伯朗特机器人股份有限公司

BORUNTE ROBOT CO., LTD.

Stamping process
BRT-C-RC-HC1-TI1-V1.3_CY_EN_250225
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Safety Precautions
Before using this process package, please ensure that you thoroughly read and understand this specification and
any accompanying materials. This specification categorizes safety precautions into "Danger," "Caution,"
"Mandatory," and "Prohibition."

Caution: Mishandling may pose risks, possibly resulting in moderate injuries, minor
accidents, or equipment malfunction.

Prohibition: Actions that are strictly forbidden.

Mandatory: Actions that must be strictly adhered to.

It should be noted that even items listed under "Caution" can have serious consequences depending on the
situation. Hence, it is crucial to strictly adhere to all instructions.

Danger: Mishandling may lead to deaths or severe accidents.

Danger
☆Press the emergency stop button on the demonstrator, confirm that main power supply of servo
motor has been cut off, the motor is powered off and under braking system before operating the robot.
Once the servo power is turned off, the teaching pendant will trigger an emergency stop alarm, the
control cabinet's red alarm light will flash, and the buzzer will sound. In an emergency, if the robot
cannot be stopped promptly, it may result in personal injury or equipment damage.

Emergency Stop Button

☆When servo power supply needs to be switched on after releasing emergency stop, remove the fault
that triggers emergency stop before connecting the servo power supply. Actions due to mishandling of
the robot may result in serious injuries.
☆Please follow the rules below when making demonstration within the activity range of robot: Observe
the robot from the front side
Follow the operation steps strictly
Consider contingency plans if the robot unexpectedly moves towards your location and ensure there is a
designated escape route just in case.
Actions due to mishandling of the robot may result in serious injuries.
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☆Make sure there's no person within the motion range of robot and operator is in a safe position
before starting the following operation: Switch on power supply of robot control cabinet.
When programming the robot using the teaching pendant. During test runs.
In automatic mode.
Accidentally entering the robot's operational range or making contact with the robot may result in serious
injuries. In case of abnormalities, immediately press the emergency stop.

Caution
☆Robot operations must be confirmed.
The operator has received safety training
The operator has adequate understanding of the robot's movement characteristics.
The operator has sufficient knowledge of the robot's hazards
Do not operate after drinking

☆Before using the robot teaching device, check the following points and address any anomalies
promptly or take other necessary measures.
Robot movement is normal
The origin is calibrated correctly
External auxiliary devices associated with the robot are functioning properly.

☆Put the demonstrator back and fix it after use.

If the teaching device is carelessly left on the robot, fixture, or ground, it may collide with the robot or
fixture when the robot moves, potentially causing injury or equipment damage.
Prevent accidental dropping of the teaching device as it might cause unintended robot movement, leading to
injury or equipment damage.

Mandatory
Safety operating procedures
1.All robot system operators should undergo the training on system in order to learn the safety protection
measures and robot functions.
2.Check if the robot and peripherals are normal before running the robot.
3.Switch off power supply or press the emergency stop button before entering the operation area, even if the
robot is not running.
4.Assign a specific supervisor when robot is programming in working area, to make sure the robot can stop
quickly in case of emergency.
5.Do not wear gloves when the demonstrator inches robot. Low speed inching is preferred. Stop the robot
effectively in case of a fault
6.Master the position of emergency stop buttons on the robot and peripheral control equipment, in order to
press them correctly in case of emergency
7. Never assume that when the robot is stopped, its program has finished. At that time, the robot may be
waiting for an input signal to continue its movement
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catalogue
1 START OF STAMPING PROCESS PACKAGE ................................................... - 1 -
1.1 VERIFICATION OF SUCCESSFUL START OF PROCESS ..................................................- 1 -
2 PROCESS IO ANNOTATION AND CONNECTION .............................................. - 1 -
2.1 ANNOTATION OF IO OCCUPIED BY PROCESS ....................................................... - 1 -
2.2 IO OCCUPIED BY PROCESS COMMUNICATION AND IO FOR OPEN COMMUNICATION .............................. - 2 -
2.3 IO DEFINED FOR STAMPING PROCESS AND RELATED FUNCTIONS ......................................... - 2 -
2.4 STAMPING PROCESS CONNECTION DESCRIPTION ..................................................... - 3 -
2.5 ELECTRIC WIRING DIAGRAM .................................................................. - 4 -
3 PARAMETER SETTING .................................................................... - 4 -
3.1 ONLINE PARAMETERS ....................................................................... - 5 -
3.2 STAMPING PARAMETERS ......................................................................- 5 -
3.3 STAMPING SAFETY POSITION ................................................................. - 6 -
3.4 VALVE SETTING .......................................................................... - 7 -
3.5 OTHER PARAMETERS SET FOR STAMPING .......................................................... - 7 -
3.6 SETTING OR TESTING OF OTHER AUXILIARY FUNCTIONS .............................................. - 7 -
4 FUNCTION AND USE DESCRIPTION OF PROCESS COMMANDS ................................ - 8 -
4.1 USE DESCRIPTION OF STAMPING PROCESS COMMANDS ................................................. - 8 -
4.2 FUNCTION DESCRIPTION OF PROCESS COMMANDS .................................................... - 8 -
5 ALONE/ONLINE OPERATION OF STAMPING PROCESS ....................................... - 10 -
5.1 ALONE OPERATION ........................................................................ - 10 -
5.2 MULTIPLE-SET ONLINE OPERATION ............................................................ - 10 -
6 SHOOTING METHODS FOR COMMON TROUBLES ........................................... - 11 -
6.1 ALARM INFORMATION ...................................................................... - 11 -
6.2 HANDING OF PRODUCT DISPLACEMENT DURING NORMAL WORK. .......................................... - 11 -
6.3 START SUCTION VALVE VACUUM TESTING FOR ABNORMAL WORK OR ALARM. ................................ - 12 -
6.4 ALONE/ONLINE HANDLING OF GENERAL EXCEPTIONS .................................................- 12 -
7 STAMPING PROCESS INSTRUCTION EXAMPLE PROGRAM ................................... - 14 -
7.1 STANDARD MOLD FOR STAMPING (STANDARD MOLD FOR ONLINE) ........................................ - 14 -
7.2 SINGLE STAMPING AND SINGLE PICK (FEEDING AND BLANKING) MOLD ................................... - 15 -
7.3 PICK, REPLACING AND STAMPING MOLD IN SINGLE STAMPING AND SINGLE PICK (FEEDING AND BLANKING) ........ - 16 -
7.4 ALONE 1-FOR-2 MOLD .................................................................... - 17 -
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Stamping process
1 Start of stamping process package
1.1 Verification of successful start of process
Process start flow:
1. Stop location -> Settings -> craft Setting -> Technology type -> StampingProcess
2. Set the stamping parameters in the connection, which will be described in more detail in later chapters.
After the above setting, turn off the power for restarting. The verification is as follows:
The machine switching mode switch is displayed here, which proves that the process has been started successfully

The machine switching mode switch is

displayed here, which proves that the process
has been started successfully

Note: When online, ensure consistent communication baud setting; set and confirm the positions: Stop location ->
Settings -> Product Settings -> Communication Configs -> CAN Settings

2 Process IO annotation and connection

2.1 Annotation of IO occupied by process
The IO ringed in red, as shown in the figure below, is occupied by the process and cannot be used for other purposes.

