Hop5 G2B Op 1.01e

For operation staff TAKE-OUT ROBOT
OPERATION MANUAL
This manual provides information on the following

models.
 HOP Five-450-G B  HOP Five-750-G B
CAUTION
Deliver this manual for the related department.
Read this manual before operation.
Version 1.01
7389
Greetings
We thank you for purchasing a Yushin take-out robot. We are always aiming technical
development and manufacturing with a motto of “One Step Advanced Technology” and we are
confident that you will be satisfied with your new take-out robot. In order to use your new
take-out robot to its fullest potential, please read this manual carefully and use the take-out
robot correctly.
We will continue our efforts to improve our technology and services so that we can provide
you with even better products in the future.
We look forward to your ongoing patronage.
Yushin Precision Equipment Co., Ltd.

Taking the Robot abroad
 When the entire take-out robot or any part thereof is to be taken abroad after delivery to the
original purchaser, the purchaser must obtain legal permission to export the robot according
to the laws in both the exporting country and the importing country. Yushin Precision
Equipment Co., Ltd. will assume no responsibility whatsoever if the purchaser exports the
robot without following the required procedures.
Exemption from responsibility

 The content of this manual is subject to change without prior notice.
 While every effort has been made to ensure the accuracy of the information in this manual,
we invite you to inform us if any errors or questionable content is discovered.
 The various data included in this manual is intended to serve as reference data concerning
the take-out robot. Yushin Precision Equipment Co., Ltd., is not regally bound in any way
whatsoever by these data.
 Yushin Precision Equipment Co., Ltd., assumes no responsibility whatsoever for damage or
lost profits resulting from modifications, disassembly, misuse, inadequate installation
environment, or any other situation beyond our control.
 Yushin Precision Equipment Co., Ltd., assumes no responsibility whatsoever for damage or
lost profits resulting from the use of this equipment.
Trademarks
 The company names and product names mentioned in this manual are trademarks or
registered trademarks of the respective companies.
© 2014 Yushin Precision Equipment Co., Ltd. All rights reserved.

All copyrights associated with this manual belong to Yushin Precision Equipment Co., Ltd. No
parts of this document may be duplicated, reproduced or transmitted in any form or by any
means, electronic or mechanical, for any purpose, without the express written permission of
INTRODUCTION
Thank you for purchasing a Yushin take-out robot. This take-out robot is designed to be
part of a fully automated manufacturing system for plastic parts. When used in conjunction
with an injection molding machine, this take-out robot can be used as a single automatic
means to handle such processes as taking the molded products out of the injection mold-
ing machine and casing the products.
In order to use the take-out robot efficiently and to its full potential, read this operation
manual before using the take-out robot. After reading the manual, keep it in a convenient
location for easy reference.
5
Safety symbols
This manual employs the following safety symbols for the safety of operation.
Pay special attention to the messages with these symbols when reading this manual.
Each safety symbol has the following meaning.

A danger notice with this symbol indicates an imminently hazardous
DANGER
situation which, if not avoided, will result in death or serious injury.
A warning notice with this symbol indicates a potentially hazardous

WARNING
situation which, if not avoided, could result in death or serious injury.
A caution notice with this symbol indicates a potentially hazardous

CAUTION
situation which, if not avoided, may result in minor/moderate injury or
property damage.
This symbol indicates that careful

attention should be paid in handling
workpieces.
Inflammables High Electric Biting of
temperature shock fingers
This symbol indicates that a certain action

is prohibited.
Never perform the prohibited action.
Don’t do this Don’t Don’t cause Don’t touch
disassemble fire
This symbol indicates that a certain action

must be done. Always do the action as
instructed.
Do this Disconnect Ground
plug terminal
Reference
z In addition to the above symbols and messages, danger/warning/caution/information

frames are provided in each section to give supplemental information or advice.
6
Safety notices related to take-out robot operation
DANGER
z Do not enter the take-out robot motion area when the take-out robot is in operation. The take-out robot
motion area is indicated by the shaded portion in the figure below.
Motion area
z Install a safety guard fence so that personnel will not enter the take-out robot motion area. A serious
accident could result if someone enters the take-out robot motion area during Auto operation.
7
WARNING
z Do not damage the power cable by pulling, bending, or
putting a heavy object on it. A damaged cable could be
the cause of fire or electric shock.
z If any of the following cases should occur, immediately

stop the operation and turn OFF the power to the hand-
held controller. If you continue the operation under such
conditions, a fire may result in the worst case.
• When fume rises from the take-out robot body or
control box, or the outside surface of the take-out
robot emits abnormal heat.
• When any abnormal noise is heard.
• When water enters inside of the take-out robot.
z To prevent electric shock due to possible current leak-

age, be sure to ground the plug by using one of the fol-
lowing methods.
• Connect the earth terminal of the plug to the earth
terminal of the plug socket.
• Connect the earth terminal of the plug to a copper
bar embedded in the ground at a depth of 650 mil-
limeters or more.
• Connect the earth terminal of the plug to a Class D
grounding terminal.
z Do not connect the earth terminal of the plug with the

following objects.
• Gas pipe (There is a possibility of flashing or explo-
sion.)
• Grounding wire from the public telephone line or
lightning arrestor (A great amount of current will flow
through the wire in the case of a thunderbolt.)
• Water pipe or faucet (If plastic or rubber is used in
part, it will not work as a grounding medium.)
8
WARNING
z If any air leak is detected, stop the take-out robot and
eliminate the cause of air leak. Servicing the take-out
robot while it is operated may cause serious personal
injuries.
z Check the following before turning ON the breaker.

Turning ON the breaker could cause the take-out robot
to go into action, resulting in serious personal injuries.
• No person is in the take-out robot motion area.
• The handheld controller and other tools are located
in their specified positions.
• No obstacles are on the moving frame of the take-
out robot.
z Do not get over the safety guard fence or let other

objects hit the safety guard fence. Otherwise, personal
injuries may result.
z If any abnormality occurs to the injection molding

machine or the take-out robot, check the handheld con-
troller lamp and digital display. Then, turn OFF the
power to the handheld controller.
9
WARNING
z Do not open the safety gate or remove the safety guard
fence during operation.
z Do not allow those other than qualified persons to open

the cover or panel of the take-out robot.
Otherwise, a malfunction of the take-out robot could
result.
z Do not put any vessel containing water, such as a vase

or glass, on top of the take-out robot body or the con-
troller. If water spills over the take-out robot body or the
controller, it is likely that you suffer from an electric
shock.
z Do not put any piece of metal, such as a clip or staple,

on the take-out robot body or the controller. If such a
piece of metal drops into the take-out robot body or the
controller, a short circuit could occur resulting in fire or
electric shock.
10
WARNING
z Do not put a heavy object on the take-out robot body or
the controller. It could damage not only the surface but
internal structure of the take-out robot body or the con-
troller, or it may fall on the floor or directly hit a person.
z Do not use an extremely flammable spray near by the

take-out robot. It is extremely dangerous to do so, as
fire may result.
z Before cleaning, inspecting, repairing, adjusting, or per-

forming maintenance on the take-out robot, be sure to
turn OFF the control power and pull out the plug. If you
attempt to perform the cleaning without turning OFF the
control power, you may suffer from an electric shock.
11
CAUTION
z Before starting operation, make sure the specified
power is supplied. Supplying inappropriate power may
cause a failure of the take-out robot. Refer to the speci-
fications for the details of the rated voltage and fre-
quency.
z When moving the take-out arm unit within the mold area
by the manual operation, take due care that the take-
out arm unit does not come into contact with the mold.
Be sure to operate the take-out robot outside the safety
guard fence.
z Take sufficient care to keep pneumatic tubing from

damage. Damage on the tube could cause air leakage,
resulting in a failure of the take-out robot.
12
CAUTION
z Before initiating the take-out robot operation, give spe-
cific training to the prospective operators and designate
a supervisor. Operator is not allowed to disassemble
the take-out robot without the supervisor's permission.
Do not allow those operators other than designated by
the supervisor to disassemble the take-out robot. Oth-
erwise, a failure of the take-out robot may result.
z Be sure to perform an inspection before starting up the

take-out robot. Otherwise, a delay in finding a malfunc-
tion may cause damage to the take-out robot or per-
sonal injuries.
z If you don't operate the take-out robot for several days

or longer, turn OFF the control power and pull out the
plug to ensure safety. If deterioration in isolation occurs,
it could be the cause of electric shock or current leak-
age.
13
CAUTION
z Provide a handbook consisting of the following guide-
lines, and inform every operator of the significance of
those instructions. Neglecting the guidelines may result
in a failure of the take-out robot or personal injuries.
• Methods and procedures for operating routines
including start-up of the take-out robot and each
switch
• Signs used by a group of persons assigned to the
same work
• Actions to be taken in an emergency
• Steps to restart the take-out robot after an emer-
gency stop, i.e. checking of safety conditions and
correcting of abnormal status
• Signs used between operators of the take-out robot
and those of the linked equipment
• Tags, cards or the like indicating the take-out robot
is in course of maintenance or inspection
Make sure the guideline for each of the above items is
appropriate for types of the take-out robot, installation
location.
z Do not use an operating fluid other than compression

air. Otherwise, a failure of the take-out robot may result. Compression
air
z Use pneumatic pressure regulated as specified. Other-

wise, a failure of the take-out robot may result.
14
CAUTION
z Do not use air that contains the following substances.
Also make sure such substances are not contained in
the atmosphere. Use only clean air. Otherwise, a failure
of the take-out robot may result.
• Organic solvents
• Phosphate oil
• Sulfur dioxide
• Chlorine gas
• Deteriorated compressor oil
• Acids
• A great deal of water
z Do not drop the handheld controller. Applying strong

shock to the controller may cause a malfunction.
z Never use a handheld controller which has come in

contact with water or oil.
15
CAUTION
z Perform regular maintenance without fail. Otherwise, a
Maintenance day
delay in finding a failure may cause damage to the
take-out robot or personal injuries.
z Select an installation location which provides a suitable

operational environment for the take-out robot. The
installation location shall meet the following require-
ments.
• Not exposed to direct sunlight
• Free of heavy dirt
• Free of the influences of vibrations, high frequency
electric fields, magnetic fields, electrical noise, and
static electricity. No corrosive gasses or floating par-
ticles of electrically conductive material like metal
around the take-out robot.
Operating temperature : 0 ºC to +45 ºC (32 ºF to 113 ºF)
Storage temperature : -15 ºC to +65 ºC (5 ºF to 149 ºF)
Humidity : 35 %RH to 85 %RH (without condensation)
z Make sure the operating environment would not be

worse even though a new set of equipment is added.
16
DANGER, WARNING, and CAUTION labels
The take-out robot is provided with DANGER, WARNING, and CAUTION labels as shown
in the figure below. Be sure to observe the information on these labels when operating,
inspecting, or performing maintenance on the take-out robot. Do not deface these labels. If
any of these labels peels off or becomes dirty or torn, replace it.
WARNING DANGER WARNING

High voltage. Short
Before servicing
Do not turn off,
circuit.
disassemble. Ground an
lock out / tag out
main power electric
disconnect. wire.
CAUTION
Secure the circular
plates with the supplied
M8 x 22 bolt before
starting auto operation.
DANGER
MODEL
Robot will SERIAL No.
come down.
Do not
enter robot POWER AC ( Hz)
SUPPLY A VAmax
operating area.
Yushin Precision Equipment Co. Ltd.
Made In Japan
WARNING DANGER CAUTION IN USE
High voltage. Make a team of two people to adjust the speed or

Before servicing position. One does the adjustment, while the other
Do not turn off, keeps a close watch for safety.
disassemble. lock out / tag out
main power Keep yourself away from the movable section of the
disconnect.
robot. Do not touch or adjust the robot while it is
running.
Before starting maintenance, be sure to turn the

power off and shut the air off.
Maker / supplier of machine will not be responsible

for any liability arising out of use of robot which
are modified without approval of maker / supplier.
YUSHIN PRECISION EQUIPMENT CO., LTD.
CAUTION
Do not tighten
by using tool.
17
CONTENTS
1 GENERAL DESCRIPTION
1.1 Component Configuration .............................................................................. 23
1.2 Take-out Robot Body ...................................................................................... 24
1.3 Arm Unit ........................................................................................................... 25
1.4 Kick Unit ........................................................................................................... 26
1.5 Swing Unit ........................................................................................................ 27
1.6 Main Body Junction Box ................................................................................ 28
1.7 Handheld Controller ........................................................................................ 29
2 START-UP AND SHUT-DOWN

2.1 Pre-operation Check ....................................................................................... 31
2.2 Operation Flow Outline ................................................................................... 32
2.3 Start-up ............................................................................................................. 32
2.4 Shut-down ........................................................................................................ 34
2.5 Emergency Stop and Condition Reset .......................................................... 35
2.5.1 Emergency Stop ................................................................................................ 35
2.5.2 Emergency Stop Condition Reset ..................................................................... 35
2.6 Basic Features and Screen Navigation of the Handheld Controller ........... 36
2.6.1 Screen Area ...................................................................................................... 36
2.6.2 Menu Screen ..................................................................................................... 37
2.6.3 Operation Screen .............................................................................................. 38
2.7 Character Input ................................................................................................ 39
3 AUTO OPERATION
3.1 Auto Operation Description ........................................................................... 41
3.2 Auto Operation ................................................................................................ 42
3.3 One-cycle Operation ....................................................................................... 45
4 MANUAL OPERATION
4.1 Manual Operation Description ....................................................................... 48
4.2 Manual Operation ............................................................................................ 49
4.3 Drop Holding Unit ............................................................................................ 52
4.4 Adjustment for a New Mold ............................................................................ 53
4.4.1 Chuck Waiting Position Adjustment ................................................................... 53
18
4.4.2 Descent Stroke Adjustment ............................................................................... 56
4.4.3 Descent Waiting Position and Kick Stroke Adjustment ..................................... 59
4.4.4 Swing Direction and Angle Adjustment ............................................................. 64
4.4.5 Cylinder Speed Adjustment ............................................................................... 66
4.4.6 Cylinder Cushion Adjustment ............................................................................ 70
4.4.7 Take-out Detection Sensor Adjustment ............................................................. 73
4.4.8 Flip Direction Selection (X type only) ................................................................. 75
4.4.9 Vacuum Suction Unit Adjustment (XC type only) .............................................. 78
4.4.10 Nipper Adjustment (XN type) ........................................................................... 81
4.5 Turntable .......................................................................................................... 83
5 TEACHING
5.1 Teaching Description ...................................................................................... 85
5.2 New Mold Data Setting .................................................................................... 86
5.3 Basic Motion Setting ....................................................................................... 89
5.3.1 Basic Motion Description ................................................................................... 89
5.3.2 Basic Motion Setting .......................................................................................... 91
5.4 Motion Mode Settings ..................................................................................... 92
5.4.1 Motion Mode Descriptions ................................................................................. 92
5.4.2 Motion Mode Setting ....................................................................................... 101
5.5 Timer Setting ................................................................................................. 102
5.5.1 Timer Descriptions ........................................................................................... 102
5.5.2 Timer Setting ................................................................................................... 103
5.6 Detection Setting ........................................................................................... 104
6 MOLD CONTROL
6.1 Loading Mold Data ........................................................................................ 105
6.2 Backing Up Mold Data .................................................................................. 106
6.3 Copying Mold Data ........................................................................................ 109
6.4 Deleting Mold Data ........................................................................................ 112
6.5 Renaming Mold Data ..................................................................................... 114
7 LEAD THROUGH TEACHING

