0900 UCR-150L Robot
TROUBLESHOOTING 6-9
When the gripper does not grab the sprue, check the solenoid, switches, and the air lines.
T
HE GRIPPER
DOES NOT
WORK
Possible cause
There is no air pressure.
The arm is not in mold or extended over gate (dur­ing Manual mode).
The grip solenoid is not working properly.
The air lines/seals are damaged or leaking.
The part/sprue is sticking to the mold.
Main grip is not selected in Program mode.
Gripper is faulty.
Solution
Check the air supply; adjust as needed.
Extend the arm in the mold or over gate area.
Replace the grip solenoid.
Check air lines and seals and replace as needed.
Adjust the ejector stroke. Correct the mold problem.
Place grip on in Program mode.
Check gripper for broken spring or cracked housing. Replace as needed.
Symptom
The gripper does
not work.
UCR-150L Robot UGR003/0900
6-10
TROUBLESHOOTING
When the vacuum is not working, check settings, air line problems, and bad solenoids.
T
HERE IS NO
VACUUM
Symptom
There is no vac-
uum.
Possible cause
The air pressure is incor­rect.
The mode setting is incor­rect.
The vacuum solenoid is not working properly.
The air lines/seals are damaged or leaking.
The part/sprue is sticking to the mold.
Solution
Check the air pressure. Adjust as needed.
Set the mode for vacuum.
Replace the vacuum solenoid.
Check the air lines and seals and replace as needed.
Adjust the ejector stroke. Correct the mold problem.
UGR003/0900 CUSTOMER SERVICE
APPENDIX A-1
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:
From outside the United States, call: 814-437-6861
You can commission Conair service personnel to provide on­site 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:
Make sure you have all model, serial and parts list numbers
for your particular equipment. Service personnel will need this information to assist you.
Make sure power is supplied to the equipment.Make sure that all connectors and wires within and between
the robot and related components have been installed cor­rectly.
Check the troubleshooting guide of this manual for a solu-
tion.
Thoroughly examine the instruction manual(s) for associat-
ed equipment, especially controls. Each manual may have its own troubleshooting guide to help you.
Check that the equipment has been operated as described in
this manual.
Check accompanying schematic drawings for information
on special considerations.
B
EFORE YOU
CALL ...
H
OW TO
C
ONTACT
C
USTOMER
SERVICE
Additional manuals and prints for your Conair equipment may be ordered through the Customer Service or Parts Departments for a nominal fee.
W
ERE HERE
TO
HELP
GUARANTEE/WARRANTY UGR003/0900
A-2 APPENDIX
E
QUIPMENT
GUARANTEE
P
ERFORMANCE
WARRANTY
W
ARRANTY
LIMITATIONS
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 recom­mended (except for parts that are typically replaced after normal usage, such as filters, liner plates, etc.). Conair’s guarantee is limited to repairing or 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 the 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 misapplica­tion, 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
subject 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 war­ranties with respect to the equipment, express or implied, arising by operation of law, course of dealing, usage of trade or otherwise, including but not limited to the implied warranties of merchantability and fitness for a particular purpose.
E
LECTRICAL
DIAGRAMS
UGR003/0900 ELECTRICAL DIAGRAMS
APPENDIX B-1
System Configuration PC-E IV Control
ELECTRICAL DIAGRAMS UGR003/0900
B-2
APPENDIX
E
LECTRICAL
DIAGRAMS
Robot and IMM Interface PC-E IV Control
UGR003/0900 ELECTRICAL DIAGRAMS
APPENDIX B-3
Solenoid and Limit Switch Wiring PC-E IV Control
E
LECTRICAL
DIAGRAMS
ELECTRICAL DIAGRAMS UGR003/0900
B-4
APPENDIX
E
LECTRICAL
DIAGRAMS
Relay and IMM Interface PC-E IV Control
S
OLENOID
VALVES
UGR003/0900 Solenoid Va vles
APPENDIX C-1
CAUTION: Equipment damage hazard
Only manually set and operate these solenoid valves when the mold is fully open.This sole­noid valves will operate and the pneumatic cir­cuit changes irrespective of the conditions of the other solenoid valves and the mold machine. Manually operation the solenoid valves make the safety interlock if effective. Damabe to the robot and mold can occur and injury to the oper­ator can occur if the mold is not fully open when setting and operating the solenoid valves.