Punch Origin-1: When not connected, in manual or auto state, the following alarm will be given: origin disconnected.
Punch Origin-2: When Punch 2 is used, the origin state will be detected automatically; when normal, connected is
required; when the punch is being started, signal will be outputted according to the settings, and corresponding IO will
be disconnected for detection. Commands will be described in more detail in later chapters.

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2.2 IO occupied by process communication and IO for open communication

System occu
pancy

After the stamping process is used, M010-M015 is occupied by commands, cannot be open to users for use, but can be
used by the system for internal processing. M110-M147, intended for open communication, can be used by users
according to the definitions. After normal communication, for example, if the lower machine provides a message
received by the upper machine, when the signal of the lower machine is ON, the corresponding signal of the upper
machine should also be ON for being qualified, and the corresponding relationship is as follows:
Communication IO Definition and Corresponding Relationship Annotation
M140 Output NM120 -> M120 Wait PM140 M130 Output NM110 -> M110 Wait PM130
M141 Output NM121 -> M121 Wait PM141 M131 Output NM111 -> M111 Wait PM131
M142 Output NM122 -> M122 Wait PM142 M132 Output NM112 -> M112 Wait PM132
M143 Output NM123 -> M123 Wait PM143 M133 Output NM113 -> M113 Wait PM133
M144 Output NM124 -> M124 Wait PM144 M134 Output NM114 -> M114 Wait PM134
M145 Output NM125 -> M125 Wait PM145 M135 Output NM115 -> M115 Wait PM135
M146 Output NM126 -> M126 Wait PM146 M136 Output NM116 -> M116 Wait PM136
M147 Output NM127 -> M127 Wait PM147 M137 Output NM117 -> M117 Wait PM137

2.3 IO defined for stamping process and related functions

Drive and
Serial number Single-board S6 control Annotation Definition description
integrated
Fixed IO. When ticked, the fixed function is effective; when there is no signal,
Emergency stop
1 Stop/X45 X45 emergency stop alarm will be given (equivalent to emergency stop). When not ticked,
input
it can be taken as a general point.
Instructional definition IO. For alternative use. Instruction before the "pick standby"
2 X41 X21 Wait Feed
command.
Fixed IO. When ticked (among running parameters), the fixed function is effective;
3 X42 X23 Punch single when there is no signal, it cannot run. When not ticked, it can be taken as a general
point.
4 X43 X25 Punch Peak 2 Fixed IO. Origin of Punch 2. When controlled Punch 2 is used, the signal must be ON
5 X45 X24 Punch Peak 1 Fixed IO. Origin of Punch 1. The signal must be ON
Instructional definition IO. For alternative use. Instruction after the "Pick Finish"
7 Y23 Y23 Permit Feed
command.
Emergency stop Fixed IO. When the machine is abnormal, it does not output; when the machine is
8 Y40(RY0A,B) Y26
output normal, it outputs.
Fixed IO. Enable the control point of Punch 2 (stamping 1-for-2, generally with the
10 Y42(RY2A,B) Y25 Permit stamp-2
first set controlled for normal use), and bind the command.
11 Y43(RY3A,B) Y24 Permit stamp-1 Fixed IO. Enable the control point of Punch 1, and bind the command.
For valve binding
Fixed IO. Fixture 1 valve. When ticked for detection (X30), the detection binding is
12 Y30 Y30 Fixture 1 valve
effective. When not ticked, it is for general use and instruction use
Fixed IO. Reserved valve. When ticked for detection (X31), the detection binding is
13 Y31 Y31 Reserved valve
effective. When not ticked, it is for general use and instruction use
Fixed IO. Sucker 1 valve. When ticked for detection (X32), the detection binding is
14 Y32 Y32 Sucker 1 valve
effective. When not ticked, it is for general use and instruction use
Fixed IO. Sucker 2 valve. When ticked for detection (X33), the detection binding is
15 Y33 Y33 Sucker 2 valve
effective. When not ticked, it is for general use and instruction use
Instructional definition IO, vacuum break, co-use with suction valve, for instruction
16 Y34 Y34 Vacuum break
use
Fixed IO. When corresponding Fixture 1 value is ticked for detection, the binding is
17 X30 X30 Fixture 1 detection
effective; when not ticked, it can be taken as a general point
Fixed IO. When corresponding reserved valve is ticked for detection, the binding is
18 X31 X31 Reserved detection
effective; when not ticked, it can be taken as a general point
19 X32 X32 Sucker 1 valve Fixed IO. When corresponding Sucker 1 valve is ticked for detection, the binding is

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detection effective; when not ticked, it can be taken as a general point

Sucker 2 valve Fixed IO. When corresponding Sucker 2 valve is ticked for detection, the binding is
20 X33 X33
detection effective; when not ticked, it can be taken as a general point
Note:
1. The IO defined above is divided into fixed IO (irreplaceable, occupied by the system) and instructional definition IO (replaceable, as
tentative specification).
2. When X24 and X25 are the controlled punch origin signal, normally a punch (Punch 1) must be connected; connection is required if
Punch 2 is used (stamp-2 command detection used). When X24 and X25 are the controlled punch start signal, connection is required for use;
during use, if there is no signal when the punch origin signal is non-stamping, the following alarm will be given: origin disconnected during
running.
2.4 Stamping process connection description
Drive and
Single-board
Serial number control Annotation Connection description
S6
integrated
Optional connection: Co-use with first machine or single machine for pick,
1 X41 X21 Wait Pick
connection according to the actual needs, and for instruction use
Optional connection: Safety signal, connection as needed, short connection to 0V if
2 X47 X22 Safety point unused, otherwise without stamping output, this function unavailable for drive and
control integrated.
Optional connection: Effective when ticked (among running parameters), and parallel
connection (isolated) to signal of one week cycle of punch safety. Normal stamping
3 X42 X23 Punch single
cannot be performed if without this signal in auto run. It is recommended to tick the
connection if the punch has this function. Do not tick the connection if not for use.
Connection required for standard configuration: Origin of Punch 1. If there is no
signal or one-week change in signal cannot be detected within the set stamping time,
4 X45 X24 Punch Peak 1 alarm will be given for stamping on/off timed out or origin disconnected during
running, but the working is normal. During non-stamping, signal must be ON;
otherwise, alarm will be given.
Connection required for use: Origin of Punch 2, short connection to 0V if unused.
Equivalent to Punch 1 for use. The signal must be On during use. If there is no signal
5 X43 X25 Punch Peak 2 or one-week change in signal cannot be detected within the set stamping time, alarm
will be given for stamping on/off timed out or origin disconnected during running.
During non-stamping, signal must be ON; otherwise, alarm will be given.
Optional connection: Short connection to 0V if unused, otherwise alarmed and
Emergency stop
6 Stop/X45 X45 unavailable, equivalent to emergency stop. Series connection to emergency stop wire
input
is required for single-board.
Optional connection: Related to safety point setting, mainly control of discharge
7 Y41(RY1A,B) Y22 Safety point stamping of upper machine, interlock control, connection not required when not in
use (temporarily unavailable function).
Optional connection: Co-use with first machine or single machine for non-standard
8 Y23 Y23 Pick Finished
operation, connection according to the actual needs, and for instruction use
Connection required for standard configuration: Tick StampingProcess, execute auto
9 Y43(RY3A,B) Y24 Permit stamp-1 run, and output stamp-1 control signal after finish of discharge stamp-1. No stamp-1
output when not ticked.
Connection required for use: Tick StampingProcess, execute auto run, and output
10 Y42(RY2A,B) Y25 Permit stamp-2 stamp-2 control signal after finish of discharge stamp-2. No stamp-2 output when not
ticked.
Optional connection: Effective when ticked (among running parameters), press
Emergency stop
11 Y40(RY0A,B) Y26 Emergency Stop to disconnect the output, and reset the alarm output. Connection as
output
needed.
Note:
Among the above definitions, as for connection required for standard configuration, in principle, these must be connected for use according to the system
settings; as for connection required for use, connection is required for using corresponding function; as for optional connection, it depends on whether the
corresponding function is actually used or applied. As for punch end connection, the punch types and control modes, brand definitions and control wires are
different, so please consult the punch manufacturer for punch end connection, find the corresponding signal in our control for docking, and pay attention to
isolated control and reception of controlled signal with relay.