7.1 Introduction to Lead Through Teaching ..................................................... 116
7.1.1 Functions of Lead Through Teaching .............................................................. 116
7.1.2 Programming Procedure ................................................................................. 117
7.1.3 Lead Through Teaching Screen Layout .......................................................... 118
7.1.4 Explanation of Screen Icons ............................................................................ 119
19
7.2 Flow Screen ................................................................................................... 120
7.3 Inserting and Deleting Steps ........................................................................ 122
7.3.1 Inserting a Step ............................................................................................... 122
7.3.2 Deleting a Step ................................................................................................ 123
7.4 Setting Steps ................................................................................................. 124
7.4.1 Output Setting ................................................................................................. 124
7.4.2 Timer Setting ................................................................................................... 128
7.4.3 Transfer Condition Setting ............................................................................... 132
7.5 Registering Valves ........................................................................................ 135
7.6 Examples of Addition of Motions ................................................................ 138
8 MONITOR
8.1 Input Signal Monitor ...................................................................................... 141
8.2 Error Log Monitor .......................................................................................... 142
8.3 Production Monitor ....................................................................................... 143
8.4 Information ..................................................................................................... 145
9 OTHER FUNCTIONS
9.1 Language Change ......................................................................................... 146
9.2 Buzzer Setting ............................................................................................... 147
9.3 Program Installation ...................................................................................... 148
9.4 Function Selection ........................................................................................ 150
9.4.1 Function Selection Items ................................................................................. 150
9.5 Password Setting .......................................................................................... 152
9.5.1 Password Setting ............................................................................................ 153
9.5.2 Clearing a Password ....................................................................................... 155
9.6 Date and Time Setting ................................................................................... 157
9.7 Brightness Adjustment ................................................................................. 158
9.8 ID/Parameter Setting ..................................................................................... 159
10 REGULAR MAINTENANCE
10.1 Cleaning ...................................................................................................... 160
10.2 Main Body Junction Box Relay Replacement ......................................... 161
10.3 Chuck Replacement ................................................................................... 163
20
11 TROUBLESHOOTING
11.1 Troubleshooting ......................................................................................... 165
11.2 Error Messages ........................................................................................... 166
11.2.1 Application Error ............................................................................................ 166
11.2.2 Command Errors ........................................................................................... 168
11.3 Limit Switches ............................................................................................. 168
APPENDIX
A.1 Specifications ............................................................................................... 169
A.2 External Dimensions .................................................................................... 170
A.3 Motion Area ................................................................................................... 171
A.4 Circuit Drawings ........................................................................................... 172
A.4.1 Pneumatic Circuit ............................................................................................ 172
A.4.2 Injection Molding Machine Interface ................................................................ 174
A.5 Maintenance Parts List ................................................................................. 175
A.6 Tightening Torque ........................................................................................ 176
21
22
1.1 Component Configuration
This take-out robot consists of the following:
Take-out robot body
Handheld controller
z In this manual, the mentioned components above are referred to collectively as the
take-out robot.
23
1.2 Take-out Robot Body

The components of the take-out robot body are described below.
9
1
5
4
No. Item Description

1 Arm Unit Junction Box Distributes the pneumatic pressure to the descent cylinder.
2 Descent Cylinder Raises and lowers the chuck unit.
3 Kick Cylinder Moves the arm unit horizontally.
4 Swing Cylinder Swings the entire arm unit.
5 Regulator Unit Regulates the pneumatic pressure.
6 Chuck Unit Holds the chuck. For type X, XC, and XN, the chuck can flip.
7 Manifold Distributes the pneumatic pressure to each cylinder.
8 Main Body Junction Box Houses the control board.
9 Rotary Base Handle Used to rotate the take-out robot body after bolted onto the injec-
tion molding machine.
24
1.3 Arm Unit

The components of the arm unit are described below.
1
Ascent Limit 2
Descent Limit

1 Descent Shock Absorber Allows a safe, controlled stop at the end of the descent motion.
2 Chuck Holds the sprue or runner.
3 Descent/Cylinder Speed Allows for speed adjustment of the ascent and descent motions.
Controllers
4 Descent Slide Guide Allows for easy descent stroke adjustment.
Stopper
5 Descent Cylinder Raises and lowers the chuck unit.
25
1.4 Kick Unit

The components of the kick unit are described below.
3
1
Kick Return Limit

Kick Limit

1 Kick Plate Supports the descent cylinder and moves in the horizontal
directions.
2 Kick Adjustment Handle Used to adjust the length of the kick stroke.
3 Kick Shock Absorber Used to safely stop the ascent/descent unit at the end of the kick
stroke.
4 Kick Cylinder speed Allows for adjustment of the kick stroke.
controller
5 Kick Cylinder Moves the arm unit horizontally.
26
1.5 Swing Unit

The components of the swing unit are described below.
4
1

1 Swing Limit Position at which the swing cylinder is at full stroke.
2 Swing Return Limit Position at which the swing cylinder is at rest.
3 Swing Cylinder Swings the entire arm unit.
4 Swing Cylinder Speed Allows for adjustment of the speed of the swing motion.
Controller
5 Swing Cylinder Adjustment Allows for adjustment of the swing limit angle.
Bolt
27
1.6 Main Body Junction Box
The main body junction box has the following functions:

• Supplies power from the injection molding machine to the take-out robot.
• Enables communication between the injection molding machine and the take-out robot.

1 Relays Used to make various electrical connections. Replace the relays
once a year. See <10.2 Main Body Junction Box Relay
Replacement> for more details.
2 Power Cable Used to connect with the power outlet socket.
3 Injection Molding Machine Used to communicate with the injection molding machine.
Cable
4 Handheld Controller Cable Used to connect to the handheld controller.
5 Dummy Connector When the injection molding machine cable is not used, this plug
is used to cover the cable connector. Use this when the take-out
robot is not going to be used for more than a couple days.
28
1.7 Handheld Controller

The handheld controller is used to control the various operations of the take-out robot.
The function of each key is described below.
Stop
POWER
Mold Open Limit Start

Injection Signal /Stop
SafetyGateClosed
Cycle Start
Auto
Mld Opn-Cls Ilk
Ejector
External Signal
1Cycle
ERROR
Monitor Teaching MoldRead Menu
Back
Clear
CLR
7 8 9
@/: ABC DEF
OP
4 5 6 1
GHI JKL MNO
OP
1 OP
2 2 OP
3 3 OP
4 5
PQRS TUV WXYZ
0 OP
6
H!?
OP
7 . OP
8
OP
9

1 Control Power Lamp Lights when the control power is ON.
2 Emergency Stop Used to stop the take-out robot in the case of, or to prevent an emergency.
switch When pressed the take-out robot will stop at the end of its current motion.
3 LCD This section displays items such as operation conditions, error messages, or
(Liquid crystal display) setting values.
4 Stop key Used to stop operation.
5 Start/Stop key Used to start/pause operation.
6 Auto key Used to start Auto operation.
7 1Cycle key Used to start one-cycle operation.
8 Menu keys Used to display menu screens.
9 Back key Used to return to the last screen or menu screen.
29

10 Clear key Used to reset errors or to cancel operation.
11 Forward/Backward Used to move the take-out robot one step forward or backward during step-by-
keys step operation. In addition, used to change the kind of characters on each
name input screen.
12 Deadman switch When in use, manual/valve operations can be performed. See the information
(optional) box below for instructions on how to use the deadman switch.
13 Cursor keys The and keys are used to scroll through the screen and to select items.
The and keys are used to change a screen or setting value, and to select
items. The key is used to decide screen change or input using the keypad.
14 Valve keys/Keyboard Used to operate valves such as cylinders and flip (OP1 to OP9 are optional.)
keys Use the multi-tap method to input values, symbols, and characters.
15 Power switch Turns ON/OFF the control power.
16 SD Memory Card slot Used to insert an SD memory card and save or upload data.
z Operations other than manual/valve operation are allowed without the deadman switch
being pressed.
z When the deadman switch is pressed in halfway, the touch panel controller goes operative
(ON), allowing manual/valve operation to be performed. It turns OFF when the deadman
switch is not pressed or is pressed completely in. At that time, manual/valve operation
cannot be performed.
Not pressed Pressed halfway Pressed deeply

(Clicked)
Clicked
OFF ON OFF
z If manual/valve operations are attempted without pressing the deadman switch, the follow-
ing screen appears.
30
2.1 Pre-operation Check
 When the take-out robot seems to be acting abnormally, contact the personnel designated
by the safety supervisor to perform maintenance or Yushin Precision Equipment.
WARNING
Before starting up the take-out robot, check the following items:

 Check that the pneumatic pressure is set at 0.49 MPa(gauge).
 Check the pneumatic tubing for leakage. Also, check that the tubing is securely attached.
 Check that the mounting bolts are securely mounted. Not all bolts are shown below.
 Check the arm unit, kick unit, and swing unit for looseness.
After starting up the take-out robot, check the following items:

 Check that the emergency stop switch of the handheld controller functions correctly.
 Open the mold of the injection molding machine to the mold open limit. Make sure that the
mold cannot be closed if the take-out robot descent arm is moved down to the descent limit.
To do this attempt to close the mold in the mold set mode and the preparation mode of the
injection molding machine while the take-out robot is at the descent limit.
 Make sure that the descent arm does not hit the mold when moving it down into the mold.
CAUTION
Secure kick shock Secure kick

absorber adjustment bolt
adjustment nut
Secure swing
piston bolt
Secure
Secure kick swing
plate bolts
(upper and lower) cylinder
base
Emergency stop switch bolt
Pneumatic pressure
0.49 MPa (gauge)
Secure spacer
base bolt
31
2.2 Operation Flow Outline
z Only those personnel designated by the take-out robot safety supervisor are allowed to
perform operations. Insufficient knowledge, training, or experience could lead to an
WARNING accident.
Below is an outline of the operation flow after starting up the take-out robot.
Control power ON

Auto operation
2.3 Start-up
1 Make sure the following cables are con-

nected correctly.
Power cable
Handheld controller cable
Injection molding cable
z When the arm unit is stopped anywhere other than the descent waiting position, it
automatically moves to the descent waiting position. Be careful not to hit anything with the
CAUTION arm.
32
2 Make sure the plant air is

supplied.
Regulator adjusting knob
3 Pull up the regulator adjusting

knob of the regulator unit and
adjust the pneumatic pressure to
0.4
0.2
0.6
1
0.8
0.6
0.49 MPa (gauge).

0.4 0.8
0.2 1
Regulator unit
4 After adjusting the pneumatic

pressure, push the knob back
down.
Plant air supply connector
z The take-out robot receives its power from the injection molding machine. If the take-out
robot power will not turn ON, check the cable connection between the take-out robot and
the injection molding machine.
z Before turning ON the handheld controller power switch, make sure the injection molding
machine power is ON.
CAUTION
5 Turn ON the handheld controller

power switch.
ON
After displaying the title screen on

the display, the “Manual Operation”
screen appears.
6 Press the Auto
Stop
key or 1Cycle
key and then press the Start/
key to start operation.
33
2.4 Shut-down
z Always follow this procedure. If the take-out robot is shut down so that the pneumatic pres-
sure suddenly goes to zero, the take-out robot may stop at a position other than the
CAUTION descent waiting position. Be careful of movement after the pressure drops to zero.
1 During Auto operation, press the

Stop key.
The take-out robot stops at the
POWER
Mold Open Limit

Stop
Start
motion end of each cylinder. SafetyGateClosed
Cycle Start
Auto
Mld Opn-Cls Ilk
Ejector
External Signal 1Cycle
ERROR
z Turn OFF the handheld controller power switch before turning OFF the injection molding
machine power.
CAUTION
2 Turn OFF the handheld controller

power switch.
The control power LED turns OFF
and the LCD disappears. OFF
z When the arm unit is stopped anywhere other than the descent waiting position, it auto-
matically moves to the descent waiting position. Be careful not to hit anything with the arm.
CAUTION
3 Pull up the regulator adjusting

knob of the regulator unit and
adjust the pneumatic pressure to
Regulator adjusting
knob
0 MPa (gauge).
0.6
0.4 0.8
4 After adjusting the pneumatic

pressure, push the knob back
down. 0.4
0.2
0.6
1
0.8
0.2 1
Regulator unit
34
2.5 Emergency Stop and Condition Reset
If the take-out robot may come in contact with a person or the mold, the take-out robot can
be stopped by pressing the emergency stop switch.
2.5.1 Emergency Stop
1 Press the emergency stop

switch.
If moving, the take-out robot stops at
Emergency stop switch
the end of its current motion.
2.5.2 Emergency Stop Condition Reset
z Make sure the cause of the emergency stop has been removed before resetting the
emergency stop condition.
WARNING
1 Turn the emergency stop switch

clockwise.
The emergency stop switch rises to
Emergency stop switch
its original position.
35
2.6 Basic Features and Screen Navigation of the Handheld

Controller
The take-out robot is operated by using the handheld controller.

Items displayed on the handheld controller vary depending on the selected screen.
2.6.1 Screen Area

This section describes the screen display using the “I/O monitor” screen as an example.
No. Description
1 Displays the current screen title.
2 Displays the details.
When accessing a screen to configure settings, set items, or set contents they
will be displayed in this section.
3 Displays icons of the keys that can be controlled on the current screen.
When is displayed, the valves can be operated using the valve keys.
Small squares of represent Monitor, Teaching, MoldRead, and Menu keys
from left to right. When any of these squares are displayed, the corresponding
key can be operated.
36
2.6.2 Menu Screen

This section describes configurations of a menu screen using the “Mold data menu”
screen as an example.
No. Description
1 Displays the current menu title.
2 Displays the name of the currently selected screen that was accessed from the
current menu screen.
3 Displays icons of screens that can be accessed from the menu screen. The
background of the selected icon turns black. In addition, the upper left number of
icons corresponds to the keypad key of the handheld controller. Press the
desired key to display the corresponding screen.
z When “Menu mode” described in <9.4 Function Selection> is set to “Direct”, if one of
the Monitor /Teaching /MoldRead keys are pressed, the above menu screen
is skipped and each screen is directly displayed. After displaying a screen, the screen is
changed every time the key is pressed.
[Example] When the Monitor key is pressed during “Direct” setting.
Pressed once Pressed twice Pressed three times Pressed four times
37
2.6.3 Operation Screen

This section describes configurations of an operation screen using the “Auto Operation”
screen as an example.
No. Description
1 Displays the current screen title.
2 Displays the condition of the current operation.
3 Displays the current mold name.
4 Displays the number of the currently moving flow and block.
5 Displays the operatable contents and the key icons.
Small squares of represent Monitor, Teaching, MoldRead, and Menu keys
from left to right. When any of these squares are displayed, the corresponding
key can be operated.
38
2.7 Character Input

Characters can be entered using the handheld controller keypad keys using the multi-tap
method described below. Letters, numbers and symbols can be entered. Use the or
keys to change the character input modes.
The following list shows characters available with each character input mode.
Every time each key is pressed, characters change in the order described below.
Character input mode

Key
English Numeral
0 0
!? ,
PQRSpqrs1 1
TUVtuv2 2
WXYZwxyz3 3
GHIghi4 4
JKLjkl5 5
MNOmno6 6
#$%&‘()+,-=@[]^_‘{}~7 7
ABCabc8 8
DEFdef9 9
z For mold names and passwords “!” and “?” cannot be used.
z For mold names “.” cannot be used.
39
[Example] Input “HOPcup2” as a mold name
Enter characters using the keypad

keys
Change character input modes

using the and keys
“Create New Mold Data” screen
Key operation Displayed character
(Set the “Font Change” for “English”)
Press the key twice. H
Press the key three times. O
Press the key once. P
Press the key six times. c
Press the key five times. u
Press the key five times. p
(Set the “Font Change” for “Numeral”.)
Press the key once. 2
40
3 AUTO OPERATION
3.1 Auto Operation Description
The Auto operation modes are the operation modes used during production.
Auto operation includes two modes of operation.
z Auto Operation
In this mode, the take-out robot is operated based on the specified teaching data while
synchronizing with the injection molding machine. This mode is used for normal pro-
duction.
z One-cycle Operation
This mode is used to make sure the mold data created for a new mold is appropriate.
41
3 AUTO OPERATION
3.2 Auto Operation
z Before starting Auto operation, make sure no people or obstacles are in the take-out robot
motion area.
DANGER
1 Access the “Mold Data Read” screen in either of the following manners:
1) Press the MoldRead key to display the “Mold data menu” screen. Select the Mold Data
Read icon on the “Mold data menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Mold Data Read icon on
the “Menu” screen and press the key.
The “Mold Data Read” screen

appears.
2 Select a mold number using the

/ keys.
The background of the selected mold
number turns black.
3 Press the key.
The confirmation window appears

and press the key again.
z See <6.1 Loading Mold Data> for details on the “Mold Data Read”.
42
3 AUTO OPERATION
4 Press the Auto key.

