Hướng Dẫn Sử Dụng Robot 3 Servo

SINROBOT
xPad 3-6 Axis

Control System
User Guide
Injection molding machine special robot control system
SINROBOT Technology Co., Ltd
2019-10-31
2019©新睿电子科技有限公司
目录
1 Main Interface Description............................................ 2
1.1 Basic blocks .................................................... 2
1.2 Status Flag Description ......................................... 3
1.3 User Rights Description ......................................... 3
2 Function description ................................................. 6
2.1 Prepare before finding the origin ............................... 6
2.2 Servo Setup Description ......................................... 8
2.5 Port Settings Description ...................................... 30
2.7 alarm .......................................................... 32
2.8 Adjustment ..................................................... 34
2.14 Teaching ....................................................... 44
Standard teaching interface ......................................... 44
3.14 Program Initialization ......................................... 79
4 Alarm Information Schedule........................................... 80
5 Instructions for using the robot centralized monitoring software ..... 89
6 Absolute encoder instructions........................................ 97
6.1 Servo driver settings .......................................... 97
6.2 Description of setting absolute value parameter in manual
controller .......................................................... 99
7 Revision History ................................................... 104
1 Main Interface Description
1.1 Basic blocks
After the boot is completed, the main screen is automatically
entered. The main screen of the origin is shown below：
Restricted user
Current program:
rights: click
Click here to enter
here to switch
the program
to use
management
Origin permissions
interface.
status:
The system
Do not return time: click

to the origin here to set the
of the X Operating status system time
display: an
Click here to set
operation (grayed
the global speed
out), manual servo
(according to
green), automatic
standby,
automatic, etc
And servo position servo operation

area Functional
Display, green, click on the menu: point
corresponding shaft name, Corresponding
operational servo operation name can enter
the
corresponding
menu
1.2 Status Flag Description
The servo has no reference point (the servo has not passed
the return-to-origin operation after the system is powered
on)
The servo reference point has been determined (the servo is

returned to the home position after the system is powered on)
Manual mode: When the system is green, the system currently

allows manual operation, gray does not allow manual
operation.。
Auto Standby: Press the run or auto state in the manual state to
stop entering this mode, in this mode
Automated, single-cycle and single-step operation。
Auto Run: In standby mode, press to enter this mode

automatically.
Single-cycle operation: automatically run the current program for one

cycle, in standby mode, enter this mode
Single step operation: Single step running the current

program, enter this mode in standby mode.
1.3 User Rights Description
Advanced Advanced
Permission function operator administrat
operation management
or
member member
Origin return √ √ √ √
Choose to load the × √ √ √
current program
Program management × × √ √
Modify system date × × √ √
and time
Servo manual × √ √ √
operation
Program operation √ √ √ √
Other manual × √ √ √
operations
Teaching procedure × × √ √
General system × × √ √
parameters
System signal × × √ √
configuration
System parameter × × √ √
reset
Servo safety zone × × √ √
parameters
Servo mechanical × × √ √
parameters
User interface × × √ √
settings
Mechanical × × √ √
positioning
operation
System vendor × × × √
maintenance
System software × × × √
upgrade
User privilege: The system is started as an operator by default. If
you need higher privilege, you need to switch user privilege.
For the advanced operator, the system default password is 11111111
and the administrator password is 22222222.
Note: If you use the safety switch, you need to press the safety
switch on the back of the handle to operate. The back is a three-
state enable switch, which is only valid when pressed in the middle
state.
In order to avoid dangerous actions caused by misoperation, a
manual safety switch is installed on the operator; when performing
manual operation, the safety switch must be pressed to perform
manual operation. The safety switch position is shown below:
Three-state
enable
switch
Manual safety is a three-state enable switch, which is defined as follows：
➢ Switch Release：Prohibit the manual operation of the manipulator.
➢ Press Half：Enable state to allow manual manipulation of the
robot。
➢ Full press：forbidden state, forbidden to manually operate the
manipulator.。
2 Function description
2.1 Prepare before finding the origin
⑴ Check whether each servo origin inductive switch is connected correctly.
Check method: power up the system, open the port in the operator, touch
the inductive switch with an iron plate or a screwdriver, and observe
whether the corresponding port will flicker. Look at figure I below.。
⑵ Check whether the servo position is normal, and then enter the position
adjustment operation to test whether the servo running direction is
normal。
⑶Set servo drive parameters: position control mode, set to pulse plus
direction, the number of pulses per rotation of the motor is set to 5000.
Set servo-related parameters in the operator。
2. Port signal
sorting options:
Servo signals,
molding machine,
the expansion of
output, the
expansion of input
signal and
3. To use iron or
with a
screwdriver
Touch the
corresponding
induction on off,
will shine.
4. When it's okay

to check, click.
Click function menu
1. Click here to
enter the port
interface
Enter the function menu as follows
1. Click here to
log high
2. Set servo-
related parameters
before operation,
and click to enter
servo setting.
2.2 Servo Setup Description
Click to enter servo setting and pop-up interface (single-
arm program)
Safe areas, rapid

positioning, etc.
Relevant settings can
only be set after
returning to the origin.
Click the corresponding
servo shaft to enter the
servo setting
directly
Note: Different versions of the program, the interface may
be slightly changed, the basic operation is the same

轴伺服设置
Straight by
default
Line, if it is to
make
Used in rotating
shafts
Come on, hook it
The motor rotates one
up here
turn
Subsequent
Off: Usually
coordinate
synchronized
display
Wheel circumference
It's the angle.
divided by deceleration
Than the value you
get.。 Positive and negative
direction tangent
Change: Actual
Shipping
Row direction
dissatisfaction
Adequate equipment
requirements
Adjustable direction
Correct setting of motor parameters

Hour: 100% run speed
Motor speed
3000r/min, rated revolutions
Motor, speed 3000, running
Usually at a speed not exceeding
120 per cent. Maximum 200%.
Number of pulses per turn of the motor：5000 pulses are
sent by default and the motor rotates once. Institute
The corresponding parameter in the servo driver should be
set to 5000, and there is no service for this type of
parameter.
Set the electronic gear ratio:
Numerator: denominator = motor resolution: 5000..
Acceleration：Max. 200%, adjusted according to actual servo
operation, 100% for general equipment Enough
Origin Offset：The system finds the origin. The default is
the falling edge of the origin signal，When the origin is
found, there may be no origin signal (the motor Z phase is
the origin). The origin signal is used as the origin point
and is also used as the safety zone signal. Therefore,
depending on the device, the offset value needs to be
adjusted depending on the security zone setting.
Origin standby：After looking for 0 digits, the position of
the normal shutdown, after setting, each time back to 0,
will not go to 0, go directly to the standby point。
Die：Mainly used in disk divider and other equipment. The
equipment runs in the same direction all the time,
restarting from 0 for every fixed distance. For example, a
disk is divided into six equal parts, each 60 degrees, a
direction of rotation, the program can set the mold to 60,
teaching, a command to solve the problem: servo positioning
60, 60 degrees per cycle.。
Origination mode：1. Origin signal: The origin signal is
completed with the falling edge of the origin signal. After
the origin is found, the origin signal is not bright. If
the origin signal is required at 0, the origin offset
signal is adjusted by 0, and usually the device has an
origin signal. , just an origin offset parameter. 2. Origin
signal + Z phase: Based on the origin signal, after
receiving the falling edge of the origin signal, the Z
phase of the next motor is the origin position. 3. Does not
return to the origin: generally used with the absolute
value system, the boot does not need to perform the process
of finding the origin, and can run directly without alarm.
Encoder type：System and servo communication settings,
different servo 485 data are different, need to set the
corresponding servo type for different servos。
Encoder address：The slave address of the 485 access, when
multiple axes, each axis address cannot be set to the same.
Must be set in the corresponding servo drive。
Software trip：Set the actual operating range of the servo.
JERK：The recommended value from 0 speed to maximum
acceleration when the motor starts. As shown
红色曲线为常规
梯形指令速度
调整后的等效指令曲线，
JERK值设置越大越接近图中
的红色斜线。其效果与伺服
驱动器里的平滑滤波等效，
一般伺服驱动器的平滑滤波
值越小越接近斜线，这里的
值和驱动器相反。
Find the way of origin：The default is the end: the rising
edge of the origin signal is decelerated to the low speed
to find the origin, and the falling edge of the origin
signal is found as the origin reference. Front end:
Deceleration stops when the rising edge of the origin
signal is encountered, and then finds the falling edge of
the origin signal as the origin reference。
After the setting is completed, pop up the prompt when you
click the positioning operation function.
Click to
confirm
Click X-Test whether to run