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2.5 Electric wiring diagram

IO control board and external equipment (stamping process) signal switching
Communication wire between servo modules

Ethernet port CAN communication Robot connection #1Punch 1 Robot connection #2Punch 1

Hand controller interface StartPunch 1 StartPunch 2

Network Network
Port 2 Port 1
Medium-scale
Controller

Control panel
Main board power supply
board

interface
Punch emergency stop Punch emergency stop
IO power supply
IO board Emergency stop

Emergency stop input Punch 1Top dead point

Punch 2Top dead point
Green indicator (origin)
Yellow indicator
Safety door (origin)
Red indicator Mold closing finished
Alarm sound
Punch 1"Permit full Punch 2"Permit full
Mold opening finished
auto" signal auto" signal

Public input
Robot connection Feeder
Stop Ejection
Wait Feed Stop Ejection BW
StartFeeder
Defective product
"Permit full-auto" signal Mid mold
Punch Origin-1 Permit Feed Full auto
Punch Origin-2 Permit stamp-1 Stop core insertion
Permit stamp-2 Stop core retreat StartFeeder
Emergency stop Null
output Null

Emergency stop Description:

Fixture 1 detection output 1. For the above signals, except those required to be connected for the control settings, other signals are subject to the needs.
Fixture 1 valve
Fixture 2 detection Reserved valve (Fixture 2 Mold area safe 2. In principle, only one punch needs to be controlled. If two punches need to be controlled, please connect the former robot to
Sucker 1 detection valve)
Sucker 2 detection Sucker 1 valve
Punch 2 and the latter robot to Punch 1. If "Permit full auto" is used (one-week safety lock), please connect their signals in series.
Permit Ejection
Sucker 2 valve 3. Control Punch 1 connection:X24 Punch Origin-1Control Punch 2 connection: X25 Punch Origin-2
Vacuum break
Permit Ejection BW Y27 Permit stamp-1Y25 Permit stamp-2
4. Set the connection as needed:
Recycle X23 "Permit full auto" signalSet the connection needed; when controlling two punches, connect their signals in series
X21 Wait FeedFor the head, wait "Permit Pick" signal
X30 Fixture 1 detectionConnection as needed, corresponding to Y30Fixture 1 valve
Permit mold opening
X31 Fixture 2 detectionConnection as needed, corresponding to Y31Fixture 2 valve (reserved valve)
Permit mold closing X32 Sucker 1 detectionConnection as needed, corresponding to Y32 Sucker 1 valve
X33 Sucker 2 detectionConnection as needed, corresponding to Y33 Sucker 2 valve
Null X34 Vacuum BreakConnection as needed
Unuse Y20 Permit FeedFor the head, after pick finish, permit the feeder to feed again
Permit core insertion Y26 Emergency stop outputControl external equipment to stop, and perform parallel connection for multiple devices
Permit core retreat Note: For signal switching, please use intermediate relay conversion as far as possible; when using high-power solenoid valve and
Common port
other devices, please use special power supply after conversion; during on-line control by robots, the alarm "Punch N origin
disconnected during running" indicates that the origin of Punch N controlled by robots is disconnected and thus Punch N is
abnormal.

Description: Normally, connection to Punch 2 is not required when only a punch's connection is controlled; connection
to feeder is required only for first machine or single machine; programming is as shown in the mold reference. Pay
attention to the termination resistors of the head and the tail when multiple machines are online; pay attention that the
connection port (CAN A or CAN B) corresponds to the set parameters when using a single-board system.
3 Parameter setting
The set related parameters will be displayed immediately after the process is started. The settings are as follows. Note: If
the process is just started, the power must be turned off for restarting once before the parameters become effective.

Safety point setting

Other settings

Online settings

Punching parameter
setting
Select Online

Parameter setting: Stop location -> Settings -> Product Settings -> craft Setting -> Technology type -> select
StampingProcess
Confirmation or setting of communication rate: Stop location -> Settings -> Product Settings -> Communication
Configs -> CAN Settings

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3.1 Online parameters

1. Communication rate
The host and the slave must be consistent in baud setting for CAN online. The specific setting selection is subject to
the actual situation. The recommended setting is 500kbps. Only after power off and restart will the modified
communication rate become effective. Pay attention that the parameter and connection settings must be consistent for
the port used (CAN A or CAN B port) when using a single-board system.
2. ID config
When online, set ID, set the host (head) default to 1, and then Slave 2, Slave 3...tail (last machine) in succession; ID
setting is assigned to slaves according to the working procedures, and the ID assignment range is 1~16 (working
procedures). After saving, the setting becomes effective.
3. Machine classification
The machine can be divided into 3 types: head, intermediate and tail. The setting is assigned according to the actual
situation.
Note: Only after confirmation and saving will the config become effective; the head is the host; the intermediate is the
slave(s) except for the tail; the tail is the last machine.
4. Setting of front-placed part ID and backstage part ID
ID is assigned by the sequence of the machine working procedures. For example, if the machine is a slave and its ID is
2, then the front-placed part ID is 1, and the backstage part ID is 3; if the machine is the head, then the backstage part
ID is 2; if the machine is the tail, only the front-placed part ID config is required; after saving, the setting becomes
effective.
5. Manipulator selection
When multiple machines are online, the host selects all slave manipulators, e.g. Manipulator 1, Manipulator 2.... Note:
The selected ID is the assigned online ID (ID assignment range is 1~16), and this must be set correctly when online.
The rules are as follows:
When setting the head: set the backstage part ID; Manipulator selection: select the ID of all online participating
manipulators (robots).
When setting the intermediate: set the front-placed part ID and backstage part ID; Manipulator selection:
Manipulator 1 (head ID, host).
When setting the tail: set the front-placed part ID; Manipulator selection: Manipulator 1 (head ID, host).
Note:
Only after clicking "save" will the settings become effective. The host monitors the online state (online
manipulator). When the slave indicator is flashing in green, the communication is normal; when the slave
indicator is red (normal), it indicates offline. When the online slave indicator is red, please confirm whether
the slave parameter and connection settings are correct. Select Manipulator 1 for slave.
6. Slave stop control by host
If ticked, when the host toggles the gear switch to the Stop location, it will trigger the slave to stop during running; if
not ticked, when the host toggles the gear switch to the Stop location, the host cannot control the stop of the slave.
Note:
1. When online, the slave can start or stop alone. When starting, it must be at the Auto location; when stopping, it
needs to press STOP once (single cycle stop) or twice for immediate stop.
2. After the slave stops (pauses) under the control of the host, the slave can continue to work alone by pressing START
again, or can start alone from the first line or a selected line at the Stop location and then the Auto location
3. When online, if the slave toggles the gear switch to the Stop location, the stop of the slave cannot be controlled, and
related parameters cannot be set or other operations affect the operation permitted for running.
3.2 Stamping parameters
1. Stamping start
Optional: ticked and not ticked. When ticked, after executing the process commands "Discharge Finish" and
"Discharge Stamping", discharge stamp-2 will output the bound IO (Punch 1 control Y24; Punch 2 control Y25)
signal and detect whether the related IO (Punch 1 control Y24; Punch 2 control Y25) ON/OFF state is determined as
stamping abnormality. When not ticked, there will be neither such output (for debugging or special purpose) nor
such detection.
Note: Only after confirmation and saving will the settings become effective.
2. Stamp-1 time
It refers to the time of Punch 1 control output Y24 pulse width. Set range: Refer to 3/4 of one normal stamping
cycle at the Manual location. The actual setting shall prevail. For example, the normal stamping time at the Manual
location is 1.5 seconds, and the set relationship is: 3/4 of normal stamping time < stamping time < normal stamping
time, namely the set stamping time: 1.5 seconds < 1.1 seconds < 1.5 seconds.
Note: Due to the process related reasons, stamping time might not be the same, and the actual shall prevail; it needs
to set a little longer normal stamping time for oil punch; if there is a return control, it also needs to change the oil
punch, and the signal controlled by robot is time-width pulse signal output.
3. Stamp-2 time
It refers to the time of Punch 2 control output Y25 pulse width. Set range: Refer to stamp-1 time setting.