The take-out robot starts to move to
the waiting position.
Stop
POWER
Mold Open Limit Start

SafetyGateClosed
Cycle Start
Auto
Mld Opn-Cls Ilk
Ejector
External Signal
1Cycle
ERROR
Monitor Teaching MoldRead Menu
The message “InWaitPosMove”

appears while the take-out robot
moves to the waiting position.
z If the take-out robot may hit the injection molding machine while moving to the waiting
position, press the emergency stop switch or the Stop key and stop the take-out robot
CAUTION motion. Then, move the take-out robot body to a safe position in manual mode.
z See <4.2 Manual Operation> regarding how to perform manual operation.
43
3 AUTO OPERATION
After the take-out robot reaches the

waiting position, the screen changes
to the “Auto Operation” screen and
the Start/Stop key blinks.
5 Press the Start/Stop

Auto operation starts.
key.
POWER
Stop
Mold Open Limit

Start
SafetyGateClosed
Cycle Start
Auto
Mld Opn-Cls Ilk
Ejector
External Signal
1 Cycle
ERROR
• To pause operation, press the

Start/Stop key. The take-out
robot pauses at the motion end
of the current cylinder.
Press the Start/Stop key
again to resume operation.
• To stop operation, press the Stop
key. The take-out robot
returns to manual mode and
stops at the motion end of the
current cylinder.
44
3 AUTO OPERATION
3.3 One-cycle Operation
z One-cycle operation is used to make sure that the mold data created for a new mold is
appropriate. This operation ends simultaneously when one cycle motion ends.
z Before starting one-cycle operation, make sure no people or obstacles are in the take-out
robot motion area.
DANGER
1 Before starting one-cycle operation make sure:

• The injection molding machine operation switch is set to “Manual”
• The mold is fully open
• The safety gate is closed.
2 Select a mold on the “Mold Data

Read” screen.
z See <6.1 Loading Mold Data> for details of the “Mold Data Read.”
3 Press the 1Cycle key.

The take-out robot starts to move to
POWER
Stop
Mold Open Limit

Start
Injection signal /Stop
SafetyGateClosed
Cycle Start
Auto
Mld Opn-Cls Ilk
Ejector
External Signal
1 Cycle
ERROR
45
3 AUTO OPERATION
The message “InWaitPosMove”

(moving to waiting position) appears
while the take-out robot moves to the
waiting position.
z If the take-out robot may hit the injection molding machine while moving to the waiting
position, press the emergency stop switch or the Stop key and stop the take-out robot
CAUTION motion. Then, move the take-out robot body to a safe position in manual mode.
z See <4.2 Manual Operation> regarding how to perform “Manual Operation.”
After the take-out robot reaches the

waiting position, the screen changes
to the “1 Cycle Operation” screen
and the Start/Stop key blinks.
4 Press the Start/Stop

One-cycle operation starts.
key.
POWER
Stop
Mold Open Limit

Start
SafetyGateClosed
Cycle Start
Auto
Mld Opn-Cls Ilk
Ejector
External Signal
1 Cycle
ERROR
46
3 AUTO OPERATION
• To pause operation, press the

Start/Stop key. The take-out
robot pauses at the motion end
of the current cylinder.
To move the take-out robot one
step forward or backward during
pause, press the and
keys. Press the Start/Stop
key again to resume operation.
• To stop operation, press the Stop
key. The take-out robot
returns to manual mode and
stops at the motion end of the
current cylinder.
When one cycle motion is com-

pleted, the take-out robot returns to
manual mode.
47
4 MANUAL OPERATION
4.1 Manual Operation Description
In addition to Auto operation mode, the take-out robot can also be operated in Manual
operation mode. Manual operation mode allows movement of individual components of
the take-out robot while adjusting after a mold change or any other situation.
z Operations other than manual/valve operation are allowed without the deadman switch
being pressed.
z When the deadman switch is pressed in halfway, the touch panel controller goes operative
(ON), allowing manual/valve operation to be performed. It turns OFF when the deadman
switch is not pressed or is pressed completely in. At that time, manual/valve operation
cannot be performed.
Not pressed Pressed halfway Pressed deeply
(Clicked)
Clicked
OFF ON OFF
z If manual/valve operations are attempted without pressing the deadman switch, the
following screen appears.
48
4 MANUAL OPERATION
4.2 Manual Operation
z Before performing manual operation, make sure the injection molding machine is in
“Manual” mode.
z Before starting manual operation, make sure no people or obstacles are in the take-out
CAUTION robot motion area.
z Manual operation can be performed only when the “Manual Operation” or the “I/O monitor”
screens are displayed.
1 If a screen other than the “Manual Operation” screen or the “I/O monitor” screen is
displayed, press the Back key to return to the “Manual Operation” screen.
2 Make sure the take-out robot is

started up and the arm unit is in
Waiting position
z The manual operations described in Steps 3 to 9 can be performed in any order.
3 Ascent/Descent Motion
Press the 7 key to lower the chuck @

7
@/:
/:
unit. AB
8
GH
4
I C
Press the 7 key again to raise the DE
9
@/:
JK
5
P L F
chuck unit. OP MN
6
TU
2
V O
3
WX OP OP
3
YZ
1
4
OP OP
5
8
49
4 MANUAL OPERATION
z If the mold is not open, the chuck unit will not descend.
z If the chuck is flipped, the chuck unit will not descend.
4 Kick/Kick Return Motion

@
7
/:
Press the 8 key to kick the arm AB
8
ABC
C
unit. DE
9
JK
5
L F
Press the 8 key again to kick the MN
6
ABC P O
arm unit back (kick return). WX OP OP
1
3
4
OP
5
5 Swing Motion
Press the 9 key to swing the arm

8
DE 9
F
DEF
unit.
OP
Press the 9 key again to swing the
DEF
1
OP
arm unit back (swing return). 5
z The arm unit cannot be swung while the chuck unit is in the descent position.
6 Chuck Motion
9
D
Press the key to close the chuck.

E
F
Press the key again to open the

O
1
P
chuck.
Chuck
50
4 MANUAL OPERATION
7 Flip Motion (X, XC, XN types)
7
@
/:
8
4
4
Press the key to flip the chuck.
A
G
B
H
GHI
5
Press the 4 key again to flip the
JK
L
GHI
2
chuck back (flip return).
O
3
P
T
U
V
z The flip unit cannot be flipped while the chuck unit is descended into the mold.
8 Vacuum Suction (XC type)
Press the 5key to turn ON the

@
5
JK
7
/:
AB
C
JKL L
vacuum suction. P MN
O
WX
3 OP
Press the 5 key again to turn OFF
4
JKL
OP
the vacuum suction.
5
z Be careful not to get fingers caught in the nipper.
9 Nipper Motion (XN type)

8
9
A
5
B
C
6
Press the key to close the
D
6
MNO
JK
E
F
L
MN
nipper. O
P
6
3 OP
Press the key again to open the
O4
1
P
W
X
MNO
O5
nipper.
P
Nipper
O9
P
51
4 MANUAL OPERATION
4.3 Drop Holding Unit
To prevent the descent cylinder from dropping down in the absence of pneumatic pres-
sure, the take-out robot is equipped with a drop holding unit.
Drop holding unit
1 To lower the descent cylinder

without air supplied to it, while
holding the drop holding pin out,
Drop holding pin
lower the descent cylinder by

hand.
2 To raise the descent cylinder,

push it up by hand until the drop
holding pin clicks.
52
4 MANUAL OPERATION
4.4 Adjustment for a New Mold
4.4.1 Chuck Waiting Position Adjustment
The chuck waiting position must be adjusted so that neither the chuck nor the product hits
the new mold.
z After adjusting the chuck waiting position, be sure to adjust the descent stroke.
(See <4.4.2 Descent Stroke Adjustment>.)
CAUTION
Arm unit
Handheld controller
Chuck unit
Regulator unit
Chuck
1 • Make sure the injection mold-

ing machine power and the
take-out robot control power
are both OFF.
0.6
• Make sure there is no residual 0.4 0.8
pneumatic pressure in the take- 0.2 1
out robot. OFF

If there is any residual pressure, pull
up the regulator adjusting knob and
adjust the pneumatic pressure to 0
MPa (gauge).
53
4 MANUAL OPERATION
2 Make sure the chuck unit is at

the ascent limit.
If the chuck unit is not at the ascent
limit, push it up by hand until the drop
holding pin is engaged.
3 By hand, clamp a work (product) sample in the chuck.
z Depending on the motion mode settings, the take-out motion may carry the product over
the mold. Take the size of the product into consideration when determining the necessary
CAUTION clearance.
4 Make sure there is sufficient

clearance between the mold and
the work sample.
• If the work is going to hit the
mold, proceed to Step 5.
• If the work has enough clear- Work
ance and will not hit the mold,
proceed to Step 7.
Clearance
z The descent cylinder drops when the bolts are loosened, be sure to support the descent
cylinder by hand while loosening the bolts.
CAUTION
5 Loosen the four bolts of the kick

plate and adjust the position of
the descent cylinder so that the
work does not hit the mold.
6 After positioning the descent cyl-

inder, tighten the four bolts of the
kick plate.
Four bolts
54
4 MANUAL OPERATION
z Before operating the take-out robot, make sure no people or obstacles are in the take-out
robot motion area. Failure to observe this precaution could result in a serious accident.
WARNING
z Turn ON the injection molding machine power before turning ON the handheld controller
power switch.
CAUTION
7 Turn ON the injection molding

machine power.
8
ON 0.6
Turn ON the handheld controller 0.4 0.8
0.2
power switch. Next, supply the 1
plant air and adjust the pneu-

matic pressure to 0.49 MPa
(gauge).
In manual mode, perform the ascent
and swing motions and make sure
the work sample does not hit the
mold.
z Turn OFF the handheld controller power switch before turning ON the injection molding
machine power.
CAUTION
9 After the adjustment is completed, turn OFF the handheld controller power switch
and then turn OFF the injection molding machine power. Finally, set the pneumatic
pressure to 0 MPa (gauge).
55
4 MANUAL OPERATION
4.4.2 Descent Stroke Adjustment
Adjust the descent stroke according to the type of product.
z Be sure to adjust the chuck waiting position before adjusting the descent stroke.
(See <4.4.1 Chuck Waiting Position Adjustment>. )
CAUTION
Kick unit
Handheld controller
Chuck unit
Regulator unit
Chuck
Shock absorber

are both OFF. 0.6
• Make sure there is no residual 0.4 0.8
0.2
pneumatic pressure in the take- 1
OFF
out robot.
MPa (gauge).
56
4 MANUAL OPERATION
2 If the ascent/descent unit is in

the descent position push it up
by hand until the drop holding
unit is engaged.
3 Loosen the slide guide stopper

bolt.
Bolt
4 • Pull the drop holding pin out.

• Lower the chuck unit into the
mold area.
Drop holding
unit pin
• Align the chuck to the appro-

priate height to take out the Chuck unit
product.
Chuck
5 After positioning the height of

the chuck, lower the descent
slide guide stopper until it com- Descent slide
guide stopper
pletely compresses the shock
Shock absorber
absorber.
6 Tighten the descent slide guide

stopper bolt. Bolt
7 After tightening the bolt, push

the chuck unit back up to the
waiting position by hand.
57
4 MANUAL OPERATION
WARNING
power switch.
CAUTION

machine power.
9
ON 0.6
0.2

(gauge).
In manual mode, perform the ascent/
descent motion to check the descent
stroke adjustment.
machine power.
CAUTION
58
4 MANUAL OPERATION
4.4.3 Descent Waiting Position and Kick Stroke Adjustment
The descent waiting position and the kick stroke must be adjusted when the mold is
changed.
Depending on the location of the work to be removed the stroke adjustment procedure will
change.

are both OFF. 0.4
0.6
0.8
• Make sure there is no residual 0.2 1
pneumatic pressure in the take- OFF

out robot.
MPa (gauge).
z If the work to be removed is from the moveable plate of the injection molding machine start
at Step 2. If the work to be removed is from the stationary plate proceed to Step 9.
z The “chuck close kick position” is the position of the kick unit when the chuck closes. This
position may or may not differ from the descent waiting position depending on the take-out
motion mode being used.
2 Make sure that the rod of the kick

cylinder is at the end of the kick
direction.
Cylinder rod
The following procedure is to adjust

the kick stroke.
Kick direction
59
4 MANUAL OPERATION
3 Fix the plain surface of the kick

cylinder collar with one spanner
and loosen the lock nut with the
Collar
Lock nut
other spanner.
Collar fixing
spanner
4 Spin the shock absorber to

determine the kick stroke.
The distance between the com-
Shock absorber
pressed shock absorber and the

stopper wall will be the kick stroke.
5 After the quantity is decided,

tighten the lock nut.
The kick stroke adjustment is now
Lock nut
complete. Proceed to the descent

waiting position adjustment.
6 Move the kick unit to the end of

the kick return direction by hand
and compress the shock
Compressed shock absorber
absorber against the stopper

wall.
Stopper wall
Kick return
direction
60
4 MANUAL OPERATION
7 Loosen the kick adjustment han-

dle to move the arm unit by hand,
independently from the kick rod, Arm unit
and position the arm unit in the
descent waiting position.
8 After positioning the descent

waiting position, tighten the kick
adjustment handle. Do not Kick
tighten by using tool. adjustment
handle
Kick stroke and descent waiting posi-
tion adjustments to remove work
from the moving plate are now com-
plete. Proceed to Step 16 to test the
adjustments.
9 Move the kick unit to the end of

the kick direction.
Shock absorber
Kick direction
Stopper wall
10 Loosen the kick adjustment

handle to move the arm unit by
hand, independently from the
Arm unit
kick rod, and position the arm
unit in the chuck close kick
position desired.
11 After positioning the arm unit in

the chuck close kick position,
tighten the kick adjustment
Kick
adjustment
handle
handle. Do not tighten by using
tool.
The chuck close kick position
adjustment is complete. Proceed to
the kick stroke adjustment.
61
4 MANUAL OPERATION
12 Make sure that the rod of the

kick cylinder is at the end of the
kick direction.
Cylinder rod
The kick stroke is the distance

between the compressed shock
absorber in the chuck close kick
position and the wall stopper.
Kick direction
13 Fix the plain surface of the kick

cylinder collar with one spanner
and loosen the lock nut with the
Collar
Lock nut
other spanner.
Collar fixing
spanner
14 Spin the shock absorber to

determine the kick stroke.
The distance between the com- Shock absorber
pressed shock absorber at the collar
determines the kick stroke.
15 After the quantity is decided,

tighten the lock nut.
The kick stroke and chuck close kick
position adjustments to remove
work from the stationary plate are
complete. Proceed to Step 16 to Lock nut
test adjustments.
62
4 MANUAL OPERATION
z Before operating the take-out robot, make sure are no people or obstacles are in the take-
out robot motion area. Failure to observe this precaution could result in a serious acci-
WARNING dent.
power switch.
CAUTION

machine power.