C
A
E
B
F
D
A B C D E F
Slide cylinder, up/down Vacuum (optional) Main arm grip Strip Cylinder (forward/backward) Main arm cylinder (ascend/descend) Traverse cylinder (outward/inward)
P/D 1
IMR004/0800 UCR-150L Robot
Base . . . . . . . . . . . . . . . . . . . .P/D-2
Traverse Cylinder . . . . . . . . . .P/D-4
Valve . . . . . . . . . . . . . . . . . . . .P/D-6
Valve Parts . . . . . . . . . . . . . . .P/D-8
Slide Base . . . . . . . . . . . . . .P/D-10
Strip Cylinder . . . . . . . . . . . .P/D-12
Main Arm . . . . . . . . . . . . . . .P/D-14
Main Arm Slide Unit . . . . . . .P/D-16
Main Cylinder . . . . . . . . . . . .P/D-18
Wrist Flip . . . . . . . . . . . . . . .P/D-20
Wrist Flip Cylinder . . . . . . . .P/D-22
Grip Assembly . . . . . . . . . . .P/D-24
Gripper . . . . . . . . . . . . . . . . .P/D-26
Controller . . . . . . . . . . . . . . .P/D-28
PARTS/D
IAGRAMS
UCR-150L Robot IMR004/0800
P/D-2
PARTS/DIAGRAMS
P
ARTS/LISTS
Base
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-3
Ref.
A1 1R
1L 2 3 4 6 7 8 10 11 13 14 15 16 19 20 21 42
Part No.
20A9020 20A0321
20A0331 20A0071 LM25B130 20A0361 20A0091 20A0111 KBM11-25-2 20A0295 HPC-50 20A0311 20A0231 CKD-W3 1/4-9.5S 20A0261 20A0271 20A0281 20A0121
PX8-02
Description
Filter Regulator Assembly Base (operator side release)
Base (rear side release) Traverse Beam LM Guide, Beam Axes Rail, Mounting, LS Actuator Plate, Protect, LM-Guide Bracket, Mounting., Beam Shock Shock Absorber Plate, Holder, Cable Track Cable Track, Beam Tray, Cable Track Arm, Suppor t, Guide Rail Filter Regulator Fitting, Hose Joint Actuator, LS-9 Nut, Fix, LS Actuator Actuator, LS-2 Block, Joint, Beam Cylinder Rod
Fitting
Quantity
1 1
1 1 2 1 1 2 2 1
42
1 2 1 1 2 3 1 1
1
Base
UCR-150L Robot IMR004/0800
P/D-4
PARTS/DIAGRAMS
P
ARTS/LISTS
Traverse Cylinder
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-5
Ref.
A2
6 30 31 32 33 34 35 36 37 40 41 42 43 44 45 47 48 87 252
Part No.
20A9000 20A9010
20A0091 20A0011 DM121810 20A0021 20A0031 20A0032 20A0041 20A0042 20A0051 20A0101 11D0191 20A0121 20A0131 AN05 20A0141 20A0171 20A0181 20A0341 FJ0018
GLY-12 P-22A PGY-25 SWB-25 JSC6-01 JSS6-01
Description
Assemly, Traverse Cylinder, Fixed Assemly, Traverse Cylinder, Moveable
Plate, Protect, LM-Guide Cap, Front, Traverse Cylinder Bush Piston, Traverse Cylinder Rod, Traverse Cylinder, fixed Rod, Traverse Cylinder, moveable Pipe, Traverse Cylinder, fixed Pipe, Traverse Cylinder, moveable Cap, Rear, Traverse Cylinder Cushion, Rubber Cushion Rubber, B Block, Joint, Traverse Cylinder Rod Block, Joint, Traverse Cylinder Nut, Fix, Traverse Cylinder Stopper, Traverse Cylinder, 30 dia. Bracket, Support, Traverse Cylinder Bush, Hold, Traverse Cylinder Base, Support, Slide Base Free Joint
Seal Seal Seal Wear Ring Speed Controller Speed Controller
Quantity
1 1
1 1 1 1 1 1 1 1 1 1 2 1 1 1 1 2 2 1 1
1 2 2 1 3 1
Traverse Cylinder
UCR-150L Robot IMR004/0800
P/D-6
PARTS/DIAGRAMS
P
ARTS/LISTS
Valve
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-7
Ref.