in the direction of the
origin of the X-axis or
点击X-测试是否往X
change the servo operation
轴的原点方向运行，
否则更改伺服运转
Direction. If you can click
方向。点击 X+是否
X + to move away from that
能往远离原点方向
origin, the other axe are
运行，其他轴同样
the same
Set the
speed when
aligning
Jog, click
to release
the minimum
distance
After the adjustment test is normal，press Or press
the physical button origin button to start finding the
origin.
In each screen，If the system is in manual mode, press the
manual safety switch, then click the servo reference point
mark in the upper left corner of the screen to perform the
servo home position return operation.
During the servo home position return process, if the
safety switch is released or the safety switch is fully
pressed, the servo home position return operation will be
aborted immediately (the safety switch is used, and the
origin is long pressed).
Note: The adjustment interface cannot be directly returned
to the origin, and you need to switch to the home page.
After finding the origin, set the maximum travel and safety
area of each axis.
The interface operation is as shown below (different
software versions, the interface is different)
Click here to
return to home
Other axes are

the same
Settings,
click here to
set the
When the parameter is used

for both arms, the common
slide rail is drawn.
When it is used to prevent
the collision from being
restricted. Take the two axes
to the nearest position,
measure the gap between the
two axes with a ruler, and
write the measured value
here.
2.3 Servo manual operation instructions
Set running speed

manually up to
50%
2. Control servo
running key
Set the jog speed,

press one
The smallest unit
that will be
The intermediate signal monitoring is used to

observe if the corresponding physical area is
reached.
2.3 Description of the security zone settings
The security zone interface setting interface is as
follows
Note: When setting the Y-axis safety zone, there must be a
high-level signal, and the starting point must be 0. The
end-point value manually operates the servo to the safe
range. The X axis does not require a physical safety zone
signal, so you can set the parameters. The specific values
must be determined by operating the servo to the
corresponding position. The Z axis is the same as the Y
axis。
Y upper safety zone: the arm is in the mold, there is no
mold opening, the arm can be safely descended
X-mode safe area: the arm is in the mold, the X direction
does not hit the range of the mold
Z-axis external safety zone: The range in which the arm can
be descended outside the module.
Z-axis in-mold safety zone: The range in which the arm can
safely descend in the mold.
home：Set the speed of each segment when returning to the
original。
After the setting is completed, click Save, a dialog box
will pop up, and the corresponding save confirmation will
be clicked.
Cancel back
Exit without
saving
Save exit
2.4 Port function and pneumatic control manual
operation instructions
After the servo is set, test whether other motion
signals are normal, pneumatic operation, and enter the
port as follows
Click on this line of

menus,
Select the signal you
want to test.
Operating the injection

molding machine
Whether the corresponding
signals are paired.
Click here to open the

corresponding output
signal and check if the
injection molding
machine can be
clamped.
After checking, click the corresponding extended output
port to check the fixture action, expand the output, and
the robot signal is normal. Other ports check the same
operation.
Robot signal：Includes port chamfering, pneumatic jib and
other port monitoring and manual operation ports. For other
pneumatic signals, you need to enable the corresponding
function in the System Settings - Initial Settings.
Extended input and output：The reserved ports supported by
the system have different interface configurations.
2.5 System Parameter Settings

DescriptionSystem parameters include: operating
parameters, initial settings, origin IP, and
system maintenance settings. Click the function
key to enter the function menu and enter the
system setting interface as follows
1）Production management
➢ Planned production quantity：Arrange
the production plan of the product.
When the number of products taken out
reaches the set plan value, the system
suspends the automatic operation and
reminds the production plan that it has
been completed. A production plan set
to 0 means there is no production plan.
➢ Production quantity reminder：Set how
many products to take out and suspend
automatic operation and remind. When
the system reminds, press the
automatic button or switch once again,
the safety door of the injection
molding machine will continue to run
automatically. Set to 0 to indicate no
production reminder。
➢ Number of defective products ： Set how many
defective products have been produced
cumulatively, and the system alarm indicates the
number of defective products.
➢ The amount exceeded the standard. Set to 0 to
indicate no defective product alarm。
➢ Alarm number of alarms：The number of times the
alarm sounds when the system alarm is set.
➢ Alarm tweet time：The length of time the alarm
sounds each time the system alarm is set.
➢ Oil time：Set the time when the oil port is
opened after the oil is used.。
➢ oil interval：From the end of the last oiling
to the time of the next oiling。
2) 横行时正臂倒角状态：Set the robot's chamfering
state to be vertical or horizontal during the
traversing process. No restriction: no chamfering
status is checked.。
3) 自动运行时开安全门：Set the system to open the
safety gate of the injection molding machine during
the automatic operation.。
4) 模内正臂倒角动作：Whether the chamfering action is
allowed when the positive arm is in the in-mold
area。
5) 待机选项：Is the setup program in-modulo standby
or on-mode standby?。
The initial setting interface is as follows: Some functions
can be set to be used or not used.
Origin customization：The smaller the position number
displayed, the higher the priority. Can be adjusted back to
the original order by moving up and down。
System maintenance function description: Each machine has a
fixed machine code, which can be set by software to maintain
the machine. When the set time is reached, the system will
stop the alarm. To reactivate, enter the product key machine
code in the software, then generate a new activation code
and reactivate it. The key is empty by default. Software can
submit a usage application to the manufacturer。
系统维护第二页内容如下
Maintain according to the number of completions：
It is possible to set the production modulus and
stop the alarm when the set modulus is reached. If
you need to continue production, first remove the
production module.
Parameter reset: system parameters, servo
parameters, system password can be reset
separately。
2.5 Port Settings Description
Port setting：Can set port input polarity, alarm
ignore and no alarm in the module。
Input signal inversion：If unchecked, the input signal is
valid, and if it is checked, the input no signal is valid.
4 pages in total, can be viewed by turning pages。
Alarm ignore：If it is not checked, when the system generates
such an alarm, it must stop the inspection. If it is checked,
it can be automatically operated by switching the safety
gate or clicking automatically (confirm the safety

condition). The interface is available in 4 pages. No alarm
in the module: If it is not checked, the alarm will stop at
the current position. Check the alarm in the module. If it
is allowed to close the mold after the rise, the alarm will
be generated. The interface is available in 4 pages.
2.6 Interface Settings Description