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Note: Only after confirmation and saving will the settings become effective.
4. Maximum time
It refers to the maximum stamping time, generally set greater than 1.25 times of normal stamping time. The setting
is subject to the actual needs. It is the criterion for detecting whether the stamping time is normal. For example, if
the normal stamping time is 1 second, the maximum time is set to 1.5 seconds. After outputting a stamping control
signal, detect whether the time of signal change (ON > OFF > ON) of top dead point of stamping exceeds the
maximum time. If this change is not detected within the maximum time set from ON to OFF and then to ON or
abnormality is not detected at the ON time, the system will give the alarm: waiting for punch origin ON timed out
(stamping output control point abnormality or set output too long) or waiting for punch origin OFF timed out
(punch stamping abnormality or detection signal OFF for a long time). Note: External signal or conflict might also
lead to this alarm, which is also related to external line control and other settings; when there is a trouble, please
find the reason and shoot the trouble according to the actual situation.
Note: Only after confirmation and saving will the settings become effective.
3.3 Stamping safety position
The setting is divided into two parts, namely world limit and X-joint angle limit. Each limit is divided into pick safety
point and discharge safety point. During the setting, please refer to pick standby, pick finish, discharge standby,
discharge finish and other positions. The setting is as follow:
X world limit:
Pick safety point: This limit needs to refer to two process command positions — pick standby and pick finish; the
point world position should be within the X direction (X direction for drive and control integrated, and Y
direction for single-board) limit, and the set value should be greater than the point. Note: When the world is
negative, it should be smaller than the world point.
Discharge safety point: This limit needs to refer to two position commands — discharge standby and discharge
finish; the point world position should be within the X direction (X direction for drive and control integrated,
and Y direction for single-board) limit, and the set value should be greater than the point. Note: When the
world is negative, it should be smaller than the world point.
J1 joint limit
Pick safety point: This limit needs to refer to two process command positions — pick standby and pick finish; the
point conversion joint position should be within J1 axis (J1 direction for drive and control integrated, and J1
direction for single-board) limit, and the set value should be greater than the joint point. Note: When the
joint is negative, it should be smaller than the joint point.
Discharge safety point: This limit needs to refer to two process command positions — pick standby and pick
finish; the point conversion joint position should be within J1 axis (J1 direction for drive and control
integrated, and J1 direction for single-board) limit, and the set value should be greater than the joint point.
Note: When the joint is negative, it should be smaller than the joint point.
The safety point setting is shown in the figure:

X-axis direction

Pick point position

X value set for pick safety point
X value set for discharge safety

Discharge point position

Value set for pick safety point

Value set for discharge safety point

Standby pick position
Pick finish position
Standby discharge position
Discharge finish position
J1 angle value set for pick safety

JI angle value set for discharge safety

Robot base
Y-axis direction

Description:
1. The shaded area above is safety zone. The stop positions of standby pick, pick finish, standby discharge and discharge
finish (discharge stamping, discharge stamp-2) commands must be set in the safety zone (a certain spacing is
recommended); otherwise, alarm will be given for running.
2. At the time of standby pick, if the stop position is outside the safety zone, it will affect upper machine discharge or
stamping; only when pick is permitted can the stop position move out of the safety zone for pick.
3. At the time of standby discharge, if the stop position is outside the safety zone, it will affect lower machine pick; only
when discharge is permitted can the stop position move out of the safety zone for discharge.
4. At the time of pick finish, if the stop position is outside the safety zone, alarm will be given for outside the safety zone.

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5. At the time of discharge finish, discharge stamping or discharge stamp-2, if the stop position is outside the safety zone,
alarm will be given for unable to stamp.
6. If the robot is started outside the safety zone, alarm will be given for start outside the safety zone.
3.4 Valve setting

Check valid

There are 4 groups, namely 2 groups of suction valves + 2 groups of pinch valves.
1. If ticked, when values are used, the bound detection IO is effective, and the bound point cannot be used for
other purpose; the bound IO relationship is shown in the table below. If not ticked, it is taken as a general point,
and the bound point can be used for other purpose.
2. Time, when set to greater than 0, it is used for IO filtering detection, mainly to prevent the interval ON/OFF
from being filtered during signal instability so that it can be used normally. Please set as needed.
3. Forward/reverse: Set the initial detection state of valve. If forward, when value is open, namely the detected
signal is ON, it is normal; otherwise, alarm is given. If reverse, when valve is closed, namely the detected signal
is OFF, it is normal; otherwise, alarm is given. Note: Before correct operation for starting, please ensure that the
signal is correct (set requirement).
Note: Only after confirmation and saving will the settings become effective.
Corresponding relationship with valve:
Valve IO Valve detection IO
Y30 F-1 Valve X30 F-1 Valve Check
Y31 Rev1 Valve X31 Rev1 Valve Check
Y32 S-1 Valve X32 S-1 Valve Check
Y33 S-2 Valve X33 S-2 Valve Check
Y34 Vacuum Break
3.5 Other parameters set for stamping
1. Close the prompt for "re-pick"
Not ticked: when using a suction/pinch valve ("enable valve function" must be ticked), if pick fails (detected behind
pick finish action position), the program will pop up a prompt for pick failed; at this point, choose to continue the
(misaction) action or reconfirm the pick action (execute the pick action again). Ticked: No prompt box will pop up,
and the action will be taken as normal alarm and operation; at this point, there will be no prompt for re-pick or
corresponding action.
Note: If there is a programming use of endless loop jump (no program termination) in the program, this function will
not be applicable, because it will skip to the first line start step when re-pick is confirmed.
3.6 Setting or testing of other auxiliary functions
1. First mold speed
When ticked (among running parameters), the first mold ends at the set program speed; during next cycle, the first
mold runs at the automatically set speed. Generally, it is mainly used to prevent the first start. Low-speed run is set for
inadequate preparation. Please tick according to the actual conditions. Note: If there is a programming use of endless
loop jump (no program termination) in the program, this function will not be applicable.
2. X23 "Permit full auto" signal
Punch gear function lock. Function name: one-week stamping. The name might be different because there are different
types of punch. When ticked (among running parameters), if punch is not switched to this work mode, alarm will be
given when starting. It can be ignored and non-connected if not needed.
3. Stamping output test
After normal connection, it is generally required to test whether it is normal. At this time, under the login permission,
manual location -> manual operation -> output signal, find "Permit stamp-1" or "Permit stamp-2", and click "TEST"
button. After that, a confirmation box pops up. Confirm PERMIT if when is no trouble; otherwise, cancel OUTPUT.
Note:
The above function value is used for testing and verification, and can also be used for manual stamping. Please pay
attention to safety during stamping.
4. Alone/online switching

