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2012 Quarter 1 Issue 10

The Description of ST3/5 Robot Reversing

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The following paragraph is the instruction for changing ST3/5 robot dropping side (Operation side / non-operation side). For safety, please turn off the electrical power and pneumatic supply before operating.



1. Unscrew the proximity sensor X103 and move it up to the same level as X102, then screw X103. Unscrew the proximity sensor X102 and move it down to the same level as where X103 was, and then screw X102. See picture 1-1, picture 1-2.




2. Move all "Outside IMM safety zone blocks" from the right end of the beam to the left end of the beam, see picture 2-1. Move the origin block from the left end of the beam to the right end of beam, 100mm away from the limit block. See picture 2-2.




3. Open the sliding seat on the Z-axis, and then exchange the X101 and X104socket positions, exchange the X102 and X103 socket positions. See picture 3-1 and 3-2.




4. Adjust the parameter of A5 transverse servo driver Pr.006 and Pr.012 value 1 to 0. Except model: ST3-1600-2200LT, ST3-1800-2400LT, ST3-2200-2600LT, ST3-2600-2800LT, ST3-3000-3000LT. These five models should adjust the parameter of Pr002 and Pr012 value 0 to 1. If the transverse servo driver is A4, adjust the parameter of Pr.041 and Pr.046 value 1 to 0.


5. 1.Press S” toggles the display to dp_5pd” screen, press M” to PR_00”. Use △”▽” to select number, press ◁” to move cursor to certify number. Press S” again to set the parameter. Press △” or ▽” to modify parameters, ◁” to move cursor, S” to confirm the setting.


6. 1. Save setting: Press M” and follow by S”, toggle the display to EE_SEE”, press and hold △” key until ----” (Mode→EE_SEE→Set→Up→----) show on the screen, then switch off the power at least 3 seconds (if less than 3 seconds cannot save the setting), then switch on the power.


7. Check the result of reversing.


7.1 In Manual mode, when Z-axis traverses in or out, the traverse direction of robot will opposite with before reversing.


7.2 After pressing HP”, Z-axis back to origin position, the origin proximity sensor X103 lights up.


7.3 The limited sensors (X101 and X104) shouldn t light up if robot operated normally.


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