The interface can set the system language, screen
saver time, recalibrate the touch screen, key
volume and other parameters
Safety switch configuration：Can be set behind
the safety switch to use, not used,
back to the originalDo you need to press and hold
the button during operation?。
2.7 alarm
Alarm History:
You can view up
to 50,000 alarm
records in the
most recent.
The currently
selected alarm
source, the
selected circle
is displayed in
blue. When there
is an alarm, the
indicator light
in front of the
corresponding
module is
displayed in
yellow.
The alarm
displays the
content.
After the alarm

is removed, you
need to click the
reset button to
release the
system alarm.
2.8 Adjustment
Click the “Adjustment” button on the function interface, the following
interface will pop up, click OK to enter the positioning operation
interface.
2.9 System Log
View all operating, alarm, and alert warning records for
your system.
Port status, parameter status: When selecting the record to
be viewed, click the port status to view the relevant port
signals and parameter status at the time of the alarm.
2.10 System Information Interface
2.11 Software Upgrade Instructions
Vendor information：Includes startup screen,
standby screen, and vendor information. You can
import through the U disk, insert the U disk, click
refresh, brush out the desired picture, select it,
then click the corresponding screen button to
import the picture.。
Port name：Edit the port name that needs to be
modified on the computer software, and then import
it through the U disk. If you do not need to modify
it, you can reset the name.
Parameter maintenance：The current machine
parameter backup is used, and can also be used as
a batch setting machine to export settings or
import settings via a USB flash drive.
software upgrade：
You can upgrade the hand controller and motherboard program
through the U disk. Note that the recovery button is to
restore the previous version of the current version, and
can only be restored once.。
System log：Through this interface, you can log and clear
system logs everywhere.。
2.12 Program Management Instructions

Click on the program name (no program is displayed when
there is no program), enter the program management
interface
U disk directory:
Click here to
display the
program in the U
disk.
Template
directory: Click
here to display
the fixed
template program,
the program in
Program this directory
directory: Click can only modify
here to display the command The program
the current parameters. displays the
system existing area.
program, the
program can be
modified in this
directory. Program operation
menu.
The current program directory is empty, you need to create
a new program, click New, pop up the figure
You can create a new program name based on the product
number and other information. It has been named test.
After the new build is completed, there is a program in the
program directory, as shown in the figure.
The third step, after loading successfully,
the current program
After the new construction is The display will become the selected
completed, the loading program name. If there is no loader at
process the beginning, it will be updated directly
Preface, the first step, select to the currently built program after the
the desired program, the new build is completed.
selected program will turn
blue
The second
step, click
to load
Other program operation menu description：
Rename：Select the program to be renamed, click Rename, and
the dialog box for naming the program name will pop up.
Enter the name you want to name.。
Save as：Select the program to be saved and click Save As.
A dialog box for naming the program name will pop up. Enter
the name you want to name.
Lead to U disk：Select the program to be exported, click to
the U disk, a dialog box will pop up to name the program,
and you can enter the name you want to name. After the
export is successful, switch to the U disk directory and
you will see the exported program.。
delete：Select the program you want to delete, click
delete, delete the program, can not delete, the loaded
program。
Note：The program operation menus of the other two
interfaces are the same. Note that in the U disk
directory, if there is a program in the U disk but it is
not displayed, you can click refresh. If you do not need
to use the U disk, click the U disk first, then Unplug the
U disk.
2.13 Teaching
Standard teaching interface
The currently
selected command
is displayed in
Instruction list blue。
area: Displays
The instruction the instruction
moves up and sequence number,
down: Click to command name, and Decompose,
move the parameters. combine: combines
currently or decomposes the
selected Add instruction:
selected
instruction up Click this button instruction with
and down by one to enter the
the previous
serial number. command menu
instruction of
interface. the instruction.
Save button: teach

or modify the
Command delete: completion of the
Select the click on the button
command to be to save.
deleted, click
this button to
delete the The area in which
command. the command
parameters are
displayed can be
modified.
Add instruction：The instruction is mainly divided into two
major categories of actions and processes.。
Select the servo positioning command and click OK.。
Select the corresponding axis, positioning position。
speed：设定当前指令的运行速度。
relatively：当前指令的定位距离，相对实际位置走的距离。
Delay：指令定位结束后，延时设定时间执行一下条指令。
an early closure：设定当前指令提前设定距离，执行下一条指
令。
Early shift：提前设定距离调整运行速度。
Positive arm pneumatic command：Click the Add button to
enter the command menu. After selecting the command, click
OK to enter the following interface.
3. Set the pneumatic

chamfering action time.
Actual pneumatic action
time. After the time has
elapsed, the in-situ
signal is not detected,
then the alarm is
issued.
2. Click here to
1. Select the required
open the actual
positive arm pneumatic
signal output.
command action.
Add injection molding machine instructions as follows
2. Set the execution time. Note: When the wait
The waiting time of the waiting command is set,
command is the timeout period, the action time
starting from the execution of the here is displayed
command, exceeding the set time, as a timeout.
and no signal will alarm.
Turning pages: Other related

1. Select
injection molding machine
the required
instructions, which are
injection
generally not used.
Jig instruction, as follows
1. Select the 2. Choose 3. Select

corresponding 4. Manually
whether you the command
jig port forcibly
want to "On", "Off".
shut down.
detect the
port.
Selected port is Y09
The counter is
automatically assigned.
Can be operated in the
program initialization
settings。
Set the interval: the

interval modulus is the
number of stacks (the
conveyor instructions
should be placed before
the storage)
Select the output

form, the conveyor
belt is generally a
pulse output.
Time: Set the

conveyor opening
time.
Note: The opening and closing operations here are the same
as the fixture commands. Inversion: When the command is
executed, the output state of the expansion port is
reversed, that is, the switch that was turned off is turned
on, and the switch that is turned on is turned off.
Interval: The first cycle output, then set the modulus and
output again. When used as a conveyor belt, the program can
be used at the beginning.
Call matrix positioning, enter the interface as follows
Which arm stack to
choose, not the
default master
stack。
Sets the chamfer state

when stacking. The
default is the previous
state in the program.
Set the stacking direction.
Select the priority

stacking axis that needs
to be adjusted.
Set the servo axis action

sequence when stacking. The Click to select Move
vertical datum is generally Z- Up or Move Down.。
Y-X for inserts, and the
default is the horizontal datum
Z-X-Y.
Set the distance between Set the number of products
the X, Y, and Z direction stacked in the X, Y, and Z
products and the product directions.
center point.
Relative: When
the current
position of the
servo is relative,
Set the starting
go to the value in
position of the
the parameter.
stack.
Note: The cyclic positioning instruction is similar to the
matrix positioning instruction. Each position of the cyclic
positioning must be set separately.。
Continue to add the jig to put the instruction, the main
arm rises, the program is taught, as follows
Description of combination and decomposition instructions
Select the
instruction that
needs to be combined
with the previous
instruction.
Click to combine。
After the combination is displayed as follows
After the
combination,
the program
steps are the
same, and the
operation is
started at the
same time.
Select the program