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The function key displayed on the top of the manual screen. Unit mode and set mode. Switching operation: At the
Stop location, click "Alone" or "Online" for mode switching. Alone: Do not display the machine type set by the unit.
Online (multiple machines' cooperative work): Display the machine type set (slave/head/tail+ID).
Alone: Punch stamping, handling or similar work control by single machine alone.
Online: Cooperation among multiple machines for flow work, needing to connect multiple machines with
communication wire, set related online parameters and turn off the power for restarting.
Note: Connect the termination resistors for the head and the tail, to prevent communication abnormality; use shielded
network cable as communication wire.
4 Function and use description of process commands
4.1 Use description of stamping process commands
Select the stamping process command entry, select the required process path command, bind the action type and set in
the position, and insert the command into the specified program position.

Enter the selected

process instruction

Process order switching list

Process instruction binding tool or

Process order path type
workbench

4.2 Function description of process commands

When setting in the position of a process command, the selected workbench and tool will be automatically brought in.
If you need to make change, please switch to the corresponding workbench and tool.
1. Pick standby
1) Prepare to enter the pick work area, and prepare the pre-pick action position, which should be within the stamping
process safety point setting. When the point is not in the pick safety zone, alarm will be given for start in non-safety
zone during auto start. During safety point setting, reference setting can also be made through this point.
2) Alone mode (online head setting): Only taken as a general point, and only used for detecting whether it is in the
safety zone (in case of exchange with other devices, you need to use IO signal to wait for signal notification when
permitted to enter or exit); when it is not in the safety zone, alarm will be given for stop prompt.
3) As a slave in online mode, the command is: except for detecting the pick safety point zone, bind it to
communication signal M010 for waiting (the upper machine triggers ON). When the permitted conditions of upper
machine are met, the next command can be executed automatically. If at the pick standby point, click "Permit Pick"
button (at the Auto location of demonstrator→ hidden menu bar at the lower right), and click "Forced Pick Action".
Note: At this time, the upper machine should not be executing the discharge action; otherwise, the following alarm
will be given: pick and discharge communication state sequence error.
Note: If set to host or alone mode, after executing the pick standby action, please instruct corresponding waiting
information; if the information is satisfactory, execute the next action; when smoothing is used, if the signal is
satisfied in advance, smoothing is effective; if the signal is not satisfied, execute action to point machine stop
and wait for corresponding signal.
2. Pick upward
Action above pick point, smoothing effective.
3. Pick point
Item pick point position. used smoothing ineffective, automatic processing to be not smooth, position to point action.
4. Pick back upward

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Pick point back upward, smoothing effective.

5. Pick Finish
1. This position must be in the safety zone. When the action is in place, detect the pick safety zone. When it is not in
the safety zone, alarm will be given for the pick finish signal is non-safety. When it is normal, output the
communication signal "M011 Pick Finished", and inform the upper machine to permit discharge (online). After the
upper machine receives (M012) during running, discharge action can be executed; used smoothing ineffective,
automatic processing to be not smooth.
6. Discharge standby
1) This position must be in the safety zone. Alone mode: prepare the action position before entering the discharge
work area. If this position is not in the safety zone, the following alarm will be given: discharge — non-safety zone.
The command is "Wait for the signal after finish of the last normal stamping" (internal signal). In case of the first
mold, it needs to click "Discharge Permit" (at the Auto location of demonstrator→ hidden menu bar at the lower
right) signal to permit discharge once so that this signal does not need to be clicked again during the 2nd cycle; if
conditions permit, when there is no action at this time, you can click "Permit Discharge" once.
2) Online mode: the same as the alone mode. When it is normal, the command is "Wait for the lower machine pick
finish signal M011 (M012 for the machine). After receiving the lower machine communication signal, next action
will be executed. Smoothing is used, and the specific is related to the M012 being waited for. If the signal is
received before the action, smoothing is effective; otherwise, action arrives at the point position. In case of stop
during work, if it misses the signal to receive, it can forcibly permit discharge or make the lower machine to permit
discharge once. The actual situation shall prevail.
7. Dischage upward
Action above the discharge point, smoothing effective.
8. Discharge point
Item discharge point position, used smoothing ineffective, automatic processing to be not smooth, position to point
action.
9. Dischage back upward
Discharge point back upward, smoothing effective.
10. Discharge finish
1) This position must be in the safety zone. Alone mode. Action exit position. When not in the safety zone, the
following alarm will be given: discharge finish signal — non-safety zone. After action arrives at the command
position, the command executes related bound IO actions and associative functions; if the action does not stop, the
next action path will be executed; bind and output the stamping signal Y24 (output as per the set stamping time),
and start to find the signal ON/OFF state of the top dead point X24 on the punch according to the stamping settings.
If no ON/OFF required is detected within the set time range, alarm will be given, e.g. waiting for punch origin ON
timed out or waiting for stamping OFF timed out; normal stamping finish, internal signal processing, permit for
standby discharge action executing.
2) Online: in addition to the same as the alone mode, after stamping finish, communication signal M014 signal will be
triggered, lower machine will be informed to wait for pick signal M010. After lower machine waits for the signal,
pick action will be executed. After pick finish, the machine M12 "Permit Placing" signal will be triggered (by
M011), and next standby discharge action will be executed.
3) Stamping action is not permitted. When stamping start is not ticked, no matter in alone or online mode, it neither
outputs stamping signal nor detect the top dead point signal change. Internal processing of other functions is
consistent.
Note: Used smoothing ineffective, automatic processing to be not smooth, position to point action.
11. Discharge stamp
1. This position must be in the safety zone. For special stamping. In addition to similar to the pick finish command
used in alone mode, after the action exits, if the position is not in the safety zone, "discharge finish signal — non-
safety zone" will be alarmed; after the action arrives at the command position, stop action, output stamping signal
Y24 (output as per the set stamping time) and start to find the signal ON/OFF state of the top dead point X24 on the
punch according to the stamping settings. If no ON/OFF is detected within the set time range, alarm will be given,
e.g. waiting for punch origin ON timed out or waiting for stamping OFF timed out; normal stamping finish, internal
signal processing. Note: When executing the command, stop waiting for stamping finish before executing other
actions.
Note: Used smoothing ineffective, automatic processing to be not smooth, position to point action.
12. Discharge stamp-2
1. This position must be in the safety zone. For special stamping. Robot: 1-for-2. The function is similar to discharge
stamping. The difference is that it controls another punch's stamping. After the action exits, if the position is not in
the safety zone, "discharge finish signal — non-safety zone" will be alarmed; after the action arrives at the
command position, output stamping signal Y25 (output as per the set stamping time) and start to find the signal
ON/OFF state of the top dead point X25 on the punch according to the stamping settings. If no ON/OFF is detected
within the set time range, alarm will be given, e.g. waiting for punch origin ON timed out or waiting for stamping