B7 36
50 51 51-1 51-2 53 55 60-2 63 65
Part No.
20B9065 MR-R19
20B0121 180MF7 180-4E2 180-4E1 SL-02 VC0021 20B9001SP 20B0135 SPS-S40-24
SR-02 PL4-01 PL6-01 PL8-02 PLL8-02 PLL6-01 PAX4-01 PD6-01 PL8-01
Description
Assembly, V alv e/Fitting Switch, On/Off, OBO
Case, Valve Bank Base, Mount, Valve Valve Valve Muffler Spacer, Grip Valve Assembly, I/O Relay Board Cover, Case, Valve Bank Power Supply Unit
Silencer Fitting Fitting Fitting Fitting Fitting Fitting Fitting Fitting
Quantity
1 1
1 1 1 5 1 1 1 1 1
2 3 1 1 2 1 1 1 2
Valve
UCR-150L Robot IMR004/0800
P/D-8
PARTS/DIAGRAMS
P
ARTS/LISTS
Valve Parts
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-9
Ref.
B2 B3
50 54 56 57 58 59 73
Part No.
20B9002 20B9003
20B0121 BN-4AV43-8A AV-10H3.5J MF1011 VG-01 SK-401 U3-FA1
PL6-01 JSU6 JSC6-01 PD6-01 PL6-01 PL4-01
Description
Assembly, V acuum Unit Valve Assembly, Second Down Seed
Case, Valve Bank Mechanical V alv e Generator , Vacuum Manifold Pressure Gauge Connector, Air Bracket, Fix, Cable Track
Fitting Speed Controller Speed Controller Fitting Fitting Fitting
Quantity
1 1
1 1 1 1 1 1 2
2 1 1 1 1 1
Valve Parts
UCR-150L Robot IMR004/0800
P/D-10
PARTS/DIAGRAMS
P
ARTS/LISTS
Slide Base
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-11
Ref.
11 80 81 82 83 84 85 86 87 88 89 90 93 94 95 112 113
Part No.
LCS R-50 20C0011 20C0021 20C0031 20C0041 KBM11-25-2 LM25B46 DAC50X250 20A0341 20A0201 20A0381 20A0351 20C0101 YSA10DC-50B YSA10DC FJ1014 LS-04N
PL8-02 JSC8-02
Description
Cable Track Slide Base Shock Absorber Holder, Upper Holder, Slide Down Shock Bracket, Stop, Slide Down Shock Absorber LM-Guide Cylinder Plate, Support, Slide Base Backet, Holder, Cable Tack Arm Mounting, Cable Track Holder Plate, Mounting, Proximity Switch Base, Strip Frame Band, Fix Proximity Switch Floating Joint Proximity Switch
Fitting Speed Controller
Quantity
35
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
1 1
Slide Base
UCR-150L Robot IMR004/0800
P/D-12
PARTS/DIAGRAMS
P
ARTS/LISTS
Strip Cylinder
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-13
Ref.
D15 93
94 95 96 98 99 100 103 104 105 106 107-2 114 115 116
120 121 122 123 124 130 131
Part No.
20D9220 20C0101
10C0192 10C0211 100221 20C0121 20C0251 1C0081 20C0221 DAC25X125 10C0141 SC1415-2 1C0101 LSC R-50 20C0211 U3-MA0-LS U3-MA0-RS 2KR002M 2KR002F PR2715R50 20KR1011 1KR1011 H06-40 H06-40
JSC4-01 JSS4-01
Description
Assembly, Holder, Main Arm Base, Strip Frame
Plate, Front, Strip Frame Side Plate A, Strip Frame Side Plate B, Strip Frame Shaft, Strip Slide, 20 dia Actuator, Frame Up End Label, Measure Support, Plate, Strip Cylinder Cylinder Bracket B, Shock Absorber Mounting Shock Absorber Bracket, Stop, Shock Absorber Cable Track Bracket, Cable Track Mount Bracket Fixed, Cable Track (L) Bracket Fixed, Cable Track Bracket, Strip Cable Track Bracket, Strip Cable Track Cable Track, Strip Axis Support, Strip Cable Track Spacer, Side Plate Clamp Lever Clamp Lever
Speed Controller Speed Controller
Quantity
1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1 1
1 2 1 1 1 1
Strip Cylinder
UCR-150L Robot IMR004/0800
P/D-14
PARTS/DIAGRAMS
P
ARTS/LISTS
Main Arm
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-15
Ref.