instructions that
need to be resolved.
Click on the
decomposition and
the program will
return to the
uncombined
state.。
Search command：The single axis is from the previous position of the program
to the maximum position range of the set search point. If the deceleration
input port signal is detected, the servo enters the low speed operation. If
the stop input port signal is detected, the servo stops running.
Running speed: It is the running speed when the servo does not detect the
deceleration or stop signal. If the deceleration port is not used, it is
recommended that the servo running speed not be too large. The low speed is the
servo speed adjusted to the set speed after the servo detects the deceleration
input port.
When the Y-axis is detected and the port signal
is detected during the downlink, the corresponding
action is performed. If there is no detection
signal, stop when it is executed to 600mm.
Single axis cyclic positioning：Single axis cycle positioning command.

The servo can be selected from any single axial stack. Clicking on the
coordinate display area at the first point position will pop up the
digital input box and input the position to be positioned. The parameter
interface can set the number of positioning points, the number of times
per point (can be regarded as the number of layers in each position). The
running speed, interval, counter, and matrix positioning usage are the
same.
IF conditional judgment, ELSE conditional otherwise, ENDIF conditional end

instruction：These three instructions are generally used together, when the
program is executed to have branches.
The usage is as follows: If the variable [ ] is valid (IF condition
judgment) // the parentheses are the conditions for judgment, optional
{user variables, extended input, extended input
... out, system variables, system I / O
......
......
} //The content of the program that is validly executed in the curly braces
Otherwise (ELSE condition otherwise) //The condition is not true
{
......
......
} / / Otherwise the following curly braces are conditional unconditional
execution of the program content condition end (ENDIF) / / conditional
judgment statement ends (general insertion of IF conditional judgment
instructions,
The conditional end instruction is automatically inserted. )
Teaching operation: The content in the following figure expression is the

judgment condition, click
Enter the variable selection interface: optional user variables, extended
input, extended output, system variables, system I/O (after entering the
selection interface, the same as the fixture selection port operation).
Select NULL to indicate that the condition in [] is valid. Select the
operator below. The second display box in the expression becomes optional,
optional constants, user variables, and system variables.
Click here to select
the judgment object.
Select the judgment condition: according to the

actual demand selection, the default null here is
no operation. At this time, the program shows that
the XX signal is valid.
When you select another operator,

