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