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OFF timed out; normal stamping finish, internal signal processing. Note: When executing the command, stop
waiting for stamping finish before executing other actions;
Note: When using stamp-2, it needs to connect the 2nd punch control wire, and use the command; if Punch 2 origin is
disconnected, abnormality will be alarmed in auto. Used smoothing ineffective, automatic processing to be not smooth,
position to point action.
13. Transition point (no functional binding of discharge safety and pick safety)
General path point action, smoothing effective.
Description: The above commands can be specified as free path, pose line, relative command type, etc. Except specially
bound functions and requirements, use the equivalent path command. Note: M010-m015 occupied by the system cannot
be called out and used separately; otherwise, it will affect the normal operation of the process, same for other IO bound
to command functions, unable to be used alone, to avoid conflicts affecting normal use.
5 Alone/online operation of stamping process
5.1 Alone operation
1. Connection must be performed as required (as per connection description)
2. Write the run program according to the programming command and logic, which is usually a flow action, and refer
to the mold program for programming.
3. During logic programming, please edit corresponding actions into blocks to be called logically. The robot can
control two sets of punch for flow control (1-for-2). Please write the program as required if more is needed.
4. When running, it needs to click "Confirm discharge permit" for the first start. Operation: Auto location -> start (pay
attention to whether it can be started) -> action to standby discharge position -> click the bottom right to pull out
the menu -> select Permit Placing for next action. Please confirm whether the placing action (discharge action) is
permitted before clicking.
5.2 Multiple-set online operation
1. When multiple robots are online, one of them must be the host (generally, the first robot is set as the host).
2. The online ID is 1 (host), 2, 3...(slaves) and tail (last) in succession according to the flow sequence. There are three
types of online setting: head, intermediate and tail. The host selects all participating slaves, and the slaves select
the host (Manipulator 1).
3. Slaves can stop alone for handling exceptions, and need to press STOP button for stopping, similar to the alone
operation. Note: No operation can be performed manually if a slave toggles the gear switch to the Stop location
during online running.
4. If the host toggles the gear switch to the Stop location during running, the whole line will stop immediately
(immediate stop or no slave stop can be selected).
5. After pressing the Emergency Stop button, the whole line will stop immediately, and other machines will pause;
after alarm reset, other machines can continue to work only by pressing START. Press the emergency stop unit;
after reset, handle it as an exception.
6. When running for the first time, it needs to click "Confirm placing (discharge) permit" for the first set start. Auto
location -> start -> action to standby discharge position -> click the bottom right to pull out the menu -> select
Permit Placing for next action. Please confirm whether the placing action (discharge action) is permitted before
clicking.
7. During exception handling or post-stop restarting of intermediate, it might need to confirm that the pick or placing
action is permitted. Please operate as needed according to actual situation. Before performing an operation, ensure
that the operation is correct. Otherwise, stop alarm might be given for upper and lower machine action conflict due
to an operation error.
8. When a slave stops alone, press the STOP button once (single cycle stop) or twice for immediate stop.
9. If the slave does not stop and toggles the gear switch to the Stop location, the robot cannot stop. After the robot
stops, if the gear switch is toggled to the Stop location or is not at the Auto location, the robot cannot start running.
For a start after the Stop location is triggered, the robot will start from the first line by default (line can be selected
for starting). After the host controls the control or other machine triggers the emergency stop (Note: The machine
cannot toggle the Stop location for triggering stop or abnormality), original path action can be continued by
pressing START.
Note:
1) When multiple machines (more than 1 machine, with a maximum of 15 machines) are online, drive and control
integrated box can be directly connect to the control box CAN1 or CAN2 socket by shielded network cable (direct
network cable).
2) Note that the head/tail must be short-circuited to a termination resistor (a plug-in unit with terminal resistance of
120ohm) which need to be inserted into CAN Port 1 or 2 of the head/tail. For single-board, please enable the port
connection according to corresponding settings.
3) Single-board is divided into CAN A port and CAN B port for separate communication. B1 and B2 are termination
resistor interfaces equipped for CAN B port. When enabling head and tail and using CAN B port for CAN
communication, perform short-circuiting with conducting wire. When enabling intermediate machines, specify
ports for use and set related port parameters.

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6 Shooting methods for common troubles

6.1 Alarm information
Alarm
Alarm message Description Solution
number
Detect the communication wire, and connect the head and
1799 CAN node link failure Not connected or communication interrupted
tail to termination resistors
The mode set for punch is incorrect, and the punch Confirm that the punch does not turn on the corresponding
Punch not in Auto state during
1816 does not turn on the corresponding mode or the robot mode or the robot needs to turn off the full auto mode for
running
needs to turn off the full auto mode for detection X23 detection
Waiting for punch origin ON timed Stamping is abnormal. No punch origin ON is detected
1840 Waiting for punch origin ON timed out
out within the set stamping time.
There is no stamping output, or the origin signal detection is
1841 Stamping action unfinished Stamping abnormality
abnormal, or the parameter setting is unreasonable.
1842 Stamping parameter setting error Stamping parameter setting error Detect whether the process parameters are wrong
Enable Punch 2 in manual or auto mode. Punch
Punch Origin-2 broken during Confirm whether Punch 2 Origin-2 breaks abnormally;
1843 Origin-2 is abnormally disconnected during non-
running otherwise, give an alarm
stamping
1845 Pick finish signal — non-safety The pick finish action is in the non-safety zone The pick finish action is in the non-safety zone
The discharge finish signal is non-
1846 The discharge finish action is in the non-safety zone The discharge finish action is in the non-safety zone
safety zone
The stamping signal is non-safety
1847 The robot stays in the non-safety zone when stamping The robot stays in the non-safety zone when stamping
zone
1848 Auto start — non-safety zone The robot stays in the non-safety zone when starting Move the robot into the safety zone
There is input of pinch/suction
There is input of pinch/suction detection. Please Take down the item, close the pinch valve, and ensure that
1849 detection. Please manually
manually discharge first the signal is correct
discharge first
Punch 1 origin disconnected during In manual or auto state, Punch 1 origin is abnormally Confirm whether origin is OFF during non-stamping;
2001
running disconnected during non-stamping otherwise, give an alarm
Punch 2 origin disconnected during In manual or auto state, Punch 2 origin is abnormally Confirm whether origin is OFF during non-stamping;
2002
running disconnected during non-stamping otherwise, give an alarm
Punch 3 origin disconnected during In manual or auto state, Punch 3 origin is abnormally Confirm whether origin is OFF during non-stamping;
2003
running disconnected during non-stamping otherwise, give an alarm
Punch 4 origin disconnected during In manual or auto state, Punch 4 origin is abnormally Confirm whether origin is OFF during non-stamping;
2004
running disconnected during non-stamping otherwise, give an alarm
Punch 5 origin disconnected during In manual or auto state, Punch 5 origin is abnormally Confirm whether origin is OFF during non-stamping;
2005
running disconnected during non-stamping otherwise, give an alarm
Punch 6 origin disconnected during In manual or auto state, Punch 6 origin is abnormally Confirm whether origin is OFF during non-stamping;
2006
running disconnected during non-stamping otherwise, give an alarm
Punch 7 origin disconnected during In manual or auto state, Punch 7 origin is abnormally Confirm whether origin is OFF during non-stamping;
2007
running disconnected during non-stamping otherwise, give an alarm
Punch 8 origin disconnected during In manual or auto state, Punch 8 origin is abnormally Confirm whether origin is OFF during non-stamping;
2008
running disconnected during non-stamping otherwise, give an alarm
Punch 9 origin disconnected during In manual or auto state, Punch 9 origin is abnormally Confirm whether origin is OFF during non-stamping;
2009
running disconnected during non-stamping otherwise, give an alarm
Punch 10 origin disconnected In manual or auto state, Punch 10 origin is abnormally Confirm whether origin is OFF during non-stamping;
2010
during running disconnected during non-stamping otherwise, give an alarm
Punch 11 origin disconnected In manual or auto state, Punch 11 origin is abnormally Confirm whether origin is OFF during non-stamping;
2011
during running disconnected during non-stamping otherwise, give an alarm
Punch 12 origin disconnected In manual or auto state, Punch 12 origin is abnormally Confirm whether origin is OFF during non-stamping;
2012
during running disconnected during non-stamping otherwise, give an alarm
Punch 13 origin disconnected In manual or auto state, Punch 13 origin is abnormally Confirm whether origin is OFF during non-stamping;
2013
during running disconnected during non-stamping otherwise, give an alarm
Punch 14 origin disconnected In manual or auto state, Punch 14 origin is abnormally Confirm whether origin is OFF during non-stamping;
2014
during running disconnected during non-stamping otherwise, give an alarm
Punch 15 origin disconnected In manual or auto state, Punch 15 origin is abnormally Confirm whether origin is OFF during non-stamping;
2015
during running disconnected during non-stamping otherwise, give an alarm
Punch 16 origin disconnected In manual or auto state, Punch 16 origin is abnormally Confirm whether origin is OFF during non-stamping;
2016
during running disconnected during non-stamping otherwise, give an alarm
6.2 Handing of product displacement during normal work.
When it is found at work that product displacement occurs during discharge and still exists after many corrections,
please handle it as follows:
1. Detect whether the machine is shaking and shifting during operation. If shaking and shifting, please fix the machine
(1) and reduce the speed appropriately (2). If the trouble cannot be shot, please see the following detection.
2. Detect whether the product is displaced during pick and discharge. If displaced, appropriately slow down or pause
the actions at the pick and discharge points (1), and improve the pick method or improve the fixture displaced
caused by pick, to achieve normal and stable pick/discharge. If the trouble cannot be shot, please see the following
detection.
3. Detect whether the position of product at the pick point is stable (whether the position is often unstable). If unstable,
please solve the problem. If not so, please see the following detection.
4. When using high precision workpiece and position, detect whether the mold has been improved for automatic error
correction, e.g. guide pillar improvement, locating pin improvement, etc. If the trouble cannot be shot, please see
the following detection.