power switch. Next, supply the
ON 0.4
0.2
0.6
0.8

(gauge).
In manual mode, perform the kick
motion and check the kick stroke
adjustments.
machine power.
CAUTION
63
4 MANUAL OPERATION
4.4.4 Swing Direction and Angle Adjustment
The swing direction and swing angle can be adjusted by changing the placement of where
the swing cylinder adjustment bolt is connected to the arm linkage.
Swing cylinder
adjustment bolt
Swing cylinder
1 Make sure the injection molding

machine power and the take-out
robot control power are both OFF.
Make sure there is no residual 0.4
0.6
0.8
pneumatic pressure in the take- 0.2 1
out robot. OFF

MPa (gauge).
2 Make sure the swing direction is

correct.
The swing direction can be changed
Swing cylinder
adjustment bolt
by changing the position where the
swing cylinder is connected to the arm
linkage.
To change the swing direction, change
the position of the swing cylinder
adjustment bolt according to Step 3.
64
4 MANUAL OPERATION
3 Loosen the swing cylinder adjust-

ment bolt. Adjust the swing direc-
tion and the swing angle by
sliding the end of the swing cylin-
Swing cylinder
der along the arm linkage.
adjustment bolt
4 After moving the swing cylinder

connection point to the desired
position, tighten the bolt.
WARNING
power switch.
CAUTION

machine power.
6
0.6
Turn ON the handheld controller ON 0.4 0.8
0.2

(gauge).
In manual mode, perform the swing
motion and check the swing direction
and the swing angle.
machine power.
CAUTION
7 After the adjustments are completed, turn OFF the handheld controller power
switch and then turn OFF the injection molding machine power. Finally, set the
pneumatic pressure to 0 MPa (gauge).
65
4 MANUAL OPERATION
4.4.5 Cylinder Speed Adjustment
After adjusting the position and stroke of the cylinders, adjust the cylinder motion speeds.
z At the standard take-out speed (amount of time from mold open to mold closed signal) the
U-type motion takes 1.2 seconds. Set to a maximum of 1.0 seconds.
z At the standard take-out speed the L-type motion takes 1.4 seconds. Set to a maximum of
1.2 seconds.
z Do not perform operation at speeds faster than the maximum speed. Otherwise, the take-
CAUTION out robot may malfunction.
z Adjust the cylinder speed considering the mold releasing strength of a product or runner,
and the weight and form of the take-out robot end-of-arm tool.
Kick cylinder
speed controller
Slow down circuit
Descent cylinder
speed controller
Swing cylinder
speed controller
z Adjust and test each cylinder individually.
66
4 MANUAL OPERATION
1 After checking that the mold is

fully open, turn the injection
molding machine pump motor
OFF.
OFF
Make sure the take-out robot
control power is OFF.
Supply the plant air and adjust OFF
the pneumatic pressure to 0.49
MPa (gauge).
2 Loosen the lock nuts and adjust

the descent cylinder speeds by
rotating the speed controllers.
Turn the speed controller clockwise Ascent speed controller
to reduce the speed and counter-
clockwise to increase the speed. Lock nuts
Descent speed controller

the swing cylinder speeds by
rotating the speed controllers.
Turn the speed controller clockwise Swing speed controller
clockwise to increase the speed. Lock nuts
Swing return speed controller
67
4 MANUAL OPERATION

the kick cylinder speeds by rotat-
ing the speed controllers.
Kick return speed controller
Lock nuts
Turn the speed controller clockwise

clockwise to increase the speed.
Kick speed
controller

the slow down speed by rotating
the speed controllers.
Lock nut
Turn the speed controller clockwise

clockwise to increase the speed.
Speed controller
WARNING
power switch.
CAUTION
68
4 MANUAL OPERATION

machine power.
7
0.6
0.2
power switch. Then, operate the
1
take-out robot in one-cycle mode

to check the speeds.
If the speeds require further adjust-
ment, return to Step 2.
8 Once the speed adjustments are complete, tighten all of the lock nuts.
machine power.
CAUTION
69
4 MANUAL OPERATION
4.4.6 Cylinder Cushion Adjustment
After adjusting the cylinder speeds, adjust the cushion for each cylinder. The cushion can
be adjusted for the kick cylinder return limit, the descent cylinder ascent limit, and both lim-
its of the swing cylinder.
z After changing cylinder speeds using the speed controllers, be sure to adjust cushions for
each cylinder.
z For the descent cylinder, be sure to adjust the descent cylinder speed before adjusting the
cushion.
CAUTION z For the swing cylinder, be sure to adjust the swing direction and swing angle before adjust-
ing the cushion.
z Inappropriate cushion adjustment causes malfunction. Adjust the cushions properly.
z The cushion is said to be “strong” when the piston stops slowly at the end of the stoke. The
cushion is said to be “weak” when the piston stops quickly at the end of the stroke.
Cushion adjusting
needle valve for the
descent cylinder ascent limit
Cushion adjusting
kick cylinder return limit
Cushion adjusting
swing cylinder swing limit
Cushion adjusting
swing cylinder return limit
70
4 MANUAL OPERATION
1 • After checking that the mold is

fully open, turn the injection
molding machine pump motor
OFF.
OFF
• Make sure the take-out robot
control power is OFF.
OFF
• Supply the plant air and adjust
the pneumatic pressure to 0.49
MPa (gauge).
2 Loosen the lock nut and adjust

the descent cylinder ascent limit
cushion by rotating the needle Needle valve
valve.
Turn the needle valve clockwise to
strengthen the cushion and counter-
clockwise to weaken the cushion.
Lock nut
3 Loosen the lock nut and adjust

the kick cylinder return limit
cushion by rotating the needle
Needle valve
valve.
Turn the needle valve clockwise to
strengthen the cushion and counter- Lock nut
clockwise to weaken the cushion.

the swing cylinder cushions by
rotating the needle valves.
Turn the needle valves clockwise to Needle valve
strengthen the cushions and counter-
clockwise to weaken the cushions.
Lock nut
71
4 MANUAL OPERATION
WARNING
power switch.
CAUTION

machine power.
ON

power switch. Then, operate the
take-out robot in manual mode to
check the cushion adjustments.
If the cushions require further adjust-
ment, return to Step 2.
7 Once the cushion adjustments are complete, tighten all of the lock nuts.
machine power.
CAUTION
72
4 MANUAL OPERATION
4.4.7 Take-out Detection Sensor Adjustment
Check the operation of the take-out detection sensor and adjust as necessary.
z Be careful not to get fingers caught in the chuck.

z Be careful handling the sensor because it is fragile and easily affected by a shock.
CAUTION
Chuck sensor
LED
Chuck
WARNING
power switch.
CAUTION

machine power.
2
0.6
ON 0.2
power switch. Supply the plant 1
air and adjust the pneumatic

pressure to 0.49 MPa (gauge).
73
4 MANUAL OPERATION
3 Press the key to operate the

chuck in Manual mode.
• Press once to open, press again
to close.
• Check that the LED at the sen-
sor tip lights when an object of
10 mm
10 mm
2.3 millimeters thick or more is
held by the chuck at the position
10 millimeters before the tip of 2.3 mm
1.2 mm
or more
the chuck. Then, check that the
LED does not light when an
object of 1.2 millimeters thick is
held by the chuck.
4 If the sensor LED does not oper-

ate as described above, loosen
the screw. Screw
5 Adjust the sensor position so Sensor
that the LED lights as described

in Step 3.
6 After adjusting the sensor,

tighten the screw.
machine power.
CAUTION
74
4 MANUAL OPERATION
4.4.8 Flip Direction Selection (X type only)
The chuck can flip 90 degrees in either direction to accommodate the mold being used.
Flip condition Flip return condition Flip condition

robot control power are both
OFF. 0.6
0.4 0.8
Make sure there is no residual 0.2 1

out robot.
MPa (gauge).
Check the flip direction. If it needs to
be changed then proceed to Step 2.
2 Switch the two tubes connected

to the flip valve on the manifold.
To disconnect the tube, pull the tube
Take-out robot main body
Flange
out while pushing on the flange. To
reattach the tube, simply push it in.
Tube
Switch
75
4 MANUAL OPERATION
3 Loosen the bolts of the flip stop-

per to remove the flip stopper. Bolt
Loosen the bolts
Flip stopper
4 Reattach the flip stopper on the

opposite side.
Flip stopper
WARNING
power switch.
CAUTION

machine power.
6
0.6
0.2

76
4 MANUAL OPERATION
z To avoid danger, be sure not to flip the chuck unit with the 4
GHI key while tightening the
bolts.
WARNING
z Supply the pneumatic pressure to keep the chuck unit stable.
7 Check the flip axis for looseness

and then tighten the bolts. Bolts
8 Press the key to check the flip motion.

4
GHI
machine power.
CAUTION
77
4 MANUAL OPERATION
4.4.9 Vacuum Suction Unit Adjustment (XC type only)
Change the position of the suction pads depending on the product.
Pressure sensor
Vacuum suction unit
Vacuum suction pads

are both OFF. 0.6
0.4 0.8

out robot.
MPa (gauge).
2 Loosen the adjusting bolts to

adjust the position of the suction
pads depending on the product
Adjusting bolts
size and shape.
3 After the adjustments are com-

pleted, tighten the adjusting
bolts.
78
4 MANUAL OPERATION
WARNING
power switch.
CAUTION

machine power.
5
0.6
Turn ON the handheld controller ON
0.4 0.8
0.2

6 Press the key to vacuum a

5
JKL
7
product.
@
/:
A
B
C
JK5 L
M
P
N
O
3
4
O
P
W
X
5
P
79
4 MANUAL OPERATION
7 Make sure the vacuum detection

is ON with the pressure sensor.
The standard value is -73 kPa.
machine power.
CAUTION
80
4 MANUAL OPERATION
4.4.10 Nipper Adjustment (XN type)
z Make sure the injection molding machine power and the take-out robot control power are
both OFF, and make sure the pneumatic pressure is not supplied to the take-out robot
WARNING before nipper adjustment.
Nipper unit

are both OFF. 0.6
0.4 0.8

out robot.
MPa (gauge).
2 Loosen the adjusting bolt to

change the height of the nipper
and to rotate it depending on a
Nipper
product.
3 After the adjustments are com-

pleted, tighten the adjusting bolt.
Bolt
81
4 MANUAL OPERATION
4 If the nipper edge becomes dull,

remove the bolt to exchange the
nipper edge.
Bolt
Edge
82
4 MANUAL OPERATION
4.5 Turntable
The take-out robot body can be rotated if it may hit the mold when the mold is changed.
Rotary base handle
1 Move the rotary base handle to

the right.
Rotary base
handle
z Before rotating the take-out robot body, make sure no people or obstacles are in the area.
CAUTION
83
4 MANUAL OPERATION
2 Rotate the take-out robot body to

a position where it does not hit
the mold.
3 Move the rotary base handle

back to the left to secure the
take-out robot body.
Rotary base
Secure the circular plates with the handle
supplied M8 x 22 bolt before starting
auto operation. A
84
5 TEACHING
5.1 Teaching Description
Teaching refers to the process of setting-up an Auto operation sequence for the take-out
robot and loading it into memory. Teaching involves the following steps:
z Basic motion setting

z Operation mode setting
z Timer setting
z Detection setting
z Counter setting (disabled when a standard motion is selected)
Teaching can be done in the following two ways:

z Make new teaching data (mold data) for a new mold.
z Change existing teaching data (mold data).
85
5 TEACHING
5.2 New Mold Data Setting
z Before beginning teaching, make sure that the mold for which the teaching data is
intended is installed in the injection molding machine.
DANGER
Read icon on the “Mold data menu” screen and press the key.

appears.
2 Select an unused mold number

(indicated by “New”) with the
/ keys.
number turns black.
3 Press the key.
The confirmation window appears.
4 Press the key.
86
5 TEACHING
The “MoldNameInput” window

appears.
5 Enter a mold name using the

keypad.
z See <2.7 Character Input> regarding character input using the keypad.
6 After entering the mold name,

press the key.
7 Press the key.
87
5 TEACHING
The mold data selection window

appears.
8 Select an existing data file to

copy using the / keys.
data turns black.
z When mold data is first created, only the Master program can be selected.
9 Press the key.

The mold data is registered under the name entered in Step 5.
10 Press the key.

The display returns to the “Manual
Operation” screen.
z After creating the new mold data, perform Teaching following sections <5.3 Basic
Motion Setting> to <5.6 Detection Setting>.
88
5 TEACHING
5.3 Basic Motion Setting
Basic motion can be set in a short time by using the basic motion setting.
z The basic motions cannot be set during Auto operation. Make sure the take-out robot is
stopped before setting the basic motion.
5.3.1 Basic Motion Description
The take-out robot has the following 5 motions as the basic motion mode.
Motion modes 6 and 7 are optional.
z “Forward” refers to the motion when the kick unit moves toward the main body of the take-
out robot and has chucked the work.
z The following symbols are used to describe the motions of the take-out robot.
• : Home position
• : Chuck close
• : Chuck open
• : Movement of chuck
• : Flip Motion
• : Timer
Mode 1 Mode 2
0 Descent 0 Descent
1 Ascent 1 Chuck close
2 Kick
3 Chuck open
T0 4 Ascent T0
5 Kick return T4
T1 T1
T3
T2
89
5 TEACHING
Mode 3 Mode 4
0 Descent
1 Chuck close T7
0 Descent
1 Forward 2 Kick T6 T8
2 Chuck close 3 Ascent
3 Kick 4 Kick return
4 Chuck open T0 T1 5 Swing T0
5 Ascent T2
6 Descent T3
7 Chuck open T1
T4 T3 8 Ascent T2
9 Swing return
Mode 5 Mode 6
0 Descent 0 Descent
1 Forward 1 Chuck close
2 Chuck close 2 Kick
3 Kick T7 T6 3 Ascent
4 Ascent 4 Kick return
5 Swing T8 5 Swing
6 Descent T1 6 Chuck unit flip
7 Chuck open T0 7 Descent
8 Ascent T2 8 Chuck open
9 Swing return 9 Ascent
T3 10 Chuck unit flip return
11 Swing return
Mode 7
0 Descent
1 Forward
2 Chuck close
3 Kick
4 Ascent
5 Swing
6 Chuck unit flip
7 Descent
8 Chuck open
9 Ascent
10 Chuck unit flip return
11 Swing return
z Only in the case of an X type chuck (optional), mode 6 and mode 7 can be set.
90
5 TEACHING
5.3.2 Basic Motion Setting
1 Access the “Basic Move” screen in either of the following manners:

1) Press the Teaching key to display the “Teaching menu” screen. Select the Basic Move
icon on the “Teaching menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Basic Move icon on the
“Menu” screen and press the key.
The “Basic Move” screen appears.
2 Select a basic motion using the

/ keys.
3 Press the key.
The selected basic motion is saved

in memory and the confirmation win-
dow appears.
4 Press the key.