you must set the parameters here.
If you need to set the suction to be effective, do something. You can add
the action you need to do between steps 9 and 10. You only execute it when
you suck the product. If you don't pick up the product, you can jump to the
next instruction at the end of the condition.
FOR loop control, BREAK loop out, ENDFOR loop end instruction：Called when
the program needs to repeat some actions. Usage is as follows：
Loop () times (FOR loop control instruction) / / in the brackets for the
number of loops optional constant or variable
{
.......
"Cycle jumps out" (BREAK loops out of the command) // Loop out usually
works with conditional judgments
....... End the loop with the conditions that satisfy the setting
} //The content loop inside the curly brackets is the end of the loop
Waiting for port signal：The port is optional. Wait for the port signal to
be valid and invalid. The timeout time is set to 0. It is set to any non-
zero value. When the set value is reached, it will alarm. The wait variable
is valid: it is valid when a value is assigned to a variable, and 0 when it
is invalid.
Servo speed adjustment：The servo axis to be adjusted can be selected to
set the adjusted speed. It is generally used in conjunction with
conditional judgments to perform speed regulation when the set conditions
are met.
End of program：Let the program end early and return to the first
instruction to start execution. It is generally used in conjunction with
the conditional judgment, and the program that satisfies the set condition
is terminated early.
User variable：Operable user variables for separate math operations。
The + sign adds the user variable to the operand and stores the value in
the user variable.
The × sign multiplies the user variable by the operand and stores the
value in the user variable.
The - sign subtracts the user variable from the operand and stores the
The apostrophe divides the user variable from the operand and stores the
The = sign sets the value of the user variable to the value of the operand,
ie assigns the value of the operand to the user variable.
The % number divides the user variable from the operand and stores the
remainder value in the user variable.
Note: Conditions cannot be used in combination. Otherwise, conditional
statements cannot be nested, loops cannot be used, paths cannot be used,
programs cannot be used, subroutines cannot be called, loop positioning
cannot be used, matrices cannot be used, and single-axis loop positioning
cannot be used. With assignment, you can't use search, you can't use wait,
you can't use delay, there can only be one Y position in the combination,
there can only be one Z axis positioning, X, A, B, C, can't have two
positive arm chamfers, Cannot have two jib extensions, can't have two jibs
up and down, two extended output actions can't control the same output,
two extended input actions can't control the same input, expansion (or
fixture) action can't control the same one Input/output, the operation
statement cannot be used, only the mold-off action can be allowed in the
combination, there can be no two-off mode, and no more than 30 actions can
be performed at the same time.
Servo interpolation：The servo starts at the same time and stops at the
same time。
sample mode interface
Go to the function interface, click System Settings -
Initial Settings - select "Easy Mode" and click the Save
button. Click on the current program at the top of the
screen to create a new program. Finally, click the "Wizard"
button at the bottom of the interface to enter the easy
mode setting interface.。
Main arm：Set the main arm related action position.
Auxiliary arm：Set the jib related action position.
Horizontal and speed：Set the horizontal axis storage
point, the picking point, and the position of the feeding
point. And the speed of movement of each axis。
attitude：Set the chamfering posture when going
horizontally and horizontally.。
jig：Set the use and operation time of the jig port of the
main and jib arms.
matrix：Set matrix related parameters。
Plastic machine; Configure the press signal usage and delay
time. And set the conveyor control use, port, output time
and interval time.
Three modes are available for the main arm：Main arm not
used, main arm point storage mode and main arm matrix
storage mode。
In-mold drawing down point：Set the in-mold down position
of the main arm in the drawing direction.
In-mold extraction point：Set the position of the
extraction point。
Extracting points in and out of the mold：Set the position
of the upper and lower extraction points of the main arm.
In-mold pull-up point; When the product is set in the mold,
the shaft position is drawn when the main arm is raised.
In-mold standby point：Set the safe standby position of the
main arm in the mold.
In-mold drawing point：Set the position of the drawer.
Off-die top and bottom points: Set the position of the
upper and lower main body points。
Auxiliary arm mode：The jib does not use and the jib points
are placed. Not used: The jib related action configuration
is invalid. Point storage: Set the jib single point
storage.
In-mold jib pulls down point：Set the position of the jib
puller shaft when the jib is down.
In-mold jib pull-out point：Set the position of the pull-
out shaft when the jib is pulled out.
In-mold jib upper and lower object point：Set the position
of the lower arm when the upper and lower axes are taken.
In-mold jib pulls up point：When the jib boom product is
raised, the position of the shaft is drawn.
In-mold jib up and down standby point：Set the jib upper
and lower axes to the standby position in the mold.
Out-of-modulate jib pull-out point：Set the position of the
pull-out shaft when the jib is pulled.
Out-of-modulate jib upper and lower points：Set the
position of the lower arm when the jib upper and lower axis
is placed.
Horizontal axis storage point：Set the position of the
horizontal axis when placing the object。
Skimming point：Set the position of the horizontal axis
when taking the object。
Horizontal feed point：Set the position of the horizontal
axis of the loading head。
X-axis speed：Set the speed of the X axis in the program.
Y-axis speed：Set the speed of the Y axis when it is not
out of the program。
Z-axis speed：Set the speed of the Z axis in the program.
Y2 axis speed：Set the speed of the Y2 axis in the program
when it is not off-mode.
X2 axis speed：Set the speed of the X2 axis in the
program。
A-axis speed：Set the speed of the A axis in the program。
Y-axis mode speed：Set the speed of the Y axis when it is
outside the module。
Y2 axis mode speed：Set the speed of the Y2 axis outside
the module in the program。
Set the chamfering posture when going horizontally and
horizontally.。
Set the main arm and jib fixture to choose which tool to
use in front of the corresponding port. If you need to
detect it, check it accordingly.。
Fixture delay: set the fixture action time.
Chamfer delay: Set the chamfer action time.
Chamfer level: Set the chamfer level when stacking, uncheck
the default vertical.
Vertical datum: Set the priority stack vertical plane first
(ie, one column and one column). The default horizontal
plane is placed first (ie, layer by layer).
Flatten when traversing: Set the chamfer level when the
matrix is positioned when the matrix is positioned, and the
hook does not indicate vertical.
Axis order: Sets the priority of the axis direction when
stacking.
X points: Set the number of points in the X direction.
Y points: Set the number of points in the Y direction.
Z points: Set the number of points in the Z direction.
X Spacing: Set the spacing between each point in the X
direction.
Y spacing: Set the spacing between each point in the Y
direction.
Z spacing: Set the spacing between each point in the Z
direction.
Running speed: Set the servo running speed when stacking.
Low speed: Set the low speed when placing the product.
Deceleration distance: Set the distance from the shift to
the low speed when the product is placed.
First point position: Set the position of the first point
of the stack, including the positions of X, Y, and Z.
Relative: After checking, the position is relative to the
current position and then the set value position (normally
unchecked).
Thimble advance control: Use ejector pin to control.
Thimble retreat control: Use ejector retraction control.
Core pull 1 control: use the core pull 1 control.
Core pull 1 retreat control: use the core pull 1 retreat
control.
Core pull 2 control: use the core 2 control.
Core pullback control: Use the core pullback control.
Thimble advance delay: Set the ejector pin delay time.
Thimble retraction: Set the ejector retraction time.
Draw 1 into the delay: set the core 1 delay time.
Pull core 1 back delay: set the core 1 rewind time.
The core pull-in delay: set the core pull-in delay time.
Pull core 2 back delay: set the core 2 retraction time.
Mode open timeout: Set the mold open timeout to reach the
set time alarm.
Closing delay: Set the mold delay time.
Conveyor Control: Set to use the conveyor.
Conveyor output: Set the conveyor control port.
Conveyor time: Set the conveyor transfer time.
Conveyor Interval: Sets the interval at which the conveyor
is opened, in modulo.
3 system program running
Click the Run function button on the screen to enter the
system program run control screen. In this screen, the
running control of the current program of system loading,
such as manual, automatic, single cycle, single step, etc.
The program running screen is as follows：
Current Program Instruction List: Displays a list of
instructions for the current program loaded by the system.
Statistics: Displays statistics about the program's
automatic operation.
Completion of the product: The total number of products
taken out when the system is automatically running.
Planned Remaining: When a production plan is set, it shows
how many products are needed to complete the plan.
Cycle time: The time it takes to complete a product when
the system is running automatically.
In-mold time: The time from the receipt of the mold
opening signal to the time that the mold clamping is
allowed is the in-mold time.
Injection molding machine signal: display the relevant
signals of the injection molding machine, which is
convenient for the user to control the system operation
information at any time.
Manual: If the system is currently in the automatic
standby state, click the manual button to set the system
working mode to manual; if the system is currently in the
automatic running state, click the manual button to stop
the automatic operation, and the system working mode is
set to automatic standby.
Auto: If the system is currently in the manual state,
click the auto button to set the system working mode to
auto standby; if the system is currently in the auto
standby state, click the auto button system to enter the
auto running state.
Single cycle: If the system is currently in the automatic
standby state, clicking the single cycle button will run
the current program for one cycle and then return to the
automatic standby state.
Single step: If the system is currently in the automatic
standby state, clicking the single step button will
execute the action command of the current program step by
step.
Follow: Select Follow. When the system is in the automatic
running state, the program command list selection will
follow the running status change of the current program.
3.14 Program Initialization