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5. Detect whether the product is abnormal. If so, improve the fixture to fit the workpiece. If the trouble cannot be shot,
please see the following detection.
6. Detect whether the machine assembly unit is abnormal, e.g. increased clearance. If so, repair or replace the
corresponding unit. If the trouble cannot be shot, please see the following detection.
7. Detect whether the electrical system is abnormal. If so, contact the manufacturer for assistance in handling.
The above are common handling methods for displacement. There are too many reasons for displacement, or
there are high requirements for product precision. Please detect carefully to investigate the trouble spots one by
one.
6.3 Start suction valve vacuum testing for abnormal work or alarm.
If frequent alarm or exception is found during suction valve vacuum testing and cannot be cleared, the handling methods
are as follows:
1. Suck the product, and detect the output. The detection fails, and the alarm cannot be cleared.
Firstly, check whether there is signal input of IO input monitoring within hand controller (1). If no, please check
related circuits for troubleshooting.
Check the IO input signal indicator corresponding to the hardware (2). If there is a signal indicator
but no signal is detected, please contact the manufacturer for maintenance.
2. Stop the suction valve. There is still signal during vacuum testing (please stop the suction valve).
1. Detect whether the vacuum air pipe is blocked. If so, please shoot the trouble. If the trouble cannot be shot, please
see the following detection.
2. Check whether the barometer output is abnormal when the vacuum pipe is not blocked. If so, please readjust the
barometer. If the trouble cannot be shot, please see the following detection.
3. Check whether the barometer displays a value under no pressure. If so, please re-calibrate the barometer. If the
trouble cannot be shot, please see the following detection.
4. Replace the barometer.
3. Suck the product for detection. In normal work, there is frequent or occasional detection failure alarm.
1. Detect and observe whether the air pipe is blocked or the air pressure is unstable in work and thus the detection
signal is unstable. If so, please clean the air pipe or ensure stable working air pressure. If normal, please see the
following detection.
2. Check whether the running detection signal is stable. If unstable, please adjust the detection value range
appropriately, e.g. increase/decrease the detection comparison value or set the pinch/suction debouncing value.
If normal, please see the following detection.
3. Observe whether the pinched or sucked product is stable when moving at work (shaking vigorously). If so, please
improve the fixture (sucker) or reduce the speed appropriately to stabilize the shaking product. If normal, please
see the following detection.
4. Observe whether the barometer is abnormal at work. If so, please repair or replace the barometer accordingly.
6.4 Alone/online handling of general exceptions
1. The punch cannot control the stamping properly.
1. Check the user parameters, and confirm whether Enable Stamping is ticked and whether the stamping time is
set correctly. If not ticked, please tick it. If ticked, at the stop location, in manual state, test the stamping output
signal. If it is confirmed that there is monitoring output, please see the following detection.
2. Detect the output point, and confirm whether IO has output signal when stamping is outputted. If so, please check
whether the connection is correct.
3. If no abnormality is found during the above tests and but stamping still cannot be performed, it needs to confirm
whether the programming meets the requirements, whether the process action is programmed and whether the
command is used correctly.
Please perform the above stamping tests in the safety zone, and pay attention to safety during testing. The
methods are for reference only.
2. Stamping can be performed normally, but the following alarm is given: punch origin disconnected or OFF timed out.
First check whether there is output at the stamping output point and whether the punch origin signal is changed
during stamping. If the output is normal,
1. Please check whether the punch origin is forced to be ON (forced ON is not required for normal production).
2. Check whether the stamping time is set correctly. If incorrect, it will lead to abnormal stamping.
3. Check whether the online is abnormal (a slave cannot be connected to the host or the host cannot be connected to a
slave).
1. First confirm whether the host and salve parameters are correct, whether the connection between machines are
normal, and whether the resistors matching the communication terminals of the host (head) and the tail (slave)
are short-circuited.
2. If the above are confirmed correct but online cannot be performed, please use the method of exclusion, namely
connect the head to slaves one by one until finding the salves cannot be connected to, and check whether the
communication wire is loose or incorrectly connected.
Note: Description of online monitoring: When the communication is normal (online), you can connect from the
host, and check whether the indicator of the slave selected for each connection is flashing in green at the