91
5 TEACHING
5.4 Motion Mode Settings
This section describes how to set the motion modes that determine the operation patterns
used by the take-out robot.
5.4.1 Motion Mode Descriptions
 The following symbols are used to describe the motions of the take-out robot.
• : Home position
• : Motion
• : Flip motion
• : Chuck close
• : Chuck open
• : Vacuum suction
• : Suction release
M00 : Chuck
Not in Use In Use
Options
Chuck
92
5 TEACHING
M01 : Vacuum Suction
Not in Use In Use
Options
M02 : Flip
Not in Use In Use
Options
M03 : Nipper Mode
Not in Use In Use
Options
93
5 TEACHING
M04 : Take-Out
I-type Move U-type Move L-type Move
Options
M05 : DescentPosition
Movable Stationary
Movable side Stationary side

descent descent
Options
Stationary Stationary
94
5 TEACHING
M06 : Chuck/Release
z If the descent and ascent motions after the swing motion are unnecessary (Outside Mold 1
or Outside Mold 3), the descent and ascent motion of the release side are omitted.
For U-type Motion
Inside Mold Outside Mold 1 Outside Mold 2 Outside Mold 3
Options
For L-type Motion
Options
95
5 TEACHING
M07 : Suck/Release
For U-type Motion
Options
For L-type Motion
Options
96
5 TEACHING
M08 : Chuck/Discharg (optional)
z When using this mode, set the reject discharge motion setting, M12, to “In Use.”
For U-type Motion
Options
For L-type Motion
Options
97
5 TEACHING
M09 : Suck/Discharg (optional)
 When using this mode, set the reject discharge motion setting, M12, to “In Use.”
 If the descent and ascent motions after the swing motion are unnecessary (Outside Mold 1
For U-type Motion
Options
For L-type Motion
Options
98
5 TEACHING
M10 : Conveyor ILK (optional)
Not in Use In Use
Take-out robot
conveyor signal
Options
No conveyor signal
Conveyor
M11 : Ejector ILK (optional)
Not in Use In Use
Options The take-out robot sends a signal to

The injection molding machine the injection molding machine to
decides the timing of the ejector pins activate the ejector pins
M12 : RejectDischarge (optional)
Not in Use In Use
Options
Does not release reject discharge Releases reject discharge
99
5 TEACHING
 Restrictions on the motion mode settings

Depending on the chuck type and the options included with the take-out robot, the modes
that can be used are restricted to the following.
1. Standard type
M00 : Chuck M05 : DescentPosition
M04 : Take-Out M06 : Chuck/Release
2. X type
M02 : Flip M06 : Chuck/Release
M04 : Take-Out
3. XC type
M01 : Vacuum Suction M06 : Chuck/Release
M02 : Flip M07 : Suck/Release
M04 : Take-Out
4. XN type
M00 : Chuck M04 : Take-Out
M02 : Flip M05 : DescentPosition
M03 : Nipper Mode M06 : Chuck/Release
5. Reject discharge release (optional)

M08 : Chuck/Dischrg
M09 : Suck/Discharg (XC type only)
M12 : RejectDischarge
6. Conveyor interlock (optional)

M10 : Conveyor ILK
7. Ejector interlock (optional)

M11 : Ejector ILK
100
5 TEACHING
5.4.2 Motion Mode Setting
z Basic motions cannot be set during Auto operation. Make sure the take-out robot is
stopped before setting the basic motion.
1 Access the “Motion Mode” screen in either of the following manners:

1) Press the Teaching key to display the “Teaching menu” screen. Select the Motion Mode
icon on the “Teaching menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Motion Mode icon on the
The “Motion Mode” screen appears.
2 Select the desired motion mode

with the / keys.
The background of the selected
mode turns black.
3 Press the key.
The setting window appears.
4 Select the setting item with the

/ keys.
The background of the selected set-
ting turns black.
5 Press the key.

The setting is saved in memory and
the display returns to the screen in
Step 2.
6 Press one of menu keys or the Back key to exit the “Motion Mode” screen.
101
5 TEACHING
5.5 Timer Setting
By setting the timers, the timing of the take-out robot motions can be changed to syn-
cronize with the injection molding machine and a conveyor. This allows the interaction
between the devices to be more smooth.
5.5.1 Timer Descriptions
No. Timer name Description

T00 PreDescent This timer sets the amount of time before the take-out arm starts
to descend for product take-out.
T01 PreChuck This timer sets the amount of time before the take-out arm closes
the chuck on the product.
T02 PreKickReturn This timer sets the amount of time before the kick motion starts
after product take-out.
T03 PreAscent This timer sets the amount of time before the ascent motion starts
after product take-out.
T04 Nipper Aproch This timer sets the amount of time for the nipper approach/nipper
return. (optional)
T05 Nipper Cut This timer sets the amount of time for the nipper cut. (optional)
T06 PreRelease This timer sets the amount of time before product release starts.
T07 PostRelease This timer sets the amount of time to wait after product release.
T08 PreSwingReturn This timer sets the amount of time before the swing return motion
starts.
T10 Pre swing des. This timer sets the amount of time before the take-out arm starts
to descend after performing the swing motion.
T99 Watch Dog Time This timer is used to monitor Auto operation. If the take-out robot
stops for the set time during Auto operation, this timer allows the
take-out robot to perform an error stop. Set to 0 seconds not to
use this timer.
102
5 TEACHING
5.5.2 Timer Setting
Set the timers according to the following procedure. This procedure applies to setting a
new timer or changing an existing setting.
z Timer settings can be changed during Auto operation.

z Yellowed out items cannot be set in the current operation mode. To change the setting of
those items, the operation mode must be changed.
1 Access the “Timer” screen in either of the following manners:

1) Press the Teaching key to display the “Teaching menu” screen. Select the Timer icon on
the “Teaching menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Timer icon on the “Menu”
screen and press the key.
The “Timer” screen appears.
2 Select the desired timer with the

/ keys.
The background of the selected timer
turns black.
3 Press the key.
The numerical input window

appears.
• The current timer value is dis-
played in the “SetVal” area.
4 Enter the desired value in incre-

ments of 0.01 seconds into the
“Input Val.” area using the keys.
The timer ranges from 0 seconds to
99.99 seconds.
5 After entering the value, press

the key.
The input value is set and the display
returns to the screen in Step 2.
6 Press one of menu keys or the Back key to exit the “Timer” screen.
103
5 TEACHING
5.6 Detection Setting
The take-out robot can detect whether or not the chuck unit is holding a product (sprue,
runner) securely. If the take-out robot fails to securely hold a product by vacuum suction or
chuck, a sensor turns OFF, which generates an error. This section describes how to acti-
vate and use these detectioin settings.
1 Access the “Detect” (detection) screen in either of the following manners:

1) Press the Teaching key to display the “Teaching menu” screen. Select the Detect icon on
the “Teaching menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Detect icon on the “Menu”
screen and press the key.
The “Detect” screen appears.

• The items with a checkmark
inside the box means the item
is currently set for detection.
2 Select the desired item with the

/ keys.
The background of the selected item
turns black.
3 Press the key.
When the key is pressed, the

indication inside the box changes
and the detection set/clear is saved
in memory.
4 Press one of menu keys or the Back key to exit the “Detect” screen.
104
6 MOLD CONTROL
6.1 Loading Mold Data
The “Mold Data Read” screen allows loading of the mold data saved on the flash memory
of the handheld controller.
Read icon in the “Mold data read” window and press the key.

appears.
2 Select the mold data with the

/ keys.
data turns black.
3 Press the key.
After the mold data read is com-

pleted, the confirmation window
appears.
4 Press the key.

105
6 MOLD CONTROL
6.2 Backing Up Mold Data

Save mold data for backup onto an SD memory card from the flash memory of the
handheld controller.
1 Access the “Data backup” screen in either of the following manners:

1) Press the MoldRead key to display the “Mold data menu” screen. Select the Data backup
icon on the “Mold data menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Data backup icon on the
The “Data backup” screen appears.
2 Insert an SD memory card into

the slot at the upper left side of
the handheld controller and
press the key.
106
6 MOLD CONTROL
z Insert the SD memory card with the printed side facing down.
z If data exists on the SD memory card, the following window appears.
• To overwrite the mold data, press the key.

• To abort the mold data copy, press the Back key.
The screen shown on the right

appears while data is being backed
up.
After backup is complete, the confir-

mation window appears.
107
6 MOLD CONTROL
3 Push the SD memory card in,

then release it.
The SD memory card pops out.
4 Remove the SD memory card

that popped out from the slot.
z Never remove the SD memory card while it is being accessed. The SD memory card may
be damaged and the data stored on the SD memory card could be lost.
CAUTION
5 Press the key.

The display returns to Step 1 screen.
6 Press one of menu keys or the Back key to exit the “Data backup” screen.
108
6 MOLD CONTROL
6.3 Copying Mold Data
Copy mold data from an SD memory card to the flash memory of the handheld controller.
z Mold data with the same name (same mold number) as the one that is currently being
used cannot be copied. The screen below appears if the current mold has the same name
as the one being copied.
1 Access the “Data Copy” screen in either of the following manners:

1) Press the MoldRead key to display the “Mold data menu” screen. Select the Data Copy
icon on the “Mold data menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Data Copy icon on the
The “Data Copy” screen appears.

the slot at the upper left side of
the handheld controller and
press the key.
109
6 MOLD CONTROL
z Insert the SD memory card with the printed side facing down.
The mold selection screen appears.
3 Select the desired mold data with

the / keys.
data turns black.
4 Press the key.

The mold data copy starts.
z If the mold data with the same name exists, the following confirmation window appears.
• To overwrite the mold data, press the key.

• To abort the mold data copy, press the Back key.
z Mold numbers can be copied if the mold name is not the same because the data is
changed to another mold number automatically.
After the mold data copy is com-

pleted, the confirmation window
appears.
110
6 MOLD CONTROL
5 Push the SD memory card in,

then release it.
The SD memory card pops out.
6 Remove the SD memory card

that popped out from the slot.
z Never remove the SD memory card while it is being accessed. The SD memory card may
be damaged and the data stored on the SD memory card could be lost.
CAUTION
7 Press the key.

The display returns to Step 3 screen.
8 Press one of menu keys or the Back key to exit the “Data Copy” screen.
111
6 MOLD CONTROL
6.4 Deleting Mold Data
Delete mold data stored on the flash memory of the handheld controller.
z Currently used mold data cannot be deleted. If attempted the following screen apears.
1 Access the “Delete Mold Data” screen in either of the following manners:
1) Press the MoldRead key to display the “Mold data menu” screen. Select the Delete Mold
Data icon on the “Mold data menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Delete Mold Data icon on
The “Delete Mold Data” screen

appears.

the / keys.
data turns black.
3 Make sure that the correct mold

data is selected and press the
key.
112
6 MOLD CONTROL
4 Press the key.

The selected mold is deleted and the
display returns to Step 2 screen.
5 Press one of menu keys or the Back

screen.
key to exit the “Delete Mold Data”
113
6 MOLD CONTROL
6.5 Renaming Mold Data
Rename molds stored on the flash memory of the handheld controller.
z Mold names cannot be used twice. If two molds have the same name the error screen
below will appear.
1 Access the “Rename Mold Data” screen in either of the following manners:
1) Press the MoldRead key to display the “Mold data menu” screen. Select the Rename
Mold Data icon on the “Mold data menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Rename Mold Data icon on
The “Rename Mold Data” screen

appears.

the / keys.
data turns black.
3 Press the key.
114
6 MOLD CONTROL
The “MoldNameInput” window

appears.
4 Change the mold name with the

keypad keys.
z See <2.7 Character Input> regarding character input using the keypad.
5 After renaming the mold, press

the key.
6 Press the key.

The mold name is changed and the
display returns to Step 2 screen.

screen.
key to exit the “Rename Mold Data”
115
7.1 Introduction to Lead Through Teaching
7.1.1 Functions of Lead Through Teaching
Lead Through Teaching is a function that allows for modification of the take-out robot
motion programs.
Lead Through Teaching allows for addition and changes to the following settings for each
step (teaching point).
• Output setting
• Timer setting
• Transfer condition setting
Addition or deletion of steps are also available.
In addition, valves can be registered separately for each step setting.
116
7.1.2 Programming Procedure

The following explains the flow of programming using Lead Through Teaching.
Start
Take-out robot start-up

(Control power ON) Lead Through screen
Change or add a valve Change or add a motion.

Create No
new mold data ?
Press the key. Move / to

the step you wish to change.
Yes
Select Mold Data Read Select the "Valve Reg."

icon on "Menu" screen or and press the key.
"Mold data menu" screen.
Insert a step
or Delete a step.
Set a valve. Change a step.
Select unused number
and make mold data.
Select LeadThrough icon Press the key. Press the key.

on "Menu" screen or
"Teaching menu" screen.
Select the "StepInsert" Select the "StepDelete"

Agree with exemption and press the key. and press the key.
articles.
Take-out robot moves to

Change or set Change or set
waiting position. Change or set
output signal transfer condition
timer
Output setting Transfer condition Timer setting

setting
Reflect the changed

contents with the key.
Program change No
finished?
Yes
Press the "Stop" key.
Stop
117
7.1.3 Lead Through Teaching Screen Layout
The screen of Lead Through Teaching consists of the flow screen (main screen), the
output setting, timer setting, and transfer condition setting screens.
The following is the layout of the flow screen. See <7.4 Setting Steps> for details on
the output setting screen, timer setting screen and transfer condition setting screen.

1 Status display The current flow number and block number are dis-
played inside the right frames.
2 Sub menu display Indicates what contents can be edited on the current
step. Press the key to display the sub menu.
3 Current step display Displays the current step contents.
4 Next step display Displays the next step contents.
118
7.1.4 Explanation of Screen Icons

The following table explains the icons displayed on the flow screen.
Decision processing If(/If not)-Then

Subroutine Call
(conditional branching) Else-Endif
Continue - Block BLK

Decision processing end
(conditional branching Endif Wait Wait
end)
Start synchronous
SyncStart Output Out
processing
Join synchronous
Sync Pulse Pulse
processing
Start loop jump Goto Timer Timer
Destination of loop jump Label Timer TimerWait
Define start Start Arithmetic computation Math
Define end End Comment Comment
119
7.2 Flow Screen
z Using Lead Through Teaching allows changes to the currently loaded mold data. If the cur-
rent mold data should not be changed, create a new mold data. See <5.2 New Mold
Data Setting> for information regarding how to make the new mold data.
z The contents changed by Lead Through Teaching are available only on the motion mode
that is currently set.
z If the motion mode and basic motion of the mold data are changed through Lead Through
Teaching, the motions may be abnormal.
1 Access the “Lead Through Teaching” screen in either of the following manners:
1) Press the Teaching key to display the “Teaching menu” screen. Select the
LeadThroughTeach icon on the “Teaching menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the LeadThroughTeach icon on
The confirmation screen appears.
2 Press the key.
The cautionary message appears.
z Once the key is pressed to accept the cautionary message, the message does not
appear again until the LeadThroughTeach icon is selected again.
120
3 Read the message and press the key.
The flow screen appears.
121
7.3 Inserting and Deleting Steps

This section explains how to insert a new step or delete an existing step.
7.3.1 Inserting a Step

The following explains how to insert a new step.
1 Proceed from the current step to

the desired step on the flow
screen with the / keys.
To display this screen see
<7.1 Introduction to Lead
Through Teaching>.
2 Press the key.
The “Sub menu” window appears.
3 Select “StepInsert” with the

/
key.
keys and press the
The “Insert confirmation” window

appears.
4 • Press the key to insert a

new step after the present step.
All proceeding steps move one
step forward.
• Press the Back key to close
the “Insert confirmation” win-
dow without inserting a step.
5 Set the necessary items for the new step.
z See <7.4 Setting Steps> and <7.5 Registering Valves> for details of each setting.
122
7.3.2 Deleting a Step
This section explains how to delete an existing step.
1 Proceed the current step view to

the desired step on the flow
screen using the /
keys.
2 Press the key.
3 Select “StepDelete” with the
key.
/ keys and press the
The “Deleting confirmation” window

appears.
4 • Press the
Step 5.
• Press the Back
key to proceed to
key to close
the “Deleting confirmation”
window without deleting a step.
The “Step Backward Prcess” window

appears.
5 Read the message and press the

key.
Steps move one step backward.
123
7.4 Setting Steps
This section explains how to add orders for a newly inserted step and to change com-
mands of an existing step. There are 3 commands as follows.
• Output
• Timer
• Wait (transfer)
7.4.1 Output Setting
This section explains how to turn ON and OFF output signals or flags.
z Output setting are allowed to be perform only when a new step is inserted or the setting of
the existing step can be changed.
z A maximum of 8 output signals or flags can be set.
1 After adding a new step on the flow screen, press the

Or proceed to the desired step and press the key.
key.
z If the existing step of an output setting is changed, the screen in Step 8 appears.
• To change the existing name and status of the output signal or flag, press the key
and proceed to Step 6.
• To change the output signal or flag, set from Step 3, after clearing the existing output
signal or flag use the Clear CLR
key.
124
2 Select “Out” (output) with the

/
key.
keys and press the
The output setting window appears.
3 • If valve keys are used, press a

valve key that corresponds to a
desired output.
The display proceeds to the screen
in Step 8.
• If the valve keys are not used,

press the key.
z See <7.5 Registering Valves> regarding how to register valves.
The output signal selection window

appears.
4 Select “Out” or “Flag” with the

/
key.
keys and press the
125
The output signal list or the flag list appears.