Set the initial value of the variable to be called in the
program. Automatic initialization, inquiry initialization,
and never initialization can be set. It can also be set by
writing the initial value. Read current value: Read the
count value of the currently selected counter of the
system. If Counter-500 is Y03 output interval counter, set
interval 5 modulo output once, then Counter-500 counter
will count from the initial value (one +1 per run), add 4
and start counting again from 0.
4 Alarm Information Schedule
Alarm code Alarm Information
[000] Without prompting or calling the police.
[001] Invalid pneumatic forearm action.
[002] Invalid injection molding machine instruction.
[003] Invalid program condition directive.
[004] Invalid system runtime.
[005] Invalid system state.
[006] Invalid instruction parameter
[007] Invalid instruction.。
[008] Invalid extension type.
[009] Invalid program number.
[010] Bad format of program loop instruction, missing loop end
[011] Bad format of program loop instruction, missing loop
start.
[012] Bad format of program condition instruction, missing
condition end.
[013] The program is missing an end-of-program instruction
[014] The number of action commands in the combination is
greater than 30.
[015] Combination instruction is malformed, missing
combination end.
[016] The system variable is read-only and cannot be written.
[017] The user variable number is out of range and the legal
number is in the range 0 to 255.
[018] Lack of full-automatic signal for injection molding
machine.
[019] Missing injection molding machine safety door signal.
[020] Lack of mold signal in injection molding machine.
[021] The set production schedule has been completed.
[022] The cumulative number of defective products reaches the
set alarm value.
[023] The current program cannot be changed because the system
is not in a manual state.
[024] The system is in a manual or error state and cannot
change the auto-run mode.
[025] The system is in an error state and cannot change the
working state of the system.
[026] The system is running and cannot be changed.
[027] The upper and lower position of the auxiliary arm is not
in the safe area, and the injection molding machine mold
is prohibited.
[028] The upper and lower position of the front arm is not in
the safe area, and the injection molding machine mold is
prohibited.
[029] The current system setting prohibits the forearm from
performing chamfering in the mold.
[030] The servo of the upper and lower axes of the forearm is
not in the origin position, and the system cannot enter
the automatic state.
[031] The manipulator is not in the out-of-mold area and the
system cannot enter the automatic state.
[032] The current program is not loaded. Please load the
current program first.
[033] No extended input signal detected.。
[034] The current system sets the arm chamfering to be
vertical to enter the automatic state.
[035] The current system sets the arm chamfering to be
horizontal in order to enter the automatic state.
[036] The servo does not go through a homing operation.
[037] The forearm is not in the upper position, and the
horizontal movement is not safe.
[038] The auxiliary arm is not in the upper position, and the
lateral movement is not safe.
[039] This operation cannot be performed because the front arm
is not in the safe area for drawing in the die.
[040]
[041] The upper and lower axes of the sub-arm are prohibited
from running without an open-mode completion signal.
[042] The upper and lower axes of the sub-arm are prohibited
from running without the confirmation signal of opening
the center plate mold.。
[043] The upper and lower axes of the front arm are prohibited
from running without an open-mode completion signal.
[044] The upper and lower axes of the front arm are prohibited
from running without the confirmation signal of opening
the center plate mold.
[045] The horizontal axis is not in a safe area, and the upper
and lower axes of the front arm are not safe to run.
[046] The horizontal axis is not in a safe area, and the upper
and lower axes of the auxiliary arm are not safe to
operate.
[047] Positioning of positive arm pull-out shaft out of safe
area in mold.
[048] When adjusting the position of the servo safety area of
each shaft, two or more shafts are not allowed to operate
at the same time.
[049] The servo of the upper and lower axes of the auxiliary
arm is not in the origin position, and the system cannot
enter the automatic state.
[050] The system needs to be maintained. Please contact the
manufacturer.
[051]
[052] The system cannot enter autorun state without selecting
the current program.
[053] The manipulator is in motion and cannot perform other
operations.
[054] System program instruction pointer error.。
[055] The current program of the system cannot be deleted.
[056] Open the safety door and suspend the automatic operation
of the system; Please check the system parameter
settings.
[057] System working status error.
[058] When the front arm is chamfered horizontally, the front
arm is prohibited to descend in the mold; Please check
the relevant parameters of the system
Set.
[059] Positioning of the positive arm pull-out shaft exceeds
the corresponding software stroke.
[060] The position of the upper and lower axes of the forearm
exceeds the corresponding software stroke.
[061] Horizontal axis position exceeds corresponding software
stroke.
[062] The position of the upper and lower axes of the
auxiliary arm exceeds the corresponding software stroke.
[063] The auxiliary arm pull-out shaft position exceeds the
corresponding software stroke.
[064] Extension shaft position exceeds corresponding software
stroke.
[065] The transverse axis is positioned within the safe region of
the mold, but no signal of the safe region of the mold is
detected.
[066] The transverse axis is positioned within the out-of-mold
safety zone, but no out-of-mold safety zone signal is
detected.
[067] The position of the transverse axis is not in the safe
area, and the movement of the auxiliary arm pull-out
shaft is not safe.
[068] The position of the transverse axis is not in the safe
area, and the movement of the pull-out shaft of the
front arm is not safe.
[069] The upper and lower axes of the forearm are located in
the upper standby safety area, but no corresponding
upper axes are detected。
[070] The upper and low axes of that sub-arm are position in
the upper standby safety area, but no corresponding
upper and lower axes are detected。
[071] Invalid matrix locator subroutine or circular locator
subroutine index.
[072] Invalid number of anchor points in loop anchor
subroutine.
[073] The number of products produced automatically reaches
the set reminder value.
[074] Conditional instructions cannot be nested in a composite
instruction.
[075] Front arm chamfering level, but no horizontal bit signal
detected.
[076] Front arm chamfering horizontal, but vertical bit signal
detected.
[077] The forward arm chamfered vertically, but no vertical
bit signal was detected.
[078] Front arm chamfered vertically, but horizontal bit
signal detected.
[079] Positive arm pull-out shaft servo alarm, check servo
driver.
[080] Forward arm pull-out shaft servo has never had a ready
signal.。
[081] No servo positioning complete signal for the arm pull-
out shaft was detected.。
[082] Positive arm up and down axle servo alarm, please check
servo driver.。
[083] The servo of the upper and lower axes of the forearm has
never been ready.。
[084] Timed out waiting for mode opening.
[085] Horizontal axis servo alarm, check servo driver.
[086] Horizontal axis servo has never had a ready signal.
[087]
[088] Servo alarm for upper and lower axle of auxiliary arm,
please check servo driver.
[089] The servo of the upper and lower axes of the auxiliary
arm has never been ready.
[090] No servo positioning completion signal for upper and
lower axes of the sub-arm was detected.
[091] Auxiliary arm pull-out shaft servo alarm, check servo
driver.
[092] The secondary arm pull-out shaft servo has never had a
ready signal.
[093] No servo positioning completion signal for the secondary
arm pull-out shaft was detected.
[094] Extension axis servo alarm, check servo driver.

[095] The extension axis servo has never had a ready signal.
[096] No Extension Axis Servo Positioning Complete signal
detected.
[097] The injection molding machine is stopped urgently. Please
check the injection molding machine.
[098] Robot emergency stop, please check the robot.