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option "manipulator"; when the indicator is red (normal in red if the machine is selected as the host), the slave
is not connected; when the indicator is flashing in green, the slave' communication is normal. Check whether
the parameters of the slave not connected are correct. If correct, please turn off the power for restarting, and
reconfirm whether the slave can be connected. When the linking line is too long, or there is a strong
interference source nearby, pay attention to shield grounding (independent grounding) to reduce interference.
Sometimes, interference will also lead to automatic communication shutdown of the robot communication
port being connected. At this point, it is necessary to turn off the power of and restart the robot that cannot be
connected for troubleshooting.
4. When online, in case of machine exception, how each slave or the host should stop for exception handling.
1. After a slave stops exceptionally, handle it as a normal alone operation. After handling, press START, and press
corresponding operation signal (Permit Pick or Placing).
2. When a slave needs to stop for exception handling, press STOP twice as per usual for immediate stop or
normal stop for exception handling. In case of emergency, press Emergency Stop. After pressing Emergency
Stop, the whole line will stop or pause. After alarm reset, other machines can continue to work only by
pressing START.
3. There are two modes for the host to stop:
1) Among running parameters, tick "normal slave stop control by host"; after ticking, during normal running,
when the host comes to the Stop location, all salves will stop immediately. When rebooting the host, slaves
start from the program header.
2) if not ticked, similar to normal alone operation, pay attention that salves can start directly after pressing
START of the host. Please pay attention to safety during starting.
Note: 1. If the slave's toggling the gear switch to the Stop or Manual location cannot be operated during normal
running, stop is required before this operation.
2. During online running, after pressing Emergency Stop for any machine, the whole line will stop or pause;
only after resetting the alarm can other machines start.
5. Alarm handling for host/slave during online running.
1. When a slave is powered off abnormally, the host might give an alarm; at this point, the slave must be started for
reestablishing the connection, and then the exception can be handled as per usual.
2. After the host is powered off, all slaves might alarm and stop; at this time, it only needs restarting and alarm
resetting, and other slaves can continue to start by alarm resetting.
Note: After online reestablishment, the connection signals might be interrupted; at this point, the robot will run to
the pick standby or discharge standby position and then stop; ensure that it is working properly, and click
"Permit Pick" or "Permit Placing" at the bottom right for re-establishing the connection signals and triggering
the actions.
6. When debugging the robot, the following alarm is given: start — non-safety zone/pick finish — non-safety
zone/discharge finish — non-safety zone.
Confirm whether the safety point settings are correct, and confirm whether the process command path points such
as pick standby, pick finish, discharge standby, discharge finish, discharge stamping and discharge stamp-2 are
within the safety point setting range.
Note: These action points must be outside the machines but within the range of safety points; otherwise, an alarm
might be given for punch exception. These action points should not be too close within the range of safety points;
otherwise, alarm might be triggered by mistake.
7. Pilot run of path actions.
In the debugging (single step or single cycle) action, when there is no need for stamping, related parameters can be
set for cooperative use as needed. If stamping start is not ticked, in the debugging action, stamping outlet does not
output.
8. Online run. Upper machine finishes discharge stamping while lower machine does not pick up the material, or lower
machine finishes pick while upper machine does not discharge the material. You need to force the permit action each
time
Check the online parameters, and confirm whether the selected machines are correct and whether upper machine ID
corresponds to lower machine ID. If not corresponding, it will result in incorrect execution provided by online
signal. If all correct, please confirm whether the commands used are written as required, e.g. whether the commands
are executed at the appropriate positions.
9. Program upgrading and replacement of accessories.
Normally, in case of no other exception during use, do not upgrade the program arbitrarily. If upgrading is necessary,
please operate as required. Before upgrading, please make a GHOST backup of parameters in hand controller, to
achieve quick recovery under an exception. Similarly, during normal use, a backup can also be made of normal
system, to achieve quick recovery under an accident. For example, when hand controller or host is replaced, the
backup parameters are the most efficient recovery data.

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 伯朗特机器人股份有限公司
BORUNTE ROBOT CO.,LTD.

7 Stamping process instruction example program

7.1 Standard mold for stamping (standard mold for online)

Stand alone / online,

Please teach to add when switching
necessary for the first
machine or single machine

Pinch valve, please add

Unbound detection. Please Single machine or online
import the detection into reclaiming action
the program

Please teach to add when

necessary for the first
machine or single machine

Pinch valve, please add

Unbound detection. Please
Single machine or online
import the detection into
discharging action
the program

Description: When valve (Stop location -> Settings -> Product Settings -> method setting, save to be effective) use is
ticked, please first set, without need of insert the bound detection IO, because it has been already bound internally,
detailed in valve setting use; when valve use is not ticked, take it as a normal output point and operate as input IO
combination valve function, and insert according to the combination valve test requirements.

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 伯朗特机器人股份有限公司
BORUNTE ROBOT CO.,LTD.

7.2 Single stamping and single pick (feeding and blanking) mold

Please teach to add the first

machine or when necessary

Pinch valve, please add

Unbound detection. Please
import the detection into
the program
Take the material and
put it into the punch
Please teach to add the first Start stamping action
machine or when necessary

Pinch valve, please add

Unbound detection. Please
import the detection into
the program

Take out the stamped items

And discharging action

Remark: The above mold is for reference only; for single suction valve feeding and blanking, please instruct
programming flexibly according to practical application.
Description: When valve (Stop location -> Settings -> Product Settings -> method setting, save to be effective) use is
ticked, please first set, without need of insert the bound detection IO, because it has been already bound internally,
detailed in valve setting use; when valve use is not ticked, take it as a normal output point and operate as input IO
combination valve function, and insert according to the combination valve test requirements.

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 伯朗特机器人股份有限公司
BORUNTE ROBOT CO.,LTD.

7.3 Pick, replacing and stamping mold in single stamping and single pick (feeding and
blanking)

Please teach to add the first

machine or when necessary

Reclaiming action

Prepare to put the material

into the mold

The first feeding into the

die stamping, only one
cycle

The first feeding into the

die stamping, only one
cycle

After the first discharge, it

will return to the second
reclaim

Take out the finished

stamping products

Switching semi-finished
products into punch

Put the article into the mold

Take out the articles and put

them into the finished
product area

Remark: Set M20 off at Stop location. The above mold is for reference only. Double suction valves are used for feeding
and blanking, one for reclaiming and feeding, and the other for taking out the items and putting them into the finished
product area for discharge. Please instruct programming flexibly according to practical application.
Description: When valve (Stop location -> Settings -> Product Settings -> method setting, save to be effective) use is
ticked, please first set, without need of insert the bound detection IO, because it has been already bound internally,
detailed in valve setting use; when valve use is not ticked, take it as a normal output point and operate as input IO
combination valve function, and insert according to the combination valve test requirements.

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 伯朗特机器人股份有限公司
BORUNTE ROBOT CO.,LTD.

7.4 Alone 1-for-2 mold

After reclaiming, prepare to put

it into the punch 2 die for
stamping
Pay attention to cooperate with
other equipment to wait for
signals

Put it into the die of punch

2 and wait for the stamping
to be completed

Transition point
Take out the articles in the die
of punch 2 and prepare to put
them into the die of punch 1. 2
this stamping finished product

Put it into the die of punch 1

and wait for the stamping to be
completed

Transition point
After punch 1 is finished, take
out the finished products
stamped in the die of punch 1

Stamping finished products are

put into the finished product
area

Remark: The above mold is for reference only. Please instruct programming flexibly according to practical application.
Description: When valve (Stop location -> Settings -> Product Settings -> method setting, save to be effective) use is
ticked, please first set, without need of insert the bound detection IO, because it has been already bound internally,
detailed in valve setting use; when valve use is not ticked, take it as a normal output point and operate as input IO
combination valve function, and insert according to the combination valve test requirements.

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The product is being improved, and any changes will not be separately notified!
Reproduction or copying of the contents of this manual without permission is strictly
prohibited!
All explanatory rights of this manual belong to our company
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