• To set a new name, select a blank cell of the list and press the key. Then register the
valve following Step 6 and Step 7.
[Example 1] When “Out” is selected. [Example 2] When “Flag” is selected.
5 Select the desired item from the list using the

key.
The ”Name” (name input) window

appears.
6 Enter a name with the keypad

keys. To skip changing a name,
press the key.
The controlled status setting window

appears.
7 Select “ON” or “OFF” with the

/
key.
keys and press the
126
The controlled status setting window

[Example] When “Out” is set.
closes. The selected output name or
flag name and the controlled status
are displayed in the output setting
window.
8 Press the Back key.
9 Press the key to save the

registered output.
The display returns to the flow

screen.
Added
10 Make sure that the output was

added.
output
127
7.4.2 Timer Setting
This section explains the different timers and how to set them up.
z Timer setting are allowed to be perform a new step in inserted or the setting of the existing
step can be changed.
z Only one timer can be registered.

Or proceed to the desired step on the flow screen and press the
key.
key.
z When the output setting of the existing step is changed, the screen in Step 12 appears.
• Select a desired item; timer, setting value, or transfer using the / keys, and
press the key to change the setting.
• Follow Step 4 to change the timer setting.
• Follow Step 7 to change the setting value.
• Follow Step 10 to change the transfer setting.
2 Select “Timer” with the

keys and press the
/
key.
128
The window shown right appears.
3 Press the key.
The “Timer selection” window

appears.
4 Select the desired timer name

from the list with the
keys and press the
/
key.
• To set a new timer name, select a
blank cell of the list and press the
key. Then, register a timer fol-
lowing Step 5 to Step 8.
The “Name” window appears.

keys. To skip changing a name,
press the key.
6 Select “SetVal” (setting value)

with the
press the
/
key.
keys and Timer
selected on
Step 4
129
The “Input Val.” window appears.

• The current timer value is dis-
played in the “SetVal” area.
7 Enter the desired value in incre-

ments of 0.01 seconds into the
“Input Val.” area with the keypad.
The timer range can be set up to
99.99 seconds.
8 Press the key.
9 Select “Wait” (transfer) with the

/
key.
keys and press the Value
set on
Step 7
The transfer condition selection win-

dow appears.
10 Select the transfer condition with

the / keys.
z If [After Timer Up] is selected and the program is changed, the take-out robot does not
move to the next step until the timer expires.
z If [After Timer Start] is selected and the program is changed, the take-out robot moves to
the next step immediately after the timer starts.
130
11 Press the key.
The screen shown right appears.
Transfer condition
selected on Step 10

registered timer.

screen.
Added
14 Make sure that the timer has timer
been added.
131
7.4.3 Transfer Condition Setting

This section explains how to set transfer conditions for inserted steps or modify the trans-
fer conditions for existing steps.
z Transfer condition setting are allowed to be performed only when a new step is inserted or
the setting of the existing step is allowed to be changed.

Or proceed to the desired step on the flow screen and press the
key.
key.
z If the output setting of the existing step is changed, the screen in Step 7 appears.
• To change the setting of the existing transfer condition, press the key. The screen
shown in Step 6 will appear.
• To change the setting of a new transfer condition follow the steps below.
<Easy Entry> ................ Press the Clear key to display the deleting confirmation
CLR
window. Next, press the key to delete the existing

transfer setting, and then change the setting from Step 3.
<Code entry> ................ Press the / key to open the “Easy Entry” window.
(not including OR condition) Then, change the setting in the same procedure of the
“Easy Entry”.
<Code entry> ................ Press the Back key to return to the flow screen and
(including OR condition) delete the currently existing step. Then, change the setting
from Step1. (See <7.3 Inserting and Deleting
Steps> regarding how to delete a step.)
2 Select “Wait” (transfer) with the

/
key.
keys and press the
132
The “Easy Entry” window appears.
3 Press the key.
z If the transfer condition is complicated, press the / key to open the “Code entry” window.
Then, press the key to edit the transfer condition in the code form.
The device selection window

appears.
4 Select the desired device with

the
the
/
key.
keys and press
[Example] When “RelayTimer” is selected.

The device list appears.
5 Select the desired item from the

list with the
and press the
/
key.
keys
To set a new signal after “Timer” is

selected on Step 4, select a blank
cell in the list and press the key.
The “Name” window appears. After
entering a name, register the transfer
condition following Step 6.
133
The satisfiable condition setting win-

dow appears.
6 Select the status of “ON” or

“OFF” with the
and press the
/
key.
keys
The satisfiable condition setting win-

dow closes and the selected transfer
condition is displayed on the transfer
condition setting window.
Set
7 Press the Back key. transfer condition

registered transfer condition.

screen.
9 Make sure that the transfer con-

dition has been added.
Added
transfer condition
134
7.5 Registering Valves

Registering valves involves setting of the valve names and control signals.
Registering valves does not have an effect on steps.
z Up to 16 valves can be registered to numbers 00 to 15.
1 Press the key on the flow screen.
2 Select “Valve Reg.” with the

/
key.
keys and press the
The “Valve Registration” screen

appears.
3 Select a number where a new

valve registation is desired a new
valve with the / keys
and press the key.
The ON/OFF selection screen

appears.
4 Select the ON signal or OFF sig-

nal with the
and press the
/
key.
keys

will turn black.
135
The output signal selection window

appears.
5 Select “Out” or “Flag” with the

/
key.
keys and press the
The output signal list or the flag list appears.

• To set a new name, select a blank cell of the list and press the key. Then register the
valve following Step 7.
[Example 1] When “Out” is selected. [Example 2] When “Flag” is selected.
6 Select the desired item from the list with the

key.
The “Name” window appears.

keys.
To skip changing a name, press
the key.
136
The selected control signal appears

in the ON/OFF signal selection
screen.
9 Press the key.
The display returns to the “Valve

Registration” screen.
• Make sure that the valve is
added.

The screen returns to the flow screen.
137
7.6 Examples of Addition of Motions
This section explains how to change the release motion. As an example, “Outside mold 2”
will be used so that the take-out robot releases products after moving ahead from the
release position.
The settings that will be added are both a “Forward” and “Backward” motion along with a
“Pre ascent timer”.
Current Motion Changed Motion

2
2
3
3
5
1 4 1
: Chuck release position
1 On the flow screen, move the

take-out robot forward or back-
ward to check the descent limit
input.
2 Press the key. Descent limit input

confirmation step
138
3 Select “StepInsert” with the / keys and press the key.
4 Set forward motion output for the

added step.
z See <7.4.1 Output Setting> regarding how to register outputs.

z Once the forward motion output is set, the take-out arm moves forward. Be careful when
setting this action up.
5 Move the take-out robot forward

to so that “STA” (start) is the cur-
rent step and the next step is
“Descent = OFF” (Turning OFF
the descent output). Current step
= Start
Next step
= Descent OFF
6 Press the key.

8 Set backward motion output for

the added step.
139
z See <7.4.1 Output Setting> regarding how to register outputs.

z Once the backward motion output is set, the take-out arm may move backward. Be careful
when setting this action up.
9 Press the key on the flow screen.

11 Add the “PreAscent” timer to the

added step.
Select “AftTimeUp” for the timer
transfer condition.
z See <7.4.2 Timer Setting> regarding how to register timers.
12 Press the key to make the set data effective for the take-out robot motion.
z The take-out arm will ascend on the next step. Operate the take-out robot carefully.
CAUTION
13 Press the Stop key to finish Lead Through Teaching.

Teaching is now complete.
140
8 MONITOR
8.1 Input Signal Monitor
The I/O monitor includes the following 4 screens.
z Input Monitor ............... Status of input signals
z Output Monitor............. Status of output signals
z Other Monitor .............. Status of other signals
z Input / Output List ........ Displays status of input and output signals on a screen.
1 Access the “I/O monitor” screen in either of the following manners:

1) Press the Monitor key to display the “Monitor menu” screen. Select the I/O monitor icon
on the “Monitor menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the I/O monitor icon on the
The “I/O monitor” screen appears.
Use the / keys to change to the

desired monitor screen.
• The shown on the left of the
screen indicates that the signal is
ON. This mark is used for “Input
Monitor” and “Output Monitor”
and “Other Monitor” monitor
screens.
All inputs and outputs are displayed

on the “Input /Output List” screen.
• Values from 0 to F indicate that
the signal is ON.
• “-” indicates that the signal is OFF.
z When any of the I/O monitor screens are displayed, the valve keys can be operated. This
allows for monitoring of signals on the display while using the valve keys.
2 Press one of menu keys or the Back key to exit the “I/O monitor” screen.
141
8 MONITOR
8.2 Error Log Monitor
The “Error Log” screen displays a log of past errors. This log includes the following infor-
mation about each error.
z Error date and time

z Error code
z Cycle when error occurred
z Error description
z Other than the above error information, the error log also keeps information regarding
start-up of the handheld controller.
1 Access the “Error Log” screen in either of the following manners:

1) Press the Monitor key to display the “Monitor menu” screen. Select the Error Log icon on
the “Monitor menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Error Log icon on the
The “Error Log” screen appears.
Use the / keys to scroll through

the error log.
2 Press one of menu keys or the Back key to exit the “Error Log” screen.
142
8 MONITOR
8.3 Production Monitor

The “Product Monitor” screen is used to review or set numerical quantities and time values
for the items shown in the following table. These values change and be changed in real
time during Auto operation. While the take-out robot is in a mode other than Auto opera-
tion, this screen displays up-to-date track records.

1 ProductCnt Displays a count of products produced.
2 TK-Out Cnt Counts the number of products taken out.
3 Good shots Displays the number of good products that were released.
4 Reject Displays the number of product defects that were released.
5 TKFailCnt Displays the number of take-out failures.
6 PrdctRmndr Displays the number of good shots needed to meet the ProductCnt
7 TKTime (s) Displays the current take-out time.
8 1CyclTime (s) Displays the current time for one-cycle of operation.
9 MoldingCycle (s) Displays the current molding cycle time.
10 StartDate Displays the date when the production started.
11 StartTime Displays the time when the production started.
12 TotalTime Displays the total time the robot is in production.
13 RestTimePrd Displays the estimated time in which the remaining products can be pro-
duced at the current production pace. This value is given by:
(Total production time/Good Shots) × Remainder cycle
1 Access the “Product Monitor” screen in either of the following manners:

1) Press the Monitor key to display the “Monitor menu” screen. Select the Product Monitor
icon on the “Monitor menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Product Monitor icon on the
The “Product Monitor” screen

appears.
2 Scroll through the screen using

the
each item.
/ keys to view
• Proceed to Step 8 to review exist-

ing settings and no changes or
new entries need to be made.
• Press the Clear CLR key to clear
the product count.
143
8 MONITOR
3 Press the key to display the

“Product Set” window.
4 Select “ProductScheduleCnt”
(product schedule count) or “TK-
OUT Count” using the /
keys and press the
key.
The numerical input window

appears.
• The current value is displayed in
the “SetVal” area.
5 Enter the desired value into the

“Input Val.” area with the keypad
keys.
6 Press the key.

The value entered at Step 5 is set
and the display returns to the screen
in Step 3.

The display returns to the “Product Monitor” screen.

screen.
key to exit the “Product Monitor”
144
8 MONITOR
8.4 Information
The “Information” screen allows for review of the current setup configuration of the take-
out robot, including;
z Operation Program
• Version
z Motion Program
• Version
z Mold data (teaching data)
• Mold number
• Version
• Date and time
z Body
• Robot number
• System data version
z Total Cycle counter
1 Access the “Information” screen in either of the following manners:

1) Press the Monitor key to display the “Monitor menu” screen. Select the Information icon
on the “Monitor menu” screen and press the key.
2) Press the Menu key to display the “Menu” screen. Select the Information icon on the
The “Information” screen appears.
2 Scroll through the screen using

the
each item.
/ keys to view
3 Press one of menu keys or the Back key to exit the “Information” screen.
145
9 OTHER FUNCTIONS
9.1 Language Change
This section describes how to set the desired language.
1 Press the Menu key to display the “Menu” screen.
2 Select the Lang Change (language change) set icon on the “Menu” screen and
press the key.
The “Lang Change” screen appears.
3 Select the desired language with

the / keys.
The background of the selected
language turns black.
4 Press the key.

The selected item is set.
The language with the mark is
enabled.
5 Press one of menu keys or the Back key to exit the “Lang Change” screen.
146
9 OTHER FUNCTIONS
9.2 Buzzer Setting
This feature allows for an alarm buzzer to be set when an error occurs.
2 Select the Buzzer Set icon on the “Menu” screen and press the key.
The “Buzzer Set” screen appears.
3 Select the desired setting with

the / keys.
turns black.
4 Press the key.

The selected item is set.
The setting with the mark is
enabled.
5 Press one of menu keys or the Back key to exit the “Buzzer Set” screen.
147
9 OTHER FUNCTIONS
9.3 Program Installation

Install the take-out robot motion program from an SD memory card onto the handheld con-
troller’s flash memory.
z When a new program is installed into the flash memory, the current program is overwritten.
z Only the specified SD memory cards may be used.
2 Select the Program install icon on the “Menu” screen and press the key.
The “Program install” screen

appears.

the SD memory card slot on the
upper left side of the handheld
controller and press the key.
148
9 OTHER FUNCTIONS
The backup confirmation window

appears.
4 Press the key.
The screen shown at right appears

during the installation.
After installation is completed, the

confirmation window appears.
5 Turn OFF the control power and

restart the take-out robot.
6 After restarting, create a new mold data.

Select “No” for copying the existing data.
z See <5.2 New Mold Data Setting> regarding how to create a new mold data.
z If a different program is installed, do not use the mold data created by it. If the program is
used, it is likely that the take-out robot will not move normally.
z If creating a new mold data, do not copy the mold data created by a former program.
149
9 OTHER FUNCTIONS
9.4 Function Selection
9.4.1 Function Selection Items
The following items are included as function selection items.
z Menu mode (Icon/Direct)

When in “Icon” mode, press one of the Monitor /Teaching /MoldRead keys
to display the function icon list belonged to each menu.
When in “Direct” mode, press one of the Monitor /Teaching /MoldRead
keys, the “Menu” screen is skipped and each screen is directly displayed. After display-
ing a screen, the screen is changed every time the same menu key is pressed.
[Example] When the Monitor key is pressed during “Direct” setting.
Pressed once Pressed twice Pressed three times Pressed four times
150
9 OTHER FUNCTIONS
2 Select Function Select icon on the “Menu” screen and press the key.
The “Function Select” screen

appears.
3 Press the key.
The setting window appears.