D11 D25 92
146 148 151 152 153 281 282 283 290 291 292-1 292-2 293-1 293-2 294 295 296
Part No.
20D9001L D9191 PS-05NE
10D0961 TANSI16P 20D0501 CL12-5 LS-04NV 20D0491 20C0161 NK-8N 2KR0041 2KR0051 U2-FA0-LS U2-FA0-RS U2-MA0-LS U2-MAO-RS PR2018R45 C0131 GR0051
PC8-01 P;6-01 PL4-M5
Description
Assembly, Main Arm, L = 700 Assembly, Gripper W/LS-4 Proximity Switch
Actuator, LS-3 Terminal, P6 Bracket, Mounting, Main Cylinder Lock Main Arm Lock Cylinder Proximity Switch Plate, Mounting, LS-3 Plate, Mounting, LS-11 Vinyl Code Clip (S) Plate, Mounting, Cable Track Bracket, Vertical Cable Track Bracket, Cable Track, FL Bracket, Cable Track, FR Bracket, Cable Track, ML Bracket, Cable Track, MR Cable Track, V ertical Indicator, Strip Stroke Plate, Mounting, Gripper
Fitting Fitting Fitting
Quantity
1 1 2
1 1 1 1 1 1 1 1 1 1 1 1 1 1
29
1 1
1 1 1
Main Arm
UCR-150L Robot IMR004/0800
P/D-16
PARTS/DIAGRAMS
P
ARTS/LISTS
Main Arm Slide Unit
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-17
Ref.
D10 D11 D14 D15 101
102 117 118 131 141 154 280 285 286 287 291
Part No.
20D9031 20D9060 20D13-1 20D9220 20C0241
LM20UU 1D0171 SCD2035-2 21D0201 D0231 21D0571 21D0112 21D0171 21D0502 21D0181 21D0121
S-22.4 S-26
Description
Assembly, Main Arm without Wrist Assembly, Main Cylinder, L=700 Asssembly, Wrist Flip Unit Assembly, Holder, Main Arm Holder, Main Arm
Bearing, Strip Slide Bushing, Main Metal Bushing, Main Rod Stopper, Main Arm Bushing, Main Rod Bushing, Main Metal Pipe, Slide, Main Arm, L=700 Plate, Hold, Main Cylinder Block, Mounting, Main Slide Plate, Support, Main Cylinder Cap, Slide Pipe
Seal Seal
Quantity
1 1 1 1 1
4 2 1 1 1 1 1 2 1 1 1
1 1
Main Arm Slide Unit
UCR-150L Robot IMR004/0800
P/D-18
PARTS/DIAGRAMS
P
ARTS/LISTS
Main Cylinder
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-19
Ref.
D11 D12 120
122 123 124 125 126 127
Part No.
20D9060 20D9065 20A0055
D1151 D0041 D0051 20D0061 D0081 21D0241
PCS-10 PGY-25 SWB-25 P-10 P-22A
Description
Main Cylinder Assembly, L=700 Assembly, Rod and Piston Main Cap, Main Cylinder
Nut, Air Cushion Piston, Main Cylinder Collar, Piston, Main Cylinder Rod, Main Cylinder, L=700 Cap, Main Rod End Pipe, Main Cylinder, L=700
Seal Seal Wear Ring Seal Seal
Quantity
1
1 1 1 1 1 1 1
1 2 1 1 1
Main Cylinder
UCR-150L Robot IMR004/0800
P/D-20
PARTS/DIAGRAMS
P
ARTS/LISTS
Wrist Flip
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-21
Ref.
D13 D14 148
153 300 301 302 305 306 307 308 309 310
Part No.