[099] The air source pressure is too low. Please check the air
source pressure.
[100] The auxiliary arm is in the mold area, and the mold
opening completion signal of the injection molding
machine disappears.
[101] The auxiliary arm is in the mold area, and the plate
mold confirmation signal disappears in the mold opening
of the injection molding machine.
[102] Positive arm in the mold area, injection molding machine
mold opening complete signal disappeared.
[103] The positive arm is in the mold area, and the plate mold
confirmation signal disappears in the mold opening of
the injection molding machine.
[104] Positive arm pull-out shaft servo operation to positive
limit.
[105] Positive arm pull-out shaft servo runs to negative
limit.
[106] Positive arm upper and lower axes servo operation to
negative limits.
[107] Servo operation of the upper and lower axes of the
forearm to the positive limit.
[108] Horizontal axis servo runs to positive limit.
[109] Horizontal axis servo runs to negative limit.
[110] The upper and lower axes of the auxiliary arm are servo
operated to the positive limit.。
[111] The upper and lower axes of the auxiliary arm are servo-
operated to negative limits.
[112] The auxiliary arm pull-out shaft servo runs to the
negative limit.
[113] The auxiliary arm pull-out shaft servo runs to the
positive limit.。
[114] Extension axis servo runs to positive limit.
[115] Extension axis servo runs to negative limit.
[116] The upper and lower axes of the forearm are servo at the
origin position, but no origin signal is detected.
[117] Servo positioning timed out, check servo driver
parameter settings.
[118] Invalid servo axis index for servo positioning action.
[119] IO Extension Module 1 Communication error.
[123] Without an out-of-mode downlink safety detection signal,
the arm cannot be downloaded.
[124] The current system settings for the arm chamfering
vertical do not allow the manipulator to traverse.
[125] This operation cannot be performed because the auxiliary
arm is not in the safe area for drawing in the die.
[126] The auxiliary arm pull-out shaft is positioned beyond
the safe area in the die.
[127] The upper and lower axes of the sub-arm are servo at the
origin position, but no origin signal is detected.
[128] The mold opening completion signal of the injection
molding machine was detected, but no plate mold opening
confirmation signal was detected.
[129] The system is in full automatic operation, but no full
automatic signal of the injection molding machine is
detected.
[130] Positions conflict between the forearm and the secondary
arm servo.
[131] Only the allow mode closing action can be in the
combination.
[132] The arm is not finished in the mold (waiting outside the
mold).
[133] The arm has no mid-mold confirmation signal in the mold
(out-of-mold standby).
[134] Servo Z-in is not safe and there is no signal to finish
mold opening (out-of-mold standby).
[135] Servo Z-in is not safe and there is no mid-plate mold
confirmation signal (out-of-mold standby).
[136] Invalid pair arm action.
[137] The auxiliary arm descends but the electro-eye is not
bright.
[138] The auxiliary arm descends but the electro-eye is not
bright.
[139] The secondary arm is up but the eye is not bright.
[140] Accessory arm up but down electronically bright eyes.
[141] It is not safe for the auxiliary arm to descend from the
pick-up point or the place-in point.
[142] It is not safe for the sub-arm to descend without the
completion of the opening signal in the mold.
[143] There is no mid-plate mold confirmation signal in the
mold. The sub-arm is not safe to descend.
[144] The secondary arm does not have an open-mode
intermediate signal in the mold.
[145] The main arm does not have an open-mode intermediate
signal in the mold.
[146] Too many contiguous paths.
[147] Continuous paths cross regions and may not be safe.
[148] Continuous in-mold descending may not be safe until the
mold has been opened.
[149] There is no mid-plate mold in the continuous mold
downwards, which may be unsafe.
[150] No path ends.
[151] Invalid activation code.
[152] JOG mode can only be converted to manual mode.
[153] Valid activation code.
[154] Wait-to-open statements cannot be used in a path.
[155] In-mold safety and out-of-mold safety are signaled
simultaneously.
[156] Variable operation cannot be 0.
[157] Activation code expired.。
[158] The arm is not safe to descend, and the X-axis is not in
the mold safety zone.
[159] The arm is not safe to descend, and the B-axis is not in
the mold safety zone.
[160] It is not safe to descend the arm. Axis A is not in the
mold safety zone.
[162] The auxiliary arm is pneumatically introduced but the
electric eye is not bright.
[163] Auxiliary arm pneumatically introduced but retracted
electronically bright.
[164] The auxiliary arm is pneumatically retracted but the
electric eye is not bright.
[165] The auxiliary arm is pneumatically retired but the
introduction of electric eyes is bright.
[166] Extended IO Board 5 communication error.
[167] Axis B is not in the mold safety zone, arm downwards is
not safe.
[168] Axis C is not in the mold safety zone, arm downwards is
not safe.。
[169] The Y-axis is not in the upper position and the arm
chamfering is not safe.
[170] The Y-axis is not in the upper position and the arm
rotation is not safe。
[171] Axis C is not in safe position, arms are not safe to
cross.
[172] The arm chamfering is unsafe and cannot exceed the mold
safety zone.
[173] The arm rotation is not safe and cannot exceed the mold
safety zone.
[174] The C-axis position exceeds the software stroke.
[175] The B-axis position exceeds the software stroke.
[176] Axis B is not in a safe area and arms are not safe to
cross.
[177] Axis A is not safe, arms are not safe across.
[178] Axis A is not safe to operate and cannot exceed the mold
safety zone.。
[179] The X-axis is not safe and the arms are not safe across.
[180] The auxiliary arm is pneumatically chamfered
horizontally, but the electro-eye is not bright.
[181] The auxiliary arm is pneumatically chamfered
horizontally but electronically bright vertically.
[182] The auxiliary arm pneumatic chamfering is vertical, but
the electric eye is not bright.
[183] The auxiliary arm pneumatic chamfering is vertical, but
the horizontal electro-eye is bright.
[184] Absolute value encoder not supported on the X-axis.
[185] Absolute value encoder not supported on Y-axis.
[186] Unsupported absolute value encoder for Z-axis.
[187] Absolute value encoder not supported on C-axis.
[188] Absolute value encoder not supported on B-axis.
[189] An absolute value encoder that is not supported on the
A-axis.
[190] X-axis absolute encoder communication error.
[191] Y-axis absolute encoder communication error.
[192] Z-axis absolute encoder communication error.
[193] C-axis absolute encoder communication error.
[194] B-axis absolute encoder communication error.
[195] A-axis absolute encoder communication error.
[196] Oil alarm.
[197] External security door open paused.
[199] There is overlap between the Z-axis mold inside and
outside the mold safety zone.
[208] The system software is not legally licensed! Pirate
software will affect the security and stability of the
system.
www.sinrobot.com.cn
[209] Transverse is not safe, X-axis is not in mold safety
zone.
[210] Not out of mold, chamfering level is not safe.
[211] Battery power down.
[212] System power down.
[213] X-axis absolute encoder battery voltage low.
[214] Y-axis absolute encoder battery voltage low.
[215] Z-axis absolute encoder battery voltage low.
[216] C-axis absolute encoder battery voltage low.
[217] B-axis absolute encoder battery voltage low.
[218] A-axis absolute encoder battery voltage low.
[220] C-axis is not safe and cannot exceed that safe area when
crosse (which is not currently in the safe area).
[221] Axis B is not safe and cannot exceed the safe area when
crossing (crossing is not currently in the safe area).
[222] Axis A is not safe and cannot exceed the safe zone when
crossing (the safe zone is not currently in the
crossing).
[223] The X-axis is not safe and cannot exceed the safe zone
when crossing (the safe zone is not currently in the
crossing).
[255] System communication error: The operator and the main
control module cannot communicate normally. Please close
the system. Check that the communication link is
working.
[300] File system not found!
[304] File system initialization error!
5 Instructions for using the robot

centralized monitoring software
The centralized monitoring software of manipulator connects the
computer with the manipulator through the router (or Hub) by using the
special network communication line, and realizes the purpose of monitoring
the running state of several manipulators by one computer.。
PC
HUB
Robot Robot Robot Robot
1、Definition of network communication line

RJ45 Interface (Pin Order) Main Board Interface (4pin)
Blue / 1 (Pin Order)
White Blue/1
White Blue/2 Blue/2
White Green/3 Green/3
Green/6 White Green/4
The sequence of communication line pin definitions is shown in the
following figure:
First foot First foot
After the communication line is completed, one end of the connection line
of the motherboard is inserted into the LAN port of the motherboard, and
the other end of the network line is inserted into the Hub port, as shown
in the following figure:
2、Configuration of IP Address
Make sure that the IP addresses of the computer, router (or Hub), and
motherboard are on the same network segment and have different serial
numbers.
1) Configure the router (or Hub)
If you are using a Hub, you do not need to configure the Hub at all and
continue with the second action. Hub Model D-Link DES-1008A is recommended.
If you are using a router, you need to configure the router. The
default IP address of a typical router is 192.168. 1.1 or 192.168. 0.1. To
determine the router address, check the product manual for the address or
use a single network cable to connect the computer to a network port within
the router (that is, a row of ports), open the browser, and enter 192.168.
1.1 or 192.168. 0.1 in the address bar. The router address is that address.
2) Configure the robot IP
When the touch screen hand controller communicates with the motherboard,
enter the System Settings-> IP Address page to set the IP address of the
current motherboard.
3) Configure the computer IP