• The item with the black back-
ground is the selected option.
4 Select the setting with the

keys and press the key.
The setting is changed and the dis-
/
play returns to the screen in Step 3.
5 Press one of menu keys or the Back key to exit the “Function Select” screen.
151
9 OTHER FUNCTIONS
9.5 Password Setting
The operatable functions can be limited by setting a password.

Enter a password of from 4 to 8 characters.
z Only one password may be registered.

z The take-out robot has not been password-protected in the factory. Password input will be
required after this function activated. Do not set a password inadvertently. Contact Yushin
Precision Equipment if the password is forgotten.
If a password is set, the password must be entered to access the following screens.
z Product Monitor
z Motion Mode
z Timer
z Detect
z Basic Move
z LeadThroughTeach
z Mold Data Read
z Delete Mold Data
z Rename Mold Data
z Data Copy
z Data backup
z Program install
z Function Select
z Password Set
152
9 OTHER FUNCTIONS
9.5.1 Password Setting
2 Select the Password Set icon on the “Menu” screen and press the key.
The “Password set” screen appears.
3 Press the key.
The new password setting window

appears.
4 Enter a password with the key-

pad keys and press the key.
z See <2.7 Character Input> regarding how to enter characters.
5 Press the key.
153
9 OTHER FUNCTIONS
The screen shown right appears.
6 Enter the password again the

key.
The password is set and the “Setting

completed” window appears.
7 Press the key.
The password setting screen

appears.

z After setting the password, when proceeding to a screen that requires a password, a
password input window appears.
[Example] “Production Monitor” screen
154
9 OTHER FUNCTIONS
9.5.2 Clearing a Password

The following procedures allow for a password to be cleared.
2 Select the Password Set icon on the “Menu” screen and press the key.
A password input window appears.
3 Enter the password set in <9.5.1

Password Setting> and press
the key.
The “Password set” screen appears.
4 Press the key.
A new “Password Set” window

appears.
5 Press the
ing a password.
key without enter-
155
9 OTHER FUNCTIONS
6 Press the key without enter-

ing a password again.
The password is cleared and the

“Setting completed” window appears.
7 Press the key.
The “Password Set” screen appears.

156
9 OTHER FUNCTIONS
9.6 Date and Time Setting
This feature allows the handheld controller’s date and time to be set.
2 Select the DateTime Set icon on the “Menu” screen and press the key.
The “DateTime Set” screen appears.
3 Press the key.
The date and time setting window

appears.
4 Select the desired item with the

/ keys.
turns black.
5 Set the value using the

keys.
/
6 After setting the date and time,

press the key.
The setting is enabled and the date

and time setting screen appears.
• The clock starts running immedi-
ately when the key is pressed.
• The input values are not effective
unless the key is pressed.

157
9 OTHER FUNCTIONS
9.7 Brightness Adjustment

Allows for the adjust of the LCD brightness.
2 Select the Light Adjust icon on the “Menu” screen and press the key.
The “Light Adjust” screen appears.
3 Adjust the LCD display using the

/ keys.
4 Press one of menu keys or the Back key to exit the “Light Adjust” screen.
158
9 OTHER FUNCTIONS
9.8 ID/Parameter Setting
z Only those personnel designated by the take-out robot safety supervisor are allowed to
perform the following settings. Insufficient knowledge, training and experience will lead to
WARNING an accident.
z Normally, the “ID/Parameter” screen cannot be operated. A password is needed from a

serviceperson to operate the screen.
2 Select ID/Parameter icon on the “Menu” screen and press the key.
The password input window appears.
3 Enter the password with the key-

pad keys and press the key.
z This password was set in the factory and differs from the password set in <9.5 Pass-
word Setting>.
z See <2.7 Character Input> regarding how to enter characters.
The “ID/Parameter” setting screen

appears.
4 Check the contents.

To change the contents, press the
key to display a screen.
5 Press one of menu keys or the Back key to exit the “ID/Parameter” screen.
159
10.1 Cleaning
Cleaning the take-out robot is recommended once a month to keep all of its parts in good
condition. Use a clean, dry rag to wipe the take-out robot clean. If the take-out robot is par-
ticularly dirty, use a soft cloth lightly moistened with a neutral cleaning agent.
z Never wash the take-out robot with water. Exposing the electrical parts to water could
cause fire or malfunction.
WARNING
z Before cleaning, turn OFF the injection molding machine power, the take-out robot control
power, and the pneumatic pressure (0 MPa (gauge)).
z Avoid using acidic solvents, alkaline solvents or organic solvents, such as paint thinner or
benzene. Using these substances could damage the pneumatic tubing, electrical wiring, or
CAUTION paint.
z Do not wipe the guide shaft or the rollers of the arm unit and kick unit. Doing so could
remove the grease film from these parts. (See the figure below.)
Rollers
Shaft guides (top and bottom)
160
10.2 Main Body Junction Box Relay Replacement
The relays in the main body junction box eventually wear out. Replace them once a year.
z Before replacing the relays, be sure to turn OFF the injection molding machine power. Fail-
ure to observe this precaution could lead to electric shock.
WARNING
z Use the type of relay described below.
Part No. Type

01939130 G6B-2214P-FD-US DC24V
03207590 G6D-1A-ASI DC24V

control power are both OFF. OFF
2 After removing the four screws

from the main body junction box,
remove the cover.
Four screws
Cover
161
3 Pull the locking tab away from

each relay and remove the relay.
4 Install a new relay in the same orientation as the previous. Simply push the relay
in until it locks (clicks). Check to make sure it is securely fastened.
5 Install the acrylic cover in the opposite order of removal.
162
10.3 Chuck Replacement
If the chuck unit is damaged, replace it as described below.
z Be careful not to get fingers caught in the chuck.

CAUTION
Bolt
Pneumatic tubing
Take-out detection sensor
Chuck

robot control power are both
0.6
OFF. 0.4 0.8
2
0.2 1
Make sure there is no residual
OFF
pneumatic pressure in the take-
out robot.
MPa (gauge).
3 Remove the screw and the hold-

ing plate that secure the take-out
detection sensor. Take-out detection sensor
4 Remove the sensor from the hole

in the chuck unit.
Pneumatic tubing Holding plate
Screw
5 Remove the pneumatic tubing.
163
6 Pull out the drop holding unit pin

and lower the descent cylinder.
Drop holding pin Bolt
7 Remove the two bolts that

secure the chuck to the descent
unit and remove the chuck.
8 Install the new chuck in the

opposite order of removal.
9 After installation, adjust the take-out detection sensor according to <4.4.7 Take-
out Detection Sensor Adjustment>.
164
11 TROUBLESHOOTING
11.1 Troubleshooting
Refer to the table below when the take-out robot does not operate properly. If the trouble
persists after attempting the corresponding corrective action, contact Yushin Precision
Equipment.
Problem Corrective action

The take-out robot does not operate • Make sure the injection molding machine power is ON.
even though the power switch is ON. • Make sure the connectors at the main body junction box and
(Nothing shows on the display.) the handheld controller are tight.
The display is ON, but the take-out • Make sure the pneumatic pressure is set to 0.49 MPa (gauge.)
robot does not operate.
The take-out robot does not operate • Make sure the injection molding machine safety gate is
in Auto mode. securely closed.
(The mold open limit signal is ON • Make sure the injection molding machine, injection signal is
according to the I/O monitor screen.) being output correctly.
The take-out robot does not operate • Make sure the injection molding machine mold open signal is
in Auto mode. being output correctly.
(The mold open limit signal is OFF
according to the I/O monitor screen.)
An error message is displayed. • See <11.2 Error Messages>.
165
11 TROUBLESHOOTING
11.2 Error Messages

When an error occurs, a message is displayed on the display. This section helps investi-
gate the cause of the error and describes the appropriate action that should be taken.
z Always write down the error message so that the error is not forgotten.
z Once the corrective action has been completed press the Clear CLR key to clear the error.
If the error cannot be cleared, repeat the corrective action explained below.
11.2.1 Application Error
Error message
Cause Corrective action
Error No. Error name Check item
The take-out robot was
Emergency Stop Check the emergency controlled while the Reset the emergency stop switch
1105
Error stop switch. emergency stop switch by turning it clockwise.
was pressed.
If the “Watch-dog” setting value is
Blocks or steps are not too short, change the value.
Watch-dog Timer Check the setting value
1120 changing during Auto
Up Error or the sensor. If the sensors are broken, replace
operation.
them.
After checking the molding product
The designated detec- in the mold, close the mold.
Check the detection tion sensor did not turn Auto operation is continued after
1201 Take-out Failure
signal. ON when the take-out resetting the error. Take sufficient
motion completes. precautions before resetting the
error.
The safety gate of the
Close the safety gate, reset the
injection molding
error, and resume Auto operation.
1202 Safety Gate Error Check the safety gate. machine was opened
Take proper safety precautions
during takeout motion
before closing the safety gate.
in Auto operation.
The mold open limit sig-
nal input is abnormal. Check the wiring.
Check the mold close
The photo-coupler U1 If the photo-coupler is broken,
limit.
Mold Open Limit is not operating prop- replace the circuit board.
1203 erly.
Moment OFF Err
Adjust the ascent limit sensor
The ascent limit signal (LS11).
Check the ascent limit.
input is abnormal.
If the sensor is broken, replace it.
The take-out detection
Take-out Detec- Check the detection Check the end-of-arm tool for a
1205 signal is ON at the wait-
tion Error signal. remaining product.
ing position.
166
11 TROUBLESHOOTING
Error message
Error No. Error name Check item
Adjust the ascent limit sensor
Both the ascent limit (LS11) and the descent limit sensor
Ascend/descend Check the ascent/
1210 and descent limit sig- (LS10).
limits both ON descent limits signals.
nals are turned ON. If the sensors are broken, replace
them.
Adjust the swing limit sensor
Both the swing limit and (LS14) and the swing return limit
Swing / swing Check the swing/return
1211 swing return limit sig- sensor (LS15).
return both ON limits signals.
them.
Adjust the forward limit sensor
Both the forward limit (LS12) and the backward limit sen-
Kick/Return limits Check the forward/
1212 and backward limit sig- sor (LS13).
both ON backward limits signals.
them.
1311 ID Collation Error Check the ID data. ID data have been lost. Reset the ID data.
Turn in the clockwise direction the
An emergency stop emergency stop switch on the
Check the emergency
switch has been handheld controller, injection
stop switch.
pressed. molding machine, or other
connected machine.
Check for problems in the
emergency stop circuit. Examples
1316 Emergency Stop Check the emergency A problem exists in the of such problems include incorrect
stop circuit. emergency stop circuit. connector connections, harness
disconnections, broken relays, and
disconnected jumpers.
Check the switching Check the voltage of the switching
power supply and the There is a problem with power supply.
connection to the the AC24V supply line. Check the connection status of the
handheld controller. handheld controller connector.
Teaching data created
Body No. Colla- Check the teaching
1319 for another robot can- Amend the teaching data.
tion Error data.
not be used as is.
167
11 TROUBLESHOOTING
11.2.2 Command Errors
Error message
Error No. Error name
A nonexistent number was specified. Turn OFF the take-out robot control
1 Command Number Error
The command was not executed. power and then turn it ON again.
A mistake exists in the command

Turn OFF the take-out robot control
2 Command Parameter Error parameters.
power and then turn it ON again.
The command was not executed.
Turn OFF the take-out robot control
6 Error During Motion An invalid command was issued.
power and then turn it ON again.
* Contact Yushin Precision Equipment if other errors for which corrective actions cannot be performed occur.
11.3 Limit Switches

The following shows the names and locations of the limit switches.
Kick limit
LS12
Kick return limit
LS13
Swing limit Emergency stop

LS14 LS1F
Descent limit
LS10 Swing return limit
LS15
Ascent limit LS11
Take-out detection
LS16
168
APPENDIX
A.1 Specifications
Power voltage : AC200V, 0.3A, 50/60 Hz

Control method : Microcomputer control
Allowable pressure : 0.4 to 0.5 MPa (gauge) (Proof pressure 0.8 MPa (gauge))
Maximum weight capacity : 2 kg (Includes the chuck and end-of-arm tool)
Specification breakdown based on model
Stroke Arm unit Max. payload

waiting Air (including the
Swing (Both consumption Weight
Model position
Descent Kick
directions) l(Normal)/ mass of the chuck (kg)
(mm) (mm) adjustment Cycle and EOAT)
(degree) range (mm) (kg)
HOP Five-450-G B 450 11 29
HOP Five-550-G B 550 90 114 13 30
HOP Five-650-G B 650 15 31
50 to 90 2
HOP Five-750-G B 750 18 33
HOP Five-900-G B 900 150 48 21 34
HOP Five-1000-G B 1000 23 35
169
APPENDIX
A.2 External Dimensions
‫ޓ‬R(P
)
㧔End
of rota
handle ry
㧕
㧺
Long-stroke type
㧰㧹
㧮㧯
350
230
㧳
㧴
374
477(519)
20
141 149.1
㧱
㧭 50 290.1 18.4
㧲
Mold mounting 5
surface
㧸㧵㧶㧷 I/F cable
122 197
319
(All dimensions in millimeters)
Model A B C D E F G H I J K L M N P
844.5 1011.5
HOP Five-450- (886.5) (1111.5)
G B <854> <1021>
{896} {1121} 258.5
<249>
250 167 944.5 1111.5
HOP Five-550- 350 661.5 120.5 810.6 (986.5) (1211.5) 20 50 40 100 - 190
(350) (225)
G B <954> <1121>
{996} {1221}
HOP Five-650- 1044.5 1211.5

258.5
G B (1086.5) (1311.5)
HOP Five-750- 1192 1459

G B (1234) (1559)
HOP Five-900- 350 267 1342 1609

620 991.5 180.5 1140.6 25 60 60 128 46.4 161 241
G B (450) (325) (1384) (1709)
HOP Five- 1442 1709

1000-G B (1484) (1809)
( ) Type X
< > High-speed type
{ } Type X, High-speed
170
APPENDIX
A.3 Motion Area
(All dimensions in millimeters)
Model A B C D
1566 296 1270
HOP Five-450-G B (1608) (238) (1370)
1766 396 1370
HOP Five-550-G B 508
(1808) (338) (1470)
1966 496 1470

HOP Five-650-G B (2008) (438) (1570)
2116 496 1620
HOP Five-750-G B (2158) (438) (1720)
2416 646 1770

HOP Five-900-G B 838
(2458) (588) (1870)
2616 746 1870

HOP Five-1000-G B (2658) (688) (1970)
( ) Type X
171
APPENDIX
ＣＤＧ１ＣＡ５０ＣＤＭ２Ｂ３２Ｐ
Ｍ−５ＡＬＵ−３
Standard chuck ＣＧ１ＢＮ３２／２５−＊＊
ＫＱ２Ｌ１２
ＡＳ２２０１ＦＡＳ２２０１Ｆ −０２Ｓ Drop holding
−０２−０６Ｓ −０１−０６ＳＫＱ２Ｌ１２
−０２Ｓ
Standard type
ＢＦ５
Arm unit junction box