20D9021 20D13-1 TANSI6P
LS-04NV 20D0471 20D0441 20FC011 20D0261 DM0606FB 20D0281 20D0262 20D0271 200331
POC4-M5 PL4-M5 PL6-M5 PFM5 JSC4-M5
Description
Assembly, Wrist Cylinder Assembly, Wrist Unit Terminal, P6
Proximity Switch, LS-04NV Housing, Wrist Unit Shaft, Pivot, Wrist Cylinder, (A) Collar Bracket, Arm Swing (A) Bushing Shaaft, Wrist Cylinder End (B) Bracket, Arm Swing (B) Plate, Mounting, EOAT Actuator, LS
Fitting Fitting Fitting Fitting Speed Controller
Quantity
1 1 1
2 1 2 2 1 2 1 1 1 1
3 3 1 2 2
Wrist Flip
UCR-150L Robot IMR004/0800
P/D-22
PARTS/DIAGRAMS
P
ARTS/LISTS
Wrist Flip Cylinder
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-23
Ref.
D13 D16 D17 D18 200
201 202 203 204 206 302
Part No.
20D9021 20D9050 20D9040 20D9130 20D0451
DM081210 20D0191 20D0201 20D0461 20D0221 DM0810FB
P-24 PSD-30 SWB-30 P-8
Description
Assembly, Wrist Cylinder Assembly, Cap, Rear, Wrist Cylinder Assembly, Piston Rod, Wrist Cylinder Assembly, Cap, Front, Wrist Cylinder Cap, Rear, Wrist Cylinder
Bushing Piston, Wrist Cylinder Rod, Wrist Cylinder Cap, Front, Wrist Cylinder Pipe, Wrist Cylinder Bushing
Seal Packing Wear Ring Seal
Quantity
1 1 1 1 1
1 1 1 1 1 2
3 1 1 1
Wrist Flip Cylinder
UCR-150L Robot IMR004/0800
P/D-24
PARTS/DIAGRAMS
P
ARTS/LISTS
Gripper Assembly
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-25
Ref.
D12
Part No.
D9191
Description
Assembly, Gripper, with LS-4
Quantity
1
Gripper Assembly
P
ARTS/LISTS
Gripper
UCR-150L Robot IMR004/0800
P/D-26 PARTS/DIAGRAMS
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-27
Ref.
D13 D14 D15 98
99 100 101 102 103 104 106 107 108 109 110 111 112 115
Part No.
D9230 D9220 D9211 D0841
D0591 D0873 D0621 D0881 D0661 D0671 D1161 D0681 D0691 D0702 GXL-8F D0902 8130030 GR0011
MY-20
Description
Assembly, Finger Cap Set, Fingers Set, Proximity and Mounting, LS-4 Block, Mounting, Gripper
Piston, Gripper Wedge, Gripper with ver. Spring, Return, Piston Body, Gripper with ver. Bracket, Cable Cover, LS-5 Finger, Gripper Spring, Finger Open Roller, Finger, Gripper Pin, Finger Roller, Gripper Collar, with Flange, Gripper Switch, Proximity Plate, Mounting, Proximity Switch Metal Insert, Mounting, LS-4 Plate, Support, Finger
Seal
Quantity
1 1 1 1
1 1 1 1 1 1 1 2 2 2 1 1 2 2
2
Gripper
P
ARTS/LISTS
UCR-150L Robot IMR004/0800
P/D-28
PARTS/DIAGRAMS
Controller
IMR004/0800 UCR-150L Robot
PARTS/DIAGRAMS P/D-29
Ref.
35 701 702 703 704 705 706 707 708 709 710 711 712 713 800 803 804 805 806 806
Part No.
SPS-S40-24 HC1001 HC1011 AB6-V KEY-G1205A HC1021 LCM-20X4 HW-CB116B ROM KB25-1-25-4 HC1031 HC1041 HC1051 HC1061 KB24-09-08VH 20B9001SP G6B-1174P 51SB24T KB24-1-24-6 KB24-1-24-8
CNT-00051
Description
Power Supply Unit, Max Rax Upper Cover, Pendant Lower Cover, Pendant Switch, Emergency Stop Keyboard Panel, PCE-IV Plate, Keyboard Support LCSD Display with Board PCB, Pendant-CNT. Electrical ROM Cable/Connector to Robot Screw A Screw B Spacer C Spacer D Connector, 24P I/O Electrical Board Relay A Relay B Cable/ Connector to Press, 6m (std) Cable/ Connector to Press, 8m (option)
Controller, PCE-IV
Quantity
1 1 1 1 1 1 1 1 1 1 6 4 2 4 1 1 2 5 1 1
1
Controller
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