Locate Local Connection in the network and sharing center, click
Properties, locate the TCP/IPv4 protocol, enter the property setting
interface, set the IP address of the computer, ensure that the IP address
of the computer is on the same network segment as that of the motherboard
and different, and the default value is
3、Centralized monitoring connection

Connect the computer and motherboard to the Hub by using the network
cable and special communication cable respectively, and then turn on the
power.
Initially enter the centralized monitoring software of the manipulator. The
nodes in the list are empty, and users need to add nodes themselves, as
shown in the following figure:
1)、Add node
The user clicks the Add button on the toolbar to open the Add Node
dialog box. After setting the name and IP address,
The node at this address is added to the monitor list. Note: The IP address
of the motherboard is added here, and nodes with the same address will not
be added to the monitor list again.
2)、Delete the node
Select a node in the monitor list and click Delete on the toolbar to
delete the node from the monitor list.
3)、Display of monitoring data
Nodes added to the monitor list will display green Online if they are
connected to the computer successfully, and gray Offline if they are not
connected successfully.。
Click any node in the monitoring list, and the detailed operation data
of the current node, including the operation status, will be displayed on
the right Status, Production Information, Servo Position and Alarm Status.
6 Absolute encoder instructions
6.1 Servo driver settings
Change the driver parameters, set the absolute value system, open RS-
485 communication, set the driver communication address, and
configure the control system and driver communication connection. In
Hechuan Servo column:
Set communication address parameter P4.0 Setting range 1-32, default.

1. If it is set to 1 here, the encoder address in the upper computer
system should also be set to 1. The encoder address of different
servos and absolute values in the same upper computer control system
cannot be the same.
P8.0 is set to 1, and the upper communication mode is selected.
Optional RS-485 Asynchronous Serial Communication.
P257.0 Set to 1 and select Absolute.
Value system.
Battery Installation Drawing of Hechuan Servo 6P Encoder Line
Motor end
coding
6P terminal of
that device
Drawing of Hechuan Servo 485 Communication Line
Main board SERVO Driver CN4
Battery exchange：
Low Voltage Alarm"

occurs when the
battery voltage is
too low. At this
point, it is
necessary to
exchange batteries.
When exchanging
batteries, the
operation is
performed with the
servo driver
control power
supply (24V) turned
on. Control Power
Supply
(24V) When
implemented in the
off state, multiple
loops of data are
lost and a
mechanical origin
reset is required
again. Note:
Verify that the
battery polarity is
not reversed.
An indissoluble
battery.
Batteries must not
be shorted.
The recommended
battery must never
be recharged.
Otherwise, an
electric shock will
occur,
Injuries, failures,
breakages.
Restart servo when
setup is complete
Power supply.
6.2 Description of setting absolute value parameter

in manual controller
After system startup (under normal conditions of parameters and
signals), log in to the operating system with senior
administrator's permission, enter servo setting options, and
select servo axes using absolute value system, as follows
Set the origin mode,
origin + Z phase, find
the mechanical
physics origin.
Sets the absolute

encoder.
After the setting is Set the encoder

completed, click Save address. The value
to power off and set by P04.
restart.
After restarting, press the return key. After finding the

mechanical origin, enter the advanced administrator
password, then enter the servo parameters and enter the
origin option, as follows
1. Tick the axis that

uses the absolute
encoder.
2. Click the Clear

Encoder Origin
button to clear
multi-turn data.
The dialog box
pops up, click
here, and then
power off and
restart.
启完成后，再以高级管理员登入，进入伺服设置选项
The dialog box

pops up, click
here, and then
power off and
restart.
Then click here to
set the origin.
When the setup is

complete, click
Save.
When the setup
is complete,
click Save.
The absolute value system is set to complete here, and all coordinate
displays are 0 when restarting. If the display is not 0, reset the
above steps again.
Note: When the encoder origin is clear, the servo is not enabled.
7 Revision History
versio Remarks Reviser date
n
V1.0 This version is the first version, and may WSL 2017-6-24
have an interface with the actual version.
Different typesetting, does not affect the
actual use
V1.01 Update the new high-speed version of the WSL 2019-6-26
description
V1.02 Update alarm content Wz 2019-10-28
Update the contents of the absolute value
interface.
Add an introduction to the positioning
operation interface.
Add an easy mode introduction.
Replace part of the picture.
Update to the manual version "V3.37"

Hướng Dẫn Sử Dụng Robot 3 Servo

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SINROBOT

xPad 3-6 Axis

SINROBOT Technology Co., Ltd

Do not return time: click

And servo position servo operation

The servo reference point has been determined (the servo is

Manual mode: When the system is green, the system currently

Auto Run: In standby mode, press to enter this mode

Single-cycle operation: automatically run the current program for one

Single step operation: Single step running the current

1.3 User Rights Description

Manual safety is a three-state enable switch, which is defined as follows：

➢ Switch Release：Prohibit the manual operation of the manipulator.

➢ Press Half：Enable state to allow manual manipulation of the

➢ Full press：forbidden state, forbidden to manually operate the

4. When it's okay

Click to enter servo setting and pop-up interface (single-

Safe areas, rapid

Note: Different versions of the program, the interface may

be slightly changed, the basic operation is the same

Correct setting of motor parameters

Number of pulses per turn of the motor：5000 pulses are

sent by default and the motor rotates once. Institute

The corresponding parameter in the servo driver should be

set to 5000, and there is no service for this type of

Set the electronic gear ratio:

Numerator: denominator = motor resolution: 5000..

Acceleration：Max. 200%, adjusted according to actual servo

operation, 100% for general equipment Enough

Origin Offset：The system finds the origin. The default is

the falling edge of the origin signal，When the origin is

found, there may be no origin signal (the motor Z phase is

the origin). The origin signal is used as the origin point

and is also used as the safety zone signal. Therefore,

depending on the device, the offset value needs to be

adjusted depending on the security zone setting.

Origin standby：After looking for 0 digits, the position of

the normal shutdown, after setting, each time back to 0,

will not go to 0, go directly to the standby point。

Die：Mainly used in disk divider and other equipment. The

equipment runs in the same direction all the time,

restarting from 0 for every fixed distance. For example, a

disk is divided into six equal parts, each 60 degrees, a

direction of rotation, the program can set the mold to 60,

teaching, a command to solve the problem: servo positioning

60, 60 degrees per cycle.。

completed with the falling edge of the origin signal. After

the origin is found, the origin signal is not bright. If

the origin signal is required at 0, the origin offset

signal is adjusted by 0, and usually the device has an

origin signal. , just an origin offset parameter. 2. Origin

signal + Z phase: Based on the origin signal, after

receiving the falling edge of the origin signal, the Z

phase of the next motor is the origin position. 3. Does not

return to the origin: generally used with the absolute

of finding the origin, and can run directly without alarm.

Encoder type：System and servo communication settings,

different servo 485 data are different, need to set the

corresponding servo type for different servos。

Encoder address：The slave address of the 485 access, when

multiple axes, each axis address cannot be set to the same.

Must be set in the corresponding servo drive。

Software trip：Set the actual operating range of the servo.

JERK：The recommended value from 0 speed to maximum