Swing housing box
A.4 Circuit Drawings
Ø３．２
ＫＱ２Ｈ２３−０４
A.4.1 Pneumatic Circuit
ＡＳ１００１Ｆ−２３−３ＫＱ２Ｐ−０６
Ø６ Ø６ Ø６ Ø６ Ø３．２ Ø３．２ Ø６ Ø６ Ø４ Ø１２ Ø１２
172
ＫＱ２Ｌ１２ＫＱ２Ｌ１２
−０３Ｓ −０３Ｓ
Swing Kick Flip Vacuum suction Nipper Chuck
ＳＱ１２４１Ｄ−５ＬＯＳＱ１１４１−５ＬＯ (Type X) (Type XC) (Type XN) Ascent
(Type XC) ＳＱ１１４１−５ＬＳＱ１１４１−５Ｌ−Ｃ６ＳＱ１１４１−５ＬＯＫＱ２ＶＳ１０
−Ｃ６−Ｍ −Ｃ６−Ｍ /descent
(Type XN) −Ｃ６−Ｍ−Ｘ９３ −Ｂ−ＭＢ−Ｘ４８−２６ −Ｃ４−Ｂ−ＭＢ
ＳＹ７１４０−５ＧＺ −０３Ｓ
Ø８ＳＱ１１４１−５Ｌ
−Ｃ３−Ｍ−Ｘ４８−２４ Optional ＫＱ２Ｌ１０−０２ＳＶＱＺ３４２Ｒ−５Ｌ１−０２−Ｘ７１ −Ａ−Ｘ２３９ Ø１０
ＫＱ２Ｌ１０−０２Ｓ
Ø８ Ø１０
ＫＱ２Ｔ０８−００
ＡＳ２２０１Ｆ−０１−０８Ｓ (For ascent) (For descent)
Ø４ −Ｘ４３４ＫＱ２Ｔ０４−Ｍ５ Ø１２
ＫＱ２Ｔ０８−１０ Ø８ＡＳ４２０１Ｆ−０４−１２Ｓ−Ｘ４２９
ＫＱ２Ｒ０４−０８ Slow-down
Ø１０ＫＱ２Ｅ１２−００
ＫＱ２Ｔ１０−００ＡＮ３０−Ｃ１２ＫＱ２Ｕ１２−００
Ø４
Standard type (Swing housing box) Optional (Swing housing box) Arm unit junction box
Manifold unit:ＳＳ５Ｑ１４−０３−Ｘ９０ Flip:ＳＱ１１４１−５Ｌ−Ｃ３−Ｍ−Ｘ４８−２４ Manifold unit (standard):ＳＹ７１４０−５ＧＺ−Ｘ２３９
Swing: ＳＱ１２４１Ｄ−５ＬＯ−Ｃ６−Ｍ Nipper: ＳＱ１１４１−５Ｌ−Ｃ６−Ｂ−ＭＢ−Ｘ４８−２６ Ascent/descent:ＳＹ７１４０−５ＧＺ−Ａ−Ｘ２３９
Kick: ＳＱ１１４１−５ＬＯ−Ｃ６−Ｍ Vacuum suction: ＳＱ１１４１−５Ｌ−Ｃ６−Ｍ−Ｘ９３
Chuck: ＳＱ１１４１−５ＬＯ−Ｃ４−Ｂ−ＭＢ
ＡＷ３０−０３ＢＤＧ−ＲＫＱ２Ｌ１０−０３Ｓ
ＣＤＧ１ＣＡ５０ＣＤＭ２Ｂ３２Ｐ
Ｍ−５ＡＬＵ−３
Standard chuck ＣＧ１ＢＮ３２／２５−＊＊
ＫＱ２Ｌ１２
ＡＳ２２０１ＦＡＳ２２０１Ｆ −０２Ｓ Drop holding
−０２−０６Ｓ −０１−０６ＳＫＱ２Ｌ１２
−０２Ｓ
ＢＦ５
Arm unit junction box

Swing housing box
Ø３．２
ＫＱ２Ｈ２３−０４
ＡＳ１００１Ｆ−２３−３ＫＱ２Ｐ−０６
High-speed/Long-stroke Type
Ø６ Ø６ Ø６ Ø６ Ø３．２ Ø３．２ Ø６ Ø６ Ø４ Ø１２ Ø１２
173
ＫＱ２Ｌ１２ＫＱ２Ｌ１２
−０３Ｓ −０３Ｓ
Swing Kick Flip Vacuum suction Nipper Chuck Ascent
ＳＱ１２４１Ｄ−５ＬＯＳＱ１１４１−５ＬＯ (Type X) (Type XC) (Type NX) /descent:
(Type XC) ＳＱ１１４１−５ＬＳＱ１１４１−５Ｌ−Ｃ６ＳＱ１１４１−５ＬＯＫＱ２ＶＳ１０
−Ｃ６−Ｍ −Ｃ６−ＭＳＹ７１４０
(Type XN) −Ｃ６−Ｍ−Ｘ９３ −Ｂ−ＭＢ−Ｘ４８−２６ −Ｃ４−Ｂ−ＭＢ Ø１０ −５ＧＺ−Ａ−Ｘ２３９ −０３Ｓ
Ø８ＳＱ１１４１−５Ｌ
−Ｃ３−Ｍ−Ｘ４８−２４ Optional ＫＱ２Ｌ１２−０２ＳＶＱＺ３４２Ｒ−５Ｌ１−０２−Ｘ７１
ＫＱ２Ｒ０４−０８ＡＮ３０−Ｃ１２ (For ascent) (For descent)
ＫＱ２Ｌ１２−０２Ｓ
ＫＱ２Ｕ１２−００ＡＳ４２０１Ｆ−０４−１２Ｓ−Ｘ４２８
Ø１２ (Long-stroke)
ＡＳＮ２−０１−ＳＡＳ４２０１Ｆ−０４−１２Ｓ−Ｘ４３３
ＫＱ２Ｔ０４−Ｍ５
ＫＱ２Ｔ０８−１０ Ø８ Ø４ (High-speed)
Slow-down
ＫＱ２Ｔ１０−００ Ø１０
Ø４
Standard type (Swing housing box) Optional (Swing housing box) Arm unit junction box
Manifold unit:ＳＳ５Ｑ１４−０３−Ｘ９０ Flip:ＳＱ１１４１−５Ｌ−Ｃ３−Ｍ−Ｘ４８−２４ Manifold unit (long-stroke):ＳＹ７１４０−５ＧＺ−Ｘ２３９−１
Swing:ＳＱ１２４１Ｄ−５ＬＯ−Ｃ６−Ｍ Nipper: ＳＱ１１４１−５Ｌ−Ｃ６−Ｂ−ＭＢ−Ｘ４８−２６ Manifold unit (high-speed): ＳＹ７１４０−５ＧＺ−Ｘ２３９−２
Kick:ＳＱ１１４１−５ＬＯ−Ｃ６−Ｍ Vacuum suction: ＳＱ１１４１−５Ｌ−Ｃ６−Ｍ−Ｘ９３ Ascent/descent: ＳＹ７１４０−５ＧＺ−Ａ−Ｘ２３９
Chuck:ＳＱ１１４１−５ＬＯ−Ｃ４−Ｂ−ＭＢ
ＡＷ３０−０３ＢＤＧ−ＲＫＱ２Ｌ１０−０３Ｓ
APPENDIX
SRCN24P 1
Injection molding machine control box For standard (soft emergency stop)
P2D 4 JP6/JP7/JP8(1-2)
Emergency stop 3
APPENDIX
P2B
input signal robot For hard emergency stop
using box
AC200V When safetyy g
gate signal used
Remove JP6
AC_in
A Remove JP7
1 A P1 P1
B 3 B
Power supply AC200V
GND SK1
B1 FA(1A) X0F
SRCN24P C1
EM1 1
5
Emergency stop P2C
CR9 CR9
output signal
6
EM2 2 (Emergency stop2) CR8 +24V
5 7 I/O device ppower supply
pp y
1
C 5 JP8
COM 24G 24G 1
2 M)
3
F 6 3 1
F X0 JP7
Mold open limit signal U1 1 JP6
and c X08
1
Injection signal D 7 4 D X0 X09
X09
(optional)
E 8 5 E X0A
Safety gate closed signal 7
X0A
(optional)
X0B 9 6 X0B 0B X0B

Bad part signal (optional)
174
X0C
CN2-2
G 15 3 G
5
Cycle start CR2
4
7
H 16 H Y09 Y09
(Cycle start)
I 20 8 I
3
Mold open interlock CR3
4
J 19 7 J
K 17 5 K
5
A Y0A
A.4.2 Injection Molding Machine Interface
Mold closed interlock CR3

L 6 interlock)
6
18 L
M 23 9 M
5
Ejector order (optional) CR6
7
N 22 10 N B Y0B
+24V 12
5
CR7
24G 13 7 C Y0C
ernal signal) 24G(EM)
+24V
External equipment Q1 1 Interface board DC24Vout 1 CN2-3

R 2
External start signal GND 3
Relays CR3 and CR9 use G6B-2214P-FD-US (24VDC) and CR2, CR6, CR7 and CR8 use G6D-1A-ASI (24VDC).
APPENDIX
A.5 Maintenance Parts List

Replacement interval
Unit name Part name Model Q’ty Part No. Remarks
recommendation
CDG1CA50-Y5959-80 1 02267450 From 450 to 650
Pneumatic cylinder 3000km
CDG1CA63-80-DCL702EL 1 10717440 From 750 to 1000
Speed controller AS2201F-02-06S 2 00348620 Swing 1x107 times
SQ1241D-5LO-C6-M 1 10041530 Swing
SQ1141-5LO-C6-M 1 10041540 Kick
SQ1141-5LO-C4-B-MB 1 10041550 Chuck
Throttle valve SQ1141-5LO-C3-M-X48-24 1 03675400 Flip 5x107 times
SQ1141-5LO-C6-B-MB-X48-26 1 10034190 Nipper
SQ1141-5LO-C6-M-X93 1 10419420 Vacuum suction
Swing housing
box VQZ342R-5L-1-02-X71 1 10329910 Slow down
AS2201F-01-08S-X434 1 10415980 Slow down (standard)
Slow down
Speed controller ASN2-01-S 1 10341270 (high-speed / long-stroke) 1x107 times
AS1001F-23-3 2 03674770 Flip

Pressure sensor MPS-V33RC-NGA-YSN 1 10863500 Vacuum suction 2x107 times
Vacuum generator CV-10HS 1 00105250 Vacuum suction 2 years
Vacuum generator filter VF-2 1 00105260 Vacuum suction
1 years
Muffler AN300-KM12 1 00869730 Descent cylinder
Element (filter) Element for AW30 (AF30P-060S) 1 02381520 2 years
Radial ball bearing 10BG03S12-2NSCS 4 00607140 5 years
Speed controller AS2201F-01-06S 2 00329930 1x107 times

Pneumatic cylinder CDM2B32P-90-DCJ387FJ 1 03525720 90 stroke 4500km
Kick unit
Shock absorber FK-1212L-C-US12 1 10019740 90 stroke 2x106 times
Pneumatic cylinder CDM2B32P-150-DCK8252K 1 10020250 150 stroke 4500km
Shock absorber FK-1212L-C-US13 1 10020260 150 stroke 2x106 times
FK-2050-R-US7 1 10020210 Ascent (standard)
Shock absorber FK-2065-R-US4 1 10034140 Ascent (high-speed) 2x106 times
FK-2065-R-US5 1 10178680 Ascent (long-stroke)
CG1BN32-450-DCL6191L 1 10579650 450 stroke
CG1BN32-550-DCL6191L 1 10579670 550 stroke
Arm unit CG1BN32-650-DCL6191L 1 10579690 650 stroke
CG1BN32-750-DCK920FK 1 10327300 750 stroke
Pneumatic cylinder 3000km
CG1BN25-450-DCK615EK 1 10322190 450 stroke (high-speed)
CG1BN25-550-DCK615EK 1 10322200 550 stroke (high-speed)
SY7140-5GZ-X239 1 10313580 Ascent/descent (standard)
Solenoid valve SY7140-5GZ-X239-1 1 10329740 Ascent/descent (long-stroke) 5x107 times
Arm unit junc- SY7140-5GZ-X239-2 1 10329820 Ascent/descent (high-speed)
tion box AS4201F-04-12S-X429 2 10391550 Ascent/descent (standard)
Speed controller AS4201F-04-12S-X428 2 10391540 Ascent/descent (long-stroke) 1x107 times
AS4201F-04-12S-X433 2 10398080 Ascent/descent (high-speed)
Proximity sensor D-C73-529B 1 03351780 Swing limit (15)
Cylinder sensors Proximity sensor D-C73-529A 1 03551770 Swing limit (14) -
Proximity sensor D-C73-529K 1 10231660 Swing limit (12)
175
APPENDIX
A.6 Tightening Torque
Newton·meters (N·m)
Steel members Aluminum members
M3 1.5 1.1
M4 3.4 2.4
M5 6.9 4.5
M6 12 8
M8 29 20
M10 57 39
M12 98 71
M14 157 108
M16 255 159
M20 490 321
M24 843 490
176
Take-out robot
Operation Manual
30th January, 2014 Version 1.01

11-260 KOGAHONMACHI FUSHIMI-KU, KYOTO
612-8492 JAPAN
TEL(81)-75-933-9555 FAX(81)-75-934-4033
YPE201401307388

Hop5 G2B Op 1.01e

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For operation staff TAKE-OUT ROBOT

This manual provides information on the following

We look forward to your ongoing patronage.

Yushin Precision Equipment Co., Ltd.

Exemption from responsibility

© 2014 Yushin Precision Equipment Co., Ltd. All rights reserved.

Each safety symbol has the following meaning.

A warning notice with this symbol indicates a potentially hazardous

A caution notice with this symbol indicates a potentially hazardous

This symbol indicates that careful

This symbol indicates that a certain action

This symbol indicates that a certain action

z In addition to the above symbols and messages, danger/warning/caution/information

z If any of the following cases should occur, immediately

z To prevent electric shock due to possible current leak-

z Do not connect the earth terminal of the plug with the

z Check the following before turning ON the breaker.

z Do not get over the safety guard fence or let other

z If any abnormality occurs to the injection molding

z Do not allow those other than qualified persons to open

z Do not put any vessel containing water, such as a vase

z Do not put any piece of metal, such as a clip or staple,

z Do not use an extremely flammable spray near by the

z Before cleaning, inspecting, repairing, adjusting, or per-

z Take sufficient care to keep pneumatic tubing from

z Be sure to perform an inspection before starting up the

z If you don't operate the take-out robot for several days

z Do not use an operating fluid other than compression

z Use pneumatic pressure regulated as specified. Other-

z Do not drop the handheld controller. Applying strong

z Never use a handheld controller which has come in

z Select an installation location which provides a suitable

z Make sure the operating environment would not be

WARNING DANGER WARNING

High voltage. Make a team of two people to adjust the speed or

Before starting maintenance, be sure to turn the

Maker / supplier of machine will not be responsible

YUSHIN PRECISION EQUIPMENT CO., LTD.

2 START-UP AND SHUT-DOWN

7 LEAD THROUGH TEACHING

Take-out robot body

1.2 Take-out Robot Body

No. Item Description

1.3 Arm Unit

No. Item Description

1.4 Kick Unit

Kick Return Limit

No. Item Description

1.5 Swing Unit

No. Item Description

1.6 Main Body Junction Box

The main body junction box has the following functions:

No. Item Description

1.7 Handheld Controller

Mold Open Limit Start

Monitor Teaching MoldRead Menu

No. Item Description

No. Item Description

Not pressed Pressed halfway Pressed deeply

Before starting up the take-out robot, check the following items:

After starting up the take-out robot, check the following items:

Secure kick shock Secure kick

2.2 Operation Flow Outline